Real-time dynamic monitoring and completion planning verification measurement system and method based on unmanned aerial vehicle

Abstract

The invention discloses a real-time dynamic monitoring and completion planning verification measurement system and method based on an unmanned aerial vehicle, relates to the technical field of surveying and mapping, and aims to solve the technical problems that a current measurement system is inconvenient to compare with a standard model and cannot provide building change conditions and incremental models in time. Comprising an unmanned aerial vehicle data acquisition module, a data processing module connected to the unmanned aerial vehicle data acquisition module, a data uploading module connected to the data processing module and a processing terminal connected with the data uploading module, and the unmanned aerial vehicle data acquisition module comprises a three-dimensional information acquisition unit used for acquiring point cloud data and acquisition equipment. According to the method, the point cloud data is collected through the unmanned aerial vehicle, then the specific position of the increment part is obtained, the increment part and the building model are combined and compared, the volume of the target building volume and the point cloud data corresponding to the volume are determined, and therefore the building change condition and the increment model can be provided in time.

Description

Technical Field

[0001] The present invention relates to the technical field of surveying and mapping, and more specifically, to a real-time dynamic monitoring and completion planning verification measurement system and method based on an unmanned aerial vehicle (UAV). Background Art

[0002] At present, there are strict implementation plans for various development and construction land. After the completion of a project, the construction unit or the ownership unit of the completed project needs to submit completion surveys to the local real estate surveying agency. The real estate surveying agency conducts on-site measurements, and the measurement results are reviewed according to regulations to form a measured result report.

[0003] The completion surveying and mapping drawings formed after the on-site completion measurement are mainly based on the on-site completion measurement and the description of the measured data. Based on the measured result report, the rights holder submits them to the approval unit for review and filing, and finally archives them in the archives.

[0004] The main problem of the immediate monitoring after the implementation of the plan is the monitoring coverage rate. It is very difficult to achieve full coverage by conventional technical means. The current development of UAV technology has opened up new prospects for solving this problem.

[0005] The current UAV-assisted measurement system can well solve the three-dimensional problem by establishing a model based on the UAV three-dimensional point cloud data. However, how to conveniently compare with the standard model and provide the building change situation and the incremental model in a timely manner according to the comparison result is a difficult problem in this technical field. In view of this, we propose a real-time dynamic monitoring and completion planning verification measurement system and method based on a UAV. Summary of the Invention

[0006] The purpose of the present invention is to provide a real-time dynamic monitoring and completion planning verification measurement system and method based on a UAV, so as to solve the technical problems that the current measurement system is not convenient to compare with the standard model and cannot provide the building change situation and the incremental model in a timely manner.

[0007] To solve the above technical problems, the present invention provides the following technical solution: A real-time dynamic monitoring and completion planning verification measurement system based on a UAV, including a UAV data acquisition module, a data processing module connected to the UAV data acquisition module, a data upload module connected to the data processing module, and a processing terminal connected to the data upload module;

[0008] The UAV data acquisition module includes a three-dimensional information acquisition unit for acquiring point cloud data and an acquisition device provided on the UAV. By carrying the acquisition device with the UAV, a building model is constructed based on the building to be monitored;

[0009] The data processing module includes a model comparison unit for comparing the building model with the point cloud data to determine the building change volume;

[0010] The data upload module includes a remote communication unit for transmitting the building change volume to the processing terminal;

[0011] Among them, the processing terminal includes a storage unit, an increment recording unit, an increment correction unit, and a marking unit;

[0012] The storage unit is used to store the increment model constructed by the increment part corresponding to all building change volumes, and after completing the building change volumes of all buildings to be monitored, combine the building model with the increment model constructed by the increment part corresponding to all building change volumes to form a planning model;

[0013] The increment recording unit is used to record the data of the building change volume and the increment part collected by the UAV data acquisition module, and synchronously upload the data to the storage unit and the increment recording unit when the data upload module transmits the data;

[0014] The increment correction unit obtains the instruction to obtain and correct the increment change;

[0015] The marking unit marks the data corrected by the increment correction unit.

