CN109284928A - A kind of construction monitoring method and system based on unmanned air vehicle technique - Google Patents
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Abstract
The construction monitoring method based on unmanned air vehicle technique that the invention discloses a kind of, comprising the following steps: obtain the relative altitude and building plans data of each workpiece of construction floor of unmanned plane acquisition；According to the relative altitude and building plans data of each workpiece of the construction floor, obtain each workpiece of construction floor pours state；According to the state that pours of building plans data and each workpiece of construction floor, construction speed information is generated.The present invention acquires the relative altitude of each workpiece of construction floor by unmanned plane, then situation is poured according to what the relative altitude of each workpiece of construction floor obtained each workpiece of construction floor, and pouring according to each workpiece of construction floor, automatically generate progress report, it is of the invention whole by unmanned plane and server completion, it can greatly save manpower.The present invention can be widely applied to field of automation technology.
Description
Technical field
The present invention relates to automatic technology, especially a kind of construction monitoring method based on unmanned air vehicle technique and it is
System.
Background technique
Currently, with China's economic development.Labor cost increasingly increases, and many labour intensive professions, which are begun through, draws
Enter automatic technology, technology shifts is carried out, to save huge human cost, to promote the profitability of enterprise.
In the construction process, Party A and business to construction site carry out on-the-spot investigation and unrealistic, Party A and business for
The understanding of construction speed is typically derived from the progress report that construction party periodically provides.
Progress report is by manually writing at present, the construction speed that usual construction party can arrange personnel inspection daily, such as
Fruit construction domain is huger, can waste more manpower.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to: it provides a kind of labor-saving based on unmanned air vehicle technique
Construction monitoring method and system.
The first technical solution adopted by the present invention is:
A kind of construction monitoring method based on unmanned air vehicle technique, comprising the following steps:
Obtain the relative altitude and building plans data of each workpiece of construction floor of unmanned plane acquisition；
According to the relative altitude and building plans data of each workpiece of the construction floor, pouring for each workpiece of construction floor is obtained
Build state；
According to the state that pours of building plans data and each workpiece of construction floor, construction speed information is generated.
Further, the relative altitude and building plans data according to each workpiece of the construction floor obtains construction building
Each workpiece of layer pours state, specifically includes:
According to the setting absolute altitude of each workpiece of building plans data acquisition construction floor；
The relative altitude of each workpiece of the construction floor and setting absolute altitude are compared；
Each workpiece of result judgement construction floor obtained according to comparison pours state.
Further, further comprising the steps of:
Obtain the image of the construction floor of unmanned plane acquisition；
Workpiece is identified from the image of the construction floor；
The geometric parameter of the workpiece is calculated according to the image of the construction floor；
According to building plans data, the standard parameter of the workpiece is obtained；
According to the standard parameter of the workpiece and the geometric parameter being calculated, construction quality information is generated.
Further, the image according to the construction floor calculates the geometric parameter of the workpiece, specifically includes:
When obtaining image of the unmanned plane shooting comprising workpiece, the distance between unmanned plane and workpiece；
According to the image and the distance between unmanned plane and workpiece of construction floor, the side length data of workpiece are calculated.
Further, further comprising the steps of:
Procurement cost data；
According to the cost data and construction speed information, real-time cost is calculated.
Further, further comprising the steps of:
Obtain the three-dimensional modeling data of each workpiece；
According to construction speed information and the three-dimensional modeling data of each workpiece, the current threedimensional model in construction site is generated.
Second of technical solution adopted by the present invention is:
A kind of construction monitoring system based on unmanned air vehicle technique, including position indicator, unmanned plane and server；
The position indicator is for measuring flying height of the unmanned plane relative to position indicator；
The unmanned plane includes:
Range finder module, for measuring the difference in height of unmanned plane Yu each workpiece of construction floor；
Wireless communication module, for being communicated with position indicator and server；
Processor, for obtaining the flying height of unmanned plane that position indicator measurement obtains relative to position indicator, according to nobody
Machine calculates each workpiece of construction floor relative to the flying height and unmanned plane of position indicator and the difference in height of each workpiece of construction floor
Relative altitude；
The server includes:
First acquisition unit, the relative altitude and building plans number of each workpiece of construction floor for obtaining unmanned plane acquisition
According to；
State determination unit is poured, for the relative altitude and building plans data according to each workpiece of the construction floor,
Obtain each workpiece of construction floor pours state；
First generation unit, for pouring state according to building plans data and each workpiece of construction floor, generation is applied
Work progress msg；
The unmanned plane respectively with position indicator and server communication.
