CN114119867A - Three-dimensional model construction method and device, electronic equipment and storage medium - Google Patents
Three-dimensional model construction method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a three-dimensional model construction method, a three-dimensional model construction device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicated with the surface of the target pipeline; acquiring first boundary point cloud data corresponding to a first boundary of a first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of a second three-dimensional point cloud model; determining a first contact ratio of the first boundary point cloud data and the second boundary point cloud data; judging whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused or not based on the first contact ratio; and under the condition that the fusion is determined to be successful, acquiring a three-dimensional integral model of the target pipeline and the target inspection well. According to the invention, the three-dimensional models of the pipeline and the inspection well are fused to obtain the integral models of the pipeline and the inspection well, so that the integral three-dimensional visualization of the pipeline and the inspection well is realized, and the accuracy of the detection and analysis of the pipeline in the later period is improved.
Description
Technical Field
The invention relates to the technical field of three-dimensional point cloud modeling, in particular to a three-dimensional model construction method and device, electronic equipment and a storage medium.
Background
The pipelines are generally divided into pipelines buried in the ground and inspection wells which are communicated with the pipelines and are set at regular intervals to facilitate periodic inspection.
In the prior art, when the pipeline is detected, the pipeline is only detected, the detection of the inspection well is ignored, or partial inspection well data under the pipeline view angle is directly acquired, so that the state of the inspection well is preliminarily judged.
Since the inspection well is also a part of the pipeline connection, and is closer to the ground and is more susceptible to damage caused by extrusion force, how to construct an overall model of the pipeline and the inspection well in the pipeline detection process so as to detect the pipeline based on the overall model of the pipeline and the inspection well is a challenge to be solved in the present industry.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a three-dimensional model construction method and device, electronic equipment and a storage medium.
In a first aspect, the present invention provides a method for constructing a three-dimensional model, including:
acquiring a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicated with the surface of the target pipeline;
acquiring first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, wherein the first boundary is a first intersection boundary of the target pipeline and the target inspection well, and the second boundary is a second intersection boundary of the target inspection well and the target pipeline;
determining a first degree of overlap of the first boundary point cloud data and the second boundary point cloud data;
judging whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully or not based on the first contact ratio;
and under the condition that the fusion is determined to be successful, acquiring a three-dimensional integral model of the target pipeline and the target inspection well.
Optionally, according to a three-dimensional model building method provided by the present invention, the obtaining a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target manhole arranged in communication with a surface of the target pipeline includes:
acquiring a target three-dimensional point cloud model of a first target based on a point cloud model acquisition method; wherein the target three-dimensional point cloud model is the first three-dimensional point cloud model if the first target is the target pipeline; in the case that the first target is the target inspection well, the target three-dimensional point cloud model is the second three-dimensional point cloud model;
the point cloud model obtaining method comprises the following steps:
scanning the first target by adopting a two-dimensional range radar based on a first scanning track to obtain a target two-dimensional point cloud sequence of the first target;
performing center fitting on the two-dimensional point cloud data corresponding to the target two-dimensional point cloud sequence, and determining the circle center of at least one circle formed by coordinate points corresponding to the two-dimensional point cloud data;
and sequentially overlapping the circle center of the at least one circle with the first scanning track based on the interval of two-dimensional distance measurement performed by the two-dimensional distance measuring radar, and determining a target three-dimensional point cloud model of the first target.
Optionally, according to a three-dimensional model building method provided by the present invention, the obtaining first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model includes:
acquiring target boundary point cloud data of a second target based on a point cloud model boundary point identification method; wherein the target boundary point cloud data is the first boundary point cloud data if the second target is the first boundary; in the case that the second target is the second boundary, the target boundary point cloud data is the second boundary point cloud data;
the method for identifying the boundary points of the point cloud model comprises the following steps:
connecting at least three pieces of two-dimensional point cloud data under the same scanning angle of the two-dimensional range radar to obtain a connecting curve;
calculating the curvature of the connecting curve, and determining the two-dimensional point cloud data corresponding to the position with the maximum curvature on the connecting curve as target two-dimensional boundary point cloud data;
and determining three-dimensional boundary point cloud data corresponding to the target two-dimensional boundary point cloud data as the target boundary point cloud data.
