CN112268541A - Three-dimensional space detection method - Google Patents
Three-dimensional space detection method Download PDFInfo
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- CN112268541A CN112268541A CN202011109209.3A CN202011109209A CN112268541A CN 112268541 A CN112268541 A CN 112268541A CN 202011109209 A CN202011109209 A CN 202011109209A CN 112268541 A CN112268541 A CN 112268541A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
Abstract
The invention provides a three-dimensional space detection method, comprising the following steps of S1: setting control points in the non-detection area, and moving a plurality of groups of unmanned aerial vehicle scanning units to preset scanning positions corresponding to the scanning area by taking the control points as datum points; step S2: independently scanning operation by a plurality of unmanned aerial vehicle scanning units to obtain point cloud information of a scanning area; step S3: unifying the point cloud information to the same coordinate system by combining the position information of each unmanned aerial vehicle scanning unit, and collecting and splicing the point cloud information of the same coordinate system to perform three-dimensional model analysis; step S4: judging whether the face area is closed or not, and considering that the operation is finished when the face area is closed; if the area is not closed, an undetected area exists, and the undetected area is selected as a next scanning area; step S5: the multiple unmanned aerial vehicle scanning units are transferred to a next scanning area, and scanning operation is prepared after all the unmanned aerial vehicle scanning units are transferred in place; step S6: repeating the steps S2 to S5 until the area is closed. The detection method solves the problem of high risk of artificial detection.
Description
Technical Field
The invention relates to the technical field of space detection, in particular to a three-dimensional space detection method.
Background
At present, the detection of carrying out the space to unknown space such as solution cavity, old mine tunnel etc. is that the manual work gets into surveys, mainly moves three-dimensional laser scanner through the manual work, and the total powerstation etc. technique surveys of moving a station, has following problem:
1. the danger of an unknown space is large, the environment is unknown, and some space personnel cannot reach the space;
2. the equipment erection requirement is high, and proper arrangement points cannot be found in the station moving process;
3. in order to facilitate splicing of scanning results among all stations, targets need to be laid, and manual target laying cannot necessarily meet detection requirements.
In view of the above, there is a need for a three-dimensional detection method to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide a three-dimensional space detection method, which aims to solve the problems of the prior art in unknown space detection, and the specific technical scheme is as follows:
a method of three-dimensional space exploration, comprising the steps of:
step S1: setting control points in a non-detection area, and moving a plurality of groups of unmanned aerial vehicle scanning units to preset scanning positions corresponding to a scanning area by taking the control points as datum points to prepare for starting scanning;
step S2: independently scanning operation by a plurality of unmanned aerial vehicle scanning units to obtain point cloud information of a scanning area;
step S3: unifying the point cloud information to the same coordinate system by combining the position information of each unmanned aerial vehicle scanning unit, and collecting and splicing the point cloud information of the same coordinate system to perform three-dimensional model analysis;
step S4: judging whether the face area is closed or not, and considering that the operation is finished when the face area is closed; if the area is not closed, an undetected area exists, and the undetected area is selected as a next scanning area;
step S5: the multiple unmanned aerial vehicle scanning units are transferred to a next scanning area, and scanning operation is prepared after all the unmanned aerial vehicle scanning units are transferred in place;
step S6: repeating the steps S2 to S5 until the area is closed.
Preferred among the above technical scheme, unmanned aerial vehicle scanning unit's quantity more than or equal to four groups.
Preferably, in the above technical scheme, the included angle between the two groups of unmanned aerial vehicle scanning units is 30-120 degrees; distance between two sets of unmanned aerial vehicle scanning units
Wherein L is the effective scanning distance of laser scanning on the unmanned aerial vehicle scanning unit.
Preferably, in the above technical solution, the step S1 specifically includes:
step S1.1: at least three control points are arranged in a non-detection area, and a single-group unmanned aerial vehicle scanning unit moves to a preset scanning position by taking the control points as datum points;
step S1.2: the next group of unmanned aerial vehicle scanning units move to a preset scanning position by taking the control point and the unmanned aerial vehicle scanning units which have moved in place as reference points;
step S1.3: and repeating the step S1.2 until all the unmanned aerial vehicle scanning units move to the preset scanning positions.
Preferably, in the above technical solution, every three control points are not on the same straight line; each of the control points is provided with a spherical target.
In the above-described embodiment, preferably, in step S4, if there are a plurality of unmeasured areas, the distances between the plurality of unmeasured areas and the measured area are compared, and the unmeasured area having the smallest distance is selected as the next scanning area.
