Intelligent inspection method and system for building facilities

Abstract

The invention provides a building facility intelligent inspection method and system, and the method comprises the steps: obtaining building scanning data and a current inspection task of a target building, and the equipment information of inspection equipment, and constructing a building structure distribution model of the target building; identifying equipment structure information and inspection mode information of the inspection equipment, and identifying each structure channel of the target building and each target inspection channel applicable to the inspection equipment; screening a target inspection model; and screening a current patrol inspection channel covering the target patrol inspection model from the target patrol inspection channels through a road optimization algorithm, and generating a patrol inspection track of the target patrol inspection model through a road planning algorithm, thereby controlling the patrol inspection equipment to execute the current patrol inspection task on the target building area. By adopting the scheme, the inspection efficiency of the new building facilities can be improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent detection technology, and in particular to an intelligent inspection method and system for building facilities. Background Art

[0002] With the development of the complexity and diversity of buildings, the shape, layout, distribution and arrangement of building facilities often make people lost. Especially when it is necessary to inspect the building facilities, people often inadvertently repeat the old route, resulting in low inspection efficiency and slow inspection process. Therefore, how to improve the inspection efficiency is the current research focus.

[0003] The traditional inspection method for building facilities is through manual inspection, or manually setting the inspection route of intelligent training equipment for inspection. However, when encountering new building facilities, manual re-planning and re-identification of the planned route are still required, resulting in low inspection efficiency for new building facilities. Summary of the invention

[0004] The main purpose of the present invention is to provide a method and system for intelligent inspection of building facilities, aiming to solve the problem in the prior art that when encountering new building facilities, manual re-planning and re-identification of the planned routes are still required, resulting in low inspection efficiency of new building facilities.

[0005] To achieve the above object, the present invention provides a method for intelligent inspection of building facilities, the method comprising: Acquire building scanning data of a target building, equipment information of the inspection equipment, and a current inspection task of the target building, and construct a building structure distribution model of the target building based on the building scanning data; Based on the device information, identify the device structure information of the inspection device and the inspection method information of the inspection device, and based on the building structure distribution model and the inspection method, identify each structural channel of the target building; Based on the equipment structure information, in each of the structure channels, each target inspection channel applicable to the inspection equipment is screened, and based on the current inspection task, in the building structure distribution model, a target inspection model of the target building area that needs to be inspected for the current inspection task is screened; Based on the target inspection model and the model range covered by each of the target inspection channels, a current inspection channel covering the target inspection model is selected from each of the target inspection channels through a road optimization algorithm, and based on the current inspection channel, an inspection trajectory of the target inspection model is generated through a road planning algorithm; Generate an inspection device instruction corresponding to the target inspection trajectory, and based on the inspection device instruction, control the inspection device to perform the current inspection task on the target building area.

[0006] Optionally, constructing the building structure distribution model of the target building based on the building scanning data includes: Based on the building scanning data, in the target building, identifying the internal and external three-dimensional structural data of each building unit of the target building, and the spatial relative position information between each building unit; Based on the internal and external three-dimensional structural data of each of the building units, a unit structure model of each building unit is constructed separately through three-dimensional modeling software, and based on the spatial relative position information between each building unit, each unit structure model is spliced ​​to obtain the building structure distribution model of the target building.

[0007] Optionally, the identifying, based on the device information, device structure information of the inspection device and inspection mode information of the inspection device includes: Based on the device information, identifying the travel mode of the inspection device and the structural edge information of the inspection device, and based on the travel mode of the inspection device, identifying the inspection mode information of the inspection device in the inspection database; Based on the structural edge information of the inspection device, each edge parameter of the inspection device is identified, and all edge parameters are used as the device structural information of the inspection device.

[0008] Optionally, the identifying each structural channel of the target building based on the building structure distribution model and the inspection method includes: Acquire each channel structure diagram of the target building, and based on the channel structure diagram, identify each initial structure channel of the target building in the building structure distribution model; Based on the channel structure diagram, identifying the channel applicable range of each initial structure channel, and based on the inspection method, identifying the available inspection range of the inspection device; In each channel usage range, the target channel application range including the available inspection range is queried, and the initial structural channels corresponding to the target channel application range are used as the structural channels of the target building.

[0009] Optionally, the screening of target inspection channels applicable to the inspection device in each of the structural channels based on the device structure information includes: Based on the device structure information, identify the unit activity range of the inspection device, and for each structure channel, identify the channel range of the structure channel; The structural channel corresponding to the lower limit of the channel range that is greater than the upper limit of the unit activity range is selected as the target inspection channel applicable to the inspection equipment.

