A building outer wall detection method and device

Abstract

This invention provides a method and apparatus for inspecting the exterior walls of a building. The method includes: establishing multiple reference points around the building to be inspected; irradiating the wall of the building to be inspected with multiple laser lines at different angles using the reference points as references; capturing an image of the wall of the building to be inspected containing the laser lines using the reference points as references; further including irradiating rectangular laser points onto the wall of the building to be inspected using the reference points as references; detecting the distance between each point in the rectangular laser points and the reference points; calculating the length or width of the rectangular laser points based on the angle between two laser rays located on the same plane when irradiating the rectangular laser points, and the distance between the two points formed when the two laser rays irradiate the wall of the building to be inspected and the reference points respectively; analyzing the construction parameters of the wall of the building to be inspected based on the image and using the multiple laser lines as references; achieving comprehensive exterior wall inspection of the building to be inspected with reference point calibration, greatly improving the inspection accuracy.

Description

Technical Field

[0001] This invention belongs to the field of building measurement technology, and in particular relates to a method and device for detecting the exterior walls of buildings. Background Technology

[0002] Chinese invention patent with patent number 202110190804.2: A method, device and system for detecting building exterior walls based on electromagnetic radar. It discloses a method for calculating the area of ​​a building using electromagnetic radar. However, this prior art does not disclose how to perform size calibration, so it has low detection accuracy and can only perform fuzzy detection. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a method and apparatus for inspecting the exterior walls of buildings, which aims to solve the problem that the existing technology cannot provide an effective method for inspecting the exterior walls of buildings, resulting in low accuracy of inspection dimensions and poor user experience.

[0004] On one hand, the present invention provides a method for inspecting the exterior walls of a building, the method comprising the following steps:

[0005] Establish multiple benchmarks;

[0006] Multiple laser lines at different angles are irradiated onto the wall of the building under inspection, using the aforementioned reference point as a reference.

[0007] Using the reference point as a reference, an image of the wall of the building being inspected, containing the laser line, is captured;

[0008] Based on the image, the construction parameters of the walls of the inspected building are analyzed using multiple laser lines as a reference.

[0009] Furthermore, before analyzing the construction parameters of the walls of the inspected building based on the image using multiple laser lines as a reference, the process also includes:

[0010] A rectangular laser point is irradiated onto the wall of the building under inspection, using the reference point as a reference.

[0011] Detect the distance between each point in the rectangular laser point and the reference point;

[0012] The length or width of the rectangular laser point is calculated based on the angle between two laser rays located on the same plane when the rectangular laser point is irradiated, and the distances between the two points formed when the two laser rays irradiate the wall of the building being tested and the reference point.

[0013] The dimensions of the walls of the building under inspection are detected using the length or width of the rectangular laser point as a reference.

[0014] The absolute position of the laser line is calculated from the image by combining the absolute position of the rectangular laser point, wherein capturing the image also includes capturing the rectangular laser point.

[0015] Furthermore, irradiating the walls of the building under inspection with multiple laser lines at different angles, using the aforementioned reference point as a reference, includes:

[0016] One or more horizontal laser lines, vertical laser lines, and inclined laser lines are irradiated onto the walls of the building being inspected.

[0017] More preferably, the method further includes:

[0018] The relative positions of multiple reference points with respect to another nearby reference point are obtained sequentially.

[0019] Based on the relative positions of multiple reference points with respect to another nearby reference point, and combined with images of the walls of the building under inspection that include the laser lines, taken with reference to the reference points, a three-dimensional image of the building under inspection is created.

[0020] More preferably, the plurality of reference points at least surround the front, rear, left and right sides or the top surface of the building being tested.

[0021] Furthermore, the relative position includes: spacing, directional angle, and height difference;

[0022] The construction parameters include: the relative angle of the wall to the laser line, the color of the wall, and the roughness of the wall;

[0023] The dimensions of the walls of the building being inspected include one or more of the following: length, width, and height;

[0024] The images of the walls of the building being inspected include: color images.

[0025] More preferably, the method further includes, before performing three-dimensional imaging of the building under inspection:

[0026] The building under test is imaged in three dimensions based on the dimensions of multiple walls.

[0027] Furthermore, the rectangular laser point does not coincide with the laser line;

[0028] Both the rectangular laser point and the laser line are invisible lasers.

