CN113028992A - Power distribution room measuring method, device, equipment and storage medium - Google Patents
Power distribution room measuring method, device, equipment and storage medium Download PDFInfo
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- CN113028992A CN113028992A CN202110281210.2A CN202110281210A CN113028992A CN 113028992 A CN113028992 A CN 113028992A CN 202110281210 A CN202110281210 A CN 202110281210A CN 113028992 A CN113028992 A CN 113028992A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a power distribution room measuring method, a device, equipment and a storage medium, which are applied to a remote control mobile platform, wherein the remote control mobile platform comprises a three-dimensional scanner and a crawler assembly, and the method comprises the following steps: responding to a measurement instruction aiming at the power distribution room, and performing three-dimensional scanning at a preset initial position through a three-dimensional scanner to obtain first point cloud data and first real-time image data corresponding to the initial position; determining a target coordinate and a moving parameter in a coordinate system with the initial position as an origin according to the first point cloud data and the first real-time image data; moving to a target position corresponding to the target coordinate through the crawler assembly according to the moving parameters; three-dimensional scanning is carried out on the target position through a three-dimensional scanner, and second point cloud data corresponding to the target position are obtained; and splicing the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room. Therefore, the measurement accuracy and the measurement efficiency of the power distribution room are improved.
Description
Technical Field
The invention relates to the technical field of three-dimensional measurement, in particular to a power distribution room measurement method, a power distribution room measurement device, power distribution room measurement equipment and a storage medium.
Background
In the process of planning the distribution network, due to the needs of projects such as capital construction, technical improvement, industry expansion and the like, multiple cabinet splicing or bus adding and the like are required in a distribution room. The current 10kV power distribution room has different indoor space sizes and equipment arrangement modes due to different factors such as external environment, building space where the room is located, electric wiring in the room and the like. Therefore, before planning and designing each time, a planner must master the space distribution condition of the devices in the electric room to be accessed, and can carry out planning and designing by taking the arrangement in the field distribution room as the basis.
The existing power distribution room measuring method is that a planner usually takes a picture of a power distribution room to be planned, and whether the improvement of splicing a cabinet or adding a bus can be met or not is judged according to the space and the position shown on the picture and the way of field measurement.
However, errors easily occur in the process of photo and measurement, so that the power distribution room needs to be taken and measured repeatedly in the planning and design process, the space of the power distribution room is small, shielding exists between devices, and the devices are usually in an electrified state, so that the size in the power distribution room is difficult to accurately measure, the efficiency is low, and the safety problem easily occurs.
Disclosure of Invention
The invention provides a power distribution room measuring method, a device, equipment and a storage medium, and solves the technical problems of low measuring precision and measuring efficiency caused by the fact that errors are easy to occur in the process of photo and measurement and repeated measurement is needed in the prior art.
The invention provides a power distribution room measuring method which is applied to a remote control mobile platform, wherein the remote control mobile platform comprises a three-dimensional scanner and a crawler assembly, and the method comprises the following steps:
responding to a measurement instruction for a power distribution room, and performing three-dimensional scanning at a preset initial position through the three-dimensional scanner to obtain first point cloud data and first real-time image data corresponding to the initial position;
determining target coordinates and moving parameters in a coordinate system with the initial position as an origin according to the first point cloud data and the first real-time image data;
moving to a target position corresponding to the target coordinate through the crawler assembly according to the moving parameters;
three-dimensional scanning is carried out on the target position through the three-dimensional scanner, and second point cloud data corresponding to the target position are obtained;
and splicing the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room.
Optionally, before the step of generating three-dimensional point cloud data corresponding to the power distribution room by stitching the second point cloud data and the first point cloud data, the method further includes:
acquiring second real-time image data corresponding to the target position;
judging whether a shielding area exists according to the second point cloud data and the second real-time image data;
if the initial position exists, the initial position is updated to be the target position, and the step of determining the target coordinate and the moving parameter in the coordinate system with the initial position as the origin according to the first point cloud data and the first real-time image data is skipped to be executed until the sheltered area does not exist.
Optionally, the step of determining whether an occlusion region exists according to the second point cloud data and the second real-time image data includes:
dividing the second point cloud data into a plurality of grids;
respectively detecting the point cloud density of each grid;
if the point cloud density is smaller than a preset density threshold value, judging that the area corresponding to the grid is a sheltering area to be determined;
receiving a region selection instruction for the second real-time image data;
and if the area designated by the area selection instruction is the same as the to-be-determined occlusion area, judging that the occlusion area exists.
