CN109945847B - Wall surface monitoring method and system based on line marking instrument - Google Patents
Wall surface monitoring method and system based on line marking instrument Download PDFInfo
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- CN109945847B CN109945847B CN201910214224.5A CN201910214224A CN109945847B CN 109945847 B CN109945847 B CN 109945847B CN 201910214224 A CN201910214224 A CN 201910214224A CN 109945847 B CN109945847 B CN 109945847B
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Abstract
The invention discloses a wall surface monitoring method based on a line marking instrument. The technical scheme is as follows: control the striping machine parallel on the straight line that is Z apart from the wall, be on a parallel with the wall according to planning step length and procedure unidirectional movement, control unmanned aerial vehicle follows the striping machine translation, and change the flight height in succession many times after reciprocating the translation at every turn, change the back at every turn, the distance of unmanned aerial vehicle apart from the wall is measured to the laser range finder of unmanned aerial vehicle one side, unmanned aerial vehicle simultaneous measurement flight height and obtain the horizontal position after the translation from the striping machine, the data set more than the unmanned aerial vehicle storage, the host computer will be above the data set change into three-dimensional vector diagram, a straightness for expressing the wall. The invention has the advantages of wide application range, high accuracy and convenient use.
Description
Technical Field
The invention belongs to building detection, and particularly relates to a wall surface monitoring method and system based on a line marking instrument.
Background
The verticality and flatness or straightness of the building wall surface is an important index in the field of buildings. The verticality flatness or straightness of the wall surface integrally has very important influence on the appearance and quality of the wall surface, the verticality flatness or straightness of the existing building wall surface is generally detected by a theodolite or a total station, the wall surface can only be sampled and detected, and the verticality flatness or straightness and data of the whole wall surface can not be reflected.
Building verticality deviation measurement: selecting a building to be tested, meeting good visibility conditions, and enabling the top and the bottom of the building to be visible at points which are more than 1.5H away from the height of the building and are perpendicular to each other in two directions; arranging a theodolite or a total station, and centering and leveling; rotating the telescope to aim at the vertex on one edge of the building, locking the horizontal brake screw and the telescope brake screw, and using the horizontal fine tuning screw to enable the cross wire to accurately aim at a target at the top end of the building; the horizontal braking screw is loosened and fixed, the telescope braking screw is loosened to rotate and aim at the lower part of the building to be measured, a horizontal ruler is placed on the ground to measure the distance between the building and the telescope cross wire, and the reading is the verticality deviation value of the upper point and the lower point of the building.
The flatness of one surface is measured by using a theodolite or a total station vertical dial, the outer vertical surface of the building is required to be divided according to the requirement of measurement precision, the vertical perpendicularity of the building is detected according to the method, and the formed whole data is used for judging the flatness of the whole building. The measurement is difficult to accurately measure the detailed data of each point, the operation difficulty is high, and the time is wasted.
Disclosure of Invention
The invention aims to provide a wall surface monitoring method based on a line marking instrument, aiming at the defects of the existing wall surface monitoring system. The method has wide application range and high accuracy, solves the technical problem of small test area of the common wall surface monitoring system, and aims to provide the wall surface monitoring system based on the line marker.
The invention has the advantages that: the vertical flatness or straightness of the wall surface is measured, so that the traditional working efficiency is greatly improved, and the economic and time cost for data acquisition is greatly reduced.
The method has obvious advantages for some specific environments such as complex special-shaped structures, mountainous areas and water flows, and the work benefit and the cost benefit of the innovation can be reflected in the areas which are difficult to reach by people.
