CN211651588U

CN211651588U - Automatic rotating device for high formwork settlement monitoring laser point cloud based on unmanned aerial vehicle

Info

Publication number: CN211651588U
Application number: CN202020428648.XU
Authority: CN
Inventors: 邓新勇; 刁尚东; 苏岩; 黄林冲; 李慧峰
Original assignee: Guangzhou Chengtou Wisdom City Technology Development Co ltd; Guangzhou Key Public Construction Project Management Center
Current assignee: Guangzhou Chengtou Wisdom City Technology Development Co ltd; Guangzhou Key Public Construction Project Management Center
Priority date: 2020-03-30
Filing date: 2020-03-30
Publication date: 2020-10-09
Anticipated expiration: 2030-03-30

Abstract

The utility model discloses an automatic rotating device of high formwork settlement monitoring laser point cloud based on unmanned aerial vehicle, first revolving rack is equipped with in the pivot of its first motor, through pivot installation second revolving rack on the first revolving rack to install the angular surveying appearance that can be used to detect pivot angle on first revolving rack. In the monitoring process, the laser range finder arranged on the second rotating frame is driven by the unmanned aerial vehicle to be in sequence with the first measurement by taking the datum point on the upright column as referenceMeasuring the first linear distance L between the measuring time and the monitoring point at the same height H above the reference point and the second measuring time₁And a first linear distance L₂Simultaneously, the laser range finders are detected by the angle measuring instrument to respectively measure a linear distance L₁And a first linear distance L₂In the process, the first angle a and the second angle β of vertical rotation are used for calculation and analysis to obtain the vertical height change value D of the monitoring point so as to accurately judge whether the high formwork is settled and the settlement amount.

Description

Automatic rotating device for high formwork settlement monitoring laser point cloud based on unmanned aerial vehicle

Technical Field

The utility model relates to a building information model application technical field based on point cloud, in particular to high formwork settlement monitoring laser point cloud's automatic rotating device based on unmanned aerial vehicle.

Background

At present, the BIM (building information model) in the building industry is widely applied, for example, the BIM is established before construction, and can be effectively applied to the aspects of project planning, collaborative design, collision check, performance analysis, construction simulation, monitoring (such as settlement monitoring), cost, progress control and the like of the whole life cycle of a construction project. Although there is very fine BIM as construction reference, in the actual construction process, because of a large amount of artificial participation and mechanical errors, the problem of construction errors is often encountered, the traditional construction monitoring is that related supervisors apply measuring tools according to related quality acceptance criteria, the data which can truly reflect the quality of the building is obtained through field test and measurement, and the measured real data is compared with design data for manual evaluation, the mode needs to consume a large amount of manpower and time to finish, and the accuracy of artificial measurement data is low, and the efficiency is not high.

Taking the monitoring of a high formwork as an example, along with the development of social economy, the scale of construction engineering is larger and larger, and more engineering construction needs to use the high formwork for auxiliary operation. The height of the high formwork is generally from a few meters to tens of meters, and some even up to tens of meters. Generally speaking, the larger the height of the high formwork, the larger the load bearing, the higher the possibility of collapse of the high formwork system during construction, and once the high formwork system collapses during construction, the greater and even more serious construction safety accidents may be caused by the group injury of the operators thereon. Therefore, during the construction process, it is necessary to perform safety monitoring on the high formwork so as to determine whether the index value of the high formwork exceeds the safety range, and according to the monitoring situation, make a decision whether to take corresponding measures (for example, reinforce the high formwork at a corresponding position and evacuate the people who are constructed thereon in time).

The existing high formwork safety monitoring indexes mainly comprise settlement, an inclination angle, axial force and the like, the axial force of an important rod piece is monitored through an axial force meter or a pressure gauge, and the inclination angle of the rod piece is mainly monitored through an inclinometer; and the settlement is monitored by a displacement sensor or a total station.

