Large structure industrial photogrammetry dynamic measurement system and measurement method thereof

Abstract

The present application relates to a kind of large structural member industry photography dynamic measurement system and measurement method, belong to measurement technical field, solve the measurement data of large structural member construction process in prior art needs to be processed again and divide area, cannot quickly meet dynamic tracking, and the problem of low work efficiency.This application device includes flight module, industrial photography measurement module, measurement identification module and central control module;Industrial photography measurement module is carried on flight module;Central control module controls flight module and industrial photography measurement module;Measurement identification module is set on large structural member;Measurement identification module includes composite coding signboard.The present application can measure different component parts of large structural member in the same coordinate system simultaneously, and data is automatically processed separately, and can track the position information of dynamic component in real time.The measurement system and measurement method of the present application are suitable for the whole process of engineering construction, especially beneficial to dynamic installation, can improve construction efficiency, save manpower and material resources.

Description

Technical Field

[0001] This invention relates to the field of industrial measurement technology, and in particular to an industrial photographic dynamic measurement system and method for large structural components. Background Technology

[0002] Large structural components are commonly found in building construction. They are physical structures assembled into building installations through production and assembly processes, primarily using materials such as metal, concrete, and wood. Besides common building and structural components, modern production and assembly techniques have led to increasingly complex and larger structural components in modern construction, such as high-rise building curtain walls.

[0003] Industrial photogrammetry, as a branch of surveying and mapping, has gradually developed into a new discipline within the industrial field by utilizing the theoretical methods and technical means of close-range photogrammetry and combining them with the characteristics of industrial products. Currently, industrial photogrammetry is increasingly developing towards diversified cameras, high precision, high automation, dynamic measurement, and multi-sensor collaboration.

[0004] Currently, there is an increasing amount of research and practical application of industrial photogrammetry for large structural components, including its application in the manufacturing and assembly processes of large equipment and structural components.

[0005] In the construction of large equipment and structural components, the assembly accuracy of key components is a crucial factor determining the manufacturing quality and service life of the final product. Dynamic measurement and data feedback during the assembly process can effectively assist in achieving efficient and precise assembly.

[0006] However, existing technologies for industrial photogrammetry of large components have not adequately addressed the following issues:

[0007] 1. Industrial photogrammetry for large structural components is inefficient. Due to their inherent structural characteristics, large structural components have complex curved surfaces and large structural areas. The number of photogrammetric markers deployed for these structural features is large. After a single station's data acquisition is completed, selecting and replacing photogrammetric points takes a considerable amount of time. Furthermore, it requires periodic dimensional calibration using a reference ruler, and the resulting redundancy is embedded in the final measurement results. This not only makes it impossible to determine the overall data stitching accuracy of large structural component measurements, but also makes the industrial photogrammetry method very inefficient.

[0008] 2. When measuring large structural components consisting of multiple unit cells, distinguishing the point clouds of different unit cells requires manually dividing the points into components in the software, and then managing them in layers or files; this is time-consuming, labor-intensive, and inaccurate.

[0009] 3. Measuring large structural components requires targets or codes, reference rulers, marking points, etc., and there are many parts and accessories; they are inconvenient to carry or manage.

[0010] 4. The camera cannot rotate flexibly and stably to the optimal shooting angle during flight filming.

[0011] Currently, there is an urgent need for a measurement system and method with a reasonable structure and composition to solve the aforementioned bottleneck technical problems in dimensional control during the construction and installation of large structural components. Summary of the Invention

[0012] Based on the above analysis, the present invention aims to provide an industrial photogrammetry system and method for large structural components based on a flight unit, in order to solve the technical problems of low automation, low measurement efficiency, and inability to manage the same measurement data separately in the industrial measurement process of large structural components.

[0013] The objective of this invention is mainly achieved through the following technical solutions:

[0014] A dynamic photogrammetric measurement system for large structural components is disclosed, used for shape and position measurement of large structural components. It includes a flight module, an industrial photogrammetric measurement module, a measurement marking module, and a central control module. The industrial photogrammetric measurement module is mounted on the flight module. The central control module controls the flight module and the industrial photogrammetric measurement module. The measurement marking module is installed on the large structural component and includes a composite coded marking plate.

[0015] Furthermore, the composite coded signboard includes a signboard; the signboard is provided with coded marks and various nominal identifiers.

[0016] Furthermore, each of the coded marks is composed of a different number and different positional relationships of the mark circles with the same radius; the nominal mark is composed of multiple sets of nominal circles with different radii; the distance between the centers of the mark circles and the distance between the centers of the nominal circles are calibrated at the factory and recorded in the central control module.

