CN114913214A - Cable trench presentation method and equipment - Google Patents

Cable trench presentation method and equipment Download PDF

Info

Publication number
CN114913214A
CN114913214A CN202210818731.1A CN202210818731A CN114913214A CN 114913214 A CN114913214 A CN 114913214A CN 202210818731 A CN202210818731 A CN 202210818731A CN 114913214 A CN114913214 A CN 114913214A
Authority
CN
China
Prior art keywords
point cloud
cable trench
point
points
environment area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210818731.1A
Other languages
Chinese (zh)
Other versions
CN114913214B (en
Inventor
杨毅
杨帅
马欣
罗向源
廖嘉伟
许恒彬
刘侃
高传薪
许书平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Foshan Power Supply Bureau of Guangdong Power Grid Corp
Original Assignee
Foshan Power Supply Bureau of Guangdong Power Grid Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Foshan Power Supply Bureau of Guangdong Power Grid Corp filed Critical Foshan Power Supply Bureau of Guangdong Power Grid Corp
Priority to CN202210818731.1A priority Critical patent/CN114913214B/en
Publication of CN114913214A publication Critical patent/CN114913214A/en
Application granted granted Critical
Publication of CN114913214B publication Critical patent/CN114913214B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Processing Or Creating Images (AREA)

Abstract

The invention discloses a cable trench presentation method and equipment, which relate to the technical field of power cables, and the method comprises the following steps: scanning the cable trench by using three-dimensional laser scanning equipment to obtain initial cable trench point cloud; processing the initial cable trench point cloud to obtain a cable trench internal point cloud; scanning an environment area where the cable trench is located by using three-dimensional laser scanning equipment to obtain initial environment area point cloud; correcting the initial environment area point cloud to obtain a corrected environment area point cloud; splicing the point cloud inside the cable trench and the point cloud of the correction environment area in the same space coordinate system to obtain a global point cloud; acquiring covering point clouds in the global point clouds, and hiding the covering point clouds in the global point clouds to finish the presentation of the cable trench; the cable trench that has accomplished the construction can be presented, has solved prior art and has had the location inefficiency in the aspect of carrying out the cable trench presentation, can't be with the whole visual technical problem who demonstrates in the cable protection zone who has accomplished the construction.

Description

Cable trench presentation method and equipment
Technical Field
The invention relates to the technical field of power cables, in particular to a method and equipment for realizing cable trench presentation.
Background
The vast majority of high-voltage power cables are buried underground, and the cable trench is a structure for protecting the cables. The cable construction belongs to concealed engineering, and mainly comprises the steps of digging a road surface, pouring a cable trench, laying a cable in the cable trench and closing the cable trench to restore the road surface, wherein the cable trench is in an invisible state after the road surface is restored. The invisibility of the cable trench brings risks to the cable trench, for example, when the construction such as piling, drilling, pipe jacking and the like is performed near the cable trench, the actual position of the cable trench is difficult to grasp for constructors, and in this case, the construction may damage the cable trench, cause damage to the high-voltage cable, and cause serious consequences such as line tripping, power failure and the like. Therefore, before necessary construction, the cable trench needs to be positioned, and the purpose of positioning the cable trench is to enable operators and constructors to master the position and the depth of the cable trench, so that the construction position is controlled to avoid damage to the cable trench.
Under the condition that the actual position of the cable trench cannot be known, a cable operator can position the cable trench in various modes, and currently, the following positioning methods are mainly adopted:
1. positioning by means of drawings
The cable operator determines information such as the geographic position, the length, the depth, the section shape and the like of a cable channel and the relative position relation between a cable trench and a building structure of a pavement by means of completion drawings, path drawings and the like capable of restoring the original appearance of a cable project and by comparing the drawings with the field environment. The positioning is realized by using drawings, the drawings are static, information in the drawings only can reflect the state of finished cable construction and cannot reflect subsequent changes, the pavement environment is continuously changed, roads can possibly change, when the pavement condition changes, the relative position of the cable trench and the pavement can also change, and the position of the cable trench cannot be accurately determined according to the relative position relationship between the cable trench and the building of the pavement.
2. Positioning by cable detecting instrument
The cable operator calculates the position and depth of the cable by adopting a guide instrument, a path instrument and other detection instruments based on an electromagnetic induction technology, receiving and analyzing specific electromagnetic wave signals sent by the cable, and positioning the position of the cable trench by determining the position of the cable. The applicability of positioning with cable probes is not high. The cable detecting instrument positioning is a mode of realizing indirect positioning through a medium of electromagnetic waves, is easily influenced by external factors, and particularly when other cables or equipment capable of generating strong electromagnetic waves are nearby, the detecting instrument is interfered so that electromagnetic wave signals of the detected cable cannot be accurately identified.
3. Positioning using RTK
The cable trench is measured by utilizing a space measurement technology and a real-time dynamic measurement technology during construction, the measurement information of the cable trench is recorded and stored in a coordinate mode, and a space coordinate point is uniquely determined and cannot change along with the change of the ground environment. When the position and the depth of the cable trench need to be determined, the cable trench can be quickly positioned under the condition of not excavating the ground only by utilizing a real-time dynamic measurement technology to perform coordinate point placement on the cable trench, and the positioning error is generally less than 30 millimeters. The positioning by using the real-time dynamic measurement technology has certain limitation, points need to be placed one by one in the positioning process, the operation time is long for more positioning requirements, the positioning result is not visual enough, only one point on a cable channel can be positioned each time, the result is discrete, the trend of the cable channel cannot be continuously described on the ground, and a continuous cable protection area is difficult to define.
In conclusion, the prior art has the technical problems that the positioning efficiency is low in the aspect of cable trench presentation and the whole cable protection area cannot be visually displayed.