Optionally, according to the three-dimensional model building method provided by the present invention, the first three-dimensional point cloud data corresponding to the first three-dimensional point cloud model includes: third three-dimensional point cloud data of a communication position of the target pipeline and the target inspection well, wherein the third three-dimensional point cloud data is used for representing a boundary outline of the target inspection well at the communication position.
Optionally, according to the three-dimensional model building method provided by the present invention, the second three-dimensional point cloud data corresponding to the second three-dimensional point cloud model includes: fourth three-dimensional point cloud data of a junction of the target pipeline and the target manhole, wherein the fourth three-dimensional point cloud data is used for representing a boundary contour of the target pipeline at the junction.
Optionally, according to the three-dimensional model building method provided by the present invention, the determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused based on the first contact ratio includes at least one of the following:
the first contact ratio is greater than a first contact ratio threshold value;
the first coincidence degree is greater than the first coincidence degree threshold value, and the second coincidence degree of the third three-dimensional point cloud data and the second three-dimensional point cloud data is greater than the second coincidence degree threshold value;
the first coincidence degree is greater than the first coincidence degree threshold value, and the third coincidence degree of the fourth three-dimensional point cloud data and the first three-dimensional point cloud data is greater than a third coincidence degree threshold value;
the first coincidence degree is greater than the first coincidence degree threshold, the second coincidence degree is greater than the second coincidence degree threshold, and the third coincidence degree is greater than the third coincidence degree threshold.
In a second aspect, the present invention further provides a three-dimensional model building apparatus, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicated with the surface of the target pipeline;
a second obtaining module, configured to obtain first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, where the first boundary is a first intersection boundary of the target pipeline and the target inspection well, and the second boundary is a second intersection boundary of the target inspection well and the target pipeline;
a first determining module, configured to determine a first contact ratio of the first boundary point cloud data and the second boundary point cloud data;
the first judgment module is used for judging whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused or not based on the first contact ratio;
and the third acquisition module is used for acquiring a three-dimensional integral model of the target pipeline and the target inspection well under the condition that the fusion is determined to be successful.
In a third aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the three-dimensional model building method according to the first aspect when executing the program.
In a fourth aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the three-dimensional model construction method according to the first aspect.
In a fifth aspect, the present invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the three-dimensional model construction method according to any one of the above.
According to the three-dimensional model construction method, the device, the electronic equipment and the storage medium, the first boundary point cloud data of the first three-dimensional model of the target pipeline and the second boundary point cloud data of the second three-dimensional model of the target inspection well which are communicated with the target pipeline are determined, and the first boundary point cloud data and the second boundary point cloud data are fused, so that the data of the joint part of the target pipeline and the target inspection well can be determined under the condition that the fusion is determined successfully, the two parts can be further connected, the three-dimensional integral model of the target pipeline and the target inspection well is obtained, the integral three-dimensional visualization of the target pipeline and the target inspection well is realized, and the accuracy of detection and analysis of the pipeline in the later period is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for 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 some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a three-dimensional model construction method provided by the present invention;
FIG. 2 is a schematic view of the communication between the conduit and the manhole provided by the present invention;
FIG. 3 is a schematic representation of a three-dimensional model of an inspection well provided by the present invention;
FIG. 4 is a schematic view of the intersection boundary of the pipeline and the inspection well provided by the present invention;
FIG. 5 is a schematic diagram of a three-dimensional integral model of a pipeline and an inspection well provided by the invention;
FIG. 6 is a schematic structural diagram of a three-dimensional model building apparatus provided by the present invention;
fig. 7 illustrates a physical structure diagram of an electronic device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
The terms first, second and the like in the description and in the claims of the present invention are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The following describes a three-dimensional model construction method and apparatus provided by the present invention with reference to fig. 1 to 6.
Fig. 1 is a schematic flow chart of a three-dimensional model building method provided by the present invention, and as shown in fig. 1, the method includes the following steps:
and 140, acquiring a three-dimensional integral model of the target pipeline and the target inspection well under the condition that the fusion is determined to be successful.
Optionally, a first three-dimensional point cloud model of the target pipeline may be obtained.
