CN114491770A - House inclination detection and calculation method based on three-dimensional laser scanning point cloud - Google Patents
House inclination detection and calculation method based on three-dimensional laser scanning point cloud Download PDFInfo
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Abstract
The invention provides a house inclination detection and calculation method based on three-dimensional laser scanning point cloud, which comprises the steps of carrying out panoramic scanning on a target house based on a three-dimensional laser point cloud data system carried by scanning equipment to obtain house point cloud data; importing the house point cloud data into CAD software to obtain projection points of each measuring point of the target house on the ground and ground corner points of the target measuring points in a three-dimensional coordinate system; and calculating the obtained projection points and the ground corner points to obtain the vertex offset of the target house in each direction. The method has the advantages that the method has wide scanning angle, is not limited by measuring environment, completely obtains three-dimensional data of the house, and meets the requirement of the inclination precision during house safety evaluation.
Description
Technical Field
The invention relates to the technical field of house detection, in particular to a house inclination detection and calculation method based on three-dimensional laser scanning point cloud.
Background
The traditional house inclination detection method generally uses a total station or a theodolite, the total station or the theodolite is erected at a far position of an external corner position of a house, which needs to detect inclination, a reference vertical line is led from the top of the house by means of a reference cross wire of the total station, the edge distance between the vertical line and the external corner of the house is observed at the far position, or the offset of the top of the house is measured by converting the rotation angle and the distance of the total station, the height difference between an upper vertex and a lower base point is measured respectively, and the inclined beam of the house is obtained by calculation.
However, when the existing traditional house inclination detection method generally uses a total station or a theodolite to detect by adopting a casting point method or a small angle method, no matter which method is adopted, good through-view conditions are required to detect, so that the existing house inclination detection method is difficult to realize in some old districts or sheltered houses and some high-rise buildings; meanwhile, in the traditional house inclination detection method, instruments need to be erected, each measuring point needs to be measured for multiple times, all data can be obtained, and the factors of long time consumption and large data deviation exist.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a house inclination detection and calculation method based on three-dimensional laser scanning point cloud, which solves the problems in the background art by introducing the house point cloud data after three-dimensional laser scanning and splicing into CAD software, rapidly measuring the distance between a projection point and a ground corner point in each direction by using the distance measurement function of the CAD software to obtain the vertex offset, and dividing the vertex offset in each direction by the height difference to obtain the inclination of each direction of the house corner point.
In order to achieve the purpose, the invention is realized by the following technical scheme: the house inclination detection and calculation method based on the three-dimensional laser scanning point cloud comprises the following steps:
the method comprises the following steps that firstly, panoramic scanning is carried out on a target house based on a three-dimensional laser point cloud data system carried by scanning equipment to obtain house point cloud data;
secondly, importing the house point cloud data into CAD software, and establishing an orthogonal line method based on the CAD software to obtain projection points of each measuring point of a target house on the ground and ground corner points of the target measuring points in a three-dimensional coordinate system, wherein the ground corner points comprise upper corner points and lower corner points;
thirdly, calculating the distances of the obtained projection points and the ground angular points in all directions to obtain the vertex offset of the target house in all directions;
fourthly, respectively obtaining the vertical coordinate difference value of the upper angular point and the lower angular point of the target house to obtain the height difference of the upper angular point relative to the lower angular point;
fifthly, dividing the height difference of the upper angular point relative to the lower angular point by the acquired vertex offset of the target house in each direction to obtain the inclination value of the target house in each direction, wherein if the inclination value is a positive value, the inclination direction of the target house is consistent with the established three-dimensional coordinate direction; on the contrary, the inclination direction of the target house is opposite to the direction of the established three-dimensional coordinate; a value of zero tilt indicates no tilt.