The total station is based on an optical testing principle, and although the total station can probably realize settlement monitoring of most high supporting forms, the total station still has the following defects: 1. in the process of monitoring the overall settlement of the formwork, the stability of the soft soil layer is weak, and local change is easy to occur due to the lifting of the water level or the action of external pressure, so that a reference point (the reference point refers to a reference point which needs to be kept still all the time in the monitoring process) arranged on the surface (or called the ground) of the soft soil layer is easy to settle along with the settlement of the surface of the soft soil layer, so that self-settlement errors occur, and the reliability of monitoring data is influenced. 2. When the rod pieces in the high formwork are dense, a proper measuring station is difficult to find for the total station to realize all-dimensional one-point measurement; therefore, the continuous transfer station is needed, the workload of the continuous transfer station is large, and the corresponding monitoring labor cost is high.

The relative displacement sensor needs to measure through a steel wire, and the condition of the sensor is easily damaged due to the fact that the steel wire is broken under the condition that the field environment is complex, so that the reliability of data cannot be guaranteed.

Therefore, the invention patent with Chinese patent publication number '106840092A' provides a method for monitoring a high formwork by using a laser range finder, wherein a region positioned outside a high formwork support body is provided with a reference point upright post with the lower end extending into and fixed on a foundation layer and the upper end extending out of the ground, the reference point upright post is arranged on the part of the reference point upright post extending out of the ground, the foundation layer with stable geological properties supports the reference point upright post, so that the reference point arranged on the reference point upright post can not be settled due to settlement of a soft soil layer in a corresponding region, the reference point is ensured to be kept still all the time in the monitoring process, and settlement errors of the reference point are avoided. Therefore, in the monitoring process, whether the high formwork support body is settled or not and the specific settlement amount can be judged by monitoring the variation amount of the distance between the first laser range finder arranged on the upper part of the high formwork support body and the corresponding reference point, the monitored data is relatively reliable, a monitoring unit can judge whether the index value of the high formwork exceeds the safety range according to the obtained settlement amount and by integrating the axial force and the inclination angle variation amount of the high formwork support body, and then the decision of whether to take corresponding measures (for example, reinforcing the high formwork at the corresponding position and evacuating people who are constructed on the high formwork in time) is made, so that the problem of great and even serious construction safety accidents is avoided. However, the method for monitoring the high formwork by using the laser range finder still has the defects because the first laser range finder is arranged at the position, above the reference point, of the top of the high formwork, the settlement is monitored by monitoring the variation of the distance between the first laser range finder and the reference point, the high formwork can be inclined except the settlement, once the first laser range finder is inclined, the laser emission angle of the first laser range finder can change along with the variation and is not vertically opposite to the reference point, the monitored distance is not vertical any more, the monitoring result is deviated (the larger the deviation is the larger the inclination angle is), the accuracy of the monitoring data is further influenced, and the possibility of safety misjudgment is finally generated. If the monitoring points are arranged on the high formwork on the basis of the invention patent with the publication number of 106840092A, the monitoring points are measured at the same height position at different times by using the laser distance measuring instrument arranged on the unmanned aerial vehicle through the automatic rotating device and taking the reference point on the reference point upright post as the reference, and the corresponding angle is obtained, so that the technical problem can be effectively solved. During measurement, how to control the rotation of the laser range finder and obtain the corresponding angle is the key to solve the technical problem.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a high formwork settlement monitoring laser point cloud's automatic rotating device based on unmanned aerial vehicle aims at in order to assist the laser point cloud to improve the reliability of high formwork monitoring.

In order to realize the above-mentioned purpose, the utility model provides an automatic rotating device of high formwork settlement monitoring laser point cloud based on unmanned aerial vehicle, including can install in unmanned aerial vehicle's mount, adorn in mount and the vertical decurrent first motor of pivot, adorn in the first revolving rack of the pivot of first motor, through the pivot can rotate perpendicularly and adorn in the second revolving rack of first revolving rack and be used for driving the perpendicular pivoted second motor of second revolving rack, first revolving rack is equipped with and is used for detecting the angular surveying appearance of pivot angle, laser range finder adorn in the second revolving rack, first motor, second motor and angular surveying appearance and unmanned aerial vehicle's treater electric connection to be carried out by the treater.

