Monitoring system and method based on BIM construction

Abstract

The invention relates to the technical field of BIM construction, in particular to a monitoring system and method based on BIM construction, and the system comprises a ground control station and unmanned aerial vehicle bodies, the ground control station is provided with one or more unmanned aerial vehicle bodies, and BIM construction monitoring for a building structure group is realized by controlling the flight actions of the unmanned aerial vehicle bodies. The unmanned aerial vehicle body is provided with a monitoring mechanism A used for monitoring the space relation between building structures and a monitoring mechanism B used for monitoring the structural characteristics of the building structures, data information is collected through the monitoring mechanism A and the monitoring mechanism B, the ground control station compares the data information with a BIM building model, and BIM construction quality control is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of BIM construction, and in particular to a monitoring system and method based on BIM construction. Background Art

[0002] BIM model refers to the general term for the process and results of digitally expressing the physical and functional characteristics of construction projects and facilities throughout their life cycle, and designing, constructing, and operating them accordingly.

[0003] BIM (Building Information Modeling) is a revolutionary digital tool that uses computer-aided design based on three-dimensional graphics and object-oriented to comprehensively express the geometric information, spatial information, component information, material information, time information and cost information of buildings. With the popularization of BIM technology, it also plays an important role in promoting the standardization and intelligent development of the construction industry.

[0004] The monitoring system based on BIM construction is conducive to accurately implementing the model design plan into the actual construction, and timely discovering and correcting the problems existing in the construction. It can realize the transformation of the building from extensive management to digital and refined management. However, the current on-site monitoring method has the following defects:

[0005] 1. The monitoring method is single, such as monitoring only through cameras (refer to CN216721441U, a monitoring device based on BIM for construction). The position of the cameras is mostly fixed, and there are inevitably blind spots for monitoring. In addition, this method can only monitor the appearance of the building structure, but cannot accurately measure the spatial relationship between the building structure groups and the structural characteristics of a single building structure itself;

[0006] 2. Manual monitoring consumes a lot of human resources and is inefficient. It is also subject to large human factors and is easily affected by individual subjective factors and experience factors, which may affect the quality of monitoring. Summary of the invention

[0007] The present invention provides a monitoring system and method based on BIM construction. Based on the problems described in the background technology parts 1 and 2, the present invention uses an unmanned aerial vehicle in combination with a ground control station to perform full-process monitoring of a building structure based on BIM construction, which can effectively improve the monitoring quality and ensure the accurate implementation of BIM construction design.

[0008] To solve the above problems, the technical solution of the present invention is:

[0009] A monitoring system based on BIM construction includes a ground control station and an unmanned aerial vehicle (UAV) body. The ground control station is equipped with one or more UAV bodies. The BIM construction monitoring of a building structure group is realized by controlling the flight action of the UAV bodies. The UAV bodies are provided with a monitoring mechanism A for monitoring the spatial relationship between building structures and a monitoring mechanism B for monitoring the structural characteristics of the building structure itself. The monitoring mechanism A and the monitoring mechanism B collect data information, and the ground control station compares the data information with the BIM building model to realize the quality control of BIM construction.

[0010] Preferably, the monitoring mechanism A comprises a regular polygonal sleeve fixedly mounted on the back of the drone body, a first laser ranging sensor is distributed on each side of the sleeve, and the reverse extension line of the measuring light of the first laser ranging sensor on each side intersects horizontally with the axis of the sleeve at point A. When the drone body is flying horizontally or hovering, the axis of the sleeve is in a vertical posture.

[0011] Preferably, a first high-definition camera and a first colored light emitter are respectively provided on the sides of the sleeve where the first laser ranging sensor is located above and below. The light emitted by the first colored light emitter is parallel to the measuring light of the first laser ranging sensor and is used to indicate the position of the measuring light at a certain distance below the projection point on the surface of the building structure. The first high-definition camera is used to collect visual information of the measuring light at the projection point of the building structure.

[0012] Preferably, a hollow shaft penetrating the drone body is vertically arranged at the axis of the sleeve, and the monitoring mechanism B comprises a second laser ranging sensor arranged at the lower end of the hollow shaft and emitting measuring light vertically downward;

[0013] The hollow shaft is provided with a strip groove on the side wall below the drone body along the axial direction, a mounting tube is passed through the strip groove, the inner end of the mounting tube is connected to the hollow shaft for rotation via a rotating shaft, one end of the rotating shaft passes through the outer surface of the hollow shaft horizontally, and is fixedly connected to the output shaft of the servo motor preset on the outer surface of the hollow shaft;

[0014] A third laser ranging sensor is installed at the end of the mounting tube. The axis of the hollow shaft, the axis of the mounting tube, the axis of the rotating shaft, the reverse extension line of the measuring light of the second laser ranging sensor and the reverse extension line of the measuring light of the third laser ranging sensor intersect at point B.

