CN105547151A - Three-dimensional laser scanning spot cloud data acquisition and processing method and system thereof - Google Patents

Three-dimensional laser scanning spot cloud data acquisition and processing method and system thereof Download PDF

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Publication number
CN105547151A
CN105547151A CN201510976583.6A CN201510976583A CN105547151A CN 105547151 A CN105547151 A CN 105547151A CN 201510976583 A CN201510976583 A CN 201510976583A CN 105547151 A CN105547151 A CN 105547151A
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China
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target
coordinate data
scanning
data
coordinate
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CN105547151B (en
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黎奎奎
张松
黄玉林
周向阳
刘立扬
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Shanghai Construction Group Co Ltd
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Shanghai Construction Group Co Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/002Measuring arrangements characterised by the use of optical means for measuring two or more coordinates
    • G01B11/005Measuring arrangements characterised by the use of optical means for measuring two or more coordinates coordinate measuring machines

Abstract

The invention provides a three-dimensional laser scanning spot cloud data acquisition and processing method and a system thereof. A three-dimensional laser scanner arranged on a scanning station around a scanning object is used to collect coordinate data of the scanning object, coordinate data of target paper around the scanning object and coordinate data of a target ball arranged between the two scanning stations. According to the coordinate data of the scanning object, the coordinate data of the target paper and the coordinate data of the target ball which are collected many times, cloud data is formed. And according to the cloud data, the coordinate data of the scanning object is spliced. A preset BIM model of the scanning object is compared to the coordinate data of the spliced scanning object so that a deviation of an actual coordinate position and a design coordinate position of the scanning object can be accurately and high-efficiently acquired and an analysis basis is provided for a next step of construction.

