CN112578393A - BIM-based rail transit tunnel clearance checking method and system - Google Patents
BIM-based rail transit tunnel clearance checking method and system Download PDFInfo
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Abstract
The invention provides a BIM-based rail transit tunnel clearance checking method, which comprises the steps of obtaining a two-dimensional image of at least one target clearance area in a tunnel, detecting the actual distance of the current target clearance area according to a triangular distance measurement technology, and obtaining a detection clearance model; extracting a standard bound region corresponding to the target bound region, and establishing a standard bound model according to a BIM technology; and extracting the detection limit and the standard limit in the same direction from the detection limit model and the standard limit model respectively, and converting the distance between the detection limit and the standard limit in the same coordinate system, thereby determining whether the intrusion limit exists in the direction in the tunnel. According to the invention, the field limit data can be accurately acquired in real time by detecting the limit through a triangular distance measurement technology; by comparing the detected limit data with the standard limit model established in the BIM model and calculating and comparing the standard limit model with the safety clearance value, the real-time checking of the limit data is realized, and the limit-invading position can be timely and accurately judged.
Description
Technical Field
The invention belongs to the field of rail transit clearance detection, and particularly relates to a rail transit tunnel clearance checking method and system based on a BIM (Building Information model; abbreviation of English Building Information Modeling).
Background
In the prior art, the underground working environment of rail transit is often severe, vibration of vehicles, loosening of building firmware, and thermal expansion and cold contraction all can lead to deformation of building structures, loosening and falling of equipment and pipelines, and the limit must be tested regularly to discover potential safety hazards and repair in time. When an object invades into the equipment clearance, the subway vehicle cannot normally run, and operation accidents are caused in serious cases.
At present, in equipment limit detection, the method used is mainly a static detection method. Including cross-section detection and lidar detection. The limitation of the section detection method is that the running speed of a detection vehicle is required to be low in the detection process, and the influence of train vibration offset in a high-speed running state cannot be detected. When the overrun condition occurs, the vehicle needs to be stopped and backed up immediately and repeatedly, the overrun amount is marked manually, and excessive human resources and material resources are wasted. The laser radar detection method has the disadvantages that firstly, the system error of the laser radar is about 15mm, and the requirement of accurate measurement cannot be met; secondly, there is scanning angle interval in laser radar laser scanning light beam, causes easily and misses. Finally, the laser radar adopts a multi-pulse echo ranging principle, the scanning frequency is generally about 50HZ, and the laser radar is not suitable for the requirements of high-speed and real-time detection. Because the clearance change has the characteristic of burstiness and an efficient maintenance means is still lacked in the existing various clearance detection and check, a real-time, high-speed and high-precision clearance check method is developed, so that the labor is saved, the expenditure is reduced, the efficiency is improved, a basis is provided for the safety maintenance of urban rail transit, and the subway operation safety is improved.
Disclosure of Invention
In view of the above defects or improvement needs of the prior art, the present invention provides a BIM-based rail transit tunnel clearance checking method and system, which mainly achieve the purpose of clearance checking through real-time measurement of clearance by using triangulation, reconstruction of a standard clearance model by using BIM technology, and clearance violation determination.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a rail transit tunnel limit checking method based on BIM, including:
acquiring a two-dimensional image of at least one target bound area in the tunnel, detecting the actual distance of the current target bound area according to a triangulation distance measuring technology, and acquiring a detection bound model;
extracting a standard bound region corresponding to the target bound region, and establishing a standard bound model according to a BIM (building information modeling) technology;
extracting a detection limit and a standard limit in the same direction from the detection limit model and the standard limit model respectively, and converting the distance between the detection limit and the standard limit in the same coordinate system, thereby determining whether the invasion limit exists in the direction in the tunnel;
wherein the target bounded region is a region formed according to vehicle, equipment or building bounds detected in real time within the tunnel; the standard bounded region is a region formed according to contour design data of a respective vehicle bound, equipment bound, or building bound in the tunnel BIM model.
