CN114862956A - Scanning equipment mobile positioning method and system suitable for tunnel construction - Google Patents
Scanning equipment mobile positioning method and system suitable for tunnel construction Download PDFInfo
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Abstract
The invention provides a mobile positioning method and a mobile positioning system of scanning equipment suitable for tunnel construction, wherein the method comprises the following steps: acquiring a first information set of each artificial landmark within a maximum scanning range of the scanning equipment; analyzing the moving track through an INS processor to estimate coordinate parameters when the scanning equipment stops; calculating a refining SLAM resolving range of the scanning equipment after the scanning equipment stops moving; analyzing to obtain a second information set of the scanning equipment from the target resolving landmark based on the SLAM refining resolving range; calculating a three-dimensional coordinate movement variation set of the scanning equipment compared with the initial position; based on the positioning accuracy of the SLAM processor and the INS processor, the three-dimensional coordinate movement variation set estimated by the INS and the three-dimensional coordinate movement variation set calculated by the SLAM are subjected to weighted analysis calculation to obtain the positioning coordinate parameters of the scanning equipment after movement. By implementing the invention, the moving and positioning precision of the scanning equipment is improved.
Description
Technical Field
The invention relates to the technical field of engineering tunnel construction, in particular to a mobile positioning method and a mobile positioning system of scanning equipment, which are suitable for tunnel construction.
Background
Currently, with the informatization and digitization development of tunnel construction, the three-dimensional laser scanning technology is widely applied to tunnel engineering, for example, a three-dimensional laser scanning device based on a mobile platform can realize the functions of non-contact tunnel three-dimensional modeling, construction quantity estimation, deformation monitoring, super-short excavation analysis and the like, and has various advantages of high efficiency, high precision, automation and the like. Because tunnel engineering tunnel line length, thereby three-dimensional laser scanning equipment need advance in the tunnel and remove and realize the scanning to the hole room, and scanning equipment's removal location data and precision then directly influence the realization effect and the precision of its function. Therefore, the current tunnel construction has the practical problem of how to solve the high-precision mobile positioning of the three-dimensional laser scanning equipment or the vehicle.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defect that the practical problem of high precision mobile positioning of the three-dimensional laser scanning device or the vehicle is difficult to solve in the prior art, so as to provide a mobile positioning method and a mobile positioning system of the scanning device suitable for tunnel construction.
The technical scheme provided by the invention is as follows:
in a first aspect, an embodiment of the present invention provides a mobile positioning method for scanning equipment suitable for tunnel construction, where the scanning equipment is configured with a SLAM processor and an INS processor, and the mobile positioning method for scanning equipment suitable for tunnel construction includes:
measuring coordinate parameters of an initial moving position of scanning equipment, scanning environmental characteristics of the initial position, and acquiring a first information set of the scanning equipment from each artificial landmark within the maximum scanning range of the scanning equipment, wherein the first information set is used for SLAM calculation;
acquiring a moving track of the scanning equipment in the advancing process, and analyzing the moving track through an INS (inertial navigation system) processor to estimate a coordinate parameter when the scanning equipment stops;
when the scanning equipment stops moving, acquiring the environmental characteristics of the current position of the scanning equipment, and calculating the refined SLAM resolving range of the scanning equipment according to the estimated stopping coordinate parameters of the scanning equipment and the environmental characteristics of the current position of the scanning equipment;
analyzing to obtain a second information set of the scanning equipment from a target resolving landmark based on the refining SLAM resolving range, wherein the second information set is used for SLAM resolving, and the target resolving landmark is an artificial landmark in the effective mobile scanning overlapping area range of the scanning equipment;
calculating a three-dimensional coordinate movement variation set of the scanning equipment from an initial position by using an SLAM processor according to the first information set, the second information set and the coordinate parameters of the target resolving landmark;
based on the positioning accuracy of the SLAM processor and the INS processor, the three-dimensional coordinate movement variation set estimated by the INS and the three-dimensional coordinate movement variation set calculated by the SLAM are subjected to weighted analysis calculation to obtain the positioning coordinate parameters of the scanning equipment after movement.
