Dam defect dynamic mapping method and system based on BIM

Abstract

The invention relates to the technical field of hydropower engineering, in particular to a BIM-based dam defect dynamic mapping method and system, and the method comprises the steps: receiving a mapping operation instruction, building a dam BIM model, importing the dam BIM model for reading dam operation data, generating a BIM-based operation unit according to a dam concrete pouring construction joint, and storing the BIM-based operation unit in a database; acquiring an orthoimage of a dam concrete surface defect of a to-be-detected dam, identifying a relationship between a defect range and an operation unit, and searching the operation unit corresponding to the defect; taking the operation unit corresponding to the defect range and a defect-containing surface as an object, performing division processing according to a grid format, and calculating a vertical outward normal vector of each grid; and carrying out grid format division on the orthographic image, mapping the orthographic image to a defect area of the dam BIM model according to the normal direction of each divided grid, and outputting and displaying the orthographic image. According to the invention, accurate management and timely processing of dam defects can be realized, the defect condition of the dam can be visually known, and dynamic mapping and visual display of the defects can be realized.

Description

Technical Field

[0001] This application relates to the technical field of hydropower engineering, and particularly to a method and system for dynamically mapping dam defects based on BIM. Background Art

[0002] As an important part of hydropower engineering, the safety and stability of a dam are directly related to the safety of people's lives and property downstream. However, during the long-term use of a dam, various defects such as cracks, seepage, and precipitates are inevitable due to the influence of natural environment, construction quality, operation and maintenance management, etc. If these defects are not discovered and handled in a timely manner, they may pose a serious threat to the safety of the dam.

[0003] Most traditional dam defects are stored in documents or manually constructed three-dimensional defect models, which cannot be dynamically updated in real time, have poor timeliness, and are difficult to achieve precise management and timely handling of dam defects. To improve the intuitive understanding of the defect situation of the dam and achieve dynamic mapping and visual display of defects, it is necessary to study an efficient and accurate dam defect dynamic mapping system and method. Summary of the Invention

[0004] To achieve the above object, this application provides the following technical solutions:

[0005] According to the first aspect of the present invention, the present invention claims protection for a method for dynamically mapping dam defects based on BIM, including:

[0006] Receiving a mapping operation instruction, and the user establishes a dam BIM model according to the dam structure construction drawings of the dam to be detected and imports it for reading dam operation data;

[0007] When detecting a data input device event triggered by the user, generating a BIM-based operation unit based on the dam concrete pouring construction joint and storing it in the device memory;

[0008] Using an inspection robot to collect orthographic images of the surface defects of the dam concrete of the dam to be detected;

[0009] Using a defect target detection algorithm to identify the relationship between each defect range and the operation unit, and finding the operation unit corresponding to the defect;

[0010] Taking the operation unit corresponding to each defect range and including the surface with the defect as the object, dividing it in a grid pattern and calculating the normal vector perpendicular to the outside of each grid;

[0011] Performing the grid division on the orthographic image of the surface defects of the dam concrete of the dam to be detected, and mapping the orthographic image to the defect area of the dam BIM model according to the normal direction of each divided grid and outputting for display.

[0012] Further, for the operation of receiving the mapping instruction, the user establishes a dam BIM model according to the construction drawing of the dam structure of the dam to be detected and imports it for reading the dam operation data, and it further includes:

[0013] Use Revit software to establish a dam BIM model, and click OK to import it for reading the dam operation data.

[0014] Further, when detecting a data input device event triggered by the user, a BIM-based operation unit is generated based on the dam concrete pouring construction joint and stored in the device memory, and it further includes:

[0015] Detect whether there is a data input device event triggered by the user. If it is detected that the user triggers an input device operation, a BIM-based operation unit will be generated based on the dam concrete pouring construction joint on the device display and stored in the device memory.

[0016] Further, using the inspection robot to collect the orthophoto images of the surface defects of the dam concrete of the dam to be detected, and it further includes:

[0017] The surface defects of the dam concrete of the dam to be detected at least include one or more of the following:

[0018] Crack defects, water seepage defects, precipitate defects;

[0019] The inspection robot collects the orthophoto images of the defects through attitude adjustment to form a defect data set.

