CN114283182A - Safe distance detection method and device - Google Patents

Abstract

The application discloses a safe distance detection method and device, wherein each element data of a scene to be detected is obtained, a scene data model composed of each element model is established based on each element data, a preset target equipment model is added into the scene data model, the safe distance between the target equipment model and each element model is calculated, and the safe distance is displayed. According to the technical scheme, the safety distance between the target equipment model and each element model is calculated in the scene data model through the scene data model which is formed by acquiring each element data of the scene to be measured, and compared with the prior art that the purpose of measuring the safety distance is achieved by shooting on site for many times, the safety distance is calculated through the data model, the efficiency of measuring the safety distance is improved, and the accuracy of measuring the safety distance is further improved.

Description

Safe distance detection method and device

Technical Field

The application relates to the field of distribution network planning, in particular to a safety distance detection method and device.

Background

With the development of social science and technology, people have more and more demands on electric energy, and in order to better manage electric equipment, a power distribution room becomes a necessary place related to electricity utilization of people.

The power distribution room can be influenced by different factors such as external environment, internal space and indoor electric wiring, and the indoor space size and the equipment arrangement mode of the power distribution room are greatly different. In order to meet the requirements of normal maintenance and protection of various electrical equipment in a power distribution room, the minimum distance (called safety distance) between the electrical equipment and peripheral equipment or the wall of the power distribution room is specified in relevant specifications, and a planner must master the distribution of the equipment in the power distribution room and the spatial position thereof in the process of planning the distribution network so as to ensure the safety distance in the planning and design of the distribution network.

The existing method is that a planning worker usually takes a picture of a power distribution room and judges whether the improvement of splicing cabinets or newly adding buses and the like can be met according to the picture. The method has low precision, the design performed by referring to the picture often does not conform to the field, the safety distance cannot be ensured, multiple measurement verification on the field is required, the efficiency is low, a lot of inconvenience is caused, and the problem that how to improve the efficiency of measuring the safety distance is concerned by people is solved.

Disclosure of Invention

In view of this, the present application provides a method and an apparatus for detecting a safe distance, which are used to improve the efficiency of measuring the safe distance.

In order to achieve the above object, the following solutions are proposed:

a safe distance detection method, comprising:

acquiring element data of a scene to be detected;

establishing a scene data model composed of element models based on the element data;

adding a preset target equipment model in a scene data model, and calculating the safety distance between the target equipment model and each element model;

and displaying the safe distance.

Optionally, the acquiring data of each element of the scene to be detected includes:

scanning to obtain an original panoramic point cloud of the scene to be detected;

clustering the original panoramic point clouds to obtain point clouds of all elements;

and modeling the clustered element point clouds to obtain element data corresponding to the element models of the scene to be detected.

Optionally, the clustering the original panoramic point cloud to obtain each element point cloud includes:

performing two-dimensional clustering on the original panoramic point cloud to obtain point clouds of all planes;

and carrying out three-dimensional clustering on the plane point clouds to obtain element point clouds.

Optionally, each element point cloud includes a wall surface, a ground surface, a top surface, and each device point cloud, and performing three-dimensional clustering on each plane point cloud to obtain each element point cloud, including:

merging different plane point clouds of which the spatial positions are within a preset range and normal vectors belong to one class according to the geometrical characteristics of the building, and segmenting a wall surface point cloud, a ground surface point cloud and a top surface point cloud;

and (4) carrying out three-dimensional clustering on the plane point clouds except the wall point cloud, the ground point cloud and the top surface point cloud, and segmenting each equipment point cloud.

Optionally, the establishing a scene data model composed of element models based on the element data includes:

calculating the angular point position of each element model based on the model data of the wall point cloud, the ground point cloud, the top surface point cloud and each equipment point cloud;

and connecting the angular points according to the spatial topological relation of the angular points to construct a scene data model consisting of a wall model, a ground model, a top model and equipment models.

Optionally, adding a target device model to the scene data model, and calculating a safety distance between the target device model and each element model, including:

placing the target device model in the scene data model;

calculating the actual distance between the target equipment model and each element model in the scene data model;

and if the actual distance meets a preset safe distance judgment rule, the actual distance belongs to a safe distance, and the safe distance judgment rule records the safe distance judgment standard of each element model in advance.