[0029] On the other hand, the present invention provides a building exterior wall inspection device, the device comprising:

[0030] The laser line emitting unit irradiates multiple laser lines at different angles onto the wall of the building being inspected, using the reference point as a reference.

[0031] The reference object emitting unit irradiates a rectangular laser point onto the wall of the building being inspected, using the reference point as a reference.

[0032] The visible light imaging unit captures images of the walls of the building under inspection, using the reference point as a reference.

[0033] An invisible light imaging unit captures an image of the laser line using the reference point as a reference.

[0034] The image merging unit merges the image of the wall of the building being inspected and the image of the laser line, and identifies the laser line.

[0035] The visible light imaging unit, the invisible light imaging unit, and the image merging unit constitute an imaging unit;

[0036] The reference point satellite positioning unit performs satellite positioning on multiple reference points and determines the preliminary relative position of each reference point with respect to another nearby reference point.

[0037] The reference point auxiliary positioning unit determines the relative position of the reference point with respect to another nearby reference point based on the preliminary relative position using a 360-degree laser alignment rangefinder; wherein, the 360-degree laser alignment rangefinder is provided on multiple reference points, and the 360-degree laser alignment rangefinder works in cooperation with another 360-degree laser alignment rangefinder.

[0038] It also includes at least one processor; and,

[0039] A memory communicatively connected to the at least one processor; wherein,

[0040] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the building exterior wall inspection method according to any one of claims 1-8.

[0041] On the other hand, the present invention also provides a non-volatile computer-readable storage medium storing computer-executable instructions, which, when executed by one or more processors, cause the one or more processors to perform the above-described method for detecting the exterior walls of buildings.

[0042] The beneficial effects of this invention are as follows: multiple reference points are established around the building to be inspected; multiple laser lines at different angles are irradiated onto the wall of the building to be inspected based on the reference points; an image of the wall of the building to be inspected, including the laser lines, is captured based on the reference points; the invention further includes irradiating rectangular laser points onto the wall of the building to be inspected based on the reference points; detecting the distance between each point in the rectangular laser points and the reference points; calculating the length or width of the rectangular laser points based on the angle between two laser rays located on the same plane when irradiating the rectangular laser points, and the distance between the two points formed when the two laser rays irradiate the wall of the building to be inspected and the reference points; detecting the dimensions of the wall of the building to be inspected based on the length or width of the rectangular laser points; analyzing the construction parameters of the wall of the building to be inspected based on the image and multiple laser lines; achieving low-cost and reference-calibrated all-round external wall inspection of the building to be inspected, greatly improving the inspection accuracy. Attached Figure Description

[0043] Figure 1 This is a flowchart illustrating the implementation of the building exterior wall inspection method provided in Embodiment 1 of the present invention;

[0044] Figure 2 This is a schematic diagram of the hardware structure of the building exterior wall detection device provided in Embodiment 2 of the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0046] The specific implementation of the present invention will be described in detail below with reference to specific embodiments:

[0047] Example 1:

[0048] Figure 1 The implementation flow of the building exterior wall inspection method provided in Embodiment 1 of the present invention is illustrated. For ease of explanation, only the parts related to the embodiment of the present invention are shown, and are described in detail below:

[0049] In step S101, multiple reference points are established;

[0050] In embodiments of the present invention, a plurality of reference points at least surround the front, rear, left and right sides or the top surface of the building being detected.

[0051] In step S102, multiple laser lines at different angles are irradiated onto the wall of the building being inspected, using the reference point as a reference.

[0052] In an embodiment of the present invention, irradiating the wall of the building under test with multiple laser lines at different angles, using a reference point as a reference, includes:

[0053] One or more horizontal laser lines, vertical laser lines, and inclined laser lines are irradiated onto the walls of the building being inspected.

[0054] In step S103, an image of the wall of the building being inspected, containing the laser line, is captured using a reference point as a reference.

[0055] In an embodiment of the present invention, the image of the wall of the building being detected includes: a color image, wherein the color image is formed by combining an infrared image and a visible light image, wherein the infrared image contains at least laser lines and rectangular laser dots on the wall.

[0056] In step S104, a rectangular laser point is irradiated onto the wall of the building being inspected, using the reference point as a reference.

[0057] In embodiments of the present invention, the rectangular laser point serves as a target reference.