Disclosure of Invention
The invention provides a cable trench presentation method and equipment, which are used for solving the technical problems that in the prior art, the cable trench presentation is low in positioning efficiency, and the whole cable protection area cannot be visually displayed.
A cable trench presentation method comprising:
in the construction stage of the cable trench, scanning the cable trench by using three-dimensional laser scanning equipment to obtain initial cable trench point cloud;
processing the initial cable trench point cloud to obtain a cable trench internal point cloud;
in the construction completion and closing stage of the cable trench, scanning an environment area where the cable trench is located by using three-dimensional laser scanning equipment to obtain initial environment area point cloud;
correcting the initial environment area point cloud to obtain a corrected environment area point cloud;
splicing the point cloud inside the cable trench and the point cloud of the correction environment area in a space coordinate system to obtain a global point cloud;
acquiring the point cloud of the correction environment area and the point cloud inside the cable trench in the global point cloud in the space coordinate system
Figure 412465DEST_PATH_IMAGE001
Projection in the axial direction, recording a point in the correction environment area point cloud which is superposed with any point in the cable trench interior point cloud in a projection manner as a coverage point, and recording a point cloud formed by the coverage point as a coverage point cloud;
hiding the coverage point cloud in the global point cloud to finish the presentation of the cable trench.
Preferably, at the cable trench construction stage, the cable trench is scanned by using a three-dimensional laser scanning device, and the acquisition of the initial cable trench point cloud specifically comprises:
scanning the cable trench by using a three-dimensional laser scanning device to obtain an initial cable trench point cloud, and recording the initial cable trench point cloudInitial cable trench point cloud is
Figure 100935DEST_PATH_IMAGE002
，
Figure 550371DEST_PATH_IMAGE003
Wherein, in the step (A),
Figure 716910DEST_PATH_IMAGE004
the number of the midpoint of the initial cable trench point cloud,
Figure 873085DEST_PATH_IMAGE005
points in the initial cable trench point cloud.
Preferably, the processing of the initial cable trench point cloud to obtain the cable trench internal point cloud specifically comprises:
s1, point cloud of the initial cable trench
Figure 732457DEST_PATH_IMAGE002
Conversion to a first spatial coordinate system
Figure 418258DEST_PATH_IMAGE006
The preparation method comprises the following steps of (1) performing;
s2, point cloud of the initial cable trench
Figure 591750DEST_PATH_IMAGE002
Preprocessing is carried out, noise points in the initial cable trench point cloud are removed, and the cable trench point cloud is obtained
Figure 664748DEST_PATH_IMAGE007
，
Figure 632704DEST_PATH_IMAGE008
Wherein the first space coordinate system
Figure 791153DEST_PATH_IMAGE006
Is/are as follows
Figure 299495DEST_PATH_IMAGE001
Axis perpendicular to waterThe plane is a plane, and the plane is a plane,
Figure 430262DEST_PATH_IMAGE009
the number of the midpoint of the cable trench point cloud,
Figure 631436DEST_PATH_IMAGE010
points in the cable trench point cloud are taken as points;
s3, determining point clouds representing cable trench side lines in the cable trench point clouds, and recording one side as a left line point cloud
Figure 277181DEST_PATH_IMAGE011
，
Figure 526897DEST_PATH_IMAGE012
And the other side is marked as a right line point cloud
Figure 574487DEST_PATH_IMAGE013
，
Figure 884246DEST_PATH_IMAGE014
Wherein, in the step (A),
Figure 17287DEST_PATH_IMAGE015
the number of the points in the point cloud of the left line,
Figure 135940DEST_PATH_IMAGE016
for a point in the left edge point cloud,
Figure 975720DEST_PATH_IMAGE017
the number of the points in the point cloud of the right side line,
Figure 518697DEST_PATH_IMAGE018
points in the left edge point cloud;
s4, removing points outside the two sides of the left line point cloud and the right line point cloud in the cable trench point cloud, only keeping points between the left line point cloud and the right line point cloud, and recording point cloud formed by the points between the left line point cloud and the right line point cloud as the point cloud in the cable trenchDepartment point cloud
Figure 811138DEST_PATH_IMAGE019
，
Figure 730553DEST_PATH_IMAGE020
In which
Figure 487156DEST_PATH_IMAGE021
The number of the point cloud middle points in the cable trench,
Figure 138717DEST_PATH_IMAGE022
and the points are points in the point cloud in the cable trench.
Preferably, in the cable trench application presentation stage, the three-dimensional laser scanning device is used for scanning the environment region where the cable trench is located, and the acquisition of the point cloud of the initial environment region specifically comprises:
scanning the cable trench environment by using three-dimensional laser scanning equipment to obtain initial environment area point cloud, and recording the initial environment area point cloud as
Figure 246351DEST_PATH_IMAGE023
，
Figure 703877DEST_PATH_IMAGE024
Wherein, in the step (A),
Figure 252670DEST_PATH_IMAGE025
the number of the points in the point cloud of the initial environment area,
Figure 403028DEST_PATH_IMAGE026
the points in the initial environment area point cloud are taken as points.
Preferably, the step of correcting the initial environment region point cloud to obtain a corrected environment region point cloud specifically comprises:
t1 point cloud of the initial environment area
Figure 670062DEST_PATH_IMAGE023
Conversion to a second spatial coordinate system
Figure 665699DEST_PATH_IMAGE027
Performing the following steps;
t2 point cloud of the initial environment area
Figure 399825DEST_PATH_IMAGE023
Preprocessing is carried out, noise points in the point cloud of the initial environment area are removed, and the point cloud of the conversion environment area is obtained
Figure 658768DEST_PATH_IMAGE028
，
Figure 209835DEST_PATH_IMAGE029
Wherein the second spatial coordinate system
Figure 212426DEST_PATH_IMAGE027
Is/are as follows
Figure 798128DEST_PATH_IMAGE001
The axis is perpendicular to the horizontal plane,
Figure 24710DEST_PATH_IMAGE030
the number of the points in the point cloud of the conversion environment area,
Figure 266336DEST_PATH_IMAGE031
points in the point cloud of the conversion environment area;
t3 in the first space coordinate system
Figure 869355DEST_PATH_IMAGE006
Centering the transformed environment region point cloud
Figure 247247DEST_PATH_IMAGE028
The point in (1) is corrected, and the point cloud formed by the corrected point is recorded as the point cloud of the correction environment area
Figure 910309DEST_PATH_IMAGE032
，
Figure 435969DEST_PATH_IMAGE033
Wherein, in the process,
Figure 780362DEST_PATH_IMAGE034
the number of the points in the point cloud of the correction environment area,
Figure 340657DEST_PATH_IMAGE035
points in the correction environment area point cloud.
