Surveying instrument for building engineering construction and use method thereof

Abstract

The invention relates to the technical field of construction surveying and mapping, and provides a surveying and mapping instrument for building engineering construction, which comprises a laser scanning unit which comprises a polygon prism rotary scanning mechanism and a galvanometer system and is used for emitting laser beams with the wavelength range of 800-1600nm and generating three-dimensional point cloud data of a target area, and the adjustable range of the scanning frequency is 10-200Hz; the GPS positioning unit is integrated with a dual-frequency RTK differential module, supports Beidou / GPS / GLONASS multi-system positioning, obtains space coordinates (x, y, z) of a surveying instrument in real time, the positioning error is less than or equal to 2cm, and synchronizes differential data with a base station through a 5G network, the data delay is less than 50ms, and the environment sensor unit comprises a temperature and humidity sensor, an illumination sensor and a laser radar haze detection module. Under the haze condition, the image definition Q can be improved by 45%, the data stability can be improved by 60% when temperature and humidity fluctuate, the GB / T50328-2019 surveying and mapping precision AA-level standard is met, the automatic recognition rate of abnormal points is larger than or equal to 98%, the path planning time is shortened to be within 5 seconds, and the comprehensive surveying and mapping efficiency is improved by 35%.

Description

Technical Field

[0001] The present invention relates to the technical field of construction surveying and mapping, and in particular to a surveying instrument for construction of a building project and a method of using the same. Background Art

[0002] Construction engineering surveying instruments often rely on single sensors. For example, laser scanners optimize survey points but lack the ability to dynamically adjust environmental parameters. Others utilize GPS and RTK technology to monitor terrain changes, but this fails to address the issue of decreased scanning accuracy in complex environments. Traditional equipment suffers from smog, fluctuating temperature and humidity levels, resulting in blurred data due to variations in laser penetration. This requires manual intervention to adjust parameters, which is inefficient.

[0003] The existing technology has fixed laser power, resulting in distorted scanning data (clarity reduction ≥30%) in fog and haze and high temperatures. The identification of abnormal points relies on manual review, and the energy consumption of rescanning increases by 40%. Even the GPS, laser scanning, and environmental sensing modules operate independently, and data delays cause positioning and scanning to be out of sync. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a surveying instrument for construction engineering and a method for using the same, which solves the problems of the existing technology, such as fixed laser power, distortion of scanning data in haze and high temperature (clarity reduction ≥30%), reliance on manual review for abnormal point identification, 40% increase in energy consumption for rescanning, and even independent operation of GPS, laser scanning, and environmental sensing modules, resulting in data delays leading to synchronization between positioning and scanning.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A surveying instrument for construction engineering, comprising:

[0006] The laser scanning unit includes a polygonal mirror rotation scanning mechanism and a galvanometer system, which is used to emit a laser beam with a wavelength range of 800 to 1600 nm and an adjustable scanning frequency range of 10 to 200 Hz to generate three-dimensional point cloud data of the target area;

[0007] The GPS positioning unit integrates a dual-frequency RTK differential module and supports BeiDou / GPS / GLONASS multi-system positioning. It can obtain the spatial coordinates (x, y, z) of the surveyor in real time with a positioning error of ≤ 2cm. It also synchronizes differential data with the base station via the 5G network, with a data delay of < 50ms.

[0008] Environmental sensor unit, including temperature and humidity sensor, light sensor and lidar haze detection module, is used to collect environmental temperature T (-20℃~60℃), humidity H (0%~100%RH), haze concentration V (0~500μg / m 3 ), data sampling frequency ≥ 100 Hz;

[0009] The data processing unit is connected to the laser scanning unit, GPS positioning unit and environmental sensor unit via the CAN bus and has the following built-in submodules:

[0010] The dynamic power control module adjusts the laser power P in real time based on environmental parameters, satisfying the formula:

[0011]

[0012] Where p0 = 50 mW, T0 = 25 °C, V0 = 100 μg / m 3 , a=0.02℃-1, β=0.1;

[0013] The point cloud processing module uses the RANSAC algorithm to fit the plane and calculate the image clarity Q:

[0014]

[0015] Where N is the number of valid points, y = 0.1s -1 , Δt is the data collection time interval;

[0016] Genetic algorithm optimization module, the objective function is:

[0017]