[0015] Preferably, a second high-definition camera and a second colored light emitter are symmetrically provided at the end of the outer wall of the mounting tube about the axis, the second colored light emitter is used to indicate a certain distance outside the projection point of the third laser ranging sensor on the outer surface of the building structure, and the second high-definition camera is used to collect visual information of the third laser ranging sensor at the projection point on the outer surface of the building structure.

[0016] Preferably, a control box is provided at the position where the hollow shaft is connected to the belly of the drone body, and a battery and a controller electrically connected to each other are provided in the control box. The controller is electrically connected to the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor, the first high-definition camera, the second high-definition camera, the first colored light emitter, and the second colored light emitter through wires, respectively, and the controller is also connected to the ground control station signal through a wireless signal transceiver.

[0017] A method for using a monitoring system based on BIM construction includes the following modes:

[0018] Mode A, measuring the spatial relationship between building structures by monitoring mechanism A, includes the following steps:

[0019] A1. The ground control station controls the drone body to fly to a position between multiple building structures and hover. At this time, the first laser ranging sensor on each side of the regular polygonal sleeve emits a measuring light. The controller screens out invalid data based on the measurement data of each first laser ranging sensor and the spatial position information of the corresponding building structure in the BIM model, that is, the data measured by the measuring light that has not contacted the surface of the building structure around the drone body is invalid data, and sets the measuring light to intersect with the surface of the building structure at point C, connects each point C to form a polygonal structure, calculates the side length of each side of the polygonal structure based on the valid measurement data, and uses point A as the starting point for constructing the polygonal structure; at the same time, the first colored light emitter indicates the projection position of the measuring light, and the first high-definition camera shoots the projection position.

[0020] A2. The controller sends the polygonal structure, the starting point, the graphics of the effective measurement light, the shooting information of the first high-definition camera, and the effective measurement data of the first laser ranging sensor to the ground control station through the wireless signal transceiver. The ground control station determines the projection position of the measurement light in the effective measurement data on the corresponding building structure surface according to the visual information shot by the first high-definition camera, and finds the projection position of the corresponding building structure model, matches each point C of the polygonal structure at the projection position of each corresponding building structure model, and checks whether each point C coincides with the projection position of the corresponding building structure model. If they all coincide or coincide within a certain error, it means that the spatial relationship between the building structures is qualified; if there is an error exceeding the set distance between one or more points C and the projection position of the building structure model, it means that the spatial relationship between the building structures is unqualified, and the cause needs to be found out and handled in time;

[0021] A3. Repeat steps A1 and A2. The drone collects data at multiple different locations to comprehensively determine whether the spatial relationship between the building structures is qualified and find out the unqualified items.

[0022] Mode B, monitoring the structural characteristics of the building structure itself through monitoring mechanism B, including the following steps:

[0023] B1. Build a reference floor on the ground of the building structure group. The reference floor maintains horizontality and is used to indicate the reference height for measuring the structural characteristic height of the building structure itself;

[0024] B2. The ground control station controls the drone body to hover at a set height above a reference floor on the side of a building structure. The set height is based on the distance data of the reference floor measured by the second laser ranging sensor. The servo motor drives the mounting tube to rotate until the axis of the mounting tube intersects with the axis of the hollow shaft at an angle a. At this time, the measurement light of the third laser ranging sensor is projected onto a preset detection position on the surface of the building structure, the second visible light emitter projects light onto the detection position, and the second high-definition camera shoots the detection position.

[0025] B3. The controller calculates the length E of the line segment 1 between point B and the projection point M of the measuring light of the third laser ranging sensor on the surface of the building structure according to the measurement data of the third laser ranging sensor, calculates the length H of the line segment 2 between point B and the vertical projection point N of the measuring light of the second laser ranging sensor on the reference floor according to the measurement data of the second laser ranging sensor, and from point M along the horizontal lead segment 3 perpendicularly intersecting the line segment 2 at point P, according to the angle a and the length of the line segment 1, the length of the line segment BP is calculated according to the cosine theorem of the right triangle, and the length H of the line segment 2 is subtracted from the length h of the line segment BP to obtain the actual height of the detection position relative to the reference floor;

[0026] B4. The drone body performs height detection at multiple set detection positions of the building structure, and sends the actual height data to the ground control station through the controller. The ground control station determines whether the height of the structural features of the building structure at the construction site is qualified based on the data information of the building structure model. If it is unqualified, the ground control station finds out the reason and handles it in time;

[0027] Mode C: The ground control station determines whether the construction of the building structure in the construction project meets the set standards based on the spatial relationship data between the building structures and the actual height data of the structural characteristics of the building structure itself.

