CN115406412A - Unmanned aerial vehicle surveying and mapping device and method based on BIM - Google Patents
Unmanned aerial vehicle surveying and mapping device and method based on BIM Download PDFInfo
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Abstract
The invention discloses a surveying and mapping device and a surveying and mapping method based on a BIM unmanned aerial vehicle, wherein the device comprises a detection module, an acquisition module, a data module, a BIM module, a communication module and a control module; after the detection module detects the unmanned aerial vehicle to be qualified, the unmanned aerial vehicle receives a flight mapping task to take off, data are collected through the collection module and sent to the data module to be preprocessed, then the data are transmitted to the BIM module to construct a three-dimensional scene model and output, and the data are transmitted to the control hollow through the communication module. The mapping method comprises the following steps: s100, collecting mapping data on site; s200, constructing a BIM (building information modeling) model according to the collected data information; and S300, outputting a mapping real-scene three-dimensional result. According to the invention, a three-dimensional model of the mapping scene is constructed based on the BIM model, and multisource mapping data is organically integrated to form a systematic mapping element information system, so that the problems of complex mapping 3D scene, incapability of dynamic construction and the like are solved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle surveying and mapping, in particular to a surveying and mapping device and method based on a BIM unmanned aerial vehicle.
Background
Surveying and mapping refers to measuring, collecting and drawing the shape, size, spatial position and attributes of natural geographic elements or surface artificial facilities. At present, unmanned aerial vehicle surveying and mapping devices are widely applied in the surveying and mapping field. BIM is a full life cycle technical process and method for improving planning, designing, building, operation management and maintenance of a building by displaying geometric information, physical information and functional information of the building through a digital means. The BIM technology is a revolutionary technology, represents the application of the BIM technology in the direction of information development of the building engineering industry, and is mainly concentrated in the field of building engineering projects, the research and the use of the BIM technology in the aspect of surveying and mapping are not many, and most of the BIM technology cannot be effectively realized, so that the research and the development of a surveying and mapping device and a surveying and mapping method based on a BIM unmanned aerial vehicle are necessary.
Disclosure of Invention
In order to solve the problems, the invention provides a surveying and mapping device and a surveying and mapping method based on a BIM unmanned aerial vehicle, so as to save energy and realize rich requirements.
The technical scheme of the invention is as follows: a surveying and mapping device based on a BIM unmanned aerial vehicle comprises a detection module, an acquisition module, a data module, a BIM module, a communication module and a control module; after the detection module detects the unmanned aerial vehicle to be qualified, the unmanned aerial vehicle receives a flight mapping task to take off, data are collected through the collection module and sent to the data module to be preprocessed, then the data are transmitted to the BIM module to construct a three-dimensional scene model and output, and the data are transmitted to the control hollow through the communication module.
Preferably, in the technical solution, the detection module is configured to detect various performances of the unmanned aerial vehicle before takeoff, and automatically generate a detection report and send the detection report to the control module, so that the control module makes a decision whether to let the unmanned aerial vehicle execute a flight mission.
Preferably, in this technical scheme, the collection module includes video camera, distance sensor and altitude sensor, gathers the landform, height and the flight path data information in survey and drawing place, and passes through communication module and transmit to the data module, or temporarily store in the memory on the unmanned aerial vehicle.
Preferably, in the technical scheme, the data module stores and collects data information and flight mission information, and receives control information of the control module to control the unmanned aerial vehicle to fly according to a planned route.
Preferably, in the technical solution, the BIM module acquires data information of a photo, a video and an engineering material, and redefines the data information to construct a geometric shape of physical characteristics of a mapping scene, and generates a three-dimensional model of the mapping scene to be output and then transmits the three-dimensional model to the control module through the communication module.
Preferably, in the technical scheme, the control hollow is used for planning a flight route, sending a flight mission, monitoring a flight trajectory, dynamically acquiring data information of a mapping process, and displaying a three-dimensional scene.