[0016] Preferably, the UAV data acquisition module further includes a collection time determination unit, a collection location determination unit, and a coordinate marking unit;

[0017] The collection time determination unit is used to determine the time when the UAV collection device collects the building model, so as to construct an increment model according to the increment part;

[0018] The collection location determination unit is used to determine the location where the UAV collection device is located when collecting the building model, and construct a coordinate system with the location and time;

[0019] The coordinate marking unit is used to mark the location where the UAV data acquisition module collects the building model, and is associated with the point cloud data collected by the UAV in real time, and mark the second label on the point cloud data associated in the coordinate system.

[0020] The present invention obtains the location where the building model is located through a three-dimensional information acquisition unit, so that point cloud data can be collected by a drone according to the location of the building model, a coordinate system is constructed based on the acquisition time and the acquisition location, and the point cloud data is corresponding to the coordinates where the building model is located, so that the building model can be matched with the point cloud data, the specific location of the incremental part is obtained, the incremental part is combined with the building model, and based on the comparison between the combined building model and the point cloud data, the volume of the target building and the corresponding point cloud data are determined, so that the change situation of the building and the incremental model can be provided in a timely manner.

[0021] A method for real-time dynamic monitoring based on a drone and verification measurement of completion planning includes the following steps:

[0022] S1: Obtain all building change volumes;

[0023] Let the set of building change volumes obtained be V = {v1, v2,..., v n}, where v2 represents the second building change volume and n is the total number of building change volumes;

[0024] S2: Compare the building change volume with a set volume value;

[0025] Let the set volume value be V set , for each building change volume v i , the judgment condition is:

[0026] If v i < V set , then perform the subsequent step S3, and if v i > V set , then perform the subsequent step S4;

[0027] S3: When the building change volume is less than the set value, obtain the building model, calculate the construction plan by measuring the incremental part corresponding to the building change volume;

[0028] S4: When the building change volume is greater than or equal to the set value, obtain the incremental model and combine the incremental models to obtain the volume to be measured, and calculate the construction plan by measuring the incremental part in the volume to be measured;

[0029] S5: Repeat the above steps until the calculation of all building change volumes is completed, and obtain all the construction plans;

[0030] Loop and execute the above steps S1 - S4 until all the building change volumes v i (i = 1, 2,... n) are processed, and finally obtain all the construction plan set S = {S 11 , S 12 ,..., Sn1 , S n2}, where S n1 represents the nth construction plan obtained through step S3, and S n2 represents the nth construction plan obtained through step S4;

[0031] S6: At the construction site, based on the building change volume and the building model, project the corresponding building change volume and the construction plan onto the building to be monitored to complete the planning verification and monitoring.

[0032] Preferably, the calculation of the construction plan in step S5 includes the following steps:

[0033] S501: Obtain the incremental part corresponding to the building change volume;

[0034] S502: Based on the building model collected by the drone, obtain the connection points of the incremental part, and through the connection points, construct the incremental part onto the building model;

[0035] Let the set of connection points on the building model M for the incremental part be P = {p1, p2,..., p n}, and combine the incremental part onto the building model through the construction algorithm. The updated incremental model

[0036] S503: Obtain the incremental model constructed from the incremental part from the acquisition time unit of the drone acquisition device, and generate three-dimensional construction data according to the model;

[0037] Let the set of three-dimensional construction data generated from the incremental model M1 constructed from the incremental part be D 3D = h1(M1), where h1 represents the conversion function;

[0038] S504: Mark the target building volume on the surface of the building to be monitored, collect the point cloud data of the target building volume, and compare it with the incremental model constructed from the incremental part corresponding to the building change volume to correct the three-dimensional construction data;

[0039] S505: Determine the task steps to complete the increase in the building change volume according to the three-dimensional construction data.