[0058] In step S105, the distance between each point in the rectangular laser dot and the reference point is detected;

[0059] In an embodiment of the present invention, each laser point in the rectangular laser point can be emitted by an infrared rangefinder to detect the distance between each point in the rectangular laser point on the wall and the reference point;

[0060] In step S106, the length or width of the rectangular laser point is calculated based on the angle between two laser rays located on the same plane when irradiating the rectangular laser point, and the distance between the two points formed when the two laser rays irradiate the wall of the building being inspected and the reference point.

[0061] In an embodiment of the present invention, the length or width of the rectangular laser point is calculated according to the disclosed trigonometric function principle, that is: given the degree measure of an angle and the lengths of the two sides of the angle, the cosine is used to find the length.

[0062] In step S107, the dimensions of the walls of the building being inspected are detected based on the length or width of the rectangular laser point.

[0063] In an embodiment of the present invention, a reference target of known size, a rectangular laser point, is set to provide measurement accuracy calibration and improve the detection accuracy of wall dimensions; wherein, the dimensions of the wall of the building being inspected include one or more of the following: length, width, and height.

[0064] In step S108, the absolute position of the laser line is calculated from the image by combining the absolute position of the rectangular laser point. The process of capturing the image also includes capturing the rectangular laser point.

[0065] In embodiments of the present invention, the absolute position is relative to a pre-defined origin on the wall surface. For example, the intersection of a horizontal laser line and a vertical laser line can be set as the origin.

[0066] In step S109, the construction parameters of the walls of the building under inspection are analyzed based on the image using multiple laser lines as a reference.

[0067] In embodiments of the present invention, it is easy to observe with the naked eye; wherein, the construction parameters include: the relative angle of the wall with respect to the laser line, the color of the wall, and the roughness of the wall.

[0068] In an embodiment of the present invention, the method further includes: sequentially acquiring the relative positions of a plurality of reference points with respect to another nearby reference point; wherein the relative positions include: spacing, orientation angle, and height difference;

[0069] The building under inspection is three-dimensionally imaged by combining the relative positions of multiple reference points with another nearby reference point and images of the building walls containing laser lines taken with reference points.

[0070] Furthermore, before performing 3D imaging on the building under inspection, the process also includes: performing 3D imaging on the building under inspection based on the dimensions of multiple walls of the building under inspection.

[0071] Furthermore, the rectangular laser dots do not coincide with the laser lines; both the rectangular laser dots and the laser lines are invisible lasers, such as infrared light with wavelengths greater than 780nm, to enable detection even during the day.

[0072] In embodiments of the present invention, multiple reference points are established around the building to be inspected; multiple laser lines at different angles are irradiated onto the walls of the building to be inspected using the reference points as references; an image of the walls of the building to be inspected, including the laser lines, is captured using the reference points as references; the method further includes irradiating rectangular laser points onto the walls of the building to be inspected using the reference points as references; detecting the distance between each point in the rectangular laser points and the reference points; calculating the length or width of the rectangular laser points based on the angle between two laser rays located on the same plane when irradiating the rectangular laser points, and the distance between the two points formed when the two laser rays irradiate the walls of the building to be inspected and the reference points respectively; detecting the dimensions of the walls of the building to be inspected using the length or width of the rectangular laser points as references; analyzing the construction parameters of the walls of the building to be inspected based on the image and multiple laser lines as references; achieving low-cost and reference-calibrated all-round external wall inspection of the building to be inspected, greatly improving the inspection accuracy.

[0073] Example 2:

[0074] Figure 2This diagram illustrates the hardware structure of the building exterior wall inspection device according to Embodiment 2 of the present invention. For ease of explanation, only the parts relevant to this embodiment are shown. The device includes:

[0075] The laser line emitting unit 201 irradiates multiple laser lines at different angles onto the wall of the building being inspected, using a reference point as a reference, to perform auxiliary inspection and function as an auxiliary line.

[0076] The reference object emitting unit 202 irradiates a rectangular laser point onto the wall of the building being inspected, with the reference point as the reference. The rectangular laser point does not coincide with the laser line, and both the rectangular laser point and the laser line are invisible lasers. The rectangular laser point and the laser line are photographed with a camera using a special non-visible light filter to avoid interference with visible light and improve image measurement accuracy.

[0077] The visible light imaging unit 2031 captures images of the walls of the building being inspected, using a reference point as a reference; for example, a camera.

[0078] The invisible light imaging unit 2032 captures images of laser lines based on a reference point; for example, a camera equipped with a non-visible light filter (infrared filter).

