CN113432572B - Complex structure optimal measuring point planning method based on three-dimensional scanning - Google Patents
Complex structure optimal measuring point planning method based on three-dimensional scanning Download PDFInfo
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The invention discloses a three-dimensional scanning-based optimal measuring point planning method for a complex structure, and belongs to the technical field of construction monitoring. In the invention, for various large buildings with complex characteristics, in the range of effective measuring points, an effective measuring point region set of the nth scanning is determined based on an effective scanning region scanned by a scanner for the nth scanning, then the scanned region is compared and integrated with an unscanned region, the xth scanning is carried out, and the corresponding effective measuring point set under the scanned region is repeatedly iterated by means of a computer programming language, so that an optimal measuring point path is determined, finally, the collected point cloud data is processed, and three-dimensional coordinates and fitting are extracted. The invention realizes the technical innovation of high precision, high efficiency, short scanning time and full automation of the three-dimensional laser scanner.
Description
Technical Field
The invention relates to the technical field of construction, in particular to a path optimization algorithm based on a three-dimensional laser scanning technology.
Background
Due to the rapid development of the economic society, various large and complex bridge structure forms are infinite, and a three-dimensional laser scanning method is often adopted for monitoring the construction deformation of the special-shaped cable-stayed bridge. The traditional three-dimensional scanning path planning work is usually finished by an operator according to personal experience, an estimated position is usually selected, then actual scanning is carried out, whether the current position meets the requirements or not is judged according to the scanning result, if not, the position needs to be continuously adjusted for rescanning, if so, the current measurement position is recorded, and iteration is carried out repeatedly until all data are obtained. The method has the advantages of multiple measurement times, inconvenience in inspection, large data volume, long time consumption, inconvenience in optimization of construction period and incapability of ensuring the working quality.
Disclosure of Invention
The invention aims to solve the problems and provides an optimal measuring point planning method based on three-dimensional scanning, which has the advantages of flexible detection, rapid positioning of measuring points and high inspection safety.
The technical scheme adopted by the invention is as follows: a three-dimensional scanning-based optimal measuring point planning method for a complex structure comprises the following steps:
the method comprises the following steps that firstly, a set of to-be-scanned measuring point areas is obtained based on a measured building, and the to-be-scanned measuring point areas are determined by the maximum distance measurement of a three-dimensional scanning device and a building projection area and are divided into a scanned area set and an unscanned area set;
step two, acquiring a set of horizontal projection areas of the detected building;
thirdly, according to the maximum distance measurement of the three-dimensional scanning device, taking the highest horizontal projection point of the building to be measured as the center of a circle, and taking the maximum distance measurement of the scanner and the highest elevation square variance of the building to be measured as the square of the radius to make a circle, and obtaining an area set of the measuring points of the area to be scanned (if the circle area set is contained in the horizontal projection area set of the building to be measured, it is indicated that the distance measurement of the instrument is not satisfied, and the scanner should be replaced);
acquiring the nth scanning position of the three-dimensional scanner, wherein N is a positive integer from 1 to N;
counting a coordinate set of effective measuring points of three-dimensional scanning based on the nth scanning position of the three-dimensional scanner;
step (ii) ofSixth, algorithms programmed using computer languages, specifically according to for (initial conditions; end conditions; increment rules) { specific content } commands, e.g. for (int i;)Is effective＝0；iIs effective≤NIs effective；iIs effective++){iIs effectiveThe scanned area corresponding to the measuring points in the set is satisfied with the maximum contact ratio of the building to be measured }, all effective measuring point coordinate sets are iterated to obtain an nth optimal coordinate set, and the nth optimal coordinate set is recorded;
seventhly, calculating an x-th measured point area set based on the N-th scanned area set and the non-scanned area of the measured building, wherein x is a positive integer from 1 to N (x is not equal to N);
step eight, based on the scanned area of the nth time optimal measuring point coordinate set and the x th time optimal measuring point coordinate set, if the contact ratio of the scanned area and the area to be scanned does not meet the specified requirement, repeating the step seven until the contact ratio reaches the standard;
step nine, judging the integral contact ratio of the scanned region set and the region set to be scanned, integrating by using a calculator language, and repeatedly performing iterative calculation to obtain i optimal coordinate sets under the condition of the highest integral contact ratio;
step ten, when the value i is the minimum value, integrating the optimal measuring point coordinate set corresponding to each three-dimensional scanner to finally obtain the optimal path of three-dimensional scanning.
In the implementation process, the optimal measuring point of the building to be scanned can be quickly analyzed through a computer programming program, the monitoring data of the building to be scanned can be accurately obtained without adjusting and calibrating the position of a scanner for multiple times, the problem of monitoring the oversize complex structure building is solved, the monitoring flexibility is obviously improved, the time consumption is greatly reduced, the measurement is obviously convenient, and the requirement of high-efficiency monitoring on a construction site is met.