The utility model discloses technical scheme is equipped with in the pivot of the first motor of unmanned aerial vehicle through the mount and can be along with its horizontal pivoted first revolving rack, installs through the pivot on first revolving rack and can be under the drive of second motor perpendicular pivoted second revolving rack to install the angle measuring apparatu that can be used to detect pivot turned angle on first revolving rack. In the monitoring process, the reference point on the upright column is used as a reference, the laser range finder arranged on the second rotating frame is driven by the unmanned aerial vehicle to be positioned at the same height H above the reference point at the first measuring time and the second measuring time, and the first linear distance L between the laser range finder and the monitoring point is respectively measured and obtained₁And a first linear distance L₂Simultaneously, the laser range finders are detected by the angle measuring instrument to respectively measure a linear distance L₁And a first linear distance L₂Is vertically rotated by a first angle a and a second angle β, so that the first straight distance L can be obtained according to the first angle a, the second angle β₁And a second linear distance L₂Performing calculation analysis to obtain monitorAnd (4) the vertical height change value D of the points so as to accurately judge whether the high formwork is settled or not and the settlement amount. And finally, the axial force and the inclination angle variation of the high formwork support body are integrated to judge whether the index value of the high formwork exceeds a safety range, and then a decision is made whether to take corresponding measures (for example, the high formwork is reinforced at a corresponding position and the personnel constructing on the high formwork is evacuated in time) so as to avoid great and even serious construction safety accidents.

Drawings

Fig. 1 is a schematic perspective view of the automatic rotating device of the present invention;

FIG. 2 is a front view of the automatic rotating device of the present invention;

FIG. 3 is a schematic view of the angle sensor, the sensing magnet and the pivot shaft in cooperation;

FIG. 4 is a schematic view of an induction magnet;

FIG. 5 is a schematic view of a laser rangefinder measuring its linear distance from a monitoring point at a second location;

FIG. 6 is a schematic view of a datum point on a column;

fig. 7 is a schematic diagram of a vertical height variation value D calculated by the settlement monitoring method for a high formwork.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

If there is a description in an embodiment of the present invention referring to "first" or "second", etc., the description of "first" or "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides an automatic rotating device of high formwork monitoring laser point cloud based on unmanned aerial vehicle.

In the embodiment of the present invention, as shown in fig. 1 to 7, the automatic rotating device 2 for monitoring laser point cloud based on high formwork settlement of an unmanned aerial vehicle comprises a fixing frame 21 mountable (e.g. by screw mounting) on the unmanned aerial vehicle, a first motor 22 mounted on the fixing frame 21 and having a vertically downward rotating shaft, a first rotating frame 23 mounted on the rotating shaft of the first motor 22, a second rotating frame 24 mounted on the first rotating frame 23 and being vertically rotatable (i.e. rotating around a horizontal axis) by a pivot 241, and a second motor 25 for driving the second rotating frame 24 to vertically rotate, wherein the first rotating frame 23 is provided with an angle measuring instrument 3 for detecting a rotating angle of the pivot 241, the laser distance measuring instrument 1 is mounted on the second rotating frame 24, the first motor 22, the second motor 25 and the angle measuring instrument 3 are electrically connected with a processor (not shown) of the unmanned aerial vehicle 100 and are executed by the processor, and when the first motor 22 rotates the rotating shaft, the first rotating frame 23 can be driven to rotate horizontally (i.e. rotate around the vertical axis), and when the rotating shaft of the second motor rotates, the second rotating frame 24 can be driven to drive the laser range finder 1 to rotate vertically, so that the laser range finder 1 can measure the linear distance between the monitoring point 700 and the monitoring point. In the monitoring process, the laser range finder 1 mounted on the second rotating frame 24 is driven by the unmanned aerial vehicle 100 to be at the same height H above the reference point at the first measurement time and the second measurement time by taking the reference point 200 on the upright 300 as a reference, and the first linear distance L between the laser range finder 1 and a monitoring point is respectively measured and obtained₁And a first linear distance L₂Simultaneously, the angle measuring instrument 3 detects that the laser range finders 1 respectively measure a linear distance L₁And a first linear distance L₂Is vertically rotated by a first angle a and a second angle β, so that the first straight distance L can be obtained according to the first angle a, the second angle β₁And a second straight lineLine distance L₂And calculating and analyzing to obtain a vertical height change value D of the monitoring point so as to accurately judge whether the high formwork is settled and the settlement amount. And finally, the axial force and the inclination angle variation of the high formwork support body are integrated to judge whether the index value of the high formwork exceeds a safety range, and then a decision is made whether to take corresponding measures (for example, the high formwork is reinforced at a corresponding position and the personnel constructing on the high formwork is evacuated in time) so as to avoid great and even serious construction safety accidents.

