Method and system for adjusting, installing and positioning special-shaped stone curtain wall based on unmanned aerial vehicle

Abstract

The invention relates to a special-shaped stone curtain wall adjustment and installation positioning method and system based on an unmanned aerial vehicle, and the method comprises the steps: generating a BIM model of a building, and the BIM model comprises a building main body and a curtain wall; based on the BIM model, generating a planning path of covering the building appearance by the unmanned aerial vehicle; transmitting the planned path to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies according to the planned path to obtain image data and POS data covering the outer surface of the building; performing three-dimensional reconstruction based on the image data and the POS data returned by the unmanned aerial vehicle to obtain a building three-dimensional model; the building three-dimensional model is registered with the BIM model, a building main body and a curtain wall in the BIM model are adjusted according to the building three-dimensional model to obtain adjusted curtain wall adjustment information, and the curtain wall adjustment information is shared and transmitted to a factory end to adjust the prefabricated curtain wall in a factory.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of building curtain wall installation, and particularly to a method and system for adjusting and installing and positioning special-shaped stone curtain walls based on unmanned aerial vehicles (UAVs). Background Art

[0002] Currently, traditional curtain wall customization and installation methods are mainly divided into two types: one is based on prefabrication in advance, and the other is the method of measuring and customizing after construction. The prefabrication method in advance usually relies on the BIM model to prefabricate the curtain wall in the factory according to the curtain wall design dimension information. This method can efficiently complete the production and prefabrication of the curtain wall in buildings with regular shapes, ensuring the construction accuracy of the curtain wall and improving the construction work efficiency. However, there are often errors between the actual building and the BIM model. Especially during the construction process, differences in materials, processes, and on-site conditions may lead to large deviations. Therefore, this method is not applicable to irregular building curtain walls such as special-shaped curtain walls or building projects with high-precision requirements.

[0003] The method of measuring and customizing after construction is to use laser three-dimensional scanning technology to obtain the real point cloud data of the building's external shape on site after the completion of the building's main body, and customize and install the curtain wall according to the generated point cloud model. This method is applicable to buildings with complex shapes, curved surfaces, or irregular shapes, and can provide high measurement accuracy to ensure a high degree of fit between the curtain wall and the actual external shape of the building. However, the cost of high-precision three-dimensional laser scanning equipment is relatively high. Secondly, the laser scanning equipment usually adopts the method of multi-station scanning on the ground, which cannot fully cover the uneven surfaces of the complex building exterior, such as the installation surface of the irregular building curtain wall. Moreover, as the number of building floors increases, the scanning accuracy will rapidly decline, affecting the accuracy of the measurement data on the surface of high-rise buildings, thereby reducing the accuracy of the installation and positioning of the building curtain wall, and possibly resulting in rework operations, affecting the construction efficiency of the curtain wall installation. Summary of the Invention

[0004] To solve the above technical problems or at least partially solve the above technical problems, embodiments of the present disclosure provide a method and system for adjusting and installing and positioning special-shaped stone curtain walls based on UAVs.

[0005] In a first aspect, embodiments of the present disclosure provide a method for adjusting and installing and positioning special-shaped stone curtain walls based on UAVs, including: Generating a BIM model of a building, where the BIM model includes a building main body and a curtain wall; generating a planned path for the UAV to cover the building exterior based on the BIM model; Transmitting the planned path to the UAV so that the UAV flies according to the planned path to obtain image data and POS data covering the building exterior; performing three-dimensional reconstruction based on the image data and POS data returned by the UAV to obtain a building three-dimensional model; Register the three-dimensional building model with the BIM model, adjust the building main body and curtain wall in the BIM model according to the three-dimensional building model to obtain the adjusted curtain wall adjustment information, and share and transmit the curtain wall adjustment information to the factory side to adjust the prefabricated curtain wall in the factory.

[0006] In one embodiment, the three-dimensional reconstruction of the building three-dimensional model based on the image data and POS data returned by the drone includes: Perform aerial triangulation based on the image data and POS data to obtain the first point cloud data; Pierce image control points in the first point cloud data, perform image control point matching based on at least one pre-set ground control point as a constraint condition, and then generate a point cloud model based on the first point cloud data as the building three-dimensional model; wherein, the at least one ground control point is set around the building main body of the construction site.

[0007] In one embodiment, the method further includes: Generate a dense second point cloud data based on the first point cloud data, perform surface denoising and optimization on the second point cloud data to generate a point cloud model; Use horizontal and vertical distance reference points to calibrate the size of the point cloud model, and use the calibrated point cloud model as the building three-dimensional model; wherein, the horizontal and vertical distance reference points are pre-laid at predetermined positions on the outer surface of the building at the construction site.

[0008] In one embodiment, the generation of the planned path for the drone to cover the outer surface of the building based on the BIM model includes: Convert the BIM model into a target point cloud model, and extract the outer contour of the target point cloud model to obtain an outer contour point cloud model; Generate a planned path for the drone to cover the outer surface of the building based on the outer contour point cloud model.