[0028] Preferably, in the step A1, when there are multiple measuring light rays contacting the same building structure surface around the drone body, only one of them is selected as valid data for a single measurement of the building structure. In the step A2, when matching each point C of the polygonal structure at the corresponding projection position of each building model, the distance from the starting point to each point C should match the corresponding measurement distance.

[0029] Preferably, the step A1 also includes a method for determining the specific position of point C, the Z-axis coordinate of the starting point is calculated based on the height from the reference floor measured by the second laser ranging sensor, the drone body rotates in situ at this height, so that the measuring light passes through the two ends of the building structure facing the drone body in turn, and the distances X and Y between the two ends of the building structure facing the drone body and the starting point are recorded respectively, combined with the distance Z between point C and the starting point, the starting point and the end point of the horizontal line segment F passing through point C are respectively located at the two ends of the building structure facing the drone body, and the controller calculates the rotation angle data of the drone body according to the rotation angle data of the drone body. Calculate the distance from point C to both ends of line segment F, and then determine the specific position of point C on line segment F, and the Z-axis coordinate of line segment F is the same as the Z-axis coordinate of the starting point; in the step A2, after determining the coordinate position of each point C on the corresponding building structure, substitute the coordinate position of point C into the corresponding building model, find the specific coordinate point G of point C in the building model, connect each point G to obtain the polygonal structure in the model, compare the polygonal structure in the model with the measured polygonal structure, if they can overlap or overlap within a certain error range, it means qualified, if they cannot overlap and the error exceeds the set range, it means unqualified.

[0030] The present invention provides a monitoring system and method based on BIM construction, which has the following beneficial effects:

[0031] 1. The present invention can comprehensively monitor the spatial relationship, structural characteristics, and external shape of the building structure through monitoring mechanism A, monitoring mechanism B, and the first and second high-definition cameras to ensure that the construction is consistent with the BIM three-dimensional model.

[0032] 2. The present invention can effectively improve the intelligence level of BIM construction monitoring, improve the monitoring and detection level, ensure the effectiveness of monitoring and detection results, and provide accurate data reference for the construction process.

[0033] 3. The present invention can monitor the spatial relationship between building structures and the height information of the structural characteristics of the building structures themselves at different heights through the drone body. Therefore, the present invention can monitor the building structure throughout the progress of the construction project, which is beneficial to the quality assurance of the building structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 , a schematic diagram of the top view of the structure of the drone body of the present invention;

[0035] Figure 2 , a front view structural diagram of the drone body of the present invention (without the landing gear);

[0036] Figure 3 , a top view of the monitoring principle of the monitoring mechanism A of the present invention;

[0037] Figure 4 , a front view of the monitoring principle of the monitoring mechanism B of the present invention;

[0038] Figure 5 , a cross-sectional view of the hollow shaft of the present invention;

[0039] Figure 6 , a schematic diagram of the present invention for determining the specific coordinates of point C;

[0040] 1: UAV body, 101: housing, 102: cantilever, 103: hollow shaft, 1031: strip groove, 1032: point B, 2: sleeve, 201: first laser ranging sensor, 202: first high-definition camera, 203: first colored light emitter, 3: control box, 4: propeller, 5: second laser ranging sensor, 6: servo motor, 601: shaft, 7: mounting tube, 701: articulated seat, 8: third laser ranging sensor Distance sensor, 9: second high-definition camera, 10: second colored light emitter, 11: polygonal structure, 12: point C, 13: measurement light, 14: measurement light that does not contact the surface of the building structure around the drone body, 15: building structure, 16: reference floor, 17: detection position, 18: line segment one; 19: line segment three, 20: line segment four, 21: line segment five, 22: line segment six, 23: first line segment, 24: second line segment. DETAILED DESCRIPTION

[0041] The following describes in detail the implementation mode of the present invention in a step-by-step manner. The description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the purpose of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore cannot be understood as a limitation on the present invention.

