CN117288166A - Unmanned aerial vehicle mapping device and method based on BIM - Google Patents
Unmanned aerial vehicle mapping device and method based on BIM Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The invention relates to an unmanned aerial vehicle mapping device and method based on BIM, wherein the device comprises: unmanned aerial vehicle, route planning module, flight control module, inertial navigation module, image control point cloth accuse module, image control point sprayer, information acquisition module, digital model establishment module and displacement analysis evaluation module. In the invention, the current laser point cloud data is also acquired in the unmanned aerial vehicle photogrammetry process, which can improve the accuracy of measurement modeling, thereby improving mapping accuracy; in addition, the invention also carries out comprehensive analysis on the current image data and the historical image data obtained by history based on the three-dimensional BIM model to obtain a ground displacement deformation measurement result, thereby solving the problems that in the prior art, in the process of mapping and surveying in a long period, the situation of the landform changes and the ground deformation is generated due to the existence of the ground gravity, and the geological structure is damaged due to the larger deformation of the ground, so that the regional geological survey is invalid.
Description
Technical Field
The invention relates to the field of mapping, in particular to an unmanned aerial vehicle mapping device and method based on BIM.
Background
Geological mapping refers to the scientific and technical activities of measuring, exploring, investigating and studying the earth's surface and its underlying structures to obtain information and data on geology, topography, subsurface resources and environment, and includes the content of topography, geophysical exploration, geochemical exploration, geological drilling, geological investigation, mineral resource exploration, and the like. It is an important means for exploring the internal structure of the earth and various geological phenomena, evaluating underground resource reserves, researching the earth change process, protecting the environment and other fields.
Prior art, before surveying and mapping regional geology, need plan current regional route to guarantee the accuracy of survey and drawing data, chinese patent CN114954974a for example discloses a survey and drawing device and survey and drawing method based on BIM unmanned aerial vehicle, including unmanned aerial vehicle body and unmanned aerial vehicle automatic survey and drawing system, the edge fixed mounting at unmanned aerial vehicle body top has the wing frame of mountable spiral, the fixed clamping of supplementary installation is all fixed to unmanned aerial vehicle body both sides, the scanner mounting bracket of supplementary installation is fixed to the bottom fixed mounting of fixed clamping, this a survey and drawing method based on BIM unmanned aerial vehicle survey and drawing device and survey and drawing personnel can dismantle partial component to and shoot the component and change, not only the staff can be according to shooting scene change shooting apparatus, and make this unmanned aerial vehicle can be applicable to various places, improved the practicality of the device, reduced use cost, survey and drawing through this unmanned aerial vehicle, the cycle is fast, easily updates, is favorable to improving automatic high-speed degree, and the time delay is low, has improved shooting efficiency and accuracy.
Although the above scheme has the advantages as above, the above scheme has disadvantages in that: for geological investigation and mapping of buildings, because different areas show different geological structures, the geological conditions of the area to be measured need to be analyzed and marked in mapping engineering, but in the long-period mapping and surveying process, the situation of the landform can change and generate ground deformation due to the existence of the gravity of the ground, the geological structures can be damaged by larger deformation of the ground, the regional geological survey is invalid, and even the life safety of staff can be threatened.
Disclosure of Invention
The invention aims to solve the technical problems that in the long-period mapping survey process, the ground surface gravity is changed to generate ground deformation, and the geological structure is damaged by larger deformation of the ground, so that regional geological survey is invalid in the prior art.