[0020] Further, using the defect target detection algorithm to identify the relationship between each defect range and the operation unit, and find the operation unit corresponding to the defect, and it further includes:

[0021] Use the defect target detection algorithm to identify the relationship between the defect range of each defect data in the defect data set and the operation unit, and find the operation unit corresponding to the defect data based on the search rule;

[0022] The search rule is that if the intersection value of the operation unit and the defect range of the defect data is not empty, it is determined that the operation unit corresponds to the defect range of the defect data.

[0023] Further, taking the operation unit corresponding to each defect range and the surface containing the defect as the object, dividing it by grid and calculating the normal vector perpendicular to the outside of each grid, and it further includes:

[0024] Taking the operating unit corresponding to each of the defect ranges and the defect surface containing the defects as the object, the defect surface is processed in a grid-like manner by equally spacing in the horizontal direction and equally spacing in the vertical direction into multiple parts, divided into grids to form a grid data set, and the normal vector perpendicular to the outside of each grid is calculated;

[0025] The calculation of the normal vector perpendicular to the outside of the grid includes:

[0026] Collect three grid points of any grid in the grid data set, and obtain a first grid vector and a second grid vector based on the grid points;

[0027] Calculate the cross product of the first grid vector and the second grid vector, and use the cross product as the normal vector perpendicular to the outside of the grid.

[0028] Further, the orthoimage of the dam concrete surface defects of the dam to be detected is subjected to the grid division, and the orthoimage is mapped to the defect area of the dam BIM model according to the normal direction of each divided grid and output for display, and further includes:

[0029] Perform the grid division on the orthoimage of the dam concrete surface defects of the dam to be detected to form an image data set corresponding to the grid data set;

[0030] Map the defect image to the model defect area, map the image data set to the grid data set according to the direction of each grid normal vector, and display it on the device display screen.

[0031] According to the second aspect of the present invention, the present invention claims to protect a BIM-based dam defect dynamic mapping system, including:

[0032] Operation instruction receiving module: Receive mapping operation instructions. The user establishes a dam BIM model according to the dam structure construction drawings of the dam to be detected and imports it for reading dam operation data;

[0033] Dam operation unit reading module: When detecting a data input device event triggered by the user, generate an operation unit based on BIM according to the dam concrete pouring construction joint and store it in the device memory;

[0034] Defect image acquisition module: Use an inspection robot to collect the orthoimage of the dam concrete surface defects of the dam to be detected;

[0035] Operation unit searching module: Use a defect target detection algorithm to identify the relationship between each defect range and the operation unit, and search for the operation unit corresponding to the defect;

[0036] Dam defect surface meshing module: Taking the operation unit corresponding to each of the defect ranges and the surface containing the defect as the object, performing grid division processing and calculating the normal vector perpendicular to the outside of each grid;

[0037] Defect image meshing module: Performing the grid division on the orthoimage of the dam concrete surface defects of the to-be-detected dam;

[0038] Dynamic mapping module: Mapping the orthoimage to the defect area of the dam BIM model according to the normal direction of each divided grid and outputting for display;

[0039] The described BIM-based dam defect dynamic mapping system is used to execute the described BIM-based dam defect dynamic mapping method.

[0040] This application relates to the technical field of hydropower engineering, and in particular to a BIM-based dam defect dynamic mapping method and system. It receives a mapping operation instruction, establishes a dam BIM model and imports it for reading dam operation data, generates operation units based on BIM according to the dam concrete pouring construction joints, collects orthoimages of the dam concrete surface defects of the to-be-detected dam, identifies the relationship between the defect range and the operation unit, and finds the operation unit corresponding to the defect; Taking the operation unit corresponding to the defect range and the surface containing the defect as the object, performing grid division processing and calculating the normal vector perpendicular to the outside of each grid; Performing grid division on the orthoimage, mapping the orthoimage to the defect area of the dam BIM model according to the normal direction of each divided grid and outputting for display. The present invention can achieve precise management and timely processing of dam defects, intuitively understand the defect situation of the dam, and realize the dynamic mapping and visualization display of defects. Description of the Drawings