[0043] Example 1

[0044] A monitoring system based on BIM construction, such as Figure 1-5 As shown, it includes a ground control station (not shown) and a UAV body 1. The ground control station is equipped with one or more UAV bodies 1. The flight actions of the UAV bodies 1 are controlled to realize BIM construction monitoring of the building structure group.

[0045] The drone body 1 is provided with a monitoring mechanism A for monitoring the spatial relationship between building structures and a monitoring mechanism B for monitoring the structural characteristics of the building structure itself. The monitoring mechanism A and the monitoring mechanism B collect data information, and the ground control station compares the data information with the BIM building model to achieve quality control of BIM construction.

[0046] In this embodiment, the building structure can be understood as a separate building, such as a building, or as a module in a building structure, such as a building unit (such as a structural column or a wall) on a building. The role of monitoring mechanism A is to monitor the spatial relationship between various building structures to avoid construction problems that exceed the allowable error range, while monitoring mechanism B monitors the structural characteristics of the building structure itself, such as the height of a balcony or a beam. It can be understood that the former monitors the spatial information of the building structure from the horizontal plane, and the latter monitors the structural characteristics of the building structure itself from the vertical plane. The high-definition camera collects visual information from the appearance, and the conformity of the building structure with the BIM three-dimensional model can be systematically monitored.

[0047] Example 2

[0048] Based on Example 1, this embodiment discloses:

[0049] like Figure 1-5 As shown:

[0050] The monitoring mechanism A includes a regular polygonal sleeve 2 fixedly mounted on the back of the drone body 1, and a first laser ranging sensor 201 is distributed on each side of the sleeve 2. The reverse extension line of the measurement light of the first laser ranging sensor 201 on each side horizontally intersects the axis of the sleeve 2 at point A. When the drone body 1 is flying horizontally or suspended, the axis of the sleeve 2 is in a vertical posture.

[0051] A first high-definition camera 202 and a first colored light emitter 203 are respectively provided on the side surfaces of the sleeve 2 where the first laser ranging sensor 201 is located above and below. The light emitted by the first colored light emitter 203 is parallel to the measuring light of the first laser ranging sensor 201 and is used to indicate the position of the measuring light at a certain distance below the projection point on the surface of the building structure, so that the position of the projection point can be inferred.

[0052] The first high-definition camera 203 is used to collect visual information of the measurement light at the projection point of the building structure, and the visual information can be used by the ground control station to determine the projection position of the corresponding three-dimensional model of the building structure.

[0053] Example 3

[0054] Based on Example 2, this embodiment discloses:

[0055] like Figure 1-5 As shown:

[0056] A hollow shaft 103 penetrating the drone body 1 is vertically arranged at the axis of the sleeve 2. The monitoring mechanism B includes a second laser ranging sensor 5 which is arranged at the lower end of the hollow shaft 103 and emits measuring light vertically downward. A strip groove 1031 is provided on the side wall of the hollow shaft 103 below the drone body 1 along the axial direction.

[0057] A mounting tube 7 passes through the strip groove 1031, and the inner end of the mounting tube 7 is connected to the hollow shaft 103 for rotation via the rotating shaft 601. One end of the rotating shaft 601 passes horizontally through the outer surface of the hollow shaft 103 and is fixedly connected to the output shaft of the servo motor 6 preset on the outer surface of the hollow shaft 103. A third laser ranging sensor 8 is installed at the end of the mounting tube 7. The axis of the hollow shaft, the axis of the rotating shaft, the axis of the mounting tube, the reverse extension line of the measuring light of the second laser ranging sensor, and the reverse extension line of the measuring light of the third laser ranging sensor 8 intersect at point B1032.

[0058] like Figure 2As shown, a second high-definition camera 9 and a second colored light emitter 10 are symmetrically provided at the end of the outer wall of the mounting tube 7 about the axis. The second colored light emitter 10 is used to indicate a certain distance outside the projection point of the third laser ranging sensor 8 on the outer surface of the building structure, and the second high-definition camera 9 is used to collect visual information of the third laser ranging sensor 8 at the projection point on the outer surface of the building structure.

[0059] like Figure 2 As shown, a control box 3 is provided at the position where the hollow shaft 103 is connected to the belly of the drone body 1. The control box 3 is provided with a battery and a controller electrically connected to each other. The controller is electrically connected to the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor, the first high-definition camera, the second high-definition camera, the first colored light emitter, and the second colored light emitter through wires. The controller is also connected to the ground control station signal through a wireless signal transceiver.