Optionally, the obtaining a moving track of the scanning device during the moving process, and analyzing the moving track by using the INS processor to predict the coordinate parameter when the scanning device stops includes:
analyzing the movement track through an INS processor, and calculating a three-dimensional coordinate movement variation set of the scanning equipment after movement compared with the initial position;
and calculating the estimated position coordinate parameter when the scanning equipment stops by using a first preset formula according to the three-dimensional coordinate movement variation set and the initial movement position coordinate parameter.
Optionally, after the scanning device stops moving, acquiring an environmental characteristic of the current position of the scanning device, and calculating a refined SLAM resolving range of the scanning device according to the estimated stopping coordinate parameter of the scanning device and the environmental characteristic of the current position of the scanning device, including:
calculating effective movement scanning overlapping areas before and after the scanning equipment moves according to the estimated stop coordinate parameters of the scanning equipment, and determining the artificial landmarks in the range of the effective movement scanning overlapping areas as target resolving landmarks according to the coordinate parameters of the artificial landmarks;
and refining the SLAM resolving range according to the estimated stopping coordinate parameters of the scanning equipment and the coordinate parameters of the target resolving landmark.
Optionally, the scanning device mobile positioning method suitable for tunnel construction further includes: and when the refining SLAM resolving range does not contain the target resolving landmark, gradually expanding the resolving range until the target resolving landmark is contained.
Optionally, the scanning device mobile positioning method suitable for tunnel construction further includes: and performing weighted analysis calculation on the INS estimated three-dimensional coordinate movement variation set and the SLAM solved three-dimensional coordinate movement variation set by using the following formula to obtain the positioning coordinate parameters of the scanning equipment after movement:
wherein (D)x 1 , Dy 1 , Dz 1 ) For the location coordinate parameters after the movement of the scanning device,
calculating a set of three-dimensional coordinate movement variables (DS) of the scanning device from the initial position for INS analysisx 1 , DSy 1 , DSz 1 ) A set of three-dimensional coordinate movement variables of the scanning device from the initial position is calculated for SLAM analysis,mfor the precision factor of the INS processor,nfor the precision factor of the SLAM processor, (D)x 0 , Dy 0 , Dz 0 ) The initial movement position coordinate parameter for the scanning device.
Optionally, the scanning device mobile positioning method suitable for tunnel construction further includes: and acquiring the coordinate parameters of the artificial landmarks which are distributed in the tunnel in advance.
Optionally, the acquiring coordinate parameters of the artificial landmarks pre-arranged in the tunnel includes:
arranging artificial landmarks along a tunnel line in the tunnel according to a preset arrangement rule;
establishing an engineering coordinate by taking the initial position of the scanning equipment as a base point and taking the advancing direction of the scanning equipment along the hole line as a Y coordinate axis;
and determining three-dimensional position parameters of each artificial landmark under the engineering coordinates through measurement, and binding each artificial landmark with the three-dimensional position parameters to determine the coordinate parameters of each artificial landmark.
In a second aspect, an embodiment of the present invention provides a mobile positioning system for scanning equipment suitable for tunnel construction, 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 measuring coordinate parameters of an initial moving position of scanning equipment, scanning environmental characteristics of the initial position and acquiring a first information set of each artificial landmark within a maximum scanning range of the scanning equipment, and the first information set is used for SLAM calculation;
the coordinate estimation module is used for acquiring a moving track of the scanning equipment in the advancing process and analyzing the moving track through the INS processor to estimate a coordinate parameter when the scanning equipment stops;
the range refining module is used for acquiring the environmental characteristics of the current position of the scanning equipment after the scanning equipment stops moving, and calculating the refining SLAM resolving range of the scanning equipment according to the estimated stopping coordinate parameters of the scanning equipment and the environmental characteristics of the current position of the scanning equipment;
the analysis processing module is used for analyzing and obtaining a second information set of the scanning equipment from a target resolving landmark based on the refining SLAM resolving range, wherein the second information set is used for SLAM resolving, and the target resolving landmark is an artificial landmark in the effective mobile scanning overlapping area range of the scanning equipment;
the coordinate calculation module is used for calculating a three-dimensional coordinate movement variation set of the scanning equipment from an initial position by utilizing the SLAM processor according to the first information set, the second information set and the coordinate parameters of the target resolving landmark;
and the positioning coordinate module is used for carrying out weighted analysis calculation on the three-dimensional coordinate movement variation set estimated by the INS and the three-dimensional coordinate movement variation set solved by the SLAM to obtain the positioning coordinate parameters of the scanning equipment after movement based on the positioning accuracy of the SLAM processor and the INS processor.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, where the computer instructions are configured to enable the computer to execute the method for mobile positioning of scanning equipment suitable for tunnel construction according to the first aspect of the embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer device, including: the scanning equipment mobile positioning method applicable to tunnel construction is implemented by executing the computer instructions.