Optionally, the step of determining a target coordinate and a movement parameter in a coordinate system with the initial position as an origin according to the first point cloud data and the first real-time image data includes:
determining a target coordinate in a coordinate system with the initial position as an origin according to the first point cloud data and the first real-time image data;
and determining a movement parameter according to the starting coordinate corresponding to the starting position and the target coordinate.
Optionally, the step of determining a target coordinate in a coordinate system with the starting position as an origin according to the first point cloud data and the first real-time image data includes:
determining the shielding condition at the initial position according to the first point cloud data and the first real-time image data;
receiving a calibration instruction aiming at the shielding condition, and determining the target position;
and establishing a coordinate system by taking the initial position as an origin, and acquiring a target coordinate corresponding to the target position.
Optionally, the moving parameters include a track steering angle, a steering pulse number, and a forward pulse number, and the step of determining the moving parameters according to the start coordinate corresponding to the start position and the target coordinate includes:
determining a steering angle of the crawler and displacement to be moved by adopting the initial coordinate corresponding to the initial position and the target coordinate; wherein the track steering angle is an angle of rotation of the track assembly from the starting position to a line between the starting position and the target position, and the displacement to be moved is a displacement between the starting position and the target position; the crawler assembly comprises a left crawler wheel and a right crawler wheel which have the same crawler wheel diameter, and encoders are arranged on the left crawler wheel and the right crawler wheel;
acquiring a track distance between the left track wheel and the right track wheel;
respectively reading the initial pulse numbers of the encoders of the left crawler wheel and the right crawler wheel at the initial positions;
determining the number of steering pulses corresponding to the left crawler wheel according to the crawler steering angle, the initial pulse number, the diameter of the crawler wheel and the crawler pitch of the left crawler wheel;
determining the number of steering pulses corresponding to the right crawler wheel according to the crawler steering angle, the initial pulse number, the diameter of the crawler wheel and the crawler pitch of the right crawler wheel;
determining the number of forward pulses corresponding to the left crawler wheel according to the number of steering pulses corresponding to the left crawler wheel, the diameter of the crawler wheel and the displacement to be moved;
and determining the number of forward pulses corresponding to the right crawler wheel according to the number of steering pulses corresponding to the right crawler wheel, the diameter of the crawler wheel and the displacement to be moved.
Optionally, the step of stitching the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room includes:
converting the second point cloud data obtained at the target position into the coordinate system to obtain at least one third point cloud data;
and deleting the third point cloud data overlapped with the first point cloud data, and generating three-dimensional point cloud data corresponding to the power distribution room.
The invention also provides a power distribution room measuring device, which is applied to a remote control mobile platform, wherein the remote control mobile platform comprises a three-dimensional scanner and a crawler assembly, and the device comprises:
the system comprises a first scanning module, a second scanning module and a third scanning module, wherein the first scanning module is used for responding to a measurement instruction for a power distribution room, and performing three-dimensional scanning on a preset initial position through a three-dimensional scanner to obtain first point cloud data and first real-time image data corresponding to the initial position;
the target coordinate and movement parameter determining module is used for determining a target coordinate and a movement parameter in a coordinate system with the initial position as an origin according to the first point cloud data and the first real-time image data;
the moving module is used for moving to a target position corresponding to the target coordinate through the crawler assembly according to the moving parameters;
the second scanning module is used for carrying out three-dimensional scanning on the target position through the three-dimensional scanner to obtain second point cloud data corresponding to the target position;
and the point cloud splicing module is used for splicing the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room.
A third aspect of the present invention provides an electronic device comprising a memory and a processor, the memory having stored therein a computer program, which, when executed by the processor, causes the processor to perform the steps of the electricity distribution room measuring method according to any one of the first aspect of the present invention.
A fourth aspect of the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by the processor, implements the power distribution room measurement method according to any of the first aspects of the invention.
According to the technical scheme, the invention has the following advantages:
the power distribution room is subjected to three-dimensional scanning at a preset initial position through a three-dimensional scanner by responding to a measurement instruction aiming at the power distribution room through a remote control mobile platform, so that first point cloud data and first real-time image data corresponding to the initial position are obtained; determining a target coordinate and a corresponding moving parameter in a coordinate system with an initial position as an origin according to the first point cloud data and the first real-time image data; moving to a target position corresponding to the target coordinate through the crawler assembly according to the moving parameter; and performing three-dimensional scanning on the target position through a three-dimensional scanner to obtain second point cloud data, and finally splicing the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room. Thereby solve among the prior art because the photo appears the error with the process of measuring easily and need the measurement accuracy that repeated measurement leads to many times and measurement efficiency lower technical problem, improve distribution room measurement accuracy and measurement efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating steps of a power distribution room measurement method according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of a power distribution room measurement method according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a first moving process of the remote control moving platform according to the second embodiment of the present invention;
fig. 4 is a schematic diagram of a second moving process of the remote control moving platform according to the second embodiment of the present invention;
fig. 5 is a block diagram of a power distribution room measuring device according to a third embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a power distribution room measuring method, a power distribution room measuring device, power distribution room measuring equipment and a power distribution room measuring storage medium, which are used for solving the technical problems of low measuring precision and measuring efficiency caused by the fact that errors are easy to occur in the photo and measuring process and repeated measurement is needed in many times in the prior art.
