CN116611584B - Highway construction management system and method based on digital platform - Google Patents
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Abstract
The invention provides a highway construction management system and method based on a digital platform, which belongs to the technical field of highway construction management, wherein the method is realized by a system, and the system comprises the following steps: the unmanned aerial vehicle is provided with a main rotor wing device and an auxiliary rotor wing device with adjustable direction; the sensor group module and the communication module are both arranged on the unmanned aerial vehicle; the monitoring camera module is used for capturing real-time construction condition pictures of the highway to form a picture set and recording the pictures to form a video set; the engineering management module stores an engineering information model; the processor is connected with the monitoring camera module, receives the picture set and the video set and carries out BIM modeling to obtain a highway construction model; the processor compares the highway construction model with the engineering information model. According to the invention, the unmanned aerial vehicle is used for taking the shots, and the unmanned aerial vehicle can adjust the flight attitude by changing the flight power direction, so that the influence of wind is resisted, various obstacles are avoided easily, and favorable conditions are provided for facilitating the taking of the shots.
Description
Technical Field
The invention relates to the technical field of highway construction management, in particular to a highway construction management system and method based on a digital platform.
Background
The building information model technology is an engineering data model based on three-dimensional digital technology and integrating various related information of a building engineering project, and the model is in continuous deepening and changing along with project progress. Building information models (Building Information Modeling, BIM) are new tools for architecture, engineering and civil engineering, and are designed to address computer-aided design based on three-dimensional graphics, object-oriented, and architecture-related.
When BIM is applied to a highway construction management system, real-time snapshot is needed to be carried out on a plurality of road construction conditions manually, but because modeling staff of BIM is difficult to snapshot in a real-time arrival mode, errors are easy to occur in entry and check of road condition information, and therefore accuracy of BIM modeling and reliability of later BIM use are affected. For this reason, at present, snapshot and video recording can be performed through the unmanned aerial vehicle, but when the unmanned aerial vehicle is applied to a highway construction management system, some problems, such as: the unmanned aerial vehicle is easily affected by wind when flying on a highway and easily encounters obstacles such as engineering equipment, engineering buildings, operators and the like in highway construction, so that snapshot is difficult; data transmission problems between various sensors mounted on the unmanned aerial vehicle and a remote control system (server of a highway construction management system), integration application problems between various sensors, and the like. That is, in general, a complete set of highway construction management schemes based on a digital platform for snapshot by an unmanned aerial vehicle is lacking at present.
Disclosure of Invention
The invention provides a highway construction management system and a highway construction management method based on a digital platform, wherein the unmanned aerial vehicle is used for taking photos, and the unmanned aerial vehicle can adjust the flying posture by changing the flying power direction, so that the influence of wind is resisted, various obstacles are avoided easily, and favorable conditions are provided for facilitating the taking photos; the application schemes between various sensors and a remote control system and between various sensors are also designed in detail; in general, at least one of the problems described above is solved, or at least an advantageous highway construction management scheme for snapshot by a drone can be provided.
An aspect of the embodiments of the present specification discloses a highway construction management system based on a digital platform, comprising:
the unmanned aerial vehicle is provided with a main rotor wing device and an auxiliary rotor wing device with adjustable direction;
the sensor group module is arranged on the unmanned aerial vehicle and used for detecting temperature and humidity, illumination intensity, wind speed and direction, altitude, atmospheric pressure and position information of surrounding environment;
the monitoring camera module is arranged on the unmanned aerial vehicle and used for capturing real-time construction condition pictures of the highway to form a picture set and recording the pictures to form a video set;
The engineering management module stores engineering information models which meet the design requirements of all engineering structures of highway construction;
the communication module is installed on the unmanned aerial vehicle;
the processor is connected with the monitoring camera module through the communication module to control the monitoring camera module to work, receives the picture set and the video set, and carries out BIM modeling based on the picture set and the video set to obtain a highway construction model;
the processor is further connected with the sensor group module, the engineering management module and the unmanned aerial vehicle control module through the communication module to control the unmanned aerial vehicle to fly, control the sensor group module to work, compare the highway construction model with the engineering information model, and adjust and optimize the highway construction scheme if the comparison result is inconsistent so as to achieve highway construction management based on the digital platform.
In one embodiment disclosed in the present specification, the unmanned aerial vehicle includes:
the main body is provided with a circular through hole for installing the main rotor wing device;
the arc-shaped sliding guide rail is arranged along the outer side edge of the machine body;
the auxiliary rotor wing device is installed on a sliding block of the arc-shaped sliding guide rail, and the arc-shaped sliding guide rail is provided with a first motor.
In one embodiment disclosed in the present specification, the body includes:
a main housing having a square structure;
the two auxiliary shells are symmetrically arranged on two sides of the main shell;
the outline of the auxiliary shell gradually diverges and then gradually converges from one side close to the main shell to one side far away from the main shell to form an elliptical or oval blade shape;
the main rotor wing device is arranged at the center of the auxiliary shell, and the arc sliding guide rails are arranged at the edges of two symmetrical sides of the auxiliary shell.
In one embodiment disclosed in the present specification, the auxiliary rotor device includes:
the triangular plate with the arc chamfer is arranged on the sliding block of the arc sliding guide rail and provided with an arc recess;
the circular ring is rotatably arranged in the circular arc recess;
an auxiliary rotor assembly mounted within the annulus;
the second motor is in transmission connection with the circular ring so as to drive the circular ring to rotate;
the radian of the triangle facing the edge of the arc-shaped sliding guide rail is consistent with the radian of the arc-shaped sliding guide rail.