[0017] Furthermore, the measurement marking module also includes a variety of common marking points; the common markings are composed of marking circles of various radii; each marking circle of a radius corresponds to a nominal circle of the same radius or a mark circle of the same radius; the various common markings are set on the surface of the large structural component.

[0018] Furthermore, the industrial photogrammetry module includes a camera unit and a camera mounting unit; the camera unit is connected to the lower part of the flight module via the camera mounting unit.

[0019] Furthermore, the camera mounting unit includes a camera mounting connection unit and a camera damping unit; the camera damping unit is integrated into the camera mounting connection unit.

[0020] Furthermore, the camera unit includes an industrial measurement camera and a flash.

[0021] Furthermore, the flight module includes a flight unit and a flight execution unit; the flight execution unit is integrated on the flight unit; the flight execution unit includes an obstacle avoidance unit, a positioning unit, and an emergency unit.

[0022] Furthermore, the central control module includes a flight control module, an industrial photogrammetry camera control module, a photogrammetry data processing module, and an emergency response module; the central control module is wirelessly connected to the flight module and the industrial photogrammetry module.

[0023] A method for performing industrial photographic dynamic measurement using the aforementioned large structural component industrial photographic dynamic measurement system, comprising the following steps:

[0024] S1. Survey Planning and Survey Preparation:

[0025] S2. Deploy composite coded signboards and ordinary signage points:

[0026] S3. Aerial photography to collect data;

[0027] S4. The central control module processes the data collected during flight and provides real-time shape and position data for large structural components.

[0028] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0029] (1) The large structural component industrial photography dynamic measurement system of the present invention can be applied to the production and assembly process of large structural components, and can achieve high-precision and high-efficiency measurement, effectively improving the efficiency of production and assembly.

[0030] (2) The large structural component industrial photography dynamic measurement system of the present invention can realize the hierarchical management of the same measurement data on different units of complex large structural components, thereby realizing the output of real-time distance information of different units under the same measurement data, which is of great significance for guiding assembly construction.

[0031] (3) The large structural component industrial photography dynamic measurement system of the present invention adopts composite coded marker plates, which can ensure that the point cloud data near each composite coded marker plate is proportionally converted to the nominal size, thereby ensuring that there is no cumulative error in the measurement data at different times and ensuring the authenticity of the overall data.

[0032] (4) In terms of management, setting up coded markers and reference rulers can provide approximate orientation control points and length references for industrial photogrammetry, which can effectively improve the accuracy of industrial photogrammetry for large structural components; industrial photogrammetry reduces the requirements for measurement position and angle, which is conducive to improving measurement speed;

[0033] (5) The device of the present invention can realize intelligent, fast and accurate industrial photogrammetry.

[0034] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the specification or be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained from the content specifically pointed out in the text and accompanying drawings. Attached Figure Description

[0035] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0036] Figure 1 This is a schematic diagram of the overall structure of the industrial photographic dynamic measurement system for large structural components according to the present invention;

[0037] Figure 2 This is a schematic diagram of the composite coding mark plate of the present invention;

[0038] Figure 3 This is a schematic diagram of the overall structure of the industrial photogrammetry module of the present invention;

[0039] Figure 4 This is a schematic diagram of the main structure of the camera.

[0040] Figure 5 This is a schematic diagram of the overall structure of the pitch and rotation assembly of the present invention;

[0041] Figure 6 This is a schematic diagram of the overall structure of the inner frame of the present invention;

[0042] Figure 7 This is a schematic diagram of the overall structure of the pitch-to-tilt rotating counterweight assembly of the present invention;

[0043] Figure 8 This is a schematic diagram of the overall structure of the horizontal rotating counterweight assembly of the present invention;

[0044] Figure 9 for Figure 8 Schematic diagram of the cross-sectional structure at the central axis;

[0045] Figure 10 This is a schematic diagram of the overall structure of the industrial photogrammetry module of the present invention;

[0046] Figure 11 This is a schematic diagram of the overall structure of the industrial photogrammetry module of the present invention;

[0047] Figure 12 This is a schematic diagram of the overall structure of the industrial photogrammetry module of the present invention.