Another object of the present invention is to provide a mapping method based on BIM unmanned aerial vehicle mapping apparatus, which includes the following steps:
s100, collecting mapping data on site;
s200, constructing a BIM (building information modeling) according to the acquired data information;
and S300, outputting a mapping real-scene three-dimensional result.
Preferably, in the present technical solution, in step S300, a related three-dimensional modeling system is established based on the constructed BIM model, a mapping area plan is matched to complete a simulated three-dimensional stereo mapping, and a mapping real-scene three-dimensional result is output on the basis of integrating the content of specific parameters.
Preferably, in the present embodiment, in step S200, the method includes the following steps:
s210, data preprocessing, including missing value, abnormal value, data integration and data redundancy processing;
s220, building a BIM model, and providing a three-dimensional terrain model of a surveying and mapping site based on technologies such as aerial survey, GPS measurement and shooting of an unmanned aerial vehicle;
s230, checking the BIM, including checking the integrity of the model, checking the modeling normalization of the components in the model, checking the design content and indexes and checking the engineering information;
s240, modifying the BIM model until the checking of the BIM model is passed according to the checking result of the BIM model;
and S250, checking whether the model is qualified, finishing the evaluation of the IM model and the function of testing the BIM model, and confirming whether the model is qualified.
Preferably, in the present embodiment, in step S210, the method includes the following steps:
s211, acquiring original data acquired by the unmanned aerial vehicle by a data module, performing distortion correction on an original image and an original video in the original data, and homogenizing light and color and then outputting;
s212, the data module performs feature extraction on the processed images and videos, and integrates and processes the processed images and videos by combining surveying and mapping project data;
s213, using an aerial triangular data technology for the integrated data to obtain the plane coordinates and the elevation of the encrypted point;
and S213, carrying out mapping scene arrangement and operation according to the result obtained in the step S213. .
Compared with the prior art, the invention has the beneficial effects that:
the invention constructs a three-dimensional model of a surveying scene based on a BIM model from a real scene photographed by an unmanned aerial vehicle, and organically integrates multisource surveying data to form a systematic surveying element information system, so as to meet the urgent requirements of owners and designers on surveying elements such as multisource ground feature and geomorphism and the like, and solve the problems that a 3D scene is complicated to survey and cannot be dynamically constructed and the like.
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FIG. 1 is an architectural diagram of a mapping apparatus of the present invention;
FIG. 2 is a flow chart of a mapping method of the present invention;
FIG. 3 is a flow chart of the unmanned aerial vehicle preparation prior to data acquisition of the present invention;
FIG. 4 is a flow chart of model building of the present invention;
FIG. 5 is a flow chart of the data pre-processing of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the surveying and mapping device based on the BIM unmanned aerial vehicle at least comprises a detection module 100, an acquisition module 200, a data module 300, a BIM module 400, a communication module 500 and a control module 600, wherein after the detection module 100 detects the unmanned aerial vehicle to be qualified, the unmanned aerial vehicle receives a flight surveying and mapping task and takes off, the data acquired by the acquisition module 200 is sent to the data module 300 for preprocessing, then the data is transmitted to the BIM module to construct a 3D (three-dimensional) scene model and output, and the 3D (three-dimensional) scene model is transmitted to the control hollow 600 through the communication module 500.
The detection module 100 is configured to detect various performances of the unmanned aerial vehicle before takeoff, automatically generate a detection report, and send the detection report to the control module 600, so that the control module 600 makes a decision whether to let the unmanned aerial vehicle execute a flight mission.
The collection module 200 at least comprises a video shooting instrument, a camera, a distance sensor and an altitude sensor, collects data information such as landform, altitude and flight trajectory of a surveying and mapping site, and transmits the data information to the data module 300 through the communication module 500 or temporarily stores the data information in a storage on the unmanned aerial vehicle.
The data module 300 stores the collected data information and the flight mission information, and receives the control information of the control module 600 to control the unmanned aerial vehicle to fly according to the planned route.
The BIM module 400 includes a BIM model, and is configured to acquire data information such as a photo, a video, and engineering data, and redefine the data information to construct a geometric shape of a physical characteristic of a mapping scene, and transmit the generated mapping scene 3D model to the control module 600 through the communication module 500 after outputting the mapping scene 3D model.