[0060] Example 4

[0061] Based on Example 3, this embodiment discloses:

[0062] like Figure 1-5 As shown:

[0063] A method for using a monitoring system based on BIM construction includes the following modes:

[0064] Mode A, measuring the spatial relationship between building structures by monitoring mechanism A, includes the following steps:

[0065] A1. The ground control station controls the drone body to fly to a position between multiple building structures and hover. At this time, the first laser ranging sensors on each side of the regular polygonal sleeve emit measurement light. The controller screens out invalid data based on the measurement data of each first laser ranging sensor and the spatial position information of the corresponding building structure in the BIM model. That is, the data measured by the measurement light 14 that has not contacted the surface of the building structure around the drone body is invalid data.

[0066] The measuring light is set to intersect with the surface of the building structure at point C12, and each point C12 is connected to form a polygonal structure 11. The length of each side of the polygonal structure 11 is calculated according to the valid measurement data, and point A is used as the starting point for constructing the polygonal structure 11. At the same time, the first colored light emitter indicates the projection position of the measuring light, and the first high-definition camera shoots the projection position.

[0067] like Figure 3As shown, the polygonal structure of the example in the figure is a pentagon. Since the angle between adjacent effective measurement light rays is known, the data measured by each measurement light ray can be converted into the distance between point A and point C. According to the theorem of triangle, the length of the third side can be obtained if the two sides and the angle are known, and the length of each side of the polygonal structure can be obtained.

[0068] A2. The controller sends the polygonal structure, the starting point, the graphics of the effective measurement light, the shooting information of the first high-definition camera and the effective measurement data of the first laser ranging sensor to the ground control station through the wireless signal transceiver.

[0069] The ground control station determines the projection position of the measuring light in the effective measurement data on the corresponding building structure surface based on the visual information captured by the first high-definition camera, and finds the projection position of the corresponding building structure model (since the building structure is constructed based on the three-dimensional model of the building structure, the projection position on the building structure is related to the projection position of the three-dimensional model), matches each point C of the polygonal structure at the projection position of each corresponding building structure model, and checks whether each point C coincides with the projection position of the corresponding building structure model. If they coincide or coincide within a certain error, it means that the spatial relationship between the building structures is qualified.

[0070] If there is an error exceeding the set distance between one or more points C and the projected position of the building structure model, it means that the spatial relationship between the building structures is unqualified, and the cause needs to be found out and dealt with in a timely manner; because the first laser ranging sensor of the present invention emits measurement light at the same time, it can overcome the measurement error caused by the shaking of the drone body itself, that is, the collected data is of the same timeliness. The obtained spatial relationship between the actual building structures can accurately reflect the construction effect, and by comparing with the building structure model, the error in the spatial relationship can be detected; wherein, the selected projection position can be determined in advance, which can make the calculation and comparison more efficient;

[0071] A3. Repeat steps A1 and A2. The drone collects data at multiple different locations to comprehensively judge whether the spatial relationship between the building structures is qualified and find out the unqualified items. That is, if there is only one test, the test result may reflect the local error of the building structure, such as the test position is too protruding due to construction reasons; and multiple tests can comprehensively judge the overall problems of the spatial relationship between the building structures. For example, if a building has a large error from the design position, the multiple test results will all be erroneous.

[0072] Mode B: Monitor the structural characteristics of the building structure itself through monitoring mechanism B, such as Figure 1-5 As shown, the following steps are included:

[0073] B1. A reference floor 16 is constructed on the ground of the building structure group. The reference floor 16 maintains horizontality and is used to indicate a reference height for measuring the structural characteristic height of the building structure itself;

[0074] B2. The ground control station controls the drone body 1 to hover at a set height above a reference floor 16 on the side of a building structure 15. The set height is based on the distance data of the reference floor 16 measured by the second laser ranging sensor 5. The servo motor 6 drives the mounting tube 7 to rotate until the axis of the mounting tube intersects with the axis of the hollow shaft 103 to form an angle a. At this time, the measurement light of the third laser ranging sensor 8 is projected onto a preset detection position 17 on the surface of the building structure 15, the second visible light emitter projects light onto the detection position 17, and the second high-definition camera shoots the detection position 17.