Further, the server further include:
Third acquiring unit, the image of the construction floor for obtaining unmanned plane acquisition；
Recognition unit, for identifying workpiece from the image of the construction floor；
First computing unit, for calculating the geometric parameter of the workpiece according to the image of the construction floor；
4th acquiring unit, for obtaining the standard parameter of the workpiece according to building plans data；
Second generation unit generates construction matter according to the standard parameter of the workpiece and the geometric parameter being calculated
Measure information.
Further, the server further include:
5th acquiring unit is used for procurement cost data；
Second computing unit, for calculating real-time cost according to the cost data and construction speed information.
Further, the server further include:
6th acquiring unit, for obtaining the three-dimensional modeling data of each workpiece；
Third generation unit generates building work for the three-dimensional modeling data according to construction speed information and each workpiece
The current threedimensional model in ground.
The beneficial effects of the present invention are: the present invention acquires the relative altitude of each workpiece of construction floor by unmanned plane, then
The situation that pours of each workpiece of construction floor is obtained according to the relative altitude of each workpiece of construction floor, and according to each workpiece of construction floor
Pour, automatically generate progress report, the present invention is whole to be completed by unmanned plane and server, can greatly save manpower.
Detailed description of the invention
Fig. 1 is the instrumentation plan of the relative altitude of workpiece in a kind of specific embodiment of the present invention；
Fig. 2 is a kind of flow chart of the construction monitoring method based on unmanned air vehicle technique of specific embodiment of the present invention；
Fig. 3 is a kind of module frame of the construction monitoring system based on unmanned air vehicle technique of specific embodiment of the present invention
Figure.
Specific embodiment
The present invention is further detailed with specific embodiment with reference to the accompanying drawings of the specification.
In the construction site of building, building body is typically all successively to have multiple building works in each layer toward upper cover
Part, these workpiece include pillar, crossbeam, floor and stair etc..Theoretically, as long as design is completed, these workpiece are after pouring
The height on the floor relative to first layer is fixed.And position locating for each workpiece of construction floor is flown to by unmanned plane
Set, measure the relative altitude of the workpiece, it can measure whether the workpiece is completed to pour, or pour it is whether qualified.Reference
The pillar 100 of Fig. 1, a high h, it is assumed that the opposite flying height with construction floor 300 where the pillar of unmanned plane 200 is s, that
When unmanned plane 200 flies to the position at this 100 place of pillar, if the pillar 100 does not pour, unmanned plane 200
The distance measured should be s, and after the completion of pillar 100 pours, the distance that unmanned plane 200 measures should be s-h, due to nobody
Machine 200 can be measured relative to the height H on the floor 400 of first layer, therefore the pillar phase can be obtained by H- (s-h)
For the height on the floor 400 of first layer.Then we can obtain the pillar 100 relative to by building plans data
The theoretical level on one layer of floor 400, the relative altitude for then obtaining measurement judge the workpiece compared with theoretical level carries out
Whether poured.Certainly, the definition of relative altitude is also possible to height of the workpiece relative to the floor where the workpiece, this field
Technical staff can take different referentials as the measurement point of relative altitude.Fig. 1 illustrate only one of measurement side
Formula.
Numerous embodiments can also be taken for the measurement of drone flying height.For example, can be in the ground of floor
Or first layer places a position indicator, which can be with UAV Communication, to inform unmanned plane relative to position indicator
Height.So that unmanned plane knows the opposite or absolute flying height of oneself.
Alternatively, the height above sea level of ground or first layer can be directly inputted among unmanned plane, then unmanned plane is logical
It crosses and measures oneself height above sea level to determine the flying height of oneself, to obtain unmanned plane relative to floor ground or first
The flying height of layer.
Alternatively, wirelessly measuring unmanned plane phase by multiple multiple position indicators for being deployed in building first layer
Then distance away from each position indicator converses the relative flying height of unmanned plane by geometrical relationship.
Referring to Fig. 2, a kind of construction monitoring method based on unmanned air vehicle technique, comprising the following steps:
S1, the relative altitude and building plans data for obtaining each workpiece of construction floor that unmanned plane acquires.The building rule
Drawing data can be the data such as architectural drawing, design parameter or building 3D model.
S2, relative altitude and building plans data according to each workpiece of the construction floor, obtain each workpiece of construction floor
Pour state.Inside building plans data, the absolute altitude of each workpiece or with build other objects of reference relative position be
It is determining, therefore can determine whether this workpiece is poured by measuring the relative altitude of each workpiece, and whether by
It correctly pours, such as a pillar is half meter short, is easy to measure in this way and.Certainly, measurement accuracy is set dependent on measurement
It is standby.