The technical scheme for solving the technical problems is as follows: unmanned aerial vehicle mapping device based on BIM includes:
unmanned plane;
the route planning module is used for determining a mapping area, planning image control points in the mapping area and making a flight plan for the unmanned aerial vehicle to fly shooting in the mapping area in combination with the planned image control points;
a flight control module for controlling the unmanned aerial vehicle to fly within the mapping area according to the flight plan;
the inertial navigation module is used for acquiring the position information of the unmanned aerial vehicle;
the image control point distribution control module is used for carrying out point location confirmation in the mapping area based on planned image control points and the position information when the unmanned aerial vehicle flies in the mapping area according to the flight plan and outputting an image control point distribution control instruction;
the image control point ejector is mounted on the unmanned aerial vehicle and is used for ejecting an image control point marker to a planned image control point according to the image control point distribution instruction so as to realize distribution of the image control point;
the information acquisition module is carried on the unmanned aerial vehicle and is used for shooting and scanning an area with image control points distributed in the mapping area when the unmanned aerial vehicle flies in the mapping area according to the flight plan, so that current image data and current laser point cloud data are obtained;
the digital model building module is used for processing and analyzing the obtained current image data and the current laser point cloud data based on a BIM modeling method to generate a three-dimensional BIM model;
the displacement analysis evaluation module is used for comprehensively analyzing the current image data and the historical image data obtained through history based on the three-dimensional BIM model to extract deformation characteristic points, determining the positions of the deformation characteristic points in the current image data and the historical image data respectively, and comparing the positions of the deformation characteristic points in the current image data and the historical image data respectively to obtain a ground displacement deformation measurement result.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the unmanned aerial vehicle includes:
a body;
the fixed side wings are provided with a pair of fixed side wings and are respectively and fixedly arranged on two opposite sides of the outer surface of the machine body;
the multi-rotation side wings are provided with a pair of top parts and are respectively fixedly provided with a pair of fixed side wings;
the secondary power accelerator is fixedly arranged at the tail part of the outer surface of the machine body.
Further, the image control point marker is paint or lime.
Further, the method further comprises the following steps:
and the gesture control module is connected with the flight control module and is used for controlling the oil supply process of the electronic fuel injection engine by adopting an electronic control method so as to switch the flight mode of the unmanned aerial vehicle.
Further, the method further comprises the following steps:
the position control module comprises a starting motor, an APM unit and a grid starter, wherein the starting motor is connected with the flight control module through the APM unit and the grid starter, and the starting motor is also connected with and integrated with a charging system inside the unmanned aerial vehicle.
Further, the method further comprises the following steps:
and the height control module is connected with the flight control module and is used for performing PID control on the pitch angle and the roll angle of the fixed side wings so as to adjust the aerodynamic properties and the gravity suffered by the unmanned aerial vehicle.
Further, the information acquisition module includes:
the image acquisition unit is used for shooting an area with image control points distributed in the mapping area when the unmanned aerial vehicle flies in the mapping area according to the flight plan, so as to obtain current image data;
and the airborne LIDAR unit is used for scanning an area with image control points distributed in the mapping area when the unmanned aerial vehicle flies in the mapping area according to the flight plan, so as to obtain current laser point cloud data.
Further, the image acquisition unit is specifically an area array CMOS camera.
Further, the on-board LIDAR unit is specifically configured to:
scanning an area with image control points distributed in the mapping area to obtain current laser point cloud initial data;
filtering the initial laser point cloud data based on a K nearest neighbor method and a spherical neighborhood method to obtain current laser point cloud filtering data;
and carrying out boundary vector correction on the current laser point cloud filtering data to obtain current laser point cloud data.
Based on the unmanned aerial vehicle mapping device based on the BIM, the invention further provides an unmanned aerial vehicle mapping method based on the BIM.