[0010] Optionally, based on the target inspection model and the model range covered by each of the target inspection channels, screening the current inspection channel covering the target inspection model in each of the target inspection channels through a road optimization algorithm includes: Through the visual range simulation strategy, the visual inspection range of each position point of the target inspection channel of the target inspection model is simulated, and the visual inspection range of all position points is marked in the target inspection model to obtain the total inspection range of the target inspection model; Based on the total inspection range of the target inspection model, identifying repeated inspection ranges in the target inspection model and repeated position points corresponding to each repeated inspection range; Based on the repeated position points and the non-repeated position points, a plurality of inspection channel routes of the target inspection model are generated, and the optimal inspection channel route is selected from the inspection channel routes through a road optimization algorithm; Each target inspection channel included in the optimal inspection channel route is used as the current inspection channel of the target inspection model.

[0011] In addition, to achieve the above-mentioned purpose, the present invention also provides a building facility intelligent inspection system, the building facility intelligent inspection system comprising: An acquisition module, used to acquire the building scanning data of the target building, the equipment information of the inspection equipment, and the current inspection task of the target building, and to construct a building structure distribution model of the target building based on the building scanning data; an identification module, configured to identify, based on the device information, device structure information of the inspection device and inspection mode information of the inspection device, and to identify, based on the building structure distribution model and the inspection mode, each structural channel of the target building; A screening module is used to screen each target inspection channel applicable to the inspection device in each of the structural channels based on the device structure information, and to screen a target inspection model of a target building area required to be inspected by the current inspection task in the building structure distribution model based on the current inspection task; A planning module, for screening the current inspection channel covering the target inspection model in each of the target inspection channels through a road optimization algorithm based on the target inspection model and the model range covered by each of the target inspection channels, and generating the inspection trajectory of the target inspection model through a road planning algorithm based on the current inspection channel; A generation module is used to generate an inspection device instruction corresponding to the target inspection trajectory, and based on the inspection device instruction, control the inspection device to perform the current inspection task on the target building area.

[0012] Optionally, the acquisition module is specifically used to: Based on the building scanning data, in the target building, identifying the internal and external three-dimensional structural data of each building unit of the target building, and the spatial relative position information between each building unit; Based on the internal and external three-dimensional structural data of each of the building units, a unit structure model of each building unit is constructed separately through three-dimensional modeling software, and based on the spatial relative position information between each building unit, each unit structure model is spliced ​​to obtain the building structure distribution model of the target building.

[0013] Optionally, the identification module is specifically used to: Based on the device information, identifying the travel mode of the inspection device and the structural edge information of the inspection device, and based on the travel mode of the inspection device, identifying the inspection mode information of the inspection device in the inspection database; Based on the structural edge information of the inspection device, each edge parameter of the inspection device is identified, and all edge parameters are used as the device structural information of the inspection device.

[0014] Optionally, the identification module is specifically used to: Acquire each channel structure diagram of the target building, and based on the channel structure diagram, identify each initial structure channel of the target building in the building structure distribution model; Based on the channel structure diagram, identifying the channel applicable range of each initial structure channel, and based on the inspection method, identifying the available inspection range of the inspection device; In each channel usage range, the target channel application range including the available inspection range is queried, and the initial structural channels corresponding to the target channel application range are used as the structural channels of the target building.

[0015] Optionally, the screening module is specifically used to: Based on the device structure information, identify the unit activity range of the inspection device, and for each structure channel, identify the channel range of the structure channel; The structural channel corresponding to the lower limit of the channel range that is greater than the upper limit of the unit activity range is selected as the target inspection channel applicable to the inspection equipment.

[0016] Optionally, the planning module is specifically used to: Through the visual range simulation strategy, simulate the visual inspection ranges of each position point on the target inspection channel of the target inspection model, and mark the visual inspection ranges of all position points in the target inspection model to obtain the total inspection range of the target inspection model; Based on the total inspection range of the target inspection model, identify the overlapping inspection ranges in the target inspection model and the respective overlapping position points corresponding to each overlapping inspection range; Based on the respective overlapping position points and non-overlapping position points, generate multiple inspection channel routes for the target inspection model, and through a path optimization algorithm, screen the optimal inspection channel route from among the inspection channel routes; Use each target inspection channel included in the optimal inspection channel route as the current inspection channel of the target inspection model.

[0017] In a third aspect, the present application provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of the first aspect are implemented.