The power distribution room measuring method, the power distribution room measuring device, the power distribution room measuring equipment and the storage medium are applied to a remote control mobile platform, the remote control mobile platform can comprise a crawler belt assembly and a three-dimensional laser scanner, the crawler belt assembly comprises a connecting piece, a left crawler belt and a right crawler belt are connected to two sides of the connecting piece, each crawler belt comprises at least two crawler wheels, and encoders are arranged on the left crawler belt and the right crawler belt and used for calculating the pulse number of each crawler belt in the movement process; an aluminum alloy fixing support is fixedly connected to the connecting piece, a lifting rod is arranged in the aluminum alloy fixing support, a fixing support is mounted at the top end of the lifting rod, and the fixing support is used for fixing the three-dimensional laser scanner; the crawler assembly further comprises a lifting rod control panel, and is used for receiving control instructions sent by peripheral equipment such as a tablet personal computer and the like in a Bluetooth mode, a WIFI mode, a mobile communication mode and the like, so that the lifting rod is controlled to move up and down or rotate, the three-dimensional laser scanner is driven to lift and rotate through the fixed support, and point cloud data scanning operations of different heights and different angles are achieved.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a power distribution room measurement method according to an embodiment of the present invention.
The invention provides a power distribution room measuring method which is applied to a remote control mobile platform, wherein the remote control mobile platform comprises a three-dimensional scanner and a crawler assembly, and the method comprises the following steps:
the measurement instruction refers to an instruction for starting the remote control mobile platform to acquire three-dimensional point cloud data and real-time image data at the current position.
A three-dimensional scanner refers to an instrument that can record information of a scanned object in the form of a point. Each of which contains three-dimensional coordinates and some of which may contain color information or reflection intensity information. Some point cloud data have color information in addition to geometric positions. The color information is usually obtained by a camera to obtain a color image, and then the color information of the pixel at the corresponding position is assigned to the corresponding point in the point cloud. The intensity information is obtained by the echo intensity collected by the receiving device of the laser scanner, and the intensity information is related to the surface material, roughness and incident angle direction of the target, and the emission energy and laser wavelength of the instrument. In the specific implementation, a three-dimensional laser dense point cloud scanning system can be adopted for collecting point cloud data.
In the embodiment of the invention, the remote control mobile platform can be placed at a preset initial position in the power distribution room in advance, and when the remote control mobile platform receives a measurement instruction for the power distribution room, the remote control mobile platform can perform three-dimensional scanning at the initial position through the three-dimensional scanner so as to obtain the first point cloud data and the first real-time image data which can be acquired at the initial position.
The point cloud data (point cloud data) refers to a set of vectors in a three-dimensional coordinate system, and the scanning data is recorded in the form of points, each point includes three-dimensional coordinates, and some points may include color information (RGB) or reflection Intensity information (Intensity). The real-time image data refers to a real-time image which can be acquired by the three-dimensional scanner at the initial position.
after first point cloud data and first real-time image data which are obtained by scanning the three-dimensional scanner at the initial position are obtained, the overall layout, equipment arrangement and the shielding condition of the initial position of the whole power distribution room can be determined based on the first point cloud data and the first real-time image data, so that target coordinates and moving parameters under a coordinate system with the initial position as an origin are further determined, and the position of a point which needs to be scanned in the next step of the remote control moving platform is further obtained.
103, moving to a target position corresponding to the target coordinate through the crawler assembly according to the moving parameters;
after the target coordinates are determined, the remote control mobile platform can be driven by the crawler assemblies to move to the target position according to the moving parameters, so that point cloud data lost due to the shielding condition caused by the initial position are prepared and scanned in a supplementing mode.
and after the remote control mobile platform reaches the target position, carrying out the three-dimensional scanner on the target position through the three-dimensional scanner to obtain corresponding second point cloud data.
And 105, splicing the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room.