Optionally, after the calculating the actual distance between the target device model and each element model in the scene data model, the method further includes:

and if the actual distance does not accord with a preset safe distance judgment rule, adjusting the position of the target equipment model, and returning to the step of calculating the actual distance between the target equipment model and each element model in the scene data model until the target equipment model accords with the preset safe distance judgment rule.

Optionally, the calculating an actual distance between the target device model and each element model in the scene data model includes:

determining the coordinates of the center point of the target equipment model based on the coordinate system of the scene data model;

determining each direction vector of the target equipment model based on the coordinates of the center point of the target equipment model;

respectively constructing rays along vectors in all directions of the target equipment model;

selecting the point clouds of which the distances are smaller than a preset threshold value to fit into a plane corresponding to the element model;

calculating the distance between the ray and each plane to obtain at least one detection distance, and selecting the minimum value in the at least one detection distance to obtain a first target detection distance of the element model;

calculating the distance from the outer surface of the target equipment model in the ray direction to the center point of the target equipment model as a second target detection distance;

and subtracting the second target detection distance from the first target detection distance to obtain the actual distance between the target equipment model and the element model.

Optionally, the method further includes:

and if the point cloud with the distance less than the preset threshold value is not selected, selecting the plane of the element model closest to the direction vector ray to calculate the detection distance.

A safe distance detection device comprising:

the element data acquisition unit is used for acquiring each element data of a scene to be detected;

a scene data model establishing unit for establishing a scene data model composed of the element models based on the element data;

the safety distance calculation unit is used for adding a preset target equipment model in the scene data model and calculating the safety distance between the target equipment model and each element model;

and the display unit is used for displaying the safe distance.

According to the technical scheme, the safe distance detection method provided by the embodiment of the application calculates the safe distance between the target equipment model and each element model in the scene data model by acquiring the element data of the scene to be detected and forming the scene data model.

Drawings

Fig. 1 is a flowchart of a method for detecting a safe distance according to an embodiment of the present disclosure;

fig. 2 is a schematic view illustrating an inspection distance calculation according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of modeling provided by an embodiment of the present application;

fig. 4 is a flowchart of another safe distance detection method provided in the embodiment of the present application;

fig. 5 is a schematic structural diagram of a safe distance detection device according to an embodiment of the present disclosure;

fig. 6 is a block diagram of a hardware structure of a safe distance detection device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

Fig. 1 is a flowchart of a safe distance detection method provided in an embodiment of the present application, where the method may include the following steps:

and S100, acquiring each element data of the scene to be detected.

Specifically, each element data of a scene to be measured may be acquired by an electronic device having a scanning measurement function, where the scene to be measured may be a power distribution room, for example, acquiring each element data of the power distribution room by using a three-dimensional laser scanner.

And S200, establishing a scene data model composed of the element models based on the element data.

Specifically, each element model may be a three-dimensional model, the scene data model may be a three-dimensional model corresponding to the scene to be measured, and the three-dimensional model of the scene to be measured, which is composed of the three-dimensional models of the elements, may be established based on each element data.

And S300, adding a preset target equipment model in the scene data model, and calculating the safety distance between the target equipment model and each element model.

Specifically, the preset target device model may be a prefabricated device three-dimensional model, the prefabricated target device model may be added to the scene data model, and the safety distance between the target device model and each element model is calculated, for example, the target device model of the relevant device may be manufactured according to the sizes of devices such as switch cabinets, transformers, and automation terminals of different manufacturers and different applications, and may be stored in a 3D model file format of the obj standard.

And S400, displaying the safe distance.

Specifically, the safe distance may be displayed through a display device, for example, a computer screen, and the display mode may be a data mode or a ruler mode in the scene data model.

According to the technical scheme, the safe distance detection method provided by the embodiment of the application can calculate the safe distance between the target equipment model and each element model in the scene data model by acquiring the element data of the scene to be detected and forming the scene data model.

In some embodiments of the present application, in order to obtain the element data in the scene to be measured, which may have an electric shock hazard, in a safe and non-contact manner, the following steps of step S100 and obtaining each element data of the scene to be measured are described, and a specific process may include the following steps:

and step S110, scanning to obtain the original panoramic point cloud of the scene to be detected.