In one embodiment disclosed in the present specification, the first motor and/or the second motor is configured with a first driving circuit including a connector J1, a resistor R2, a resistor R3, a resistor R4, a photocoupler U1, a photocoupler U2, a transistor Q1, a transistor Q2, a transistor Q3, a transistor Q4, a diode D1, a diode D2, a diode D3, a diode D4, a motor M1, and a capacitor C1;
The pin 1 of the connector J1 is connected with one end of the resistor R1 and one end of the resistor R2, the pin 2 of the connector J1 is connected with the pin 2 of the photoelectric coupler U1, the pin 3 of the connector J1 is connected with the pin 2 of the photoelectric coupler U2, the other end of the resistor R1 is connected with the pin 1 of the photoelectric coupler U2, the pin 4 of the photoelectric coupler U1 is connected with one end of the resistor R3, the gate of the transistor Q1 and the gate of the transistor Q2, the pin 4 of the photoelectric coupler U2 is connected with one end of the resistor R4, the gate of the transistor Q3 and the gate of the transistor Q4, and the pin 3 of the photoelectric coupler U1 and the pin 3 of the photoelectric coupler U2 are respectively grounded;
the other end of the resistor R3 is connected with the other end of the resistor R4, the source electrode of the transistor Q1, the cathode of the diode D3 and the source electrode of the transistor Q3, and then externally connected with a voltage terminal +12V, the drain electrode of the transistor Q1 is connected with the anode of the diode D1, the cathode of the diode D2, the drain electrode of the transistor Q2, one end of the capacitor C1 and one end of the motor M1, the drain electrode of the transistor Q3 is connected with the anode of the diode D3, the cathode of the diode D4, the drain electrode of the transistor Q4, the other end of the capacitor C1 and the other end of the motor M1, and the source electrode of the transistor Q2, the anode of the diode D4 and the source electrode of the transistor Q4 are grounded after being connected.
In one embodiment disclosed in the present specification, the first motor and/or the second motor is configured with a second driving circuit, and the second driving circuit includes a connector J2, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a photo coupler U4, a photo coupler U5, a transistor Q6, a transistor Q7, a transistor Q8, a nand gate U3A, a nand gate U3B, a nand gate U3C, a nand gate U3D, a motor M2, and a capacitor C2;
the pin 1 of the connector J2 is externally connected with a voltage end VCC, the pin 2 of the connector J2 is grounded, the pin 3 of the connector J2 is connected with the pin 5 of the nand gate U3B, the pin 4 of the connector J2 is connected with the pin 1 of the nand gate U3A and the pin 9 of the nand gate U3C, the pin 5 of the connector J2 is connected with the pin 2 of the nand gate U3A and the pin 13 of the nand gate U3D, the pin 3 of the nand gate U3A is connected with the pin 4 of the nand gate U3B, the pin 6 of the nand gate U3B is connected with the pin 10 of the nand gate U3C and the pin 12 of the nand gate U3D, the pin 8 of the nand gate U3C is connected with the pin 2 of the photo coupler U4, the pin 1 of the nand gate U4 is connected with one end of the resistor R5, the other end of the resistor R5 is externally connected with a voltage end, the pin 11 of the nand gate U3D is connected with the pin 4 of the photo coupler U2, the other end of the photo coupler R6 is connected with the pin 6 of the photo coupler U4, and the other end of the resistor R4 is connected with the other end of the resistor R4;
The pin 3 of the photoelectric coupler U4 is connected with the base of the triode Q8, the pin 4 of the photoelectric coupler U5 is connected with the base of the triode Q7, the other end of the resistor R7 is connected with the base of the triode Q5, the other end of the resistor R8 is connected with the base of the triode Q6, the emitter of the triode Q5 is connected with the emitter of the triode Q7 and then externally connected with a voltage end +12V, the emitter of the triode Q6 is connected with the emitter of the triode Q8 and then grounded, the collector of the triode Q5 is connected with the collector of the triode Q6, one end of the capacitor C2 and one end of the motor M2, and the collector of the triode Q7 is connected with the collector of the triode Q8, the other end of the capacitor C2 and the other end of the motor M2.
In one embodiment disclosed in the specification, the sensor group module comprises a microcontroller, and a proximity sensor, a wind speed sensor, an ambient light sensor, a temperature and humidity sensor, an electronic compass sensor, an air pressure sensor and a memory which are connected with the microcontroller.
In one embodiment disclosed in the specification, the microcontroller is further connected with an antenna and a radio frequency connector.
In one embodiment disclosed in the specification, the microcontroller is further connected with a power supply module.
Another aspect of the embodiments of the present disclosure discloses a highway construction management method based on a digital platform, which is implemented by the highway construction management system based on the digital platform;
the highway construction management method based on the digital platform comprises the following steps:
s1, controlling an unmanned aerial vehicle to fly along a highway under construction;
s2, capturing real-time road construction condition photos through a monitoring camera module to form a picture set, and recording videos to form a video set;
s3, performing BIM modeling based on the picture set and the video set to obtain a highway construction model;
s4, comparing the highway construction model with the engineering information model stored in the engineering management module, and if the comparison result is inconsistent, adjusting and optimizing the highway construction scheme to realize highway construction management based on the digital platform.
The embodiment of the specification can at least realize the following beneficial effects:
according to the invention, an unmanned plane with a main rotor wing device and an auxiliary rotor wing device with adjustable directions is arranged, and a sensor group module for detecting the temperature and humidity, illumination intensity, wind speed and wind direction, altitude, atmospheric pressure and position information of surrounding environment, a monitoring camera module for capturing real-time construction condition photos of a highway to form a picture set and recording videos to form a video set, and an engineering management module and a processor for recording and archiving design and construction quality safety progress requirement details of each engineering structure during highway construction to form engineering information are matched; finally, comparing the picture set and the video set with the engineering information, and according to the comparison result, if the picture set and the video set are inconsistent, the ongoing highway construction has problems, and the highway construction scheme needs to be adjusted and optimized, so that the highway construction management based on the digital platform is realized.
According to the invention, the unmanned aerial vehicle is used for taking the shots, and the unmanned aerial vehicle can adjust the flight attitude by changing the flight power direction, so that the influence of wind is resisted, various obstacles are avoided easily, and favorable conditions are provided for facilitating the taking of the shots.