[0048] Figure label:

[0049] 1. Flight Module; 2. Industrial Photogrammetry Module; 21. Camera Unit; 211. Camera Body; 2111. Camera Head; 2112. Flash Unit; 212. Camera Body Connection Assembly; 2121. Camera Screw Hole; 2122. Camera Top Hole; 22. Camera Mounting Unit; 221. Pitch and Rotation Assembly; 2211. Rotary Motor; 2212. Harmonic Reducer Unit; 2213. Inner Frame; 22131. Inner Frame Bottom; 22132. Inner Frame Body; 22133. Inner Frame Lifting Lug; 2214. Outer Frame; 22141. Frame Plate; 22142. Frame Plate Through Hole; 2215. Vibration Damping Connection Assembly 1; 2216. Vibration Damping Connection Assembly 2; 2214. Outer Frame; 222. Pitch and Rotation Counterweight Assembly; 2221. Counterweight Block; 223. Horizontal Rotation... 2231. Horizontal rotating outer frame; 22311. Mounting column; 22312. Mounting column bolt; 2232. Horizontal connection assembly; 224. Bridge plate assembly; 2241. Bridge main board; 2242. Bridge support plate; 2243. Inner frame through slot; 2244. Inner plate through hole; 2245. Bridge main through hole; 3. Measurement marking module; 31. Composite coding mark plate; 311. Mark plate; 312. Mark circle; 313. Nominal mark; 313-1. First nominal mark; 313-2. Second nominal mark; 313-3. Third nominal mark; 32. Ordinary mark; 32-1. First ordinary mark; 313-3. Third nominal mark; 4. Central control module; 100. Large structural component; 100-1. Curtain wall; 100-2. Window. Detailed Implementation

[0050] The following is combined Figures 1-12 The present invention’s industrial photographic dynamic measurement system and its measurement method for large structural components are specifically described using a preferred embodiment, namely, industrial scanning of a curved curtain wall 100-1 and a window 100-2 to be installed on the curtain wall 100-1.

[0051] A dynamic measurement system for industrial photography of large structural components is disclosed, used for geometrical and positional measurements of a large structural component 100, specifically measuring a curtain wall 100-1 and a window 100-2 to be installed on the curtain wall 100-1. The measured surfaces on the large structural component 100 are defined as the feed surfaces.

[0052] The large structural component industrial photogrammetry dynamic measurement system includes a flight module 1, an industrial photogrammetry module 2, a measurement marking module 3, and a central control module 4. The industrial photogrammetry module 2 is mounted on the flight module 1. The central control module 4 controls the flight module 1 and the industrial photogrammetry module 2. The measurement marking module 3 is installed on the large structural component 100. The measurement marking module 3 includes a composite coded marking plate 31 and various ordinary markings 32. For example... Figure 1 As shown.

[0053] Specifically, the composite coded signboard 31 includes a signboard 311, coded marks, and various nominal identifiers 313; the coded marks and nominal identifiers 313 are disposed on the same surface of the signboard 311. For example... Figure 2 As shown.

[0054] In this specific embodiment, the composite coding sign plate 31 is preferably made of metal. The back of the composite coding sign plate 31 is provided with magnetic material for easy and quick installation or removal onto the metal structure on the surface of the large structural component 100. Alternatively, a metal block can be specially installed on the surface of the large structural component 100 to conveniently fix the composite coding sign plate 31 onto the surface of the large structural component 100. The front of the composite coding sign plate 31 is provided with coding marks and nominal identifiers 313.

[0055] More specifically, the coded marker consists of a set of marker circles 312 with the same radius. Each coded marker is distinguishable due to the different number and positional relationships of the marker circles 312 it contains, thus possessing coded characteristics and becoming a unique nominal measurement feature in the measurement system. This nominal measurement feature is recorded in the photographic data processing module of the central control module 4 for the overall stitching of measurement data. In this specific embodiment, as... Figure 1 As shown, nine 3*3 marker circles 312 are used. Different numbers and positional relationships of marker circles 312 are used to form coded markers for different nominal measurement characteristics.

[0056] More specifically, the nominal markings 313 set on the composite coded marking plate 31 include at least two sets of nominal circles with different radii. These nominal circles are arranged individually or in a mixed arrangement, but the spacing between each set is a factory-calibrated standard size, and all are recorded in the photographic data processing module of the central control module 4, becoming nominal length characteristics for determining the scanned data size, thus all functioning as a reference ruler. Preferably, this specific embodiment uses three sets of nominal circles with different radii as nominal markings 313, set on the marking plate 311. The three sets of nominal markings 313 are the first nominal marking 313-1, the second nominal marking 313-2, and the third nominal marking 313-3, with radii decreasing sequentially. Figure 2 As shown.

[0057] Specifically, the measurement marking module 3 also includes various ordinary markings 32; these ordinary markings 32 are marking dots with different radii. The radius of the marking dot of each ordinary marking 32 corresponds to the radius of the nominal circle of a nominal marking 313; different ordinary markings 32 are set on different unit surfaces on the large structural component 100. More specifically, corresponding to the first nominal marking 313-1, the ordinary marking 32 corresponds to the first ordinary marking 32-1; corresponding to the third nominal marking 313-3, the ordinary marking 32 corresponds to the third ordinary marking 32-3.