[0018] In a fourth aspect, the present application provides a computer-readable storage medium. A computer program is stored thereon, and when the computer program is executed by a processor, the steps of the method according to any one of the first aspect are implemented.

[0019] In a fifth aspect, the present application provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of the first aspect are implemented.

[0020] The present invention provides a method and system for intelligent inspection of building facilities, the method comprising: acquiring building scanning data of a target building, equipment information of an inspection device, and a current inspection task of the target building, and constructing a building structure distribution model of the target building based on the building scanning data; identifying equipment structure information of the inspection device and inspection mode information of the inspection device based on the equipment information, and identifying each structural channel of the target building based on the building structure distribution model and the inspection mode; screening each target inspection channel applicable to the inspection device in each structural channel based on the equipment structure information, Based on the current inspection task, in the building structure distribution model, the target inspection model of the target building area that needs to be inspected by the current inspection task is screened; based on the target inspection model and the model range covered by each of the target inspection channels, through a road optimization algorithm, in each of the target inspection channels, the current inspection channel covering the target inspection model is screened, and based on the current inspection channel, the inspection trajectory of the target inspection model is generated through a road planning algorithm; an inspection device instruction corresponding to the target inspection trajectory is generated, and based on the inspection device instruction, the inspection device is controlled to perform the current inspection task on the target building area. This solution constructs a building structure distribution model of the target building by scanning the target building, and then identifies each structural channel in the building structure distribution model of the target building through an inspection method based on the inspection equipment, and identifies the target inspection channel in the building structure distribution model of the target building based on the equipment structure information of the inspection equipment, so that the obtained target inspection channel can be applicable to the inspection process of the inspection equipment, thereby improving the feasibility and practicality of the inspection equipment inspecting the target building. Afterwards, the terminal identifies the current inspection channel in the target inspection model through a road optimization algorithm, and generates an inspection trajectory of the target inspection model by giving a road planning algorithm, so that the inspection equipment can perform the current inspection task with the best timeliness and maximum efficiency when inspecting the target building area corresponding to the current inspection task, and avoids the problem of inspection waste caused by repeated routes, thereby improving the inspection efficiency of new building facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the scheme in the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 is a flow chart of a method for intelligent inspection of building facilities provided by an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a building facility intelligent inspection system provided by an embodiment of the present invention; Figure 3 An internal structure diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The intelligent inspection method for building facilities provided by the embodiment of the present invention is applied to the intelligent inspection system for building facilities. Unless otherwise defined, all technical and scientific terms used in this article have the same meaning as those generally understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0024] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0026] The intelligent inspection method for building facilities provided in the embodiment of the present application can be applied in an application environment. The method can be applied to a terminal, a server, or a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. The terminal can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, etc. Among them, the terminal constructs a building structure distribution model of the target building by scanning the target building, and then identifies each structural channel in the building structure distribution model of the target building through an inspection method based on the inspection equipment, and identifies the target inspection channel in the building structure distribution model of the target building based on the equipment structure information of the inspection equipment, so that the obtained target inspection channel can be applicable to the inspection process of the inspection equipment, thereby improving the feasibility and practicality of the inspection equipment inspecting the target building. Afterwards, the terminal identifies the current inspection channel in the target inspection model through a road optimization algorithm, and gives a road planning algorithm to generate an inspection trajectory of the target inspection model, so that the inspection equipment can perform the current inspection task with the best timeliness and maximum efficiency when inspecting the target building area corresponding to the current inspection task, and avoids the problem of inspection waste caused by repeated routes, thereby improving the inspection efficiency of new building facilities.

[0027] In one embodiment, Figure 1 As shown, a method for intelligent inspection of building facilities is provided, which is described by taking the method applied to a terminal as an example, and includes the following steps: Step S101, acquiring building scanning data of a target building, equipment information of an inspection device, and a current inspection task of the target building, and constructing a building structure distribution model of the target building based on the building scanning data.

