Completion measurement system based on unmanned aerial vehicle

Abstract

The invention discloses a completion measurement system based on an unmanned aerial vehicle, and relates to the technical field of completion measurement. Completion measurement data of each measurement period is collided for several times by setting a completion interaction unit and combining the interaction system frequency of the unmanned aerial vehicle; after each collision, derived word strings corresponding to the word strings to be processed are constructed on the basis of the digits of the inconsistent characters, and after each derived word string is generated, a collision word string of the next word string to be processed is generated on the basis of the total number of the digits of the inconsistent characters and the change of the highest-bit characters in the corresponding derived word strings; the generation of each derived word string depends on the derived substring of the previous word string to be processed, and comparison and updating are performed on the basis of the previous derived substring, so that the generation of each derived substring has generality and diversity, the complexity and cracking difficulty of the derived substring are further increased, and the generation efficiency of the derived substring is improved. And the transmission safety of the completed measurement data is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of completion measurement, and in particular to a completion measurement system based on an unmanned aerial vehicle. Background Art

[0002] With the continuous development of construction projects, infrastructure construction and other projects, completion measurement, as an important part of project acceptance and subsequent management, has received increasing attention for its accuracy and efficiency. Traditional completion measurement methods often rely on manual measurement methods, such as using total stations, levels and other equipment for field measurement. This method has many limitations, such as low measurement efficiency and the need for surveyors to perform a large amount of manpower operations at complex construction sites, which is not only time-consuming, but also difficult to carry out effectively in some dangerous areas or difficult-to-reach areas.

[0003] In recent years, the rapid development of UAV technology has brought new opportunities for completion measurement. UAVs have the advantages of being flexible and maneuverable, able to quickly reach the target area, and able to obtain large-area measurement data. The completion measurement system based on UAVs has emerged. It can carry out fast and comprehensive measurement operations on completed projects by carrying a variety of measurement sensors (such as laser radar, high-definition cameras, etc.), and obtain rich measurement data such as topography, building dimensions, and engineering facility locations.

[0004] However, the existing UAV-based completion measurement system has serious security risks in data transmission. At present, many systems rely on keys to transmit data to the ground control center after the UAV collects the completion measurement data. This key-based data transmission method seems to provide a certain data security guarantee, but in fact there are many loopholes. First, the key itself is at risk of being stolen or cracked. Once the key is maliciously obtained, the entire data transmission process will have no confidentiality at all, and the measurement data may be tampered with or leaked. Secondly, the key management mechanism is not perfect in many cases, and the key distribution and update links are prone to human errors or security loopholes, which further increases the insecurity factors in the data transmission process;

[0005] In order to solve the above problems, the present invention proposes a solution. Summary of the invention

[0006] The purpose of the present invention is to provide a completion measurement system based on a drone, in order to solve the problems raised in the above background technology;

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] The drone-based as-built measurement system includes:

[0009] The completion collection unit is used to collect the completion measurement data measured by the drone in each measurement cycle after the drone takes off;

[0010] The completion interaction unit is used to pre-process the completion measurement data of each measurement cycle according to the preset interaction conversion rules after receiving the completion measurement data of a measurement cycle to obtain the completion processing data of the corresponding measurement cycle, and transmit the completion processing data to the ground receiving center.

[0011] Furthermore, the drone has a pre-stored measurement flight path, which is planned by the manager of the target project based on the actual layout inside the target project, key areas that need to be measured, and relevant measurement specifications.