In order to achieve the purpose, the invention adopts the technical scheme that:
a wall surface monitoring method based on a line marking instrument comprises the following steps,
s1, arrange the striping machine on the straight line L that is on a parallel with the wall, straight line L is Z with wall bottom perpendicular distance, drives unmanned aerial vehicle directly over the striping machine, and perpendicular to horizontal plane risees in succession many times or reduces many times in succession, unmanned aerial vehicle risees or reduces height b at every turn, just unsettled pause and control unmanned aerial vehicle start laser range finder and measure that unmanned aerial vehicle one side is highly y with the wall for yjA distance z ofiWhile simultaneously acquiring the position x of the line marker on the straight line LiStoring the acquired data set
Distance ziHeight yjPosition xiWhen the total height of the unmanned aerial vehicle after vertical movement is larger than the height H of the wall surface or is lower than the lower limit H of the height, the unmanned aerial vehicle stops continuously rising or continuously lowering, then a translation signal is sent to the striping instrument, and a laser striping line emitted by the striping instrument is perpendicular to the horizontal plane and parallel to the wall surface in the rising or lowering process of the unmanned aerial vehicle;
s2, driving the marking instrument to stop moving by the step length a along the straight line L every time, enabling the unmanned aerial vehicle to horizontally fly to the position right above the marking instrument along with the marking instrument, repeating the step 1 until the marking instrument receives the translation signal again, enabling the translation starting point of the marking instrument to be right opposite to the wide edge on one side of the wall surface, and enabling the width of the wall surface to be D;
s3, repeating the steps S1-S2 until the total translation stroke of the reticle instrument is D;
s4, obtaining all data sets from the steps S1 to S3
Transformation into a three-dimensional matrix:
then the three-dimensional matrix is changed into a three-dimensional vector diagram;
i denotes the order of translation, j denotes the order of vertical ascent and descent, i<m, m ═ D/a, i mod m ═ c, base length xiMod denotes taking the remainder.
Preferably, the steps S2 and S3 further include the step of flying the drone in a horizontal direction:
t1, when the unmanned aerial vehicle is collected to be horizontal through an inclination angle sensor, adjusting the flying posture of the unmanned aerial vehicle until a grating sensor arranged on the belly of the unmanned aerial vehicle is perpendicular to the wall surface, receiving a laser marking transmitted by a marking instrument through the grating sensor, measuring the position d of the laser marking on the grating sensor, and if the position d deviates relative to the center of the grating sensor, driving the unmanned aerial vehicle to fly along the direction perpendicular to the wall surface until the position d is located at the center of the grating sensor, wherein the grating sensor is in a long strip shape;
t2. the drone acquires the image below by means of a ventral camera, when said reticle is present in the image and the distance from the center of the image is lower than a threshold, the drone stops the horizontal flight in step S2 or S3;
and T3, repeating the steps T1-T2 until the position d is at the center of the grating sensor, and the distance between the reticle instrument and the center of the image in the image is lower than a threshold value.
A wall surface monitoring system based on a line marking instrument comprises an unmanned aerial vehicle, the line marking instrument, a line marking instrument moving device and an upper computer,
the graticule instrument moving device is used for horizontally translating the graticule instrument parallel to the wall at a distance Z from the wall and broadcasting the position x of the graticule instrument relative to the starting point of the graticule instrument moving device for translating the graticule instrument to the unmanned aerial vehicleiMeanwhile, a translation signal sent by the unmanned aerial vehicle is received, and a marking instrument is controlled to translate, wherein the marking instrument is used for emitting a laser marking perpendicular to a horizontal plane in a position Z away from the wall surface and parallel to the wall surface;
unmanned aerial vehicle ventral installation CCD camera and rectangular shape grating sensor, unmanned aerial vehicle install laser range finder, light towards one side of wallThe grid sensor is parallel to the axis direction of the laser range finder, and the altitude measuring instrument is used for measuring the flight altitude y of the unmanned aerial vehiclejAnd the laser range finder is used for measuring the distance z from one side of the unmanned aerial vehicle facing the wall surface to the wall surfaceiThe grating sensor is used for measuring the position d of the unmanned aerial vehicle relative to the laser marking, the CCD camera is used for collecting images below the unmanned aerial vehicle, and the unmanned aerial vehicle and the marking instrument moving device are also installed and used for transmitting the position xiAnd translation signal's wireless communication module, unmanned aerial vehicle still installs the electron compass and the inclinometer that are used for measuring unmanned aerial vehicle flight attitude, be used for controlling unmanned aerial vehicle flight adjustment levelness and flight direction and flight step length and flight height's flight controller, be used for handling the image and judge in the image graticule appearance apart from image center distance's image processor, be used for controlling CCD camera and grating sensor and laser range finder and carry out measuring measurement controller, be used for storing apart from z distanceiAnd a height yjAnd position xiThe memory of (2);
and the upper computer is used for reading the data in the memory.
The invention has the following beneficial effects:
when the unmanned aerial vehicle flies on the flying plane according to the step length a, each measuring point of the unmanned aerial vehicle can be ensured to be in the flying plane; and when the distance between the unmanned aerial vehicle and the wall surface is measured by using the laser range finder, the distance between the unmanned aerial vehicle and the vertical plane projected by the line marker is fixed,
the monitoring route is planned by using a system control program, the distance is measured by using the laser distance measuring instrument, the accuracy is high, the whole wall surface can be covered, the whole wall surface is effectively monitored, and the whole accuracy of wall surface monitoring is improved.