[0028] In this embodiment, the terminal uses an unmanned scanning device operated by a staff member to perform a building structure scan on the target building that needs to be inspected, and obtains the building scanning data of the target building. The building scanning data is data obtained by scanning the three-dimensional data of the building structure. The unmanned scanning device can be an unmanned device such as an unmanned aerial vehicle or an unmanned vehicle. The unmanned device scans the building structure by carrying a scanning device. The scanning device can be an infrared scanning device, a point cloud technology scanning device, etc. Then, the terminal obtains the inspection equipment that needs to be inspected. The inspection equipment can be an unmanned aerial vehicle inspection device, an unmanned vehicle inspection device, a small climbing type inspection device, or a manual handheld inspection device. The inspection methods and equipment structure information of different inspection equipment are different. For example, the inspection method of the unmanned aerial vehicle inspection equipment is aerial inspection, the inspection method of the unmanned vehicle inspection equipment is road-attached inspection, and the small climbing type inspection equipment is plane-attached inspection. Among them, different inspection modes correspond to different inspection channels of the target building. For example, the inspection channels corresponding to the drone inspection equipment include all window channels, pipelines, and road channels, the inspection channels corresponding to the unmanned vehicle inspection equipment only include road channels, and the inspection channels of the small climbing inspection equipment include window channels, pipelines, road channels, narrow road channels, gap channels, etc. Among them, each type of channel of each building structure is in the channel structure diagram corresponding to the building structure, and the channel structure diagram is marked with channel structure identifiers corresponding to the position range of different building structures. Then, in response to the user's inspection task upload operation, the terminal obtains the target building area that needs to be inspected in the target building. The target building area can be the entire area of ​​the target building, or it can be the area corresponding to the partial building range in the target building. The target building can be, but is not limited to, a single building structure, or a building obtained by arranging and distributing multiple building structures. Finally, the terminal constructs a building structure distribution model of the target building based on the building scanning data. This modeling method is a modeling method using a 3D modeling program or 3D modeling software.

[0029] Step S102, based on the equipment information, identifying the equipment structure information of the inspection equipment and the inspection method information of the inspection equipment, and based on the building structure distribution model and the inspection method, identifying each structural channel of the target building.

[0030] In this embodiment, the terminal identifies the device structure information and the inspection method information of the inspection device based on the device information, and identifies the structural channels of the target building based on the building structure distribution model and the inspection method. The structural channel is a structural channel applicable to the inspection method of the inspection device. The specific identification process will be described in detail later.

[0031] Step S103, based on the equipment structure information, in each structural channel, select each target inspection channel applicable to the inspection equipment, and based on the current inspection task, in the building structure distribution model, select the target inspection model of the target building area that needs to be inspected for the current inspection task.

[0032] In this embodiment, the terminal screens each target inspection channel applicable to the inspection device in each structural channel based on the equipment structure information, and screens the target inspection model of the target building area that needs to be inspected in the current inspection task in the building structure distribution model based on the current inspection task. The method of screening the target inspection model is as follows: the terminal identifies the target building area corresponding to the current inspection task, and then marks the area range of the target building area in the building structure distribution model. Finally, the terminal uses the sub-building structure distribution model corresponding to the area range of the target building area as the target inspection model. Step S104, based on the target inspection model and the model range covered by each target inspection channel, through the road optimization algorithm, screen the current inspection channel covering the target inspection model in each target inspection channel, and based on the current inspection channel, generate the inspection trajectory of the target inspection model through the road planning algorithm.

[0033] In this embodiment, the terminal uses a road optimization algorithm to screen the current inspection channel covering the target inspection model in each target inspection channel based on the target inspection model and the model range covered by each target inspection channel, and generates the inspection trajectory of the target inspection model based on the current inspection channel through a road planning algorithm. Among them, the road optimization algorithm includes the optimal path algorithm, the A-star path finding algorithm, etc., and the road planning algorithm is an ergodic global path planning RRT (Rapidly-exploring Random Trees) algorithm. The specific algorithm calculation process will be described in detail later. Among them, the corresponding input data of the reverse warehouse planning algorithm is the channel path corresponding to the current inspection channel, the starting point position of the inspection device, and the end point position of the inspection device.

[0034] Step S105, generating an inspection device instruction corresponding to the target inspection trajectory, and based on the inspection device instruction, controlling the inspection device to perform the current inspection task on the target building area.

[0035] In this embodiment, the terminal generates a trajectory instruction program based on the inspection device, inputs the target trajectory into the inspection device, and generates an inspection device instruction corresponding to the target inspection trajectory. Finally, the terminal controls the inspection device to perform the current inspection task on the target building area through the inspection device instruction, thereby completing the current inspection task.

[0036] Based on the above scheme, by scanning the target building, a building structure distribution model of the target building is constructed, and then the various structural channels in the building structure distribution model of the target building are identified through the inspection method based on the inspection equipment, and based on the equipment structure information of the inspection equipment, the target inspection channel in the building structure distribution model of the target building is identified, so that the obtained target inspection channel can be applicable to the inspection process of the inspection equipment, thereby improving the feasibility and practicality of the inspection equipment inspecting the target building. Afterwards, the terminal identifies the current inspection channel in the target inspection model through the road optimization algorithm, and gives the road planning algorithm to generate the inspection trajectory of the target inspection model, so that the inspection equipment can inspect the target building area corresponding to the current inspection task with the best timeliness and maximum efficiency, and avoids the problem of inspection waste caused by repeated routes, thereby improving the inspection efficiency of new building facilities.