Specifically, the original panoramic point cloud may be a panoramic three-dimensional point cloud of a scene to be measured, such as a panoramic three-dimensional point cloud of a power distribution room, and the original panoramic point cloud of the scene to be measured may be obtained by scanning with a three-dimensional laser scanner.

And step S120, clustering the original panoramic point clouds to obtain point clouds of all elements.

Specifically, the clustering method may be a three-dimensional euclidean clustering method, and may be based on the building main body structure and the characteristic that each internal device mainly uses a plane as a basic structural surface, and perform clustering on the original panoramic point cloud to obtain each element point cloud.

Further, an artificial neural network can be adopted to classify the clustered different element point clouds, judge the type of equipment of each element point cloud and realize the classification of the equipment point clouds.

And S130, modeling the clustered element point clouds to obtain element data corresponding to the element models of the scene to be measured.

Specifically, as shown in fig. 2, the modeling may be performed on each element point cloud by using Revit modeling software (series software specially constructed for the building information model), and after modeling, element data corresponding to each element model may be obtained in the same spatial coordinate system, such as the length, width, height, and spacing of each element model.

In some embodiments of the present application, the process of clustering the original panoramic point clouds in step S120 to obtain point clouds of each element is introduced, and the specific process may include:

and S121, performing two-dimensional clustering on the original panoramic point cloud to obtain point clouds of all planes.

Specifically, the method can comprise the following steps:

down-sampling the original panoramic point clouds based on the uniform grids, and calculating a normal vector of each point cloud in the uniform grids to obtain a point cloud normal;

comparing angles between the point cloud normals by using a region growing algorithm to obtain a comparison result;

merging and clustering adjacent point clouds of which the comparison results meet the smoothness constraint condition to obtain at least one point set in the same plane;

and fitting the at least one point set by utilizing a RANSAC (RANdom SAmple Consensus) plane fitting algorithm to obtain a corresponding plane point cloud.

In some embodiments of the present application, in consideration of a situation that an edge position of an element model may have a poor clustering effect, the present scheme may further include the following steps:

determining the intersection line position of each plane point cloud;

extracting plane parameters of each plane point cloud based on the intersection line position;

and adjusting the RANSAC plane fitting algorithm by using the plane parameters and returning to the step of fitting the at least one point set by using the RANSAC plane fitting algorithm to obtain the corresponding plane point cloud.

The above is the process of two-dimensional clustering of the original panoramic point cloud.

And S122, performing three-dimensional clustering on the plane point clouds to obtain element point clouds.

Specifically, each element point cloud may include a wall surface, a ground surface, a top surface, and each device point cloud, and each plane point cloud may be subjected to three-dimensional clustering to obtain each element point cloud.

In some embodiments of the present application, introducing the process of performing three-dimensional clustering on the planar point clouds in step S122 to obtain the point clouds of the elements may specifically include the following steps:

step S1221, according to the geometric features of the building, different plane point clouds of which the spatial positions are within a preset range and normal vectors belong to one class are combined, and wall surface point clouds, ground surface point clouds and top surface point clouds are segmented.

Specifically, the geometric features of the building can be those of the wall surface, the ground surface and the top surface, different plane point clouds of which the spatial positions are close to and within a preset range and normal vectors belong to one type can be combined, and the wall surface point cloud, the ground surface point cloud and the top surface point cloud are segmented.

Step S1222, performing three-dimensional clustering on the plane point clouds except the wall point cloud, the ground point cloud, and the top point cloud, and segmenting each device point cloud.

Specifically, because the devices in the scene to be detected can be separated from each other in space and attached to the wall or the ground, after the wall, the ground and the top surface are removed, the device point clouds can be mutually independent in space, the device point clouds can be clustered and divided by using a three-dimensional space Euclidean clustering method, and the device point clouds can be segmented by performing three-dimensional clustering on plane point clouds except for the wall point cloud, the ground point cloud and the top surface point cloud.

In some embodiments of the present application, the process of establishing the scene data model composed of the element models based on the element data in step S200 is described, which may specifically include the following steps:

and step S210, calculating the positions of the corner points of each element model based on the model data of the wall point cloud, the ground point cloud, the top surface point cloud and each equipment point cloud.