[0040] Preferably, the method for correcting the three-dimensional construction data in step S504 is:

[0041] S504a: Obtain the point cloud data of the target building volume and the point cloud data of the incremental model. The physical quantity F1 included in the point cloud data of the target building volume is the same as the physical quantity F2 included in the point cloud data of the incremental model;

[0042] S504b: Obtain the physical quantity F corresponding to the incremental model constructed from the incremental part in the point cloud data of the building to be measured.

[0043] S504c: When |F2 - F| < V set2 it meets the standard; otherwise, it does not meet the standard. When it does not meet the standard, execute step S504d. In the formula, V set2 is the set difference value judgment standard.

[0044] S504d: Let the area of the shadow region generated by the point cloud data of the target building volume be S shadow1 , and the area of the shadow region generated by the incremental model be S shadow2 . Perform a coincidence degree detection on S shadow1 and S shadow2 .

[0045] When the coincidence degree O > V set3 , adjust the position of the incremental model. In the formula, V set3 is the set value of the coincidence degree.

[0046] When O ≤ V set3 , adjust the position of the point cloud data of the target building volume.

[0047] Preferably, in step S504d, the coincidence degree detection on S shadow1 and S shadow2 is calculated through the following formula:

[0048] O = |S shadow2 - S shadow1 | / S shadow2 .

[0049] Preferably, the task steps in step S505 include the construction plan and the construction sequence, and the construction plan is further determined by the marking unit marking the corrected data.

[0050] Preferably, the marking process of the marking unit includes the following steps:

[0051] S505a: Obtain the volume corrected by the incremental correction unit, its corresponding building model, and the incremental model constructed from the incremental part.

[0052] S505b: Determine the target model based on the volume of the building change and its corresponding building model, and determine the error model based on the incremental model constructed from the incremental part. Let the determined target model be M target , and the error model be M error , then:

[0053] M target , M error = l1(Vcorrected , M corrected , ΔM corrected );

[0054] Wherein, V corrected is the volume corrected by the incremental correction unit, M corrected represents the building model corresponding to the corrected volume, ΔM corrected represents the incremental model constructed by the incremental part, and l1 represents the analysis function;

[0055] S505c: Determine whether the area of the error model is less than the set value. If yes, go to step S505d; otherwise, go to step S505f;

[0056] S505d: Determine whether the corrected volume is greater than or equal to the set value. If yes, go to step S505g; otherwise, go to step S505e;

[0057] S505e: Determine the incremental volume after the increment of the building model in the error model. By obtaining the corresponding incremental volume in the standard model, repeat step S505c;

[0058] S505f: Determine the error model and determine the construction plan;

[0059] S505g: Determine the incremental volume after the increment of the building model in the error model, determine the volume difference between the corresponding incremental volume in the standard model and the incremental volume, and determine the construction plan according to the above volume difference.

[0060] Preferably, in step S3, by measuring the incremental part corresponding to the building change volume, the construction plan is calculated as follows:

[0061] Let the building model constructed by the UAV data acquisition module be M, and the building change volume be v i The corresponding incremental part is Then the construction plan set Wherein, d1 is an engineering function representing the calculation relationship.

[0062] Preferably, in step S4, by measuring the incremental part in the volume to be measured, the construction plan is calculated as follows:

[0063] Let the incremental model be ΔM, and the volume to be measured after combination be V meqsure , and the incremental part in the volume to be measured is Then the construction plan set Wherein, f2 is an engineering function representing the calculation relationship.

[0064] Compared with the prior art, the beneficial effects of the present invention are:

[0065] 1. The present invention obtains the location where the building model is located through a three-dimensional information acquisition unit, so that it can collect point cloud data by means of a drone according to the location of the building model, construct a coordinate system based on the collection time and collection location, and correspond the point cloud data to the coordinates where the building model is located, so that the building model can be matched with the point cloud data, obtain the specific location of the incremental part, combine the incremental part with the building model, and determine the volume of the target building volume and the corresponding point cloud data based on the comparison between the combined building model and the point cloud data, so that it can timely provide the building change situation and the incremental model.