Alternatively, the shape of the target pipe may be a square or a circle, etc., and the present invention is not particularly limited thereto. For convenience of description, the target pipe of the circular shape is described in the following.
Optionally, a two-dimensional point cloud data sequence of the target pipeline may be acquired based on a two-dimensional range radar, a three-dimensional point cloud data sequence corresponding to the two-dimensional point cloud data sequence may be determined, and a three-dimensional point cloud model of the target pipeline may be constructed based on the three-dimensional point cloud data sequence.
Optionally, the pipeline robot can be controlled to run in the target pipeline, and two-dimensional ranging is carried out on the inner wall of the pipeline through a two-dimensional radar above the pipeline robot, so that a plurality of two-dimensional point cloud data are obtained.
Alternatively, three-dimensional point cloud data of the target pipeline may be acquired based on the three-dimensional laser scanner, and a three-dimensional point cloud model of the target pipeline may be constructed based on the acquired three-dimensional point cloud data.
Optionally, the target pipeline may be three-dimensionally modeled based on a preset three-dimensional modeling method, so as to obtain a three-dimensional point cloud model of the target pipeline.
Optionally, a second three-dimensional point cloud model of the target manhole disposed in communication with the surface of the target pipe may be acquired.
For example, fig. 2 is a schematic view of the communication between the pipeline and the inspection well provided by the present invention, and as shown in fig. 2, the inspection well communicated with the pipeline is arranged at regular intervals on the pipeline so as to periodically inspect the pipeline.
Alternatively, the shape of the target inspection well may be a square or a circle, etc., and the present invention is not particularly limited thereto.
Alternatively, the pipeline robot may be controlled to perform point cloud data acquisition on the target inspection well in the vertical direction, and a three-dimensional point cloud model of the target inspection well may be constructed based on the acquired point cloud data.
For example, fig. 3 is a schematic diagram of a three-dimensional model of an inspection well provided by the present invention, and as shown in fig. 3, the three-dimensional model of the inspection well is constructed based on point cloud data.
Optionally, the target inspection well may be three-dimensionally modeled based on a preset three-dimensional modeling method, and a three-dimensional point cloud model of the target inspection well is obtained.
Optionally, first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model may be obtained.
Alternatively, the first boundary may be a first intersection boundary of the target conduit with the target manhole.
Optionally, second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model may be obtained.
Optionally, the second boundary may be a second intersection boundary of the target manhole and the target pipe.
For example, fig. 4 is a schematic diagram of the intersection boundary of the pipeline and the inspection well provided by the present invention, and as shown in fig. 4, the intersection boundary of the inspection well and the pipeline is 4 line segments connected in sequence, wherein there are 2 highest points, and there may be a straight line where the lowest point is located, and there are several lowest points.
Optionally, a first degree of overlap of the first boundary point cloud data with the second boundary point cloud data may be determined.
For example, assuming that the first boundary and the second boundary respectively include 150 point cloud data, where 138 point cloud data coincide, it may be determined that the first coincidence degree of the first boundary point cloud data and the second boundary point cloud data is 138/150 ═ 0.92.
Alternatively, whether two point cloud data coincide may be determined based on a distance between coordinate points corresponding to the two point cloud data.
Alternatively, in the case that the distance between the coordinate points corresponding to the two point cloud data is smaller than a preset distance threshold, it may be determined that the two point cloud data coincide with each other.
Alternatively, the magnitude of the preset distance threshold may be determined based on the detection accuracy of the two-dimensional range radar.
Optionally, the size of the preset distance threshold may be arbitrarily set according to specific requirements, which is not specifically limited in the present invention.
For example, the preset distance threshold may be set to 10-5Mm or 10-3Micron, etc.
Optionally, whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully or not may be determined based on the first contact ratio.
Optionally, in the case that the first coincidence degree is greater than a preset coincidence degree threshold value, it may be determined that the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.
Alternatively, the preset contact ratio threshold may be set arbitrarily according to specific requirements, and the present invention is not limited to this specifically.
For example, the preset overlap ratio threshold may be set to 0.9, or 0.95, or 0.98, etc.