Preferably, the splicing the point cloud inside the cable trench and the point cloud of the correction environment area in the space coordinate system to obtain the global point cloud specifically comprises:
point cloud of the correction environment area
Figure 846724DEST_PATH_IMAGE032
Conversion to the first spatial coordinate system
Figure 128189DEST_PATH_IMAGE006
Obtaining a spliced point cloud, wherein the spliced point cloud comprises points in the point cloud of the correction environment area and points in the point cloud inside the cable trench;
eliminating coincident points in the spliced point cloud, and recording point cloud formed by the points left after eliminating the coincident points in the spliced point cloud as global point cloud
Figure DEST_PATH_IMAGE036
，
Figure 73011DEST_PATH_IMAGE037
Wherein, in the step (A),
Figure DEST_PATH_IMAGE038
the number of the points in the global point cloud is obtained; wherein the coincident point is the correction environment area point cloud
Figure 550129DEST_PATH_IMAGE032
And the point cloud in the cable trench
Figure 227098DEST_PATH_IMAGE019
In the first space coordinate system
Figure 727349DEST_PATH_IMAGE006
Of the two points coincide.
Preferably, the point cloud of the correction environment area and the point cloud of the cable trench inside in the global point cloud are obtained in the space coordinate system
Figure 475862DEST_PATH_IMAGE040
And projection in the axial direction, recording a point in the correction environment area point cloud which is superposed with any point in the point cloud in the cable trench as a coverage point, and recording the point cloud formed by the coverage point as a coverage point cloud specifically comprises:
v1, randomly selecting the global point cloud
Figure 682853DEST_PATH_IMAGE036
Correcting the ambient area point cloud
Figure 858619DEST_PATH_IMAGE032
Any point in
Figure 783850DEST_PATH_IMAGE035
Memory for recording
Figure 70475DEST_PATH_IMAGE041
Wherein
Figure 451079DEST_PATH_IMAGE042
Is a point
Figure 735429DEST_PATH_IMAGE035
In the first spatial coordinate system
Figure DEST_PATH_IMAGE043
The coordinate values on the axis are,
Figure 944694DEST_PATH_IMAGE044
is a point
Figure 35010DEST_PATH_IMAGE035
In the first spatial coordinate system
Figure 278909DEST_PATH_IMAGE045
The coordinate values on the axis are,
Figure 734161DEST_PATH_IMAGE046
is a point
Figure 696301DEST_PATH_IMAGE035
In the first spatial coordinate system
Figure 262412DEST_PATH_IMAGE001
Coordinate values on the axis;
v2, judging the point
Figure 360818DEST_PATH_IMAGE035
Whether the coverage point is a coverage point or not is judged, if so, the coverage point is marked as a coverage point
Figure 49288DEST_PATH_IMAGE047
(ii) a Wherein the coverage point is the midpoint of the point cloud of the correction environment area
Figure 170828DEST_PATH_IMAGE046
Value of point cloud midpoint in cable trench
Figure 602946DEST_PATH_IMAGE048
The point at which the values are of the same size,
Figure 759121DEST_PATH_IMAGE048
for points in the point cloud inside the cable trench in the first space coordinate system
Figure 621422DEST_PATH_IMAGE001
Coordinate values on the axis;
v3, repeating the above steps V1 and V2, traversing the correction environment area point cloud
Figure 230258DEST_PATH_IMAGE032
Get the coverage point of
Figure 200488DEST_PATH_IMAGE047
Constructed coverage point cloud
Figure 273486DEST_PATH_IMAGE013
，
Figure 241442DEST_PATH_IMAGE014
Wherein the content of the first and second substances,
Figure 399891DEST_PATH_IMAGE049
and the number of the midpoint of the coverage point cloud is obtained.
Preferably, the judging the point
Figure 173812DEST_PATH_IMAGE035
If the coverage point is a coverage point, marking the coverage point as a coverage point if the coverage point is the coverage point
Figure 304579DEST_PATH_IMAGE047
The method specifically comprises the following steps:
in the first space coordinate system
Figure 505753DEST_PATH_IMAGE006
Middle, passing through point
Figure 823602DEST_PATH_IMAGE035
Constructed along said first spatial coordinate system
Figure 401214DEST_PATH_IMAGE001
Perpendicular to the axis
Figure 448805DEST_PATH_IMAGE050
Judging the perpendicular line
Figure 758563DEST_PATH_IMAGE050
Whether the point passes through the point in the point cloud in the cable trench or not, if so, the point is detected
Figure 628955DEST_PATH_IMAGE035
Marking as a coverage Point
Figure 682361DEST_PATH_IMAGE047
And if not, marking is not carried out.
Preferably, hiding the coverage point cloud in the global point cloud to complete the presentation of the cable trench specifically comprises:
hiding the global point cloud
Figure 584458DEST_PATH_IMAGE036
The coverage point cloud of
Figure 65118DEST_PATH_IMAGE013
Hiding the global point cloud
Figure 685455DEST_PATH_IMAGE036
The coverage point cloud of
Figure 339291DEST_PATH_IMAGE013
And point clouds formed by the residual points are point clouds formed in the cable trench, and points in the point clouds in the cable trench in the point clouds formed in the cable trench are highlighted and displayed to finish the presentation of the cable trench.