Preferably, in the above technical solution, the step S5 of transferring the multiple groups of scanning units of the unmanned aerial vehicle to the preset scanning position of the next scanning area specifically includes:
step S5.1: each three groups of unmanned aerial vehicle scanning units in all unmanned aerial vehicle scanning units form a construction surface;
step S5.2: determining the distance from the next preset scanning position of each unmanned aerial vehicle scanning unit to each building surface, and moving the unmanned aerial vehicle scanning unit with the minimum corresponding distance to the next preset scanning position by taking other unmanned aerial vehicle scanning units as datum points;
step S5.3: each three groups of unmanned aerial vehicle scanning units in all the unmanned aerial vehicle scanning units form a construction surface again;
step S5.4: determining the distance from the next preset scanning position of the unmanned aerial vehicle scanning unit which is not moved to each building surface, and moving the unmanned aerial vehicle scanning unit with the minimum corresponding distance to the next preset scanning position by taking other unmanned aerial vehicle scanning units as datum points;
step S5.5: and repeating the step S5.3 to the step S5.4 until all the unmanned aerial vehicle scanning units move to the next preset scanning position.
Preferably, in the above technical solution, the unmanned aerial vehicle scanning unit includes a rotor unmanned aerial vehicle, and a laser scanner, a spherical target, an inertial navigation assembly, a communication assembly, and a data processing and control assembly, which are disposed on the rotor unmanned aerial vehicle; the communication assembly is used for information interaction among the unmanned aerial vehicle scanning units, the data processing and control assembly is used for data processing, point cloud modeling and unmanned aerial vehicle scanning unit coordination control, the inertial navigation assembly is used for assisting track tracking, the spherical target is used for positioning and identifying the unmanned aerial vehicle scanning unit, and the laser scanner is used for scanning a scanning area.
Preferred among the above technical scheme, rotor unmanned aerial vehicle top and below respectively are equipped with the spherical target of different diameters.
Preferably, in the above technical solution, in the multiple groups of unmanned aerial vehicle scanning units, the point cloud modeling function, the data processing function and the unmanned aerial vehicle scanning unit coordination control function are respectively responsible for different unmanned aerial vehicle scanning units.
The technical scheme of the invention has the following beneficial effects:
according to the invention, the plurality of unmanned aerial vehicle scanning units cooperate to operate, and the plurality of unmanned aerial vehicle scanning units cooperate with each other, so that space detection can be carried out more efficiently.
The rotor unmanned aerial vehicle is provided with the targets, the positions of the targets are confirmed through mutual positioning, the targets do not need to be additionally arranged, and space positioning can be realized through mutual scanning of the targets; an unmanned aerial vehicle is used as an erection point of the scanner, the defect that the scanner is difficult to arrange is overcome, and the arrangement point position can be adjusted at will; unmanned aerial vehicle is more convenient for the manual work, does not receive the topography restriction influence.
In the invention, the cooperative operation movement rule of the scanning unit of the unmanned aerial vehicle is specifically refined from the step S4 to the step S5, the unmanned aerial vehicle efficiently and organically carries out unmanned detection, and the omission of undetected areas can be effectively avoided; the positioning is more accurate and the error is smaller in the moving process.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail with reference to examples.
Detailed Description
The following is a detailed description of embodiments of the invention, but the invention can be implemented in many different ways, as defined and covered by the claims.
Example 1:
a method of three-dimensional space exploration, comprising the steps of:
step S1: setting control points in a non-detection area, and moving a plurality of groups of unmanned aerial vehicle scanning units to preset scanning positions corresponding to a scanning area by taking the control points as datum points to prepare for starting scanning;
preferably, the number of the scanning units of the unmanned aerial vehicle is greater than or equal to four groups, and in this embodiment, four groups of scanning units of the unmanned aerial vehicle are taken as an example for specific description.
Between two preferred unmanned aerial vehicle scanning unitsThe included angle is 30-120 degrees; distance between two sets of unmanned aerial vehicle scanning units
Wherein L is the effective scanning distance of laser scanning on the unmanned aerial vehicle scanning unit.
The unmanned aerial vehicle scanning unit comprises a rotor unmanned aerial vehicle, and a laser scanner, a spherical target, an inertial navigation assembly, a communication assembly and a data processing and control assembly which are arranged on the rotor unmanned aerial vehicle; the communication assembly is used for information interaction among the unmanned aerial vehicle scanning units, the data processing and control assembly is used for data processing, point cloud modeling and unmanned aerial vehicle scanning unit coordination control, the inertial navigation assembly is used for assisting track tracking, the spherical target is used for positioning and identifying the unmanned aerial vehicle scanning unit, and the laser scanner is used for scanning a scanning area.
Preferably, rotor unmanned aerial vehicle top and below respectively are equipped with the spherical target of different diameters, and rotor unmanned aerial vehicle's top and below are discerned through the diameter that distinguishes spherical target, are convenient for discern and fix a position unmanned aerial vehicle scanning unit.