[0058] Specifically, in this embodiment, the third ordinary mark 32-3 is adhered to the feed surface of the window 100-2, and multiple composite coded mark plates 31 are also adhered to it; the first ordinary mark 32-1 is adhered to the feed surface of the curtain wall 100-1, and multiple composite coded mark plates 31 are also adhered to it. Both the composite coded mark plates 31 and the ordinary marks 32 are asymmetrically arranged. In areas with significant curvature changes on the feed surface and at the boundary areas of each unit, a greater number of ordinary marks 32 or a greater number of composite coded mark plates 31 and ordinary marks 32 are arranged.

[0059] Specifically, the industrial photogrammetry module 2 includes a camera unit 21 and a camera mounting unit 22; the camera unit 21 is connected to the lower part of the flight module 1 via the camera mounting unit 22. For example... Figure 3 and Figure 4 As shown.

[0060] More specifically, the flight module 1 has a flight module connection structure below it that connects to the industrial photogrammetry module 2, which is used to connect the camera mounting unit 22. Preferably, in this specific embodiment, the industrial photogrammetry module 2 is suspended on the lower part of the aircraft fuselage of the flight module 1, and the flight module connection structure on the lower part of the aircraft fuselage can be connected with bolts.

[0061] The camera unit 21 is the functional execution unit of the system of this invention. When shooting towards the feed surface, the shooting direction needs to be as close as possible to the normal of the feed surface, and the shooting moment needs to be as stable as possible. During flight, the flight module 1 needs to provide as many shooting positions and angles as possible. However, since the curvature change of the feed surface cannot be planned in detail, and the flight gate 1 itself changes its course at any time during flight, it will increase the instability of the shooting process of the camera unit 21. Therefore, it is necessary to design the necessary structure on the camera mounting unit 22 to support the camera unit 21 to rotate at any time to face the normal of the feed surface, and at the same time, to isolate the vibration of the flight module 1.

[0062] In this specific embodiment, the camera mounting unit 22 drives the camera unit 21 to perform pitch and planar rotation movements below the flight module 1. At the same time, the camera mounting unit 22 is also equipped with a device that can reduce the transmission of vibration from the flight module 1 to the camera unit 21.

[0063] More specifically, the camera unit 21 includes a camera body 211 and a camera body connecting assembly 212 disposed on the camera body. The camera body connecting assembly 212 is used to connect to the camera mounting unit 22. In this specific embodiment, the camera body connecting assembly 212 is a housing integrating the camera body 211. The housing has camera screw holes 2121 and camera tip holes 2122 on its two sides. The camera screw holes 2121 and camera tip holes 2122 are used to connect to the camera mounting unit 22 and form the tilt and rotation center line of the camera body 211. The camera body 211 integrates conventional camera modules such as a camera head 2111 and a flash 2112. The camera head 2111 uses different lenses depending on the actual shooting needs.

[0064] More specifically, the camera mounting unit 22 includes a pitch rotation assembly 221, a pitch rotation counterweight assembly 222, a horizontal rotation assembly 223, and a bridge plate assembly 224. Each of these assemblies includes its own camera mounting connection unit and camera damping unit; the camera damping unit is integrated into the camera mounting connection unit. Preferably, the camera damping unit includes one or more sets of elastic elements, each set comprising at least two disc springs stacked together; the camera mounting connection unit includes a screw or bolt and fasteners such as elastic washers, flat washers, and lock nuts mounted on the screw or bolt, with the disc springs, acting as elastic elements, interlacing between the fasteners and the connected structural components. This composite structure, where the camera damping unit is integrated into the camera mounting connection unit, can provide a damping effect while simultaneously serving a connecting function, maintaining the relative stability of the camera unit 21.

[0065] More specifically, the first end of the horizontal rotation component 223 is connected to the flight module connection structure, and the second end is fixedly connected to the middle of the bridge plate component 24; the two ends of the bridge plate component 24 are respectively connected to the pitch rotation component 221 and the pitch rotation counterweight component 222; the pitch rotation component 221 and the pitch rotation counterweight component 222 are respectively connected to the camera unit 21 through the camera screw hole 2121 and the camera top hole 2122.

[0066] More specifically, both the pitch rotation assembly 221 and the horizontal rotation assembly 223 are used to connect related components or units for rotational movement. Compared to the pitch rotation assembly 221, the horizontal rotation assembly 223 changes its outer frame 2214 to a horizontal rotation outer frame 2231. Specifically, based on the outer frame 2214 structure, it adds a mounting post 22311 connected to the flight module connection structure and mounting post bolts 22312 at the ends of the mounting post 22311. Figure 5 , Figure 9 and Figure 10 As shown; the pitch rotation counterweight assembly 222 and the horizontal rotation assembly 223 have the same appearance and connection structure. The main function of the pitch rotation counterweight assembly 222 is to perform the counterweight function with the same mass as the pitch rotation assembly 221, maintaining the overall mass balance of the industrial photogrammetry module 2. At the same time, it is coaxial with the pitch rotation assembly 221 at the camera tip hole 2122, forming the pitch motion center line of the camera unit 21. Figure 5 and Figure 8 As shown.