[0075] B3, the controller calculates the length E of the line segment one 18 between point B and the projection point M of the measuring light of the third laser ranging sensor on the surface of the building structure according to the measurement data of the third laser ranging sensor 8, calculates the length H of the line segment two between point B and the vertical projection point N of the measuring light of the second laser ranging sensor on the reference floor 16 according to the measurement data of the second laser ranging sensor, and from point M along the horizontal lead segment three 19 perpendicularly intersecting the line segment two at point P, according to the angle a and the length of the line segment one 18, the length h of the line segment BP is calculated according to the cosine theorem of the right triangle, and the length H of the line segment two minus the length h of the line segment BP is subtracted, that is, the actual height of the detection position 17 relative to the reference floor 16 is obtained;

[0076] B4. The drone body 1 performs height detection on multiple set detection positions of the building structure 15, and sends the actual height data to the ground control station through the controller. The ground control station determines whether the height of the structural features of the building structure at the construction site is qualified based on the data information of the building structure model. If it is unqualified, the ground control station finds out the reason and handles it in time;

[0077] Mode C: The ground control station determines whether the construction of the building structure in the construction project meets the set standards based on the spatial relationship data between the building structures and the actual height data of the structural characteristics of the building structure itself.

[0078] Example 5

[0079] Based on Example 4, this embodiment discloses:

[0080] like Figure 3As shown, in the step A1, when there are multiple measuring light rays contacting the same building structure surface around the drone body, only one of them is selected as the valid data for a single measurement of the building structure. In the step A2, when matching each point C of the polygonal structure at the corresponding projection position of each building model, the distance from the starting point to each point C should match the corresponding measurement distance.

[0081] In this embodiment, the polygonal structure model is directly substituted into the building model, and each point C is compared to see whether it can coincide with the projected position of the model (point C in the model) or coincide within a certain error range. This is based on the obvious identification marks in the building structure, that is, the ground control station can determine the corresponding position of point C in the building model (point C in the model) based on the visual information of the first high-definition camera. This implementation method requires special marks to be made on the surface of the building structure, and the method of monitoring the spatial relationship between building structures without marking the surface of the building structure is shown in the following embodiment.

[0082] Example 6

[0083] Based on Example 5, this embodiment discloses:

[0084] like Figure 6 As shown, the step A1 also includes a method for determining the specific position of point C. The Z-axis coordinate of the starting point is calculated based on the height from the reference floor 16 measured by the second laser ranging sensor 5. The drone body 1 rotates in situ at this height so that the measuring light 13 passes through the two ends of the building structure facing the drone body in turn, and the distances X between the two ends of the building structure facing the drone body and the starting point are recorded respectively (such as Figure 6 As shown, represented by line segment 20) and distance Y (as Figure 6 As shown, represented by line segment 5 21), the distance Z between the combined point C and the starting point (as shown Figure 6 As shown, represented by line segment 62), a horizontal line segment F passing through point C (as shown Figure 6 As shown, the starting point and the end point of the line segment F (composed of the first line segment 23 and the second line segment 24) are respectively located at the two ends of the building structure 15 facing the drone body 1. The controller calculates the distance from the point C to the two ends of the line segment F according to the rotation angle data of the drone body, and then determines the specific position of the point C on the line segment F, and the Z-axis coordinate of the line segment F is the same as the Z-axis coordinate of the starting point; in the step A2, after determining the coordinate position of each point C on the corresponding building structure, the coordinate position of the point C is substituted into the corresponding building model, the specific coordinate point G of the point C in the building model is found, and the points G are connected to obtain the polygonal structure in the model. The polygonal structure in the model is compared with the measured polygonal structure. If they can overlap or overlap within a certain error range, it means that it is qualified. If they cannot overlap and the error exceeds the set range, it means that it is unqualified.

[0085] In this embodiment, the principle of "the controller calculates the distance from point C to the two ends of line segment F according to the rotation angle data of the drone body" is: according to the flight control system of the drone body and the timing module in the system, the angle between line segment 4 20 and line segment 6 22, and between line segment 6 22 and line segment 5 21 can be known, and the lengths of line segments 4, 5, and 6 are known, so the lengths of the first line segment 23 and the second line segment 24 can be calculated, and then the coordinate position of point C can be obtained. The timing module facilitates the controller to collect the angle information of the drone rotation at the same time (corresponding to the rotation angle of the measuring light of the first laser ranging sensor) and the distance information of the measuring light corresponding to the moment and whether the measuring light at the moment is aligned with the two ends of the surface of the building structure. In this process, the position of point C can be randomly selected. Therefore, multiple sets of data can be collected through a round of rotation around the starting point, which greatly improves the monitoring efficiency.