[0009] In one embodiment, the generation of the planned path for the drone to cover the outer surface of the building based on the outer contour point cloud model includes: Given the initial take-off point of the drone, set the initial safe flight distance; according to the camera FOV of the drone, use the greedy algorithm to traverse the outer surface of the outer contour point cloud model, so that the camera FOV of the drone completely covers the outer surface of the building and determine multiple viewpoints; According to the viewpoint positions of the multiple viewpoints, use the nearest neighbor algorithm to determine the initial access order of the multiple viewpoints as the initial path, and then apply the genetic algorithm to improve and optimize the initial path to obtain the planned path.

[0010] In one embodiment, the method further includes: Add an additional viewing point between two adjacent viewing points in the planned path; generate a new planned path based on the multiple viewing points after the addition.

[0011] In one embodiment, the method further includes: Generate the position of the first curtain wall hanging piece on the BIM model. After adjusting the curtain wall, record the adjusted position of the second curtain wall hanging piece and export it. Share and transmit the position of the second curtain wall hanging piece and the curtain wall adjustment information to the factory side to adjust the position of the curtain wall hanging piece of the prefabricated curtain wall in the factory; Mark the position of the first curtain wall hanging piece and the second curtain wall hanging piece on the point cloud model to import two marked points of the curtain wall hanging piece position on the point cloud model, and provide accurate measurement data for the actual installation and positioning of the prefabricated curtain wall by measuring the distance between the two marked points in the point cloud model.

[0012] In a second aspect, an embodiment of the present disclosure provides a system for adjusting and installing and positioning a special-shaped stone curtain wall based on a drone, including: A path planning module, configured to generate a BIM model of a building, where the BIM model includes a building main body and a curtain wall; generate a planned path for the drone to cover the exterior of the building based on the BIM model; A three-dimensional reconstruction module, configured to transmit the planned path to the drone, so that the drone flies according to the planned path to obtain image data and POS data covering the exterior of the building; perform three-dimensional reconstruction based on the image data and POS data returned by the drone to obtain a building three-dimensional model; A registration and adjustment module, configured to register the building three-dimensional model with the BIM model, adjust the building main body and the curtain wall in the BIM model according to the building three-dimensional model to obtain adjusted curtain wall adjustment information, and share and transmit the curtain wall adjustment information to the factory side to enable adjustment of the prefabricated curtain wall in the factory.

[0013] In a third aspect, an embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the method for adjusting and installing and positioning a special-shaped stone curtain wall based on a drone according to any one of the above embodiments.

[0014] In a fourth aspect, an embodiment of the present disclosure provides an electronic device, including: A processor; and A memory, configured to store a computer program; Wherein, the processor is configured to execute the method for adjusting and installing and positioning a special-shaped stone curtain wall based on a drone according to any one of the above embodiments by executing the computer program.

[0015] The technical solutions provided by the embodiments of the present disclosure have the following advantages compared with the prior art: The method and system for adjusting and installing and positioning special-shaped stone curtain walls based on drones provided by the embodiments of the present disclosure generate a BIM model of a building, where the BIM model includes a building main body and a curtain wall; generate a planned path for the drone to cover the exterior of the building based on the BIM model; transmit the planned path to the drone so that the drone flies according to the planned path to obtain image data and POS data covering the exterior of the building; perform three-dimensional reconstruction based on the image data and POS data returned by the drone to obtain a three-dimensional building model; register the three-dimensional building model with the BIM model, adjust the building main body and the curtain wall in the BIM model according to the three-dimensional building model to obtain adjusted curtain wall adjustment information, and share and transmit the curtain wall adjustment information to the factory side so as to adjust the prefabricated curtain wall in the factory. The solution of this embodiment aims to combine BIM, drone photography technology and three-dimensional model reconstruction technology, use the BIM model information to generate an accurate drone flight path, so that the drone can collect accurate image data and POS data of the building exterior, and then perform three-dimensional reconstruction to obtain a high-precision three-dimensional building model. Based on this, the registration of the three-dimensional model and the BIM model can accurately adjust the installation and positioning position of the curtain wall, that is, provide a high-precision model and position data for the installation and positioning of the curtain wall, thereby improving the accuracy and construction efficiency of the curtain wall installation and positioning, avoiding rework, and at the same time reducing the costs of curtain wall installation and positioning such as equipment costs and labor costs for rework. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present disclosure and used together with the specification to explain the principles of the present disclosure.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a flowchart of the method for adjusting and installing and positioning special-shaped stone curtain walls based on drones according to the embodiments of the present disclosure; Figure 2 It is a flowchart of the three-dimensional reconstruction method according to the embodiments of the present disclosure; Figure 3 It is an overall flowchart of the method for adjusting and installing and positioning curtain walls based on drones according to the embodiments of the present disclosure; Figure 4 It is a schematic diagram of the system for adjusting and installing and positioning special-shaped stone curtain walls based on drones according to the embodiments of the present disclosure; Figure 5 Schematic diagram of an electronic device according to an embodiment of the present disclosure. Detailed implementation manners

[0019] In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0020] Many specific details are set forth in the following description in order to fully understand the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all the embodiments.

