Drone-based as-built survey system

Abstract

The application discloses a completion measurement system based on a UAV, relates to the technical field of completion measurement, and is characterized in that the completion interaction unit is arranged in combination with the interaction code frequency of the UAV to collide the completion measurement data of each measurement period for several times, a derivative character string corresponding to a to-be-processed character string is constructed based on the number of inconsistent characters after each collision, and a collision character string of a next to-be-processed character string is generated based on the total number of inconsistent character numbers and the change of the highest bit character in the corresponding derivative character string after the generation of each derivative character string is completed, so that the generation of each derivative character string depends on the derivative substring of the previous to-be-processed character string, and each derivative substring is compared and updated on the basis of the previous derivative substring, so that the generation of each derivative substring has commonality and dissimilarity, the complexity and the unbreakable nature of the derivative substring are further increased, and the safety of completion measurement data transmission is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of as-built surveying technology, in particular to an as-built surveying system based on a UAV. BACKGROUND

[0002] With the continuous development of construction projects, infrastructure construction and other projects, as-built surveying, as an important link of project acceptance and subsequent management, its accuracy and efficiency are increasingly valued. Traditional as-built surveying methods often rely on manual surveying means, such as using total station, level and other equipment for field measurement. This method has many limitations, such as low measurement efficiency, the need for measurement personnel to perform a large amount of manual operation in a complex construction site, which not only consumes time, but also makes it difficult to effectively carry out measurement work in some dangerous areas or inaccessible areas.

[0003] In recent years, the rapid development of UAV technology has brought new opportunities for as-built surveying. UAVs have the advantages of being mobile and flexible, being able to quickly reach target areas, and being able to obtain large-area measurement data. As-built surveying systems based on UAVs have emerged. They can quickly and comprehensively measure completed projects by carrying various measurement sensors such as laser radars and high-definition cameras, and obtain rich measurement data such as topography, building shape and size, and engineering facility location.

[0004] However, the existing as-built surveying systems based on UAVs have serious security risks in data transmission. Currently, many systems rely on keys to transmit data to the ground control center after the UAV collects as-built surveying data. This key-based data transmission method seems to provide some data security protection, but in fact it has many vulnerabilities. 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, and the measurement data may be tampered with or leaked. Second, the key management mechanism is not perfect in many cases, and human errors or security vulnerabilities may occur in the distribution and updating of keys, further increasing the unsafe factors in the data transmission process.

[0005] To solve the above problems, the present application provides a solution. SUMMARY

[0006] The purpose of the present application is to provide an as-built surveying system based on a UAV, in order to solve the problems raised in the background.

[0007] The purpose of the present application can be achieved by the following technical solutions:

[0008] The as-built surveying system based on a UAV comprises:

[0009] The completion collection unit is configured to collect the completion measurement data measured by the unmanned aerial vehicle in each measurement period after the unmanned aerial vehicle takes off.

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

[0011] Further, the unmanned aerial vehicle pre-stores a measurement flight path, which is planned by a management personnel of the target project according to the actual layout inside the target project, the key area to be measured, and the related measurement specification.

[0012] Further, the interaction conversion rule for obtaining the completion processing data of one measurement period is as follows:

[0013] S11: binary conversion is performed on the completion measurement data to obtain completion binary data, a cutting step length P1 is specified, and the completion binary data is cut in a left-to-right order to obtain a plurality of groups of to-be-processed strings, and P1 is a preset cutting constant;

[0014] S12: all the groups of to-be-processed strings obtained are sequentially labeled as A1, A2,..., Aa from left to right according to their positions in the completion binary data, and a≥1;

[0015] S13: an interaction binary frequency currently stored in the completion interaction unit is obtained, binary conversion is performed on the interaction binary frequency to obtain a P1-bit binary number, and the P1-bit binary number is labeled as an interaction frequency string, for example, if the value of P1 is 8, an 8-bit binary number is obtained;

[0016] S14: the to-be-processed string A1 and the interaction frequency string are collided according to a preset collision rule to obtain a derivative string of the to-be-processed string A1;

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

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

[0019] S17: In the order of the to-be-processed strings A1, A2,..., Aa, the derivative strings of the to-be-processed strings A1, A2,..., Aa are spliced to obtain the finished processing data of the measurement period.

[0020] Further, the ground receiving center updates the interaction code frequency of the unmanned aerial vehicle used to measure the target project. After receiving the finished processing data of one measurement period, the ground receiving center first reverses the interaction conversion rule combined with the interaction code frequency of the corresponding unmanned aerial vehicle to restore the finished processing data of the measurement period received to obtain the finished measurement data of the measurement period.

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

[0022] Further, after generating the frequency update instruction, the ground receiving center increments the interaction code frequency of the corresponding unmanned aerial vehicle stored therein by 1.

[0023] Further, after receiving the transmitted frequency update instruction, the finished interaction unit increments the interaction code frequency of the unmanned aerial vehicle stored therein by 1.