Optionally, in the event that fusion is determined to be successful, a three-dimensional integral model of the target pipeline and the target manhole may be obtained.
For example, fig. 5 is a schematic diagram of a three-dimensional integral model of a pipeline and an inspection well provided by the present invention, and as shown in fig. 5, the three-dimensional integral model of the pipeline and the inspection well is constructed by fusing the three-dimensional model of the pipeline and the three-dimensional model of the inspection well communicated with the pipeline.
In order to overcome the defect that the detection result is inaccurate because only the pipeline is detected and the detection of the inspection well is ignored in the existing pipeline detection process, the data of the joint part of the target pipeline and the target inspection well can be determined by fusing the boundary point cloud data of the target pipeline and the boundary point cloud data of the target inspection well under the condition of determining the successful fusion, and then the two parts can be connected, so that a three-dimensional integral model of the target pipeline and the target inspection well is constructed, the integral three-dimensional visualization of the target pipeline and the target inspection well is realized, and the accuracy of the detection and analysis of the pipeline in the later period is improved.
According to the three-dimensional model construction method provided by the invention, the data of the joint part of the target pipeline and the target inspection well can be determined under the condition that the fusion is successful by determining the first boundary point cloud data of the first three-dimensional model of the target pipeline and the second boundary point cloud data of the second three-dimensional model of the target inspection well communicated with the target pipeline and fusing the first boundary point cloud data and the second boundary point cloud data, so that the two parts can be jointed to obtain the three-dimensional integral models of the target pipeline and the target inspection well, the integral three-dimensional visualization of the target pipeline and the target inspection well is realized, and the accuracy of detection and analysis of the pipeline in the later period is improved.
Optionally, the acquiring a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicated with the surface of the target pipeline includes:
acquiring a target three-dimensional point cloud model of a first target based on a point cloud model acquisition method; wherein the target three-dimensional point cloud model is the first three-dimensional point cloud model if the first target is the target pipeline; in the case that the first target is the target inspection well, the target three-dimensional point cloud model is the second three-dimensional point cloud model;
the point cloud model obtaining method comprises the following steps:
scanning the first target by adopting a two-dimensional range radar based on a first scanning track to obtain a target two-dimensional point cloud sequence of the first target;
performing center fitting on the two-dimensional point cloud data corresponding to the target two-dimensional point cloud sequence, and determining the circle center of at least one circle formed by coordinate points corresponding to the two-dimensional point cloud data;
and sequentially overlapping the circle center of the at least one circle with the first scanning track based on the interval of two-dimensional distance measurement performed by the two-dimensional distance measuring radar, and determining a target three-dimensional point cloud model of the first target.
Alternatively, a target three-dimensional point cloud model of the first target may be acquired based on a point cloud model acquisition method.
Alternatively, where the first target is a target pipeline, the target three-dimensional point cloud model may be the first three-dimensional point cloud model.
Alternatively, where the first target is a target manhole, the target three-dimensional point cloud model may be a second three-dimensional point cloud model.
Optionally, the point cloud model obtaining method may include the following steps:
(1) scanning a first target by adopting a two-dimensional range radar based on the first scanning track to obtain a target two-dimensional point cloud sequence of the first target;
for example, a two-dimensional range radar may be used to scan an inner wall of the target pipeline based on the first scanning trajectory to obtain a first two-dimensional point cloud sequence of the target pipeline.
For example, a second two-dimensional point cloud sequence of the target inspection well can be acquired by scanning the inner wall of the target inspection well communicated with the target pipeline by using a two-dimensional range radar based on the first scanning track.
(2) The center fitting can be performed on the two-dimensional point cloud data corresponding to the target two-dimensional point cloud sequence, and the center of at least one circle formed by coordinate points corresponding to the two-dimensional point cloud data is determined.
For example, center fitting may be performed on the two-dimensional point cloud data corresponding to the first two-dimensional point cloud sequence, and a center of at least one circle formed by coordinate points corresponding to the two-dimensional point cloud data may be determined.
For example, center fitting may be performed on the two-dimensional point cloud data corresponding to the second two-dimensional point cloud sequence, and a center of at least one circle formed by coordinate points corresponding to the two-dimensional point cloud data may be determined.