In the embodiment of the present invention, the second motor 25 is horizontally disposed, the main body of the second motor 25 is installed on the second rotating frame 24, the rotating shaft of the second motor 25 is installed on one side of the first rotating frame 23, the positions of the second rotating frame 24, which are opposite to the rotating shaft of the second motor 25, are passed through the pivot 241, which is rotatably installed on the other side of the first rotating frame 23.

The first rotating frame 23 is in a U-shaped plate shape, the second rotating frame 24 is located between the

vertical sections

231 and 232 at two sides of the first rotating frame 23, the horizontal section 233 at the top of the first rotating frame 23 is connected with the rotating shaft of the first motor 22, the rotating shaft of the second motor 25 is connected with the vertical section 231 at one side of the first rotating frame 23, and the pivot 241 is pivotally connected with the vertical section 232 at the other side of the first rotating frame 23. Specifically, the pivot 241 is pivotally mounted to the first rotating frame 23 through a bearing (not shown) to ensure smooth rotation of the second rotating frame 24.

In the embodiment of the present invention, a slot (not shown) is disposed in the middle of the end surface of the pivot 241, the angle measuring apparatus 3 includes an induction magnet 32 embedded in the slot and an angle sensor 31 mounted on the first rotating frame 23, and the induction end 311 of the angle sensor 31 is opposite to the induction magnet 32 and can form magnetic induction.

The embodiment of the utility model provides an in, angle sensor 31 is the magnetic encoder, induction magnet 32 is circular structure, and induction magnet 32 all has the N utmost point and the S utmost point with the relative one side of angle sensor 31' S response portion, and the N utmost point and the S utmost point respectively account for half, and angle sensor 31 is prior art, no longer gives unnecessary details to concrete structure and theory of operation here.

The embodiment of the present invention provides an embodiment, the connection structure such as a screw or a buckle can be detachably connected between the second rotating frame 24 and the laser range finder 1. Illustratively, the lower portion of the second rotating frame 24 is provided with at least two screw holes 242, the laser range finder 1 has an upwardly extending connecting frame 11, the connecting frame 11 is provided with screw through holes 111 corresponding to the screw holes 242, and a rod portion with a first screw (not shown) is screwed with the screw holes 242 after passing through the screw through holes 111 to detachably connect the connecting frame 11 with the second rotating frame 24, so as to detachably mount the laser range finder 1 on the second rotating frame 24.

Similarly, the first motor 22 and the fixed frame 21, the second motor 25 and the second rotating frame 24, and the angle sensor 31 and the first rotating frame 23 may also be detachably connected through connection structures such as a buckle or a screw, preferably, the screw is connected, and details are not repeated here.

In the embodiment of the present invention, the rotating shaft of the first motor 22 passes through the horizontal section 233 of the first rotating frame 23 and is fixedly connected to the flange 221, and the flange 221 is fixedly connected to the horizontal section 233 of the first rotating frame 23 through a second screw (not shown), so as to detachably and fixedly connect the rotating shaft of the first motor 22 to the first rotating frame 23.