Further, the extracting detection and standard bounds in the same direction in the detection and standard bounds models, respectively, comprises:
extracting the same position point from the detection limit model and the standard limit model respectively as an origin, and establishing a first coordinate system and a second coordinate system with the same X, Y axis direction orientation;
reference lines are drawn in the same direction through the origin of the first and second coordinate systems, respectively, intersecting the target bounding region in the first coordinate system at point a (X1, Y1) and the standard bounding region in the second coordinate system at point B (X2, Y2).
Further, the converting the distance between the detection limit and the standard limit in the same coordinate system, so as to determine whether there is an intrusion limit in the direction in the tunnel includes:
calculating the distance between the point A and the point B in the same coordinate system:
and when the numerical value of the AB is larger than or equal to a preset safety threshold value, judging that no intrusion limit exists in the tunnel in the direction.
Further, the acquiring a two-dimensional image of the rail transit tunnel target bound area, detecting an actual distance of the target bound area according to a triangulation distance measuring technology, and establishing a detection bound model includes:
projecting at least one line light source to a target limited area of the rail transit tunnel, and capturing reflected light of the line light source passing through the target limited area through an area array camera to form the two-dimensional image;
and calculating the actual space distance of the target bound region according to the imaging relation between the two-dimensional image coordinate system and the rail transit tunnel space coordinate system, and establishing a detection bound model according to the actual space distance.
Further, the calculating the actual spatial distance of the target bounded region according to the imaging relationship between the two-dimensional image coordinate system and the rail transit tunnel space coordinate system comprises:
carrying out filtering denoising and feature recognition on the two-dimensional image, and extracting imaging data of a target limited region in a two-dimensional image coordinate system;
taking the intersection point of the optical axes of the linear light source and the area array camera as a reference point, and extracting position data of the reference point, the linear light source and the area array camera in the spatial coordinate system of the rail transit tunnel;
establishing a graphical relationship of the imaging data and the position data to calculate an actual spatial distance of the target bounding region.
Further, the building of the standard bound model according to the BIM technique includes:
screening vehicle limit drawings, equipment limit drawings and building limit drawings corresponding to the target limit areas, extracting component outlines of the screened drawings, and generating a three-dimensional modeling base diagram;
and extracting a standard bound region from the three-dimensional modeling base map, and establishing a standard bound model.
According to a second aspect of the present invention, there is provided a BIM-based rail transit tunnel clearance checking system, comprising:
the first modeling unit is used for acquiring a two-dimensional image of at least one target bound area in the tunnel, detecting the actual distance of the current target bound area according to a triangulation distance measuring technology, and acquiring a detection bound model;
the second modeling unit is used for extracting a standard bound region corresponding to the target bound region and establishing a standard bound model according to a BIM (building information modeling) technology;
the analysis and determination unit is used for extracting the detection limit and the standard limit in the same direction from the detection limit model and the standard limit model respectively, and converting the distance between the detection limit and the standard limit in the same coordinate system, so as to determine whether the invasion limit exists in the direction in the tunnel;
wherein the target bounded region is a region formed according to vehicle, equipment or building bounds detected in real time within the tunnel; the standard bounded region is a region formed according to contour design data of a respective vehicle bound, equipment bound, or building bound in the tunnel BIM model.
Further, the analysis determination unit includes:
the analysis conversion unit is used for extracting the same position point from the detection limit model and the standard limit model respectively to serve as an origin, and establishing a first coordinate system and a second coordinate system of the same X, Y axial direction orientation; making a reference line in the same direction through the origin, the reference line intersecting a target bounding region in the first coordinate system at a point A (X1, Y1) and a standard bounding region in the second coordinate system at a point B (X2, Y2);
and the intrusion limit judging unit is used for calculating the distance between the point A and the point B in the same coordinate system:
and when the numerical value of the AB is larger than or equal to a preset safety threshold value, judging that no intrusion limit exists in the tunnel in the direction.
Further, the first modeling unit includes:
at least one linear light source for projecting to a target bounded area of the rail transit tunnel;
the area array camera is used for capturing the reflected light of the linear light source passing through the target limited area to form the two-dimensional image;
and the detection modeling unit is used for calculating the actual space distance of the target bound region according to the imaging relation between the two-dimensional image coordinate system and the rail transit tunnel space coordinate system, and establishing a detection bound model according to the actual space distance.