(3) And determining a target three-dimensional point cloud model of the first target by sequentially overlapping the circle center of the at least one circle and the first scanning track at intervals of two-dimensional distance measurement based on a two-dimensional distance measurement radar.
Alternatively, the interval at which the two-dimensional ranging radar performs two-dimensional ranging may be determined based on the detection accuracy of the two-dimensional ranging radar.
For example, when the interval between two-dimensional ranging performed by the two-dimensional ranging radar is 2 millimeters, the acquired circle centers may be sequentially overlapped with the first scanning track every 2 millimeters, so as to acquire the target three-dimensional point cloud model of the first target.
According to the three-dimensional model construction method provided by the invention, data acquisition is carried out on the target pipeline or the target inspection well through the two-dimensional ranging radar, and the construction of the three-dimensional model of the target pipeline or the target inspection well is realized based on the acquired two-dimensional point cloud sequence and the scanning track of the two-dimensional ranging radar.
Optionally, the acquiring first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model includes:
acquiring target boundary point cloud data of a second target based on a point cloud model boundary point identification method; wherein the target boundary point cloud data is the first boundary point cloud data if the second target is the first boundary; in the case that the second target is the second boundary, the target boundary point cloud data is the second boundary point cloud data;
the method for identifying the boundary points of the point cloud model comprises the following steps:
connecting at least three pieces of two-dimensional point cloud data under the same scanning angle of the two-dimensional range radar to obtain a connecting curve;
calculating the curvature of the connecting curve, and determining the two-dimensional point cloud data corresponding to the position with the maximum curvature on the connecting curve as target two-dimensional boundary point cloud data;
and determining three-dimensional boundary point cloud data corresponding to the target two-dimensional boundary point cloud data as the target boundary point cloud data.
Alternatively, the target boundary point cloud data of the second target may be acquired based on a point cloud model boundary point identification method.
For example, first boundary point cloud data of a first boundary corresponding to the three-dimensional model of the target pipeline may be acquired based on a point cloud model boundary point identification method.
For example, second boundary point cloud data of a second boundary corresponding to the three-dimensional model of the target inspection well can be acquired based on a point cloud model boundary point identification method.
Alternatively, where the second target is a first boundary, the target boundary point cloud data may be first boundary point cloud data.
Alternatively, the target boundary point cloud data may be second boundary point cloud data where the second target is a second boundary.
Optionally, the point cloud model boundary point identification method may include the following steps:
(1) at least three pieces of two-dimensional point cloud data under the same scanning angle of the two-dimensional range radar can be connected to obtain a connection curve;
(2) the curvature of the connecting curve can be calculated, and the two-dimensional point cloud data corresponding to the position with the maximum curvature on the connecting curve is determined as target two-dimensional boundary point cloud data;
(3) the three-dimensional boundary point cloud data corresponding to the target two-dimensional boundary point cloud data can be determined as target boundary point cloud data.
According to the three-dimensional model construction method provided by the invention, the boundary points of the three-dimensional point cloud model are identified through the curvature, so that the subsequent fusion of the boundary point data of the target pipeline and the target inspection well is facilitated, and further the three-dimensional integral model of the target pipeline and the target inspection well is obtained.
Optionally, the first three-dimensional point cloud data corresponding to the first three-dimensional point cloud model includes: third three-dimensional point cloud data of a communication position of the target pipeline and the target inspection well, wherein the third three-dimensional point cloud data is used for representing a boundary outline of the target inspection well at the communication position.
Optionally, the first three-dimensional point cloud data corresponding to the first three-dimensional point cloud model may include: and third three-dimensional point cloud data of the communication part of the target pipeline and the target inspection well.
Optionally, the third three-dimensional point cloud data can be used to characterize a boundary profile of the target manhole at the junction.
Optionally, the second three-dimensional point cloud data corresponding to the second three-dimensional point cloud model includes: fourth three-dimensional point cloud data of a junction of the target pipeline and the target manhole, wherein the fourth three-dimensional point cloud data is used for representing a boundary contour of the target pipeline at the junction.
Optionally, the second three-dimensional point cloud data corresponding to the second three-dimensional point cloud model may include: and fourth three-dimensional point cloud data of the communication part of the target pipeline and the target inspection well.