S3, the state that pours according to building plans data and each workpiece of construction floor, generate construction speed information.According to
Building plans data, each floor of the building of the available construction is how many workpiece, then can learn by known complete
Current construction speed is obtained at the workpiece poured.Simply, construction speed information can go to indicate with percentage, such as complete
At 10%.Certain construction speed information can also go to indicate with detailed data, such as complete first layer, and the second layer is complete
At 30% etc..
As preferred embodiment, the present embodiment provides preferred determination method, is determined with being promoted, and the step S2 is specific
Include:
S21, according to the setting absolute altitude of each workpiece of building plans data acquisition construction floor.
S22, the relative altitude of each workpiece of the construction floor and setting absolute altitude are compared.
S23, state is poured according to result judgement construction floor each workpiece that comparison obtains.
In the present embodiment, a threshold range, such as the setting of some workpiece can be arranged according to setting absolute altitude in we
Absolute altitude is 5 meters, it is herein assumed that setting absolute altitude is the height of the floor where the opposite workpiece, and then we set unmanned plane and measure
It is normal range (NR) that the opposite height with floor where it of the workpiece, which is 4.8 meters -5.2 meters, if that measuring the phase of the workpiece
It is 4.9 meters to height, is then judged to having poured, if the relative altitude measured certainly is 0.3 meter, determines that the workpiece does not have
It is poured.
As preferred embodiment, manually go to check that pouring quality, the present embodiment are further comprising the steps of to substitute:
S4, the image for obtaining the construction floor that unmanned plane acquires.Unmanned plane is according to certain height shooting construction floor
Multiple photos.Preferably it can control unmanned plane according to the programme path of setting and be clapped in the center of each workpiece
It takes the photograph.
S5, workpiece is identified from the image of the construction floor.The workpiece can be pillar, crossbeam, floor or
Stair etc..Recognition methods can be identified using image recognition algorithms such as deep neural networks.
S6, the geometric parameter that the workpiece is calculated according to the image of the construction floor.In this step, unmanned plane flies to work
The top of part, and picture is shot in certain altitude, therefore the practical geometric parameters of workpiece in picture can be found out by geometrical relationship
Number, such as the parameters such as length and width or radius.
S7, according to building plans data, obtain the standard parameter of the workpiece.It is certain to mark inside building plans data
The standard parameter of each workpiece, therefore the standard parameter of each workpiece can be obtained from building plans data.
S8, according to the standard parameter of the workpiece and the geometric parameter being calculated, generate construction quality information.Pass through
The standard parameter of the workpiece obtained inside building plans data, compares with the geometric parameter being calculated, it is known that
Measured workpiece is either with or without correctly being poured, such as the pillar that a standard parameter is 3*3, is measured as 2.5*2.5, this
It is obviously unreasonable.Therefore by this step, we can filter out and pour underproof workpiece.Then according to these detections
As a result construction quality information is generated.The construction quality information can be to responsible person and send warning message, or generate construction
Quality report, reporting can record which which workpiece has.
As preferred embodiment, present embodiment discloses the preferred embodiments of the geometric parameter of workpiece.The step S6 tool
Body includes:
When S61, acquisition unmanned plane shooting include the image of workpiece, the distance between unmanned plane and workpiece.
S62, image and the distance between unmanned plane and workpiece according to construction floor, calculate the side length data of workpiece.
As preferred embodiment, current construction cost is grasped for the ease of business, Party A or responsible person.This implementation
Example is further comprising the steps of:
S9, procurement cost data.The cost data includes Material Cost, transportation cost and construction cost etc..Such as one
The Material Cost of a pillar is 400 yuan, 50 yuan of transportation cost, 100 yuan of construction cost, then have inside floor 10 in this way
Pillar, cost is exactly 5500 yuan.
S10, according to the cost data and construction speed information, calculate real-time cost.We can be by real-time cost
It calculates, current construction cost is grasped convenient for business, Party A or responsible person.The cost can pass through short message, mail
Or the modes such as APP feed back to related personnel.
It, can be intuitively from remotely understanding current construction feelings for the ease of owner or Party A as preferred embodiment
Condition, the present embodiment are further comprising the steps of:
S11, the three-dimensional modeling data for obtaining each workpiece.