As an improvement of the method for detecting and calculating house inclination based on three-dimensional laser scanning point cloud in the present invention, in the first step, after house point cloud data is imported into CAD software, and before projection points of each measurement point of a target house on the ground and ground corner points of the target measurement points in a three-dimensional coordinate system are obtained, the method further includes setting a ratio of the house point cloud data obtained in the three-dimensional coordinate system to an actual target house to be 1: 1.
as an improvement of the house inclination detection and calculation method based on the three-dimensional laser scanning point cloud in the present invention, in the second step, a specific implementation manner of obtaining the projection points of each measuring point of the target house on the ground and the ground corner points of the target measuring points in the three-dimensional coordinate system based on the method of establishing orthogonal lines by CAD software is as follows:
s2-1, obtaining the actual position of each measuring point of a target house in a three-dimensional coordinate system at the target house according to the actual measurement data or drawing data, and calculating an upper angular point (X1, Y1, Z1) and a lower angular point (X2, Y2, Z2) of relative coordinates relative to a reference origin by taking the leftmost side, the frontmost side and the lowermost side of the target house as the reference origin;
s2-2, making two parallel horizontal planes in CAD software, so that an upper corner point and a lower corner point respectively fall in the two parallel horizontal planes, wherein the plane where the upper corner point falls is defined as an upper plane, the plane where the lower corner point falls is defined as a lower plane, and Z coordinates of all points in the upper plane are obtained and are marked as Z1; z coordinates of all points in the lower plane; are all marked as Z2;
and S2-3, based on the orthogonal straight line function of the CAD software, taking the angular point as a starting point, and making an orthogonal straight line in the Z direction of the vertical coordinate, wherein the intersection point of the orthogonal straight line and the Z plane of the vertical coordinate is the projection point of the angular point on the target house.
As an improvement of the method for detecting and calculating house inclination based on three-dimensional laser scanning point cloud in the present invention, in the third step, a specific implementation manner of obtaining vertex offsets of a target house in each direction is as follows:
based on CAD software, measuring the distance between a projection point and a lower corner point in the lower plane in the required orthogonal direction, wherein the calculation formula is as follows:
△x＝X1-X2；
△y＝Y1-Y2，
in the formula, Δ x and Δ y represent the amounts of peak displacement of the target house in each direction.
As an improvement of the method for detecting and calculating house inclination based on the three-dimensional laser scanning point cloud in the present invention, in the fourth step, after obtaining the vertical coordinate difference between the upper corner point and the lower corner point of the target house, the specific implementation manner of obtaining the height difference between the upper corner point and the lower corner point is as follows:
and Z is Z1-Z2, wherein Z is the height difference of the upper corner point relative to the lower corner point.
As an improvement of the method for detecting and calculating the inclination of the house based on the three-dimensional laser scanning point cloud in the present invention, in the fifth step, a specific implementation manner of obtaining the inclination values of the target house in each direction is as follows:
δx＝△x/△Z；
δ Y is Δ Y/Δz, where δ X represents the tilt rate of the target house in the X direction and δ Y represents the tilt rate of the target house in the Y direction.
As an improvement of the method for detecting and calculating the house inclination based on the three-dimensional laser scanning point cloud in the present invention, in the first step, the obtained house point cloud data at least includes corner point cloud data required to be detected by the house, and the scanning precision of the scanning device is greater than 1mm at the maximum scanning precision.
Compared with the prior art, the invention has the beneficial effects that:
1. the method comprises the steps of importing three-dimensional laser scanning spliced house point cloud data into CAD software, rapidly measuring the distance between a projection point and a ground corner point in each direction by utilizing the distance measuring function of the CAD software to obtain a vertex offset, dividing the height difference by the vertex offset in each direction to obtain the inclination of each direction of the house corner point, scanning the outline of a target house, and performing coordinate transformation on each laser scanning point, so that the method has the advantages of wide scanning angle, multi-angle scanning splicing, complete acquisition of three-dimensional data of the house, and meets the inclination precision requirement during house safety evaluation;
2. the invention can obtain the inclination value of any part of the house by utilizing the scanning result once, thereby being different from the prior art which has the advantages that when a user measures any part of the house, the inclination value of the part to be detected can be calculated as long as finding the upper corresponding point and the lower corresponding point, a plurality of applications are scanned once, and the measuring efficiency is improved.