[0018] Among them, Q th =0.8, λ=0.3, μ=0.2, Energy_Cost is the path energy consumption;

[0019] The control unit receives instructions from the data processing unit through the RS-485 interface and generates laser scanning path planning and UAV flight control signals

[0020] The adaptive support unit, which includes a three-axis MEMS gyroscope and an electric hydraulic rod, adjusts the level in real time according to the slope θ (0° to 15°) of the terrain. The adjustment amount Δh satisfies:

[0021] Δh=L·tan(θ)(L=1.2m)

[0022] Response time < 1 second;

[0023] The energy management unit integrates a lithium-ion battery pack and a solar charging module, supports synchronous power supply for the drone and the surveyor body, and has a flight time of ≥8 hours.

[0024] Preferably, the galvanometer system of the laser scanning unit adopts closed-loop control, with an angular resolution of ≤0.01°, a scanning angle coverage of 360°×120°, and a point cloud density of ≥1000 points / m 2 , and when the haze concentration V ≥ 300 μg / m 3It automatically switches to 1600nm wavelength to enhance penetration.

[0025] Preferably, the GPS positioning unit has a built-in anti-multipath interference antenna with an antenna gain of ≥5dBi, and supports dynamic positioning mode switching: plane positioning accuracy ≤2cm (RTK mode), and elevation positioning accuracy ≤5cm.

[0026] Preferably, the data processing unit also includes an abnormal point prediction module, which uses a convolutional neural network (CNN) to train historical point cloud data, predict abnormal surveying points that may appear in the next 10 minutes, with a trigger probability threshold of ≥90%, and plan avoidance paths in advance.

[0027] Preferably, the training data set of the outlier prediction module contains 100,000 sets of point cloud data under haze, rainfall, and strong light scenes, and the network structure is ResNet-34.

[0028] Preferably, when the control unit generates the UAV flight path, the path is smoothed using a cubic spline interpolation algorithm, and the UAV flight speed v is segmented controlled:

[0029]

[0030] The total energy consumption E of the path satisfies:

[0031]

[0032] Preferably, it also includes a remote interaction unit that supports 4G / 5G / Wi-Fi multi-mode communication and provides the following functions:

[0033] Real-time display of laser scanning point cloud data, environmental parameters and positioning coordinates;

[0034] Receive the Q_th, λ, μ parameters input by the user and dynamically adjust the algorithm weights;

[0035] When Q is lower than the threshold for three consecutive times, an alarm message will be automatically pushed to the mobile terminal.

[0036] Preferably, the solar charging module of the energy management unit has a conversion efficiency of ≥22%, supports MPPT (maximum power point tracking) algorithm, and is 2 When charging, the charging power is ≥100W.

[0037] Preferably, the data processing unit has a built-in data encryption module, uses the AES-256 algorithm to encrypt the point cloud data, supports local TF card storage (≥1TB) and cloud synchronization, and the synchronization interval is ≤10 minutes.

[0038] A method for using a surveying instrument for construction engineering, comprising the following steps:

[0039] Step 1: Initialize the reference coordinates through the GPS positioning unit (102), load the BIM model and divide the surveying grid;

[0040] Step 2: The environmental sensor unit collects T, H, and V parameters in real time, and the dynamic power control module adjusts the laser power P;

[0041] Step 3: The laser scanning unit performs scanning according to the path output by the genetic algorithm optimization module to generate point cloud data;

[0042] Step 4: The point cloud processing module calculates the clarity Q of each grid. If Q < Q_th, it is marked as an abnormal point and the rescanning protocol is triggered;

[0043] Step 5: The control unit drives the drone to perform fill scan along the cubic spline path until Q ≥ Q_th in the entire area;

[0044] Step 6: The data encryption module encrypts the data and synchronizes it to the cloud, and the remote interaction unit generates a surveying and mapping report.

[0045] The present invention provides a surveying instrument for construction engineering and a method for using the same. It has the following beneficial effects:

[0046] 1. The present invention can improve image clarity Q by 45% under haze conditions, improve data stability by 60% when temperature and humidity fluctuate, meet the GB / T 50328-2019 surveying and mapping accuracy AA level standard, achieve an automatic recognition rate of abnormal points ≥ 98%, shorten path planning time to within 5 seconds, and improve comprehensive surveying and mapping efficiency by 35%.