For easy understanding the utility model discloses automatic rotating device's claimed technical scheme is following to adopting the utility model discloses automatic rotating device's high formwork settlement monitoring method based on unmanned aerial vehicle introduces, and this high formwork settlement monitoring method based on unmanned aerial vehicle includes following step:

and S1, driving the unmanned aerial vehicle 100 to fly to a first position above the high formwork 600 and the datum point 200 at the first measurement moment, and photographing the area where the datum point 200 is located through the camera 4 arranged on the unmanned aerial vehicle 100 to acquire a first coordinate of the datum point 200. The datum 200 is located at the upper end of the upright 300, and the lower end of the upright 300 penetrates through the soft soil layer 400 downwards and then extends into and is fixed on the foundation layer 500, so that the datum 200 arranged on the upright 300 cannot be settled due to settlement of the soft soil layer 400 in the corresponding area, and the datum 200 is ensured to be still.

In this embodiment of the method, the lower end of the pillar 300 of the reference point 200 may be extended into and fixed to the bedrock layer 500, and the upper end of the pillar 300 may be extended out of the soft soil layer 400 by drilling or implanting high-strength steel.

It is understood that the drone 100 and the camera 4 are both in the prior art, and the detailed structure and the working principle of the drone 100 and the camera 4 are not described herein. The camera 4 photographs the area where the reference point 200 is located at the first position, acquires an image of the area where the reference point 200 is located, outputs the image in the form of an image sequence, and extracts the first coordinate of the reference point 200 in the image through an existing feature extraction algorithm (ORB algorithm, organized FAST and Rotated bright), and details of how to extract the first coordinate is the prior art and will not be described herein again.

In the embodiment of the method, the reference point 200 can be distinguished from other points in the area by highlighting or coloring the reference point 200, so that the first coordinate of the reference point 200 can be quickly identified and extracted in the feature extraction process, thereby improving the working efficiency.

And S2, driving the unmanned aerial vehicle 100 to fly to a second position where the laser range finder 1 arranged on the unmanned aerial vehicle 100 is vertically opposite to the datum 200 according to the first coordinate of the datum 200, and measuring a first vertical distance H between the laser range finder 1 and the datum 200.

In the embodiment of the method, the laser range finder 1 is movably mounted on the unmanned aerial vehicle 100 through the automatic rotating device 2, and the horizontal rotation (i.e. rotation around a vertical axis) and the vertical rotation (i.e. rotation around a horizontal axis) of the laser range finder 1 can be realized through the automatic rotating device 2, so as to adjust the angle and the direction of the single line laser emitted by the laser range finder 1. When the laser range finder 1 measures the reference point 200, the laser range finder 1 faces vertically downward (i.e., a single line of laser light emitted from the laser range finder 1 faces vertically downward). The laser distance measuring instrument 1 is a prior art, and the detailed structure and the working principle thereof are not described herein.

S3, the camera 4 photographs the monitoring point 700 on the top of the high formwork 600 to obtain the first coordinate of the monitoring point 700.

It should be noted that, during the process of taking a picture of the monitoring point 700 provided on the top of the high form 600 by the camera 4 to obtain the first coordinate of the monitoring point 700, the drone 100 hovers at the second position, i.e. the relative position of the drone 100 and the reference point 200 is kept unchanged.

Similarly, the camera 4 takes a picture of the area where the monitoring point 700 is located, acquires an image of the area where the monitoring point 700 is located, outputs the image in the form of an image sequence, and extracts the first coordinate of the monitoring point 700 in the image by using an existing feature extraction algorithm (ORB algorithm, organized FAST and rotated bright BRIEF). The monitoring point 700 may be distinguished from other points of the area where the reference point 200 is located by highlighting or coloring, etc. to quickly identify and extract the first coordinate of the monitoring point 700 during the feature extraction process, thereby improving the work efficiency.