The invention also designs application schemes between various sensors and a remote control system and between various sensors in detail, provides a whole set of highway construction management scheme based on a digital platform for snapshot by an unmanned aerial vehicle, provides more beneficial choices for the highway construction management scheme, and further advances the development of highway construction management technology.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a highway construction management system based on a digital platform according to some embodiments of the present invention.
Fig. 2 is a schematic structural diagram of a drone according to some embodiments of the present invention.
Fig. 3 is a schematic diagram of a first driving circuit according to some embodiments of the invention.
Fig. 4 is a schematic diagram of a second driving circuit according to some embodiments of the invention.
Fig. 5 is a circuit schematic of a microcontroller U6 involved in some embodiments of the present invention.
Fig. 6 is a schematic circuit diagram of a crystal oscillator Y2 according to some embodiments of the invention.
Fig. 7 is a schematic circuit diagram of a crystal oscillator Y1 according to some embodiments of the invention.
Fig. 8 is a circuit schematic diagram of an antenna E1 according to some embodiments of the present invention.
Fig. 9 is a circuit schematic of a proximity sensor U7 in accordance with some embodiments of the present invention.
FIG. 10 is a schematic circuit diagram of a wind speed sensor U8 according to some embodiments of the present invention.
Fig. 11 is a schematic circuit diagram of an ambient light sensor U9 according to some embodiments of the present invention.
Fig. 12 is a schematic circuit diagram of a temperature and humidity sensor U10 according to some embodiments of the present invention.
Fig. 13 is a schematic circuit diagram of an electronic compass sensor U11 according to some embodiments of the present invention.
Fig. 14 is a schematic circuit diagram of the air pressure sensor U12 according to some embodiments of the present invention.
Fig. 15 is a schematic circuit diagram of an ambient light sensor U13 according to some embodiments of the present invention.
FIG. 16 is a circuit schematic of a memory U14 according to some embodiments of the invention.
Fig. 17 is a circuit schematic diagram of a power module U15 according to some embodiments of the present invention.
Fig. 18 is a schematic circuit diagram of the solar cell B1 and the solar cell B2 according to some embodiments of the present invention.
Fig. 19 is a schematic circuit diagram of a two-way fet Q11 according to some embodiments of the invention.
Fig. 20 is a schematic circuit diagram of the capacitors C32 to C43 according to some embodiments of the present invention.
Fig. 21 is a schematic circuit diagram of a two-way fet Q10 according to some embodiments of the invention.
Reference numerals:
1. a body; 11. a main housing; 12. a sub-housing; 121. a circular through hole; 13. an arc-shaped sliding guide rail;
2. a main rotor assembly;
3. an auxiliary rotor device; 31. an auxiliary rotor assembly; 32. a triangle; 321. arc-shaped concave; 33. a circular ring;
100. unmanned plane; 200. and monitoring the camera.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or orientations or positional relationships conventionally placed in use of the product of the present invention, or orientations or positional relationships conventionally understood by those skilled in the art, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Furthermore, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, an aspect of the embodiments of the present specification discloses a highway construction management system based on a digital platform, including:
the unmanned aerial vehicle 100 has a main rotor device 2 and an auxiliary rotor device 3 with adjustable direction;
the sensor group module is arranged on the unmanned aerial vehicle 100 and is used for detecting temperature and humidity, illumination intensity, wind speed and direction, altitude, atmospheric pressure and position information of the surrounding environment;
the monitoring camera module is arranged on the unmanned aerial vehicle 100 and is used for capturing real-time construction condition pictures of the highway to form a picture set and recording the pictures to form a video set;
the engineering management module stores engineering information models which meet the design requirements of all engineering structures of highway construction;
A communication module mounted on the unmanned aerial vehicle 100;
the processor is connected with the monitoring camera module through the communication module to control the monitoring camera module to work, receive the picture set and the video set, and perform BIM modeling based on the picture set and the video set to obtain a highway construction model;
the processor is further connected with the sensor group module, the engineering management module and the control module of the unmanned aerial vehicle 100 through the communication module to control the unmanned aerial vehicle 100 to fly, control the sensor group module to work, compare the highway construction model with the engineering information model, and adjust and optimize the highway construction scheme if the comparison result is inconsistent, so as to realize highway construction management based on the digital platform.
It should be understood that the engineering information model is built based on the design of each engineering structure and the safety progress requirement of construction quality during highway construction, and the modeling of the engineering information model and the highway construction model is an existing scheme and can be achieved by referring to the existing scheme.
The purpose of the invention is that: take a candid photograph through unmanned aerial vehicle 100, and this unmanned aerial vehicle 100 can be through changing the flight power direction, adjusts the flight gesture, and then resists the influence of wind to and avoid various barriers comparatively easily, provide the advantage for being convenient for take a candid photograph.
When unmanned aerial vehicle 100 flight operation, provide flight power by main rotor device 2, adjust the flight direction through supplementary rotor device 3 to the influence of anti wind to unmanned aerial vehicle 100 flight, and avoid obstacles such as engineering equipment in the highway construction, engineering building and operating personnel, and make unmanned aerial vehicle 100 can take a candid photograph the video from different angles, be favorable to subsequent BIM modeling. By comparing the highway construction model with the engineering information model, whether the current highway construction meets the design requirement of each engineering structure and the detail of the construction quality safety progress requirement can be known, and if not, the highway construction can be adjusted and optimized, so that the highway construction management based on the digital platform is realized.
It is clear that the monitoring camera module may be the monitoring camera 200; the main rotor device 2 and the auxiliary rotor device 3 may be existing solutions, and each comprise a driving motor and a rotor (composed of a hub and a plurality of blades) connected with the driving motor.
In some embodiments, the drone 100 includes:
a main body 1 provided with a circular through hole 121 for mounting the main rotor device 2;
an arc-shaped sliding guide rail 13 arranged along the outer side edge of the body 1;
wherein the auxiliary rotor device 3 is mounted on a slider of an arc-shaped sliding guide 13, the arc-shaped sliding guide 13 being provided with a first motor.