[0067] More specifically, such as Figure 5 As shown, the pitch and rotation assembly 221 includes a rotary motor 2211, a harmonic reducer unit 2212, an inner frame 2213, an outer frame 2214, a first vibration damping connection assembly 2215, and a second vibration damping connection assembly 2216. The harmonic reducer 2212 includes the harmonic reducer itself, couplings to both ends, and auxiliary parts for connection, including an intermediate connecting plate. The first vibration damping connection assembly 2215 and the second vibration damping connection assembly 2216 each include their respective camera mounting connection unit and camera damping unit.

[0068] The output shaft of the rotary motor 2211 is connected to the input end of the harmonic reducer unit 2212 via a first coupling. The output end of the harmonic reducer unit 2212 is connected to the second vibration damping connection assembly 2216 via a second coupling. The output end of the second vibration damping connection assembly 2216 is a bolt, which is screwed into the camera screw hole 2121.

[0069] The inner frame 2213 includes an inner frame bottom 22131, an inner frame body 22132 connected to the end face of the inner frame bottom 22131, and an inner frame lifting lug 22133 disposed on the outside of the inner frame body 22132, such as Figure 6 As shown.

[0070] The outer frame 2214 is a frame plate parallel to the cross-section of the inner frame 2213, including a frame plate body 22141 and a plurality of frame plate body through holes 22142 evenly distributed on the frame plate body 22141.

[0071] The inner frame bottom 22131 is connected to the outer shell of the harmonic reducer unit 2212. The inner frame 2213 is connected to the bridge plate assembly 224 through the first vibration damping connection assembly 2215 at the inner frame lug 22133, passing through the frame plate through hole 22142 of the outer frame 2214. Figure 7 As shown.

[0072] Preferred, such as Figure 8 As shown, the first vibration damping connection assembly 2215 includes a first connecting rod, preferably a bolt, which is disposed on the first side of the inner frame lug 22133 and passes through the inner frame lug 22133, the outer frame 2214, and the bridge plate assembly 224. A flat washer and an elastic washer are provided between the bolt head and the first side of the inner frame lug 22133; multiple disc springs, more preferably four, are provided between the second side of the inner frame lug 22133 and the first side of the outer frame 2214; multiple disc springs, more preferably two, are provided between the second side of the outer frame 2214 and the inner side of the bridge plate assembly 224; a spring washer, a flat washer, and a locking mechanism are provided on the outer side of the bridge plate assembly 224. This description corresponds to the assembly process. As long as it can play the role of connection and vibration reduction, the locking parts and vibration damping parts included in the first vibration damping connection assembly 2215 are suitable.

[0073] Preferred, such as Figure 8 As shown, the second vibration damping connection assembly 2216 is used to connect the pitch and rotation assembly 221 to the camera unit 21, specifically to the housing of the camera body connection assembly 212. In this specific embodiment, the second vibration damping connection assembly 2216 includes a second connecting rod with a guide rod portion and a threaded portion. The guide rod portion is connected to a coupling connected to the output end of the harmonic reducer; the threaded portion of the second connecting rod is connected to the camera screw hole 2121. A locking nut, a flat washer, an adjusting sleeve, an elastic washer, and a flat washer are sequentially arranged on the second connecting rod from the coupling to the camera screw hole 2121. The adjusting sleeve is a replaceable size sleeve to compensate for manufacturing errors in the parts of the industrial photogrammetry module 2.

[0074] Specifically, the pitch-rotation counterweight assembly 222 includes the inner frame 2213, outer frame 2214, and first vibration damping connection assembly 2215 of the horizontal rotation assembly 223. Since the function of the pitch-rotation counterweight assembly 222 is to provide counterweight to the horizontal rotation assembly 223 and to form the rotation axis at the top, it replaces the rotary motor 2211, harmonic reducer unit 2212, and two couplings in the horizontal rotation assembly 223 with a counterweight block 2221, matching the combined mass and center of mass of these components. Simultaneously, the second vibration damping connection assembly 2216 is installed in reverse, and the second connecting rod is replaced with a counterweight connecting rod. This involves making the end of the optical axis into a chamfered pyramid that matches the top cone hole inside the camera's top tip hole 2122, along with other locking parts, to form the counterweight connection assembly 2222.Figure 8 As shown. The chamfered pyramid design is to increase the contact area between the counterweight connecting rod and the camera unit 21. After the chamfered pyramid is fitted with the center hole, the threaded part of the counterweight connecting rod is connected to the threaded hole of the counterweight block 2221, and all fastening parts are connected. Finally, the fasteners on the counterweight connecting rod are locked onto the counterweight block 2221 with a lock nut.