The communication module 500 includes wireless communication, 3G, 4G, and 5G communication, and is configured to implement data communication.
And the control hollow 600 is used for planning a flight route, sending a flight task, monitoring a flight track, dynamically acquiring data information in a mapping process and displaying a 3D scene.
The invention discloses a surveying and mapping method based on a BIM unmanned aerial vehicle surveying and mapping device, which comprises the following steps as shown in figure 2:
s100, collecting mapping data on site;
specifically, the unmanned aerial vehicle receives the flight mission well, executes the flight mission according to the mapping planning track, executes mapping acquisition work, and acquires and returns field data information in real time. It needs the piece to prepare before surveying and drawing the collection earlier to take off at unmanned aerial vehicle, prepares including following flow and work before surveying and drawing the collection:
s110, the unmanned aerial vehicle carries out self-detection, and if the self-detection performance is unqualified, the unmanned aerial vehicle stops flying, or if the self-detection performance is qualified, the unmanned aerial vehicle directly enters the next step of work;
s120, the control module sends the surveying and mapping plan to the unmanned aerial vehicle, and unmanned aerial vehicle receives the flight surveying and mapping plan to generate a planning air route;
s130, the control module constructs a three-dimensional reconstruction range of the unmanned aerial vehicle flight according to the planned route; it should be noted that the three-dimensional reconstruction range file is appointed to be a KML file, and the model output range in the three-dimensional reconstruction work is drawn in advance, so that the file only needs to be directly called during three-dimensional modeling.
S140, the control module carries out temporary image control point arrangement and starts image control point measurement; in the aspect of image control point arrangement, in order to avoid wasting a large amount of time in manual arrangement and acquisition processes, the image control points are artificially divided into fixed image control points (fixed points) and temporary image control points (temporary points). Fixed points refer to points that exist throughout the mapping process; the temporary points refer to image control points which need to be rearranged along with the change of the environment of the surveying and mapping field. The fixed point only needs to be laid and collected once in the whole mapping process and can be directly used in the subsequent three-dimensional modeling.
S150, uploading a flight task, and carrying out flight acquisition by an unmanned aerial vehicle; the unmanned aerial vehicle directly calls the set flight tasks through air route planning software, takes off and carries out flight acquisition work.
S200, constructing a BIM (building information modeling) model according to the collected data information;
specifically, the BIM module acquires photos and videos shot by the unmanned aerial vehicle, acquires recorded data information such as engineering data from the system, and redefines the data information to construct a geometric shape of physical characteristics of the mapping scene and generate a three-dimensional model of the mapping scene. The process is shown in fig. 4, and comprises the following steps:
s210, preprocessing data;
specifically, the data preprocessing includes processing missing values, abnormal values, data integration, redundancy, and the like, and includes the steps as shown in fig. 5:
s211, the data module 300 acquires original data acquired by the unmanned aerial vehicle, performs distortion correction on an original image and an original video in the original data, and performs light and color evening and then outputs the data;
s212, the data module 300 performs feature extraction on the processed images and videos, integrates and processes the data by combining surveying and mapping engineering data;
during feature extraction, the judgment is carried out through the difference degree, and the judgment specifically comprises the following steps:
degree of difference d s By the formula d s ＝||x d1 -x s ||+…+||x dk -x s I calculation, where x d1 ,…,x dk Representing image representation coefficients, x 1 ,…,x s Represents the 1 st to s th images, k =1, \8230;, x s A representative coefficient representing the s-th training example; select min { d s And taking the eigenvalue as the characteristic value, and carrying out the next step of solving the correlation value P (x).
Wherein D is a characteristic matrix which is formed by m rows and n columns and is formed by m characteristics obtained before optimization, and the length of each characteristic reaches n dimensions. D s The s-th dimension of each row of samples.
S213, using an aerial triangular data technology for the integrated data to obtain the plane coordinates and the elevation of the encrypted point;
and S213, carrying out mapping scene arrangement and operation according to the result obtained in the step S213.