Specifically, the angular points of the element models may be calculated according to a plane equation fitted to the point cloud in the model data, and the angular point positions of the element models may be calculated based on the model data of the wall point cloud, the ground point cloud, the top surface point cloud, and the device point clouds.

And S220, connecting the angular points according to the spatial topological relation of the angular points, and constructing a scene data model consisting of a wall model, a ground model, a top surface model and equipment models.

Specifically, the spatial topological relation can clearly reflect the logical structural relation between the entities, the position relation of one spatial entity relative to another spatial entity can be determined without using coordinates or distances, the angular points can be connected according to the spatial topological relation of the angular points, and a scene data model composed of a wall model, a ground model, a top surface model and equipment models is constructed.

In some embodiments of the present application, a process of adding a preset target device model to the scene data model and calculating a safe distance between the target device model and each element model in step S300 is described below, where the specific process may include the following steps:

step S310, the target device model is placed in the scene data model.

Specifically, each element model may be in the scene data model, and the target device model may be dragged and placed in the scene data model from a preset model library in the three-dimensional modeling software.

Step S320, calculating an actual distance between the target device model and each element model in the scene data model.

Specifically, the actual distances from the target device model to each element model in the surrounding scene data model in the front, back, left, and right directions may be calculated using the target device model as a reference point.

Step S330, if the actual distance meets a preset safe distance judgment rule, the actual distance belongs to a safe distance, and the safe distance judgment rule records the safe distance judgment standard of each element model in advance.

Specifically, the safety distance determination rule may pre-record a safety distance determination standard of each element model, and if the actual distance meets a preset safety distance determination rule, the actual distance belongs to the safety distance.

Examples are shown in table 1 below, where table 1 lists the corresponding conditions for the actual distances in the front, back, left, and right directions belonging to the safe distance when the target device model is put into the scene data model.

TABLE 1

In some embodiments of the present application, considering that there may be a case where the actual distance does not conform to the safety distance determination rule, the scheme may further include the following steps:

step S340, if the actual distance does not accord with the preset safe distance judgment rule, adjusting the position of the target equipment model, and returning to the step of calculating the actual distance between the target equipment model and each element model in the scene data model until the target equipment model accords with the preset safe distance judgment rule.

Specifically, when the actual distance does not meet the preset safe distance judgment rule, the position of the target equipment model can be adjusted according to the requirement, and the actual distance between the adjusted target equipment model and each element model in the scene data model is calculated until the target equipment model meets the preset safe distance judgment rule.

In some embodiments of the present application, the process of calculating the actual distance between the target device model and each element model in the scene data model in step S320 may specifically include the following steps:

step S321, determining coordinates of the center point of the target equipment model based on the coordinate system of the scene data model.

Specifically, the z-axis of the target device model may be consistent with the z-axis of the scene data model, and coordinates of the center point of the target device model in a coordinate system of the scene data model, such as the center point o (Xo, Yo, Zo), are obtained.

Step S322, determining each direction vector of the target equipment model based on the coordinates of the center point of the target equipment model.

In particular, the direction vector may be a forward direction n₁Backward direction n₂Left direction n₃And right direction n₄The direction vector of (2) may be determined by using an included angle between the coordinate of the central point and the positive direction of the x-axis, for example, the included angle is θ:

n₁＝{cosθ,sinθ,0}

n₂＝{-cosθ,-sinθ,0}

n₃＝{-sinθ,cosθ,0}

n₄＝{sinθ,-cosθ,0}

and step S323, respectively constructing rays along each direction vector of the target equipment model.

Specifically, the rays may be constructed along the front direction vectors respectively with the central point of the target device model as a starting point, for example, the rays may be constructed along the front, rear, left, and right direction vectors respectively with the central point o as a starting point.

And S324, selecting the point clouds of which the distances are smaller than a preset threshold value to fit into a plane corresponding to the element model.

Specifically, point clouds around the ray and within a preset threshold range may be searched, and a set of points corresponding to the point clouds within the preset threshold range may be fitted to a corresponding plane of the elemental model around the ray.

Step S325, calculating a distance between the ray and each plane to obtain at least one detection distance, and selecting a minimum value of the at least one detection distance to obtain a first target detection distance of the element model.