A cable trench presentation device comprises a processor and a memory;
the memory is used for storing a computer program which, when executed by the processor, implements the cable trench presentation method described above.
According to the technical scheme, the invention has the following advantages: the invention provides a cable trench presentation method, wherein in the construction stage of a cable trench, a three-dimensional laser scanning device is used for scanning the cable trench, and the obtained initial cable trench point cloud is processed to obtain the point cloud in the cable trench; in the cable trench construction presenting stage, scanning an environment region where a cable trench is located by using three-dimensional laser scanning equipment, and correcting the acquired initial environment region point cloud to obtain a corrected environment region point cloud; when the cable trench needs to be presented, firstly, the cable trench is arranged inThe method comprises the steps of splicing a part point cloud and a correction environment area point cloud in the same space coordinate system to obtain a global point cloud, wherein the global point cloud comprises a cable trench internal point cloud and a correction environment area point cloud, and then acquiring the correction environment area point cloud and the cable trench internal point cloud in the global point cloud in the space coordinate systemzProjection in the axial direction, marking points which are projected and superposed with any point in the point clouds in the cable trench in all the correction environment area point clouds, and marking as covering points to obtain covering point clouds; and finally, hiding the coverage point cloud in the global point cloud, namely hiding the points in the correction environment area point cloud which is covered right above the point cloud in the cable trench, and finishing the presentation of the cable trench. The cable trench presentation method can present the constructed cable trench, and solves the technical problems that in the prior art, the positioning efficiency is low in the aspect of cable trench presentation, and the whole visual display of the constructed cable protection area cannot be realized.
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 only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method of a cable trench presenting method according to an embodiment of the present invention;
FIG. 2 is a diagram of a coverage point marker provided in accordance with an embodiment of the present invention;
FIG. 3 is a global point cloud presentation provided by an embodiment of the present invention;
fig. 4 is a display diagram of a point cloud of an image inside a cable trench according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a cable trench presentation method and device, and aims to solve the technical problems that in the prior art, the cable trench presentation is low in positioning efficiency, and the whole constructed cable protection area cannot be visually displayed.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, 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 invention.
An embodiment of the present application provides a cable trench presentation method, please refer to fig. 1, the method includes:
100. and in the construction stage of the cable trench, scanning the cable trench by using three-dimensional laser scanning equipment to obtain initial cable trench point cloud.
200. And processing the initial cable trench point cloud to obtain a cable trench internal point cloud.
300. And in the construction completion and closing stage of the cable trench, scanning the environment region where the cable trench is located by using three-dimensional laser scanning equipment to obtain the point cloud of the initial environment region.
400. And correcting the initial environment area point cloud to obtain a corrected environment area point cloud.
500. And splicing the point cloud inside the cable trench and the point cloud of the correction environment area in a space coordinate system to obtain a global point cloud.
600. Acquiring the point cloud of the correction environment area and the point cloud inside the cable trench in the global point cloud in the space coordinate system
Figure 299156DEST_PATH_IMAGE001
And projection in the axial direction, recording a point in the point cloud of the correction environment area, which is superposed with any point in the point cloud inside the cable trench in a projection manner, as a coverage point, and recording the point cloud formed by the coverage points as a coverage point cloud.
700. Hiding the coverage point cloud in the global point cloud to finish the presentation of the cable trench.
The method is characterized in that the vast majority of high-voltage power cables are buried underground, a cable trench is a structure for protecting the cables, cable construction belongs to hidden engineering and mainly comprises the steps of digging a road surface, pouring the cable trench, laying the cables in the cable trench, closing the recovered road surface of the cable trench, enabling the cable trench to be in an invisible state after the road surface is recovered, when the cables break down and need to be overhauled or need to be constructed nearby the cable trench, construction nearby the cable trench is needed, the excavation construction is carried out under the condition that the position and the internal structure of the cable trench cannot be accurately known due to the fact that the cable trench after the road surface is recovered is invisible, the cable trench can be damaged possibly, and high-voltage cable damage is caused.
According to the cable trench presentation method, in the cable trench construction stage, a three-dimensional laser scanning device is used for scanning a cable trench, and the obtained initial cable trench point cloud is processed to obtain a cable trench point cloud; in the cable trench construction presenting stage, scanning an environment region where a cable trench is located by using three-dimensional laser scanning equipment, and correcting the acquired initial environment region point cloud to obtain a corrected environment region point cloud; when cable ducts need to be presented, firstly, splicing cable duct point clouds and corrected environment area point clouds in the same space coordinate system to obtain global point clouds, wherein the global point clouds comprise the cable duct point clouds and the corrected environment area point clouds, then, acquiring projections of the corrected environment area point clouds and the cable duct point clouds in the global point clouds in the axial direction, marking points which are projected and superposed with any point in the cable duct point clouds in all the corrected environment area point clouds, marking the points as coverage points, and marking all the coverage points as the coverage point clouds; and finally, hiding the coverage point cloud in the global point cloud, namely hiding the points in the correction environment area point cloud which is covered right above the cable trench point cloud, and finishing the presentation of the cable trench. The cable trench presenting method can present the constructed cable trench, and solves the technical problems that in the prior art, positioning efficiency is low in the aspect of cable trench presenting, and the whole visual display of the constructed cable protection area cannot be achieved.
On the basis of the foregoing embodiment, the present embodiment further describes and optimizes the technical solution, which is specifically as follows:
regarding step 100, in the cable trench construction stage, scanning the cable trench by using a three-dimensional laser scanning device to obtain an initial cable trench point cloud, and recording the initial cable trench point cloud as
Figure 13034DEST_PATH_IMAGE002
，
Figure 792772DEST_PATH_IMAGE003
Wherein, in the step (A),
Figure 250298DEST_PATH_IMAGE004
the number of the midpoint of the initial cable trench point cloud,
Figure 64670DEST_PATH_IMAGE005
points in the initial cable trench point cloud.