The unmanned aerial vehicle mapping method based on BIM is applied to the unmanned aerial vehicle mapping device based on BIM, and comprises the following steps:
s1, determining a mapping area, planning image control points in the mapping area, and making a flight plan for unmanned aerial vehicle flight shooting in the mapping area by combining the planned image control points;
s2, controlling the unmanned aerial vehicle to fly in the mapping area according to the flight plan;
s3, acquiring the position information of the unmanned aerial vehicle;
s4, when the unmanned aerial vehicle flies in the mapping area according to the flight plan, confirming the point location in the mapping area based on the planned image control point and the position information, and outputting an image control point distribution control instruction;
s5, spraying the image control point markers onto the planned image control points according to the image control point distribution instruction so as to realize distribution of the image control points;
s6, when the unmanned aerial vehicle flies in the mapping area according to the flight plan, shooting and scanning the area with the image control points distributed in the mapping area to obtain current image data and current laser point cloud data;
s7, processing and analyzing the obtained current image data and the current laser point cloud data based on a BIM modeling method to generate a three-dimensional BIM model;
s8, comprehensively analyzing the current image data and the historical image data obtained through history based on the three-dimensional BIM model to extract deformation characteristic points, determining positions of the deformation characteristic points in the current image data and the historical image data respectively, and comparing the positions of the deformation characteristic points in the current image data and the historical image data respectively to obtain a ground displacement deformation measurement result.
The beneficial effects of the invention are as follows: in the unmanned aerial vehicle mapping device and method based on BIM, the current laser point cloud data is also acquired in the unmanned aerial vehicle photogrammetry process, so that the accuracy of measurement modeling can be improved, and the mapping accuracy is improved; in addition, the invention also carries out comprehensive analysis on the current image data and the historical image data obtained by history based on the three-dimensional BIM model to obtain a ground displacement deformation measurement result, thereby solving the problems that in the prior art, in the process of mapping and surveying in a long period, the situation of landform changes and ground deformation occurs due to the existence of ground gravity, and the geological structure is damaged due to larger deformation of the ground, so that regional geological surveying is invalid.
Drawings
FIG. 1 is a block diagram of an unmanned aerial vehicle mapping device based on BIM of the present invention;
fig. 2 is a schematic structural diagram of a unmanned aerial vehicle in a BIM-based unmanned aerial vehicle mapping device according to the present invention;
fig. 3 is a flow chart of a mapping method of unmanned aerial vehicle based on BIM according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. the device comprises a machine body, a fixed flank, a multi-rotation flank, a secondary power accelerator, a supporting leg, a control point sprayer and a frame, wherein the frame is 2, the fixed flank, the multi-rotation flank, the secondary power accelerator, the supporting leg and the like.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1, an unmanned aerial vehicle mapping device based on BIM includes:
unmanned plane;
the route planning module is used for determining a mapping area, planning image control points in the mapping area and making a flight plan for the unmanned aerial vehicle to fly shooting in the mapping area in combination with the planned image control points;
a flight control module for controlling the unmanned aerial vehicle to fly within the mapping area according to the flight plan;
the inertial navigation module is used for acquiring the position information of the unmanned aerial vehicle;
the image control point distribution control module is used for carrying out point location confirmation in the mapping area based on planned image control points and the position information when the unmanned aerial vehicle flies in the mapping area according to the flight plan and outputting an image control point distribution control instruction;
the image control point ejector is mounted on the unmanned aerial vehicle and is used for ejecting an image control point marker to a planned image control point according to the image control point distribution instruction so as to realize distribution of the image control point;
the information acquisition module is carried on the unmanned aerial vehicle and is used for shooting and scanning an area with image control points distributed in the mapping area when the unmanned aerial vehicle flies in the mapping area according to the flight plan, so that current image data and current laser point cloud data are obtained;
the digital model building module is used for processing and analyzing the obtained current image data and the current laser point cloud data based on a BIM modeling method to generate a three-dimensional BIM model;
the displacement analysis evaluation module is used for comprehensively analyzing the current image data and the historical image data obtained through history based on the three-dimensional BIM model to extract deformation characteristic points, determining the positions of the deformation characteristic points in the current image data and the historical image data respectively, and comparing the positions of the deformation characteristic points in the current image data and the historical image data respectively to obtain a ground displacement deformation measurement result.