After the second point cloud data scanned at the target position and the first point cloud data scanned at the initial position are obtained, the first point cloud data and the second point cloud data can be spliced to generate point cloud data under the same coordinate system, and accurate and detailed three-dimensional point cloud data corresponding to the power distribution room are obtained.
In the embodiment of the invention, a measurement instruction for a power distribution room is responded by a remote control mobile platform, and the power distribution room is three-dimensionally scanned at a preset initial position by a three-dimensional scanner so as to obtain first point cloud data and first real-time image data corresponding to the initial position; determining a target coordinate and a corresponding moving parameter in a coordinate system with an initial position as an origin according to the first point cloud data and the first real-time image data; moving to a target position corresponding to the target coordinate through the crawler assembly according to the moving parameter; and performing three-dimensional scanning on the target position through a three-dimensional scanner to obtain second point cloud data, and finally splicing the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room. Thereby solve among the prior art because the photo appears the error with the process of measuring easily and need the measurement accuracy that repeated measurement leads to many times and measurement efficiency lower technical problem, improve distribution room measurement accuracy and measurement efficiency.
Referring to fig. 2, fig. 2 is a flowchart illustrating a power distribution room measurement method according to a second embodiment of the present invention.
The invention provides a power distribution room measuring method which is applied to a remote control mobile platform, wherein the remote control mobile platform comprises a three-dimensional scanner and a crawler assembly, and the method comprises the following steps:
in the embodiment of the present invention, the specific implementation process of step 201 is similar to step 101 in the first embodiment, and is not described herein again.
optionally, step 202 may include the following sub-steps S1-S2:
s1, determining a target coordinate in a coordinate system with the initial position as the origin according to the first point cloud data and the first real-time image data;
further, step S1 may include the following sub-steps S11-S13:
s11, determining the shielding condition at the initial position according to the first point cloud data and the first real-time image data;
s12, receiving a calibration instruction aiming at the shielding condition, and determining the target position;
and S13, establishing a coordinate system by taking the initial position as an origin, and acquiring a target coordinate corresponding to the target position.
In the embodiment of the invention, after the first point cloud data and the first real-time image data are obtained, the overall layout, equipment arrangement and shielding conditions of the whole power distribution room can be checked through data display on the external terminal; since the information quantity of the first point cloud data corresponding to the power distribution room acquired at the initial position is limited, the data of the whole power distribution room cannot be acquired under the condition of shielding, at the moment, a calibration instruction is generated and sent to the remote control mobile platform by calibrating the target position on the external terminal aiming at the shielding condition, so as to determine the target position of the remote control mobile platform to be moved next step; after the target position is determined, a coordinate system is established by taking the initial position as an origin, and a target coordinate corresponding to the target position is obtained, so that the position of the remote control mobile platform for obtaining point cloud data in the next step is determined.
S2, determining a moving parameter according to the initial coordinate and the target coordinate corresponding to the initial position;
further, the movement parameters include a track steering angle, a steering pulse number, and a forward pulse number, and the step S2 may further include the following sub-steps S21-S27:
s21, determining a steering angle and displacement to be moved of the crawler by using the initial coordinate and the target coordinate corresponding to the initial position;
the crawler assembly is arranged on the crawler frame, the crawler frame is arranged on the crawler; the crawler assembly comprises a left crawler wheel and a right crawler wheel which have the same crawler wheel diameter, and encoders are arranged on the left crawler wheel and the right crawler wheel;
in the embodiment of the present invention, since the coordinate system is established with the predetermined initial position as the origin, it can be expressed as M1(X1，Y1). When the target coordinate M is known2(X2，Y2) And then, determining the steering angle of the crawler and the displacement to be moved based on trigonometric function operation between the coordinates.
In a specific implementation, the track steering angle α is determined as follows:
the determination process of the displacement s to be moved is as follows:
the crawler belt steering angle alpha is an angle of a connecting line between the starting position and the target position from the starting position to the rotation of the crawler belt assembly, and the counterclockwise direction is a positive direction; the displacement s to be moved is the displacement between the starting position and the target position.
S22, acquiring the track distance between the left track wheel and the right track wheel;
s23, respectively reading the initial pulse numbers of the encoders of the left track wheel and the right track wheel at the initial positions;
in a specific implementation, the track assembly may include at least two left track wheels and at least two right track wheels, before calculating the movement parameters of the track assembly, it is further required to obtain a track pitch b between the left track wheels and the right track wheels, and to respectively read a start pulse number LM of an encoder disposed on the left track wheels at a start position1And a start pulse RM of an encoder provided on the right crawler wheel at a start position1The types of the encoders arranged on the left crawler wheel and the right crawler wheel are the same, and the total pulse number of each circle is also the same.