[0012] Furthermore, the interactive conversion rules of the completion processing data of a measurement cycle are obtained as follows:

[0013] S11: performing binary conversion on the as-built measurement data to obtain as-built binary data, specifying a cutting step length of P1, and cutting the as-built binary data in order from left to right to obtain a plurality of groups of strings to be processed, where P1 is a preset cutting constant;

[0014] S12: Mark all the groups of to-be-processed word strings obtained as A1, A2, ..., Aa from left to right according to their positions in the as-built binary data, where a≥1;

[0015] S13: Obtain the interactive frequency currently stored in the completion interactive unit, perform binary conversion on the interactive frequency to obtain a P1-bit binary number, and mark the P1-bit binary number as an interactive frequency string. For example, if the value of P1 is 8, then an 8-bit binary number is obtained by conversion;

[0016] S14: colliding the to-be-processed string A1 with the interaction frequency string according to a preset collision rule to obtain a derived string of the to-be-processed string A1;

[0017] S15: Generate a collision string of the to-be-processed string A2 according to a preset generation rule;

[0018] S16: in the same manner as step S14, derivative strings of the strings to be processed A2, ..., Aa are obtained in sequence according to the sequence of the strings to be processed A2, ..., Aa, and after each derivative string of the string to be processed is generated, a collision string of the next string to be processed is generated in accordance with S15, wherein the next string to be processed is in the sequence of the strings to be processed A1, A2, ..., Aa;

[0019] S17: In the order of the to-be-processed character strings A1, A2, ..., Aa, the derived character strings of the to-be-processed character strings A1, A2, ..., Aa are concatenated to obtain the completed processing data of the measurement cycle.

[0020] Furthermore, the ground receiving center updates and stores the interactive frequency of the UAV used to measure the target project. After receiving the transmitted completion processing data of a measurement cycle, the ground receiving center first performs the interactive conversion rule inversely in combination with the interactive frequency of the corresponding UAV to restore the received completion processing data of the measurement cycle to obtain the completion measurement data of the measurement cycle;

[0021] Then, the restored completion measurement data of the measurement period is stored, and a frequency update instruction is synchronously generated during the storage process.

[0022] Furthermore, after the frequency update instruction is generated, the ground receiving center increments the interaction frequency of the corresponding drone stored therein by 1.

[0023] Furthermore, after receiving the transmitted frequency update instruction, the completed interaction unit increases the interaction frequency of the drone stored therein by 1.

[0024] Beneficial effects of the present invention:

[0025] (1) The present invention sets a completion collection unit to periodically collect the completion measurement data collected during the flight of the drone. The completion interaction unit performs several collisions on the completion measurement data of each measurement cycle in combination with the interaction frequency of the drone. The number of collisions is determined by the total number of to-be-processed strings divided by the completion measurement data. After each collision, a derivative string of the to-be-processed string is constructed based on the number of bits of inconsistent characters. After each derivative string is generated, a collision string of the next to-be-processed string is generated based on the total number of bits of inconsistent characters and the change of the highest bit character in the corresponding derivative string, so that each derivative string The generation of each character depends on the derived substring of the previous string to be processed, and is compared and updated on the basis of the previous derived substring. On the one hand, the generation of each derived substring has commonalities and differences, further increasing the complexity and difficulty of deciphering the derived substring, ensuring the security of the completed measurement data transmission. On the other hand, each character is an indispensable part of the conversion process. Once a part is damaged, the entire data restoration chain will be broken, which further ensures the integrity and accuracy of the completed measurement data, so that it can maintain a high degree of security in the face of various potential security threats, such as network attacks, data leakage risks, etc.

[0026] (2) The present invention replaces the traditional key encryption method by converting and transmitting the completion measurement data, thereby avoiding the risk of key loss and resource loss in security management, and further ensuring the transmission security of the completion measurement data. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] Figure 1 is a system block diagram of the present invention;

[0029] Figure 2 It is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figure 1 , 2 As shown, the UAV-based completion measurement system includes a UAV terminal and a ground receiving center;

[0032] The drone terminal is used to manage the completion measurement data of the target project, and the drone terminal includes a completion collection unit and a completion interaction unit;

[0033] The completion collection unit includes a drone equipped with a number of sensors for collecting the completion measurement data of the target project;

[0034] The drone has a measurement flight path pre-stored therein, and the measurement flight path is planned by the management personnel of the target project according to the actual layout inside the target project, the key areas to be measured, and the relevant measurement specifications;