According to a third aspect of the present invention, there is provided a computer readable medium storing a computer program for execution by an electronic device, which computer program, when run on the electronic device, causes the electronic device to perform the method as described above.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
the standard limit model is established by using the BIM technology, so that the data of the limit is specified and parameterized; the limit is detected by a triangular distance measurement technology, so that field limit data can be accurately acquired in real time; the limit data obtained through detection is compared with a standard limit model established in the BIM model, and is compared with a safety clearance value, real-time checking of the limit data is achieved, limit invasion positions can be timely and accurately judged, safety accidents caused by limit invasion are avoided, safety of vehicle operation is guaranteed, and good using effect and economic benefit are achieved.
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FIG. 1 is a schematic diagram of a triangulation principle of a measurement boundary implemented in accordance with the present invention;
fig. 2 is a schematic diagram of a rail transit tunnel limit checking method based on BIM according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
It should be noted that in the functional equations of the present invention, the symbol "·" is an operation symbol representing the multiplication of two constants or vectors before and after, and "/" is an operation symbol representing the division of two constants or vectors before and after, and all the functional equations of the present invention follow the mathematical operation of addition, subtraction, multiplication and division.
It should be noted that the term "first \ second" referred to in the present invention is only used for distinguishing similar objects, and does not represent a specific ordering for the objects, and it should be understood that "first \ second" may be interchanged in a specific order or sequence, if allowed. It should be understood that "first \ second" distinct objects may be interchanged under appropriate circumstances such that embodiments of the invention described herein may be practiced in sequences other than those described or illustrated herein.
As a preferred embodiment, there is provided a rail transit tunnel limit checking method based on BIM, including the following steps:
s1: acquiring a two-dimensional image of at least one target bound area in a tunnel, detecting the actual distance of the current target bound area according to a triangulation distance measuring technology, and acquiring a detection bound model;
s2: extracting a standard bound region corresponding to the target bound region, and establishing a standard bound model according to a BIM technology;
s3: extracting a detection limit and a standard limit in the same direction from the detection limit model and the standard limit model respectively, and converting the distance between the detection limit and the standard limit in the same coordinate system, thereby determining whether the invasion limit exists in the tunnel in the direction;
in the present embodiment, the target bounded region is a region formed according to a real-time vehicle bound, equipment bound, or building bound within a tunnel; the standard bound region is a region formed according to contour design data of a corresponding vehicle bound, equipment bound, or building bound in the tunnel BIM model.
In this embodiment, in step S1, as shown in fig. 1, a triangulation measurement method is adopted for real-time measurement of the detection boundary model, where the detection device mainly includes an area-array camera and a line light source, and the area-array camera photographs devices, pipelines, and buildings in the rail transit tunnel irradiated by the laser light source, where the buildings mainly include surrounding rocks or pipe corridors of the tunnel, and then the horizontal distance and the vertical distance between an object on the photographing line and the area-array camera are measured by using algorithms such as image filtering denoising, image recognition, feature extraction, and the like, so as to obtain real-time boundary data.
Specifically, the detection principle of triangulation as shown in fig. 1: suppose B is a point to be measured, the distance is Y, f is the focal length of the imaging system in the area array camera, L is the vertical distance from the linear light source to the lens of the area array camera, i.e. the length of the base line, L is the known horizontal distance from a certain reference point P to the lens of the area array camera, and the imaging is just positioned on the optical axis of the area array camera at the distance. And calculating the actual space distance of the target limited area according to the imaging relation between the area-array camera coordinate system and the rail transit tunnel space coordinate system.
More specifically, in fig. 1, when an auxiliary line perpendicular to the extension line OF FP is drawn through point B, a right angle Δ B1P1F forms a triangle similar to right angle Δ BP2F, B1P1/P1F ═ P2B/P2F, P2B ═ P2F · B1P1/P1F, and a right angle Δ OFP forms a triangle similar to right angle Δ P2PB, PF/OP ═ BP/P2B, BP ═ P2B · PF/OP, OF ═ L, OP ═ L, FP1 ═ f, and B1P1 ═ X, BP ═ X · (L2+ L2)/(f · L), Y ═ L + X · (L2+ L2)/(f · L), Y · (L)2+l2) /(f.l). Therefore, as long as the X distance is known, Y can be measured according to the principle of triangulation distance measurement; similarly, as long as the Y distance is known, X can be measured according to the principle of triangulation. Therefore, the two-dimensional data of the detection limit monitored in real time is obtained, and the checking and the use are convenient.