Optionally, the fourth three-dimensional point cloud data may be used to characterize a boundary contour of the target pipeline at the junction.
Optionally, the determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully based on the first contact ratio includes at least one of:
the first contact ratio is greater than a first contact ratio threshold value;
the first coincidence degree is greater than the first coincidence degree threshold value, and the second coincidence degree of the third three-dimensional point cloud data and the second three-dimensional point cloud data is greater than the second coincidence degree threshold value;
the first coincidence degree is greater than the first coincidence degree threshold value, and the third coincidence degree of the fourth three-dimensional point cloud data and the first three-dimensional point cloud data is greater than a third coincidence degree threshold value;
the first coincidence degree is greater than the first coincidence degree threshold, the second coincidence degree is greater than the second coincidence degree threshold, and the third coincidence degree is greater than the third coincidence degree threshold.
Optionally, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully based on the first contact ratio may include: the first degree of overlap is greater than a first degree of overlap threshold.
For example, in a case that the third three-dimensional point cloud data is not included in the first three-dimensional point cloud data and the fourth three-dimensional point cloud data is not included in the second three-dimensional point cloud data, the first coincidence degree is greater than the first coincidence degree threshold, and it may be determined that the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.
Optionally, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully based on the first contact ratio may include: the first coincidence degree is greater than a first coincidence degree threshold value, and the second coincidence degree of the third three-dimensional point cloud data and the second three-dimensional point cloud data is greater than a second coincidence degree threshold value.
For example, in a case that the first three-dimensional point cloud data includes third three-dimensional point cloud data and the second three-dimensional point cloud data does not include fourth three-dimensional point cloud data, the first coincidence degree is greater than a first coincidence degree threshold, and the second coincidence degree of the third three-dimensional point cloud data and the second three-dimensional point cloud data is greater than a second coincidence degree threshold, it may be determined that the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.
Optionally, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully based on the first contact ratio may include: the first coincidence degree is greater than a first coincidence degree threshold value, and the third coincidence degree of the fourth three-dimensional point cloud data and the first three-dimensional point cloud data is greater than a third coincidence degree threshold value.
For example, when the third three-dimensional point cloud data is not included in the first three-dimensional point cloud data and the fourth three-dimensional point cloud data is included in the second three-dimensional point cloud data, the first coincidence degree is greater than a first coincidence degree threshold, and the third coincidence degree of the fourth three-dimensional point cloud data and the first three-dimensional point cloud data is greater than a third coincidence degree threshold, it may be determined that the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.
Optionally, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully based on the first contact ratio may include: the first coincidence degree is greater than a first coincidence degree threshold, the second coincidence degree is greater than a second coincidence degree threshold, and the third coincidence degree is greater than a third coincidence degree threshold.
For example, in the case that the first three-dimensional point cloud data includes third three-dimensional point cloud data, and the second three-dimensional point cloud data includes fourth three-dimensional point cloud data, the first coincidence degree is greater than the first coincidence degree threshold, the second coincidence degree is greater than the second coincidence degree threshold, and the third coincidence degree is greater than the third coincidence degree threshold, it may be determined that the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.
According to the three-dimensional model construction method provided by the invention, the data of the joint part of the target pipeline and the target inspection well can be determined under the condition that the fusion is successful by determining the first boundary point cloud data of the first three-dimensional model of the target pipeline and the second boundary point cloud data of the second three-dimensional model of the target inspection well communicated with the target pipeline and fusing the first boundary point cloud data and the second boundary point cloud data, so that the two parts can be jointed to obtain the three-dimensional integral models of the target pipeline and the target inspection well, the integral three-dimensional visualization of the target pipeline and the target inspection well is realized, and the accuracy of detection and analysis of the pipeline in the later period is improved.
The following describes the three-dimensional model building apparatus provided by the present invention, and the three-dimensional model building apparatus described below and the three-dimensional model building method described above may be referred to in correspondence with each other.