Control unmanned aerial vehicle and monitor, convenient to use is nimble, practices thrift the human cost.
The system changes the data of the three-dimensional matrix into a three-dimensional vector diagram for representing the straightness of the wall surface, so that the monitoring data is more vivid and understandable.
The invention overcomes the technical problems that the common monitoring system has small testing area and low accuracy, and can not reflect the building quality of the whole wall surface, and the like. The invention has the advantages of wide application range, high accuracy and convenient use.
Drawings
FIG. 1 is a schematic diagram of the principles of the present invention;
FIG. 2 is a schematic diagram of the operation of the present invention;
FIG. 3 is a schematic diagram of an infrared ranging point according to the present invention;
FIG. 4 is a schematic diagram of the system of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention provides a wall surface monitoring method based on a line marking instrument, which comprises the following steps,
1. arranging the line marking instrument on a straight line L parallel to the wall surfaceL is Z with wall bottom vertical distance, drives unmanned aerial vehicle directly over the striping machine, and perpendicular to horizontal plane risees in succession many times or reduces in succession many times, unmanned aerial vehicle risees at every turn or reduces height b, just unsettled pause and control unmanned aerial vehicle start laser range finder measure unmanned aerial vehicle one side and wall height be yjA distance z ofiWhile simultaneously acquiring the position x of the line marker on the straight line LiStoring the acquired data set
Distance ziHeight yjPosition xiWhen the total height of the unmanned aerial vehicle after vertical movement is larger than the height H of the wall surface or is lower than the lower limit H of the height, the unmanned aerial vehicle stops continuously rising or continuously lowering, then a translation signal is sent to the striping instrument, and a laser striping line emitted by the striping instrument is perpendicular to the horizontal plane and parallel to the wall surface in the rising or lowering process of the unmanned aerial vehicle;
2. driving the marking instrument to stop moving by the step length a along the straight line L every time, enabling the unmanned aerial vehicle to horizontally fly to the position right above the marking instrument along with the marking instrument, repeating the step 1 until the marking instrument receives the translation signal again, enabling the starting point of the translation of the marking instrument to be right opposite to the wide edge on one side of the wall surface, and enabling the width of the wall surface to be D;
3. repeating the steps 1-2 until the total translation stroke of the line marking instrument is D;
4. obtaining all data sets in the steps 1-3
Transformation into a three-dimensional matrix:
then the three-dimensional matrix is changed into a three-dimensional vector diagram;
i denotes the order of translation, j denotes the order of vertical ascent and descent, i<m, m ═ D/a, i mod m ═ c, base length xiMod denotes taking the remainder.
t1, when the unmanned aerial vehicle is collected to be horizontal through an inclination angle sensor, adjusting the flying posture of the unmanned aerial vehicle until a grating sensor arranged on the belly of the unmanned aerial vehicle is perpendicular to the wall surface, receiving a laser marking transmitted by a marking instrument through the grating sensor, measuring the position d of the laser marking on the grating sensor, and if the position d deviates relative to the center of the grating sensor, driving the unmanned aerial vehicle to fly along the direction perpendicular to the wall surface until the position d is located at the center of the grating sensor, wherein the grating sensor is in a long strip shape;
t2. the drone acquires the image below by means of a ventral camera, when said reticle is present in the image and the distance from the center of the image is lower than a threshold, the drone stops the horizontal flight in step S2 or S3;
and T3, repeating the steps T1-T2 until the position d is at the center of the grating sensor, and the distance between the reticle instrument and the center of the image in the image is lower than a threshold value.