In this embodiment, the arc-shaped sliding guide rail 13 is an existing scheme, and includes a track, a sliding block sliding on the track, a motor (a first motor in this embodiment) for driving the sliding block to slide, and a matched transmission mechanism; the first motor drives the sliding block of the arc sliding guide rail 13 to slide, the sliding block drives the auxiliary rotor device 3 to move, the auxiliary rotor device 3 moves along the outer side edge of the machine body 1, and the direction of the power provided by the auxiliary rotor device 3 for the machine body 1 can be adjusted, so that the flying direction can be adjusted.
In some embodiments, the fuselage 1 comprises:
a main housing 11 having a square structure;
two sub-housings 12 symmetrically provided on both sides of the main housing 11;
wherein, the outline of the auxiliary shell 12 gradually diverges and then gradually converges (i.e. gradually extends outwards from the main shell in a form of diverging before converging) from one side close to the main shell 11 to one side far away from the main shell 11, so as to form an elliptical or oval blade shape;
the main rotor device 2 is arranged at the center of the auxiliary shell 12, and arc sliding guide rails 13 are arranged at the edges of two symmetrical sides of the auxiliary shell 12.
In this embodiment, a circular through hole 121 is provided at the center of the auxiliary housing 12, that is, the unmanned aerial vehicle 100 has 2 main rotor devices 2 symmetrically arranged; the two auxiliary shells 12 are respectively provided with two arc sliding guide rails 13, namely the unmanned aerial vehicle 100 is provided with 4 arc sliding guide rails 13 and 4 auxiliary rotor wing devices 3, balanced flying power can be provided through 2 main rotor wing devices 2, and the flying power of 2 main rotor wing devices 2 is inconsistent by adjusting the flying power of 2 main rotor wing devices 2, so that the flying direction can be adjusted; meanwhile, the arrangement of the oval or oval blade shape is matched with the arc sliding guide rail 13, so that the flight power of the 4 auxiliary rotor wing devices 3 can be respectively adjusted, the flight direction can be very conveniently adjusted, the flight operation is smoother, the unmanned aerial vehicle 100 has more flight attitudes, and photographing and video recording from different angles are facilitated.
In some embodiments, auxiliary rotor device 3 comprises:
a triangle 32 with an arc chamfer is arranged on the sliding block of the arc sliding guide rail 13 and provided with an arc recess 321;
the circular ring 33 is rotatably arranged in the circular arc recess 321;
an auxiliary rotor assembly 31 mounted within the annular ring 33;
the second motor is in transmission connection with the circular ring 33 so as to drive the circular ring 33 to rotate;
wherein the arc of the side of the triangle 32 facing the arc-shaped sliding guide rail 13 is consistent with the arc of the arc-shaped sliding guide rail 13.
In this embodiment, auxiliary rotor assembly 31 includes a drive motor and a rotor coupled to the drive motor; the second motor drives the ring 33 to rotate, and the ring 33 drives the auxiliary rotor wing assembly 31 to rotate, so that the direction of the auxiliary rotor wing assembly 31 for providing the flying force for the unmanned aerial vehicle 100 can be adjusted, namely, the flying direction is adjusted; further, the triangular plate 32 can be designed to be hollow, so that wind resistance and weight can be reduced. The arrangement of the radian is consistent, so that the triangular plate 32 can be prevented from colliding with the arc sliding guide rail 13 or the machine body 1 during movement.
In some embodiments, the first motor and/or the second motor are configured with a first drive circuit, as shown in fig. 3, the first drive circuit including a connector J1, a resistor R2, a resistor R3, a resistor R4, a photo coupler U1, a photo coupler U2, a transistor Q1, a transistor Q2, a transistor Q3, a transistor Q4, a diode D1, a diode D2, a diode D3, a diode D4, a motor M1, and a capacitor C1;
The pin 1 of the connector J1 is connected with one end of a resistor R1 and one end of a resistor R2, the pin 2 of the connector J1 is connected with the pin 2 of a photoelectric coupler U1, the pin 3 of the connector J1 is connected with the pin 2 of the photoelectric coupler U2, the other end of the resistor R1 is connected with the pin 1 of the photoelectric coupler U2, the pin 4 of the photoelectric coupler U1 is connected with one end of a resistor R3, the grid of a transistor Q1 and the grid of a transistor Q2, the pin 4 of the photoelectric coupler U2 is connected with one end of a resistor R4, the grid of a transistor Q3 and the grid of a transistor Q4, and the pin 3 of the photoelectric coupler U1 and the pin 3 of the photoelectric coupler U2 are respectively grounded;
the other end of the resistor R3 is connected with the other end of the resistor R4, the source electrode of the transistor Q1, the cathode of the diode D3 and the source electrode of the transistor Q3 to be externally connected with a voltage end of +12V, the drain electrode of the transistor Q1 is connected with the anode of the diode D1, the cathode of the diode D2, the drain electrode of the transistor Q2, one end of the capacitor C1 and one end of the motor M1, the drain electrode of the transistor Q3 is connected with the anode of the diode D3, the cathode of the diode D4, the drain electrode of the transistor Q4, the other end of the capacitor C1 and the other end of the motor M1, and the source electrode of the transistor Q2, the anode of the diode D4 and the source electrode of the transistor Q4 are connected to be grounded.
In this embodiment, the connector J1 is connected to the processor, and the processor sends a PWM1 signal to the motor M1 through the connector J1 to adjust the rotation speed of the motor M1; when the processor sends a P2.0 signal to the motor M1 through the connector J1, the transistor Q1 and the transistor Q4 are turned on, the transistor Q2 and the transistor Q3 are turned off, and the motor M1 rotates positively; when the processor sends a P2.1 signal to the motor M1 via the connector J1, the transistor Q1 and the transistor Q4 are turned off, the transistor Q2 and the transistor Q3 are turned on, and the motor M1 is reversed.