Description

The method and system of Point Cloud Data from Three Dimension Laser Scanning Acquire and process
Technical field
The invention belongs to field of civil engineering, particularly a kind of method and system of Point Cloud Data from Three Dimension Laser Scanning Acquire and process.
Background technology
Three-dimensional laser scanning technique is more and more extensive in the application of field of civil engineering, as large steel structure installation construction, special-shaped curved structure construction, pavement detection etc.The efficiency of current Point Cloud Data from Three Dimension Laser Scanning Acquire and process is lower, is badly in need of a kind of easy and method that is efficiently cloud data Acquire and process.
Summary of the invention
The object of the present invention is to provide a kind of method and system of Point Cloud Data from Three Dimension Laser Scanning Acquire and process, Acquire and process can be carried out to cloud data simply efficiently.
For solving the problem, the invention provides a kind of method of Point Cloud Data from Three Dimension Laser Scanning Acquire and process, comprising:
The three-dimensional laser scanner on the scanning movement that is arranged at around scanning target is utilized to gather the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements, wherein, the coordinate data of described target paper is known;
Coordinate data according to the coordinate data of described scanning target of multi collect, the coordinate data of target paper and target ball forms cloud data, and splices according to the coordinate data of described cloud data to described scanning target;
The default BIM model of scanning target is compared with the coordinate data of the scanning target of having spliced, obtains the real coordinate position of described scanning target and the deviation of design coordinate position.
Further, in the above-mentioned methods, utilize the three-dimensional laser scanner on the scanning movement that is arranged at around scanning target to gather the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements, comprising:
Ground survey reference mark is pasted at least two target paper, three target balls are set between two scanning movements;
The three-dimensional laser scanner on the scanning movement around scanning target is utilized to gather the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements.
Further, in the above-mentioned methods, coordinate data according to the coordinate data of described scanning target of multi collect, the coordinate data of target paper and target ball forms cloud data, and splices according to the coordinate data of described cloud data to described scanning target, comprising:
Three-dimensional cloud data are formed according to the three-dimensional coordinate data of the described scanning target of multi collect, the three-dimensional coordinate data being arranged at the target paper around described scanning target and the three-dimensional coordinate data of target ball that is arranged between two scanning movements;
By described three-dimensional cloud data importing splicing software Z+FLaserControl, splicing software Z+FLaserControl is according to the three-dimensional coordinate data of target paper and target ball, the three-dimensional coordinate data of described scanning target is spliced, the three-dimensional coordinate data of spliced scanning target is converted to the construction coordinate data of working-yard.
Further, in the above-mentioned methods, the default BIM model of scanning target is compared with the coordinate data of the scanning target of having spliced, obtains the real coordinate position of described scanning target and the deviation of design coordinate position, comprising:
In BIM software, the coordinate data of the default BIM model of scanning target is converted to the construction coordinate data of working-yard;
By in the construction coordinate data importing GeomagicQualify software of the construction coordinate data of BIM model and spliced scanning target, with the construction coordinate data of BIM model for contrast standard, the construction coordinate number of BIM model and spliced scanning target is compared, obtains the real coordinate position of described scanning target and the deviation of design coordinate position.
According to another side of the present invention, a kind of system of Point Cloud Data from Three Dimension Laser Scanning Acquire and process is also provided, comprises:
Acquisition module, for utilizing the three-dimensional laser scanner on the scanning movement be arranged at around scanning target, the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements are gathered, wherein, the coordinate data of described target paper is known;
Concatenation module, the coordinate data for the coordinate data of described scanning target according to multi collect, the coordinate data of target paper and target ball forms cloud data, and splices according to the coordinate data of described cloud data to described scanning target;
Comparing module, for being compared with the coordinate data of the scanning target of having spliced by the default BIM model of scanning target, obtains the real coordinate position of described scanning target and the deviation of design coordinate position.
Further, in said system, described acquisition module, comprising:
Setting unit, for pasting at least two target paper on ground survey reference mark, arranges three target balls between two scanning movements;
Collecting unit, gathers the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements for utilizing the three-dimensional laser scanner on the scanning movement around scanning target.
Further, in said system, described concatenation module comprises:
Cloud data cell, forms three-dimensional cloud data for the three-dimensional coordinate data of the described scanning target according to multi collect, the three-dimensional coordinate data being arranged at the target paper around described scanning target and the three-dimensional coordinate data of target ball that is arranged between two scanning movements;
Concatenation unit, for software Z+FLaserControl is spliced in described three-dimensional cloud data importing, splicing software Z+FLaserControl is according to the three-dimensional coordinate data of target paper and target ball, the three-dimensional coordinate data of described scanning target is spliced, the three-dimensional coordinate data of spliced scanning target is converted to the construction coordinate data of working-yard.
Further, in said system, described comparing module comprises:
Converting unit, in BIM software, converts the construction coordinate data of working-yard to by the coordinate data of the default BIM model of scanning target;
Comparing unit, for by the construction coordinate data importing GeomagicQualify software of the construction coordinate data of BIM model and spliced scanning target, with the construction coordinate data of BIM model for contrast standard, the construction coordinate number of BIM model and spliced scanning target is compared, obtains the real coordinate position of described scanning target and the deviation of design coordinate position.
Compared with prior art, the present invention gathers the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements by being arranged at three-dimensional laser scanner on the scanning movement around scanning target; Coordinate data according to the coordinate data of described scanning target of multi collect, the coordinate data of target paper and target ball forms cloud data, and splices according to the coordinate data of described cloud data to described scanning target; The default BIM model of scanning target is compared with the coordinate data of scanning target of splice, the real coordinate position of described scanning target and the deviation designing coordinate position can be obtained accurately, efficiently, thus provide analysis foundation for next step construction.
Accompanying drawing explanation
Fig. 1 is that the spatial digitizer of one embodiment of the invention gathers impact point cloud schematic diagram data;