[0021] It should be understood that in the following text, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" may mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B may be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expression means any combination of these items, including any combination of single item (one) or plural items (ones). For example, at least one (one) of a, b or c may mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c may be single or multiple.

[0022] Figure 1 Flowchart of a method for adjusting and installing and positioning a special-shaped stone curtain wall based on an unmanned aerial vehicle according to an embodiment of the present disclosure. This method can be executed by a computing device such as a computer or a mobile terminal, etc., and specifically may include the following steps: Step S101: Generate a BIM model of a building, where the BIM model includes a building main body and a curtain wall; generate a planned path for the unmanned aerial vehicle to cover the exterior of the building based on the BIM model.

[0023] Exemplarily, at least part or all of the building exterior in this embodiment is a curved surface or an irregular (i.e., non-regular shape) surface to adapt to the installation of, for example, an irregular curtain wall such as an irregular stone curtain wall. Specifically, a three-dimensional building model, i.e., a BIM model, can be generated based on the building design drawings, which may include the building main body and the curtain wall. BIM (Building Information Modeling) is a digital modeling technology that integrates various types of information in a building project, enabling collaboration and optimization in various stages such as design, construction, and operation through a three-dimensional model. It improves the work efficiency, accuracy, and sustainability of the construction industry and promotes digital transformation. The purpose of establishing the BIM model in this embodiment is to provide a three-dimensional model for the path planning of the drone to cover the building exterior, and then to provide a model basis for subsequent curtain wall adjustment.

[0024] Drone UAV (Unmanned Aerial Vehicle) technology provides a brand-new solution for building construction through aerial data collection, capable of obtaining on-site information such as image information in a large range and with high precision in real time. It significantly improves construction efficiency, reduces labor costs, and lays a foundation for the intelligent management of the project. In this embodiment, the generated BIM model is used to provide a planned path for the drone to fly and shoot to cover the building exterior, avoiding repeated collection due to encountering obstacles, and at the same time, taking images according to the waypoint positions in the planned path, so as to efficiently and accurately collect the image data and POS data of the building exterior.

[0025] Step S102: Transmit the planned path to the drone so that the drone flies according to the planned path to obtain image data and POS data covering the building exterior; perform three-dimensional reconstruction based on the image data and POS data returned by the drone to obtain a three-dimensional building model.

[0026] Exemplarily, the image data may include multiple images, such as images of local parts of the building exterior taken at each waypoint. The POS data includes GPS data and IMU data. The GPS data can be latitude, longitude, and altitude, representing the geographical location of the drone when taking the image. The IMU data may include heading angle, pitch angle, and roll angle. In this embodiment, a three-dimensional building model is obtained through three-dimensional reconstruction based on multiple images taken during the drone's flight shooting task and the corresponding POS data.

[0027] Three-dimensional reconstruction technology can accurately capture and reconstruct the geometric information of the physical space by converting real-world objects or scenes into digital three-dimensional models. In this embodiment, a high-precision three-dimensional building model can be obtained through three-dimensional reconstruction of the image data and POS data, thus providing another model basis for subsequent curtain wall adjustment.

[0028] Among them, building main bodies at the construction site will be pre-embedded with curtain wall hanging components (such as an iron plate or other markers). During the process of the drone performing the flight shooting task, ensure that the pre-embedded components are not blocked by external obstacles. Before the drone takes off, flight parameters such as RTK, obstacle avoidance, and intelligent pose shooting can be set, and then the route task can be executed to obtain image data covering the building exterior and corresponding POS data. RTK (Real-Time Kinematic) is a positioning and orientation technology used by drones, and flight parameters such as obstacle avoidance can be generated according to the above-mentioned planned path.

[0029] Step S103: Register the building three-dimensional model with the BIM model, adjust the building main body and curtain wall in the BIM model according to the building three-dimensional model to obtain the adjusted curtain wall adjustment information, and share and transmit the curtain wall adjustment information to the factory end to enable the adjustment of the prefabricated curtain wall at the factory.

[0030] Exemplarily, adjusting the building main body and curtain wall in the BIM model according to the building three-dimensional model can be to translate and rotate the BIM model. After the registration and adjustment of the building three-dimensional model and the BIM model, curtain wall adjustment information such as size and shape adjustment information can be determined. Sharing and transmitting the curtain wall adjustment information to the factory end enables the adjustment of the prefabricated curtain wall at the factory, thereby avoiding the method of first constructing and installing the curtain wall at the construction site and then making adjustments. At this time, the adjustment difficulty is extremely high, the time consumption is long, the cost is high, and the construction operation efficiency is low.