In some embodiments, the first motor and/or the second motor are configured with a second driving circuit, as shown in fig. 4, the second driving circuit includes a connector J2, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a photocoupler U4, a photocoupler U5, a transistor Q6, a transistor Q7, a transistor Q8, a nand gate U3A, a nand gate U3B, a nand gate U3C, a nand gate U3D, a motor M2, and a capacitor C2;
the pin 1 of the connector J2 is externally connected with a voltage end VCC, the pin 2 of the connector J2 is grounded, the pin 3 of the connector J2 is connected with the pin 5 of the NAND gate U3B, the pin 4 of the connector J2 is connected with the pin 1 of the NAND gate U3A and the pin 9 of the NAND gate U3C, the pin 5 of the connector J2 is connected with the pin 2 of the NAND gate U3A and the pin 13 of the NAND gate U3D, the pin 3 of the NAND gate U3A is connected with the pin 4 of the NAND gate U3B, the pin 6 of the NAND gate U3B is connected with the pin 10 of the NAND gate U3C and the pin 12 of the NAND gate U3D, the pin 8 of the NAND gate U3C is connected with the pin 2 of the photoelectric coupler U4, the pin 1 of the photoelectric coupler U5 is externally connected with a voltage end at the other end of the resistor R5, the pin 11 of the NAND gate U3D is connected with the pin 2 of the photoelectric coupler U5, the pin 1 of the photoelectric coupler U5 is connected with one end of the resistor R6, the other end of the resistor R6 is connected with the other end of the voltage end VCC 4, and the pin 4 of the photoelectric coupler U7 is externally connected with one end of the resistor U3;
Pin 3 of photoelectric coupler U4 is connected with triode Q8's base, photoelectric coupler U5's pin 4 is connected with triode Q7's base, resistance R7's the other end is connected with triode Q5's base, resistance R8's the other end is connected with triode Q6's base, triode Q5's projecting pole is connected external voltage end +12V behind the projecting pole and the triode Q7's projecting pole, triode Q6's projecting pole is connected ground behind the projecting pole and the triode Q8's projecting pole, triode Q5's collecting electrode is connected with triode Q6's collecting electrode, electric capacity C2's one end and motor M2's one end, triode Q7's collecting electrode is connected with triode Q8's collecting electrode, electric capacity C2's the other end and motor M2's the other end.
In this embodiment, the connector J2 is connected to the processor, and the processor sends a PWM2 signal to the motor M2 through the connector J2 to adjust the rotation speed of the motor M2; when the processor sends a P2.2 signal to the motor M2 through the connector J2, the pin 8 of the NAND gate U3C outputs a high level, the triode Q5 and the triode Q8 are conducted, the triode Q6 and the triode Q7 are cut off, and the motor M2 rotates positively; when the processor sends a P2.3 signal to the motor M2 through the connector J2, the pin 11 of the NAND gate U3D outputs a high level, the triode Q5 and the triode Q8 are cut off, the triode Q6 and the triode Q7 are conducted, and the motor M2 is reversed.
In summary, the first motor and the second motor can be configured with the first driving circuit and/or the second driving circuit, when the first motor and/or the second motor adopt two driving circuits simultaneously, one driving circuit is used as a main driving circuit, the other driving circuit is used as a standby driving circuit, when the main driving circuit fails, the standby driving circuit can be switched, so that the unmanned aerial vehicle 100 can continue to fly, and the reliability of the unmanned aerial vehicle 100 is improved.
In some embodiments, the sensor group module includes a microcontroller, a proximity sensor connected to the microcontroller, a wind speed sensor, an ambient light sensor, a temperature and humidity sensor, an electronic compass sensor, an air pressure sensor, and a memory.
In some embodiments, the microcontroller is further connected with an antenna and a radio frequency connector.
In some embodiments, the microcontroller is also connected to a power module.
In sum, the proximity sensor can detect the obstacle near the unmanned aerial vehicle 100, and the obstacle can be well avoided by matching with the monitoring camera module; the power supply module can provide electric energy for the sensor group module, can also provide electric energy for all accessories of the unmanned aerial vehicle 100, and can also independently set a battery to provide electric energy for other unmanned aerial vehicle 100 accessories except the sensor group module in practice; corresponding detection data can be acquired through the wind speed sensor, the ambient light sensor, the temperature and humidity sensor, the electronic compass sensor and the air pressure sensor, then the detection data is stored in the memory, the detection data can be transmitted to the rear-end system through the antenna, or the detection data is transmitted to the processor firstly, and then the communication module is transmitted to the rear-end system, or after the unmanned aerial vehicle 100 returns, the detection data is received through the radio-frequency connector.
As shown in figures 5 to 21 of the drawings, the sensor group module comprises a microcontroller U6, a proximity sensor U7, a wind speed sensor U8, an ambient light sensor U9, a temperature and humidity sensor U10, an electronic compass sensor U11, a barometric sensor U12, an ambient light sensor U13, a memory U14, a power module U15, a capacitor C3, a capacitor C4, a capacitor C5, a capacitor C6, a capacitor C7, a capacitor C8, a capacitor C9, a capacitor C10, a capacitor C11, a capacitor C12, a capacitor C13, a capacitor C14, a capacitor C15, a capacitor C16, a capacitor C17, a capacitor C18, a capacitor C19, a capacitor C20, a capacitor C21, a capacitor C22, a capacitor C23, a capacitor C24, a capacitor C25, a capacitor C26, a capacitor C27, a capacitor C28, a capacitor C29, a capacitor C30, a capacitor C31, a capacitor C32, a capacitor C33, a capacitor C34, a capacitor C35, a capacitor C36, a capacitor C37, a capacitor C38, a capacitor C39, a capacitor C40, a capacitor C41 capacitor C42, capacitor C43, capacitor C44, resistor R9, resistor R10, resistor R11, resistor R12, resistor R13, resistor R14, resistor R15, resistor R16, resistor R17, resistor R18, resistor R19, resistor R20, resistor R21, resistor R22, resistor R23, resistor R24, resistor R25, resistor R26, resistor R27, resistor R28, resistor R29, resistor R30, resistor R31, resistor R32, resistor R33, resistor R34, resistor R35, resistor R36, resistor R37, crystal oscillator Y1, crystal oscillator Y2, crystal oscillator Y3, inductor L1, inductor L2, inductor L3, inductor L4, inductor L5, inductor L6, inductor L7, inductor L8, antenna E1, radio frequency connector J3, triode Q9, diode D5, diode D6, battery 1, two-way field effect transistor Q10, two-way field effect transistor Q11, solar cell B1 and solar cell B2.