It can be understood that, in the cable trench construction stage, utilize three-dimensional laser scanning equipment to scan the cable trench, acquire initial cable trench point cloud, can be in cable trench construction overall stage to the cable trench carry out regularly scanning to acquire the comprehensive inside point cloud of cable trench.
Regarding step 200, after the cable trench scanning is completed, preprocessing the acquired initial cable trench point cloud, and removing some repeat points and noise points in the initial cable trench point cloud to obtain a cable trench point cloud; the step 200 specifically includes:
step 2001, point cloud of the initial cable trench
Figure 949449DEST_PATH_IMAGE002
Conversion to a first spatial coordinate system
Figure 278800DEST_PATH_IMAGE006
In the above description, the first spatial coordinate system is also referred to as a spatial rectangular coordinate system.
Step 2002, point cloud of the initial cable trench
Figure 477700DEST_PATH_IMAGE002
Performing pretreatment and removal
Figure 211825DEST_PATH_IMAGE002
Obtaining cable trench point cloud by using medium noise point cloud
Figure 205189DEST_PATH_IMAGE007
，
Figure 21835DEST_PATH_IMAGE008
Wherein the first space coordinate system
Figure 86743DEST_PATH_IMAGE006
Is/are as follows
Figure 610128DEST_PATH_IMAGE001
The axis is perpendicular to the horizontal plane,
Figure 836710DEST_PATH_IMAGE009
the number of the points in the cable trench point cloud,
Figure 140653DEST_PATH_IMAGE010
points in the cable trench point cloud. In order to ensure that the acquired point cloud has better representation, noise points in the point cloud need to be processed, including removing the noise points in the point cloud and removing repeated points in the point cloud.
Step 2003, determining point clouds representing cable trench side lines in the cable trench point clouds, and recording one side as a left line point cloud
Figure 681355DEST_PATH_IMAGE011
，
Figure 121564DEST_PATH_IMAGE012
And the other side is marked as a right line point cloud
Figure 722310DEST_PATH_IMAGE013
，
Figure 247969DEST_PATH_IMAGE014
Wherein, in the step (A),
Figure 654680DEST_PATH_IMAGE015
the number of the points in the point cloud of the left line,
Figure 887078DEST_PATH_IMAGE016
for a point in the left edge point cloud,
Figure 735690DEST_PATH_IMAGE017
the number of the points in the point cloud of the right side line,
Figure 686328DEST_PATH_IMAGE018
and the points in the point cloud of the left edge line are taken as the points. The cable trench is an underground structure for protecting the power cable, the cross section of the cable trench is rectangular, the cable trench is usually formed by pouring reinforced concrete, the side line of the cable trench is a line which is positioned at the top of the side wall of the cable trench and is formed by intersecting the surface (vertical) where the side wall of the cable trench is positioned and the surface (horizontal) of the top of the side wall, and the power cable is arranged in the cable trench. Before carrying out the inside presentation of cable pit, at first need confirm the position of cable pit, the position of this application priority through confirming the cable pit sideline and fix a position the cable pit, then further present the cable pit inside.
Step 2004, except for the points on both sides of the left edge point cloud and the right edge point cloud in the cable trench point cloud, only the points between the left edge point cloud and the right edge point cloud are reserved, and the point cloud formed by the points between the left edge point cloud and the right edge point cloud is recorded as the point cloud in the cable trench
Figure 631151DEST_PATH_IMAGE019
，
Figure 45952DEST_PATH_IMAGE020
Wherein
Figure 988500DEST_PATH_IMAGE021
The number of the point cloud middle points in the cable trench,
Figure 488751DEST_PATH_IMAGE022
and the points are points in the point cloud in the cable trench. This application is to the inside formation of image of cable pit, and the noise point is all regarded as to the point beyond cable pit left sideline and the right sideline both sides, for improving the representational nature of cable pit formation of image, accelerates the process of formation of image processing simultaneously, only keeps the point between cable pit left sideline and the right sideline, does not do the processing to the point beyond the cable pit left and right sideline.
On the basis of the foregoing embodiment, the present embodiment further describes and optimizes the technical solution, which is specifically as follows:
in step 300, in the stage of completing and closing the cable trench construction, scanning the cable trench environment by using a three-dimensional laser scanning device to obtain an initial environment area point cloud, and recording the initial environment area point cloud as
Figure 174948DEST_PATH_IMAGE023
，
Figure 444255DEST_PATH_IMAGE024
Wherein, in the step (A),
Figure 620021DEST_PATH_IMAGE025
the number of the points in the point cloud of the initial environment area,
Figure 545252DEST_PATH_IMAGE026
the points in the initial environment area point cloud are taken as points.
It can be understood that, at the cable trench presentation stage, utilize three-dimensional laser scanning equipment to scan the cable trench, obtain initial cable trench point cloud, actually scan the environment that the cable trench is located, the cable trench has been sealed at the cable trench presentation stage, the cable trench is in invisible state after the closure, consequently, what obtain this moment is the environmental data of cable trench top.