[0041] Figure 1 It is a working flowchart of a BIM-based dam defect dynamic mapping method requested to be protected by the embodiments of this application;

[0042] Figure 2 It is a schematic diagram of the correspondence between the operation unit and the defect range of a BIM-based dam defect dynamic mapping method requested to be protected by the embodiments of this application;

[0043] Figure 3 It is a schematic diagram of the dam defect dynamic mapping of a BIM-based dam defect dynamic mapping method requested to be protected by the embodiments of this application. Detailed Embodiments

[0044] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0045] The terms "first", "second", and "third" in the present application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", and "third" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. All directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0046] Referring to "embodiment" in this article means that the specific features, structures, or characteristics described in connection with the embodiment may be included in at least one embodiment of the present application. The phrase does not necessarily refer to the same embodiment when it appears in various positions in the specification, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0047] According to the first embodiment of the present invention, the present invention claims to protect a method for dynamically mapping dam defects based on BIM. Referring to Figure 1 , including:

[0048] Receiving a mapping operation instruction, the user establishes a dam BIM model according to the dam structure construction drawings of the dam to be detected and imports it for reading dam operation data;

[0049] When detecting a data input device event triggered by the user, generating a BIM-based operation unit based on the dam concrete pouring construction joint and storing it in the device memory;

[0050] Using an inspection robot to collect an orthographic image of the surface defects of the dam concrete of the dam to be detected;

[0051] Use the defect target detection algorithm to identify the relationship between each defect range and the operating unit, and find the operating unit corresponding to the defect.

[0052] Take the surface containing the defect of the operating unit corresponding to each defect range as the object, divide it in a grid pattern and calculate the normal vector perpendicular to the outside of each grid.

[0053] Perform the grid division on the orthophoto image of the surface defect of the dam to be detected, and map the orthophoto image to the defect area of the dam BIM model according to the normal direction of each divided grid and output for display.

[0054] Further, the receiving mapping operation instruction, the user establishes a dam BIM model according to the dam structure construction drawing of the dam to be detected and imports it for reading dam operation data, further includes:

[0055] Use Revit software to establish a dam BIM model, click OK to import for reading dam operation data.

[0056] Among them, in this embodiment, first divide the dam body into several dam sections that are both independent and related according to the two-dimensional drawing of the dam structure, and determine the data such as the geometric dimensions and spatial positions of each part of the dam body.

[0057] Subdivide the irregular parts of each dam section of the concrete dam to divide as many regular shapes as possible, such as cuboids, prisms, cylinders, etc.

[0058] Then use the BIM modeling software Revit to directly draw the three-dimensional solid model of this part. For the irregular basic component units that cannot be further divided, they can be obtained by performing multiple editing and modification operations (such as Boolean operations of intersection, union, complement, etc.) on the basic primitives with regular shapes.

[0059] According to the dam structure construction drawing, use Revit software to establish the BIM model of the dam, divide the dam into m operating units V (V 1， V 2，……， V m ) according to the concrete pouring construction joints.

[0060] Further, when detecting a data input device event triggered by the user, generate a BIM-based operating unit based on the concrete pouring construction joints of the dam and store it in the device memory, further includes:

[0061] Detect whether there is a data input device event triggered by the user. If it is detected that the user triggers an input device operation, generate a BIM-based operating unit based on the concrete pouring construction joints of the dam on the device display and store it in the device memory.

[0062] Among them, in this embodiment, the input device event can be understood as having a "generate operation unit" button in the system. After clicking, the system automatically cuts the dam BIM model according to the construction joints.

[0063] The operation unit of BIM is to cut the established dam BIM model according to the plane where the construction joints of the dam concrete placement are located. The model is cut into many small units, that is, operation units.

[0064] Furthermore, using the inspection robot to collect the orthographic images of the surface defects of the dam concrete of the dam to be inspected further includes:

[0065] The surface defects of the dam concrete of the dam to be inspected include at least one or more of the following:

[0066] Crack defects, water seepage defects, exudate defects;

[0067] The inspection robot collects the orthographic images of the defects through attitude adjustment to form a defect data set.