The pin 12 of the microcontroller U6 is connected with the pin 10 of the power module U15 and the pins C1 and A2 of the double-circuit field effect transistor Q10 through the resistor R9, the pin 14 of the microcontroller U6 is connected with the pin 9 of the power module U15 and the pins C1 and A2 of the double-circuit field effect transistor Q11 through the resistor R10, the pin 23 of the microcontroller U6 is grounded through the capacitor C3, the pin 11 of the microcontroller U6 is connected with the pin 13 of the power module U15 through the resistor R32, the pin 47 of the microcontroller U6 is connected with one end of the pin 1 and the capacitor C4 of the crystal oscillator Y1, the pin 46 of the microcontroller U6 is connected with one end of the pin 3 and one end of the capacitor C5 of the crystal oscillator Y1, the pin 2 and the pin 4 of the capacitor C4 are grounded after being connected with one end of the other end of the capacitor C5, the pin 5 of the microcontroller U6 is connected with one end of the crystal oscillator Y2 and one end of the capacitor C7, and the other end of the capacitor C6 is grounded.
The pin 1 of the microcontroller U6 is connected with one end of an inductor L1, one end of an inductor L3 and a grounded capacitor C8, the pin 2 of the microcontroller U6 is connected with the other end of the inductor L1, one end of the inductor L2 and one end of a capacitor C9, the other end of the inductor L2 is connected with the pin 3 of the microcontroller U6 and a grounded capacitor C44, the other end of the inductor L3 is connected with the other end of the capacitor C9, one end of the inductor L4 and a grounded capacitor C10, the other end of the inductor L4 is connected with one end of the inductor L5 and a grounded capacitor C11, the other end of the inductor L5 is connected with one end of a capacitor C13 and one end of a resistor R11, the other end of the resistor R11 is connected with a radio frequency connector J3, the other end of the resistor R12 is connected with one end of the capacitor C14, and the other end of the capacitor C14 is connected with an antenna E1 and the grounded capacitor L6.
One end of the inductor L7 is externally connected with a voltage end VDD - 3P3, the other end is connected with a pin 7 of a proximity sensor U7, a grounded capacitor C15, a grounded capacitor C16 and a grounded capacitor C17, a pin 6 of the proximity sensor U7 is connected with a pin 18 of a microcontroller U6, a pin 5 of the proximity sensor U7 is connected with a pin 19 of the microcontroller U6, a pin 3 of the proximity sensor U7 is connected with a pin 3 of a crystal oscillator Y3, a pin 1 of the crystal oscillator Y3 is connected with a grounded resistor R13, a pin 8 of the proximity sensor U7 is grounded, a pin 2 of the crystal oscillator Y3 is grounded, a pin 4 of the crystal oscillator Y3 is connected with one end of a resistor R14 and the grounded capacitor C18, and the other end of the resistor R14 is externally connected with a voltage end VDD - 3P3。
Pin 1 of wind speed sensor U8 is connected with one end of resistor R15, the other end of resistor R15 is externally connected with voltage end VDD5, pin 2 and pin 3 of wind speed sensor U8 are grounded, pin 4 of wind speed sensor U8 is connected with one end of resistor R16 and one end of resistor R18, the other end of resistor R16 is externally connected with voltage end VDD5, the other end of resistor R18 is connected with base electrode of triode Q9, emitter electrode of triode Q9 is groundedThe collector of the triode Q9 is connected with one end of a resistor R17 and a pin 42 of the microcontroller U6, and the other end of the resistor R17 is externally connected with a voltage end VDD - 3P3。
Pin 1 of ambient light sensor U9 is connected with grounded capacitor C19 and then externally connected with voltage terminal VDD - 3P3, pin 2, pin 3 and pin 7 of ambient light sensor U9 ground connection, and the pin 4, pin 5 and pin 6 of ambient light sensor U9 are connected with microcontroller U6's pin 6, pin 7 and pin 8 respectively in one-to-one correspondence.
Pin B1 of temperature and humidity sensor U10 is connected with grounded capacitor C20 and then externally connected with voltage terminal VDD - 3P3, the pin C1, the pin D1 and the pin B2 of the ambient light sensor U9 are grounded, and the pin A1, the pin A2 and the pin D2 of the temperature and humidity sensor U10 are respectively connected with the pin 6, the pin 7 and the pin 9 of the microcontroller U6 in a one-to-one correspondence.
Pin 2, pin 4 and pin 13 of electronic compass sensor U11 are externally connected with voltage terminal VDD - 3P3, pin 10 of electronic compass sensor U11 is connected with grounded capacitor C21, pin 11 and pin 9 of electronic compass sensor U11 are grounded, pin 8 and pin 12 of electronic compass sensor U11 are connected with both ends of capacitor C22 respectively, pin 1 of electronic compass sensor U11 is connected with pin 6 of microcontroller U6 through resistor R19, pin 16 of electronic compass sensor U11 is connected with pin 7 of microcontroller U6 through resistor R20, and pin 15 of electronic compass sensor U11 is connected with pin 40 of microcontroller U6 through resistor R21.
Pin 1 and pin 2 of air pressure sensor U12 are externally connected with voltage terminal VDD - 3P3, pin 4 and pin 5 of air pressure sensor U12 are all grounded, pin 8 of air pressure sensor U12 is connected with pin 6 of microcontroller U6 through resistor R22, and pin 8 of air pressure sensor U12 is connected with pin 7 of microcontroller U6 through resistor R23.