In the multiple groups of unmanned aerial vehicle scanning units, the point cloud modeling function, the data processing function and the unmanned aerial vehicle scanning unit coordination control function are respectively responsible for different unmanned aerial vehicle scanning units.
Further, the step S1 is specifically:
step S1.1: at least three control points are arranged in a non-detection area, and a single-group unmanned aerial vehicle scanning unit moves to a preset scanning position by taking the control points as datum points; preferably, every three control points are not on the same straight line; each of the control points is provided with a spherical target.
Step S1.2: the next group of unmanned aerial vehicle scanning units move to a preset scanning position by taking the control point and the unmanned aerial vehicle scanning units which have moved in place as reference points;
step S1.3: and repeating the step S1.2 until all the unmanned aerial vehicle scanning units move to the preset scanning positions.
Step S2: independently scanning operation by a plurality of unmanned aerial vehicle scanning units to obtain point cloud information of a scanning area;
step S3: unifying the point cloud information to the same coordinate system by combining the position information of each unmanned aerial vehicle scanning unit, and collecting and splicing the point cloud information of the same coordinate system to perform three-dimensional model analysis; please refer to the prior art for unifying point cloud information to the same coordinate system, point cloud information stitching and three-dimensional model analysis.
Step S4: judging whether the face area is closed or not, and considering that the operation is finished when the face area is closed; if the area is not closed, an undetected area exists, and the undetected area is selected as a next scanning area;
after the unmanned scanning group finishes scanning a working area, constructing a measured space point cloud information model by splicing point cloud information; analyzing the point cloud information model, searching for a point cloud information missing area, which is an unmeasured area, and referring to the prior art for how to determine the surface area closure (searching for the point cloud information missing area).
In step S4, if there are a plurality of unmeasured areas, the distances between the plurality of unmeasured areas and the measured area are compared, and the unmeasured area having the smallest distance is selected as the next scanning area.
Step S5: the multiple unmanned aerial vehicle scanning units are transferred to a next scanning area, and scanning operation is prepared after all the unmanned aerial vehicle scanning units are transferred in place;
the step S5 of transferring the multiple groups of scanning units of the unmanned aerial vehicle to the preset scanning position of the next scanning area specifically includes:
step S5.1: each three groups of unmanned aerial vehicle scanning units in all unmanned aerial vehicle scanning units form a construction surface;
step S5.2: determining the distance from the next preset scanning position of each unmanned aerial vehicle scanning unit to each building surface, and moving the unmanned aerial vehicle scanning unit with the minimum corresponding distance to the next preset scanning position by taking other unmanned aerial vehicle scanning units as datum points;
step S5.3: each three groups of unmanned aerial vehicle scanning units in all the unmanned aerial vehicle scanning units form a construction surface again;
step S5.4: determining the distance from the next preset scanning position of the unmanned aerial vehicle scanning unit which is not moved to each building surface, and moving the unmanned aerial vehicle scanning unit with the minimum corresponding distance to the next preset scanning position by taking other unmanned aerial vehicle scanning units as datum points;
step S5.5: and repeating the step S5.3 to the step S5.4 until all the unmanned aerial vehicle scanning units move to the next preset scanning position.
Step S6: repeating the steps S2 to S5 until the area is closed.
The following case illustrates the transfer of multiple sets of drone scanning units to the next scanning area in step S5:
the unmanned aerial vehicle scanning unit has four groups of A, B, C, D respectively and the position is (x)A,yA,zA)、(xB,yB,zB)、(xC,yC,zC)、(xD,yD,zD)；
The next scanning area is required to be shifted, and the corresponding four preset scanning positions are A' (x)A',yA',zA')、B'(xB',yB',zB')、C'(xC',yC',zC')、D'(xD',yD',zD')；
Respectively calculating the distance from the preset scanning position of the next scanning area to the surface constructed by each unmanned aerial vehicle scanning unit according to the nearest principle; constructing A, B, C, D surfaces as ABC, BCD, ACD and ABD, respectively, and calculating the distances from A ', B', C 'and D' to the surfaces;
assuming that the distance from D' to the ABC surface is the shortest, the unmanned aerial vehicle scanning unit D is preferentially moved, and the unmanned aerial vehicle scanning unit A, B, C is used as a reference unit (namely a datum point) to assist D in displacement;
and after the D moves in place, obtaining new construction surfaces which are respectively ABC, BCD ', ACD' and ABD ', recalculating A, B, C the distances from ABC, BCD', ACD 'and ABD', and selecting the minimum distance to move.