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The disclosure of the present invention is illustrated with reference to the accompanying drawings. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the invention, in which like reference numerals are used to refer to like parts. Wherein:
fig. 1 is a flowchart illustrating an embodiment of a method for detecting and calculating a house tilt based on a three-dimensional laser scanning point cloud.
Detailed Description
It is easily understood that according to the technical solution of the present invention, a person skilled in the art can propose various alternative structures and implementation ways without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
As shown in fig. 1, the invention provides a house inclination detection and calculation method based on three-dimensional laser scanning point cloud, comprising the following steps:
the method comprises the steps that a target house is subjected to panoramic scanning based on a three-dimensional laser point cloud data system carried by scanning equipment to obtain house point cloud data, the three-dimensional laser point cloud data system is preferably a three-dimensional laser scanner, when the whole house point cloud data are scanned by the three-dimensional laser scanner, the obtained point cloud data at least contain corner point cloud data required to be detected by the house, the scanning precision of the point cloud data needs to be set to be more than 1mm, and when conditions are limited, a user needs to plan a survey station to ensure that all the point cloud data are obtained.
And secondly, importing the house point cloud data into CAD software to form coordinate data of each point of the house, taking house characteristic positions (generally, the leftmost side, the foremost side and the lowermost side of the house are selected) as reference original points, and setting the ratio of the house point cloud data acquired in the three-dimensional coordinate system to an actual target house to be 1 based on the CAD software after the house point cloud data is imported into the CAD software: the method comprises the steps of 1, ensuring that point cloud data in CAD software corresponds to the size of an actual target house, not carrying out scaling when in subsequent calculation and result extraction, and obtaining what you see is what you get, and finally, establishing an orthogonal line method based on the CAD software to obtain projection points of each measuring point of the target house on the ground in a three-dimensional coordinate system and ground angular points of the target measuring points, wherein the ground angular points comprise an upper angular point and a lower angular point.
Based on the technical concept, it should be noted that the specific implementation of the method for establishing orthogonal lines based on CAD software to obtain the projection points of each measuring point of the target house on the ground and the ground corner points of the target measuring points in the three-dimensional coordinate system is as follows:
s2-1, obtaining the actual position of each measuring point of a target house in a three-dimensional coordinate system at the target house according to the actual measurement data or drawing data, and calculating an upper angular point (X1, Y1, Z1) and a lower angular point (X2, Y2, Z2) of relative coordinates relative to a reference origin by taking the leftmost side, the frontmost side and the lowermost side of the target house as the reference origin; or the like, or, alternatively,
based on the function of 'inquiring point coordinates' of CAD software, points with coordinates (X1, Y1, Z1), (X2, Y2, Z2) are directly found out, namely upper corner points and lower corner points; or
Finding corresponding upper and lower corner points by using the function of copying an original point;
s2-2, making two parallel horizontal planes in CAD software, so that an upper corner point and a lower corner point respectively fall in the two parallel horizontal planes, wherein the plane where the upper corner point falls is defined as an upper plane, the plane where the lower corner point falls is defined as a lower plane, and Z coordinates of all points in the upper plane are obtained and are marked as Z1; z coordinates of all points in the lower plane; are all marked as Z2;
s2-3, based on the orthogonal straight line function of CAD software, taking the above corner point as the starting point, making an orthogonal straight line in the direction of the vertical coordinate Z, wherein the intersection point of the orthogonal straight line and the vertical coordinate Z plane is the projection point of the corner point on the target house;
based on the above technical concept, in a specific implementation, the "point creation" function of the CAD software may be used to create a point coordinate (X1, Y1, Z2), and then the point is a projection point.