In this embodiment, based on the principle of triangulation distance measurement, step S1 specifically includes:
s11: the method comprises the steps that at least one line light source is projected to a target limited area of a rail transit tunnel, reflected light of the line light source passing through the target limited area is captured through an area array camera, and a two-dimensional image is formed on a sensing surface of the area array camera;
s12: calculating the actual space distance of the target bound region according to the imaging relation between the two-dimensional image coordinate system and the rail transit tunnel space coordinate system, and establishing a detection bound model according to the actual space distance;
s13: carrying out filtering denoising and feature identification on the two-dimensional image, and extracting imaging data of a target limited region in a two-dimensional image coordinate system;
s14: taking the intersection point of the optical axes of the linear light source and the area array camera as a reference point, and extracting position data of the reference point, the linear light source and the area array camera in a spatial coordinate system of the rail transit tunnel;
s15: and establishing a graphical relationship between the imaging data and the position data so as to calculate the actual space distance of the target bounded region.
As a preferred embodiment, the boundary is measured in real time using the principle of triangulation. Firstly, calibrating the area-array camera, determining the corresponding relation between the image coordinate system of the camera and the tunnel space coordinate system, and then measuring the two-dimensional data of the limit according to the principle of triangular distance measurement. Specifically, the line light source is a laser light source, and the area-array camera is an area-array CCD camera; preferably, the generator of the laser light source and the area-array camera are integrated. More specifically, the area-array camera shoots laser light source irradiation on track line equipment, pipelines or buildings, then image signals are transmitted to an industrial personal computer through gigabit Ethernet network lines, the industrial personal computer extracts a target limit area on an image through algorithms such as image filtering denoising and image recognition feature extraction, and the like, and the horizontal distance and the vertical distance of the area-array camera of a corresponding area of the shooting line are measured according to the target limit area to obtain real-time limit data, so that a target limit model is established.
In this embodiment, in step S2, the building a standard bound model according to the BIM technique includes:
s21: screening vehicle limit drawings, equipment limit drawings and building limit drawings corresponding to the target limit areas, extracting component outlines of the screened drawings, and generating a three-dimensional modeling base diagram;
s22: and extracting a standard bound region from the three-dimensional modeling base map, and establishing a standard bound model.
In a preferred embodiment, the standard clearance data is obtained by measuring the related line parameters and positioning, and is used as the input condition of the standard clearance model in the BIM software. The establishing process of the standard bound model in the BIM software mainly comprises the following steps: screening corresponding drawings, deleting contents irrelevant to modeling on the drawings, and merging a plan view, a cross-sectional view and a longitudinal sectional view to generate a modeling base view; and establishing a track central line by using a B spline curve according to the tunnel plane graph and the longitudinal section graph. The track central line is used as a path for sweeping or array of elements such as tunnels, interval pipelines, equipment and the like; and (4) sweeping the building limit line along a path curve (track center line) to complete the establishment of the standard limit line.
Specifically, the Building Information Modeling (BIM) is a complete Information Modeling process (english Modeling is a dynamic noun; is not a simple noun "model"), and engineering Information, processes and resources of different stages of an engineering project in a full life cycle can be integrated into one model, so that the Building Information Modeling (BIM) is conveniently used by all engineering participants. The BIM software comprises at least one or more of Revit, ArchicaD, Tekla, MagiCAD and Revit MEP.
In this embodiment, in step S3, as shown in fig. 2, the limit distances in the detection limit model and the standard limit model are obtained, and the limit violation determination is performed to check the limit. Specifically, the target bounded region is a region formed according to real-time vehicle, equipment or building bounds within the tunnel; the standard bound region is a region formed according to contour design data of a corresponding vehicle bound, equipment bound, or building bound in the tunnel BIM model. The target bounded region and the standard bounded region may be a plurality of circular regions or square regions formed based on different vehicle bounds, equipment bounds or building bounds at a location closest to the vehicle.
