Flight path planning of UAV-driven refinement inspection for construction sites based on 3D reconstruction

IF 9.6 1区工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY

Automation in Construction Pub Date : 2025-06-23 DOI:10.1016/j.autcon.2025.106360

Xin Liu , Wen Yi , Penglu Chen , Yi Tan

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引用次数: 0

Abstract

Construction site inspection usually requires high labor demands and remains inefficiency. Current UAV-based inspection mainly relies on manual operation with challenging low-altitude path in complex site environment. This paper proposes an automatic inspection flight path planning method based on BIM, UAVs, and 3D reconstruction for autonomous site inspection. First, the UAV performs rough flights to reconstruct a 3D model of the construction site, which, combined with BIM, enables environmental perception. Then, waypoint spaces are generated by mesh expansion, and an improved artificial potential field method combined with a greedy algorithm determines inspection waypoints and headings. Next, A* and simulated annealing algorithms are used to compute a globally optimal path. Finally, local coordinates are converted to real-world coordinates to generate UAV flight files and complete the autonomous inspection task. Experiments demonstrate enhanced safety and efficiency, with a 20.3 % improvement in inspection speed and reduced battery usage from 1.51 to 1.32 units.

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基于三维重建的无人机驱动建筑工地精细化检测航迹规划

施工现场检查对劳动力的要求较高，效率低下。目前基于无人机的检测主要依靠人工操作，在复杂的场地环境下低空路径具有挑战性。提出了一种基于BIM、无人机和三维重建的自动化现场巡检航路规划方法。首先，无人机进行粗糙飞行，重建施工现场的3D模型，与BIM相结合，实现环境感知。然后，通过网格扩展生成路点空间，结合贪婪算法的改进人工势场法确定检测路点和航向；其次，采用A*算法和模拟退火算法计算全局最优路径。最后，将局部坐标转换为实际坐标，生成无人机飞行文件，完成自主巡检任务。实验表明，该系统提高了安全性和效率，检测速度提高了20.3%，电池使用量从1.51个单位减少到1.32个单位。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automation in Construction 工程技术-工程：土木

CiteScore

19.20

自引率

16.50%

发文量

563

审稿时长

8.5 months

期刊介绍： Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.