[0031] Specifically, register the building three-dimensional model of the real building main body with the BIM model, adjust the building main body information in the BIM according to the building three-dimensional model, and at the same time make corresponding fine adjustments to the curtain wall. According to the determined curtain wall adjustment information after adjustment, share it with the factory end to adjust the prefabricated curtain wall. The purpose of model processing such as registration and adjustment is that there are certain errors between the real building main body at the actual construction site and the BIM model. For large-scale special-shaped or curved curtain walls such as stone curtain walls, higher precision is required. By registering the high-precision building three-dimensional model of the actual building main body and the BIM model, and then adjusting the BIM model and making fine adjustments to the curtain wall, the prefabricated curtain wall can be adjusted in advance at the factory end, reducing the time cost of on-site curtain wall adjustment and improving the construction operation efficiency of the curtain wall.

[0032] In the above solution of this embodiment, by combining BIM technology and UAV photography technology, refined three-dimensional reconstruction of an actual building can be carried out, and high-precision installation positioning of the curtain wall can be achieved. The UAV is equipped with sensors such as cameras. By executing the planned path covering the building surface generated based on the BIM model, image data and POS data covering the building main body can be obtained. Combining the image data and POS data for three-dimensional reconstruction can reconstruct a high-precision three-dimensional building model. Register the three-dimensional building model with the BIM model to adjust the detailed information of the BIM curtain wall, and then fine-tune the curtain wall at the factory end in advance according to the adjusted information. This method provides a high-precision model and position data for the installation positioning of the curtain wall, improves the precision and construction efficiency of the curtain wall installation positioning, avoids rework, and at the same time reduces the costs of curtain wall installation positioning such as equipment costs and labor costs for rework.

[0033] In order to further improve the precision and construction efficiency of the curtain wall installation positioning, on the basis of the above embodiment, in one embodiment, with reference to Figure 2 and Figure 3 shown, the three-dimensional reconstruction based on the image data and POS data returned by the UAV in step S102 to obtain a three-dimensional building model may specifically include the following steps: Step 201: Perform aerial triangulation based on the image data and POS data to obtain the first point cloud data.

[0034] Exemplarily, in the refined three-dimensional reconstruction of this embodiment, mainly perform aerial triangulation (Aerial Triangulation) on the obtained image data and POS data covering the building exterior to obtain a sparse point cloud, that is, the first point cloud data. This step may specifically include image registration, feature matching, camera pose estimation, and triangulation, etc., and can be understood with reference to the prior art.

[0035] Step 202: Pierce image control points in the first point cloud data, perform image control point matching based on at least one preset ground control point as a constraint condition, and then generate a point cloud model based on the first point cloud data as the three-dimensional building model; wherein, the at least one ground control point is set around the building main body of the construction site.

[0036] Exemplarily, image control points (image control points) are basic reference points used in photogrammetry to control encryption and mapping, and their layout accuracy directly affects the reconstruction quality of the three-dimensional model. The setting of image control points can correct spatial position deviations caused by factors such as positioning errors of flying vehicles such as UAVs, electromagnetic interference, or barometer altitude differences, and ensure mapping accuracy.

[0037] In this embodiment, after aerial triangulation, image control points are inserted into the first point cloud data. The number of inserted image control points can be multiple, and the specific number is set according to the accuracy requirements. Additionally, at least one ground control point can be pre-set around the main building of the construction site, such as 3 ground control points, and the position coordinates of each ground control point are obtained. When generating a point cloud model based on the first point cloud data, the first point cloud data contains at least one image control point after image control point matching. In this embodiment, based on the pre-set at least one ground control point as a constraint condition, the position matching of the image control points is performed, that is, the position of one or more image control points inserted into the first point cloud data is corrected. When performing the position matching of the image control points, the position coordinate data of the ground control points will be used as a constraint condition for the position matching of the image control points, so that the image control points can be more accurately aligned with the positions in the real world in space, thereby improving the dimensional accuracy of the reconstructed point cloud model itself, and further providing a higher-precision model and position data for the installation and positioning of the curtain wall, and further improving the accuracy and construction efficiency of the curtain wall installation and positioning, such as avoiding rework due to inaccurate positioning.

[0038] In order to further improve the accuracy and construction efficiency of the curtain wall installation and positioning, on the basis of the above embodiment, in one embodiment, with reference to Figure 3 as shown, the method may further include the following steps: Step 1): Based on the first point cloud data, a dense second point cloud data is generated by using the multi-view stereo (MVS) technology, and the surface of the second point cloud data is denoised and optimized to generate a point cloud model.