S4, driving the laser range finder 1 to rotate through the automatic rotating device 2 according to the first coordinate of the monitoring point 700 to measure the first linear distance L between the laser range finder 1 and the monitoring point 700₁And a first angle α of vertical rotation of the laser rangefinder 1 is obtained.

It should be noted that the laser distance measuring instrument 1 is driven to rotate according to the first coordinate of the monitoring point 700 to measure the linear distance L between the monitoring point 700 and the laser distance measuring instrument 1₁The drone 100 continues to remain hovering.

In the embodiment of the method, after the first coordinate of the monitoring point 700 is obtained, the automatic rotating device 2 drives the laser range finder 1 to perform corresponding horizontal rotation and vertical rotation according to the first coordinate of the monitoring point 700, so that the laser range finder 1 rotates from vertical to downward to be opposite to the monitoring point 700 to measure the first linear distance L between the laser range finder 1 and the monitoring point 700₁。

In the working process, the first motor 22 drives the first rotating frame 23 to rotate first, so that the first rotating frame 23 drives the laser range finder 1 to horizontally rotate to a state that the vertical rotating track line of the laser range finder and the monitoring point 700 are located on the same vertical plane; then, the second motor 25 drives the second bracket to vertically rotate to a position where the laser range finder 1 is opposite to the monitoring point 700, so that the laser range finder 1 can measure the first linear distance L between the laser range finder 1 and the monitoring point 700₁. When the rotating shaft of the second motor 25 rotates, the main body of the second motor 25 is forced to drive the second rotating frame 24 to rotate vertically, thereby driving the laser rangingThe apparatus 1 is rotated vertically. Namely, the automatic rotating device 2 drives the laser distance measuring instrument 1 to rotate to measure the first linear distance L between the laser distance measuring instrument and the monitoring point 700₁Including the process of driving the first rotating frame 23 to rotate horizontally by the first motor 22 and driving the second rotating frame 24 to rotate vertically by the second motor 25 provided on the first rotating frame 23, when the sensing magnet 32 rotates along with the rotating pivot 241, the angle sensor 31 obtains the first angle α of the vertical rotation of the laser range finder 1 through the detection of the rotation angle of the sensing magnet 32 by the sensing end 311 thereof.

Preferably, after the step S4 is completed, the drone 100 generally needs to be recovered to save unnecessary energy consumption and protect the drone 100.

And S5, driving the unmanned aerial vehicle 100 to fly to a third position above the high formwork 600 and the datum point 200 at the second measurement moment, and photographing the area where the datum point 200 is located through the camera 4 arranged on the unmanned aerial vehicle 100 to acquire a second coordinate of the datum point 200.

It should be noted that the above-mentioned first measurement time refers to a time period for completing the steps S1 to S4, and the second measurement time below refers to a time period for completing the steps S5 to S9. The time interval between the starting time of the second measurement time and the ending time of the first measurement time depends on the monitoring requirement, and for example, the time interval may be one hour, half day, one day, or the like. The specific operation process of step S5 refers to step S1, which is not described herein again.

It should be noted that, since the third position for driving the drone 100 to fly above the high-altitude model 600 and the reference point 200 in the step S5 is random, the third position described in the step S5 and the first position in the step S1 do not generally coincide.

And S6, driving the unmanned aerial vehicle 100 to fly to a fourth position (at the moment, the laser range finder 1 is also vertically downward) at which the laser range finder 1 is vertically opposite to the datum 200 according to the obtained second coordinate of the datum 200, and measuring a second vertical distance h between the laser range finder 1 and the datum 200.

It is to be understood that the specific operation procedure in step S6 refers to step S2, and is not described herein again.

And S7, driving the unmanned aerial vehicle 100 to fly to the second position (namely, the position which is located at the square of the datum point and is vertically away from the datum point by the H) from the fourth position according to the difference value between the first vertical distance H and the second vertical distance H.