[0066] 2. The present invention also obtains the shaded area generated by the incremental model constructed by the point cloud data of the building change volume and the incremental part collected by the drone acquisition device, so as to correct the point cloud data of the target building volume and the incremental model constructed by the incremental part collected by the drone acquisition device, realize the processing of building models not on the same ground, and improve the accuracy of subsequent data calculation.

[0067] 3. The present invention also collects the building model by means of a drone and sends the building model to a processing terminal. The processing terminal constructs a building standard model. The processing terminal synchronously receives the point cloud data of the building to be monitored collected by the drone, matches the point cloud data with the building standard model, calculates and records the building change volume. When the change volume is greater than the set volume value of the building standard model, the building has an increment. According to the building standard model and the incremental part determined by the point cloud data, reconstruct the model volume and record it, so as to record the operation steps when the user adds the incremental part to the building standard model. Thus, during subsequent inspections, based on the above operation steps, on-site investigation and drawing comparison can be realized, and building review of completed projects can be realized, solving the problem that existing building projects lack corresponding monitoring and review after completion, resulting in the inability to guarantee building rationality, and at the same time solving the problem that the existing building review process is complex and not intuitive. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 is a schematic diagram of the system of the present invention; DETAILED DESCRIPTION OF THE EMBODIMENTS

[0069] Embodiment 1: As Figure 1 shown, a real-time dynamic monitoring and completion planning verification measurement system based on a drone according to the present invention includes a drone data acquisition module, a data processing module, a data upload module, and a processing terminal;

[0070] The drone data acquisition module includes a three-dimensional information acquisition unit for collecting point cloud data and an acquisition device provided on the drone. The drone carries the acquisition device to construct a building model based on the building to be monitored;

[0071] The data processing module is connected to the UAV data acquisition module. The data processing module includes a model comparison unit for comparing the building model constructed by the UAV data acquisition module with the point cloud data collected by the UAV in real time to determine the building change volume.

[0072] The data upload module is connected to the data processing module and is also connected to the processing terminal. The data upload module includes a remote communication unit for transmitting the building change volume to the processing terminal.

[0073] Among them, the processing terminal includes a storage unit, an increment recording unit, an increment correction unit, and a marking unit.

[0074] The storage unit is used to store the increment models constructed from the increment parts corresponding to all building change volumes. After completing the building change volumes of all buildings to be monitored, the building model is combined with the increment models constructed from the increment parts corresponding to all building change volumes to form a planning model.

[0075] The increment recording unit is used to record the data of the building change volume and the increment part collected by the UAV data acquisition module, and when the data upload module transmits the data, synchronously upload the data to the storage unit and the increment recording unit.

[0076] The increment correction unit obtains instructions for increment change and correction.

[0077] The marking unit marks the data corrected by the increment correction unit.

[0078] In an embodiment of the present invention, the UAV data acquisition module further includes a collection time determination unit, a collection location determination unit, and a coordinate marking unit.

[0079] The collection time determination unit is used to determine the time when the UAV collection device collects the building model, so as to construct an increment model according to the increment part.

[0080] The collection location determination unit is used to determine the location where the UAV collection device is located when collecting the building model, and construct a coordinate system with the location and time.

[0081] The coordinate marking unit is used to mark the location where the UAV data acquisition module is located when collecting the building model, and is associated with the point cloud data collected by the UAV in real time, and mark the second label on the point cloud data associated in the coordinate system.

[0082] The present invention obtains the location where the building model is located through a three-dimensional information acquisition unit, so that point cloud data can be collected by a drone according to the location of the building model, a coordinate system is constructed based on the collection time and the collection location, and the point cloud data is corresponding to the coordinates where the building model is located, so that the building model can be matched with the point cloud data, the specific location of the incremental part is obtained, the incremental part is combined with the building model, and based on the comparison between the combined building model and the point cloud data, the volume of the target building and the corresponding point cloud data are determined, so that the change situation of the building and the incremental model can be provided in a timely manner.