Regarding step 400, after the environmental scanning of the cable trench is completed, preprocessing the acquired initial environmental area point cloud, removing some noise points in the initial environmental area point cloud, and obtaining a corrected environmental area point cloud; the step 400 specifically includes:
step 4001, point cloud of the initial environment area
Figure 831877DEST_PATH_IMAGE023
Conversion to a second spatial coordinate system
Figure 158953DEST_PATH_IMAGE027
Performing the following steps; it should be noted that the initial environment area point cloud
Figure 240041DEST_PATH_IMAGE023
Conversion to a second spatial coordinate system
Figure 717815DEST_PATH_IMAGE027
In, rather than directly into, the first spatial coordinate system
Figure 745814DEST_PATH_IMAGE006
In the method, the point cloud of the initial environment area needs to be denoised, and if the point cloud of the initial environment area is directly converted into the first space coordinate system
Figure 989713DEST_PATH_IMAGE006
In the denoising treatment, the point cloud in the cable trench may be processed
Figure 444965DEST_PATH_IMAGE019
The second spatial coordinate system is also referred to as a spatial rectangular coordinate system.
Step 4002, point cloud of the initial environment area
Figure 141526DEST_PATH_IMAGE023
Performing pretreatment and removal
Figure 769953DEST_PATH_IMAGE023
Obtaining a point cloud of a conversion environment area by using the point cloud of medium noise
Figure 71622DEST_PATH_IMAGE028
，
Figure 760092DEST_PATH_IMAGE029
Wherein the second spatial coordinate system
Figure 881632DEST_PATH_IMAGE027
Is/are as follows
Figure 313750DEST_PATH_IMAGE001
The axis is perpendicular to the horizontal plane,
Figure 532242DEST_PATH_IMAGE030
and the number of the points in the point cloud of the conversion environment area is obtained. In order to ensure that the acquired point cloud has good representation, noise points in the point cloud need to be processed, including removing the noise points in the point cloud and removing repeated points in the point cloud, so that the problem of category data imbalance is reduced.
Step 4003, determining the first spatial coordinate system
Figure 329296DEST_PATH_IMAGE006
Middle pair
Figure 449DEST_PATH_IMAGE028
The point in (1) is corrected, and the point cloud formed by the corrected point is recorded as the point cloud of the correction environment area
Figure 973609DEST_PATH_IMAGE032
，
Figure 984290DEST_PATH_IMAGE033
Wherein, in the step (A),
Figure 14563DEST_PATH_IMAGE034
the number of the points in the point cloud of the correction environment area,
Figure 110695DEST_PATH_IMAGE035
points in the correction environment area point cloud. It will be appreciated that the processed initial environmental region point cloud is corrected to the same space as the cable trench interior point cloudIn the coordinate system, the points in the point cloud of the correction environment area and the points in the point cloud inside the cable trench can be presented in the same spatial coordinate system in the same size and multiple, so that the subsequent processing of the points in the point cloud is facilitated.
On the basis of the foregoing embodiment, the embodiment further describes and optimizes the technical solution, which specifically includes:
regarding to step 500, splicing the point cloud inside the cable trench and the point cloud of the correction environment area in the same spatial coordinate system to obtain a global point cloud specifically includes:
correcting the environmental area point cloud
Figure 884616DEST_PATH_IMAGE032
Conversion to the first spatial coordinate system
Figure 812121DEST_PATH_IMAGE006
Obtaining a spliced point cloud, wherein the spliced point cloud comprises points in the point cloud of the correction environment area and points in the point cloud inside the cable duct;
eliminating coincident points in the spliced point cloud, and recording point cloud formed by the points left after eliminating the coincident points in the spliced point cloud as global point cloud
Figure 950978DEST_PATH_IMAGE036
，
Figure 596723DEST_PATH_IMAGE037
Wherein, in the step (A),
Figure 112018DEST_PATH_IMAGE038
the number of the points in the global point cloud is obtained; wherein the coincident point is the correction environment area point cloud
Figure 894029DEST_PATH_IMAGE032
And the point cloud in the cable trench
Figure 266105DEST_PATH_IMAGE019
In the first space coordinate system
Figure 336829DEST_PATH_IMAGE006
Of the two points coincide.
It can be understood that after the acquired point cloud inside the cable trench and the point cloud in the correction environment area are converted into the same empty coordinate system for splicing, points of the point cloud inside the cable trench and the point cloud in the correction environment area are necessarily simultaneously present in the obtained spliced point cloud, and in order to reduce the problem of unbalanced point cloud data categories, repeated point clouds need to be removed, specifically, points in the point cloud in the correction environment area, which coincide with the point cloud inside the cable trench, are removed, and points in the point cloud inside the cable trench are kept as much as possible.
On the basis of the foregoing embodiment, the present embodiment further describes and optimizes the technical solution, which is specifically as follows:
regarding step 600, acquiring the point clouds of the correction environment area and the point clouds inside the cable trench in the global point cloud in the space coordinate system
Figure 452553DEST_PATH_IMAGE001
And projection in the axial direction, recording a point in the correction environment area point cloud which is superposed with any point in the cable trench internal point cloud in a projection manner as a coverage point, recording a point cloud formed by the coverage point as a coverage point cloud, and the step 600 specifically comprises the following steps:
step 6001, randomly selecting the global point cloud
Figure 292333DEST_PATH_IMAGE036
Middle correction environment area point cloud
Figure 838239DEST_PATH_IMAGE032
Any point in
Figure 458576DEST_PATH_IMAGE035
Memory for recording
Figure 50095DEST_PATH_IMAGE041
Wherein
Figure 806698DEST_PATH_IMAGE042
Is a point
Figure 723838DEST_PATH_IMAGE035
In the first spatial coordinate system
Figure 565893DEST_PATH_IMAGE043
The coordinate values on the axis are,
Figure 23419DEST_PATH_IMAGE044
is a point
Figure 837791DEST_PATH_IMAGE035
In the first spatial coordinate system
Figure 722570DEST_PATH_IMAGE045
The coordinate values on the axis are such that,
Figure 51920DEST_PATH_IMAGE046
is a point
Figure 250821DEST_PATH_IMAGE035
In the first spatial coordinate system
Figure 982016DEST_PATH_IMAGE001
Coordinate values on the axes.