[0039] Exemplarily, the MVS technology is the core technology for three-dimensional dense reconstruction using multi-view images in computer vision. Its core goal is to recover the three-dimensional geometric information of the scene, such as point clouds, meshes, etc., from a set of images with known camera parameters. In this embodiment, after obtaining the first point cloud data through aerial triangulation in the above embodiment, a dense second point cloud data can be generated by using the MVS technology, and the surface of the second point cloud data is denoised and optimized to generate a point cloud model. In this way, the dimensional accuracy of the reconstructed point cloud model itself can be further improved, and further provide a higher-precision model and position data for the installation and positioning of the curtain wall, and further improve the accuracy and construction efficiency of the curtain wall installation and positioning.

[0040] Step 2): The point cloud model is calibrated using horizontal and vertical distance reference points, and the calibrated point cloud model is used as the building three-dimensional model; wherein, the horizontal and vertical distance reference points are pre-laid at predetermined positions on the outer surface of the building at the construction site.

[0041] Exemplarily, in this embodiment, horizontal and vertical distance reference points can be pre-laid at predetermined positions on the outer surface of the construction site, such as at locations where the curvature of the building's outer surface is more obvious (e.g., the curvature is greater than the preset curvature) or at corners. The horizontal distance between the reference points and the corresponding building outer surface and the vertical distance from the ground can be measured using a total station. Then, the distances between the horizontal and vertical distance reference points are used to calibrate the dimensions of the point cloud model generated in step 1), such as calibrating the horizontal and vertical dimensions, and the calibrated point cloud model is used as the building three-dimensional model. This can perform model dimension calibration in the three-dimensional reconstruction stage, reduce the influence brought by the image distortion of the drone shooting, further improve the dimension accuracy of the reconstructed point cloud model itself, and thus provide a higher-precision model and position data for the installation and positioning of the curtain wall, further improving the accuracy and construction efficiency of the curtain wall installation and positioning.

[0042] Based on any of the above embodiments, in one embodiment, referring to Figure 3 as shown in, in step S101, generating a planned path for the drone to cover the building outer surface based on the BIM model may specifically include the following steps: converting the BIM model into a target point cloud model, extracting the outer contour of the target point cloud model to obtain an outer contour point cloud model; generating a planned path for the drone to cover the building outer surface based on the outer contour point cloud model.

[0043] Exemplarily, convert the BIM models of the building main body and the curtain wall from IFC format to OBJ format, and then perform grid sampling on them to generate a point cloud model. The generated point cloud model has a large number of point clouds. For drone path planning, only the building outer contour is needed for covering path planning. Therefore, the accuracy can be appropriately reduced when generating the point cloud model for path planning, thereby improving the processing and conversion efficiency of this implementation method. Outer contour extraction is to segment the generated point cloud model and extract the region of interest, that is, the outer contour point cloud model. Outer contour extraction can specifically use methods such as plane segmentation and convex hull algorithm. The outer contour point cloud model of the building will be used for the next step of covering path planning for the building outer surface.

[0044] In one embodiment, referring to Figure 3 as shown in, the above-mentioned generating a planned path for the drone to cover the building outer surface based on the outer contour point cloud model may specifically include the following steps: Given the initial starting point of the drone and setting the initial safe flight distance; according to the camera FOV of the drone, use the greedy algorithm to traverse the outer surface of the outer contour point cloud model so that the camera FOV of the drone completely covers the building outer surface and determine multiple viewpoints; According to the viewpoint positions of the multiple viewpoints, use the nearest neighbor algorithm to determine the initial access order of the multiple viewpoints as the initial path, and then apply the genetic algorithm to improve and optimize the initial path to obtain the planned path.

[0045] The building exterior coverage path planning aims to plan a flight path for the drone to obtain data covering the building exterior. Given the initial departure point of the drone and setting the initial safe flight distance, according to the FOV of the drone camera, the greedy algorithm is used to traverse the building exterior, i.e., the outer contour point cloud model, so that the FOV of the drone camera completely covers the building exterior and determines multiple viewpoints. The viewpoints are the waypoints, that is, the positions where the drone stops for shooting. According to the viewpoint positions, the nearest neighbor algorithm is used, with the shortest distance as the criterion for selecting the next waypoint, to determine an initial visiting order. Then, the genetic algorithm is applied to improve the initial path to obtain the planned path. For example, according to various restrictions and obstacles at the construction site, the path is adjusted and optimized accordingly. After generating the planned path, it can also be simulated and tested in the simulator to ensure the feasibility and safety of the path. Based on this planned path, the drone can efficiently and accurately collect the image data and POS data of the building exterior, thereby reconstructing a high-precision 3D building model, and further providing a higher-precision model and position data for the curtain wall installation positioning, further improving the accuracy of the curtain wall installation positioning and the construction efficiency.

[0046] In one embodiment, the method may further include the following steps: adding an additional viewpoint between two adjacent viewpoints in the planned path; generating a new planned path based on the multiple viewpoints after the addition.