Pin 1 of ambient light sensor U13 is externally connected with voltage terminal VDD - 3P3, the pin 2 and the pin of the ambient light sensor U13 are grounded, the pin 6 of the ambient light sensor U13 is connected with the pin 6 of the microcontroller U6 through a resistor R24, the pin 4 of the ambient light sensor U13 is connected with the pin 7 of the microcontroller U6 through a resistor R25, and the ambient light is transmittedPin 5 of sensor U13 is connected to pin 41 of microcontroller U6 and to capacitor C23, which is connected to ground, through resistor R26.
Pin 1, pin 2, pin 3, pin 4 and pin 7 of the memory U14 are grounded, and pin 8 of the memory U14 is externally connected with a voltage terminal VDD - 3P3, pin 6 of memory U14 is connected to pin 6 of microcontroller U6 through resistor R27, and pin 5 of memory U14 is connected to pin 7 of microcontroller U6 through resistor R28.
The pin 20 of the power module U15 is connected with one end of an inductor L8, the other end of the inductor L8 is connected with the negative electrode of a diode D5, the pin 2 of the power module U15, one end of a resistor R29, a grounded capacitor C27 and a grounded capacitor C28, the positive electrode of the diode D5 is connected with a solar cell B1 and a solar cell B2 which are connected in series, the pin 4 of the power module U15 is connected with a grounded capacitor C24, the pin 5 of the power module U15 is connected with a grounded resistor R31, the pin 8 of the power module U15 is connected with one end of a resistor R33 and one end of a resistor R35, the pin 7 of the power module U15 is connected with the other end of a resistor R33 and one end of a grounded resistor R34, the pin 11 of the power module U15 is connected with the other end of a resistor R35 and one end of a resistor R36, and the pin 12 of the power module U15 is connected with the other end of a resistor R36 and the grounded resistor R37.
Pin 3 of power module U15 is connected with the other end of resistor R29 and grounded resistor R30, pin 19 of power module U15 is connected with pin C2 of double-circuit field effect tube Q11, grounded capacitor C30 and grounded capacitor C31, and pin A1 of double-circuit field effect tube Q11 is externally connected with voltage terminal VDD - 3P3, the pin 18 of the power module U15 is connected to the grounded capacitor C32, the grounded capacitor C33, the grounded capacitor C34, the grounded capacitor C35, the grounded capacitor C36, the grounded capacitor C37, the grounded capacitor C38, the grounded capacitor C39, the grounded capacitor C40, the grounded capacitor C41, the grounded capacitor C42, and the grounded capacitor C43.
The pin 14 of the power module U15 is connected with the cathode of a diode D6, a grounded capacitor C25 of a pin C2 of a double-path field effect transistor Q10 and a grounded capacitor C26, the anode of the diode D6 is connected with a storage battery BT1, and the pin A1 of the double-path field effect transistor Q10 is externally connected with a voltage end VDD - 3P3。
To sum up, there is noThe connection relation, the device parameters and the model with description can refer to fig. 5-21, and can be set according to practical application. Such as VDD - 3P3, VDDS, VDDR, +12V, VCC, VDD5 may be set according to the actual required voltage.
The solar panels corresponding to the solar cells B1 and B2 may be provided on the main body 1 (the main case 11 and the sub case 12) or may be provided on the triangular plate 32.
Another aspect of the embodiments of the present disclosure discloses a highway construction management method based on a digital platform, which is implemented by the highway construction management system based on the digital platform;
the highway construction management method based on the digital platform comprises the following steps:
s1, controlling the unmanned aerial vehicle 100 to fly along a highway under construction;
s2, capturing real-time road construction condition photos through a monitoring camera module to form a picture set, and recording videos to form a video set;
s3, performing BIM modeling (only by referring to the existing scheme) based on the picture set and the video set to obtain a highway construction model;
s4, comparing the highway construction model with the engineering information model stored in the engineering management module, and if the comparison result is inconsistent, adjusting and optimizing the highway construction scheme to realize highway construction management based on the digital platform.
In summary, a plurality of specific embodiments of the present invention are disclosed, and under the condition of no paradox, each embodiment may be freely combined to form a new embodiment, that is, embodiments belonging to alternative schemes may be freely replaced, but cannot be mutually combined; embodiments not belonging to the alternatives can be combined with each other, and these new embodiments also belong to the essential content of the invention.
While the above examples describe various embodiments of the present invention, those skilled in the art will appreciate that various changes and modifications can be made to these embodiments without departing from the spirit and scope of the present invention, and that such changes and modifications fall within the scope of the present invention.
Claims (7)
1. Highway construction management system based on digital platform, characterized by comprising:
the unmanned aerial vehicle is provided with a main rotor wing device and an auxiliary rotor wing device with adjustable direction;
the sensor group module is arranged on the unmanned aerial vehicle and used for detecting temperature and humidity, illumination intensity, wind speed and direction, altitude, atmospheric pressure and position information of surrounding environment;
the monitoring camera module is arranged on the unmanned aerial vehicle and used for capturing real-time construction condition pictures of the highway to form a picture set and recording the pictures to form a video set;
the engineering management module stores engineering information models which meet the design requirements of all engineering structures of highway construction;
the communication module is installed on the unmanned aerial vehicle;
the processor is connected with the monitoring camera module through the communication module to control the monitoring camera module to work, receives the picture set and the video set, and carries out BIM modeling based on the picture set and the video set to obtain a highway construction model;
The processor is further connected with the sensor group module, the engineering management module and the unmanned aerial vehicle control module through the communication module to control the unmanned aerial vehicle to fly, control the sensor group module to work, compare the highway construction model with the engineering information model, and adjust and optimize a highway construction scheme if the comparison result is inconsistent so as to realize highway construction management based on a digital platform;
the unmanned aerial vehicle includes:
the main body is provided with a circular through hole for installing the main rotor wing device;
the arc-shaped sliding guide rail is arranged along the outer side edge of the machine body;
the auxiliary rotor wing device is arranged on a sliding block of the arc-shaped sliding guide rail, and the arc-shaped sliding guide rail is provided with a first motor;
the fuselage comprises:
a main housing having a square structure;
the two auxiliary shells are symmetrically arranged on two sides of the main shell;
the outline of the auxiliary shell gradually diverges and then gradually converges from one side close to the main shell to one side far away from the main shell to form an elliptical or oval blade shape; the main rotor wing device is arranged at the center of the auxiliary shell, and the arc-shaped sliding guide rails are arranged at the edges of the two symmetrical sides of the auxiliary shell;
The auxiliary rotor device includes:
the triangular plate with the arc chamfer is arranged on the sliding block of the arc sliding guide rail and provided with an arc recess;
the circular ring is rotatably arranged in the circular arc recess;
an auxiliary rotor assembly mounted within the annulus;
the second motor is in transmission connection with the circular ring so as to drive the circular ring to rotate;
the radian of the triangle facing the edge of the arc-shaped sliding guide rail is consistent with the radian of the arc-shaped sliding guide rail.