[0037] Optionally, based on the building scanning data, constructing a building structure distribution model of the target building, including: based on the building scanning data, identifying, in the target building, the internal and external three-dimensional structural data of each building unit of the target building, and the spatial relative position information between each building unit; based on the internal and external three-dimensional structural data of each building unit, using three-dimensional modeling software, constructing a unit structure model of each building unit respectively, and based on the spatial relative position information between each building unit, splicing each unit structure model to obtain the building structure distribution model of the target building.

[0038] In this embodiment, the terminal identifies the internal and external three-dimensional structure data of each building unit of the target building, and the spatial relative position information between each building unit, in the target building, based on the building scanning data. When it is necessary to inspect the interior of the building, the building scanning data is summarized to include the external three-dimensional structure data of the target building and the internal three-dimensional structure data of the target building. When it is not necessary to inspect the interior of the target building, the building scanning data only includes the external three-dimensional structure data. Among them, when the target building includes multiple building units, for example, a square-type building includes multiple stall-type building units, or a community-type building includes multiple building-type units, etc.

[0039] Based on the internal and external three-dimensional structural data of each building unit, the terminal uses three-dimensional modeling software to construct the unit structure model of each building unit. The unit structure model includes the external structure model of the building unit and the internal structure model of the building unit, and the external structure model and the internal structure model are spliced ​​based on the structural connections to obtain the unit structure model. The structural connection is, for example, a window, a pipe opening, a doorway and other connection positions. Then, based on the spatial relative position information between each building unit, the terminal splices each unit structure model to obtain the building structure distribution model of the target building. The relative position information of the control, for example, the relative distance between two buildings, and the relative angle of space and other position spacing information.

[0040] Based on the above scheme, by modeling each building unit and then splicing each building unit, the building structure distribution model of the target building is obtained, which improves the accuracy of the obtained building structure distribution model.

[0041] Optionally, based on the equipment information, the equipment structure information of the inspection equipment and the inspection mode information of the inspection equipment are identified, including: based on the equipment information, the moving mode of the inspection equipment and the structural edge information of the inspection equipment are identified, and based on the moving mode of the inspection equipment, the inspection mode information of the inspection equipment is identified in the inspection database; based on the structural edge information of the inspection equipment, each edge parameter of the inspection equipment is identified, and all edge parameters are used as the equipment structure information of the inspection equipment.

[0042] In this embodiment, the terminal identifies the travel mode of the inspection device and the structural edge information of the inspection device based on the device information. The travel mode includes flying travel, crawling travel, rolling travel, etc. The structural edge information is the device edge structure range of each device of the inspection device.

[0043] Based on the travel mode of the inspection equipment, the terminal identifies the inspection mode information of the inspection equipment in the inspection database. Finally, based on the structural edge information of the inspection equipment, the terminal identifies the edge parameters of the inspection equipment and uses all edge parameters as the equipment structure information of the inspection equipment. The edge parameters include equipment height parameters, equipment width parameters, equipment length parameters, equipment safe rotation range parameters, etc.

[0044] Based on the above scheme, the inspection mode and equipment structure information of the inspection equipment are identified by identifying the travel mode and structural edge information of the inspection equipment, thereby improving the accuracy of identification.

[0045] Optionally, based on the building structure distribution model and the inspection method, the structural channels of the target building are identified, including: obtaining the structural diagrams of the channels of the target building, and based on the channel structure diagrams, identifying the initial structural channels of the target building in the building structure distribution model; based on the channel structure diagrams, identifying the channel application range of each initial structural channel, and based on the inspection method, identifying the available inspection range of the inspection equipment; in each channel usage range, querying the target channel application range that includes the available inspection range, and using the initial structural channel corresponding to the target channel application range as the structural channels of the target building.

[0046] In this embodiment, the terminal obtains each channel structure diagram of the target building, and based on the channel structure diagram, identifies each initial structure channel of the target building in the building structure distribution model. Among them, each initial structure channel includes different types of structural channels, and each initial structure channel is marked with the channel type identifier of the initial structure channel. Then, based on the channel structure diagram, the terminal identifies the channel application range of each initial structure channel. Among them, the application range is the safe activity range of the channel, and the safe activity range is the equipment safe rotation range of the inspection equipment applicable to the channel.