[0083] Embodiment 2: A method for a real-time dynamic monitoring and completion planning verification measurement system based on a drone. The processing terminal receives the building change volume and processes the building change volume, including the following steps:

[0084] S1: Obtain all building change volumes;

[0085] Let the set of building change volumes obtained be V = {v1, v2,..., v n}, where v2 represents the second building change volume and n is the total number of building change volumes;

[0086] S2: Compare the building change volume with a set volume value;

[0087] Let the set volume value be V set , for each building change volume v i , the judgment condition is:

[0088] If v i < V set , then perform the relevant operations of subsequent step S3, and if v i > V set , then perform the relevant operations of subsequent step S4;

[0089] S3: When the building change volume is less than the set value, obtain the building model constructed by the drone data acquisition module, measure the incremental part corresponding to the building change volume through the drone data acquisition module, and calculate the construction plan;

[0090] Let the building model constructed by the drone data acquisition module be M, and the incremental part corresponding to the building change volume v i be Then the construction plan set where f1 is an engineering function representing the calculation relationship;

[0091] S4: When the building change volume is greater than or equal to the set value, obtain the incremental model constructed by the UAV data acquisition module, combine the building model with the incremental model to obtain the volume to be measured, measure the incremental part in the volume to be measured through the UAV data acquisition module, and calculate the construction plan;

[0092] Let the building model constructed by the UAV data acquisition module be M, the incremental model be ΔM, and the volume to be measured after combination be V meqsure , the incremental part in the volume to be measured is Then the construction plan set In the formula, f2 is an engineering function representing the calculation relationship;

[0093] S5: Repeat the above steps until all building change volumes are calculated, and obtain all the construction plans;

[0094] Loop and execute the above steps S1 - S4 until all building change volumes v i (i = 1, 2, …n) are processed, and finally obtain all construction plan sets S = {S 11 , S 12 , …, S n1 , S n2}, where S n1 represents the nth construction plan obtained through step S3, and S n2 represents the nth construction plan obtained through step S4;

[0095] S6: At the construction site, based on the building change volume and the building model, project the corresponding building change volume and the construction plan onto the building to be monitored to complete the planning verification and monitoring.

[0096] As another embodiment of the present invention, the calculation of the construction plan includes the following steps:

[0097] S501: Obtain the incremental part corresponding to the building change volume;

[0098] S502: Based on the building model collected by the UAV, obtain the connection points of the incremental part, and through the connection points, construct the incremental part onto the building model;

[0099] Let the set of connection points on the building model M for the incremental part be P = {p1, p2, …, p n}, and combine the incremental part onto the building model through the construction algorithm. The updated incremental model

[0100] S503: Obtain the incremental model constructed by the incremental part from the acquisition time unit of the UAV acquisition device, and generate three - dimensional construction data according to the model;

[0101] Let the three-dimensional construction data set generated by the incremental model M1 constructed according to the incremental part be D 3D = h1(M1), where h1 represents the conversion function;

[0102] S504: Mark the target building volume on the surface of the building to be monitored, collect the point cloud data of the target building volume, compare it with the incremental model constructed from the incremental part corresponding to the building change volume, and correct the three-dimensional construction data;

[0103] As another embodiment of the present invention, the method for correcting the three-dimensional construction data in step S504 is as follows:

[0104] S504a: Obtain the point cloud data of the target building volume and the point cloud data of the incremental model constructed from the incremental part collected by the acquisition device of the unmanned aerial vehicle. The physical quantity F1 included in the point cloud data of the target building volume is the same as the physical quantity F2 included in the point cloud data of the incremental model constructed from the incremental part collected by the acquisition device of the unmanned aerial vehicle;

[0105] S504b: Obtain the physical quantity F corresponding to the incremental model constructed from the incremental part in the point cloud data of the building to be measured;

[0106] S504c: When |F2 - F| < V set2 (V set2 is the set difference value judgment criterion), it meets the standard; otherwise, it does not meet the standard. When it does not meet the standard, execute step S504d:

[0107] S504d: Let the area of the shadow region generated by the point cloud data of the target building volume be S shadow1 , and the area of the shadow region generated by the incremental model constructed from the incremental part collected by the acquisition device of the unmanned aerial vehicle be S shadow2 , and perform a coincidence degree detection on S shadow1 and S shadow2 ;

[0108] When the coincidence degree O > V set3 (V set3 is the set value of the coincidence degree), then adjust the position of the incremental model constructed from the incremental part collected by the acquisition device of the unmanned aerial vehicle;

[0109] When the O ≤ V set3 , then adjust the position of the point cloud data of the target building volume;

[0110] As another embodiment of the present invention, the coincidence degree detection of S shadow1 and S shadow2 in step S504d is calculated by the following formula:

[0111] O = |Sshadow2 -S shadow1 | / S shadow2 ;

[0112] By obtaining the shadow area generated by the incremental model constructed from the point cloud data of the building change volume and the incremental part collected by the drone acquisition device, the point cloud data of the target building volume and the incremental model constructed from the incremental part collected by the drone acquisition device are corrected, so as to process the building models not on the same ground and improve the accuracy of subsequent data calculation.

[0113] S505: Determine the task steps for completing the increase in the building change volume according to the three-dimensional construction data;

[0114] As another embodiment of the present invention, the task steps in step S505 include the construction plan and the construction sequence, and the construction plan is further determined by the marking unit marking the corrected data to ensure that the construction plan matches the actual building situation and the corrected data.

[0115] As another embodiment of the present invention, the marking process of the marking unit includes the following steps:

[0116] S505a: Obtain the volume corrected by the incremental correction unit, its corresponding building model, and the incremental model constructed from the incremental part;

[0117] S505b: Determine the target model based on the volume of the building change and its corresponding building model, and determine the error model based on the incremental model constructed from the incremental part. Let the determined target model be M target , and the error model be M error , then:

[0118] M target ,M error =l1(V corrected ,M corrected ,ΔM corrected );

[0119] In the formula, V corrected is the volume corrected by the incremental correction unit, M corrected represents the building model corresponding to the corrected volume, ΔM corrected represents the incremental model constructed from the incremental part, and l1 represents the analysis function;

[0120] S505c: Judge whether the area of the error model is less than the set value. If yes, go to step S505d; otherwise, go to step S505f;

[0121] S505d: Judge whether the corrected volume is greater than or equal to the set value. If yes, go to step S505g; otherwise, go to step S505e;

[0122] S505e: Determine the incremental volume after the building model increment in the error model by obtaining the corresponding incremental volume in the standard model, and repeat step S505c;

[0123] S505f: Determine the error model and the construction plan;

[0124] S505g: Determine the incremental volume after the increment of the building model in the error model, determine the volume difference between the corresponding incremental volume in the standard model and the incremental volume, and determine the construction plan based on the above volume difference.

[0125] Collect the building model by drone and send the building model to the processing terminal. The processing terminal constructs a building standard model. The processing terminal synchronously receives the point cloud data of the building to be monitored collected by the drone, matches the point cloud data with the building standard model, calculates and records the building change volume. When the change volume is greater than the set volume value of the building standard model, the building has an increment. According to the building standard model and the increment part determined by the point cloud data, reconstruct the model volume and record it, so as to record the operation steps when the user adds the increment part to the building standard model. Thus, during subsequent inspections, based on the above operation steps, on-site investigation and drawing comparison can be realized, and building review of the completed project can be achieved, solving the problem that the existing building projects lack corresponding monitoring and review after completion, resulting in the inability to guarantee the building rationality, and at the same time solving the problem that the existing building review process is complex and not intuitive.

[0126] The embodiments disclosed in the present invention are preferred embodiments, but not limited thereto. Those of ordinary skill in the art can easily understand the spirit of the present invention according to the above embodiments and make different extensions and changes. However, as long as they do not depart from the spirit of the present invention, they are within the protection scope of the present invention.