[0047] 2. Through genetic algorithm optimization, the present invention reduces the total length of the UAV flight path by 20%, reduces energy consumption by 28%, can automatically level terrain with a slope of ≤15°, has a bracket adjustment response time of less than 1 second, and increases the coverage rate of complex terrain to 95%. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a flow chart of the present invention;

[0049] Figure 2 This is a system diagram of the energy management unit in the present invention;

[0050] Figure 3 is a system diagram of the adaptive bracket unit in the present invention;

[0051] Figure 4 is a system diagram of the environmental sensor unit in the present invention;

[0052] Figure 5 This is a system diagram of the laser scanning unit in the present invention;

[0053] Figure 6is a system diagram of the data processing unit in the present invention;

[0054] Figure 7 It is a system diagram of the present invention. DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0056] As one aspect of the present invention, please refer to the attached Figure 7 The embodiment of the present invention provides a surveying and mapping instrument for construction engineering, comprising:

[0057] Please see the attached Figure 5 The laser scanning unit includes a polygonal rotating scanning mechanism and a galvanometer system, which is used to emit a laser beam with a wavelength range of 800 to 1600 nm. It adopts closed-loop control, an angular resolution of ≤0.01°, a scanning angle coverage of 360°×120°, and a point cloud density of ≥1000 points / m 2 , and when the haze concentration V ≥ 300 μg / m 3 It automatically switches to 1600nm wavelength to enhance penetration, and the scanning frequency is adjustable from 10 to 200Hz to generate 3D point cloud data of the target area.

[0058] GPS positioning unit, built-in anti-multipath interference antenna, antenna gain ≥5dBi, supports dynamic positioning mode switching: plane positioning accuracy ≤2cm (RTK mode), elevation positioning accuracy ≤5cm, integrated dual-frequency RTK differential module, supports Beidou / GPS / GLONASS multi-system positioning, real-time acquisition of the surveyor's spatial coordinates (x, y, z), positioning error ≤2cm, and synchronizes differential data with the base station via the 5G network, with data latency <50ms;

[0059] Please see the attached Figure 4 , environmental sensor unit, including temperature and humidity sensor, light sensor and lidar haze detection module, used to collect environmental temperature T (-20 ℃ ~ 60 ℃), humidity H (0% ~ 100% RH), haze concentration V (0 ~ 500μg / m 3 ), data sampling frequency ≥ 100 Hz;

[0060] Please see the attached Figure 6, data processing unit, built-in data encryption module, uses AES-256 algorithm to encrypt point cloud data, supports local TF card storage (≥1TB) and cloud synchronization, synchronization interval ≤10 minutes, connected to the laser scanning unit, GPS positioning unit and environmental sensor unit via CAN bus, built-in submodules, and built-in abnormal point prediction module. Its built-in training data set contains 100,000 sets of point cloud data in haze, rainfall, and strong light scenes. The network structure is ResNet-34, using convolutional neural network (CNN) to train historical point cloud data, predicting abnormal mapping points that may appear in the next 10 minutes, with a trigger probability threshold ≥90%, and planning avoidance paths in advance:

[0061] The dynamic power control module adjusts the laser power P in real time based on environmental parameters, satisfying the formula:

[0062]

[0063] Where p0 = 50 mW, T0 = 25 °C, V0 = 100 μg / m 3 , a=0.02℃-1, β=0.1;

[0064] The point cloud processing module uses the RANSAC algorithm to fit the plane and calculate the image clarity Q:

[0065]

[0066] Where N is the number of valid points, y = 0.1s -1 , Δt is the data collection time interval;

[0067] Genetic algorithm optimization module, the objective function is:

[0068]

[0069] Among them, Q th =0.8, λ=0.3, μ=0.2, Energy_Cost is the path energy consumption;

[0070] The control unit receives instructions from the data processing unit through the RS-485 interface and generates laser scanning path planning and UAV flight control signals. When generating the UAV flight path, the cubic spline interpolation algorithm is used to smooth the path. The UAV flight speed v is controlled in sections:

[0071]

[0072] The total energy consumption E of the path satisfies:

[0073]

[0074] Please see the attached Figure 3The adaptive support unit, which includes a three-axis MEMS gyroscope and an electric hydraulic rod, adjusts the level in real time according to the slope θ (0° to 15°) of the terrain. The adjustment amount Δh satisfies:

[0075] Δh=L·tan(θ)(L=1.2m)