Fig. 6 is a schematic structural diagram of a three-dimensional model building apparatus provided in the present invention, and as shown in fig. 6, the apparatus includes: a first obtaining module 610, a second obtaining module 620, a first determining module 630, a first judging module 640 and a third obtaining module 650; wherein:
the first acquisition module 610 is used for acquiring a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicated with the surface of the target pipeline;
the second obtaining module 620 is configured to obtain first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model, and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, where the first boundary is a first intersection boundary of the target pipeline and the target manhole, and the second boundary is a second intersection boundary of the target manhole and the target pipeline;
the first determining module 630 is configured to determine a first contact ratio of the first boundary point cloud data and the second boundary point cloud data;
the first judging module 640 is configured to judge whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused based on the first contact ratio;
the third obtaining module 650 is configured to obtain a three-dimensional integral model of the target pipeline and the target inspection well if it is determined that the fusion is successful.
According to the three-dimensional model building device provided by the invention, the data of the joint part of the target pipeline and the target inspection well can be determined under the condition that the fusion is successful by determining the first boundary point cloud data of the first three-dimensional model of the target pipeline and the second boundary point cloud data of the second three-dimensional model of the target inspection well communicated with the target pipeline and fusing the first boundary point cloud data and the second boundary point cloud data, so that the two parts can be jointed to obtain the three-dimensional integral models of the target pipeline and the target inspection well, the integral three-dimensional visualization of the target pipeline and the target inspection well is realized, and the accuracy of detection and analysis of the pipeline in the later period is improved.
Fig. 7 illustrates a physical structure diagram of an electronic device, and as shown in fig. 7, the electronic device may include: a processor (processor)710, a communication Interface (Communications Interface)720, a memory (memory)730, and a communication bus 740, wherein the processor 710, the communication Interface 720, and the memory 730 communicate with each other via the communication bus 740. Processor 710 may call logic instructions in memory 730 to perform the three-dimensional model building method provided by the above methods, the method comprising:
acquiring a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicated with the surface of the target pipeline;
acquiring first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, wherein the first boundary is a first intersection boundary of the target pipeline and the target inspection well, and the second boundary is a second intersection boundary of the target inspection well and the target pipeline;
determining a first degree of overlap of the first boundary point cloud data and the second boundary point cloud data;
judging whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully or not based on the first contact ratio;
and under the condition that the fusion is determined to be successful, acquiring a three-dimensional integral model of the target pipeline and the target inspection well.
In addition, the logic instructions in the memory 730 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. 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.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the three-dimensional model building method provided by the above methods, the method comprising:
acquiring a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicated with the surface of the target pipeline;
acquiring first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, wherein the first boundary is a first intersection boundary of the target pipeline and the target inspection well, and the second boundary is a second intersection boundary of the target inspection well and the target pipeline;
determining a first degree of overlap of the first boundary point cloud data and the second boundary point cloud data;
judging whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully or not based on the first contact ratio;
and under the condition that the fusion is determined to be successful, acquiring a three-dimensional integral model of the target pipeline and the target inspection well.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the three-dimensional model building method provided above, the method comprising:
acquiring a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicated with the surface of the target pipeline;
acquiring first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, wherein the first boundary is a first intersection boundary of the target pipeline and the target inspection well, and the second boundary is a second intersection boundary of the target inspection well and the target pipeline;
determining a first degree of overlap of the first boundary point cloud data and the second boundary point cloud data;
judging whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully or not based on the first contact ratio;
and under the condition that the fusion is determined to be successful, acquiring a three-dimensional integral model of the target pipeline and the target inspection well.
The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; 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 method of constructing a three-dimensional model, comprising:
acquiring a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicated with the surface of the target pipeline;
acquiring first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, wherein the first boundary is a first intersection boundary of the target pipeline and the target inspection well, and the second boundary is a second intersection boundary of the target inspection well and the target pipeline;
determining a first degree of overlap of the first boundary point cloud data and the second boundary point cloud data;
judging whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully or not based on the first contact ratio;
and under the condition that the fusion is determined to be successful, acquiring a three-dimensional integral model of the target pipeline and the target inspection well.