Fig. 2 be one embodiment of the invention spatial digitizer scanning movement between target ball place schematic diagram.
Embodiment
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Embodiment one
As illustrated in fig. 1 and 2, the invention provides a kind of method of Point Cloud Data from Three Dimension Laser Scanning Acquire and process, comprising:
Step S1, the three-dimensional laser scanner on the scanning movement B that is arranged at around scanning target A is utilized to gather the coordinate data of described scanning target, the coordinate data being arranged at the target paper C around described scanning target and the coordinate data of target ball D that is arranged between two scanning movement B, wherein, the coordinate data of described target paper is known;
Step S2, the coordinate data according to the coordinate data of the described scanning target A of multi collect, the coordinate data of target paper C and target ball D forms cloud data, and splices according to the coordinate data of described cloud data to described scanning target;
Step S3, by the default BIM model (BIM of scanning target, BuildingInformationModeling) compare with the coordinate data of the scanning target of having spliced, obtain the real coordinate position of described scanning target and the deviation of design coordinate position.The deviation of the real coordinate position that the present invention can obtain described scanning target accurately, efficiently and design coordinate position, thus provide analysis foundation for next step construction.
Preferably, step S1, the three-dimensional laser scanner on the scanning movement that is arranged at around scanning target is utilized to gather the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements, wherein, the coordinate data of described target paper is known, comprising:
Ground survey reference mark is pasted at least two target paper, three target balls are set between two scanning movements;
The three-dimensional laser scanner on the scanning movement around scanning target is utilized to gather the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements.
Preferably, step S2, the coordinate data according to the coordinate data of described scanning target of multi collect, the coordinate data of target paper and target ball forms cloud data, and splices according to the coordinate data of described cloud data to described scanning target, comprising:
Three-dimensional cloud data are formed according to the three-dimensional coordinate data of the described scanning target of multi collect, the three-dimensional coordinate data being arranged at the target paper around described scanning target and the three-dimensional coordinate data of target ball that is arranged between two scanning movements;
By described three-dimensional cloud data importing splicing software Z+FLaserControl, splicing software Z+FLaserControl is according to the three-dimensional coordinate data of target paper and target ball, the three-dimensional coordinate data of described scanning target is spliced, the three-dimensional coordinate data of spliced scanning target is converted to the construction coordinate data of working-yard.
Step S3, compares the default BIM model of scanning target with the coordinate data of the scanning target of having spliced, obtains the real coordinate position of described scanning target and the deviation of design coordinate position, comprising:
In BIM software, the coordinate data of the default BIM model of scanning target is converted to the construction coordinate data of working-yard;
By in the construction coordinate data importing GeomagicQualify software of the construction coordinate data of BIM model and spliced scanning target, with the construction coordinate data of BIM model for contrast standard, the construction coordinate number of BIM model and spliced scanning target is compared, obtain the real coordinate position of described scanning target and the deviation of design coordinate position, namely the deviation of target practice of construction state and design point is scanned, for next step construction provides analysis foundation.
Embodiment two
As illustrated in fig. 1 and 2, the present invention also provides the system of another kind of Point Cloud Data from Three Dimension Laser Scanning Acquire and process, comprising:
Acquisition module, for utilizing the three-dimensional laser scanner on the scanning movement B be arranged at around scanning target A, the coordinate data of described scanning target, the coordinate data being arranged at the target paper C around described scanning target and the coordinate data of target ball D that is arranged between two scanning movement B are gathered, wherein, the coordinate data of described target paper is known;
Concatenation module, the coordinate data for the coordinate data of the described scanning target A according to multi collect, the coordinate data of target paper C and target ball D forms cloud data, and splices according to the coordinate data of described cloud data to described scanning target;
Comparing module, for being compared with the coordinate data of the scanning target of having spliced by the default BIM model of scanning target, obtains the real coordinate position of described scanning target and the deviation of design coordinate position.
Preferably, described acquisition module, comprising:
Setting unit, for pasting at least two target paper on ground survey reference mark, arranges three target balls between two scanning movements;
Collecting unit, gathers the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements for utilizing the three-dimensional laser scanner on the scanning movement around scanning target.
Preferably, described concatenation module comprises:
Cloud data cell, forms three-dimensional cloud data for the three-dimensional coordinate data of the described scanning target according to multi collect, the three-dimensional coordinate data being arranged at the target paper around described scanning target and the three-dimensional coordinate data of target ball that is arranged between two scanning movements;
Concatenation unit, for software Z+FLaserControl is spliced in described three-dimensional cloud data importing, splicing software Z+FLaserControl is according to the three-dimensional coordinate data of target paper and target ball, the three-dimensional coordinate data of described scanning target is spliced, the three-dimensional coordinate data of spliced scanning target is converted to the construction coordinate data of working-yard.
Preferably, described comparing module comprises:
Converting unit, in BIM software, converts the construction coordinate data of working-yard to by the coordinate data of the default BIM model of scanning target;
Comparing unit, for by the construction coordinate data importing GeomagicQualify software of the construction coordinate data of BIM model and spliced scanning target, with the construction coordinate data of BIM model for contrast standard, the construction coordinate number of BIM model and spliced scanning target is compared, obtains the real coordinate position of described scanning target and the deviation of design coordinate position.
In sum, the present invention gathers the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements by being arranged at three-dimensional laser scanner on the scanning movement around scanning target; Coordinate data according to the coordinate data of described scanning target of multi collect, the coordinate data of target paper and target ball forms cloud data, and splices according to the coordinate data of described cloud data to described scanning target; The default BIM model of scanning target is compared with the coordinate data of scanning target of splice, the real coordinate position of described scanning target and the deviation designing coordinate position can be obtained accurately, efficiently, thus provide analysis foundation for next step construction.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
Obviously, those skilled in the art can carry out various change and modification to invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims (8)