[0075] Specifically, the horizontal rotation assembly 223 includes a rotary motor 2211, a harmonic reducer unit 2212, an inner frame 2213, and a first vibration damping connection assembly 2215, as well as a horizontal rotation outer frame 2231 and a horizontal connection assembly 2232. For example... Figure 9 and Figure 10 As shown.

[0076] More specifically, the horizontally rotating outer frame 2231 includes an outer frame 2214; the outer frame 2214 includes a frame plate 22141 and multiple flight connection units; the flight connection unit includes mounting posts 22311, and mounting post bolts 22312 are provided on the mounting posts 22311. Specifically, frame plate through holes 22142 are evenly distributed on the frame plate 22141; preferably, this specific embodiment includes four mounting posts 22311 evenly distributed at the four vertices of a square on the frame plate 22141, and one mounting post bolt 22312 is screwed onto each mounting post. Figure 11 As shown. The flight module connection structure located on the lower part of the aircraft fuselage can be connected to the mounting column bolt 22312.

[0077] More specifically, the horizontal connecting assembly 2232 is used to connect the horizontal rotating assembly 223 to the bridge plate assembly 224. Preferably, the horizontal connecting assembly 2232 includes a horizontal connecting rod, which includes a horizontal connecting rod shaft portion and a horizontal connecting rod threaded portion. The horizontal connecting rod shaft portion connects to the second coupling in the horizontal connecting assembly 2232 that is connected to the harmonic reducer unit 2212, and the horizontal connecting rod threaded portion connects to the bridge plate assembly 224. On the horizontal connecting rod, between the second coupling and the outer side of the bridge plate assembly 224, an elastic washer, a flat washer, a lock nut, a horizontal rotation adjusting sleeve, an elastic washer, and a flat washer are sequentially arranged; on the horizontal connecting rod threaded portion, on the outer side of the bridge plate assembly 224, a plurality of disc springs, elastic washers, flat washers, and lock nuts are sequentially arranged.

[0078] Specifically, the bridging plate assembly 224 includes a bridging main plate 2241 and bridging support plates 2242 respectively installed at both ends of the bridging main plate 2241; the bridging main plate 2241 has a bridging main through hole 2245 in the middle for installing the horizontal connecting component 2232, through which the horizontal connecting rod of the horizontal connecting component 2232 passes; the lower part of the bridging support plate 2242 has an inner frame through slot 2243; bridging inner plate through holes 2244 are evenly distributed on the bridging support plates 2242 around the inner frame through slot 2243, corresponding to the inner frame lifting lugs 22133 connected through the first vibration damping connecting component 2215. Figure 12 As shown.

[0079] Specifically, flight module 1 includes a flight unit and a flight execution unit; the flight execution unit is built into the flight unit; the flight execution unit includes at least an inertial detection device; the inertial detection device is preferably an IMU sensor; this IMU sensor includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, used to record the attitude information of the flight unit during flight, providing it to the central control module 4 for judgment and issuing the next flight command. The flight execution unit also includes at least an obstacle avoidance unit and a positioning unit; the obstacle avoidance unit ensures flight safety, and the positioning unit ensures the accuracy of the flight path. Flight module 1 also includes a remote controller and a power supply; the obstacle avoidance unit, positioning unit, and power supply are located on the flight unit, while the remote controller is independent of the flight unit.

[0080] Specifically, the central control module 4 includes at least a built-in flight control module, an industrial photogrammetry camera control module, a photogrammetry data processing module, and an emergency response module; the central control module 4 is wirelessly connected to the flight module 1 and the industrial photogrammetry module 2.

[0081] The flight control module outputs signals to the flight execution unit based on feedback signals from various sensors on the flight unit to control the power output of the flight unit and ensure stable flight of the flight unit.

[0082] The photographic data processing module has built-in definition files for nominal features and nominal length features, as well as a built-in tracking module. It can automatically divide the measurement data obtained after a measurement into a reference part and a tracking part. Then, the tracking part is further photographed by the camera unit 21 to track the tracking part. The position change of the tracking part relative to the reference part is analyzed in real time at the terminal of the central control module 4.

[0083] The industrial measurement camera control module has a built-in flash control module. The industrial measurement camera control module receives the image acquisition signal, triggers the flash control module, and the flash responds to the signal, triggering the camera unit to execute the image acquisition task.