2. The method of claim 1, wherein the obtaining a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target manhole disposed in communication with a surface of the target pipeline comprises:
acquiring a target three-dimensional point cloud model of a first target based on a point cloud model acquisition method; wherein the target three-dimensional point cloud model is the first three-dimensional point cloud model if the first target is the target pipeline; in the case that the first target is the target inspection well, the target three-dimensional point cloud model is the second three-dimensional point cloud model;
the point cloud model obtaining method comprises the following steps:
scanning the first target by adopting a two-dimensional range radar based on a first scanning track to obtain a target two-dimensional point cloud sequence of the first target;
performing center fitting on the two-dimensional point cloud data corresponding to the target two-dimensional point cloud sequence, and determining the circle center of at least one circle formed by coordinate points corresponding to the two-dimensional point cloud data;
and sequentially overlapping the circle center of the at least one circle with the first scanning track based on the interval of two-dimensional distance measurement performed by the two-dimensional distance measuring radar, and determining a target three-dimensional point cloud model of the first target.
3. The method for constructing a three-dimensional model according to claim 2, wherein the obtaining of the first boundary point cloud data corresponding to the first boundary of the first three-dimensional point cloud model and the second boundary point cloud data corresponding to the second boundary of the second three-dimensional point cloud model comprises:
acquiring target boundary point cloud data of a second target based on a point cloud model boundary point identification method; wherein the target boundary point cloud data is the first boundary point cloud data if the second target is the first boundary; in the case that the second target is the second boundary, the target boundary point cloud data is the second boundary point cloud data;
the method for identifying the boundary points of the point cloud model comprises the following steps:
connecting at least three pieces of two-dimensional point cloud data under the same scanning angle of the two-dimensional range radar to obtain a connecting curve;
calculating the curvature of the connecting curve, and determining the two-dimensional point cloud data corresponding to the position with the maximum curvature on the connecting curve as target two-dimensional boundary point cloud data;
and determining three-dimensional boundary point cloud data corresponding to the target two-dimensional boundary point cloud data as the target boundary point cloud data.
4. The method for constructing a three-dimensional model according to claim 1, wherein the first three-dimensional point cloud data corresponding to the first three-dimensional point cloud model comprises: third three-dimensional point cloud data of a communication position of the target pipeline and the target inspection well, wherein the third three-dimensional point cloud data is used for representing a boundary outline of the target inspection well at the communication position.
5. The method for constructing a three-dimensional model according to claim 4, wherein the second three-dimensional point cloud data corresponding to the second three-dimensional point cloud model comprises: fourth three-dimensional point cloud data of a junction of the target pipeline and the target manhole, wherein the fourth three-dimensional point cloud data is used for representing a boundary contour of the target pipeline at the junction.
6. The method for constructing a three-dimensional model according to claim 5, wherein the determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are fused successfully based on the first contact ratio comprises at least one of:
the first contact ratio is greater than a first contact ratio threshold value;
the first coincidence degree is greater than the first coincidence degree threshold value, and the second coincidence degree of the third three-dimensional point cloud data and the second three-dimensional point cloud data is greater than the second coincidence degree threshold value;
the first coincidence degree is greater than the first coincidence degree threshold value, and the third coincidence degree of the fourth three-dimensional point cloud data and the first three-dimensional point cloud data is greater than a third coincidence degree threshold value;
the first coincidence degree is greater than the first coincidence degree threshold, the second coincidence degree is greater than the second coincidence degree threshold, and the third coincidence degree is greater than the third coincidence degree threshold.
7. A three-dimensional model building apparatus, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicated with the surface of the target pipeline;
a second obtaining module, configured to obtain first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, where the first boundary is a first intersection boundary of the target pipeline and the target inspection well, and the second boundary is a second intersection boundary of the target inspection well and the target pipeline;
a first determining module, configured to determine a first contact ratio of the first boundary point cloud data and the second boundary point cloud data;
the first judgment module is used for judging whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused or not based on the first contact ratio;
and the third acquisition module is used for acquiring a three-dimensional integral model of the target pipeline and the target inspection well under the condition that the fusion is determined to be successful.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the three-dimensional model building method according to any one of claims 1 to 6 when executing the program.
9. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the three-dimensional model building method according to any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the three-dimensional model building method according to any one of claims 1 to 6 when executed by a processor.
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