[0047] To provide more image data and details for 3D reconstruction and improve the accuracy of the reconstructed 3D model, an additional viewpoint is added between every two viewpoints on the planned path. The viewpoints are the waypoints. After generating a new path based on the multiple viewpoints after the addition, it can also be simulated and tested in the simulator to ensure the feasibility and safety of the path. The method for generating the new path can be the method steps of using the nearest neighbor algorithm and the genetic algorithm as described above. Based on this optimized planned path, the drone can more efficiently and accurately collect the image data and POS data of the building exterior, thereby reconstructing a higher-precision 3D building model, and further providing a higher-precision model and position data for the curtain wall installation positioning, further improving the accuracy of the curtain wall installation positioning and the construction efficiency.

[0048] In one embodiment, with reference to Figure 3 as shown, the method may further include the following steps: Generate the position of the first curtain wall hanging piece on the BIM model. After adjusting the curtain wall, record the adjusted position of the second curtain wall hanging piece and export it. Share and transmit the position of the second curtain wall hanging piece and the curtain wall adjustment information to the factory side to adjust the position of the curtain wall hanging piece of the prefabricated curtain wall in the factory; Mark the position of the first curtain wall hanging piece and the second curtain wall hanging piece on the point cloud model to import two marked points of the curtain wall hanging piece position on the point cloud model. Provide accurate measurement data for the actual installation and positioning of the prefabricated curtain wall by measuring the distance between the two marked points in the point cloud model.

[0049] Exemplarily, after adjusting the BIM curtain wall information in the above embodiment, the position of the curtain wall hanging piece can be generated on the BIM model according to the drawing design. After fine-tuning, record the coordinates of the new curtain wall hanging piece position and export it. At the same time, the new curtain wall hanging piece position is also shared with the factory side for adjustment like the BIM curtain wall adjustment information. In addition, the positions of the two curtain wall hanging pieces before and after fine-tuning are synchronously marked on the point cloud model, that is, import the coordinates of the curtain wall hanging piece position on the point cloud model, highlight the marked points on the point cloud model, for example, mark them by using color highlighting or adding label annotations. Provide accurate data for actual measurement and installation positioning by measuring the distance between the two marked points in the point cloud model, that is, provide accurate measurement data for the actual installation and positioning of the prefabricated curtain wall, which is used for the measurement, positioning, installation and calibration of the curtain wall, ensuring the installation and positioning accuracy of the curtain wall and improving the efficiency of the curtain wall installation operation.

[0050] It should be noted that although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that these steps must be executed in this specific order, or that all the steps shown must be executed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc. In addition, it is also easy to understand that these steps can be executed synchronously or asynchronously in, for example, multiple modules / processes / threads.

[0051] As Figure 4 shown, the embodiment of the present disclosure provides a special-shaped stone curtain wall adjustment and installation positioning system based on a drone, including: A path planning module 401, configured to generate a BIM model of a building, where the BIM model includes a building main body and a curtain wall; generate a planned path for the drone to cover the exterior of the building based on the BIM model; A three-dimensional reconstruction module 402, configured to transmit the planned path to the drone, so that the drone flies according to the planned path to obtain image data and POS data covering the exterior of the building; perform three-dimensional reconstruction based on the image data and POS data returned by the drone to obtain a three-dimensional building model; The registration adjustment module 403 is configured to register the three-dimensional building model with the BIM model, adjust the building main body and curtain wall in the BIM model according to the three-dimensional building model to obtain adjusted curtain wall adjustment information, and share and transmit the curtain wall adjustment information to the factory end so as to adjust the prefabricated curtain wall at the factory.

[0052] In one embodiment, the three-dimensional reconstruction module 402 performs three-dimensional reconstruction based on the image data and POS data returned by the drone to obtain a three-dimensional building model, including: Performing aerial triangulation based on the image data and POS data to obtain first point cloud data; Piercing image control points in the first point cloud data, performing image control point matching based on at least one pre-set ground control point as a constraint condition, and then generating a point cloud model based on the first point cloud data as the three-dimensional building model; wherein, the at least one ground control point is set around the building main body of the construction site.

[0053] Specifically, after aerial triangulation, image control points are pierced in the first point cloud data. The number of pierced image control points can be multiple, and the specific number is set according to the accuracy requirements. In addition, at least one ground control point can be pre-set around the building main body of the construction site, such as 3 ground control points, and the position coordinates of each ground control point are obtained. When generating a point cloud model based on the first point cloud data, the first point cloud data contains at least one image control point after image control point matching. In this embodiment, based on at least one pre-set ground control point as a constraint condition, the position matching of the image control points is performed, that is, the position of one or more image control points pierced in the first point cloud data is corrected. When performing the position matching of the image control points, the position coordinate data of the ground control points will be used as a constraint condition for the position matching of the image control points, so that the image control points can be more accurately aligned with the positions in the real world in space, thereby improving the dimensional accuracy of the reconstructed point cloud model itself.