In this specific embodiment, as shown in fig. 2, the unmanned aerial vehicle includes:
a body 1;
a pair of fixed flanks 2 which are respectively and fixedly installed on two opposite sides of the outer surface of the body 1;
a multi-rotation wing 3 provided with a pair and fixedly installed with the tops of the pair of the fixed wings 2, respectively;
a secondary power accelerator 4 fixedly installed at the tail of the outer surface of the body 1;
and a plurality of supporting legs 5 which are fixedly arranged at the bottom of the machine body 1 in a distributed manner.
In fig. 2, 6 is the image control point injector, and the image control point injector 6 is fixedly installed at the bottom of the outer surface of the body 1.
According to the unmanned aerial vehicle, the multi-rotation side wings 3 are matched with the fixed side wings 2, the whole unmanned aerial vehicle adopts a flight mode of matching the fixed side wings 2 and the multi-rotation side wings 3, vertical take-off and landing can be realized under the support of the multi-rotation side wings 3, and take-off by means of runway taxiing is not needed; specifically, the unmanned aerial vehicle can use the multi-rotary wing 3 to carry out vertical take-off and landing and low-speed hovering, can adopt the fixed wing 2 when flying at high speed, and can be converted into the multi-rotary wing mode when hovering at low speed is required. In particular, the switching from low-speed hover to high-speed fly may take the following steps: starting the fixed flank 2, starting to run, reducing the lifting force of the multi-rotating flank 3, accelerating the speed of the multi-rotating flank 3 to reach the take-off speed, adopting the jet acceleration of the secondary power accelerator 4 in the acceleration mode, and completely stopping and converting the multi-rotating flank 3 into the flight mode when the fixed flank 2 reaches the take-off speed and starts to fly stably; it should be noted that in the switching process, stability and safety of the fuselage 1 need to be ensured, and when the lift force of the multi-rotation wing 3 is reduced, the thrust of the fixed wing 2 needs to be gradually increased in cooperation with the inertial navigation system and the GPS sensor inside the fuselage 1 to accurately control, and meanwhile, the lift force of the fixed wing 2 needs to be increased through the angle of the fixed wing 2; in this way, the lifting force of the multi-rotation wing 3 is reduced, the speed and the lifting force of the fixed wing 2 are gradually increased, and the acceleration process is realized.
In this specific embodiment, in the route planning module:
determining a region to be mapped, planning and designing the region, and making a flight plan of the unmanned aerial vehicle according to the size and shape of the designed mapping region, wherein the flight plan comprises parameters such as a departure point, a flight route, a shooting height, a camera angle and the like; and planning the image control point while carrying out flight route planning.
In this embodiment, the image control point injector stores an image control point marker inside, and after the image control point distribution module determines the point location, the internal pump sprays the image control point marker to distribute and control the image control point, where the image control point marker is paint or lime, and can be selected according to the actual mapping weather and the ground condition.
Before the image control points are distributed, the unmanned aerial vehicle is taken off and hovered in the air at the well-prepared flying points, and the instructions of operators are waited, and cruising mapping and image control point distribution control are carried out according to a preset route.
In this specific embodiment, as shown in fig. 1, the unmanned aerial vehicle mapping device based on BIM further includes: and the height control module is connected with the flight control module and is used for performing PID control on the pitch angle and the roll angle of the fixed side wings so as to adjust the aerodynamic properties and the gravity suffered by the unmanned aerial vehicle.
In order to ensure the stability of acceleration, the height control module adopts an electronic stabilizing system to assist in controlling the flight attitude, so that the situations of shaking and instability are avoided, for example, a PID controller can be adopted to control the pitch angle and the roll angle of the fixed flank, thereby realizing stable acceleration and transition, having the characteristics of long navigation time, high speed and long distance of the fixed flank and effectively improving the mapping efficiency; the altitude control module is used for adjusting aerodynamic properties and self gravity of the unmanned aerial vehicle in the engineering side measuring and painting operation process, and provides mapping stability.