S24, determining the number of steering pulses corresponding to the left crawler wheel according to the crawler steering angle, the initial pulse number, the diameter of the crawler wheel and the distance between the crawlers of the left crawler wheel;
the steering angle alpha and the initial pulse number LM of the crawler belt of the left crawler wheel are obtained1Diameter d of crawler wheelLAnd the track pitch b, the corresponding steering pulse number LM of the left track wheel after steering can be determined by combining the following formulaSteering：
Wherein, Count is the total number of pulses per circle of the encoder arranged on the left crawler wheel and the right crawler wheel.
S25, determining the number of steering pulses corresponding to the right crawler wheel according to the crawler steering angle, the initial pulse number, the diameter of the crawler wheel and the distance between the crawlers of the right crawler wheel;
the steering angle alpha and the initial pulse number RM of the right crawler wheel are obtained1Diameter d of crawler wheelRAnd the track pitch b, the corresponding steering pulse number RM of the right track wheel after steering can be determined by combining the following formulaSteering：
S26, determining the number of forward pulses corresponding to the left crawler wheel according to the number of steering pulses corresponding to the left crawler wheel, the diameter of the crawler wheel and the displacement to be moved;
in the embodiment of the invention, the number LM of the steering pulses corresponding to the left crawler wheel is further determined according to the number LM of the steering pulses corresponding to the left crawler wheelSteeringDiameter d of crawler wheelLAnd the displacement s to be moved is calculated, and the position M of the left crawler wheel when the left crawler wheel reaches the target position is calculated2Number of corresponding forward pulses LMForward：
And S27, determining the number of forward pulses corresponding to the right crawler wheel according to the number of steering pulses corresponding to the right crawler wheel, the diameter of the crawler wheel and the displacement to be moved.
In the embodiment of the invention, the number RM of the steering pulses corresponding to the left crawler wheel is further determined according to the number RM of the steering pulses corresponding to the left crawler wheelSteeringDiameter d of crawler wheelRAnd the displacement s to be moved is calculated, and the position M of the left crawler wheel when the left crawler wheel reaches the target position is calculated2Number of corresponding forward pulses RMForward：
in a specific implementation, the track assembly drives the remote control mobile platform from M1Move to M2Two processes can be divided: first at the starting position M1Turn and then go straight to the target position M2. Obtaining current encoder readings of left and right track wheels of the track assembly at certain time intervals (e.g., 50ms) during driving, and current encoder readings and LM during steeringSteering、RMSteeringComparing the current encoder reading with LM on progressionForward、RMForwardComparing, calculating the difference between the left and right wheels, sending a command to rotate at a certain speed to the left and right wheels of the crawler according to the difference, and repeating the operation until the current encoder readings of the left and right crawler wheels and the LM during steeringSteering、RMSteeringIs in a preset range or equal to the preset range, and the current encoder readings of the left and right track wheels and the LM when the track wheels move forwardsForward、RMForwardIs within a preset range or equal to the preset range, and the remote control mobile platform can be judged to turn or advance to the target position M at the moment2。
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a first moving process of a remote control moving platform according to a second embodiment of the invention.
In the embodiment of the invention, the remote control mobile platform is positioned at the initial position M1Acquiring first point cloud data and first real-time image data; due to the existence of the power distribution cabinet and the transformers 1 and 2, point cloud data behind the power distribution cabinet and the transformers 1 and 2 cannot be obtained through scanning. At the moment, a coordinate system is established by using the initial position, and the target position M is determined according to the shielding condition2After the parameters are moved, the track assembly drives the remote control mobile platform to move from the initial position M1Move to target position M2To be at a target position M2And collecting second point cloud data.
in the embodiment of the invention, after the remote control mobile platform reaches the target position, the three-dimensional scanner can perform three-dimensional scanning again at the target position to obtain the corresponding second point cloud data and second real-time image data.
in one example of the present invention, step 206 may include the following sub-steps:
dividing the second point cloud data into a plurality of grids;
respectively detecting the point cloud density of each grid;
if the point cloud density is smaller than a preset density threshold value, judging that the area corresponding to the grid is a to-be-determined occlusion area;
receiving a region selection instruction for second real-time image data;
and if the area specified by the area selection instruction is the same as the occlusion area to be determined, judging that the occlusion area exists.