The technical scheme of the invention has the following advantages:
the invention provides a mobile positioning method of scanning equipment suitable for tunnel construction, which comprises the following steps: measuring coordinate parameters of an initial moving position of scanning equipment, scanning environmental characteristics of the initial position, and acquiring a first information set of each artificial landmark within a maximum scanning range of the scanning equipment; acquiring a moving track of the scanning equipment in the advancing process, and analyzing the moving track through an INS (inertial navigation system) processor to estimate a coordinate parameter when the scanning equipment stops; when the scanning equipment stops moving, acquiring the environmental characteristics of the current position of the scanning equipment, and calculating the refining SLAM resolving range of the scanning equipment according to the estimated stopping coordinate parameters of the scanning equipment and the environmental characteristics of the current position of the scanning equipment; analyzing and obtaining a second information set of the scanning equipment from a target resolving landmark based on the refining SLAM resolving range, wherein the target resolving landmark is an artificial landmark in the range of the effective mobile scanning overlap area of the scanning equipment; calculating a three-dimensional coordinate movement variation set of the scanning equipment from an initial position by using an SLAM processor according to the first information set, the second information set and the coordinate parameters of the target resolving landmark; based on the positioning accuracy of the SLAM processor and the INS processor, the three-dimensional coordinate movement variation set estimated by the INS and the three-dimensional coordinate movement variation set calculated by the SLAM are subjected to weighted analysis calculation to obtain the positioning coordinate parameters of the scanning equipment after movement. Aiming at the tunnel construction environment, based on the positioning accuracy of the SLAM processor and the INS processor, the mobile positioning result of the scanning equipment in the tunnel is obtained through weighted analysis and calculation, and the mobile positioning accuracy of the scanning equipment is favorably improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a specific example of a mobile positioning method of a scanning device suitable for tunnel construction according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an artificial landmark layout rule in an embodiment of the present invention;
FIG. 3 is a schematic diagram of engineering coordinates in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a resolving range in an embodiment of the invention;
FIG. 5 is a schematic block diagram of a specific example of a mobile positioning system of a scanning device suitable for tunnel construction according to an embodiment of the present invention;
fig. 6 is a composition diagram of a specific example of a computer device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a scanning equipment mobile positioning method suitable for tunnel construction, and scanning equipment is provided with an SLAM processor and an INS processor. As shown in fig. 1, the method for moving and positioning the scanning device suitable for tunnel construction includes the following steps:
step S1: and acquiring the coordinate parameters of the artificial landmarks which are distributed in the tunnel in advance.
In a specific embodiment, the coordinate parameters of the artificial landmarks pre-arranged in the tunnel are obtained by the following method:
step S11: and arranging artificial landmarks along the tunnel line in the tunnel according to a preset arrangement rule.
In the embodiment of the present invention, as shown in fig. 2, the artificial landmark laying rule is as follows:
1) the artificial landmark may be a combination of three general ball targets. The combination of the three universal ball targets can obtain higher three-dimensional laser scanning positioning precision. 2) The arrangement range of the artificial landmarks is determined according to the estimated working movement range of the three-dimensional laser scanning equipment in the tunnel, and the artificial landmarks can be recycled and reused after the movement work of the scanning equipment is finished. 3) The arrangement distance of the artificial landmarks is required to meet the requirement of an effective mobile scanning overlapping region of the three-dimensional laser scanning equipmentA e At least more than two artificial landmarks are present. 4) Active movement of scanning device to scan overlapping areaA e The method comprises the following steps: the scanning equipment respectively executes three-dimensional laser environment characteristic scanning before any one travel movement starts and after the travel movement stops, and the maximum overlapping area of the effective laser scanning ranges of the two times before and after the equipment moves isA e 。
Step S12: and establishing an engineering coordinate by taking the initial position of the scanning equipment as a base point and taking the advancing direction of the scanning equipment along the hole line as a Y coordinate axis.