[0086] Since the present invention can monitor the spatial relationship between building structures and the height information of the structural characteristics of the building structures themselves at different heights through the drone body, the present invention can monitor the building structure throughout the progress of the construction project, which is beneficial to ensuring the quality of the building structure.

Claims

1. A monitoring system based on BIM construction, characterized by: It includes a ground control station and a drone body. The ground control station is equipped with one or more drone bodies, and the BIM construction monitoring of the building structure group is realized by controlling the flight actions of the drone bodies. The drone body is provided with a monitoring mechanism A for monitoring the spatial relationship between building structures and a monitoring mechanism B for monitoring the structural characteristics of the building structure itself. The monitoring mechanism A and the monitoring mechanism B collect data information, and the ground control station compares the data information with the BIM building model to achieve quality control of BIM construction.

2. A monitoring system based on BIM construction as claimed in claim 1, characterized in that: The monitoring mechanism A comprises a regular polygonal sleeve fixedly mounted on the back of the drone body, and a first laser ranging sensor is distributed on each side of the sleeve. The reverse extension line of the measuring light of the first laser ranging sensor on each side intersects horizontally with the axis of the sleeve at point A. When the drone body is flying horizontally or suspended, the axis of the sleeve is in a vertical posture.

3. A monitoring system based on BIM construction as claimed in claim 2, characterized in that: A first high-definition camera and a first colored light emitter are respectively provided on the side surfaces of the sleeve where the first laser ranging sensor is located above and below; The light emitted by the first colored light emitter is parallel to the measuring light of the first laser ranging sensor and is used to indicate the position of the measuring light at a certain distance below the projection point on the surface of the building structure. The first high-definition camera is used to collect visual information of the measuring light at the projection point of the building structure.

4. A monitoring system based on BIM construction as claimed in claim 3, characterized in that: A hollow shaft penetrating the drone body is vertically arranged at the axis of the sleeve, and the monitoring mechanism B includes a second laser ranging sensor arranged at the lower end of the hollow shaft and emitting a measuring light vertically downward; The hollow shaft is provided with a strip groove on the side wall below the drone body along the axial direction, and a mounting tube is passed through the strip groove. The inner end of the mounting tube is rotatably connected to the hollow shaft through a rotating shaft, and one end of the rotating shaft passes through the outer surface of the hollow shaft horizontally and is fixedly connected to the output shaft of the servo motor preset on the outer surface of the hollow shaft; A third laser ranging sensor is installed at the end of the mounting tube. The axis of the hollow shaft, the axis of the mounting tube, the axis of the rotating shaft, the reverse extension line of the measuring light of the second laser ranging sensor and the reverse extension line of the measuring light of the third laser ranging sensor intersect at point B.

5. A monitoring system based on BIM construction as claimed in claim 4, characterized in that: A second high-definition camera and a second colored light emitter are symmetrically arranged at the end of the outer wall of the mounting tube about the axis. The second colored light emitter is used to indicate a certain distance outside the projection point of the third laser ranging sensor on the outer surface of the building structure, and the second high-definition camera is used to collect visual information of the projection point of the third laser ranging sensor on the outer surface of the building structure.

6. A monitoring system based on BIM construction as claimed in claim 5, characterized in that: A control box is provided at the location where the hollow shaft is connected to the belly of the drone body; The control box is provided with a battery and a controller electrically connected to each other, and the controller is electrically connected to the first laser distance sensor, the second laser distance sensor, the third laser distance sensor, the first high-definition camera, the second high-definition camera, the first colored light emitter, and the second colored light emitter through wires; The controller is also connected to the ground control station signal via a wireless signal transceiver.