[0047] Then, based on the inspection mode, the terminal identifies the available inspection range of the inspection equipment. The available inspection range is the channel type that the inspection equipment can pass through. Then, in the usage range of each channel, the terminal queries the applicable range of the target channel that includes the available inspection range, and uses the initial structural channel corresponding to the applicable range of the target channel as each structural channel of the target building. Each target channel applicable range includes each channel type of the inspection equipment.

[0048] Based on the above scheme, the channels are marked through the channel structure diagram, and then the structural channels suitable for the inspection equipment are determined through the available inspection range corresponding to the inspection method, which improves the applicability of the screening structural channels and the inspection equipment, and improves the practicality and accuracy of identifying the target inspection trajectory of the inspection equipment.

[0049] Optionally, based on the device structure information, in each structural channel, each target inspection channel applicable to the inspection device is screened, including: based on the device structure information, identifying the unit activity range of the inspection device, and for each structural channel, identifying the channel range of the structural channel; screening the structural channel corresponding to the lower limit of the channel range that is greater than the upper limit of the unit activity range as the target inspection channel applicable to the inspection device.

[0050] In this embodiment, the terminal identifies the unit activity range of the inspection device based on the device structure information, and for each structural channel, identifies the channel range of the structural channel. Among them, the channel range is the safe activity range of the channel, and the unit activity range of the inspection device is the safe rotation range of the device. Then, the terminal filters out the structural channels corresponding to the lower limit of the channel range that is greater than the upper limit of the unit activity range as the target inspection channels suitable for the inspection device. That is, the range size at the narrowest position in the filtered target inspection channel range is greater than the maximum value of the range of the safe rotation range of the device. Thus, it is ensured that the inspection device can move forward and inspect normally in the target inspection channels without being stuck, thereby affecting the inspection effect.

[0051] Based on the above solution, by means of range adaptation, the structural channels corresponding to the lower limit of the channel range that is greater than the upper limit of the unit activity range are filtered out as the target inspection channels suitable for the inspection device, improving the normal inspection effect of the inspection device in the target inspection channels.

[0052] Optionally, based on the target inspection model and the model ranges covered by each target inspection channel, through the road optimization algorithm, in each target inspection channel, the current inspection channels covering the target inspection model are filtered out, including: through the visual range simulation strategy, simulating the visual inspection ranges of each position point of the target inspection channel of the target inspection model, and marking the visual inspection ranges of all position points in the target inspection model to obtain the total inspection range of the target inspection model; based on the total inspection range of the target inspection model, identifying the repeated inspection ranges in the target inspection model and the corresponding repeated position points for each repeated inspection range; based on the repeated position points and the non-repeated position points, generating multiple inspection channel routes of the target inspection model, and through the road optimization algorithm, filtering out the optimal inspection channel route among the inspection channel routes; taking the target inspection channels included in the optimal inspection channel route as the current inspection channels of the target inspection model.

[0053] In this embodiment, the terminal simulates the visual inspection ranges of each position point of the target inspection channel of the target inspection model through the visual range simulation strategy, and marks the visual inspection ranges of all position points in the target inspection model to obtain the total inspection range of the target inspection model. Based on the total inspection range of the target inspection model, the repeated inspection ranges in the target inspection model and the corresponding repeated position points for each repeated inspection range are identified. Among them, each position point is the channel point position at a preset interval length, and the terminal divides each target inspection channel into multiple channel point positions based on the preset interval length. Among them, the repeated position points are the positions where the range that can be inspected by this channel point position coincides or intersects with the ranges that can be inspected by other channel point positions. At this time, the existence of overlapping or intersecting point positions is likely to affect the inspection efficiency. The terminal generates multiple inspection channel routes of the target inspection model based on each repeated position point and each non-repeated position point, and selects the optimal inspection channel route from each inspection channel route through the road optimization algorithm. Among them, each point position in each inspection channel route does not contain repeated position points. Each inspection channel route can be coherent or incoherent.

[0054] Finally, the terminal uses each target inspection channel included in the optimal inspection channel route as the current inspection channel of the target inspection model.

[0055] Based on the above scheme, after identifying the repeated location points, the optimal inspection channel route that does not contain the repeated location points is screened, thereby improving the inspection efficiency of the optimal inspection channel route.

[0056] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0057] Based on the same inventive concept, the embodiment of the present application also provides a building facility intelligent inspection system for implementing the building facility intelligent inspection method involved above. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme recorded in the above method, so the specific limitations of one or more building facility intelligent inspection system embodiments provided below can refer to the limitations of the building facility intelligent inspection method above, and will not be repeated here.