Thirdly, calculating the distances of the obtained projection points and the ground corner points in all directions to obtain vertex offsets of the target house in all directions, wherein the specific implementation mode for obtaining the vertex offsets of the target house in all directions is as follows:
based on CAD software, measuring the distance between a projection point and a lower corner point in the lower plane in the required orthogonal direction, wherein the calculation formula is as follows:
△x＝X1-X2；
△y＝Y1-Y2，
in the formula, Δ x and Δ y represent the amounts of peak displacement of the target house in each direction.
And fourthly, respectively obtaining the difference values of the vertical coordinates of the upper angular point and the lower angular point of the target house, and obtaining the height difference of the upper angular point relative to the lower angular point, wherein it can be understood that after the difference values of the vertical coordinates of the upper angular point and the lower angular point of the target house are respectively obtained, the specific implementation mode of obtaining the height difference of the upper angular point relative to the lower angular point is as follows:
and Z is Z1-Z2, wherein Z is the height difference of the upper corner point relative to the lower corner point.
And fifthly, dividing the height difference of the upper angular point relative to the lower angular point according to the acquired vertex offset of the target house in each direction to obtain the inclination numerical value of the target house in each direction, wherein the specific calculation mode is as follows:
δx＝△x/△Z；
where δ Y is Δ Y/Δ Z, where δ X represents the tilt rate of the target house in the X direction and δ Y represents the tilt rate of the target house in the Y direction, it is understood that if the tilt value is a positive value, it means that the tilt direction of the target house coincides with the established three-dimensional coordinate direction; on the contrary, the inclination direction of the target house is opposite to the direction of the established three-dimensional coordinate; a value of zero tilt indicates no tilt.
As an embodiment of the invention, it can be understood that the invention obtains the inclination mode of each direction of the house corner points by introducing the house point cloud data after three-dimensional laser scanning splicing into the CAD software, rapidly measuring the distance between the projection point and the ground corner point in each direction by using the distance measuring function of the CAD software to obtain the vertex offset, dividing the height difference by the vertex offset in each direction, scanning the outline of the target house, and coordinating each laser scanning point, thereby having the advantages of wide scanning angle, multi-angle scanning splicing and complete obtaining of the three-dimensional data of the house, and meeting the inclination precision requirement when evaluating the house safety;
meanwhile, during specific measurement, monitoring can be achieved without setting monitoring points, the house is not damaged, the inclination variable quantity can be quickly compared by only finding corresponding upper and lower angular points according to the coordinate values of the last measured point and calculating the inclination value of the time according to the scanning result every time, therefore, all work is achieved in later data processing, monitoring points are not needed to be set on the site, and further the house is prevented from being damaged.
The technical scope of the present invention is not limited to the above description, and those skilled in the art can make various changes and modifications to the above-described embodiments without departing from the technical spirit of the present invention, and such changes and modifications should fall within the protective scope of the present invention.
Claims (7)
1. The house inclination detection and calculation method based on the three-dimensional laser scanning point cloud is characterized by comprising the following steps of: the method comprises the following steps:
the method comprises the following steps that firstly, panoramic scanning is carried out on a target house based on a three-dimensional laser point cloud data system carried by scanning equipment to obtain house point cloud data;
secondly, importing the house point cloud data into CAD software, and establishing an orthogonal line method based on the CAD software to obtain projection points of each measuring point of a target house on the ground and ground corner points of the target measuring points in a three-dimensional coordinate system, wherein the ground corner points comprise upper corner points and lower corner points;
thirdly, calculating the distances of the obtained projection points and the ground corner points in all directions to obtain the vertex offset of the target house in all directions;
fourthly, respectively obtaining the vertical coordinate difference value of the upper angular point and the lower angular point of the target house to obtain the height difference of the upper angular point relative to the lower angular point;
fifthly, dividing the height difference of the upper angular point relative to the lower angular point by the acquired vertex offset of the target house in each direction to obtain the inclination value of the target house in each direction, wherein if the inclination value is a positive value, the inclination direction of the target house is consistent with the established three-dimensional coordinate direction; on the contrary, the inclination direction of the target house is opposite to the direction of the established three-dimensional coordinate; a value of zero tilt indicates no tilt.