[0068] Among them, in this embodiment, an inspection robot (T7-E type wheeled inspection robot) is used to collect images of the surface defects (cracks, water seepage, exudates, etc.) of the dam concrete. The inspection robot collects the orthographic images of the defects through attitude adjustment to form a data set P (P 1， P 2，……， P n ), where n represents the number of defects.

[0069] Furthermore, using the defect target detection algorithm to identify the relationship between the ranges of each defect and the operation units, and to find the operation units corresponding to the defects, further includes:

[0070] Using the defect target detection algorithm to identify the relationship between the defect ranges of each defect data in the defect data set and the operation units, and to find the operation units corresponding to the defect data based on the search rule;

[0071] The search rule is that if the intersection value of the operation unit and the defect range of the defect data is not empty, it is determined that the operation unit corresponds to the defect range of the defect data.

[0072] Among them, in this embodiment, the defect target detection algorithm includes:

[0073] Data preprocessing: performing operations such as cropping, scaling, and normalization on the collected images.

[0074] Model Selection and Training: The dataset is divided into a training set, a validation set, and a test set. The detection model (YOLOv5) is trained using the training set, and the model parameters are adjusted through the validation set.

[0075] Object Detection: The preprocessed image is input into the trained model to detect the range of image defects.

[0076] Operating Unit Search: Based on the search rules, search for the operating unit corresponding to the defective data.

[0077] Use the defect target detection algorithm to identify the relationship between each defect range f(v) and the operating unit V in the dataset P, and search for the operating unit corresponding to the defect. Search rules: If the operating unit then V i ∈ f(v), where i = 1, 2,..., n.

[0078] Refer to Figure 2 , which represents the relative position between a certain water seepage defect area and the operating unit. According to the search rules, the water seepage defect area intersects with the operating units V11, V21, V31, V41, V51, that is, the corresponding operating units.

[0079] Furthermore, taking the operating unit corresponding to each defect range and the surface containing the defect as the object, performing grid division processing and calculating the normal vector perpendicular to the outside of each grid, further includes:

[0080] Taking the defective surface of the operating unit corresponding to each defect range and containing the defect as the object, processing the defective surface in a grid-like manner by equally spacing in the horizontal and vertical directions into multiple parts, dividing it into grids to form a grid dataset, and calculating the normal vector perpendicular to the outside of each grid;

[0081] The calculation of the normal vector perpendicular to the outside of the grid includes:

[0082] Collect three grid points of any grid in the grid dataset, and obtain the first grid vector and the second grid vector based on the grid points;

[0083] Calculate the cross product of the first grid vector and the second grid vector, and take the cross product as the normal vector perpendicular to the outside of the grid.

[0084] Among them, in this embodiment, taking the operating unit V corresponding to each defect range f(v) and the surface g(v) containing the defect as the object, processing the surface g(v) in a grid-like manner by equally spacing into i parts in the horizontal direction and j parts in the vertical direction, dividing it into i×j grids to form a grid dataset Calculate the normal vector perpendicular to the outside of each grid

[0085] The vertical outward normal vector of the mesh is calculated as follows:

[0086] (1) Take a grid A in the grid data set A kl Three dots Q 1 (x 1 ,y 1 ,z 1 ), Q 2 (x 2 ,y 2 ,z 2 ), Q 3 (x 3 ,y 3 ,z 3 ),but:

[0087] Vector Q 1 Q 2 =(x 2 -x 1 ,y 2 -y 1 ,z 2 -z 1 )

[0088] Vector Q 1 Q 3 =(x 3 -x 1 ,y 3 -y 1 ,z 3 -z 1 )

[0089] (2) Calculate vector Q 1 Q 2 and vector Q 1 Q 3 The cross product B kl , that is, the normal vector of a mesh pointing vertically outward:

[0090] B kl =Q 1 Q 2 ×Q 1 Q 3 =((y 2 -y 1 )(z 3 -z 1 )-(z 2 -z 1 )(y 3 -y 1 ),(z 2 -z 1 )(x 3 -

[0091] x 1 )-(x2 -x 1 )(z 3 -z 1 ),(x 2 -x 1 )(y 3 -y 1 )-(y 2 -y 1 )(x 3 -x 1 ))。

[0092] Furthermore, for the orthophoto image of the surface defects of the dam concrete of the dam to be detected, performing the grid division, mapping the orthophoto image to the defect area of the dam BIM model according to the normal direction of each divided grid and outputting for display, further includes:

[0093] Performing the grid division on the orthophoto image of the surface defects of the dam concrete of the dam to be detected to form an image dataset corresponding to the grid dataset;

[0094] Mapping the defect image to the defect area of the model, mapping the image dataset to the grid dataset according to the direction of each grid normal vector, and displaying on the device display screen.