The invention has the beneficial effects that:
1. the measuring speed is high, the precision is high, and the quality control of a construction site is favorably met;
2. compared with the original three-dimensional scanning monitoring method, the monitoring efficiency is greatly improved, the complicated steps of operators are reduced, and the scanning path is optimized;
3. the automatic scanning scheme with high precision and high efficiency of three-dimensional scanning is realized, the layout is optimized, and the reliability is greatly improved.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a three-dimensional simulation according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a three-dimensional simulation in a horizontal projection direction according to an embodiment of the present invention;
FIG. 4 is a diagram showing calculation of a measurement point arrangement area of the scanner according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1-4, the present embodiment is a deformation monitoring method for assembling a special-shaped steel-concrete cable-stayed bridge tower, wherein the special-shaped bridge tower is composed of two heart-shaped structures symmetrical to the center line of a main beam. The original point of the monitoring coordinate system is the junction of a horizontal plane and two adjacent side lines of the bridge tower, the X axis is a longitudinal bridge horizontal line, the Y axis is a transverse bridge horizontal line, and the scanner is arranged at one point in the plane.
Obtaining a to-be-scanned area set based on a bridge tower to be scanned, and aiming at the to-be-scanned area set, executing the following steps:
firstly, acquiring a set S of horizontal projection areas of a detected special-shaped bridge tower1；
1) The coordinates of four bases projected on the horizontal plane by the bridge tower are respectively (x)1,y1)，(x2,y2)，(x3,y3)，(x4,y4) The highest point coordinate of the bridge tower vertical to the horizontal plane is (x)i,yi)，(xi’,yi’)。
2) Bridge tower vertical projection area S1Namely four base coordinate surrounding areas.
Secondly, obtaining an area set S of the measuring points of the area to be scanned according to the maximum distance measurement of the three-dimensional scanning device2；
1) According to the sweepingMaximum distance measurement of 100 m, calculating S2Because the bridge tower is of a symmetrical structure about the central line of the main beam, the upper half part along the Y axis is taken firstly for discussion:
the space coordinate of the highest point of the bridge tower is (x)i，yi，zi)，(xi’，yi’，zi'). Because the scanner is arranged in the horizontal plane, namely the measuring point z is 0, (x) is firstly takeni，yi，zi) Is the object of study.
(x-xi)2+(y-yi)2+(0-zi)2≤1002
(x-xi)2+(y-yi)2≤10000-zi 2
2) Let the highest point be horizontal projection point (x)i,yi) As a circle center with a radius of
Drawing a circle to obtain a coordinate area set range S of the measuring point2。
Thirdly, a set S obtained according to the bridge tower to be measured1And S2Measuring out the intersection interval set S of the two setsi，SiNamely, the three-dimensional scanner planning measuring point range set is obtained;
1) calculating S1And S2Set of intersecting regions, continue with point (x)i，yi，zi) Is the object of study. Finding the point (x)3,y3)，(x4,y4) The straight line is as follows:
can obtain S1And S2The first part of the intersection region set meets the following conditions:
(y-yi)2≤10000-zi 2-(x-xi)2
will then be (x)i，yi，zi)，(xi’，yi’，zi') two points are taken as circle centers and the radius is
And (4) a circle. And two points with the positive x as the maximum value along the x axis in the horizontal projection are calculated and are respectively set as (x)a,ya)，(xa,yb) Then the straight line connecting the two points is:
x>xa
at this time, S can be obtained1And S2The second part of the intersection region set meets the following conditions:
(x-xi)2≤10000-zi 2-(y-yi)2
(x-xi′)2≤10000-zi′2-(y-yi′)2
x>xa
2) in the same way, the intersection region set of the other side of the symmetrical part can be obtained, and finally the whole intersection region set S is obtainediThereby determining the scanner disposition range.
The fourth step is thatiAcquiring an nth scanning area of the three-dimensional scanner within the range, wherein N is a positive integer from 1 to N;
fifthly, counting a coordinate set S effectively scanned at the moment based on the nth scanning position of the three-dimensional scannern；
Sixthly, all effective coordinate sets are processed by utilizing an algorithm based on Python language programmingIteration is carried out to obtain the coordinate set S of the optimal measuring point of the nth scanningn0Recording the coordinate set of the nth optimal measuring point;
seventhly, obtaining an x-th measuring point area set S based on all the optimal measuring point coordinate sets and the residual unscanned areas of the measured buildingxX is a positive integer from 1 to N (x is not equal to N);
eighthly, combining the scanned areas of the nth-time optimal measuring point coordinate set and the x-th-time optimal measuring point coordinate set, if the remaining unscanned areas are still not 0, namely the contact ratio of the scanned areas and the areas to be scanned does not reach the specified requirement, repeating the seventh step until the contact ratio reaches the standard;
ninthly, comprehensively judging the integral contact ratio of the scanned area set and the area set to be scanned again, integrating data, and repeatedly performing iterative calculation to obtain o optimal measuring point coordinate sets under the condition of the highest integral contact ratio;
and step ten, when the value o is the minimum value, integrating the optimal measuring point coordinate sets corresponding to the three-dimensional scanners again to finally obtain the measuring point positions corresponding to the optimal path of the three-dimensional scanning.