Specifically, the real-time checking of the limit data is realized by comparing the limit data obtained by detection with a standard limit model established in a BIM (building information modeling) model and comparing the limit data with a safety clearance value, and the limit position can be timely and accurately judged, and the specific method comprises the following steps:
s31: respectively extracting the same position point from the detection limit model and the standard limit model as an origin, and establishing a first coordinate system and a second coordinate system with the same X, Y axis direction orientation;
s32: respectively taking reference lines along the same direction through the origin points of the first coordinate system and the second coordinate system, wherein the reference lines intersect with the target limited area in the first coordinate system at the point A (X1, Y1) and intersect with the standard limited area in the second coordinate system at the point B (X2, Y2);
s33: and (3) calculating the distance between the point A and the point B in the same coordinate system:
s34: and when the numerical value of the AB is larger than or equal to a preset safety threshold value, judging that no intrusion limit exists in the tunnel in the direction.
As a preferable implementation mode, a standard limit model is directly established in BIM software, and then whether limit invasion occurs or not is judged through the operation relation between feature points by importing real-time detected target limit data. The clearance checking method is mainly implemented in BIM software, specifically as shown in fig. 2, cartesian coordinate systems are respectively established on the cross section of the vehicle body, wherein the middle point of the connecting line of the two rail tops is taken as an O point, the same position of the standard clearance model and the detected clearance model is respectively moved to the O point, a ray is led out from the O point, and if the intersection with the standard clearance model is at a (X1, Y1) point and the intersection with the measurement clearance is at a B (X2, Y2) point, then:
setting the safety clearance as C, wherein C can take specific numerical value according to specific conditions according to different limit positions, and if AB is larger than or equal to C, the limit is not formed, and AB is larger than or equal to C<And C, forming an intrusion limit, calculating all feature points on the whole limit model based on the method, judging whether the limit detected in real time is the intrusion limit, and finding out the intrusion limit position while finishing limit checking.
According to another specific embodiment of the invention, a rail transit tunnel limit checking system based on BIM is provided, and the system comprises:
the first modeling unit is used for acquiring a two-dimensional image of at least one target bound area in the tunnel, detecting the actual distance of the current target bound area according to a triangulation distance measuring technology and acquiring a detection bound model;
the second modeling unit is used for extracting a standard bound region corresponding to the target bound region and establishing a standard bound model according to the BIM technology;
the analysis and determination unit is used for extracting the detection limit and the standard limit in the same direction from the detection limit model and the standard limit model respectively, and converting the distance between the detection limit and the standard limit in the same coordinate system, so as to determine whether the invasion limit exists in the direction in the tunnel;
wherein the target bound region is a region formed according to real-time vehicle bound, equipment bound or building bound in the tunnel; the standard bound region is a region formed according to contour design data of a corresponding vehicle bound, equipment bound, or building bound in the tunnel BIM model.
In this embodiment, the first modeling unit includes:
at least one linear light source for projecting to a target delimited area of the rail transit tunnel;
the area array camera is used for capturing the reflected light of the linear light source passing through the target limited area to form a two-dimensional image;
and the detection modeling unit is used for calculating the actual space distance of the target bound region according to the imaging relation between the two-dimensional image coordinate system and the rail transit tunnel space coordinate system, and establishing a detection bound model according to the actual space distance.
As a preferred embodiment, the line light source is a laser light source, and the area-array camera is an area-array CCD camera; preferably, the generator of the laser light source and the area-array camera are integrated machines, and the detection modeling unit is an industrial personal computer; more preferably, the generator of the laser light source and the area-array camera may be disposed on a patrol rail vehicle, a patrol robot, a patrol unmanned aerial vehicle, etc. which may run on a rail, without being limited thereto. More specifically, the area-array camera shoots laser light source irradiation on track line equipment, pipelines or buildings, then image signals are transmitted to an industrial personal computer through gigabit Ethernet network lines, the industrial personal computer extracts a target limit area on an image through algorithms such as image filtering denoising and image recognition feature extraction, and the like, and the horizontal distance and the vertical distance of the area-array camera of a corresponding area of the shooting line are measured according to the target limit area to obtain real-time limit data, so that a target limit model is established. The industrial personal computer can be arranged in a detection vehicle, a station, a ground control center or a cloud server.