In the embodiment of the method, the fourth position when the laser range finder 1 and the reference point 200 are aligned in step S6 has randomness, which generally does not coincide with the second position described in step S2, and therefore, the drone 100 needs to be driven to fly back to the second position in step S7. Of course, if the first vertical distance H and the second vertical distance H are exactly equal, no adjustment is necessary.

S8, the camera 4 photographs the monitoring point 700 on the top of the high formwork 600 to obtain the second coordinate of the monitoring point 700.

In this embodiment of the method, the specific operation process in step S8 refers to step S2, which is not described herein again.

It is understood that if the upper form 600 has settled at step S8, the first coordinate of the monitor point 700 has changed at step S8 relative to the second coordinate of the monitor point 700 at step S2.

S9, driving the laser range finder 1 to rotate according to the obtained second coordinate of the monitoring point 700 to measure the second linear distance L between the laser range finder 1 and the monitoring point 700₂And a second angle β of vertical rotation of the laser rangefinder 1 is obtained.

In this embodiment of the method, the specific operation process in step S9 refers to step S4, which is not described herein again.

It is to be understood that, since the relative position of the drone 100 and the reference point 200 in step S9 and the relative position of the drone 100 and the reference point 200 in step S4 coincide, if the high jig 600 has settled at step S9, the straight distance L of step S9 is equal to the straight distance L of step S9₂And the second angle β of the vertical rotation are necessarily different from the linear distance L in step S4₁And a first angle α of the vertical rotation.

S10, obtaining a first angle a, a second angle β and a first straight line distance L₁And a second linear distanceL₂And calculating and analyzing to obtain a vertical height change value D of the monitoring point 700 so as to judge whether the high formwork 600 is settled and the settlement amount.

Specifically, in step S10, the formula D ═ L may be calculated based on the cosine theorem₂×cosβ-L₁× cos α, calculating a vertical height change value D of the monitoring point 700 to accurately judge whether the high formwork 600 sinks and the amount of the sinking, and finally, further, integrating the axial force and the inclination angle change amount of the frame body of the high formwork 600 to judge whether the index value of the high formwork 600 exceeds the safety range, and further, determining whether to take corresponding measures (for example, reinforcing the high formwork 600 at a corresponding position and timely evacuating the people who are constructed on the high formwork) to avoid causing a large and even serious construction safety accident.

It will be appreciated that the drone 100 is self-contained with a processor (not shown), memory (storage), and a computer program stored in and executable on the memory. The processor, when executing the computer program, implements the steps (e.g., steps S1-S10) of the above-described monitoring method embodiment.

Illustratively, the computer program may be divided into one or more modules stored in the memory and executed by the processor to perform the method, such as a coordinate acquisition module for processing the corresponding images output after the camera 4 takes a picture, a settlement confirmation module, a receiving and outputting module, and the likeThe first coordinate and the second coordinate of the reference point 200 at the first position of the unmanned aerial vehicle 100 at the first measurement time and the third position of the second measurement time are respectively obtained, and the first coordinate and the second coordinate of the monitoring point 700 at the second position of the unmanned aerial vehicle 100 at the first measurement time and the second position of the second measurement time are respectively obtained by using an existing feature extraction algorithm (ORB algorithm, organized FAST and Rotated BRIEF), so that the corresponding coordinates in the corresponding images are respectively obtained, and how to obtain the coordinates is the prior art is not described herein₁And a second linear distance L₂And calculating and analyzing to obtain a vertical height change value D of the monitoring point 700 so as to judge whether the high formwork 600 is settled and the settlement amount. Specifically, based on the cosine theorem, the formula D ═ L is calculated₂×cosβ-L₁× cos α, calculate the vertical altitude variation value D of obtaining monitoring point 700. receiving and output module can be used to receive the data that unmanned aerial vehicle 100's control terminal (not shown) sent through wireless (if through wireless communication module), and send unmanned aerial vehicle 100's data (including positional information, and monitoring point 700's vertical altitude variation value D etc.) to control terminal through wireless, realize control terminal and this unmanned aerial vehicle 100's interaction, control terminal can be the computer, panel computer or cell-phone etc., make monitoring work accord with intelligent monitoring cloud platform's requirement.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. High formwork settlement monitoring laser point cloud's automatic rotating device based on unmanned aerial vehicle, its characterized in that: the device comprises a fixing frame, a first motor, a first rotating frame, a second rotating frame and a second motor, wherein the fixing frame can be installed on an unmanned aerial vehicle, the first motor is installed on the fixing frame, the rotating shaft of the first motor vertically faces downwards, the first rotating frame is installed on the rotating shaft of the first motor, the second rotating frame is installed on the first rotating frame in a vertically rotating mode through a pivot, the second rotating frame is used for driving the second rotating frame to vertically rotate, the first rotating frame is provided with an angle measuring instrument used for detecting the rotation angle of the pivot, the laser range finder is installed on the second rotating frame, and the first motor, the second motor, the angle measuring instrument and a processor of the unmanned.