[0095] Wherein, in this embodiment, referring to Figure 3 , dividing each defect orthophoto image P in a grid manner to form an image dataset corresponding to the grid dataset A

[0096] Mapping the defect orthophoto image to the defect surface on the model, and mapping the image dataset to the grid dataset according to the direction of each grid normal vector and displaying on the device display screen.

[0097] The mapping expression is as follows:

[0098]

[0099] In the formula, F is a mapping function that maps the object C in the set C kl to the object A in the set A kl .

[0100] According to the second embodiment of the present invention, the present invention claims to protect a BIM-based dam defect dynamic mapping system, including:

[0101] Operation instruction receiving module: Receiving mapping operation instructions, and the user establishes a dam BIM model according to the dam structure construction drawings of the dam to be detected and imports it for reading dam operation data;

[0102] Dam operation unit reading module: When detecting a data input device event triggered by a user, generate a BIM-based operation unit based on the construction joint of the dam concrete pouring and store it in the device memory;

[0103] Defect image acquisition module: Use an inspection robot to collect an orthographic image of the surface defects of the dam concrete of the dam to be detected;

[0104] Operation unit search module: Use a defect target detection algorithm to identify the relationship between each defect range and the operation unit, and search for the operation unit corresponding to the defect;

[0105] Dam defect surface meshing module: Take the surface of the operation unit corresponding to each defect range and containing the defect as the object, perform grid division processing and calculate the normal vector perpendicular to the outside of each grid;

[0106] Defect image meshing module: Perform the grid division on the orthographic image of the surface defects of the dam concrete of the dam to be detected;

[0107] Dynamic mapping module: Map the orthographic image to the defect area of the dam BIM model according to the normal direction of each divided grid and output for display;

[0108] The above-mentioned BIM-based dam defect dynamic mapping system is used to execute the above-mentioned BIM-based dam defect dynamic mapping method.

[0109] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the shown or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0110] In addition, each functional unit in various embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit. The above is only the implementation manner of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

[0111] The specific implementation manners of the invention have been described in detail above, but they are only examples, and the present application is not limited to the specific implementation manners described above. For those skilled in the art, any equivalent modification or substitution to the invention is also within the scope of the present application. Therefore, all equivalent transformations, modifications, improvements, etc. made without departing from the spirit and principle of the present application should be covered by the scope of the present application.

Claims

1. A dynamic mapping method of dam defects based on BIM, characterized in that: include: After receiving the mapping operation instruction, the user establishes a dam BIM model according to the dam structure construction drawings of the dam to be inspected and imports it for reading dam operation data; When a user-triggered data input device event is detected, a BIM-based operation unit is generated according to the dam concrete pouring construction joint and stored in the device memory; Using an inspection robot, collecting orthophoto images of surface defects of the dam concrete of the dam to be inspected; Use defect target detection algorithm to identify the relationship between each defect range and operating unit, and find the operating unit corresponding to the defect; Taking the operation units corresponding to the defect ranges and the surfaces containing the defects as objects, dividing them into grids and calculating the normal vectors of each grid pointing vertically outward; The orthophoto image of the surface defects of the dam concrete of the dam to be inspected is divided into the grid format, and the orthophoto image is mapped to the defect area of ​​the dam BIM model according to the normal of each divided grid and output for display.

2. According to the BIM-based dam defect dynamic mapping method of claim 1, it is characterized in that: The receiving of the mapping operation instruction, the user establishing a dam BIM model according to the dam structure construction drawings of the dam to be detected and importing the model for dam operation data reading, further includes: Use Revit software to build the dam BIM model, click OK to import it for reading dam operation data.