S220, building a BIM model;
specifically, based on technologies such as aerial survey, GPS measurement, shooting of unmanned aerial vehicle, provide the three-dimensional terrain model in survey and drawing place. According to aerial survey data acquisition or high-resolution image data acquisition, a DEM and a DOM are obtained through systematic data processing, and standard and reasonable mapping BIM terrain modeling is achieved through processes of creating terrain curved surfaces, paving surface materials, cutting terrains and the like.
S230, checking the BIM model;
specifically, the model is completely checked, each component in the model is checked to see whether the component is complete and all the information contents are complete or not, and whether the information contents meet the requirements or not. And then, checking the modeling standard, checking each item of information of the model, and referring to technical rules and standards of the building information model to ensure the accuracy of the BIM model. The method comprises the steps of checking the modeling normalization of components in a model, checking the rationality of a modeling method, checking the relation between parameters of each component, checking the space rationality between the components of the model, checking whether each piece of information to be checked and constructed is complete, whether the requirements of format and version are correct, and the like. And then checking the design content and indexes. The contents of the model, the design parameter information, are checked to see if the design requirements of the project are met, and the building design specifications and associated regulations in the regulations. For example, the sizes, positions and types of various components created by the BIM model are checked to be in accordance with the requirements of contracts and specifications. And finally, checking the engineering information, namely checking the drawing by combining the mapping technical requirements of the engineering project to ensure that the drawing meets the standard requirements. The method mainly checks the conformity of the model coordination requirements, and whether the models and the components have good coordination relations, such as whether conflicts exist in the models of all the specialties, whether conflicts exist in the models among all the specialties, whether the space reservation of construction is reasonable or not, whether the operation space is satisfied or not, and the like.
S240, modifying the BIM model;
specifically, according to the result of checking the BIM model, the checking is modified until the BIM model passes.
S250, checking whether the model is qualified or not
Specifically, the functions of evaluating the IM model and testing the BIM model are completed, and whether the IM model is qualified or not is confirmed.
And S300, outputting a mapping real scene three-dimensional result.
Specifically, a related three-dimensional modeling system is established based on the built BIM model, simulation three-dimensional stereo mapping is completed by matching with a mapping area plan, and a mapping real-scene three-dimensional result is output on the basis of integrating specific parameter contents.
In conclusion, the invention constructs a three-dimensional model of a surveying scene based on a BIM model from a real scene photographed by an unmanned aerial vehicle, and organically integrates multi-source surveying data to form a systematic surveying element information system, so as to meet the urgent requirements of owners and designers on surveying elements such as multi-source ground feature and geomorphology, and solve the problems that a 3D scene is complicated to survey and cannot be dynamically constructed, and the like.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A surveying and mapping device based on a BIM unmanned aerial vehicle is characterized by comprising a detection module, an acquisition module, a data module, a BIM module, a communication module and a control module; after the detection module detects the unmanned aerial vehicle to be qualified, the unmanned aerial vehicle receives a flight mapping task to take off, data collected by the collection module is sent to the data module to be preprocessed, then the data is transmitted to the BIM module to construct a three-dimensional scene model and output, and the data is transmitted to the control hollow through the communication module.
2. The BIM unmanned aerial vehicle-based surveying and mapping device according to claim 1, wherein the detection module is configured to detect the performances of the unmanned aerial vehicle before takeoff, and automatically generate a detection report to be sent to the control module, so that the control module makes a decision whether to let the unmanned aerial vehicle execute a flight mission.
3. The BIM-based drone surveying device according to claim 1, characterized by the acquisition module, comprising video camera, distance sensor and altitude sensor, acquiring the geomorphology, altitude and flight trajectory data information of the survey site and being transferred to the data module through the communication module or being temporarily stored in a memory on the drone.
4. The BIM unmanned aerial vehicle-based surveying device of claim 1, wherein the data module stores collected data information and flight mission information, and receives control information of the control module to control the unmanned aerial vehicle to fly according to a planned route.