[0076] Response time < 1 second;

[0077] Please see the attached Figure 2 , energy management unit, integrated lithium-ion battery pack and solar charging module, supports synchronous power supply of UAV and surveying instrument body, flight time ≥8 hours, solar charging module conversion efficiency ≥22%, supports MPPT (maximum power point tracking) algorithm, under light intensity ≥500W / m 2 When charging, the charging power is ≥100W;

[0078] The remote interaction unit supports 4G / 5G / Wi-Fi multi-mode communications and provides the following functions:

[0079] Real-time display of laser scanning point cloud data, environmental parameters and positioning coordinates;

[0080] Receive the Q_th, λ, μ parameters input by the user and dynamically adjust the algorithm weights;

[0081] When Q is lower than the threshold for three consecutive times, an alarm message will be automatically pushed to the mobile terminal.

[0082] As another aspect of the present invention, please refer to the attached Figure 1 A method for using a surveying instrument for construction engineering, comprising the following steps:

[0083] Step 1: Initialize the reference coordinates through the GPS positioning unit (102), load the BIM model and divide the surveying grid;

[0084] Step 2: The environmental sensor unit collects T, H, and V parameters in real time, and the dynamic power control module adjusts the laser power P;

[0085] Step 3: The laser scanning unit performs scanning according to the path output by the genetic algorithm optimization module to generate point cloud data;

[0086] Step 4: The point cloud processing module calculates the clarity Q of each grid. If Q < Q_th, it is marked as an abnormal point and the rescanning protocol is triggered;

[0087] Step 5: The control unit drives the drone to perform fill scan along the cubic spline path until Q ≥ Q_th in the entire area;

[0088] Step 6: The data encryption module encrypts the data and synchronizes it to the cloud, and the remote interaction unit generates a surveying and mapping report

[0089] The following is an introduction based on specific embodiments

[0090] Example:

[0091] Initialization and modeling:

[0092] The reference coordinates are obtained through the GPS positioning unit, the BIM model is loaded and divided into 50×50m surveying grids.

[0093] Environmental parameter collection and power adjustment:

[0094] The environmental sensor unit collects real-time data of T = 28 ° C, H = 65% RH, V = 280 μg / m 3 , dynamic power control module calculates laser power: 58.3mW

[0095] Path planning and scanning:

[0096] The genetic algorithm optimization module outputs the optimal path (total length 320 m, energy consumption coefficient k = 0.15), and the laser scanning unit performs scanning to generate point cloud data (valid number of points N = 120,000).

[0097] Clarity calculation and outlier processing:

[0098] The point cloud processing module calculates the Q value of each grid and finds three grids with Q = 0.72 < Q_th = 0.8, marking them as abnormal points;

[0099] The control unit drove the drone to perform a rescan using a cubic spline path (turning point speed 2 m / s), which took 15 minutes, and the final Q of the entire area was ≥ 0.82.

[0100] Data encryption and report generation:

[0101] The data encryption module encrypts point cloud data using AES-256 and synchronizes it to the cloud (at intervals of 8 minutes);

[0102] The remote interactive unit generates a surveying and mapping report, marking the coordinates of abnormal points and repair suggestions.

[0103] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A surveying instrument for construction engineering, characterized in that: include: The laser scanning unit includes a polygonal mirror rotation scanning mechanism and a galvanometer system, which is used to emit a laser beam with a wavelength range of 800 to 1600 nm and an adjustable scanning frequency range of 10 to 200 Hz to generate three-dimensional point cloud data of the target area; The GPS positioning unit integrates a dual-frequency RTK differential module and supports BeiDou / GPS / GLONASS multi-system positioning. It can obtain the spatial coordinates (x, y, z) of the surveyor in real time with a positioning error of ≤ 2cm. It also synchronizes differential data with the base station via the 5G network, with a data delay of < 50ms. Environmental sensor unit, including temperature and humidity sensor, light sensor and lidar haze detection module, is used to collect environmental temperature T (-20℃~60℃), humidity H (0%~100%RH), haze concentration V (0~500μg / m 3 ), data sampling frequency ≥ 100 Hz; The data processing unit is connected to the laser scanning unit, GPS positioning unit and environmental sensor unit via the CAN bus and has the following built-in submodules: The dynamic power control module adjusts the laser power P in real time based on environmental parameters, satisfying the formula: Among them,p0=50mW,T0=25℃,V0=100μg / m 3 ,a=0.02℃-1,β=0.1; The point cloud processing module uses the RANSAC algorithm to fit the plane and calculate the image clarity Q: Where N is the number of valid points, y = 0.1s -1 , Δt is the data collection time interval; Genetic algorithm optimization module, the objective function is: Among them, Q th =0.8, λ=0.3, μ=0.2, Energy_Cost is the path energy consumption; The control unit receives instructions from the data processing unit through the RS-485 interface and generates laser scanning path planning and UAV flight control signals The adaptive support unit, which includes a three-axis MEMS gyroscope and an electric hydraulic rod, adjusts the level in real time according to the slope θ (0° to 15°) of the terrain. The adjustment amount Δh satisfies: Δh=L·tan(θ)(L=1.2m) Response time < 1 second; The energy management unit integrates a lithium-ion battery pack and a solar charging module, supports synchronous power supply for the drone and the surveyor body, and has a flight time of ≥8 hours.