The global point cloud comprises the point cloud of the correction environment area
Figure 975380DEST_PATH_IMAGE032
And point cloud in cable trench
Figure 783237DEST_PATH_IMAGE019
The points in the correction environment area point cloud and the points in the cable trench internal point cloud can be represented by different colors respectively in order to be convenient for distinguishing.
Step 6002, determine the point
Figure 520249DEST_PATH_IMAGE035
Whether it is a coverage point, ifIf yes, marking the coverage point as
Figure 105951DEST_PATH_IMAGE047
(ii) a Wherein the coverage point is the midpoint of the point cloud of the correction environment area
Figure 598112DEST_PATH_IMAGE046
Value of point cloud midpoint in cable trench
Figure 839738DEST_PATH_IMAGE048
The point at which the values are of the same size,
Figure 177178DEST_PATH_IMAGE048
for points in the point cloud inside the cable trench in the first space coordinate system
Figure 882966DEST_PATH_IMAGE001
Coordinate values on the axes.
It can be understood that the point cloud of the correction environment area in the global point cloud is covered above the point cloud of the cable trench interior, and when the cable trench interior is to be presented with the point cloud, the points in the point cloud of the correction environment area covered above the point cloud of the cable trench interior need to be removed, and in the space coordinate system, one point is directly above the other point, which means that the two points are located at the positions of the two points
Figure 218133DEST_PATH_IMAGE001
The coordinate values on the axis are the same, so that the method and the device can correct the points in the point cloud of the environmental area by comparing the points in the point cloud inside the cable trench with the points in the point cloud of the environmental area
Figure 9371DEST_PATH_IMAGE001
And coordinate values on the axis to determine points in the correction environment area point cloud overlaid on the point cloud inside the cable trench.
Referring to fig. 2 as a preferred embodiment, fig. 2 is a covering point mark diagram according to an embodiment of the present invention.
Step 6002 specifically is: in the first space coordinate system
Figure 88186DEST_PATH_IMAGE006
Middle, passing through point
Figure 648480DEST_PATH_IMAGE035
Structural edge
Figure 420127DEST_PATH_IMAGE001
Perpendicular to the axis
Figure 433082DEST_PATH_IMAGE050
Judging the perpendicular line
Figure 380834DEST_PATH_IMAGE050
Whether the point in the cable trench point cloud passes through or not, if so, recording the point
Figure 733318DEST_PATH_IMAGE035
To cover a point
Figure 738183DEST_PATH_IMAGE047
. Wherein, the vertical line is judged
Figure 238435DEST_PATH_IMAGE050
Whether the points in the point cloud inside the cable trench are passed or not, whether the number of the passed points is unique or not, the points are all passed
Figure 659052DEST_PATH_IMAGE035
Denoted as coverage points.
It will be appreciated that points of the cloud species are spotted via the calibration environment region
Figure 193938DEST_PATH_IMAGE035
Vertical line of construction
Figure 307388DEST_PATH_IMAGE050
Passes through any point in the cable trench point cloud
Figure 294935DEST_PATH_IMAGE022
Then represent the point in the correction environment area point cloud
Figure 581560DEST_PATH_IMAGE035
For covering points on the point cloud inside the cable trench, when the points of the cloud are located via the correction environment area
Figure 643057DEST_PATH_IMAGE035
Vertical line of construction
Figure 989725DEST_PATH_IMAGE050
Correcting a point in the environmental region point cloud when not passing through any point in the cable trench point cloud is described
Figure 464568DEST_PATH_IMAGE035
And if the point cloud in the cable trench is not shielded, marking is not needed.
Step 6003, repeating the steps V1 and V2, and traversing the correction environment area point cloud
Figure 492567DEST_PATH_IMAGE032
All the points in (1) to get the coverage of all the covered points
Figure 739397DEST_PATH_IMAGE047
Constructed coverage point cloud
Figure 929069DEST_PATH_IMAGE013
，
Figure 891209DEST_PATH_IMAGE014
Wherein the content of the first and second substances,
Figure 519637DEST_PATH_IMAGE049
and the number of the midpoint of the coverage point cloud is obtained.
And traversing all the points in the point cloud of the correction environment area, determining all the points covered on the point cloud in the cable trench, and recording the point cloud formed by all the points covered on the point cloud in the cable trench as a covered point cloud.
Based on the foregoing embodiments, the technical solutions are further explained and optimized in this embodiment, please refer to fig. 3-4, fig. 3 is a global point cloud display diagram provided in the embodiment of the present invention, and fig. 4 is an imaging point cloud display diagram inside a cable trench provided in the embodiment of the present invention, which is specifically as follows:
regarding step 700, hiding the coverage point cloud in the global point cloud to complete the presentation of the cable trench may specifically be: hiding the global point cloud
Figure 821305DEST_PATH_IMAGE036
The coverage point cloud of
Figure 244196DEST_PATH_IMAGE013
Hiding the global point cloud
Figure 631315DEST_PATH_IMAGE036
The coverage point cloud of
Figure 63433DEST_PATH_IMAGE013
And recording point clouds formed by the rest points as cable trench internal imaging point clouds, and highlighting and displaying points in the cable trench internal point clouds in the cable trench internal imaging point clouds to finish the presentation of the cable trench.
The application also provides a cable trench presentation device, which comprises a processor and a memory;
the memory is adapted to store a computer program which, when executed by the processor, implements a cable trench presentation method as described above.