And so on until all the unmanned aerial vehicle scanning units move to A ', B', C 'and D' respectively.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of three-dimensional space exploration, comprising the steps of:
step S1: setting control points in a non-detection area, and moving a plurality of groups of unmanned aerial vehicle scanning units to preset scanning positions corresponding to a scanning area by taking the control points as datum points to prepare for starting scanning;
step S2: independently scanning operation by a plurality of unmanned aerial vehicle scanning units to obtain point cloud information of a scanning area;
step S3: unifying the point cloud information to the same coordinate system by combining the position information of each unmanned aerial vehicle scanning unit, and collecting and splicing the point cloud information of the same coordinate system to perform three-dimensional model analysis;
step S4: judging whether the face area is closed or not, and considering that the operation is finished when the face area is closed; if the area is not closed, an undetected area exists, and the undetected area is selected as a next scanning area;
step S5: the multiple unmanned aerial vehicle scanning units are transferred to a next scanning area, and scanning operation is prepared after all the unmanned aerial vehicle scanning units are transferred in place;
step S6: repeating the steps S2 to S5 until the area is closed.
2. The method for three-dimensional space detection according to claim 1, wherein the number of unmanned aerial vehicle scanning units is four or more.
3. The method for detecting the three-dimensional space according to claim 2, wherein the included angle between the two unmanned aerial vehicle scanning units is 30-120 °; distance between two sets of unmanned aerial vehicle scanning units
Wherein L is effective sweeping of laser scanning on unmanned aerial vehicle scanning unitAnd (4) tracing the distance.
4. The method for three-dimensional space detection according to any one of claims 1 to 3, wherein the step S1 is specifically:
step S1.1: at least three control points are arranged in a non-detection area, and a single-group unmanned aerial vehicle scanning unit moves to a preset scanning position by taking the control points as datum points;
step S1.2: the next group of unmanned aerial vehicle scanning units move to a preset scanning position by taking the control point and the unmanned aerial vehicle scanning units which have moved in place as reference points;
step S1.3: and repeating the step S1.2 until all the unmanned aerial vehicle scanning units move to the preset scanning positions.
5. The method for three-dimensional space detection according to claim 4, wherein every three control points are not on the same straight line; each of the control points is provided with a spherical target.
6. The method for three-dimensional space detection according to any one of claims 1 to 3, wherein in step S4, if there are a plurality of unmeasured regions, the distances between the plurality of unmeasured regions and the measured regions are compared, and the unmeasured region with the smallest distance is selected as the next scanning region.
7. The method for three-dimensional space detection according to any one of claims 1 to 3, wherein the step S5 of transferring the multiple sets of UAV scanning units to the preset scanning position of the next scanning area specifically comprises:
step S5.1: each three groups of unmanned aerial vehicle scanning units in all unmanned aerial vehicle scanning units form a construction surface;
step S5.2: determining the distance from the next preset scanning position of each unmanned aerial vehicle scanning unit to each building surface, and moving the unmanned aerial vehicle scanning unit with the minimum corresponding distance to the next preset scanning position by taking other unmanned aerial vehicle scanning units as datum points;
step S5.3: each three groups of unmanned aerial vehicle scanning units in all the unmanned aerial vehicle scanning units form a construction surface again;
step S5.4: determining the distance from the next preset scanning position of the unmanned aerial vehicle scanning unit which is not moved to each building surface, and moving the unmanned aerial vehicle scanning unit with the minimum corresponding distance to the next preset scanning position by taking other unmanned aerial vehicle scanning units as datum points;
step S5.5: and repeating the step S5.3 to the step S5.4 until all the unmanned aerial vehicle scanning units move to the next preset scanning position.
8. The method for three-dimensional space detection according to claim 1, wherein the unmanned aerial vehicle scanning unit comprises a rotary-wing unmanned aerial vehicle and a laser scanner, a spherical target, an inertial navigation component, a communication component and a data processing and control component which are arranged on the rotary-wing unmanned aerial vehicle; the communication assembly is used for information interaction among the unmanned aerial vehicle scanning units, the data processing and control assembly is used for data processing, point cloud modeling and unmanned aerial vehicle scanning unit coordination control, the inertial navigation assembly is used for assisting track tracking, the spherical target is used for positioning and identifying the unmanned aerial vehicle scanning unit, and the laser scanner is used for scanning a scanning area.
9. The method of claim 8, wherein spherical targets of different diameters are provided above and below the rotorcraft.
10. The method for three-dimensional space detection according to claim 8, wherein in the plurality of sets of unmanned aerial vehicle scanning units, the point cloud modeling function, the data processing function and the unmanned aerial vehicle scanning unit coordination control function are respectively responsible for different unmanned aerial vehicle scanning units.
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