In this specific embodiment, as shown in fig. 1, the unmanned aerial vehicle mapping device based on BIM further includes: and the gesture control module is connected with the flight control module and is used for controlling the oil supply process of the electronic fuel injection engine by adopting an electronic control method so as to switch the flight mode of the unmanned aerial vehicle.
The attitude control module is additionally provided with an electronic injection engine, adopts an electronic control mode to replace the traditional mechanical system such as a carburetor to control the oil supply process of the engine, and can switch the flight mode in a non-hovering stage. In this specific embodiment, as shown in fig. 1, the unmanned aerial vehicle mapping device based on BIM further includes: the position control module comprises a starting motor, an APM unit and a grid starter, wherein the starting motor is connected with the flight control module through the APM unit and the grid starter, and the starting motor is also connected with and integrated with a charging system inside the unmanned aerial vehicle.
The invention aims at improving the current direct current motor and the alternating current generator with the regulator, which are used for starting, and the double devices formed by the direct current motor and the alternating current generator have large occupied space and inconvenient installation, so the invention is provided with the position control module for replacement, the position control module is internally provided with the starting motor, the APM unit and the grid starter, the starting motor can be used as a generator, and the starting system and the charging system are integrated, thereby lightening the weight of the machine body and improving the convenience of the whole device in cruising and mapping.
In this specific embodiment, the information collecting module includes:
the image acquisition unit is used for shooting an area with image control points distributed in the mapping area when the unmanned aerial vehicle flies in the mapping area according to the flight plan, so as to obtain current image data;
and the airborne LIDAR unit is used for scanning an area with image control points distributed in the mapping area when the unmanned aerial vehicle flies in the mapping area according to the flight plan, so as to obtain current laser point cloud data.
In this embodiment, the image capturing unit is specifically an area array CMOS camera. The high-precision area array CMOS camera is convenient for measuring the ground displacement deformation subsequently.
In this specific embodiment, the on-board LIDAR unit is specifically configured to:
scanning an area with image control points distributed in the mapping area to obtain current laser point cloud initial data;
filtering the initial laser point cloud data based on a K nearest neighbor method and a spherical neighborhood method to obtain current laser point cloud filtering data;
and carrying out boundary vector correction on the current laser point cloud filtering data to obtain current laser point cloud data.
The airborne LiDAR unit can rapidly acquire laser point cloud data of the digital elevation model, directly reflect three-dimensional coordinates of model point positions, and automatically classify, filter or remove point clouds on non-terrain and building targets such as vegetation, barriers and the like. The airborne LiDAR unit comprises two processing methods, namely a K nearest neighbor method and a spherical neighbor method, and the purpose of the two processing methods is that the airborne LiDAR unit is used for identifying and rejecting difference points, so that modeling point clouds are more accurate, vector correction is carried out on point cloud boundaries, and the shape and structure of the point cloud boundaries are regular and complete, thereby realizing rapid acquisition of laser point cloud data of a digital elevation model, and improving the accuracy of the laser point cloud data of the digital elevation model.
In this embodiment, the digital model building module processes the mapping information (current image data and current laser point cloud data) to generate a three-dimensional model and point cloud data, and the processed three-dimensional model and point cloud data are imported into BIM software (specifically, virtual survivinyor software) and edited and adjusted to generate a final BIM model.
In this embodiment, the displacement analysis and evaluation module is used for measuring the deformation displacement of the ground, the ground image is collected, the displacement analysis and evaluation module and the digital model building module are matched, the collected image information is transmitted to the computer, after the image information is processed and analyzed, deformation characteristic points are extracted, and the positions of the characteristic points before and after the comparison are compared, so that the deformation measurement result of the ground displacement is obtained. Because different areas present different geological structures, the change of the earth's surface gravity can cause overlarge surface shape variable to influence the mapping result in the long-period mapping and surveying process, so that the displacement analysis and evaluation module is arranged.