In this embodiment, the analysis determining unit includes:
the analysis conversion unit is used for extracting the same position point from the detection limit model and the standard limit model respectively as an origin point and establishing a first coordinate system and a second coordinate system of the same X, Y axial direction orientation; a reference line is made along the same direction through an origin, and the reference line intersects with the target limited region in the first coordinate system at a point A (X1, Y1) and intersects with the standard limited region in the second coordinate system at a point B (X2, Y2);
and the intrusion limit judging unit is used for calculating the distance between the point A and the point B in the same coordinate system:
and when the numerical value of the AB is larger than or equal to a preset safety threshold value, judging that no intrusion limit exists in the tunnel in the direction.
As a preferable implementation mode, a standard limit model is directly established in BIM software, and then whether limit invasion occurs or not is judged through the operation relation between feature points by importing real-time detected target limit data. The clearance checking method is mainly implemented in BIM software, specifically as shown in fig. 2, cartesian coordinate systems are respectively established on the cross section of the vehicle body, wherein the middle point of the connecting line of the two rail tops is taken as an O point, the same position of the standard clearance model and the detected clearance model is respectively moved to the O point, a ray is led out from the O point, and if the intersection with the standard clearance model is at a (X1, Y1) point and the intersection with the measurement clearance is at a B (X2, Y2) point, then:
setting the safety clearance as C, wherein C can take specific numerical value according to specific conditions according to different limit positions, and if AB is larger than or equal to C, the limit is not formed, and AB is larger than or equal to C<And C, forming an intrusion limit, calculating all feature points on the whole limit model based on the method, judging whether the limit detected in real time is the intrusion limit, and finding out the intrusion limit position while finishing limit checking.
As a preferred embodiment, the detection modeling unit, the second modeling unit and the analysis determination unit in the first modeling unit can be implemented in the BIM software directly or by programming. The BIM software comprises at least one or more of Revit, ArchicaD, Tekla, MagiCAD and Revit MEP.
According to another specific embodiment of the present invention, a computer-readable medium is provided, which stores a computer program for execution by an electronic device, and when the computer program runs on the electronic device, causes the electronic device to perform the above method.
It should be understood that any process or method descriptions in flow charts of the present invention or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A BIM-based rail transit tunnel limit checking method is characterized by comprising the following steps:
acquiring a two-dimensional image of at least one target bound area in the tunnel, detecting the actual distance of the current target bound area according to a triangulation distance measuring technology, and acquiring a detection bound model;
extracting a standard bound region corresponding to the target bound region, and establishing a standard bound model according to a BIM (building information modeling) technology;
extracting a detection limit and a standard limit in the same direction from the detection limit model and the standard limit model respectively, and converting the distance between the detection limit and the standard limit in the same coordinate system, thereby determining whether the invasion limit exists in the direction in the tunnel;
wherein the target bounded region is a region formed according to vehicle, equipment or building bounds detected in real time within the tunnel; the standard bounded region is a region formed according to contour design data of a respective vehicle bound, equipment bound, or building bound in the tunnel BIM model.
2. The BIM-based rail transit tunnel clearance checking method of claim 1, wherein the extracting the detection clearance and the standard clearance in the same direction in the detection clearance model and the standard clearance model respectively comprises:
extracting the same position point from the detection limit model and the standard limit model respectively as an origin, and establishing a first coordinate system and a second coordinate system with the same X, Y axis direction orientation;
reference lines are drawn in the same direction through the origin of the first and second coordinate systems, respectively, intersecting the target bounding region in the first coordinate system at point a (X1, Y1) and the standard bounding region in the second coordinate system at point B (X2, Y2).
3. The BIM-based rail transit tunnel limit checking method of claim 2, wherein the scaling of the distance between the detection limit and the standard limit in the same coordinate system, so as to determine whether there is an intrusion limit in the direction in the tunnel, comprises:
calculating the distance between the point A and the point B in the same coordinate system:
and when the numerical value of the AB is larger than or equal to a preset safety threshold value, judging that no intrusion limit exists in the tunnel in the direction.