[0079] The image merging unit 2033 merges the image of the wall of the building being inspected and the image of the laser line and identifies the laser line; this facilitates inspection and viewing and compensates for the physical position difference between the visible light imaging unit 2031 and the invisible light imaging unit 2032.

[0080] The visible light imaging unit 2031, the invisible light imaging unit 2032, and the image merging unit 2033 constitute the imaging unit 203;

[0081] The reference point satellite positioning unit 204 determines the preliminary relative position of a reference point with respect to another nearby reference point after performing satellite positioning on multiple reference points; this facilitates the precise relative position confirmation between the reference point auxiliary positioning unit 205 and the reference point auxiliary positioning unit 205 on another reference point; the reference point satellite positioning unit 204 also includes determining the altitude of the reference point.

[0082] The reference point auxiliary positioning unit 205 determines the relative position of a reference point with respect to another nearby reference point based on the preliminary relative position using a 360-degree laser alignment rangefinder 2051. Multiple reference points are equipped with 360-degree laser alignment rangefinders 2051, which work in conjunction with another 360-degree laser alignment rangefinder 2051 (located at another reference point). Each 360-degree laser alignment rangefinder 2051 consists of a 360-degree rotating pan-tilt unit, a laser rangefinder, and a laser beam sensor. After obtaining the preliminary relative position of the reference point relative to another nearby reference point as determined by the reference point satellite positioning unit 204, the 360-degree rotating gimbal rotates the laser emitter of the laser beam sensor to face the laser receiving window of the laser beam sensor of the 360-degree laser alignment rangefinder on the other reference point for precise relative positioning. Then, the laser rangefinder detects the distance between itself and the 360-degree laser alignment rangefinder on the other reference point. The 360-degree rotating gimbal outputs the relative orientation between the 360-degree laser alignment rangefinder on the other reference point and this reference point.

[0083] It also includes at least one processor 206; and,

[0084] A memory 207 communicatively connected to at least one processor 206; wherein the memory 207 stores instructions executable by at least one processor 206, the instructions being executed by at least one processor 206 to enable at least one processor 206 to perform the above-described actions. Figure 1 The method steps S101 to S109 are described in the following; further, the building exterior wall inspection device can be mounted on a drone, and the drone can be hovered over the ground of the building to be inspected. Its hovering position is set as a reference point for inspection, thereby realizing three-dimensional imaging (including the front side, rear side, left side, right side and top surface) and inspection of the building to be inspected.

[0085] Furthermore, the processor 206 is also used to compensate for the physical position difference between the laser line emitting unit 201 and the reference emitting unit 202.

[0086] Example 3:

[0087] Embodiment 3 of the present invention provides a non-volatile computer-readable storage medium storing computer-executable instructions that are executed by one or more processors, for example, executing the instructions described above. Figure 1 The method steps S101 to S109.

[0088] As an example, non-volatile storage media can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) as an external cache memory. By way of explanation, RAM can be obtained in many forms such as synchronous RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The memory components or memories disclosed in the operating environment described herein are intended to include one or more of these and / or any other suitable types of memory.

[0089] Example 4:

[0090] Embodiment 4 of the present invention provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions, which, when executed by a processor, cause the processor to perform the building exterior wall detection method described in the above embodiment. For example, performing the above-described method... Figure 1 The method steps S101 to S109.

[0091] The embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0092] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general-purpose hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can exist in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer electronic device (which may be a personal computer, server, or network electronic device, etc.) to execute the methods of each embodiment or some parts of the embodiments.

[0093] Among other things, conditional language such as “can,” “may,” “may,” or “may,” unless otherwise specifically stated or otherwise understood as in the context in which they are used, is generally intended to convey that a particular implementation may include (but not others) certain features, elements, and / or operations. Therefore, such conditional language is generally not intended to imply that features, elements, and / or operations are necessary for one or more implementations in any way, or that one or more implementations must include logic for determining whether such features, elements, and / or operations are included or will be performed in any particular implementation, with or without student input or prompts.

[0094] The contents already described herein in this specification and accompanying drawings include examples of methods and apparatus capable of providing inspection of building exterior walls. It is, of course, impossible to describe every conceivable combination of elements and / or methods for the purpose of describing the various features of this disclosure, but it will be appreciated that many other combinations and substitutions of the disclosed features are possible. Therefore, it will be apparent that various modifications can be made to this disclosure without departing from the scope or spirit of this disclosure. Furthermore, or in alternatives, other embodiments of this disclosure may become apparent from consideration of this specification and accompanying drawings and from practice of this disclosure as presented herein. It is intended that the examples presented in this specification and accompanying drawings be considered illustrative rather than restrictive in all respects. Although specific terminology is used herein, it is used in a general and descriptive sense and is not intended for limiting purposes.