[0054] In one embodiment, the three-dimensional reconstruction module is further configured to: generate dense second point cloud data based on the first point cloud data through multi-view stereo vision technology, perform surface denoising and optimization on the second point cloud data to generate a point cloud model; use horizontal and vertical distance reference points to calibrate the dimensions of the point cloud model, and use the calibrated point cloud model as the three-dimensional building model; wherein, the horizontal and vertical distance reference points are pre-laid at predetermined positions on the outer surface of the building at the construction site.

[0055] In this embodiment, horizontal and vertical distance reference points can be pre-laid at predetermined positions on the outer surface of the construction site, such as at locations where the curvature of the building's outer surface is more obvious (e.g., the curvature is greater than the preset curvature) or at corners. The total station can be used to measure the horizontal distance of the reference points relative to the building's outer surface and the vertical distance from the ground. Then, the distances of the horizontal and vertical distance reference points are used to calibrate the dimensions of the generated point cloud model, such as horizontal and vertical dimension calibration, and the calibrated point cloud model is used as the building three-dimensional model.

[0056] In one embodiment, the path planning module generates a planned path for the drone to cover the building's outer surface based on the BIM model, including: Converting and processing the BIM model into a target point cloud model, and extracting the outer contour of the target point cloud model to obtain an outer contour point cloud model; Generating a planned path for the drone to cover the building's outer surface based on the outer contour point cloud model.

[0057] In one embodiment, the path planning module generates a planned path for the drone to cover the building's outer surface based on the outer contour point cloud model, including: Given the initial departure point of the drone and setting the initial safe flight distance; according to the camera FOV of the drone, using the greedy algorithm to traverse the outer surface of the outer contour point cloud model so that the camera FOV of the drone completely covers the building's outer surface and determines multiple viewpoints; According to the viewpoint positions of the multiple viewpoints, using the nearest neighbor algorithm to determine the initial access order of the multiple viewpoints as the initial path, and then applying the genetic algorithm to improve and optimize the initial path to obtain the planned path.

[0058] In one embodiment, the path planning module is further configured to: add an additional viewpoint between two adjacent viewpoints in the planned path; generate a new planned path based on the multiple viewpoints after adding.

[0059] In one embodiment, the system may further include a recording and marking module for: Generating the first curtain wall hanger position on the BIM model, after adjusting the curtain wall, recording the adjusted second curtain wall hanger position and exporting it, and sharing and transmitting the second curtain wall hanger position and the curtain wall adjustment information to the factory side to adjust the curtain wall hanger position of the prefabricated curtain wall in the factory; Marking the first curtain wall hanger position and the second curtain wall hanger position on the point cloud model to import two marking points of the curtain wall hanger position on the point cloud model, and providing accurate measurement data for the actual installation positioning of the prefabricated curtain wall by measuring the distance between the two marking points in the point cloud model.

[0060] Regarding the system in the above embodiments, the specific ways in which each module performs operations and the corresponding technical effects have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0061] It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, such a division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of the two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units. The components shown as modules or units may or may not be physical units, that is, they may be located in one place, or may be distributed over multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present disclosure. A person of ordinary skill in the art can understand and implement it without creative effort.

[0062] The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the method for adjusting and installing and positioning a special-shaped stone curtain wall based on a drone described in any one of the above embodiments.

[0063] Exemplarily, the readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0064] The computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium can also be any readable medium other than the readable storage medium, and this readable medium can send, propagate, or transmit a program used by or in combination with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium can be transmitted by any appropriate medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0065] Embodiments of the present disclosure further provide an electronic device, including a processor and a memory for storing a computer program. The processor is configured to execute the method for adjusting and installing and positioning a special-shaped stone curtain wall based on a drone in any of the above embodiments by executing the computer program.

[0066] Reference will now be made to Figure 5 describe the electronic device 600 according to this embodiment of the present invention. Figure 5 The electronic device 600 shown is merely an example and should not impose any limitation on the functions and scope of use of the embodiments of the present invention.

[0067] As Figure 5 shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0068] Among them, the storage unit stores program code, and the program code can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present invention described in the method embodiment part of the present specification above. For example, the processing unit 610 can execute the steps of the method as Figure 1 shown in.

[0069] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 6201 and / or a cache storage unit 6202, and may further include a read-only storage unit (ROM) 6203.

[0070] The storage unit 620 may further include a program / utility 6204 having a set (at least one) of program modules 6205. Such program modules 6205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. The implementation of a network environment may be included in each or some combination of these examples.

[0071] The bus 630 may represent one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any bus structure in a variety of bus structures.

[0072] The electronic device 600 can also communicate with one or more external devices 700 (such as a keyboard, a pointing device, a Bluetooth device, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device (such as a router, a modem, etc.) that enables the electronic device 600 to communicate with one or more other computing devices. Such communication can be carried out through the input / output (I / O) interface 650. Moreover, the electronic device 600 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 660. The network adapter 660 can communicate with other modules of the electronic device 600 through the bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0073] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by the way of software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the method steps of the above various embodiments according to the embodiments of the present disclosure.