In the process of obtaining the ground displacement deformation measurement result:
firstly, the resolution of an area array CMOS camera is accurately calculated according to a resolution calculation formula, wherein the resolution calculation formula is as follows:
wherein H andthe horizontal length and the horizontal resolution of the visual field range are respectively; v and->Respectively the vertical length and the vertical extent of the visual fieldResolution in the straight direction, sigma χ Sum sigma γ The horizontal direction variance and the vertical direction variance are respectively; in order to avoid the occurrence of lens zooming, an area array CMOS camera selects a focus-selecting lens, and the selected lens needs to have a function of adjusting an aperture, and supports two manual and automatic adjustment modes.
Then, respectively defining four coordinate systems of a camera, an image, imaging and the world;
any point (u) 0 ,v 0 ) The corresponding points in the imaging coordinate system are
Wherein d χ And d y The physical dimensions of any pixel in the imaging coordinate system in the x-axis and y-axis directions, s ～ Is a tilt factor; the imaging process, namely the process of transforming world coordinate system nodes into an image coordinate system, comprises the following transformation formulas:
wherein (X) C ，Y C ，Z C ) And (X) W ，Y W ，Z W ) Respectively the homogeneous coordinates of the image and the world coordinate system, A is a camera parameter matrix, Z C R and t are respectively a rotation orthogonal matrix and a translation vector for calibration parameters;
and finally, substituting any point on the ground of the surveying and mapping engineering into a formula (3), thereby determining the specific pixel position coordinate of the point, calibrating by a machine vision camera, and obtaining the displacement in the actual space by measuring the displacement in an image coordinate system and combining the resolution of the camera in the displacement deformation measurement process of the surveying and mapping ground.
In the present invention:
1. according to the invention, the image control point can be positioned through the airborne LiDAR unit and the image control point distribution control module, the acquired data is filtered through the airborne LiDAR unit in combination with the K nearest neighbor method and the spherical neighborhood method, firstly, the difference points are identified and removed, so that modeling point clouds are more accurate, secondly, vector correction is carried out on point cloud boundaries, so that the shape structure is regular and complete, and therefore, rapid acquisition of digital elevation model laser point cloud data is realized, meanwhile, the accuracy of the digital elevation model laser point cloud data is improved, the high-accuracy mapping modeling can be established through the airborne LiDAR unit of the aircraft body by using the method, the three-dimensional reproduction of the geological model of the building elevation model is carried out, and the mapping accuracy is improved.
2. The invention processes and analyzes the collected data by matching the image control point distribution control module, the information acquisition module and the digital model building module and combining with BIM technology to generate a three-dimensional building model, and provides measurement and design analysis functions to realize accurate mapping of a mapping area; the ground image is collected, the displacement analysis evaluation module and the digital model building module are matched, the collected image information is transmitted to the computer, deformation characteristic points are extracted after the image information is processed and analyzed, the positions of the characteristic points are compared, and the ground displacement deformation measurement result is obtained.
3. According to the invention, through the cooperation of the fixed flank, the multi-rotation flank and the secondary power accelerator, the vertical take-off and landing can be realized under the support of the multi-rotation flank, and the runway is not required to be used for taxiing and take-off, and the fixed flank has the characteristics of long navigation time, high speed and long distance, and effectively improves the mapping efficiency.
4. According to the invention, the internal marking liquid is distributed and controlled by the pump in the image control point sprayer through the cooperation of the image control point sprayer and the image acquisition unit, meanwhile, the onboard LiDAR unit carried by the machine body can rapidly acquire laser point cloud data of the digital elevation model, directly reflect the three-dimensional coordinates of the model point positions, automatically classify, filter or remove the point cloud on non-terrain and building targets such as vegetation, barriers and the like, and effectively improve the mapping accuracy.
Based on the unmanned aerial vehicle mapping device based on the BIM, the invention further provides an unmanned aerial vehicle mapping method based on the BIM.