[0035] In this application, when planning the measurement flight path, the management personnel take into account the distribution of different buildings in the target project, such as the density, height difference, and shape characteristics of the buildings; for areas with densely populated buildings, the flight path will be planned more carefully to ensure that the spatial relationship data between the buildings can be fully collected; and for taller buildings, a suitable flight altitude and angle will be set to ensure that the information of each part such as the top and side of the building can be fully obtained. At the same time, according to the relevant measurement specifications, such as the provisions on measurement accuracy and data coverage, the coordinates of each waypoint on the flight path, the flight speed, the shooting interval and other parameters are determined, so as to ensure that the drone can efficiently and accurately collect the required data when performing the completion measurement task;

[0036] When the UAV takes off and flies according to the measurement flight path pre-stored therein, the completion collection unit collects the completion measurement data measured by the UAV in the measurement cycle at intervals of one measurement cycle, wherein the completion measurement data includes plane position data, elevation data and dimension data;

[0037] Planar location data refers to building information, including but not limited to the coordinates of each corner point of each building and the orientation of the building;

[0038] Elevation data refers to the elevation values ​​of various terrain feature points in the project area, the elevation of indoor and outdoor floors of buildings, and the elevation of the road surface at various points on the road; size data refers to the basic dimensions of the building, such as length, width, and height;

[0039] After each measurement cycle of the completed construction is acquired, the completed construction acquisition unit transmits the completed construction measurement data to the completed construction interaction unit;

[0040] The completion interaction unit updates and stores the interaction frequency of the drone. Each time the completion measurement data of a measurement cycle is received, the completion interaction unit pre-processes the completion measurement data according to a preset interaction conversion rule to obtain the completion processing data of the measurement cycle. The interaction management rules are as follows:

[0041] S11: convert the as-built measurement data into binary data, specify the cutting step length as P1, cut the as-built data from left to right to obtain a plurality of groups of strings to be processed, wherein if the total number of characters remaining after cutting is less than 8, the remaining characters are also taken as a group of strings to be processed, and P1 is a preset cutting constant;

[0042] S12: Mark all the groups of to-be-processed word strings obtained as A1, A2, ..., Aa from left to right according to their positions in the as-built binary data, where a≥1;

[0043] S13: Obtain the interactive frequency currently stored in the completion interactive unit, perform binary conversion on the interactive frequency to obtain a P1-bit binary number, and mark the P1-bit binary number as an interactive frequency string. For example, if the value of P1 is 8, then an 8-bit binary number is obtained by conversion;

[0044] S14: According to the preset collision rule, the to-be-processed string A1 is collided with the interaction frequency string to obtain a derived string of the to-be-processed string A1. The collision rule is as follows:

[0045] S141: firstly, the interaction frequency string is selected as the collision string of the to-be-processed string A1, and then all characters constituting the collision string are compared bit by bit with all characters constituting the to-be-processed string A1 for consistency, the number of digits corresponding to the positions where the inconsistent characters are located is obtained, and all the obtained digits are re-marked as B0, B1, ..., Bb according to the size of the value, 1≤b≤P1;

[0046] In the application, each character in the string to be processed and the interaction frequency string has a digit, and the digits of the characters are counted from 0 to the end in order from right to left;

[0047] For example, the interaction frequency string is 01111111, and the to-be-processed string A1 is 10010110. After comparing all the characters constituting the interaction frequency string and the to-be-processed string bit by bit, the different bits extracted are 0, 3, 5, 6, and 7 respectively;

[0048] For example, if the string A1 to be processed is 10010110, then the characters constituting the string A1 to be processed are 0, 1, 1, 0, 1, 0, 0, 1 from right to left, and the corresponding digits are 0, 1, 2, 3, 4, 5, 6, 7 respectively;