Specifically, the distance between the ray and each plane may be calculated to obtain at least one detection distance, and the minimum value of the at least one detection distance is selected to obtain the first target detection distance of the element model, for example, as shown in fig. 2, fig. 2 is a schematic diagram of the detection distance calculation, and an equation of a plane a perpendicular to the forward direction n1 and passing through the central point o (Xo, Yo, Zo) is constructed:

cos(X-X_o)+sinθ(Y-Y_o)＝0

calculating the ith (i is more than or equal to 1 and less than or equal to the total number of points) point (X) in the point cloud_i，Y_i) Distance d to plane a:

d＝cosθ*X_i+sinθ*Y_i-(cosθ*X_o+sinθ*Y_o)

obtaining d>0 in the preset range m, taking any point P in P_k(X_Pk，Y_Pk) Obtaining P by the following formula_kDistance to the forward ray S₁：

Take all S₁Points < m constitute a set of points Q, while Q is calculated_j(X_Qj，Y_Qj) First target detection distance S to o point₂

Step S326, calculating a distance from the outer surface of the target device model in the ray direction to the center point of the target device model as a second target detection distance.

Specifically, since the target device model is a preset model, the distance from the outer surface of the target device model in the ray direction to the center point of the target device model can be directly calculated according to the set data of the target device model to serve as the second target detection distance.

Step S327, subtracting the first target detection distance from the second target detection distance to obtain an actual distance between the target device model and the element model.

Specifically, the first target detection distance and the second target detection distance may be subtracted to obtain an actual distance between the target device model and the element model, for example, a point set R is used to fit a plane, and a front ray S is set₁First target detection distance S between intersection point of the virtual plane and the central point o₂If the second target detection distance from the center o of the target equipment model to the front surface of the target equipment model is a, the actual distance S from the detected front surface of the target equipment model to the point cloud of the element model closest to the front is set as₃Comprises the following steps:

S₃＝S₂-a

in the same way, the actual distances from the rear, left and right surfaces of the target equipment model to the rear, left and right nearest object point clouds can be deduced.

In some embodiments of the present application, in consideration of a situation that a point cloud with a distance less than a preset threshold may be selected, the method may further include the following steps:

and step S328, if the point cloud with the distance less than the preset threshold value is not selected, selecting the plane of the element model closest to the direction vector ray to calculate the detection distance.

Specifically, when the point cloud with the distance smaller than the preset threshold is not selected, the plane of the element model closest to the direction vector ray may be selected to calculate the detection distance.

In some embodiments of the present application, in order to facilitate understanding of the present solution, an application scenario of the present solution after the scene data model is obtained is provided in an embodiment of the present application, as shown in fig. 4:

and step S1, adding the target device.

And step S2, detecting the distance between the front and the back of the target device and the distance between the left and the right of the target device to obtain a detection result.

And step S3, judging whether the detection result meets the requirement of the safety distance rule.

And step S4, if yes, displaying that the target device is successfully added.

And step S5, if not, adjusting the position of the target equipment, returning to execute the step S2, and detecting the front distance, the rear distance, the left distance and the right distance of the target equipment to obtain a detection result.

The embodiment can conveniently and quickly determine the positions of various electrical equipment in the safe distance range in the real scene, and compared with the prior art that the safe distance is measured by taking pictures on site for many times, the efficiency of measuring the safe distance is improved, and the accuracy of measuring the safe distance is further improved.

The following describes the safety distance detection device provided in the embodiment of the present application, and the safety distance detection device described below and the safety distance detection method described above may be referred to correspondingly.

Fig. 5 is a schematic structural diagram of a safety distance detection device, which may include:

an element data obtaining unit 11, configured to obtain each element data of a scene to be detected;

a scene data model establishing unit 12 configured to establish a scene data model composed of the element models based on the element data;

a safe distance calculation unit 13, configured to add a preset target device model to the scene data model, and calculate a safe distance between the target device model and each element model;

and the display unit 14 is used for displaying the safe distance.

Optionally, the element data obtaining unit 11 may include:

the first element data acquisition subunit is used for scanning and acquiring an original panoramic point cloud of the scene to be detected;

the second element data acquisition subunit is used for clustering the original panoramic point cloud to obtain each element point cloud;

and the third element data acquisition subunit is used for modeling the clustered element point clouds to obtain element data corresponding to the element models of the scene to be detected.