5. The BIM unmanned aerial vehicle-based surveying and mapping device according to claim 1, wherein the BIM module acquires data information of photos, videos and engineering materials and redefines the data information to construct a geometric shape of physical characteristics of the surveying and mapping scene, and the generated three-dimensional model of the surveying and mapping scene is output and then transmitted to the control module through the communication module.
6. The BIM-based unmanned aerial vehicle surveying and mapping device of claim 1, wherein the control hollow is configured to plan a flight route, send a flight mission, monitor a flight trajectory, and dynamically acquire data information of a surveying and mapping process to display a three-dimensional scene.
7. Mapping method according to any of claims 1-6, based on BIM drone mapping device, characterized in that it comprises the following steps:
s100, collecting mapping data on site;
s200, constructing a BIM (building information modeling) according to the acquired data information;
and S300, outputting a mapping real-scene three-dimensional result.
8. The method according to claim 7, wherein in step S300, a related three-dimensional modeling system is established based on the constructed BIM model, a simulated three-dimensional stereo mapping is completed in cooperation with a mapping region plan, and a mapping real-scene three-dimensional result is output on the basis of integrating the specific parameter content.
9. The mapping method according to claim 7, characterized in that in step S200, it comprises the following steps:
s210, data preprocessing, including missing value, abnormal value, data integration and data redundancy processing;
s220, building a BIM model, and providing a three-dimensional terrain model of a surveying and mapping site based on technologies such as aerial survey, GPS measurement and shooting of an unmanned aerial vehicle;
s230, checking the BIM model, including checking the integrity of the model, checking the modeling normalization of components in the model, checking design content and indexes and checking engineering information;
s240, modifying the BIM model until the checking of the BIM model is passed according to the checking result of the BIM model;
and S250, checking whether the model is qualified, finishing the evaluation of the IM model and the function of testing the BIM model, and confirming whether the model is qualified.
10. The mapping method according to claim 9, characterized in that in step S210, it comprises the following steps:
s211, acquiring original data acquired by the unmanned aerial vehicle by a data module, performing distortion correction on an original image and an original video in the original data, and homogenizing light and color and then outputting;
s212, the data module performs feature extraction on the processed images and videos, and integrates and processes the processed images and videos by combining surveying and mapping project data;
s213, using an aerial triangular data technology for the integrated data to obtain the plane coordinates and the elevation of the encrypted point;
and S213, carrying out mapping scene arrangement and operation according to the result obtained in the step S213.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115880466A (en) * | 2023-02-14 | 2023-03-31 | 山东省地质测绘院 | Urban engineering surveying and mapping method and system based on unmanned aerial vehicle remote sensing |
| CN117152371A (en) * | 2023-10-30 | 2023-12-01 | 山东亿华天产业发展集团有限公司 | Three-dimensional topographic mapping method and system |
| CN117849788A (en) * | 2024-03-06 | 2024-04-09 | 山东飞鸢空间信息科技有限公司 | Mapping system of geological topography digital twin scene based on three-dimensional modeling |
-
2022
- 2022-07-13 CN CN202210817807.9A patent/CN115406412A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115880466A (en) * | 2023-02-14 | 2023-03-31 | 山东省地质测绘院 | Urban engineering surveying and mapping method and system based on unmanned aerial vehicle remote sensing |
| CN117152371A (en) * | 2023-10-30 | 2023-12-01 | 山东亿华天产业发展集团有限公司 | Three-dimensional topographic mapping method and system |
| CN117152371B (en) * | 2023-10-30 | 2024-02-09 | 山东亿华天产业发展集团有限公司 | Three-dimensional topographic mapping method and system |
| CN117849788A (en) * | 2024-03-06 | 2024-04-09 | 山东飞鸢空间信息科技有限公司 | Mapping system of geological topography digital twin scene based on three-dimensional modeling |
| CN117849788B (en) * | 2024-03-06 | 2024-05-10 | 山东飞鸢空间信息科技有限公司 | Mapping system of geological topography digital twin scene based on three-dimensional modeling |
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