Like fig. 4, a wall monitoring system based on striping machine, wall monitoring system includes unmanned aerial vehicle 1, striping machine 2, striping machine mobile device 3, host computer 4, CCD camera 11 and rectangular shape grating sensor 12 are installed to the unmanned aerial vehicle ventral installation, unmanned aerial vehicle installs laser range finder 13 towards one side of wall, grating sensor is on a parallel with laser range finder's axis direction, known by prior art, still install electron compass in the unmanned aerial vehicle, inclination sensor, altitude measuring instrument 14, the memory, flight controller, the measurement controller, the flight driver, first wireless communication module and image processor, laser range finder, the memory, first wireless communication module, flight controller signal connection measurement controller, CCD camera signal connection image processor, electron compass, inclination sensor, grating sensor, The height measuring instrument is in signal connection with the flight controller, the first wireless communication module is also in signal connection with the flight controller, and the flight controller is in signal connection with the flight driver;
the graticule instrument 2 is arranged on a graticule instrument moving device 3 which is horizontally arranged parallel to the wall surface at a distance Z from the wall surface, and the graticule instrument moving deviceA stepping motor, a driving controller, an encoder and a second wireless communication module are arranged in the device, the encoder monitors the movement of the stepping motor and is used for measuring the relative position x of the line marking instrument on the line marking instrument moving deviceiPosition xiThe encoder is in signal connection with the driving controller for the horizontal distance between the graticule instrument and the starting point, and the driving controller is in signal connection with the second wireless communication module and the stepping motor respectively and is used for converting the position x into a horizontal distanceiThe second wireless communication module sends the information to the first wireless communication module and controls the stepping motor to move;
the CCD camera is connected with the image processor, and the translation signal is sent to the second wireless communication module through the flight controller and the first wireless communication module and then is transmitted to the driving controller for driving the line marking instrument moving device to translate the line marking instrument;
an upper computer 4 for reading the data set stored by the unmanned aerial vehicle
Data set
And converting the three-dimensional matrix into a three-dimensional vector diagram.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that several modifications and recognitions that would be apparent to those skilled in the art without departing from the principles of the invention are considered to be within the scope of the invention.
Claims (2)
1. A wall surface monitoring method based on a line marking instrument is characterized by comprising the following steps:
s1, the marking instrument is arranged on a straight line L parallel to the wall surface, the vertical distance between the straight line L and the bottom of the wall surface is Z, the unmanned aerial vehicle is driven to be directly above the marking instrument, the height of the unmanned aerial vehicle perpendicular to the horizontal plane is continuously increased for multiple times or continuously reduced for multiple times, the height b of the unmanned aerial vehicle is increased or reduced each time, the unmanned aerial vehicle is suspended in the air and is controlled to startLaser range finder measures unmanned aerial vehicle one side and wall height and is yjA distance z ofiWhile simultaneously acquiring the position x of the line marker on the straight line LiStoring the acquired data set
Distance ziHeight yjPosition xiWhen the total height of the unmanned aerial vehicle after vertical movement is larger than the height H of the wall surface or is lower than the lower limit H of the height, the unmanned aerial vehicle stops continuously rising or continuously lowering, then a translation signal is sent to the striping instrument, and a laser striping line emitted by the striping instrument is perpendicular to the horizontal plane and parallel to the wall surface in the rising or lowering process of the unmanned aerial vehicle;
s2, driving the marking instrument to stop moving by the step length a along the straight line L every time, enabling the unmanned aerial vehicle to horizontally fly to the position right above the marking instrument along with the marking instrument, repeating the step 1 until the marking instrument receives the translation signal again, enabling the translation starting point of the marking instrument to be right opposite to the wide edge on one side of the wall surface, and enabling the width of the wall surface to be D;
s3, repeating the steps S1-S2 until the total translation stroke of the reticle instrument is D;
s4, obtaining all data sets from the steps S1 to S3
Transformation into a three-dimensional matrix:
then the three-dimensional matrix is changed into a three-dimensional vector diagram;
i denotes the order of translation, j denotes the order of vertical ascent and descent, i<m, m ═ D/a, i mod m ═ c, base length xiMod denotes taking the remainder.
2. The monitoring method according to claim 1, wherein the steps S2 and S3 further include the step of the drone flying in a horizontal direction:
t1, when the unmanned aerial vehicle is collected to be horizontal through an inclination angle sensor, adjusting the flying posture of the unmanned aerial vehicle until a grating sensor arranged on the belly of the unmanned aerial vehicle is perpendicular to the wall surface, receiving a laser marking transmitted by a marking instrument through the grating sensor, measuring the position d of the laser marking on the grating sensor, and if the position d deviates relative to the center of the grating sensor, driving the unmanned aerial vehicle to fly along the direction perpendicular to the wall surface until the position d is located at the center of the grating sensor, wherein the grating sensor is in a long strip shape;
t2. the drone acquires the image below by means of a ventral camera, when said reticle is present in the image and the distance from the center of the image is lower than a threshold, the drone stops the horizontal flight in step S2 or S3;
and T3, repeating the steps T1-T2 until the position d is at the center of the grating sensor, and the distance between the reticle instrument and the center of the image in the image is lower than a threshold value.
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