[0058] Further references Figure 2 , as a response to the above Figure 1 The present application provides an embodiment of a building facility intelligent inspection system 200, which is applied to a mine dispatching system. The system includes an acquisition module 210, a query module 220, an adjustment module 230, a detection module 240 and an iteration module 250, wherein: An acquisition module 210 is used to acquire the building scanning data of the target building, the equipment information of the inspection equipment, and the current inspection task of the target building, and to construct a building structure distribution model of the target building based on the building scanning data; An identification module 220, configured to identify, based on the device information, device structure information of the inspection device and inspection method information of the inspection device, and to identify, based on the building structure distribution model and the inspection method, each structural channel of the target building; A screening module 230 is used to screen, based on the device structure information, each target inspection channel applicable to the inspection device in each of the structure channels, and based on the current inspection task, screen, in the building structure distribution model, a target inspection model of a target building area that needs to be inspected for the current inspection task; The planning module 240 is used to select the current inspection channel covering the target inspection model from among the target inspection channels through a road optimization algorithm based on the target inspection model and the model range covered by each target inspection channel, and generate the inspection trajectory of the target inspection model through a road planning algorithm based on the current inspection channel; The generation module 250 is used to generate an inspection device instruction corresponding to the target inspection trajectory, and based on the inspection device instruction, control the inspection device to perform the current inspection task on the target building area.

[0059] Optionally, the acquisition module 210 is specifically configured to: Based on the building scanning data, in the target building, identifying the internal and external three-dimensional structural data of each building unit of the target building, and the spatial relative position information between each building unit; Based on the internal and external three-dimensional structural data of each of the building units, a unit structure model of each building unit is constructed separately through three-dimensional modeling software, and based on the spatial relative position information between each building unit, each unit structure model is spliced ​​to obtain the building structure distribution model of the target building.

[0060] Optionally, the identification module 220 is specifically configured to: Based on the device information, identifying the travel mode of the inspection device and the structural edge information of the inspection device, and based on the travel mode of the inspection device, identifying the inspection mode information of the inspection device in the inspection database; Based on the structural edge information of the inspection device, each edge parameter of the inspection device is identified, and all edge parameters are used as the device structural information of the inspection device.

[0061] Optionally, the identification module 220 is specifically configured to: Acquire each channel structure diagram of the target building, and based on the channel structure diagram, identify each initial structure channel of the target building in the building structure distribution model; Based on the channel structure diagram, identifying the channel applicable range of each initial structure channel, and based on the inspection method, identifying the available inspection range of the inspection device; In each channel usage range, the target channel application range including the available inspection range is queried, and the initial structural channels corresponding to the target channel application range are used as the structural channels of the target building.

[0062] Optionally, the screening module 230 is specifically used for: Based on the device structure information, identify the unit activity range of the inspection device, and for each structure channel, identify the channel range of the structure channel; The structural channel corresponding to the lower limit of the channel range that is greater than the upper limit of the unit activity range is selected as the target inspection channel applicable to the inspection equipment.

[0063] Optionally, the planning module 240 is specifically configured to: Through the visual range simulation strategy, the visual inspection range of each position point of the target inspection channel of the target inspection model is simulated, and the visual inspection range of all position points is marked in the target inspection model to obtain the total inspection range of the target inspection model; Based on the total inspection range of the target inspection model, identifying repeated inspection ranges in the target inspection model and repeated position points corresponding to each repeated inspection range; Based on the repeated position points and the non-repeated position points, a plurality of inspection channel routes of the target inspection model are generated, and the optimal inspection channel route is selected from the inspection channel routes through a road optimization algorithm; Each target inspection channel included in the optimal inspection channel route is used as the current inspection channel of the target inspection model.

[0064] Each module in the above-mentioned intelligent inspection system for building facilities can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0065] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 3As shown. The computer device includes a processor, a memory, a communication interface, a display unit and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for intelligent inspection of building facilities is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input system of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0066] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0067] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of any one of the methods in the first aspect are implemented.

[0068] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the methods in the first aspect are implemented.

[0069] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of any one of the methods in the first aspect.