Optionally, the second elemental data obtaining subunit may include:

the two-dimensional clustering unit is used for carrying out two-dimensional clustering on the original panoramic point cloud to obtain each plane point cloud;

and the three-dimensional clustering unit is used for carrying out three-dimensional clustering on the plane point clouds to obtain element point clouds.

Optionally, each element point cloud includes a wall surface, a ground surface, a top surface, and each device point cloud, and the three-dimensional clustering unit may include:

the building clustering unit is used for merging different plane point clouds of which the spatial positions are in a preset range and normal vectors belong to one class according to the geometric characteristics of the building, and segmenting a wall surface point cloud, a ground surface point cloud and a top surface point cloud;

and the equipment clustering unit is used for carrying out three-dimensional clustering on the plane point clouds except the wall point cloud, the ground point cloud and the top surface point cloud and segmenting each equipment point cloud.

Optionally, the scene data model building unit 12 may include:

the angular point calculation unit is used for calculating the angular point positions of the element models based on the model data of the wall point cloud, the ground point cloud, the top surface point cloud and the equipment point clouds;

and the model construction unit is used for connecting the angular points according to the spatial topological relation of the angular points and constructing a scene data model consisting of a wall model, a ground model, a top surface model and equipment models.

Optionally, the safe distance calculating unit 13 may include:

a model placing unit, configured to place the target device model in the scene data model;

the actual distance calculation unit is used for calculating the actual distance between the target equipment model and each element model in the scene data model;

and the safe distance determining unit is used for determining that the actual distance belongs to the safe distance when the actual distance accords with a preset safe distance judgment rule, and the safe distance judgment rule records the safe distance judgment standard of each element model in advance.

Optionally, the safety distance detecting apparatus may further include:

and the position adjusting unit is used for adjusting the position of the target equipment model after the actual distance calculating unit is executed and when the actual distance does not accord with a preset safe distance judgment rule, and returning to the step of executing the actual distance calculating unit until the target equipment model accords with the preset safe distance judgment rule.

Optionally, the actual distance calculating unit may include:

the central point determining unit is used for determining the coordinate of the central point of the target equipment model based on a coordinate system where the scene data model is located;

the direction vector determining unit is used for determining each direction vector of the target equipment model based on the coordinates of the center point of the target equipment model;

the ray construction unit is used for respectively constructing rays along each direction vector of the target equipment model;

the first plane selecting unit is used for selecting the point clouds of which the distances are smaller than a preset threshold value to fit into a plane corresponding to the element model;

the first target detection distance calculation unit is used for calculating the distance between the ray and each plane to obtain at least one detection distance, and selecting the minimum value in the at least one detection distance to obtain a first target detection distance of the element model;

a second target detection distance calculation unit, configured to calculate a distance from an outer surface of the target device model in the ray direction to a center point of the target device model as a second target detection distance;

and the distance subtraction unit is used for subtracting the first target detection distance from the second target detection distance to obtain the actual distance between the target equipment model and the element model.

Optionally, the safety distance detecting apparatus may further include:

and the second plane selection unit is used for selecting the plane of the element model closest to the direction vector ray to calculate the detection distance when the point cloud with the distance smaller than the preset threshold value is not selected.

The safe distance detection device provided by the embodiment of the application can be applied to safe distance detection equipment. The safe distance detection device may be a server. Fig. 6 is a block diagram showing a hardware configuration of the safety distance detecting apparatus, and referring to fig. 6, the hardware configuration of the safety distance detecting apparatus may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

in the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete mutual communication through the communication bus 4;

the processor 1 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement embodiments of the present invention, etc.;

the memory 3 may include a high-speed RAM memory, and may further include a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory;

wherein the memory stores a program and the processor can call the program stored in the memory, the program for:

acquiring element data of a scene to be detected;

establishing a scene data model composed of element models based on the element data;

adding a preset target equipment model in a scene data model, and calculating the safety distance between the target equipment model and each element model;

and displaying the safe distance.

Alternatively, the detailed function and the extended function of the program may be as described above.