In the embodiment of the invention, after the manual landmark layout is finished, an engineering coordinate system (X, Y, Z) is established by taking the initial position of the three-dimensional laser scanning device as a base point and taking the traveling direction of the scanning device along the hole line as a Y coordinate axis, as shown in fig. 3. The form of the three-dimensional coordinate data of the ith position of the E content under the engineering coordinate system is set as (E)x i , Ey i , Ez i ）。
Step S13: and determining the three-dimensional position parameters of the artificial landmarks under the engineering coordinates through measurement, and binding the artificial landmarks with the three-dimensional position parameters to determine the coordinate parameters of the artificial landmarks.
In the embodiment of the invention, 1) the three-dimensional position parameters of each artificial landmark under the engineering coordinates are determined through measurement, and each artificial landmark is bound with the position parameters thereof, for example, the three-dimensional position parameters of the ith artificial landmark are determined as (C) after being measuredx i , Cy i , Cz i ) Then the artificial landmark is associated with a location parameter (C)x i , Cy i , Cz i ) Bound in such a way thatThrough a computer system or manual ledger records, and the like. 2) Each artificial landmark is named by its Y-coordinate parameter, e.g., the ith personal landmark is named Cy i . 3) Setting the artificial landmark nearest to the initial position of the scanning device as Cy 1 。
By setting the artificial environment characteristic landmark, the problem that the SLAM method is not applicable in the tunnel construction environment is solved, the artificial environment characteristic landmark is simple and convenient to set, auxiliary configuration such as extra power supply is not needed, and the environment interference is not easy to cause.
Step S2: and measuring the coordinate parameters of the initial moving position of the scanning equipment, scanning the environmental characteristics of the initial position, and acquiring a first information set of each artificial landmark within the maximum scanning range of the scanning equipment, wherein the first information set is used for SLAM calculation.
In one embodiment, three-dimensional coordinates (D) of a movement start position of a three-dimensional laser scanning device under engineering coordinates are determinedx 0 , Dy 0 , Dz 0 ) The environmental characteristics of the initial position of the laser scanning of the equipment are calculated and analyzed to obtain each artificial landmark (C) within the maximum scanning range of the scanning equipmenty 1 A three-dimensional laser scanning distance, azimuth angle and other related SLAM processing parameter information sets (A) 0 ) SLAM processor records the information set (A) 0 ). Wherein, the information set (A) 0 ) I.e. the first set of information.
Step S3: and acquiring a moving track of the scanning equipment in the advancing process, and analyzing the moving track through the INS processor to estimate the coordinate parameters when the scanning equipment stops.
In a specific embodiment, the method for acquiring the moving track of the scanning device in the process of traveling and predicting the coordinate parameter when the scanning device stops by analyzing the moving track through the INS processor includes the following steps:
step S31: and analyzing the movement track through the INS processor, and calculating a three-dimensional coordinate movement variation set of the scanning equipment after movement compared with the initial position.
Step S32: and calculating the estimated position coordinate parameter when the scanning equipment stops by using a first preset formula according to the three-dimensional coordinate movement variation set and the initial movement position coordinate parameter.
In the embodiment of the invention, the three-dimensional laser scanning equipment moves until stopping according to the working requirement, the moving track is analyzed and the position of the scanning equipment when stopping is estimated by the INS processor in the moving process, and the specific steps are as follows:
the method comprises the following steps: analyzing the movement track through the INS processor, and calculating a three-dimensional coordinate movement variation set of the scanning equipment after movement compared with the initial position
。
Step two: calculating the estimated position coordinate parameter when the equipment stops according to the formula (1) based on the INS analysis result
。
Step S4: and when the scanning equipment stops moving, acquiring the environmental characteristics of the current position of the scanning equipment, and calculating the refining SLAM resolving range of the scanning equipment according to the estimated stopping coordinate parameters of the scanning equipment and the environmental characteristics of the current position of the scanning equipment.
In one embodiment, step S4 includes:
step S41: and calculating effective movement scanning overlapping areas before and after the scanning equipment moves according to the estimated stop coordinate parameters of the scanning equipment, and determining the artificial landmarks in the range of the effective movement scanning overlapping areas as target resolving landmarks according to the coordinate parameters of the artificial landmarks.