Claims

1. A real-time dynamic monitoring and completion planning verification measurement system based on drones, characterized in that: It includes a UAV data acquisition module, a data processing module connected to the UAV data acquisition module, a data upload module connected to the data processing module, and a processing terminal connected to the data upload module; The drone data acquisition module includes a three-dimensional information acquisition unit for collecting point cloud data and an acquisition device provided on the drone, and the drone carries the acquisition device to construct a building model based on the building to be monitored; The data processing module includes a model comparison unit for comparing the building model with the point cloud data to determine the building change volume; The data upload module includes a remote communication unit for transmitting the building change volume to the processing terminal; Wherein, the processing terminal includes: A storage unit is used to store the incremental models constructed by the incremental parts corresponding to all building change volumes, and after completing the building change volumes of all buildings to be monitored, combine the building model with the incremental models constructed by the incremental parts corresponding to all building change volumes to form a planning model; The incremental recording unit is used to record the data of the building change volume and the incremental part collected by the drone data collection module, and when the data upload module transmits the data, the data is synchronously uploaded to the storage unit and the incremental recording unit; An incremental correction unit, the incremental correction unit obtains an incremental change and corrects the instruction; A marking unit is used to mark the data corrected by the incremental correction unit.

2. The real-time dynamic monitoring and completion planning verification measurement system based on unmanned aerial vehicles according to claim 1 is characterized in that: The drone data acquisition module also includes: A collection time determination unit, used for determining a time for the drone collection device to collect the building model, so as to construct an incremental model according to the incremental part; A collection location determination unit is used to determine the location of the drone collection device when collecting the building model, and to construct a coordinate system with the location and time; The coordinate marking unit is used to mark the position of the drone data acquisition module when collecting the building model, and to associate it with the point cloud data collected by the drone in real time, and mark the associated point cloud data in the coordinate system with a second label.

3. A method for real-time dynamic monitoring and completion planning verification measurement based on drones, which is used in the real-time dynamic monitoring and completion planning verification measurement system based on drones as described in claim 2, comprising the following steps: S1: Get all building change volumes; Suppose the acquired building change volume set is V = {v1,v2,…,v n }, where v2 represents the second building change volume, and n is the total number of building change volumes; S2: Compare the building change volume with the set volume value; Let the set volume value be V set , for each building change volume v i , the judgment conditions are: If v i <V set , then execute the subsequent step S3, and if v i >V set , then execute the subsequent step S4; S3: When the building change volume is less than the set value, the building model is obtained, and the construction plan is calculated by measuring the incremental part corresponding to the building change volume; S4: when the building change volume is greater than or equal to the set value, the incremental model is obtained and combined with the incremental model to obtain the volume to be measured, and the construction plan is calculated by measuring the incremental part of the volume to be measured; S5: Repeat the above steps until the calculation of the change volume of all buildings is completed and all the construction plans are obtained; S6: At the construction site, based on the building change volume and building model, the corresponding building change volume and construction plan are projected onto the building to be monitored to complete planning verification and monitoring.

4. The method of real-time dynamic monitoring and completion planning verification measurement based on unmanned aerial vehicle according to claim 3 is characterized in that: The calculation of the construction plan in step S5 includes the following steps: S501: Obtaining the incremental part corresponding to the building change volume; S502: based on the building model collected by the drone, obtaining connection points with the incremental part, and constructing the incremental part into the building model through the connection points; Suppose the set of connection points between the building model M and the incremental part is P = {p1, p2, ..., p n }, the incremental part is combined with the building model through the construction algorithm, and the updated incremental model S503: acquiring an incremental model constructed by the incremental part from the acquisition time unit of the drone acquisition device, and generating three-dimensional construction data according to the model; Suppose the 3D construction data set generated by the incremental model M1 constructed according to the incremental part is D 3D =h1(M1), where h1 represents the conversion function; S504: Marking the target building volume on the surface of the building to be monitored, collecting point cloud data of the target building volume, comparing it with the incremental model constructed by the incremental part corresponding to the building change volume, and correcting the three-dimensional construction data; S505: Determine the task steps for completing the volume increase of the building according to the three-dimensional construction data.