Claims

1. A method for detecting a building exterior wall, characterized by, The method includes the following steps: Establish multiple benchmarks; Multiple laser lines at different angles are irradiated onto the wall of the building under inspection, using the aforementioned reference point as a reference. Using the reference point as a reference, an image of the wall of the building being inspected, containing the laser line, is captured; The construction parameters of the walls of the inspected building are analyzed based on the images and multiple laser lines. Before analyzing the construction parameters of the walls of the inspected building based on the image using multiple laser lines as a reference, the following steps are also included: A rectangular laser point is irradiated onto the wall of the building under inspection, using the reference point as a reference. Detect the distance between each point in the rectangular laser point and the reference point; The length or width of the rectangular laser point is calculated based on the angle between two laser rays located on the same plane when the rectangular laser point is irradiated, and the distances between the two points formed when the two laser rays irradiate the wall of the building being tested and the reference point. The dimensions of the walls of the building under inspection are detected using the length or width of the rectangular laser point as a reference. The absolute position of the laser line is calculated from the image by combining the absolute position of the rectangular laser point, wherein capturing the image also includes capturing the rectangular laser point.

2. The method of claim 1, wherein the method comprises: Irradiating the walls of the building under inspection with multiple laser lines at different angles, using the aforementioned reference point as a reference, includes: One or more horizontal laser lines, vertical laser lines, and inclined laser lines are irradiated onto the walls of the building being inspected.

3. The method of claim 1, wherein the method comprises: The method further includes: The relative positions of multiple reference points with respect to another nearby reference point are obtained sequentially. Based on the relative positions of multiple reference points with respect to another nearby reference point, and combined with images of the walls of the building under inspection that include the laser lines, taken with reference to the reference points, a three-dimensional image of the building under inspection is created.

4. The method for inspecting the exterior walls of a building as described in claim 3, characterized in that, Multiple reference points at least surround the front, rear, left, and right sides or the top surface of the building being inspected.

5. The method for inspecting the exterior walls of a building as described in claim 3, characterized in that, The relative positions include: spacing, directional angle, and height difference; The construction parameters include: the relative angle of the wall to the laser line, the color of the wall, and the roughness of the wall; The dimensions of the walls of the building being inspected include one or more of the following: length, width, and height; The images of the walls of the building being inspected include: color images.

6. The method for inspecting the exterior walls of a building as described in claim 3, characterized in that, Before performing three-dimensional imaging of the building under inspection, the following steps are also included: The building under test is imaged in three dimensions based on the dimensions of multiple walls.

7. The method for inspecting the exterior walls of a building as described in claim 1, characterized in that, The rectangular laser points do not coincide with the laser lines; Both the rectangular laser point and the laser line are invisible lasers.

8. A device for inspecting the exterior walls of a building, characterized in that, The device includes: The laser line emitting unit irradiates multiple laser lines at different angles onto the wall of the building being inspected, using the reference point as a reference. The reference object emitting unit irradiates a rectangular laser point onto the wall of the building being inspected, using the reference point as a reference. The visible light imaging unit captures images of the walls of the building under inspection, using the reference point as a reference. An invisible light imaging unit captures an image of the laser line using the reference point as a reference. The image merging unit merges the image of the wall of the building being inspected and the image of the laser line, and identifies the laser line. The visible light imaging unit, the invisible light imaging unit, and the image merging unit constitute an imaging unit; The reference point satellite positioning unit performs satellite positioning on multiple reference points and determines the preliminary relative position of each reference point with respect to another nearby reference point. The reference point auxiliary positioning unit determines the relative position of the reference point with respect to another nearby reference point based on the preliminary relative position using a 360-degree laser alignment rangefinder; wherein, the 360-degree laser alignment rangefinder is provided on multiple reference points, and the 360-degree laser alignment rangefinder works in cooperation with another 360-degree laser alignment rangefinder. It also includes at least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the building exterior wall inspection method according to any one of claims 1-7.

9. A non-volatile computer-readable storage medium, characterized in that, The non-volatile computer-readable storage medium stores computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the building exterior wall inspection method according to any one of claims 1-7.

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