[0024] The beneficial effects of the present application are:

[0025] (1) The present application periodically collects the finished measurement data collected during the flight of the unmanned aerial vehicle through the finished collection unit, and the finished interaction unit combines the interaction code frequency of the unmanned aerial vehicle to collide the finished measurement data of each measurement period several times. The number of collisions is determined by the total number of to-be-processed strings divided by the finished measurement data. After each collision, the derivative string of the corresponding to-be-processed string is constructed based on the number of inconsistent characters, and after each derivative string is generated, the next collision string of the to-be-processed string is generated based on the total number of inconsistent character bits and the change of the highest bit character in the corresponding derivative string. The generation of each derivative string depends on the derivative substring of the previous to-be-processed string, and the previous derivative substring is updated. On the one hand, the generation of each derivative substring has commonality and difference, further increasing the complexity and difficulty of the derivative substring, ensuring the safety of the finished measurement data transmission. On the other hand, each character is an indispensable part of the conversion process. Once a part is damaged, the chain of data restoration will be broken, which further ensures the integrity and accuracy of the finished measurement data, so that it can maintain high security when facing various potential security threats such as network attacks and data leakage risks.

[0026] (2) The present invention replaces the traditional key encryption method by converting and transmitting the completion measurement data, 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 with reference to 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall 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 UAV terminal is used to manage the completion measurement data of the target project, and the UAV terminal includes a completion collection unit and a completion interaction unit;

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

[0034] The drone has a pre-stored measurement flight path, which is planned by the target project manager based on the actual layout of the target project, key areas to be measured, and relevant measurement specifications;

[0035] In the present application, the administrator considers the distribution of different buildings in the target project, such as the density, height difference and shape characteristics of the buildings, when planning the measurement flight path; for areas with relatively dense buildings, the flight path is planned more carefully to ensure that the spatial relationship data between buildings can be fully collected; for relatively high buildings, appropriate flight height and angle are set to ensure that information of all parts of the building, such as the top and side, can be completely obtained, and according to relevant measurement specifications, such as the requirements for measurement accuracy and data coverage range, the coordinates, flight speed, and shooting interval of each waypoint on the flight path are determined, so that the unmanned aerial vehicle can efficiently and accurately collect the required data when performing the completion measurement task;

[0036] When the unmanned aerial vehicle takes off and flies according to the measurement flight path stored in it, the completion collection unit collects the completion measurement data measured by the unmanned aerial vehicle in each measurement period at an interval, wherein the completion measurement data includes plane position data, elevation data and size data;

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

[0038] The elevation data refers to the elevation values of the topographic feature points in the project area, the elevations of the indoor and outdoor terraces of the building, and the road surface elevations of the road points; the size data refers to the basic dimensions of the building, such as length, width and height;

[0039] After collecting the completion measurement data of each measurement period, the completion collection unit transmits the completion measurement data to the completion interaction unit;

[0040] The completion interaction unit updates the interaction frequency of the unmanned aerial vehicle, and after receiving the completion measurement data of each measurement period, the completion interaction unit pre-processes the completion measurement data according to the preset interaction conversion rule to obtain the completion processing data of the measurement period, and the interaction management rule is as follows:

[0041] S11: binary conversion is performed on the completion measurement data to obtain completion binary data, a cutting step P1 is specified, and the completion binary data is cut in the order from left to right to obtain a plurality of groups of to-be-processed strings, wherein if the total number of remaining characters after cutting is less than 8, the remaining characters are also taken as a group of to-be-processed strings, and P1 is a preset cutting constant;

[0042] S12: all groups of to-be-processed strings obtained are sequentially labeled as A1, A2,..., Aa from left to right according to their positions in the completion binary data, and a≥1.

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

[0044] S14: According to a preset collision rule, the derivative string of the to-be-processed string A1 is obtained by colliding the to-be-processed string A1 and the interaction frequency string. The collision rule is as follows:

[0045] S141: First, 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 with all characters constituting the to-be-processed string A1 in consistency, the positions of the inconsistent characters are obtained, and the obtained bit numbers are re-marked as B0, B1,..., Bb according to the size of the numerical value, 1≤b≤P1.

[0046] In the application, each character constituting the to-be-processed string and the interaction frequency string has a bit number, and the character bit number is sequentially extended from 0 in the order from left to right.

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

[0048] For example, the to-be-processed string A1 is 10010110, and the characters constituting the to-be-processed string A1 from right to left are characters 0, 1, 1, 0, 1, 0, 0, and 1, corresponding to bit numbers 0, 1, 2, 3, 4, 5, 6, and 7.

[0049] S142: According to the bit numbers B0, B1,..., Bb, a group of character strings with a length of P1 is generated. In the string, the characters with bit numbers B0, B1,..., Bb are all 0, and the characters with the remaining bit numbers are all 1. The generated string is marked as the derivative string of the to-be-processed string A1.