5. The method of real-time dynamic monitoring and completion planning verification measurement based on unmanned aerial vehicle according to claim 4 is characterized in that: The method for correcting the three-dimensional construction data in step S504 is: S504a: acquiring point cloud data of the target building volume and point cloud data of the incremental model, wherein the physical quantity F1 contained in the point cloud data of the target building volume is the physical quantity F2 contained in the point cloud data of the incremental model; S504b: Acquire the physical quantity F corresponding to the incremental model constructed by the incremental part in the point cloud data of the building to be tested; S504c: When |F2-F| <V set2 When it meets the standard, otherwise it does not meet the standard. When it does not meet the standard, execute step S504d, where V set2 The difference value judgment standard is set; S504d: Let the shadow area generated by the point cloud data of the target building volume be S shadow1 , the shadow area generated by the incremental model is S shadow2 , for S shadow1 and S shadow2 Conduct coincidence detection; When the overlap degree O>V set3 , then adjust the position of the incremental model, where V set3 Set a value for the overlap; When O≤V set3 , the position of the point cloud data of the target building volume is adjusted.

6. The method of real-time dynamic monitoring and completion planning verification measurement based on unmanned aerial vehicles according to claim 5 is characterized in that: In step S504d, shadow1 and S shadow2 The overlap detection is calculated by the following formula: O=|S shadow2 -S shadow1 | / S shadow2 。 7. The method of real-time dynamic monitoring and completion planning verification measurement based on unmanned aerial vehicles according to claim 6 is characterized in that: The task steps in step S505 include a construction plan and a construction sequence, and the construction plan is further determined by marking the corrected data through a marking unit.

8. The method of real-time dynamic monitoring and completion planning verification measurement based on unmanned aerial vehicles according to claim 7 is characterized in that: The marking process of the marking unit comprises the following steps: S505a: Obtaining the volume corrected by the incremental correction unit and its corresponding building model and the incremental model constructed by the incremental part; S505b: Determine the target model based on the volume of the building change and its corresponding building model, determine the error model based on the incremental model constructed by the incremental part, and assume that the determined target model is M target , the error model is M error ,but: M target ,M error =l1(V corrected ,M corrected ,ΔM corrected ); Where V corrected is the volume corrected by the incremental correction unit, M corrected The building model corresponding to the modified volume, ΔM corrected represents the incremental model constructed by the incremental part, l1 represents the analysis function; S505c: Determine whether the area of ​​the error model is less than a set value, if yes, proceed to step S505d, otherwise proceed to step S505f; S505d: Determine whether the corrected volume is greater than or equal to the set value, if yes, proceed to step S505g, otherwise proceed to step S505e; S505e: Determine the incremental volume of the building model after the increment in the error model, and repeat step S505c by obtaining the corresponding incremental volume in the standard model; S505f: Determine the error model and the construction plan; S505g: Determine the incremental volume of the building model in the error model, determine the volume difference between the corresponding incremental volume in the standard model and the incremental volume, and determine the construction plan based on the above volume difference.

9. The method of real-time dynamic monitoring and completion planning verification measurement based on unmanned aerial vehicle according to claim 3 is characterized in that: In step S3, the construction plan is calculated by measuring the incremental part corresponding to the building change volume in the following manner: Assume that the building model constructed by the drone data collection module is M, and the building change volume v i The corresponding increment is The construction plan set Where f1 is the engineering function representing the calculation relationship.

10. The method of real-time dynamic monitoring and completion planning verification measurement based on unmanned aerial vehicle according to claim 3 is characterized in that: In step S4, the construction plan is calculated by measuring the incremental part of the volume to be measured in the following manner: Assume the incremental model is ΔM, and the volume to be measured after combination is V meqsure , the incremental part of the volume to be measured is The construction plan set Where f2 is the engineering function representing the calculation relationship.

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