Step S42: and refining the SLAM resolving range according to the estimated stopping coordinate parameter of the scanning equipment and the coordinate parameter of the target resolving landmark.
Step S43: and when the refining SLAM resolving range does not contain the target resolving landmark, gradually expanding the resolving range until the target resolving landmark is contained.
In an embodiment of the invention, three-dimensional laser scanningAfter the equipment is moved and stopped, the equipment laser scans the environmental characteristics of the current position and obtains the estimated position coordinate parameters by means of previous INS analysis
Determining a refined SLAM solution range for a scanning device
As shown in fig. 4. Since the smaller the resolution range, the higher the efficiency of the SLAM method, this step can improve the SLAM resolution efficiency and speed. The method comprises the following specific steps:
step three: according to the estimated position of the equipment after moving
Analyzing the effective moving scanning overlapping area Ae before and after the current movement of the artificial landmark, and determining the artificial landmark in the range of the effective moving scanning overlapping area Ae according to the three-dimensional position parameter of the artificial landmark
Landmarks are resolved for the target.
Step four: calculating a landmark (C) according to the estimated position and the target of the scanning equipment after movingy 1 , ...Cy t ) Coordinate parameter of (2), refining SLAM resolving range
. By artificial landmarks Cy 1 For example, refining SLAM solution range refers to the estimated location of the device
Distance landmark Cy 1 The connecting line of (1) is a sector area with a central line, a distance of a radius and an angle of 30 degrees.
Step five: due to the fact that errors exist in the position of the estimation equipment, if the first determined refined SLAM resolving range does not contain the target resolving landmark (namely scanning data of the target landmark is not found), the sector radius can be increased by 0.1m, the angle is increased by 10 degrees to be a single increasing value, and the resolving range is gradually expanded until the target resolving landmark is contained (scanning data of the target landmark is found).
The INS scheme is used for assisting the SLAM scheme in refining the resolving range, so that the resolving efficiency and the calculating speed of SLAM positioning are improved.
Step S5: and analyzing to obtain a second information set of the scanning equipment from the target resolving landmark based on the refined SLAM resolving range, wherein the second information set is used for SLAM resolving, and the target resolving landmark is an artificial landmark in the effective mobile scanning overlapping area range of the scanning equipment.
In a specific embodiment, the refining solution range based on the previous step
And rapidly analyzing to obtain a related SLAM processing parameter information set (A) such as three-dimensional laser scanning distance and azimuth angle of the equipment from the target resolving landmark 1 ) SLAM processor records the information set (A) 1 ). Wherein, the information set (A) 1 ) I.e. the second set of information.
Step S6: and calculating a three-dimensional coordinate movement variation set of the scanning equipment from the initial position by using the SLAM processor according to the first information set, the second information set and the coordinate parameters of the target resolving landmark.
In one embodiment, the SLAM processor relies on a set of information (A) 0 ) Information set (A) 1 ) And target resolving landmarks (C)y 1 , ...Cy t ) Analyzing and calculating a three-dimensional coordinate movement variation set (DS) of the scanning device from an initial positionx 1 , DSy 1 , DSz 1 ）。
Step S7: based on the positioning accuracy of the SLAM processor and the INS processor, the three-dimensional coordinate movement variation set estimated by the INS and the three-dimensional coordinate movement variation set calculated by the SLAM are subjected to weighted analysis calculation to obtain the positioning coordinate parameters of the scanning equipment after movement.
In one embodiment, the three-dimensional coordinate movement variation of the scanning equipment calculated by integrating the SLAM scheme and the INS scheme is based on the SLAM processor and the INS processThe positioning precision of the scanner is calculated according to the following formula (2) through weighted analysis to obtain the accurate positioning result after the scanning device moves, and the three-dimensional coordinate (D) is usedx 1 , Dy 1 , Dz 1 ) And (4) presenting the form.