[0070] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0071] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0072] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for intelligent inspection of building facilities, characterized in that: The method comprises: Acquire building scanning data of a target building, equipment information of the inspection equipment, and a current inspection task of the target building, and construct a building structure distribution model of the target building based on the building scanning data; Based on the device information, identify the device structure information of the inspection device and the inspection method information of the inspection device, and based on the building structure distribution model and the inspection method, identify each structural channel of the target building; Based on the equipment structure information, in each of the structure channels, each target inspection channel applicable to the inspection equipment is screened, and based on the current inspection task, in the building structure distribution model, a target inspection model of the target building area that needs to be inspected for the current inspection task is screened; Based on the target inspection model and the model range covered by each of the target inspection channels, a current inspection channel covering the target inspection model is selected from each of the target inspection channels through a road optimization algorithm, and based on the current inspection channel, an inspection trajectory of the target inspection model is generated through a road planning algorithm; Generate an inspection device instruction corresponding to the target inspection trajectory, and based on the inspection device instruction, control the inspection device to perform the current inspection task on the target building area.

2. The method according to claim 1, characterized in that The step of constructing a building structure distribution model of the target building based on the building scanning data comprises: Based on the building scanning data, in the target building, identifying the internal and external three-dimensional structural data of each building unit of the target building, and the spatial relative position information between each building unit; Based on the internal and external three-dimensional structural data of each of the building units, a unit structure model of each building unit is constructed separately through three-dimensional modeling software, and based on the spatial relative position information between each building unit, each unit structure model is spliced ​​to obtain the building structure distribution model of the target building.

3. The method according to claim 1, characterized in that The identifying, based on the device information, device structure information of the inspection device and inspection mode information of the inspection device includes: Based on the device information, identifying the travel mode of the inspection device and the structural edge information of the inspection device, and based on the travel mode of the inspection device, identifying the inspection mode information of the inspection device in the inspection database; Based on the structural edge information of the inspection device, each edge parameter of the inspection device is identified, and all edge parameters are used as the device structural information of the inspection device.

4. The method according to claim 1, characterized in that: The identifying each structural channel of the target building based on the building structure distribution model and the inspection method includes: Acquire each channel structure diagram of the target building, and based on the channel structure diagram, identify each initial structure channel of the target building in the building structure distribution model; Based on the channel structure diagram, identifying the channel applicable range of each initial structure channel, and based on the inspection method, identifying the available inspection range of the inspection device; In each channel usage range, the target channel application range including the available inspection range is queried, and the initial structural channels corresponding to the target channel application range are used as the structural channels of the target building.

5. The method according to claim 1, characterized in that: The step of screening, based on the device structure information, each target inspection channel applicable to the inspection device in each structure channel includes: Based on the device structure information, identify the unit activity range of the inspection device, and for each structure channel, identify the channel range of the structure channel; The structural channel corresponding to the lower limit of the channel range that is greater than the upper limit of the unit activity range is selected as the target inspection channel applicable to the inspection equipment.

6. The method according to claim 5, characterized in that The method of selecting a current inspection channel covering the target inspection model from among the target inspection channels through a road optimization algorithm based on the target inspection model and the model range covered by each target inspection channel includes: Through the visual range simulation strategy, the visual inspection range of each position point of the target inspection channel of the target inspection model is simulated, and the visual inspection range of all position points is marked in the target inspection model to obtain the total inspection range of the target inspection model; Based on the total inspection range of the target inspection model, identifying repeated inspection ranges in the target inspection model and repeated position points corresponding to each repeated inspection range; Based on the repeated position points and the non-repeated position points, a plurality of inspection channel routes of the target inspection model are generated, and the optimal inspection channel route is selected from the inspection channel routes through a road optimization algorithm; Each target inspection channel included in the optimal inspection channel route is used as the current inspection channel of the target inspection model.

7. An intelligent inspection system for building facilities, characterized in that: The system comprises: An acquisition module, used to acquire the building scanning data of the target building, the equipment information of the inspection equipment, and the current inspection task of the target building, and to construct a building structure distribution model of the target building based on the building scanning data; an identification module, configured to identify, based on the device information, device structure information of the inspection device and inspection mode information of the inspection device, and to identify, based on the building structure distribution model and the inspection mode, each structural channel of the target building; A screening module is used to screen each target inspection channel applicable to the inspection device in each of the structural channels based on the device structure information, and to screen a target inspection model of a target building area required to be inspected by the current inspection task in the building structure distribution model based on the current inspection task; A planning module, for screening the current inspection channel covering the target inspection model in each of the target inspection channels through a road optimization algorithm based on the target inspection model and the model range covered by each of the target inspection channels, and generating the inspection trajectory of the target inspection model through a road planning algorithm based on the current inspection channel; A generation module is used to generate an inspection device instruction corresponding to the target inspection trajectory, and based on the inspection device instruction, control the inspection device to perform the current inspection task on the target building area.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images