[0084] The emergency response module receives signals from the obstacle avoidance unit and related sensors, and outputs signals to the flight control module to control the flight unit to hover or return to base.

[0085] This specific embodiment describes the industrial photography dynamic measurement during the installation of window 100-2 onto the curved curtain wall 100-1. A complete set of photogrammetric data can be parsed on the photogrammetric data processing module, and the data can be divided into components. The point cloud data on the curtain wall 100-1 is defined as the reference part, and the point cloud data on window 100-2 is defined as the tracking part. Then, the camera unit 21 tracks the ordinary marker 32 on window 100-2. At the terminal of the central control module 4, the positional change of the point cloud on window 100-2 relative to the measured point cloud data on the curtain wall 100-1 is parsed, and the system motion trajectory of window 100-2 can be given in real time, guiding window 100-2 to be installed onto the curved curtain wall 100-1 along the optimal path.

[0086] A method for industrial photodynamic measurement using a large structural component industrial photodynamic measurement system, comprising the following steps:

[0087] S1. Survey Planning and Survey Preparation:

[0088] S11. Measurement Planning: Based on the industrial measurement needs of the large structural component 100, plan the measurement range and frequency, that is, plan the overall measurement range based on the overall structure and determine the appropriate industrial photogrammetry module 2; plan the measurement density based on the shape of the structure; and plan the measurement area of ​​dynamically changing assemblies as the tracking area based on the changes in assembly position.

[0089] S12, Flight Module 1 Preparation:

[0090] S121. Flight route planning: Based on the measurement plan, the flight route of flight module 1 is planned on the flight control module of the central control module 4 to conduct industrial photography and measurement of the entire measurement range with the shortest distance.

[0091] S122, Preparation of Flight Module 1: Installation of Antenna and Power Supply

[0092] S13. Preparation of Industrial Photogrammetry Module 2: Inspect the camera unit 21 and camera mounting unit 22 integrated in the industrial photogrammetry module 2; inspect the working status of the camera and flash in the camera unit 21 to ensure that the flash module can work in coordination with the industrial measurement camera under the excitation of the controller set in the flash control module to provide a light source for industrial photogrammetry of large structural components; install the industrial photogrammetry module 2 onto the flight module 1, inspect the working status of the pitch rotation component 221 and the horizontal rotation component 223 in the camera mounting unit 22 to ensure that the shooting angle is parallel to the surface of the feed source being photographed, and at the same time ensure the dynamic balance of the camera unit 21 during the shooting process; inspect the recognition performance of the camera unit 21 for the composite coded signboard 31 and the ordinary sign 32 to ensure the feasibility of industrial photogrammetry of large structural components.

[0093] S14. Preparation of Central Control Module 4:

[0094] Check the wireless connectivity between the central control module 4, flight module 1, and industrial photogrammetry module 2; check and configure the hierarchical management of different common markers 32 by the photogrammetry data processing module to ensure the availability of measurement data; check the activation status of the emergency response module to ensure that the flight module can perform evasive flight, hovering, or return to base under stress conditions.

[0095] S2. Deploy composite coded signboards 31 and ordinary signs 32:

[0096] To address the complex curved surfaces and unique structural points of large structural components, a layout scheme for industrial photogrammetry markers and reference rulers was developed.

[0097] On different units of the large structural component 100, ordinary markings 32 with different dot radii are affixed; composite coding marking plates 31 are evenly distributed on the large structural component 100, and at the junction of different units of the large structural component 100, more composite coding marking plates 31 are evenly distributed relatively densely and asymmetrically on each unit.

[0098] S3. Aerial photography to collect data;

[0099] S31. According to the flight path planning of S1, the control program integrated in the central control module 4 starts the large structural component industrial photography dynamic measurement system. That is, the flight unit starts the signal wirelessly through the flight remote controller, which is responded to by the central control module 4 and transmits the signal to the flight unit flight control module to start executing the task of the flight path planning of S1.

[0100] S32. The flight unit calculates the spatial position information of the flight unit in real time and the spatial distance and direction between the flight unit and the waypoints on the planned flight path of flight module 1 through the positioning unit in the flight execution unit. Through the flight control module in the central control module 4, the flight unit is controlled to fly according to the predetermined route. The flight unit carries the camera body 211 and performs industrial photogrammetry image data acquisition on the planned route.

[0101] S33. The flight unit arrives at the predetermined waypoint according to the route planned in S1, and maintains the shooting angle facing the object being measured through the rotation unit in the industrial photogrammetry module 2. The industrial measurement camera control module in the central control module 4 transmits signals, and the flash module and the industrial measurement camera module work together to perform industrial photogrammetry data acquisition.

[0102] S4. Central control module 4 processes the data collected during flight.