Embodiments of the present application further provide a storage medium, where a program suitable for execution by a processor may be stored, where the program is configured to:

acquiring element data of a scene to be detected;

establishing a scene data model composed of element models based on the element data;

adding a preset target equipment model in a scene data model, and calculating the safety distance between the target equipment model and each element model;

and displaying the safe distance.

Alternatively, the detailed function and the extended function of the program may be as described above.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, the embodiments can be combined with each other, and the same and similar parts can be referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method for detecting a safe distance, comprising:

acquiring element data of a scene to be detected;

establishing a scene data model composed of element models based on the element data;

adding a preset target equipment model in a scene data model, and calculating the safety distance between the target equipment model and each element model;

and displaying the safe distance.

2. The method according to claim 1, wherein the acquiring data of each element of the scene to be measured comprises:

scanning to obtain an original panoramic point cloud of the scene to be detected;

clustering the original panoramic point clouds to obtain point clouds of all elements;

and modeling the clustered element point clouds to obtain element data corresponding to the element models of the scene to be detected.

3. The method of claim 2, wherein the clustering the original panoramic point cloud to obtain element point clouds comprises:

performing two-dimensional clustering on the original panoramic point cloud to obtain point clouds of all planes;

and carrying out three-dimensional clustering on the plane point clouds to obtain element point clouds.

4. The method of claim 3, wherein the element point clouds comprise wall surface, ground surface, top surface, equipment point clouds, and the three-dimensional clustering of the plane point clouds to obtain the element point clouds comprises:

merging different plane point clouds of which the spatial positions are within a preset range and normal vectors belong to one class according to the geometrical characteristics of the building, and segmenting a wall surface point cloud, a ground surface point cloud and a top surface point cloud;

and (4) carrying out three-dimensional clustering on the plane point clouds except the wall point cloud, the ground point cloud and the top surface point cloud, and segmenting each equipment point cloud.

5. The method according to claim 4, wherein the establishing a scene data model composed of element models based on the element data comprises:

calculating the angular point position of each element model based on the model data of the wall point cloud, the ground point cloud, the top surface point cloud and each equipment point cloud;

and connecting the angular points according to the spatial topological relation of the angular points to construct a scene data model consisting of a wall model, a ground model, a top model and equipment models.

6. The method of claim 1, wherein adding a target device model to the scene data model and calculating the safe distance between the target device model and each element model comprises:

placing the target device model in the scene data model;

calculating the actual distance between the target equipment model and each element model in the scene data model;

and if the actual distance meets a preset safe distance judgment rule, the actual distance belongs to a safe distance, and the safe distance judgment rule records the safe distance judgment standard of each element model in advance.

7. The method of claim 6, further comprising, after said calculating actual distances between the target device model and the respective element models in the scene data model:

and if the actual distance does not accord with a preset safe distance judgment rule, adjusting the position of the target equipment model, and returning to the step of calculating the actual distance between the target equipment model and each element model in the scene data model until the target equipment model accords with the preset safe distance judgment rule.

8. The method of claim 6, wherein calculating the actual distance between the target device model and each element model in the scene data model comprises:

determining the coordinates of the center point of the target equipment model based on the coordinate system of the scene data model;

determining each direction vector of the target equipment model based on the coordinates of the center point of the target equipment model;

respectively constructing rays along vectors in all directions of the target equipment model;

selecting the point clouds of which the distances are smaller than a preset threshold value to fit into a plane corresponding to the element model;

calculating the distance between the ray and each plane to obtain at least one detection distance, and selecting the minimum value in the at least one detection distance to obtain a first target detection distance of the element model;

calculating the distance from the outer surface of the target equipment model in the ray direction to the center point of the target equipment model as a second target detection distance;

and subtracting the second target detection distance from the first target detection distance to obtain the actual distance between the target equipment model and the element model.

9. The method of claim 8, further comprising:

and if the point cloud with the distance less than the preset threshold value is not selected, selecting the plane of the element model closest to the direction vector ray to calculate the detection distance.

10. A safe distance detection device, comprising:

the element data acquisition unit is used for acquiring each element data of a scene to be detected;

a scene data model establishing unit for establishing a scene data model composed of the element models based on the element data;

the safety distance calculation unit is used for adding a preset target equipment model in the scene data model and calculating the safety distance between the target equipment model and each element model;

and the display unit is used for displaying the safe distance.

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