2. The unmanned aerial vehicle-based automatic rotating device for high formwork settlement monitoring laser point cloud of claim 1, wherein: the second motor is horizontally arranged, the main body of the second motor is arranged on the second rotating frame, the rotating shaft of the second motor is arranged on one side of the first rotating frame, and the position of the second rotating frame, which is opposite to the rotating shaft of the second motor, is rotatably arranged on the other side of the first rotating frame through the pivot.

3. The unmanned aerial vehicle-based automatic rotating device for high formwork settlement monitoring laser point cloud of claim 2, wherein: the first rotating frame is in a U-shaped plate shape, the second rotating frame is located between the vertical sections on two sides of the first rotating frame, the horizontal section at the top of the first rotating frame is connected with the rotating shaft of the first motor, the rotating shaft of the second motor is connected with the vertical section on one side of the first rotating frame, and the pivot is connected with the vertical section on the other side of the first rotating frame in a pivoting mode.

4. The unmanned aerial vehicle-based automatic rotating device for high formwork settlement monitoring laser point cloud of claim 1, wherein: the pivot shaft is pivotally mounted to the first rotating frame by a bearing.

5. The unmanned aerial vehicle-based automatic rotating device for high formwork settlement monitoring laser point cloud of claim 1, wherein: the second rotating frame is detachably connected with the laser range finder through screws or buckles.

6. The unmanned aerial vehicle-based automatic rotating device for high formwork settlement monitoring laser point cloud of claim 5, wherein: the lower part of second revolving rack is equipped with two at least screw holes, laser range finder is to the link of upwards extending, and the link is equipped with the screw via hole corresponding with the screw hole, and the pole portion that has first screw passes behind the screw via hole, connects with the screw hole soon to can dismantle the link with the second revolving rack and be connected.

7. The unmanned aerial vehicle-based automatic rotating device for high formwork settlement monitoring laser point cloud of claim 3, wherein: and a rotating shaft of the first motor penetrates through the horizontal section of the first rotating frame and is fixedly connected with the flange plate, and the flange plate is fixedly connected with the horizontal section of the first rotating frame through a second screw.

8. The automatic rotation device of high formwork settlement monitoring laser point cloud based on unmanned aerial vehicle of any one of claims 1 to 7, characterized in that: the angle measuring instrument comprises an induction magnet embedded in the slotted hole and an angle sensor arranged on the first rotating frame, and the induction end of the angle sensor is opposite to the induction magnet and can form magnetic induction.

9. The unmanned aerial vehicle-based automatic rotating device for high formwork settlement monitoring laser point cloud of claim 8, wherein: the angle sensor is a magnetic encoder, the induction magnet is of a circular structure, the induction magnet and the opposite surface of the induction part of the angle sensor are both provided with an N pole and an S pole, and the N pole and the S pole respectively account for half of the total number.

10. The unmanned aerial vehicle-based automatic rotating device for high formwork settlement monitoring laser point cloud of claim 8, wherein: the first motor and the fixed frame, the second motor and the second rotating frame, and the angle sensor and the first rotating frame are detachably connected through buckles or screws.