3. The method for dynamic mapping of dam defects based on BIM according to claim 1 is characterized in that: When the detection has a user-triggered data input device event, a BIM-based operation unit is generated according to the dam concrete pouring construction joint and stored in the device memory, and further includes: Detect whether there is a data input device event triggered by a user. If it is detected that there is a user-triggered input device operation, a BIM-based operating unit will be generated on the device display according to the dam concrete pouring construction joint and stored in the device memory.

4. The method for dynamic mapping of dam defects based on BIM according to claim 1 is characterized in that: The method of collecting the orthophoto image of the surface defects of the dam concrete of the dam to be inspected by using the inspection robot also includes: The surface defects of the dam concrete of the dam to be inspected include at least one or more of the following: Crack defects, water seepage defects, and precipitation defects; The inspection robot collects orthophoto images of defects through posture adjustment to form a defect data set.

5. The method for dynamic mapping of dam defects based on BIM according to claim 4 is characterized in that: The method of using the defect target detection algorithm to identify the relationship between each defect range and the operating unit and searching for the operating unit corresponding to the defect also includes: Using a defect target detection algorithm to identify the relationship between the defect range of each defect data in the defect data set and the operating unit, and searching for the operating unit corresponding to the defect data based on a search rule; The search rule is that if the intersection value of the operating unit and the defect range of the defect data is not empty, it is determined that the operating unit corresponds to the defect range of the defect data.

6. The method for dynamic mapping of dam defects based on BIM according to claim 4 is characterized in that: The method of taking the operation units corresponding to the defect ranges and the surfaces containing the defects as objects, dividing and processing in a grid format and calculating the normal vector of each grid perpendicular to the outside, further includes: Taking the defect surface of the operating unit corresponding to each defect range and containing the defect as the object, the defect surface is processed in a gridding manner by dividing it into multiple parts with equal distance in the horizontal direction and the vertical direction, and is divided into grids to form a grid data set, and a normal vector perpendicular to the outside of each grid is calculated; The calculation of the normal vector of the grid perpendicular to the outside includes: Collect three grid points of any grid in the grid data set, and obtain a first grid vector and a second grid vector according to the grid points; A cross product of the first mesh vector and the second mesh vector is calculated, and the cross product is used as a normal vector of the mesh pointing vertically outward.

7. The method for dynamic mapping of dam defects based on BIM according to claim 6 is characterized in that: The grid-dividing the orthophoto image of the surface defects of the dam concrete of the dam to be inspected, mapping the orthophoto image to the defect area of ​​the dam BIM model according to the normal of each divided grid and outputting the same for display, further includes: Divide the orthophoto image of the dam concrete surface defects of the dam to be inspected into the grid format to form an image data set corresponding to the grid data set; The defect image is mapped to the defect area of ​​the model, and the image data set is mapped to the grid data set according to the direction of each grid normal vector, and displayed on the device display.

8. A BIM-based dam defect dynamic mapping system, characterized in that: include: Operation instruction receiving module: receiving mapping operation instructions, the user establishes a dam BIM model according to the dam structure construction drawings of the dam to be tested and imports it for dam operation data reading; Dam operation unit reading module: when detecting a user-triggered data input device event, it generates a BIM-based operation unit according to the dam concrete pouring construction joint and stores it in the device memory; Defect image acquisition module: using the inspection robot to collect orthophoto images of surface defects of the dam concrete of the dam to be inspected; Operation unit search module: uses defect target detection algorithm to identify the relationship between each defect range and operation unit, and finds the operation unit corresponding to the defect; Dam defect surface meshing module: taking the operation units corresponding to the defect range and the surface containing the defect as the object, dividing it into grids and calculating the normal vector of each grid perpendicular to the outside; Defect image gridding module: performing the gridding on the orthophoto image of the surface defects of the dam concrete of the dam to be inspected; Dynamic mapping module: maps the orthophoto to the defective area of ​​the dam BIM model according to the normal of each divided grid and outputs it for display; The BIM-based dam defect dynamic mapping system is used to execute the BIM-based dam defect dynamic mapping method as described in any one of claims 1-7.

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