As shown in fig. 3, a BIM-based unmanned aerial vehicle mapping method is applied to the above-mentioned BIM-based unmanned aerial vehicle mapping device, and includes the following steps:
s1, determining a mapping area, planning image control points in the mapping area, and making a flight plan for unmanned aerial vehicle flight shooting in the mapping area by combining the planned image control points;
s2, controlling the unmanned aerial vehicle to fly in the mapping area according to the flight plan;
s3, acquiring the position information of the unmanned aerial vehicle;
s4, when the unmanned aerial vehicle flies in the mapping area according to the flight plan, confirming the point location in the mapping area based on the planned image control point and the position information, and outputting an image control point distribution control instruction;
s5, spraying the image control point markers onto the planned image control points according to the image control point distribution instruction so as to realize distribution of the image control points;
s6, when the unmanned aerial vehicle flies in the mapping area according to the flight plan, shooting and scanning the area with the image control points distributed in the mapping area to obtain current image data and current laser point cloud data;
s7, processing and analyzing the obtained current image data and the current laser point cloud data based on a BIM modeling method to generate a three-dimensional BIM model;
s8, comprehensively analyzing the current image data and the historical image data obtained through history based on the three-dimensional BIM model to extract deformation characteristic points, determining positions of the deformation characteristic points in the current image data and the historical image data respectively, and comparing the positions of the deformation characteristic points in the current image data and the historical image data respectively to obtain a ground displacement deformation measurement result.
In the unmanned aerial vehicle mapping device and method based on BIM, the current laser point cloud data is also acquired in the unmanned aerial vehicle photogrammetry process, so that the accuracy of measurement modeling can be improved, and the mapping accuracy is improved; in addition, the invention also carries out comprehensive analysis on the current image data and the historical image data obtained by history based on the three-dimensional BIM model to obtain a ground displacement deformation measurement result, thereby solving the problems that in the prior art, in the process of mapping and surveying in a long period, the situation of landform changes and ground deformation occurs due to the existence of ground gravity, and the geological structure is damaged due to larger deformation of the ground, so that regional geological surveying is invalid.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. Unmanned aerial vehicle mapping device based on BIM, its characterized in that includes:
unmanned plane;
the route planning module is used for determining a mapping area, planning image control points in the mapping area and making a flight plan for the unmanned aerial vehicle to fly shooting in the mapping area in combination with the planned image control points;
a flight control module for controlling the unmanned aerial vehicle to fly within the mapping area according to the flight plan;
the inertial navigation module is used for acquiring the position information of the unmanned aerial vehicle;
the image control point distribution control module is used for carrying out point location confirmation in the mapping area based on planned image control points and the position information when the unmanned aerial vehicle flies in the mapping area according to the flight plan and outputting an image control point distribution control instruction;
the image control point ejector is mounted on the unmanned aerial vehicle and is used for ejecting an image control point marker to a planned image control point according to the image control point distribution instruction so as to realize distribution of the image control point;
the information acquisition module is carried on the unmanned aerial vehicle and is used for shooting and scanning an area with image control points distributed in the mapping area when the unmanned aerial vehicle flies in the mapping area according to the flight plan, so that current image data and current laser point cloud data are obtained;
the digital model building module is used for processing and analyzing the obtained current image data and the current laser point cloud data based on a BIM modeling method to generate a three-dimensional BIM model;
the displacement analysis evaluation module is used for comprehensively analyzing the current image data and the historical image data obtained through history based on the three-dimensional BIM model to extract deformation characteristic points, determining the positions of the deformation characteristic points in the current image data and the historical image data respectively, and comparing the positions of the deformation characteristic points in the current image data and the historical image data respectively to obtain a ground displacement deformation measurement result.
2. The BIM-based unmanned aerial vehicle mapping device of claim 1, wherein the unmanned aerial vehicle comprises:
a body;
the fixed side wings are provided with a pair of fixed side wings and are respectively and fixedly arranged on two opposite sides of the outer surface of the machine body;
the multi-rotation side wings are provided with a pair of top parts and are respectively fixedly provided with a pair of fixed side wings;
the secondary power accelerator is fixedly arranged at the tail part of the outer surface of the machine body.