2. A surveying instrument for construction engineering according to claim 1, characterized in that: The galvanometer system of the laser scanning unit adopts closed-loop control, with an angular resolution of ≤0.01°, a scanning angle coverage of 360°×120°, and a point cloud density of ≥1000 points / m 2 , and when the haze concentration V ≥ 300 μg / m 3 It automatically switches to 1600nm wavelength to enhance penetration.

3. A surveying instrument for construction engineering according to claim 1, characterized in that: The GPS positioning unit has a built-in anti-multipath interference antenna with an antenna gain of ≥5dBi and supports dynamic positioning mode switching: plane positioning accuracy ≤2cm (RTK mode) and elevation positioning accuracy ≤5cm.

4. A surveying instrument for construction engineering according to claim 1, characterized in that: The data processing unit also includes an anomaly prediction module, which uses a convolutional neural network (CNN) to train historical point cloud data, predict abnormal surveying points that may appear in the next 10 minutes, with a trigger probability threshold of ≥90%, and plan avoidance paths in advance.

5. A surveying instrument for construction engineering according to claim 4, characterized in that: The training dataset of the outlier prediction module contains 100,000 sets of point cloud data in haze, rain, and strong light scenes, and the network structure is ResNet-34.

6. A surveying instrument for construction engineering according to claim 1, characterized in that: When the control unit generates the UAV flight path, it uses a cubic spline interpolation algorithm to smooth the path, and the UAV flight speed v is segmented controlled: The total energy consumption E of the path satisfies:

7. A surveying instrument for construction engineering according to claim 1, characterized in that: It also includes a remote interaction unit that supports 4G / 5G / Wi-Fi multi-mode communications and provides the following functions: Real-time display of laser scanning point cloud data, environmental parameters and positioning coordinates; Receive the Q_th, λ, μ parameters input by the user and dynamically adjust the algorithm weights; When Q is lower than the threshold for three consecutive times, an alarm message will be automatically pushed to the mobile terminal.

8. A surveying instrument for construction engineering according to claim 1, characterized in that: The solar charging module conversion efficiency of the energy management unit is ≥22%, supports MPPT (maximum power point tracking) algorithm, and is 2 When charging, the charging power is ≥100W.

9. A surveying instrument for construction engineering according to claim 1, characterized in that: The data processing unit has a built-in data encryption module, which uses the AES-256 algorithm to encrypt point cloud data, supports local TF card storage (≥1TB) and cloud synchronization, and the synchronization interval is ≤10 minutes.

10. A method for using a surveying instrument for construction engineering, based on the surveying instrument for construction engineering according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Initialize the reference coordinates through the GPS positioning unit (102), load the BIM model and divide the surveying grid; Step 2: The environmental sensor unit collects T, H, and V parameters in real time, and the dynamic power control module adjusts the laser power P; Step 3: The laser scanning unit performs scanning according to the path output by the genetic algorithm optimization module to generate point cloud data; Step 4: The point cloud processing module calculates the clarity Q of each grid. If Q < Q_th, it is marked as an abnormal point and the rescanning protocol is triggered; Step 5: The control unit drives the drone to perform fill scan along the cubic spline path until Q ≥ Q_th in the entire area; Step 6: The data encryption module encrypts the data and synchronizes it to the cloud, and the remote interaction unit generates a surveying and mapping report.

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