[0050] S15: According to a preset generation rule, the collision string of the to-be-processed string A2 is generated. The generation rule is as follows:

[0051] S151: In the derivative string of the to-be-processed string A1, the character with the bit number B1 is updated to 1. After the update is completed, the first P1 / 2 characters constituting the derivative string are marked as the forward string of the to-be-processed string A1 in the 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 bit numbers less than or equal to P1 / 2 from the bit numbers B0, B1,..., Bb, if C1≥C, then 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 the 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 the collision string of the to-be-processed string A2;

[0053] S16: in the same manner as in step S14, obtain the derivative string of the to-be-processed string A2,..., Aa in turn in the order of the to-be-processed string A2,..., Aa, and after generating the derivative string of each to-be-processed string, generate the collision string of the next to-be-processed string according to S15, wherein the next to-be-processed string is in the order of the to-be-processed string A1, A2,..., Aa;

[0054] S17: concatenate the derivative strings of the to-be-processed string A1, A2,..., Aa in the order of the to-be-processed string A1, A2,..., Aa to obtain the completion processing data of the measurement period, and transmit the completion processing data of the measurement period to the ground receiving center;

[0055] The ground receiving center is configured to receive and manage the completion measurement data of the target project, and the ground receiving center stores the interactive frequency of the unmanned aerial vehicle used to measure the target project;

[0056] The ground receiving center is configured to receive and manage the completion measurement data of the target project, and the ground receiving center stores the interactive frequency of the unmanned aerial vehicle used to measure the target project;

[0057] The ground receiving center is configured to receive and manage the completion measurement data of the target project, and the ground receiving center stores the interactive frequency of the unmanned aerial vehicle used to measure the target project;

[0058] The ground receiving center is configured to receive and manage the completion measurement data of the target project, and the ground receiving center stores the interactive frequency of the unmanned aerial vehicle used to measure the target project;

[0059] In the description, references to "one embodiment," "an example," "certain examples" etc. mean that the particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0060] The above merely illustrates and explains the application, and those skilled in the art can make various modifications or supplements to the described specific embodiments or adopt similar ways to replace, as long as they do not deviate from the application or exceed the scope defined by the claims, which shall fall within the protection scope of the application.

[0061] The above has described one embodiment of the application in detail, but the content described is only the preferred embodiment of the application and cannot be considered as limiting the implementation scope of the application. Any equivalent changes and improvements made within the scope of the application shall still fall within the patent coverage scope of the application.

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 as-built interaction unit is configured to pre-process the as-built measurement data of each measurement cycle according to a preset interactive conversion rule after receiving the as-built measurement data, obtain the as-built processed data of the corresponding measurement cycle, and transmit the as-built processed data to the ground receiving center; 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 hexadecimal data, specifying a cutting step length of P1, and cutting the as-built hexadecimal 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 obtained groups of to-be-processed character strings 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. If the value of P1 is 8, then convert it to obtain an 8-bit binary number; S14: colliding the to-be-processed string A1 with the interaction frequency string according to a preset collision rule to obtain a derivative string of the to-be-processed string A1; S15: Generate a collision string for 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 the order of the strings to be processed A2, ..., Aa. 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, where the next string to be processed is the order of the strings to be processed A1, A2, ..., Aa. S17: Concatenate the derived character strings of the character strings A1, A2, ..., Aa in the order of the character strings A1, A2, ..., Aa to obtain the as-built processing data of the measurement cycle; The collision rules for the derived strings obtained by colliding with the string to be processed A1 are as follows: S141: First, an interaction frequency string is selected as a collision string for the to-be-processed string A1. 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 bits corresponding to the positions of inconsistent characters is obtained, and all the obtained bit numbers are re-labeled as B0, B1, ..., Bb according to the magnitude of the values, where 1≤b≤P1. S142: Generate a string of characters of length P1 based on the number of bits B0, B1, ..., Bb, wherein the characters in the number of bits B0, B1, ..., Bb are all 0, and the characters in the remaining number of bits are all 1, and mark the generated string as a derivative string of the string to be processed A1; The rules for generating the collision string for the to-be-processed string A2 are as follows: S151: In a derived string of the to-be-processed string A1, the character with the bit number B1 is updated to 1. 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 from left to right, and all remaining characters are marked as the backward string of the to-be-processed string A1. S152: Obtain the total number C1 of digits less than or equal to P1 / 2 from the digits B0, B1, ..., Bb. If C1 ≥ C, concatenate the forward and backward strings of the to-be-processed string A1 in the order of the forward and backward strings to obtain a collision string for the to-be-processed string A2. Otherwise, concatenate the backward and forward strings of the to-be-processed string A1 in the order of the backward and forward strings to obtain a collision string for the to-be-processed string A2. The ground receiving center updates and stores the interactive frequency of the drone used to measure the target project. After receiving the transmitted as-built processing data of a measurement cycle, the ground receiving center first combines the interactive frequency of the corresponding drone and inversely executes the interactive conversion rule to restore the received as-built processing data of the measurement cycle to obtain the as-built 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; After the frequency update command is generated, the ground receiving center will automatically increase the interaction frequency of the corresponding drone stored in it by 1; After receiving the transmitted frequency update instruction, the completion interaction unit increases the interaction frequency of the drone stored in it by 1.

2. The UAV-based completion measurement system according to claim 1, 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 of 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, 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 start from 0 and continue in sequence from left to right.

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