[0103] S41. Receive data and provide real-time feedback on uncaptured areas: The camera body 211 captures data and transmits the data of the ordinary markings 32 and composite coded marking plates 31 on the feed surface of the large structural component 100 to the central control module 4 via real-time wireless transmission.

[0104] S42, Settlement Data: The central control module 4, through the photography data processing module, performs shape and position calculation on the captured point cloud data based on the measured nominal features and nominal length features, and assigns size features to the point cloud data of the feed surface of the large structural component 100.

[0105] S43. Point cloud data component division: The point cloud data of the feed surface of the large structural component 100 is divided into regions by the photogrammetric data processing module; specifically in this embodiment, the point cloud data on the window 100-2 is distinguished as the tracking part and the point cloud data on the curtain wall 100-1 is distinguished as the reference part.

[0106] S44, Data Tracking: Through the tracking module, combined with the industrial photogrammetry module 2 carried by the flight module 1, the tracking module tracks and captures the area defined as the tracking unit's shooting area. The positional change of the tracking unit relative to the reference unit is calculated at the terminal of the central control module 4 until the two boundaries are aligned.

[0107] S5. Activate the emergency response module when necessary:

[0108] When encountering danger, the emergency response module in the central control module 4 guides the flight module 1 to a safe area and then recovers it.

[0109] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions of structures and methods that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A dynamic measurement system for industrial photography of large structural components, used for geometrical and positional measurement of large structural components (100); characterized in that, It includes a flight module (1), an industrial photogrammetry module (2), a measurement marking module (3), and a central control module (4); The industrial photogrammetry module (2) is mounted on the flight module (1); the central control module (4) controls the flight module (1) and the industrial photogrammetry module (2); The measurement marking module (3) is set on the large structural component (100); the measurement marking module (3) includes a composite coded mark plate (31); the composite coded mark plate (31) includes a mark plate (311); the mark plate (311) is provided with coded marks and multiple nominal marks (313), each of the coded marks is composed of a mark circle (312) of different number and different positional relationship and the same radius; the nominal mark (313) is composed of multiple sets of nominal circles of different radii; the nominal mark (313) includes at least 2 sets of nominal circles of different radii, and the spacing of each set of nominal circles is a standard size calibrated at the factory, which becomes the nominal length feature determined by the size of the scanned data; The measurement marking module (3) also includes a variety of ordinary markings (32); the various ordinary markings (32) are marking dots with different radii; the radius of the marking dot of each ordinary marking (32) corresponds to the radius of the nominal circle of a nominal marking (313); different ordinary markings (32) are set on the surface of different unit bodies on the large structural component (100); The central control module (4) includes at least a built-in photographic data processing module. The photographic data processing module has built-in definition files for nominal measurement features and nominal length features, as well as a tracking module. It can automatically divide the measurement data obtained after a measurement to form a reference part and a tracking part. Then, the tracking part is further photographed by the camera unit (21) of the industrial photographic measurement module (2) to track the tracking part. The position change of the tracking part relative to the reference part is analyzed in real time at the terminal of the central control module (4).

2. The industrial photographic dynamic measurement system for large structural components according to claim 1, characterized in that, The industrial photogrammetry module (2) includes a camera unit (21) and a camera mounting unit (22); the camera unit (21) is connected to the lower part of the flight module (1) through the camera mounting unit (22).

3. The industrial photographic dynamic measurement system for large structural components according to claim 2, characterized in that, The camera mounting unit (22) includes a camera mounting connection unit and a camera damping unit; the camera damping unit is integrated in the camera mounting connection unit.

4. The industrial photographic dynamic measurement system for large structural components according to claim 3, characterized in that, The camera unit (21) includes a camera body (211) and a flash (212).

5. The industrial photographic dynamic measurement system for large structural components according to any one of claims 1-4, characterized in that, The flight module (1) includes a flight unit and a flight execution unit; the flight execution unit is integrated on the flight unit; the flight execution unit includes an obstacle avoidance unit, a positioning unit and an emergency unit.

6. The industrial photographic dynamic measurement system for large structural components according to claim 5, characterized in that, The central control module (4) includes a flight control module, an industrial measurement camera control module, a photogrammetry data processing module, and an emergency response module; the central control module (4) is wirelessly connected to the flight module (1) and the industrial photogrammetry module (2).

7. A method for performing industrial photographic dynamic measurement using the industrial photographic dynamic measurement system for large structural components according to any one of claims 1-6, comprising the following steps: S1. Survey planning and preparation; S2. Install composite coded signboards (31) and ordinary signs (32); S3. Aerial photography to collect data; S4. The central control module (4) processes the data collected during flight and provides the shape and position data of the large structural component (100) in real time.

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