7. The method for using a monitoring system based on BIM construction according to claim 6, characterized in that it includes the following modes: Mode A, measuring the spatial relationship between building structures by monitoring mechanism A, includes the following steps: A1. The ground control station controls the drone to fly to a position between multiple building structures and hover. At this time, the first laser ranging sensors on each side of the regular polygonal sleeve emit measurement light. The controller screens out invalid data based on the measurement data of each first laser ranging sensor and the spatial position information of the corresponding building structure in the BIM model. That is, the data measured by the measurement light that does not contact the surface of the building structure around the drone is invalid data. The measuring light is set to intersect with the surface of the building structure at point C, and each point C is connected to form a polygonal structure. The length of each side of the polygonal structure is calculated according to the effective measurement data, and point A is used as the starting point for constructing the polygonal structure. At the same time, the first colored light emitter indicates the projection position of the measuring light, and the first high-definition camera takes a picture of the projection position. A2. The controller sends the polygonal structure, the starting point, the graphics of the effective measurement light, the shooting information of the first high-definition camera, and the effective measurement data of the first laser ranging sensor to the ground control station through the wireless signal transceiver; The ground control station determines the projection position of the measuring light in the effective measurement data on the corresponding building structure surface according to the visual information captured by the first high-definition camera, finds the projection position of the corresponding building structure model, matches each point C of the polygonal structure at the projection position of each corresponding building structure model, and checks whether each point C coincides with the projection position of the corresponding building structure model. If they coincide or coincide within a certain error, it means that the spatial relationship between the building structures is qualified; If there is an error exceeding the set distance between one or more points C and the projected position of the building structure model, it means that the spatial relationship between the building structures is unqualified, and the cause needs to be found out and dealt with in a timely manner; A3. Repeat steps A1 and A2. The drone collects data at multiple different locations to comprehensively determine whether the spatial relationship between the building structures is qualified and find out the unqualified items. Mode B, monitoring the structural characteristics of the building structure itself through monitoring mechanism B, including the following steps: B1. Build a reference floor on the ground of the building structure group. The reference floor maintains horizontality and is used to indicate the reference height for measuring the structural characteristic height of the building structure itself; B2. The ground control station controls the drone body to hover at a set height above a reference floor on the side of a building structure. The set height is based on the distance data of the reference floor measured by the second laser ranging sensor. The servo motor drives the mounting tube to rotate until the axis of the mounting tube intersects with the axis of the hollow shaft at an angle a. At this time, the measurement light of the third laser ranging sensor is projected onto a preset detection position on the surface of the building structure, the second visible light emitter projects light onto the detection position, and the second high-definition camera shoots the detection position. B3. The controller calculates the length E of the line segment 1 between point B and the projection point M of the measuring light of the third laser ranging sensor on the surface of the building structure according to the measurement data of the third laser ranging sensor, calculates the length H of the line segment 2 between point B and the vertical projection point N of the measuring light of the second laser ranging sensor on the reference floor according to the measurement data of the second laser ranging sensor, and from point M along the horizontal lead segment 3 perpendicularly intersecting the line segment 2 at point P, according to the angle a and the length of the line segment 1, the length of the line segment BP is calculated according to the cosine theorem of the right triangle, and the length H of the line segment 2 is subtracted from the length h of the line segment BP to obtain the actual height of the detection position relative to the reference floor; B4. The drone body performs height detection at multiple set detection positions of the building structure, and sends the actual height data to the ground control station through the controller. The ground control station determines whether the height of the structural features of the building structure at the construction site is qualified based on the data information of the building structure model. If it is unqualified, the ground control station finds out the reason and handles it in time; Mode C: The ground control station determines whether the construction of the building structure in the construction project meets the set standards based on the spatial relationship data between the building structures and the actual height data of the structural characteristics of the building structure itself.

8. The method for using a monitoring system based on BIM construction as claimed in claim 7, characterized in that: In the step A1, when there are multiple measuring light rays contacting the same building structure surface around the drone body, only one of them is selected as valid data for a single measurement of the building structure. In the step A2, when matching each point C of the polygonal structure at the corresponding projection position of each building model, the distance from the starting point to each point C should match the corresponding measurement distance.

9. The method for using a monitoring system based on BIM construction as claimed in claim 8, characterized in that: The step A1 also includes a method for determining the specific position of point C: The Z-axis coordinate of the starting point is calculated based on the height from the reference floor measured by the second laser ranging sensor. The drone body rotates in situ at this height so that the measuring light passes through the two ends of the building structure facing the drone body in turn, and the distances X and Y between the two ends of the building structure facing the drone body and the starting point are recorded respectively. Combined with the distance Z between point C and the starting point, the starting point and the end point of the horizontal line segment F passing through point C are located at the two ends of the side of the building structure facing the drone body. The controller calculates the distance from point C to the two ends of the line segment F according to the rotation angle data of the drone body, and then determines the specific position of point C on the line segment F. The Z-axis coordinate of the line segment F is the same as the Z-axis coordinate of the starting point. In the step A2, after determining the coordinate position of each point C on the corresponding building structure, the coordinate position of point C is substituted into the corresponding building model, the specific coordinate point G of point C in the building model is found, and the various points G are connected to obtain the polygonal structure in the model. The polygonal structure in the model is compared with the measured polygonal structure. If they can overlap or overlap within a certain error range, it means that they are qualified. If they cannot overlap and the error exceeds the set range, it means that they are unqualified.

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