Wherein (D)x 1 , Dy 1 , Dz 1 ) Positioning coordinate parameters of the moved scanning equipment;
calculating a three-dimensional coordinate movement variation set of the scanning equipment compared with the initial position for INS analysis; (DS)x 1 , DSy 1 , DSz 1 ) Calculating a three-dimensional coordinate movement variation set of the scanning equipment compared with the initial position for SLAM analysis;mthe precision coefficient of the INS processor can be the reciprocal of the positioning precision of the INS processor (if the positioning precision is 0.1m, thenmThe value may be 10);nthe accuracy coefficient of the SLAM processor can be the reciprocal of the positioning accuracy of the SLAM processor (if the positioning accuracy is 0.01m, thenmValues of 100), (D)x 0 , Dy 0 , Dz 0 ) The initial movement position coordinate parameter for the scanning device.
Based on the positioning accuracy of the SLAM processor and the INS processor, the mobile positioning result of the scanning equipment in the tunnel is obtained through weighted analysis and calculation, and the mobile positioning accuracy of the scanning equipment is improved.
In an embodiment, the method for mobile positioning of scanning equipment suitable for tunnel construction further includes: step S8: the three-dimensional laser scanning equipment moves to the next step according to the work requirement until the three-dimensional laser scanning equipment stops, and the steps from S2 to S7 are repeated during the movement, so that the next position coordinate (D) of the scanning equipment is obtainedx 2 , Dy 2 , Dz 2 ）。
In one embodiment, the movement trajectory is analyzed and counted by the INS processorCalculating estimated position coordinate parameter after movement of scanning equipment
Then, a resolving landmark is determined according to the effective movement scanning overlapping area, and then the SLAM resolving range is refined. The environmental characteristics of the current position are scanned by laser after the scanning equipment stops moving, and related SLAM processing parameter information sets (A) such as the three-dimensional laser scanning distance and the azimuth angle of the equipment distance resolving landmark are obtained by fast analyzing based on the refining SLAM resolving range 2 ) SLAM processor relies on a set of information (A) 1 ) And information set (A) 2 ) Analyzing and calculating a three-dimensional coordinate movement variation set of the scanning equipment compared with the initial position, and calculating the three-dimensional coordinate movement variation of the scanning equipment calculated by integrating the SLAM scheme and the INS scheme according to a formula (2) to obtain an accurate positioning result, namely a position coordinate (D)x 2 , Dy 2 , Dz 2 ）。
Repeating the step S8 until the three-dimensional laser scanning device finishes the i-th movement of the traveling task, and obtaining the final position coordinate (D) of the scanning devicex i , Dy i , Dz i ) Collecting coordinate information of each step moving position of the device to finally obtain a data set (D)x 0 , Dx 1 ,..., Dx i , Dy 0 , Dy 1 ,..., Dy i , Dz 0 , Dz 1 ,..., Dz i ) And the accurate movement and positioning of the laser scanning equipment can be realized.
An embodiment of the present invention further provides a scanning device mobile positioning system suitable for tunnel construction, as shown in fig. 5, including:
the first acquisition module 1 is configured to determine an initial movement position coordinate parameter of the scanning device, scan an environmental characteristic of an initial position, and acquire a first information set of each artificial landmark within a maximum scanning range of the scanning device, where the first information set is used for SLAM calculation. For details, refer to the related description of step S2 in the above embodiment, and are not described herein again.
And the coordinate estimation module 2 is used for acquiring a moving track of the scanning equipment in the advancing process, and analyzing the moving track through the INS processor to estimate the coordinate parameters when the scanning equipment stops. For details, refer to the related description of step S3 in the above embodiment, and are not described herein again.
And the range refining module 3 is used for acquiring the environmental characteristics of the current position of the scanning equipment after the scanning equipment stops moving, and calculating the refining SLAM resolving range of the scanning equipment according to the estimated stopping coordinate parameters of the scanning equipment and the environmental characteristics of the current position of the scanning equipment. For details, refer to the related description of step S4 in the above embodiment, and are not described herein again.
And the analysis processing module 4 is used for analyzing and obtaining a second information set of the scanning equipment from the target resolving landmark based on the refined SLAM resolving range, wherein the second information set is used for SLAM resolving, and the target resolving landmark is an artificial landmark in the effective mobile scanning overlapping area range of the scanning equipment. For details, refer to the related description of step S5 in the above embodiment, and are not described herein again.
And the coordinate calculation module 5 is used for calculating a three-dimensional coordinate movement variation set of the scanning equipment from the initial position by using the SLAM processor according to the first information set, the second information set and the coordinate parameters of the target resolving landmark. For details, refer to the related description of step S6 in the above embodiment, and are not described herein again.