2. The house inclination detection and calculation method based on the three-dimensional laser scanning point cloud as claimed in claim 1, wherein: after the house point cloud data is imported into the CAD software, and before the projection points of each measuring point of the target house in the three-dimensional coordinate system on the ground and the ground corner points of the target measuring points are obtained, the method further comprises the following steps of setting the ratio of the house point cloud data obtained in the three-dimensional coordinate system to the actual target house to be 1 based on the CAD software: 1.
3. the house inclination detection and calculation method based on the three-dimensional laser scanning point cloud as claimed in claim 1, wherein: in the second step, the specific implementation mode of obtaining the projection point of each measuring point of the target house on the ground and the ground corner point of the target measuring point in the three-dimensional coordinate system based on the method of establishing the orthogonal line by the CAD software is as follows:
s2-1, obtaining the actual position of each measuring point of a target house in a three-dimensional coordinate system at the target house according to the actual measurement data or drawing data, and calculating an upper angular point (X1, Y1, Z1) and a lower angular point (X2, Y2, Z2) of relative coordinates relative to a reference origin by taking the leftmost side, the frontmost side and the lowermost side of the target house as the reference origin;
s2-2, making two parallel horizontal planes in CAD software, so that an upper corner point and a lower corner point respectively fall in the two parallel horizontal planes, wherein the plane where the upper corner point falls is defined as an upper plane, the plane where the lower corner point falls is defined as a lower plane, and Z coordinates of all points in the upper plane are obtained and are marked as Z1; z coordinates of all points in the lower plane; are all marked as Z2;
and S2-3, based on the orthogonal straight line function of the CAD software, taking the angular point as a starting point, and making an orthogonal straight line in the Z direction of the vertical coordinate, wherein the intersection point of the orthogonal straight line and the Z plane of the vertical coordinate is the projection point of the angular point on the target house.
4. The house inclination detection calculation method based on the three-dimensional laser scanning point cloud according to claim 1 or 3, characterized in that: in the third step, the specific implementation manner of obtaining the vertex offset of the target house in each direction is as follows:
based on CAD software, the distance in the orthogonal direction needed by the projection point and the lower corner point is measured in the lower plane, and the calculation formula is as follows:
△x＝X1-X2；
△y＝Y1-Y2，
in the formula, Δ X and Δ Y represent the amounts of peak displacement of the target house in the X and Y directions, respectively.
5. The house inclination detection and calculation method based on the three-dimensional laser scanning point cloud as claimed in claim 4, wherein: in the fourth step, after obtaining the difference between the vertical coordinates of the upper corner point and the lower corner point of the target house, the specific implementation manner of obtaining the height difference between the upper corner point and the lower corner point is as follows:
△Z＝Z1-Z2，
in the formula, Δ Z represents a height difference of an upper corner point with respect to a lower corner point.
6. The house inclination detection and calculation method based on the three-dimensional laser scanning point cloud as claimed in claim 5, wherein: in the fifth step, the specific implementation manner of obtaining the inclination values of the target house in each direction is as follows:
δx＝△x/△Z；
δy＝△y/△Z，
in the equation, δ X represents the tilt rate of the target house in the X direction, and δ Y represents the tilt rate of the target house in the Y direction.
7. The house inclination detection and calculation method based on the three-dimensional laser scanning point cloud as claimed in claim 1, wherein: in the first step, the obtained house point cloud data at least comprises corner point cloud data required to be detected by a house, and the scanning precision of the scanning equipment is that the maximum scanning precision is larger than 1 mm.
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