[0049] S142: Generate a set of character strings with a character length of P1 according to the number of digits B0, B1, ..., Bb, wherein the characters with the number of digits B0, B1, ..., Bb in the string are all 0, and the characters with the remaining number of digits are all 1, and mark the generated string as a derived string of the string to be processed A1;

[0050] S15: Generate a collision string of the to-be-processed string A2 according to a preset generation rule, the generation rule is as follows:

[0051] S151: in the derived string of the to-be-processed string A1, the character with the bit number B1 is updated to 1, and after the updating is completed, the first P1 / 2 characters constituting the derived string are marked as the forward string of the to-be-processed string A1 in order from left to right, and all the remaining characters are marked as the backward string of the to-be-processed string A1;

[0052] S152: Obtain the total number C1 of the digits less than or equal to P1 / 2 from the digits B0, B1, ..., Bb. If C1≥C, concatenate the forward string and the backward string of the to-be-processed string A1 in the order of the forward string and the backward string to obtain a collision string of the to-be-processed string A2. Otherwise, concatenate the backward string and the forward string of the to-be-processed string A1 in the order of the backward string and the forward string to obtain a collision string of the to-be-processed string A2.

[0053] S16: in the same manner as step S14, derivative strings of the strings to be processed A2, ..., Aa are obtained in sequence according to the sequence of the strings to be processed A2, ..., Aa, and after each derivative string of the string to be processed is generated, a collision string of the next string to be processed is generated in accordance with S15, wherein the next string to be processed is in the sequence of the strings to be processed A1, A2, ..., Aa;

[0054] S17: in the order of the to-be-processed character strings A1, A2, ..., Aa, the derived character strings of the to-be-processed character strings A1, A2, ..., Aa are concatenated to obtain the as-built processed data of the measurement cycle, and the as-built processed data of the measurement cycle is transmitted to the ground receiving center;

[0055] A ground receiving center is used to receive and manage the completion measurement data of the target project, and the ground receiving center updates and stores the interaction frequency of the drone used to measure the target project;

[0056] The ground receiving center, after receiving the completed processing data of each measurement cycle transmitted, firstly combines the interactive conversion rule of the corresponding UAV's interactive frequency to restore the received completed processing data of the measurement cycle to obtain the completed measurement data of the measurement cycle;

[0057] The restored completion measurement data of the measurement period is stored, and a frequency update instruction is synchronously generated during the storage process. After the frequency update instruction is generated, the ground receiving center automatically increases the interactive frequency of the corresponding drone stored therein by 1;

[0058] Then, the frequency update instruction is transmitted to the completion interaction unit, and after receiving the transmitted frequency update instruction, the completion interaction unit increases the interaction frequency of the drone stored therein by 1;

[0059] In the description of the specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0060] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the invention or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

[0061] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. The UAV-based completion measurement system is characterized by: include: The completion collection unit is used to collect the completion measurement data measured by the drone in each measurement cycle after the drone takes off; The completion interaction unit is used to pre-process the completion measurement data of each measurement cycle according to the preset interaction conversion rules after receiving the completion measurement data of a measurement cycle to obtain the completion processing data of the corresponding measurement cycle, and transmit the completion processing data to the ground receiving center.

2. The UAV-based completion measurement system according to claim 1 is characterized in that: The drone has a pre-stored measurement flight path, which is planned by the manager of the target project based on the actual layout inside the target project, key areas that need to be measured, and relevant measurement specifications.

3. The UAV-based completion measurement system according to claim 1 is characterized in that: The interaction frequency of the drone is updated and stored in the completed interaction unit.