And the positioning coordinate module 6 is used for performing weighted analysis calculation on the three-dimensional coordinate movement variation set estimated by the INS and the three-dimensional coordinate movement variation set resolved by the SLAM to obtain a positioning coordinate parameter after the scanning equipment moves based on the positioning accuracy of the SLAM processor and the INS processor. For details, refer to the related description of step S7 in the above embodiment, and are not described herein again.
An embodiment of the present invention further provides a computer device, as shown in fig. 6, the device terminal may include a processor 61 and a memory 62, where the processor 61 and the memory 62 may be connected by a bus or in another manner, and fig. 6 takes the connection by the bus as an example.
The processor 61 may be a Central Processing Unit (CPU). The Processor 61 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or combinations thereof.
The memory 62, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as the corresponding program instructions/modules in embodiments of the present invention. The processor 61 executes various functional applications and data processing of the processor by running the non-transitory software program, instructions and modules stored in the memory 62, that is, the scanning equipment moving and positioning method suitable for tunnel construction in the above method embodiment is implemented.
The memory 62 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 61, and the like. Further, the memory 62 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 62 may optionally include memory located remotely from the processor 61, and these remote memories may be connected to the processor 61 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory 62 and, when executed by the processor 61, perform the scanning device mobile location method applicable to tunnel construction in embodiments.
The details of the computer device may be understood by referring to the corresponding related descriptions and effects in the embodiments, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A mobile positioning method of scanning equipment suitable for tunnel construction is characterized in that the scanning equipment is provided with a SLAM processor and an INS processor, and comprises the following steps:
measuring coordinate parameters of an initial moving position of scanning equipment, scanning environmental characteristics of the initial position, and acquiring a first information set of the scanning equipment from each artificial landmark within the maximum scanning range of the scanning equipment, wherein the first information set is used for SLAM calculation;
acquiring a moving track of the scanning equipment in the advancing process, and analyzing the moving track through an INS (inertial navigation system) processor to estimate a coordinate parameter when the scanning equipment stops;
when the scanning equipment stops moving, acquiring the environmental characteristics of the current position of the scanning equipment, and calculating the refining SLAM resolving range of the scanning equipment according to the estimated stopping coordinate parameters of the scanning equipment and the environmental characteristics of the current position of the scanning equipment;
analyzing to obtain a second information set of the scanning equipment from a target resolving landmark based on the refining SLAM resolving range, wherein the second information set is used for SLAM resolving, and the target resolving landmark is an artificial landmark in the range of the effective mobile scanning overlap region of the scanning equipment;
calculating a three-dimensional coordinate movement variation set of the scanning equipment from an initial position by using an SLAM processor according to the first information set, the second information set and the coordinate parameters of the target resolving landmark;
based on the positioning accuracy of the SLAM processor and the INS processor, the three-dimensional coordinate movement variation set estimated by the INS and the three-dimensional coordinate movement variation set calculated by the SLAM are subjected to weighted analysis calculation to obtain the positioning coordinate parameters of the scanning equipment after movement.
2. The method for mobile positioning of scanning equipment suitable for tunnel construction according to claim 1, wherein the obtaining of the moving track of the scanning equipment during the moving process, and the analyzing of the moving track by the INS processor to predict the coordinate parameters of the scanning equipment when the scanning equipment stops comprise:
analyzing the movement track through an INS processor, and calculating a three-dimensional coordinate movement variation set of the scanning equipment after movement compared with the initial position;
and calculating the estimated position coordinate parameter when the scanning equipment stops by using a first preset formula according to the three-dimensional coordinate movement variation set and the initial movement position coordinate parameter.
3. The method as claimed in claim 1, wherein the step of obtaining the environmental characteristics of the current position of the scanning device after the scanning device stops moving comprises the steps of:
calculating effective movement scanning overlapping areas before and after the scanning equipment moves according to the estimated stop coordinate parameters of the scanning equipment, and determining the artificial landmarks in the range of the effective movement scanning overlapping areas as target resolving landmarks according to the coordinate parameters of the artificial landmarks;
and refining the SLAM resolving range according to the estimated stopping coordinate parameter of the scanning equipment and the coordinate parameter of the target resolving landmark.