In the embodiment of the invention, because the point cloud densities of different objects at different distances are different, the second point cloud data can be divided into a plurality of grids for determining the covering area, and the point cloud density in each grid is detected respectively, so that if the point cloud density is smaller than a preset density threshold value, the area corresponding to the grid can be determined as the covering area to be determined. Receiving a region selection instruction aiming at the second real-time image data input by the user through the viewing of the second real-time image data by the user; and if the area designated by the area selection instruction is the same as the to-be-determined occlusion area, determining that the occlusion area exists, wherein the to-be-determined occlusion area is the occlusion area.
In specific implementation, the second point cloud data can be further divided into a plurality of areas according to the point cloud density, and an area with smaller point cloud density in an area with the point cloud difference exceeding a preset density threshold is determined as an occlusion area to be determined.
And step 207, if yes, updating the initial position to be the target position, and skipping to execute the step of determining the target coordinate and the moving parameter in the coordinate system with the initial position as the origin according to the first point cloud data and the first real-time image data until no shielding area exists.
In the embodiment of the present invention, when it is determined that the occlusion area still exists in the second point cloud data acquired at the target position, the coordinates of the start position may be updated to the coordinates of the target position, and the process returns to step 202 to continue the loop execution until no occlusion area exists.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a second moving process of the remote control mobile platform according to a second embodiment of the present invention.
In the embodiment of the invention, when the remote control mobile platform moves to the target position M2Then, due to the influence of the position of the power distribution cabinet, the obtained point cloud data still has an occlusion area, and at this moment, the next moving target position M needs to be determined again3(X3，Y3) Can target position M2As a starting position, the coordinate system is again established to determine the target position M3(X3，Y3) And corresponding moving parameters, the crawler belt component drives the remote control moving platform to move from M2Move to target position M3At the target position M3And collecting corresponding point cloud data.
And step 208, splicing the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room.
In one example of the present invention, step 208 may include the following sub-steps:
converting the second point cloud data obtained at the target position into a coordinate system to obtain at least one third point cloud data;
and deleting the third point cloud data overlapped with the first point cloud data, and generating three-dimensional point cloud data corresponding to the power distribution room.
In the embodiment of the invention, a measurement instruction for a power distribution room is responded by a remote control mobile platform, and the power distribution room is three-dimensionally scanned at a preset initial position by a three-dimensional scanner so as to obtain first point cloud data and first real-time image data corresponding to the initial position; determining a target coordinate and a corresponding moving parameter in a coordinate system with an initial position as an origin according to the first point cloud data and the first real-time image data; moving to a target position corresponding to the target coordinate through the crawler assembly according to the moving parameter; and performing three-dimensional scanning on the target position through a three-dimensional scanner to obtain second point cloud data, and finally splicing the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room. Thereby solve among the prior art because the photo appears the error with the process of measuring easily and need the measurement accuracy that repeated measurement leads to many times and measurement efficiency lower technical problem, improve distribution room measurement accuracy and measurement efficiency.
Referring to fig. 5, fig. 5 is a block diagram of a power distribution room measuring device according to a third embodiment of the present invention.
The invention provides a power distribution room measuring device in real time, which is applied to a remote control mobile platform, wherein the remote control mobile platform comprises a three-dimensional scanner and a crawler assembly, and the device comprises:
the first scanning module 501 is configured to respond to a measurement instruction for a power distribution room, and perform three-dimensional scanning at a preset initial position through a three-dimensional scanner to obtain first point cloud data and first real-time image data corresponding to the initial position;
a target coordinate and movement parameter determining module 502, configured to determine a target coordinate and a movement parameter in a coordinate system with an initial position as an origin according to the first point cloud data and the first real-time image data;
the moving module 503 is configured to move to a target position corresponding to the target coordinate through the crawler assembly according to the moving parameter;
the second scanning module 504 is configured to perform three-dimensional scanning on the target position through the three-dimensional scanner to obtain second point cloud data corresponding to the target position;
and a point cloud splicing module 505, configured to splice the second point cloud data and the first point cloud data, and generate three-dimensional point cloud data corresponding to the power distribution room.
Optionally, the apparatus further comprises:
the second image acquisition module is used for acquiring second real-time image data corresponding to the target position;
the occlusion area judging module is used for judging whether an occlusion area exists according to the second point cloud data and the second real-time image data;
and the position updating module is used for updating the initial position to be the target position if the initial position exists, and skipping to execute the step of determining the target coordinate and the moving parameter under the coordinate system with the initial position as the origin according to the first point cloud data and the first real-time image data until no shielding area exists.