4. The UAV-based completion measurement system according to claim 3 is characterized in that: The interactive conversion rules for obtaining the completion processing data of a measurement cycle are as follows: S11: performing binary conversion on the as-built measurement data to obtain as-built binary data, specifying a cutting step length of P1, and cutting the as-built binary data in order from left to right to obtain a plurality of groups of strings to be processed, where P1 is a preset cutting constant; S12: Mark all the groups of to-be-processed word strings obtained as A1, A2, ..., Aa from left to right according to their positions in the as-built binary data, where a≥1; S13: Obtain the interactive frequency currently stored in the completion interactive unit, perform binary conversion on the interactive frequency to obtain a P1-bit binary number, and mark the P1-bit binary number as an interactive frequency string. For example, if the value of P1 is 8, then an 8-bit binary number is obtained by conversion; S14: colliding the to-be-processed string A1 with the interaction frequency string according to a preset collision rule to obtain a derived string of the to-be-processed string A1; S15: Generate a collision string of the to-be-processed string A2 according to a preset generation rule; S16: in the same manner as step S14, derivative strings of the strings to be processed A2, ..., Aa are obtained in sequence according to the sequence of the strings to be processed A2, ..., Aa, and after each derivative string of the string to be processed is generated, a collision string of the next string to be processed is generated in accordance with S15, wherein the next string to be processed is in the sequence of the strings to be processed A1, A2, ..., Aa; S17: In the order of the to-be-processed character strings A1, A2, ..., Aa, the derived character strings of the to-be-processed character strings A1, A2, ..., Aa are concatenated to obtain the completed processing data of the measurement cycle.

5. The UAV-based completion measurement system according to claim 4 is characterized in that: S14, the collision rule of the derived string obtained by colliding with the string to be processed A1 is as follows: S141: firstly, the interaction frequency string is selected as the collision string of the to-be-processed string A1, and then all characters constituting the collision string are compared bit by bit with all characters constituting the to-be-processed string A1 for consistency, the number of digits corresponding to the positions where the inconsistent characters are located is obtained, and all the obtained digits are re-marked as B0, B1, ..., Bb according to the size of the value, 1≤b≤P1; S142: Generate a character string of length P1 according to the number of digits B0, B1, ..., Bb, wherein the characters of the number of digits B0, B1, ..., Bb in the character string are all 0, and the characters of the remaining number of digits are all 1, and mark the generated character string as a derivative string of the string to be processed A1.

6. The UAV-based completion measurement system according to claim 5, characterized in that: Each character in the string to be processed and the interaction frequency string has one digit, and the digits of the characters are counted from 0 to the end in order from right to left.

7. The UAV-based completion measurement system according to claim 5, characterized in that: S15, generating a collision string for the to-be-processed string A2 according to the following rules: S151: in the derived string of the to-be-processed string A1, the character with the bit number B1 is updated to 1, and after the updating is completed, the first P1 / 2 characters constituting the derived string are marked as the forward string of the to-be-processed string A1 in order from left to right, and all the remaining characters are marked as the backward string of the to-be-processed string A1; S152: Obtain the total number C1 of digits whose numerical value is less than or equal to P1 / 2 from the digits B0, B1, ..., Bb. If C1≥C, concatenate the forward string and the backward string of the to-be-processed string A1 in the order of the forward string and the backward string to obtain a collision string of the to-be-processed string A2. Otherwise, concatenate the backward string and the forward string of the to-be-processed string A1 in the order of the backward string and the forward string to obtain a collision string of the to-be-processed string A2.

8. The UAV-based completion measurement system according to claim 1, characterized in that: The ground receiving center updates and stores the interactive frequency of the UAV used to measure the target project. After receiving the transmitted completion processing data of a measurement cycle, the ground receiving center first performs the interactive conversion rule inversely in combination with the interactive frequency of the corresponding UAV to restore the received completion processing data of the measurement cycle to obtain the completion measurement data of the measurement cycle; Then, the restored completion measurement data of the measurement period is stored, and a frequency update instruction is synchronously generated during the storage process.

9. The UAV-based completion measurement system according to claim 8, characterized in that: After the frequency update command is generated, the ground receiving center will increase the interaction frequency of the corresponding drone stored in it by 1.

10. The UAV-based completion measurement system according to claim 8, characterized in that: After receiving the transmitted frequency update command, the completed interaction unit increases the interaction frequency of the drone stored in it by 1.

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