4. The mobile positioning method of scanning equipment suitable for tunnel construction according to claim 3, further comprising: and when the refining SLAM resolving range does not contain the target resolving landmark, gradually expanding the resolving range until the target resolving landmark is contained.
5. The mobile positioning method of scanning equipment suitable for tunnel construction according to claim 1, further comprising: and performing weighted analysis calculation on the INS estimated three-dimensional coordinate movement variation set and the SLAM solved three-dimensional coordinate movement variation set by using the following formula to obtain the positioning coordinate parameters of the scanning equipment after movement:
wherein (D)x 1 , Dy 1 , Dz 1 ) For the location coordinate parameters after the movement of the scanning device,
calculating a set of three-dimensional coordinate movement variables (DS) of the scanning device from the initial position for INS analysisx 1 , DSy 1 , DSz 1 ) A set of three-dimensional coordinate movement variables of the scanning device from the initial position is calculated for SLAM analysis,mfor the precision factor of the INS processor,nfor the precision factor of the SLAM processor, (D)x 0 , Dy 0 , Dz 0 ) The initial movement position coordinate parameter for the scanning device.
6. The mobile positioning method of scanning equipment suitable for tunnel construction according to claim 1, further comprising: and acquiring the coordinate parameters of the artificial landmarks which are distributed in the tunnel in advance.
7. The mobile positioning method of the scanning equipment suitable for tunnel construction according to claim 6, wherein the obtaining of the coordinate parameters of the artificial landmarks previously arranged in the tunnel comprises:
arranging artificial landmarks along a tunnel line in the tunnel according to a preset arrangement rule;
establishing an engineering coordinate by taking the initial position of the scanning equipment as a base point and taking the advancing direction of the scanning equipment along the hole line as a Y coordinate axis;
and determining three-dimensional position parameters of each artificial landmark under the engineering coordinates through measurement, and binding each artificial landmark with the three-dimensional position parameters to determine the coordinate parameters of each artificial landmark.
8. A mobile positioning system of scanning equipment suitable for tunnel construction is characterized by 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 measuring coordinate parameters of an initial moving position of scanning equipment, scanning environmental characteristics of the initial position and acquiring a first information set of each artificial landmark within a maximum scanning range of the scanning equipment, and the first information set is used for SLAM calculation;
the coordinate estimation module is used for acquiring a moving track of the scanning equipment in the advancing process and analyzing the moving track through the INS processor to estimate a coordinate parameter when the scanning equipment stops;
the range refining module is used for acquiring the environmental characteristics of the current position of the scanning equipment after the scanning equipment stops moving, and calculating the refining SLAM resolving range of the scanning equipment according to the estimated stopping coordinate parameters of the scanning equipment and the environmental characteristics of the current position of the scanning equipment;
the analysis processing module is used for analyzing and obtaining a second information set of the scanning equipment from a target resolving landmark based on the refining SLAM resolving range, wherein the second information set is used for SLAM resolving, and the target resolving landmark is an artificial landmark in the effective mobile scanning overlapping area range of the scanning equipment;
the coordinate calculation module is used for calculating a three-dimensional coordinate movement variation set of the scanning equipment from an initial position by utilizing the SLAM processor according to the first information set, the second information set and the coordinate parameters of the target resolving landmark;
and the positioning coordinate module is used for carrying out weighted analysis calculation on the three-dimensional coordinate movement variation set estimated by the INS and the three-dimensional coordinate movement variation set solved by the SLAM to obtain the positioning coordinate parameters of the scanning equipment after movement based on the positioning accuracy of the SLAM processor and the INS processor.
9. A computer-readable storage medium storing computer instructions for causing a computer to perform the method for mobile positioning of a scanning device for tunnel construction according to any one of claims 1 to 7.
10. A computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected with each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the scanning equipment mobile positioning method suitable for tunnel construction according to any one of claims 1 to 7.
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| CN202210794447.5A CN114862956B (en) | 2022-07-07 | 2022-07-07 | Scanning equipment mobile positioning method and system suitable for tunnel construction |
| JP2022182909A JP7290785B1 (en) | 2022-07-07 | 2022-11-15 | Mobile positioning method and system for scanning device applied to tunnel construction |
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