Optionally, the occlusion region determining module includes:
the grid division submodule is used for dividing the second point cloud data into a plurality of grids;
the point cloud density detection submodule is used for respectively detecting the point cloud density of each grid;
the to-be-determined occlusion area judgment submodule is used for judging an area corresponding to the grid as an occlusion area to be determined if the point cloud density is smaller than a preset density threshold;
the area selection instruction receiving submodule is used for receiving an area selection instruction aiming at the second real-time image data;
and the occlusion area judgment submodule is used for judging that an occlusion area exists if the area specified by the area selection instruction is the same as the occlusion area to be determined.
Optionally, the target coordinate and movement parameter determining module 502 includes:
the target coordinate determination submodule is used for determining a target coordinate under a coordinate system with the initial position as an origin according to the first point cloud data and the first real-time image data;
and the movement parameter determining submodule is used for determining the movement parameters according to the starting coordinates and the target coordinates corresponding to the starting positions.
Optionally, the target coordinate determination sub-module includes:
the occlusion condition determining unit is used for determining the occlusion condition at the initial position according to the first point cloud data and the first real-time image data;
the calibration instruction receiving unit is used for receiving a calibration instruction aiming at the shielding condition and determining the target position;
and the target coordinate acquisition unit is used for establishing a coordinate system by taking the initial position as an origin to acquire a target coordinate corresponding to the target position.
Optionally, the movement parameter includes a track steering angle, a steering pulse number and a forward pulse number, and the movement parameter determination submodule includes:
the steering angle and displacement determining unit is used for determining the steering angle and the displacement to be moved of the crawler by adopting the initial coordinate and the target coordinate corresponding to the initial position; the crawler assembly is arranged on the crawler frame, the crawler frame is arranged on the crawler; the crawler assembly comprises a left crawler wheel and a right crawler wheel which have the same crawler wheel diameter, and encoders are arranged on the left crawler wheel and the right crawler wheel;
a track pitch acquisition unit for acquiring a track pitch between the left track wheel and the right track wheel;
the starting pulse number reading unit is used for respectively reading the starting pulse numbers of the encoders of the left crawler wheel and the right crawler wheel at the starting positions;
the first steering pulse number calculation unit is used for determining the steering pulse number corresponding to the left crawler wheel according to the crawler steering angle, the initial pulse number, the crawler wheel diameter and the crawler distance of the left crawler wheel;
the second steering pulse number calculation unit is used for determining the steering pulse number corresponding to the right crawler wheel according to the crawler steering angle, the initial pulse number, the diameter of the crawler wheel and the crawler pitch of the right crawler wheel;
the first forward pulse number calculating unit is used for determining the forward pulse number corresponding to the left crawler wheel according to the steering pulse number corresponding to the left crawler wheel, the diameter of the crawler wheel and the displacement to be moved;
and the second forward pulse number calculating unit is used for determining the forward pulse number corresponding to the right crawler wheel according to the steering pulse number, the diameter and the displacement to be moved corresponding to the right crawler wheel.
Optionally, the point cloud registration module 505 includes:
the coordinate conversion submodule is used for converting the second point cloud data obtained at the target position into a coordinate system to obtain at least one third point cloud data;
and the overlapped point cloud deleting submodule is used for deleting the third point cloud data overlapped with the first point cloud data and generating three-dimensional point cloud data corresponding to the power distribution room.
An embodiment of the present invention provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and when the computer program is executed by the processor, the processor is enabled to execute the steps of the power distribution room measurement method according to any embodiment of the present invention.
Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by the processor, implements the power distribution room measurement method according to any embodiment of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A power distribution room measurement method is applied to a remote control mobile platform, wherein the remote control mobile platform comprises a three-dimensional scanner and a crawler assembly, and the method comprises the following steps:
responding to a measurement instruction for a power distribution room, and performing three-dimensional scanning at a preset initial position through the three-dimensional scanner to obtain first point cloud data and first real-time image data corresponding to the initial position;
determining target coordinates and moving parameters in a coordinate system with the initial position as an origin according to the first point cloud data and the first real-time image data;
moving to a target position corresponding to the target coordinate through the crawler assembly according to the moving parameters;
three-dimensional scanning is carried out on the target position through the three-dimensional scanner, and second point cloud data corresponding to the target position are obtained;
and splicing the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room.
2. The distribution room measuring method according to claim 1, further comprising, before the step of generating three-dimensional point cloud data corresponding to the distribution room by stitching the second point cloud data and the first point cloud data:
acquiring second real-time image data corresponding to the target position;
judging whether a shielding area exists according to the second point cloud data and the second real-time image data;
if the initial position exists, the initial position is updated to be the target position, and the step of determining the target coordinate and the moving parameter in the coordinate system with the initial position as the origin according to the first point cloud data and the first real-time image data is skipped to be executed until the sheltered area does not exist.