The method calculates the intersection area set of the vertical projection area of the bridge tower to be measured and the measuring point area of the area to be scanned, and the intersection area set is obtained by comprehensively considering the scanning angle of the special-shaped bridge tower and the maximum distance measurement of the scanner.
The invention optimizes the organization structure through computer programming language, integrates and compares the models which are scanned by the measuring points corresponding to each area to be scanned and contain parameters such as size, characteristics, space coordinates and the like, and obtains the optimal measuring point path by utilizing an optimized calculation model.
In order to enable the three-dimensional scanner to obtain more effective scanning areas as much as possible during one-time scanning, so that the scanning times are reduced, the scanning point path arrangement is not required to be optimized, and iterative calculation is carried out on the nth scanning area set in combination with computer programming, so that the scanning path of the scanner is further optimized. The optimal measuring point coordinate set is a set of measuring point areas corresponding to the most effective scanning areas in one scanning.
The coincidence requirement between the region to be scanned and the scanned region is determined by concrete practice: illustratively, for a common building or a more planar type of component, the overlap ratio should be up to 100%, for a large complex building to acquire features and its complex components, the overlap ratio should be allowed to adjust, as the case may be, but still up to 100% for a partially refined scan component.
The scanner carries out automatic scanning according to the measuring points which are distributed in the optimal path and obtained by calculation, can greatly reduce the technical requirements of operators and improve the working efficiency of monitoring sites, and realizes a novel three-dimensional scanning technology which integrates high intelligence, automation and high efficiency.
The embodiments of the present invention are described in detail with reference to the drawings and the specific embodiments, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made on the embodiments without departing from the spirit and scope of the inventive concept.
Claims (3)
1. A three-dimensional scanning-based optimal measuring point planning method for a complex structure is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps that firstly, a set of to-be-scanned measuring point areas is obtained based on a measured building, and the to-be-scanned measuring point areas are determined by the maximum distance measurement of a three-dimensional scanning device and the horizontal projection area of the building and are divided into a scanned area set and an unscanned area set;
step two, acquiring a set of horizontal projection areas of the detected building;
thirdly, according to the maximum distance measurement of the three-dimensional scanning device, taking the highest point horizontal projection point of the measured building as the center of a circle, and taking the maximum distance measurement of the scanner and the highest point elevation square difference of the measured building as the square of the radius as a circle, and obtaining an area set of the measuring points of the area to be scanned;
acquiring the nth scanning position of the three-dimensional scanner, wherein N is a positive integer from 1 to N;
counting a coordinate set of effective measuring points of three-dimensional scanning based on the nth scanning position of the three-dimensional scanner;
iteration is carried out on all effective measuring point coordinate sets by utilizing a computer language programming algorithm to obtain an nth optimal coordinate set, and the nth optimal coordinate set is recorded;
seventhly, calculating an x-th measured point area set based on the N-th scanned area set and the non-scanned area of the measured building, wherein x is a positive integer from 1 to N and is not equal to N;
step eight, based on the scanned area of the nth time optimal measuring point coordinate set and the x th time optimal measuring point coordinate set, if the contact ratio of the scanned area and the area to be scanned does not meet the specified requirement, repeating the step seven until the contact ratio reaches the standard;
step nine, judging the integral contact ratio of the scanned region set and the region set to be scanned, integrating by using a calculator language, and repeatedly performing iterative calculation to obtain i optimal coordinate sets under the condition of the highest integral contact ratio;
step ten, when the value i is the minimum value, integrating the optimal measuring point coordinate set corresponding to each three-dimensional scanner to finally obtain the optimal path of three-dimensional scanning.
2. The method for planning the optimal measuring points of the complex structure based on the three-dimensional scanning as claimed in claim 1, wherein: in the third step, if the area set is included in the horizontal projection area set of the building to be measured, it indicates that the instrument distance measurement does not meet the requirement, and the scanner should be replaced.
3. The method for planning the optimal measuring points of the complex structure based on the three-dimensional scanning as claimed in claim 1, wherein: in the sixth step, the algorithm specifically iterates all the effective measuring point coordinate sets according to the for (initial condition; end condition; increment rule) { specific content } command.
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