S12, according to construction speed information and the three-dimensional modeling data of each workpiece, generate the current three-dimensional mould in construction site
Type.Current Building technology, the period poured substantially need three days, therefore unmanned plane only needs carry out information collection every night
The update to threedimensional model can be realized.Since the design drawing of building can directly generate threedimensional model, as long as we
Know the three-dimensional modeling data of each workpiece, it can poured according to which current workpiece to generate current construction site
Threedimensional model.
Referring to Fig. 3, the construction monitoring system based on unmanned air vehicle technique that present embodiment discloses a kind of, including positioning
Instrument, unmanned plane and server；
The position indicator is for measuring flying height of the unmanned plane relative to position indicator；The position indicator can use a variety of
Different types of position indicator is realized, for example, position indicator can be equipped with the sensor of measurement height above sea level, is also equipped with sea on unmanned plane
The sensor for degree of lifting, then the height above sea level of the two can be subtracted each other, then the flight for obtaining unmanned plane relative to position indicator is high
Degree.The method that certain position indicator can also use dimensional measurement, i.e., install several position indicators on the first layer of building, positions
Instrument sends signal to unmanned plane, the distance for calculating unmanned plane relative to position indicator is sought by the feedback time of measuring signal, then
It is converted by geometrical relationship, obtains height of the unmanned plane relative to position indicator.
The unmanned plane includes:
Range finder module, for measuring the difference in height of unmanned plane Yu each workpiece of construction floor；The range finder module can use
Infrared range-measurement system is realized, using infrared range-measurement system, in night measurement, interference is less, and scheme is mature and measurement is accurate.
Wireless communication module, for being communicated with position indicator and server；The wireless communication module can use 2G/
3G/4G module or zigbee module etc. are realized.
Processor, for obtaining the flying height of unmanned plane that position indicator measurement obtains relative to position indicator, according to nobody
Machine calculates each workpiece of construction floor relative to the flying height and unmanned plane of position indicator and the difference in height of each workpiece of construction floor
Relative altitude；
The server includes:
First acquisition unit, the relative altitude and building plans number of each workpiece of construction floor for obtaining unmanned plane acquisition
According to；
State determination unit is poured, for the relative altitude and building plans data according to each workpiece of the construction floor,
Obtain each workpiece of construction floor pours state；
First generation unit, for pouring state according to building plans data and each workpiece of construction floor, generation is applied
Work progress msg；
The unmanned plane respectively with position indicator and server communication.
As preferred embodiment, the state determination unit that pours is specifically used for:
According to the setting absolute altitude of each workpiece of building plans data acquisition construction floor；
The relative altitude of each workpiece of the construction floor and setting absolute altitude are compared；
Each workpiece of result judgement construction floor obtained according to comparison pours state.
As preferred embodiment, the server further include:
Third acquiring unit, the image of the construction floor for obtaining unmanned plane acquisition；
Recognition unit, for identifying workpiece from the image of the construction floor；
First computing unit, for calculating the geometric parameter of the workpiece according to the image of the construction floor；
4th acquiring unit, for obtaining the standard parameter of the workpiece according to building plans data；
Second generation unit generates construction matter according to the standard parameter of the workpiece and the geometric parameter being calculated
Measure information.
The recognition unit, when including the image of workpiece specifically for obtaining unmanned plane shooting, between unmanned plane and workpiece
Distance；According to the image and the distance between unmanned plane and workpiece of construction floor, the side length data of workpiece are calculated.
As preferred embodiment, the server further include:
5th acquiring unit is used for procurement cost data；
Second computing unit, for calculating real-time cost according to the cost data and construction speed information.
As preferred embodiment, the server further include:
6th acquiring unit, for obtaining the three-dimensional modeling data of each workpiece；
Third generation unit generates building work for the three-dimensional modeling data according to construction speed information and each workpiece
The current threedimensional model in ground.
For the step number in above method embodiment, it is arranged only for the purposes of illustrating explanation, between step
Sequence do not do any restriction, the execution of each step in embodiment sequence can according to the understanding of those skilled in the art come into
Row is adaptively adjusted.
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (10)
1. a kind of construction monitoring method based on unmanned air vehicle technique, it is characterised in that: the following steps are included:
Obtain the relative altitude and building plans data of each workpiece of construction floor of unmanned plane acquisition；
According to the relative altitude and building plans data of each workpiece of the construction floor, obtain each workpiece of construction floor pours shape
State；According to the state that pours of building plans data and each workpiece of construction floor, construction speed information is generated.