3. The BIM-based unmanned aerial vehicle mapping device of claim 1, wherein the imaging point marker is paint or lime.
4. The BIM-based unmanned aerial vehicle mapping device of claim 1, further comprising:
and the gesture control module is connected with the flight control module and is used for controlling the oil supply process of the electronic fuel injection engine by adopting an electronic control method so as to switch the flight mode of the unmanned aerial vehicle.
5. The BIM-based unmanned aerial vehicle mapping device of claim 1, further comprising:
the position control module comprises a starting motor, an APM unit and a grid starter, wherein the starting motor is connected with the flight control module through the APM unit and the grid starter, and the starting motor is also connected with and integrated with a charging system inside the unmanned aerial vehicle.
6. The BIM-based unmanned aerial vehicle mapping device of claim 2, further comprising:
and the height control module is connected with the flight control module and is used for performing PID control on the pitch angle and the roll angle of the fixed side wings so as to adjust the aerodynamic properties and the gravity suffered by the unmanned aerial vehicle.
7. The BIM-based unmanned aerial vehicle mapping device of claim 1, wherein the information acquisition module comprises:
the image acquisition unit is used for shooting an area with image control points distributed in the mapping area when the unmanned aerial vehicle flies in the mapping area according to the flight plan, so as to obtain current image data;
and the airborne LIDAR unit is used for scanning an area with image control points distributed in the mapping area when the unmanned aerial vehicle flies in the mapping area according to the flight plan, so as to obtain current laser point cloud data.
8. The BIM-based unmanned aerial vehicle mapping device of claim 7, wherein the image acquisition unit is embodied as an area array CMOS camera.
9. The BIM-based unmanned aerial vehicle mapping device of claim 7, wherein the on-board LIDAR unit is specifically configured to:
scanning an area with image control points distributed in the mapping area to obtain current laser point cloud initial data;
filtering the initial laser point cloud data based on a K nearest neighbor method and a spherical neighborhood method to obtain current laser point cloud filtering data;
and carrying out boundary vector correction on the current laser point cloud filtering data to obtain current laser point cloud data.
10. BIM-based unmanned aerial vehicle mapping method, characterized in that it is applied to a BIM-based unmanned aerial vehicle mapping device according to any one of claims 1 to 9, comprising the steps of:
s1, determining a mapping area, planning image control points in the mapping area, and making a flight plan for unmanned aerial vehicle flight shooting in the mapping area by combining the planned image control points;
s2, controlling the unmanned aerial vehicle to fly in the mapping area according to the flight plan;
s3, acquiring the position information of the unmanned aerial vehicle;
s4, when the unmanned aerial vehicle flies in the mapping area according to the flight plan, confirming the point location in the mapping area based on the planned image control point and the position information, and outputting an image control point distribution control instruction;
s5, spraying the image control point markers onto the planned image control points according to the image control point distribution instruction so as to realize distribution of the image control points;
s6, when the unmanned aerial vehicle flies in the mapping area according to the flight plan, shooting and scanning the area with the image control points distributed in the mapping area to obtain current image data and current laser point cloud data;
s7, processing and analyzing the obtained current image data and the current laser point cloud data based on a BIM modeling method to generate a three-dimensional BIM model;
s8, comprehensively analyzing the current image data and the historical image data obtained through history based on the three-dimensional BIM model to extract deformation characteristic points, determining positions of the deformation characteristic points in the current image data and the historical image data respectively, and comparing the positions of the deformation characteristic points in the current image data and the historical image data respectively to obtain a ground displacement deformation measurement result.
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| CN117849788B (en) * | 2024-03-06 | 2024-05-10 | 山东飞鸢空间信息科技有限公司 | Mapping system of geological topography digital twin scene based on three-dimensional modeling |
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