1. a method for Point Cloud Data from Three Dimension Laser Scanning Acquire and process, is characterized in that, comprising:
The three-dimensional laser scanner on the scanning movement that is arranged at around scanning target is utilized to gather the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements, wherein, the coordinate data of described target paper is known;
Coordinate data according to the coordinate data of described scanning target of multi collect, the coordinate data of target paper and target ball forms cloud data, and splices according to the coordinate data of described cloud data to described scanning target;
The default BIM model of scanning target is compared with the coordinate data of the scanning target of having spliced, obtains the real coordinate position of described scanning target and the deviation of design coordinate position.
2. the method for Point Cloud Data from Three Dimension Laser Scanning Acquire and process as claimed in claim 1, it is characterized in that, utilize the three-dimensional laser scanner on the scanning movement that is arranged at around scanning target to gather the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements, comprising:
Ground survey reference mark is pasted at least two target paper, three target balls are set between two scanning movements;
The three-dimensional laser scanner on the scanning movement around scanning target is utilized to gather the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements.
3. the method for Point Cloud Data from Three Dimension Laser Scanning Acquire and process as claimed in claim 1, it is characterized in that, coordinate data according to the coordinate data of described scanning target of multi collect, the coordinate data of target paper and target ball forms cloud data, and splice according to the coordinate data of described cloud data to described scanning target, comprising:
Three-dimensional cloud data are formed according to the three-dimensional coordinate data of the described scanning target of multi collect, the three-dimensional coordinate data being arranged at the target paper around described scanning target and the three-dimensional coordinate data of target ball that is arranged between two scanning movements;
By described three-dimensional cloud data importing splicing software Z+FLaserControl, splicing software Z+FLaserControl is according to the three-dimensional coordinate data of target paper and target ball, the three-dimensional coordinate data of described scanning target is spliced, the three-dimensional coordinate data of spliced scanning target is converted to the construction coordinate data of working-yard.
4. the method for the Point Cloud Data from Three Dimension Laser Scanning Acquire and process as described in any one of claims 1 to 3, it is characterized in that, the default BIM model of scanning target is compared with the coordinate data of the scanning target of having spliced, obtain the real coordinate position of described scanning target and the deviation of design coordinate position, comprising:
In BIM software, the coordinate data of the default BIM model of scanning target is converted to the construction coordinate data of working-yard;
By in the construction coordinate data importing GeomagicQualify software of the construction coordinate data of BIM model and spliced scanning target, with the construction coordinate data of BIM model for contrast standard, the construction coordinate number of BIM model and spliced scanning target is compared, obtains the real coordinate position of described scanning target and the deviation of design coordinate position.
5. a system for Point Cloud Data from Three Dimension Laser Scanning Acquire and process, is characterized in that, comprising:
Acquisition module, for utilizing the three-dimensional laser scanner on the scanning movement be arranged at around scanning target, the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements are gathered, wherein, the coordinate data of described target paper is known;
Concatenation module, the coordinate data for the coordinate data of described scanning target according to multi collect, the coordinate data of target paper and target ball forms cloud data, and splices according to the coordinate data of described cloud data to described scanning target;
Comparing module, for being compared with the coordinate data of the scanning target of having spliced by the default BIM model of scanning target, obtains the real coordinate position of described scanning target and the deviation of design coordinate position.
6. the system of Point Cloud Data from Three Dimension Laser Scanning Acquire and process as claimed in claim 5, it is characterized in that, described acquisition module, comprising:
Setting unit, for pasting at least two target paper on ground survey reference mark, arranges three target balls between two scanning movements;
Collecting unit, gathers the coordinate data of described scanning target, the coordinate data being arranged at the target paper around described scanning target and the coordinate data of target ball that is arranged between two scanning movements for utilizing the three-dimensional laser scanner on the scanning movement around scanning target.
7. the system of Point Cloud Data from Three Dimension Laser Scanning Acquire and process as claimed in claim 5, it is characterized in that, described concatenation module comprises:
Cloud data cell, forms three-dimensional cloud data for the three-dimensional coordinate data of the described scanning target according to multi collect, the three-dimensional coordinate data being arranged at the target paper around described scanning target and the three-dimensional coordinate data of target ball that is arranged between two scanning movements;
Concatenation unit, for software Z+FLaserControl is spliced in described three-dimensional cloud data importing, splicing software Z+FLaserControl is according to the three-dimensional coordinate data of target paper and target ball, the three-dimensional coordinate data of described scanning target is spliced, the three-dimensional coordinate data of spliced scanning target is converted to the construction coordinate data of working-yard.
8. the system of the Point Cloud Data from Three Dimension Laser Scanning Acquire and process as described in any one of claim 5 to 7, is characterized in that, described comparing module comprises:
Converting unit, in BIM software, converts the construction coordinate data of working-yard to by the coordinate data of the default BIM model of scanning target;
Comparing unit, for by the construction coordinate data importing GeomagicQualify software of the construction coordinate data of BIM model and spliced scanning target, with the construction coordinate data of BIM model for contrast standard, the construction coordinate number of BIM model and spliced scanning target is compared, obtains the real coordinate position of described scanning target and the deviation of design coordinate position.
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