2. The digital platform based highway construction management system according to claim 1, wherein the first motor and/or the second motor is configured with a first driving circuit comprising a connector J1, a resistor R2, a resistor R3, a resistor R4, a photo coupler U1, a photo coupler U2, a transistor Q1, a transistor Q2, a transistor Q3, a transistor Q4, a diode D1, a diode D2, a diode D3, a diode D4, a motor M1, and a capacitor C1;
the pin 1 of the connector J1 is connected with one end of the resistor R1 and one end of the resistor R2, the pin 2 of the connector J1 is connected with the pin 2 of the photoelectric coupler U1, the pin 3 of the connector J1 is connected with the pin 2 of the photoelectric coupler U2, the other end of the resistor R1 is connected with the pin 1 of the photoelectric coupler U2, the pin 4 of the photoelectric coupler U1 is connected with one end of the resistor R3, the gate of the transistor Q1 and the gate of the transistor Q2, the pin 4 of the photoelectric coupler U2 is connected with one end of the resistor R4, the gate of the transistor Q3 and the gate of the transistor Q4, and the pin 3 of the photoelectric coupler U1 and the pin 3 of the photoelectric coupler U2 are respectively grounded;
The other end of the resistor R3 is connected with the other end of the resistor R4, the source electrode of the transistor Q1, the cathode of the diode D3 and the source electrode of the transistor Q3, and then externally connected with a voltage terminal +12V, the drain electrode of the transistor Q1 is connected with the anode of the diode D1, the cathode of the diode D2, the drain electrode of the transistor Q2, one end of the capacitor C1 and one end of the motor M1, the drain electrode of the transistor Q3 is connected with the anode of the diode D3, the cathode of the diode D4, the drain electrode of the transistor Q4, the other end of the capacitor C1 and the other end of the motor M1, and the source electrode of the transistor Q2, the anode of the diode D4 and the source electrode of the transistor Q4 are grounded after being connected.
3. The digital platform based highway construction management system according to claim 1, wherein the first motor and/or the second motor is configured with a second driving circuit comprising a connector J2, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a photo coupler U4, a photo coupler U5, a transistor Q6, a transistor Q7, a transistor Q8, a nand gate U3A, a nand gate U3B, a nand gate U3C, a nand gate U3D, a motor M2, and a capacitor C2;
The pin 1 of the connector J2 is externally connected with a voltage end VCC, the pin 2 of the connector J2 is grounded, the pin 3 of the connector J2 is connected with the pin 5 of the nand gate U3B, the pin 4 of the connector J2 is connected with the pin 1 of the nand gate U3A and the pin 9 of the nand gate U3C, the pin 5 of the connector J2 is connected with the pin 2 of the nand gate U3A and the pin 13 of the nand gate U3D, the pin 3 of the nand gate U3A is connected with the pin 4 of the nand gate U3B, the pin 6 of the nand gate U3B is connected with the pin 10 of the nand gate U3C and the pin 12 of the nand gate U3D, the pin 8 of the nand gate U3C is connected with the pin 2 of the photo coupler U4, the pin 1 of the nand gate U4 is connected with one end of the resistor R5, the other end of the resistor R5 is externally connected with a voltage end, the pin 11 of the nand gate U3D is connected with the pin 4 of the photo coupler U2, the other end of the photo coupler R6 is connected with the pin 6 of the photo coupler U4, and the other end of the resistor R4 is connected with the other end of the resistor R4;
the pin 3 of the photoelectric coupler U4 is connected with the base of the triode Q8, the pin 4 of the photoelectric coupler U5 is connected with the base of the triode Q7, the other end of the resistor R7 is connected with the base of the triode Q5, the other end of the resistor R8 is connected with the base of the triode Q6, the emitter of the triode Q5 is connected with the emitter of the triode Q7 and then externally connected with a voltage end +12V, the emitter of the triode Q6 is connected with the emitter of the triode Q8 and then grounded, the collector of the triode Q5 is connected with the collector of the triode Q6, one end of the capacitor C2 and one end of the motor M2, and the collector of the triode Q7 is connected with the collector of the triode Q8, the other end of the capacitor C2 and the other end of the motor M2.
4. The digital platform based highway construction management system according to claim 1, wherein the sensor group module comprises a microcontroller and a proximity sensor, a wind speed sensor, an ambient light sensor, a temperature and humidity sensor, an electronic compass sensor, a barometric sensor and a memory connected to the microcontroller.
5. The digital platform based highway construction management system according to claim 4, wherein said microcontroller is further connected with an antenna and a radio frequency connector.
6. The digital platform based highway construction management system according to claim 4, wherein said microcontroller is further connected to a power module.
7. A highway construction management method based on a digital platform, which is characterized by being realized by the highway construction management system based on the digital platform according to any one of claims 1 to 6, and comprising the following steps:
s1, controlling an unmanned aerial vehicle to fly along a highway under construction;
s2, capturing real-time road construction condition photos through a monitoring camera module to form a picture set, and recording videos to form a video set;
s3, performing BIM modeling based on the picture set and the video set to obtain a highway construction model;
S4, comparing the highway construction model with the engineering information model stored in the engineering management module, and if the comparison result is inconsistent, adjusting and optimizing the highway construction scheme to realize highway construction management based on the digital platform.
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