4. The BIM-based rail transit tunnel clearance checking method according to any one of claims 1 to 3, wherein the acquiring a two-dimensional image of a target clearance area of the rail transit tunnel, detecting an actual distance of the target clearance area according to a triangulation technique, and establishing a detection clearance model comprises:
projecting at least one line light source to a target limited area of the rail transit tunnel, and capturing reflected light of the line light source passing through the target limited area through an area array camera to form the two-dimensional image;
and calculating the actual space distance of the target bound region according to the imaging relation between the two-dimensional image coordinate system and the rail transit tunnel space coordinate system, and establishing a detection bound model according to the actual space distance.
5. The BIM-based rail transit tunnel clearance checking method according to any one of claims 1 to 3, wherein the calculating of the actual spatial distance of the target clearance area according to the imaging relationship between the two-dimensional image coordinate system and the rail transit tunnel spatial coordinate system comprises:
carrying out filtering denoising and feature recognition on the two-dimensional image, and extracting imaging data of a target limited region in a two-dimensional image coordinate system;
taking the intersection point of the optical axes of the linear light source and the area array camera as a reference point, and extracting position data of the reference point, the linear light source and the area array camera in the spatial coordinate system of the rail transit tunnel;
establishing a graphical relationship of the imaging data and the position data to calculate an actual spatial distance of the target bounding region.
6. The BIM-based rail transit tunnel clearance checking method according to any one of claims 1 to 3, wherein the establishing of the standard clearance model according to the BIM technology comprises:
screening vehicle limit drawings, equipment limit drawings and building limit drawings corresponding to the target limit areas, extracting component outlines of the screened drawings, and generating a three-dimensional modeling base diagram;
and extracting a standard bound region from the three-dimensional modeling base map, and establishing a standard bound model.
7. A BIM-based rail transit tunnel clearance checking system, characterized in that the system comprises:
the first modeling unit is used for acquiring a two-dimensional image of at least one target bound area in the tunnel, detecting the actual distance of the current target bound area according to a triangulation distance measuring technology, and acquiring a detection bound model;
the second modeling unit is used for extracting a standard bound region corresponding to the target bound region and establishing a standard bound model according to a BIM (building information modeling) technology;
the analysis and determination unit is used for extracting the detection limit and the standard limit in the same direction from the detection limit model and the standard limit model respectively, and converting the distance between the detection limit and the standard limit in the same coordinate system, so as to determine whether the invasion limit exists in the direction in the tunnel;
wherein the target bounded region is a region formed according to vehicle, equipment or building bounds detected in real time within the tunnel; the standard bounded region is a region formed according to contour design data of a respective vehicle bound, equipment bound, or building bound in the tunnel BIM model.
8. The BIM-based rail transit tunnel limit checking system according to claim 7, wherein the parsing determination unit comprises:
the analysis conversion unit is used for extracting the same position point from the detection limit model and the standard limit model respectively to serve as an origin, and establishing a first coordinate system and a second coordinate system of the same X, Y axial direction orientation; making a reference line in the same direction through the origin, the reference line intersecting a target bounding region in the first coordinate system at a point A (X1, Y1) and a standard bounding region in the second coordinate system at a point B (X2, Y2);
and the intrusion limit judging unit is used for calculating the distance between the point A and the point B in the same coordinate system:
and when the numerical value of the AB is larger than or equal to a preset safety threshold value, judging that no intrusion limit exists in the tunnel in the direction.
9. The BIM-based rail transit tunnel clearance checking system according to claim 7 or 8, wherein the first modeling unit comprises:
at least one linear light source for projecting to a target bounded area of the rail transit tunnel;
the area array camera is used for capturing the reflected light of the linear light source passing through the target limited area to form the two-dimensional image;
and the detection modeling unit is used for calculating the actual space distance of the target bound region according to the imaging relation between the two-dimensional image coordinate system and the rail transit tunnel space coordinate system, and establishing a detection bound model according to the actual space distance.
10. A computer-readable medium storing a computer program for execution by an electronic device, which when run on the electronic device, causes the electronic device to perform the method of any of claims 1-6.
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| CN114413752A (en) * | 2021-12-20 | 2022-04-29 | 东莞市诺丽电子科技有限公司 | Collector shoe intrusion detection method and system |
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