[0074] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0075] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for adjusting and installing and positioning a special-shaped stone curtain wall based on a drone, characterized in that, Including: Generating a BIM model of a building, where the BIM model includes a building main body and a curtain wall; generating a planned path for a drone to cover the exterior of the building based on the BIM model; Transmitting the planned path to the drone so that the drone flies according to the planned path to obtain image data and POS data covering the exterior of the building; performing three-dimensional reconstruction based on the image data and POS data returned by the drone to obtain a three-dimensional building model; Registering the three-dimensional building model with the BIM model, adjusting the building main body and the curtain wall in the BIM model according to the three-dimensional building model to obtain adjusted curtain wall adjustment information, and sharing and transmitting the curtain wall adjustment information to the factory end so that the prefabricated curtain wall can be adjusted at the factory.

2. The method according to claim 1, characterized in that, The performing three-dimensional reconstruction based on the image data and POS data returned by the drone to obtain a three-dimensional building model includes: Performing aerial triangulation based on the image data and POS data to obtain first point cloud data; Piercing image control points in the first point cloud data, performing image control point matching based on at least one pre-set ground control point as a constraint condition, and then generating a point cloud model based on the first point cloud data as the three-dimensional building model; wherein, the at least one ground control point is set around the building main body of the construction site.

3. The method according to claim 2, characterized in that, This method further includes: Generating dense second point cloud data based on the first point cloud data through multi-view stereo vision technology, and performing surface denoising and optimization on the second point cloud data to generate a point cloud model; Calibrating the dimensions of the point cloud model using horizontal and vertical distance reference points, and using the calibrated point cloud model as the three-dimensional building model; wherein, the horizontal and vertical distance reference points are pre-laid at predetermined positions on the exterior of the building at the construction site.

4. The method according to any one of claims 1 to 3, characterized in that, The generating a planned path for a drone to cover the exterior of the building based on the BIM model includes: Converting and processing the BIM model into a target point cloud model, and extracting the outer contour of the target point cloud model to obtain an outer contour point cloud model; Generating a planned path for a drone to cover the exterior of the building based on the outer contour point cloud model.

5. The method according to claim 4, characterized in that, The generating a planned path for a drone to cover the exterior of the building based on the outer contour point cloud model includes: Giving an initial starting point for the drone and setting an initial safe flight distance; according to the camera FOV of the drone, using the greedy algorithm to traverse the exterior of the outer contour point cloud model so that the camera FOV of the drone completely covers the exterior of the building and determines multiple viewpoints; According to the viewpoint positions of the multiple viewpoints, using the nearest neighbor algorithm to determine the initial access order of the multiple viewpoints as the initial path, and then applying the genetic algorithm to improve and optimize the initial path to obtain the planned path.

6. The method according to claim 5, characterized in that, This method further includes: Adding an additional viewpoint between two adjacent viewpoints in the planned path; generating a new planned path based on the multiple viewpoints after adding.

7. The method according to claim 2 or 3, characterized in that, This method further includes: Generate the position of the first curtain wall hanger on the BIM model. After adjusting the curtain wall, record the adjusted position of the second curtain wall hanger and export it. Share and transmit the position of the second curtain wall hanger and the curtain wall adjustment information to the factory end to adjust the position of the curtain wall hanger of the prefabricated curtain wall in the factory; Mark the position of the first curtain wall hanger and the second curtain wall hanger on the point cloud model to import two marked points of the curtain wall hanger position on the point cloud model. Provide accurate measurement data for the actual installation and positioning of the prefabricated curtain wall by measuring the distance between the two marked points in the point cloud model.

8. A system for adjusting and installing and positioning a special-shaped stone curtain wall based on a drone, characterized in that, Comprising: A path planning module for generating a BIM model of a building, the BIM model including a building main body and a curtain wall; generating a planned path for the drone to cover the exterior of the building based on the BIM model; A three-dimensional reconstruction module for transmitting the planned path to the drone, so that the drone flies according to the planned path to obtain image data and POS data covering the exterior of the building; performing three-dimensional reconstruction based on the image data and POS data returned by the drone to obtain a three-dimensional building model; A registration and adjustment module for registering the three-dimensional building model with the BIM model, adjusting the building main body and the curtain wall in the BIM model according to the three-dimensional building model to obtain adjusted curtain wall adjustment information, and sharing and transmitting the curtain wall adjustment information to the factory end to enable the adjustment of the prefabricated curtain wall in the factory.

9. A computer-readable storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by a processor, it implements the method for adjusting and installing and positioning a special-shaped stone curtain wall based on a drone according to any one of claims 1 to 7.

10. An electronic device, characterized in that, Comprising: A processor; And A memory for storing a computer program; Wherein, the processor is configured to execute the method for adjusting and installing and positioning a special-shaped stone curtain wall based on a drone according to any one of claims 1 to 7 by executing the computer program.

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