2. a kind of construction monitoring method based on unmanned air vehicle technique according to claim 1, it is characterised in that: described
According to the relative altitude and building plans data of each workpiece of the construction floor, obtain each workpiece of construction floor pours state,
It is specifically included:
According to the setting absolute altitude of each workpiece of building plans data acquisition construction floor；
The relative altitude of each workpiece of the construction floor and setting absolute altitude are compared；
Each workpiece of result judgement construction floor obtained according to comparison pours state.
3. a kind of construction monitoring method based on unmanned air vehicle technique according to claim 1, it is characterised in that: also wrap
Include following steps:
Obtain the image of the construction floor of unmanned plane acquisition；
Workpiece is identified from the image of the construction floor；
The geometric parameter of the workpiece is calculated according to the image of the construction floor；
According to building plans data, the standard parameter of the workpiece is obtained；
According to the standard parameter of the workpiece and the geometric parameter being calculated, construction quality information is generated.
4. a kind of construction monitoring method based on unmanned air vehicle technique according to claim 3, it is characterised in that: described
The geometric parameter that the workpiece is calculated according to the image of the construction floor, specifically includes:
When obtaining image of the unmanned plane shooting comprising workpiece, the distance between unmanned plane and workpiece；
According to the image and the distance between unmanned plane and workpiece of construction floor, the side length data of workpiece are calculated.
5. a kind of construction monitoring method based on unmanned air vehicle technique according to claim 1, it is characterised in that: also wrap
Include following steps:
Procurement cost data；
According to the cost data and construction speed information, real-time cost is calculated.
6. a kind of construction monitoring method based on unmanned air vehicle technique according to claim 1-5, feature
It is: further comprising the steps of:
Obtain the three-dimensional modeling data of each workpiece；
According to construction speed information and the three-dimensional modeling data of each workpiece, the current threedimensional model in construction site is generated.
7. a kind of construction monitoring system based on unmanned air vehicle technique, it is characterised in that: including position indicator, unmanned plane and service
Device；The position indicator is for measuring flying height of the unmanned plane relative to position indicator；
The unmanned plane includes:
Range finder module, for measuring the difference in height of unmanned plane Yu each workpiece of construction floor；
Wireless communication module, for being communicated with position indicator and server；
Processor, for obtaining the flying height of unmanned plane that position indicator measurement obtains relative to position indicator, according to unmanned plane phase
The difference in height of flying height and unmanned plane and each workpiece of construction floor for position indicator, calculates the phase of each workpiece of construction floor
To height；
The server includes:
First acquisition unit, the relative altitude and building plans data of each workpiece of construction floor for obtaining unmanned plane acquisition；
State determination unit is poured, for the relative altitude and building plans data according to each workpiece of the construction floor, is obtained
Each workpiece of construction floor pours state；
First generation unit, for the state that pours according to building plans data and each workpiece of construction floor, generation construct into
Spend information；
The unmanned plane respectively with position indicator and server communication.
8. a kind of construction monitoring system based on unmanned air vehicle technique according to claim 7, it is characterised in that: described
Server further include:
Second acquisition unit, the image of the construction floor for obtaining unmanned plane acquisition；
Recognition unit, for identifying workpiece from the image of the construction floor；
First computing unit, for calculating the geometric parameter of the workpiece according to the image of the construction floor；
Third acquiring unit, for obtaining the standard parameter of the workpiece according to building plans data；
Second generation unit generates construction quality letter according to the standard parameter of the workpiece and the geometric parameter being calculated
Breath.
9. a kind of construction monitoring system based on unmanned air vehicle technique according to claim 7, it is characterised in that: described
Server further include:
4th acquiring unit is used for procurement cost data；
Second computing unit, for calculating real-time cost according to the cost data and construction speed information.
10. according to a kind of described in any item construction monitoring systems based on unmanned air vehicle technique of claim 7-9, feature
It is: the server further include:
5th acquiring unit, for obtaining the three-dimensional modeling data of each workpiece；
Third generation unit generates construction site and works as the three-dimensional modeling data according to construction speed information and each workpiece
Preceding threedimensional model.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110930124A (en) * | 2019-11-29 | 2020-03-27 | 深圳集智数字科技有限公司 | Method, device and equipment for determining construction progress |
| CN111211735A (en) * | 2020-01-17 | 2020-05-29 | 理光软件研究所（北京）有限公司 | Detection method and device |
| CN111754616A (en) * | 2020-05-09 | 2020-10-09 | 国网浙江省电力有限公司 | Engineering progress identification method based on RTK technology |
| CN112561487A (en) * | 2020-12-21 | 2021-03-26 | 广联达科技股份有限公司 | Method, device and equipment for calculating construction progress and readable storage medium |
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