3. The distribution room measuring method according to claim 2, wherein the step of determining whether an occlusion region exists according to the second point cloud data and the second real-time image data comprises:
dividing the second point cloud data into a plurality of grids;
respectively detecting the point cloud density of each grid;
if the point cloud density is smaller than a preset density threshold value, judging that the area corresponding to the grid is a sheltering area to be determined;
receiving a region selection instruction for the second real-time image data;
and if the area designated by the area selection instruction is the same as the to-be-determined occlusion area, judging that the occlusion area exists.
4. The distribution room measuring method according to claim 1, wherein the step of determining target coordinates and movement parameters in a coordinate system with the starting position as an origin from the first point cloud data and the first real-time image data comprises:
determining a target coordinate in a coordinate system with the initial position as an origin according to the first point cloud data and the first real-time image data;
and determining a movement parameter according to the starting coordinate corresponding to the starting position and the target coordinate.
5. The distribution room measuring method according to claim 3, wherein the step of determining target coordinates in a coordinate system with the starting position as an origin from the first point cloud data and the first real-time image data comprises:
determining the shielding condition at the initial position according to the first point cloud data and the first real-time image data;
receiving a calibration instruction aiming at the shielding condition, and determining the target position;
and establishing a coordinate system by taking the initial position as an origin, and acquiring a target coordinate corresponding to the target position.
6. The distribution room measuring method according to claim 3, wherein the movement parameters include a track steering angle, a steering pulse number and a forward pulse number, and the step of determining the movement parameters according to the start coordinates and the target coordinates corresponding to the start position comprises:
determining a steering angle of the crawler and displacement to be moved by adopting the initial coordinate corresponding to the initial position and the target coordinate; wherein the track steering angle is an angle of rotation of the track assembly from the starting position to a line between the starting position and the target position, and the displacement to be moved is a displacement between the starting position and the target position; the crawler assembly comprises a left crawler wheel and a right crawler wheel which have the same crawler wheel diameter, and encoders are arranged on the left crawler wheel and the right crawler wheel;
acquiring a track distance between the left track wheel and the right track wheel;
respectively reading the initial pulse numbers of the encoders of the left crawler wheel and the right crawler wheel at the initial positions;
determining the number of steering pulses corresponding to the left crawler wheel according to the crawler steering angle, the initial pulse number, the diameter of the crawler wheel and the crawler pitch of the left crawler wheel;
determining the number of steering pulses corresponding to the right crawler wheel according to the crawler steering angle, the initial pulse number, the diameter of the crawler wheel and the crawler pitch of the right crawler wheel;
determining the number of forward pulses corresponding to the left crawler wheel according to the number of steering pulses corresponding to the left crawler wheel, the diameter of the crawler wheel and the displacement to be moved;
and determining the number of forward pulses corresponding to the right crawler wheel according to the number of steering pulses corresponding to the right crawler wheel, the diameter of the crawler wheel and the displacement to be moved.
7. The distribution room measuring method according to claim 1, wherein the step of generating three-dimensional point cloud data corresponding to the distribution room by stitching the second point cloud data and the first point cloud data comprises:
converting the second point cloud data obtained at the target position into the coordinate system to obtain at least one third point cloud data;
and deleting the third point cloud data overlapped with the first point cloud data, and generating three-dimensional point cloud data corresponding to the power distribution room.
8. A join in marriage electrical room measuring device, characterized by is applied to remote control moving platform, remote control moving platform includes three-dimensional scanner and track subassembly, the device includes:
the system comprises a first scanning module, a second scanning module and a third scanning module, wherein the first scanning module is used for responding to a measurement instruction for a power distribution room, and performing three-dimensional scanning on a preset initial position through a three-dimensional scanner to obtain first point cloud data and first real-time image data corresponding to the initial position;
the target coordinate and movement parameter determining module is used for determining a target coordinate and a movement parameter in a coordinate system with the initial position as an origin according to the first point cloud data and the first real-time image data;
the moving module is used for moving to a target position corresponding to the target coordinate through the crawler assembly according to the moving parameters;
the second scanning module is used for carrying out three-dimensional scanning on the target position through the three-dimensional scanner to obtain second point cloud data corresponding to the target position;
and the point cloud splicing module is used for splicing the second point cloud data and the first point cloud data to generate three-dimensional point cloud data corresponding to the power distribution room.
9. An electronic device, comprising a memory and a processor, the memory having stored therein a computer program that, when executed by the processor, causes the processor to perform the steps of the electrical distribution room measurement method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a power distribution room measurement method according to any one of claims 1 to 7.
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