The cable trench presentation method can present the constructed cable trench, and solves the technical problems that in the prior art, the positioning efficiency is low in the aspect of cable trench presentation, and the whole visual display of the constructed cable protection area cannot be realized.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A cable trench presentation method, comprising:
in the construction stage of the cable trench, scanning the cable trench by using three-dimensional laser scanning equipment to obtain initial cable trench point cloud;
processing the initial cable trench point cloud to obtain a cable trench internal point cloud;
in the construction completion and closing stage of the cable trench, scanning an environment region where the cable trench is located by using three-dimensional laser scanning equipment to obtain initial environment region point cloud;
correcting the initial environment area point cloud to obtain a corrected environment area point cloud;
splicing the point cloud inside the cable trench and the point cloud of the correction environment area in a space coordinate system to obtain a global point cloud;
acquiring the point clouds of the correction environment area and the point clouds in the cable trench in the space coordinate system in the global point clouds
Figure 513660DEST_PATH_IMAGE001
Projection in the axial direction, recording a point in the correction environment area point cloud which is superposed with any point in the cable trench interior point cloud in a projection manner as a coverage point, and recording a point cloud formed by the coverage point as a coverage point cloud;
hiding the coverage point cloud in the global point cloud to finish the presentation of the cable trench.
2. The cable trench presentation method according to claim 1, wherein in the cable trench construction stage, the cable trench is scanned by using a three-dimensional laser scanning device, and the obtaining of the initial cable trench point cloud specifically comprises:
scanning the cable trench by using three-dimensional laser scanning equipment to obtain an initial cable trench point cloud, and recording the initial point cloudThe point cloud of the cable trench is
Figure 373032DEST_PATH_IMAGE002
，
Figure 44185DEST_PATH_IMAGE003
Wherein, in the step (A),
Figure 279994DEST_PATH_IMAGE004
the number of the midpoint of the initial cable trench point cloud,
Figure 352992DEST_PATH_IMAGE005
points in the initial cable trench point cloud.
3. The cable trench presentation method according to claim 2, wherein the processing of the initial cable trench point cloud to obtain a cable trench internal point cloud is specifically:
s1, point cloud of the initial cable trench
Figure 320948DEST_PATH_IMAGE002
Conversion to a first spatial coordinate system
Figure 479397DEST_PATH_IMAGE006
Performing the following steps;
s2, point cloud of the initial cable trench
Figure 253318DEST_PATH_IMAGE002
Preprocessing is carried out, noise points in the initial cable trench point cloud are removed, and the cable trench point cloud is obtained
Figure 118506DEST_PATH_IMAGE007
，
Figure 322610DEST_PATH_IMAGE008
Wherein the first spatial coordinate system
Figure 968355DEST_PATH_IMAGE006
Is/are as follows
Figure 218071DEST_PATH_IMAGE001
The axis is perpendicular to the horizontal plane,
Figure 265661DEST_PATH_IMAGE009
the number of the midpoint of the cable trench point cloud,
Figure 637736DEST_PATH_IMAGE010
points in the cable trench point cloud are taken as points;
s3, determining point clouds representing cable trench side lines in the cable trench point clouds, and recording one side as a left line point cloud
Figure 708461DEST_PATH_IMAGE011
，
Figure 824184DEST_PATH_IMAGE012
The other side is marked as the right edge point cloud
Figure 726281DEST_PATH_IMAGE013
，
Figure 269258DEST_PATH_IMAGE014
Wherein, in the step (A),
Figure 561699DEST_PATH_IMAGE015
the number of the points in the point cloud of the left line,
Figure 481113DEST_PATH_IMAGE016
for a point in the left edge point cloud,
Figure 240647DEST_PATH_IMAGE017
the number of the points in the point cloud of the right side line,
Figure 954525DEST_PATH_IMAGE018
points in the left edge point cloud;
s4, removing points outside the two sides of the left line point cloud and the right line point cloud in the cable trench point cloud, only keeping points between the left line point cloud and the right line point cloud, and recording point cloud formed by the points between the left line point cloud and the right line point cloud as the point cloud in the cable trench
Figure 999841DEST_PATH_IMAGE019
，
Figure 457367DEST_PATH_IMAGE020
Wherein
Figure 68477DEST_PATH_IMAGE021
The number of the point cloud midpoints in the cable trench,
Figure 156519DEST_PATH_IMAGE022
and the points are points in the point cloud in the cable trench.
4. The cable trench presentation method according to claim 3, wherein in the cable trench presentation stage, the environmental area where the cable trench is located is scanned by using a three-dimensional laser scanning device, and the obtaining of the point cloud of the initial environmental area specifically comprises:
scanning the cable trench environment by using three-dimensional laser scanning equipment to obtain initial environment area point cloud, and recording the initial environment area point cloud as
Figure 485869DEST_PATH_IMAGE023
，
Figure 747086DEST_PATH_IMAGE024
Wherein, in the step (A),
Figure 212702DEST_PATH_IMAGE025
is the initial environment regionThe number of the middle points of the domain point cloud,
Figure 471645DEST_PATH_IMAGE026
the points in the initial environment area point cloud are taken as points.
5. The cable trench presentation method according to claim 4, wherein the step of correcting the initial environment area point cloud to obtain a corrected environment area point cloud specifically comprises:
t1 point cloud of the initial environment area
Figure 288292DEST_PATH_IMAGE023
Conversion to a second spatial coordinate system
Figure 78831DEST_PATH_IMAGE027
Performing the following steps;
t2 point cloud of the initial environment area
Figure 602217DEST_PATH_IMAGE023
Preprocessing is carried out, noise points in the point cloud of the initial environment area are removed, and the point cloud of the conversion environment area is obtained
Figure 94378DEST_PATH_IMAGE028
，
Figure 132741DEST_PATH_IMAGE029
Wherein the second spatial coordinate system
Figure 673444DEST_PATH_IMAGE027
Is/are as follows
Figure 379232DEST_PATH_IMAGE001
The axis is perpendicular to the horizontal plane,
Figure 776715DEST_PATH_IMAGE030
the number of the points in the point cloud of the conversion environment area,
Figure 505637DEST_PATH_IMAGE031
points in the point cloud of the conversion environment area;
t3 in the first space coordinate system
Figure 646768DEST_PATH_IMAGE006
Centering the transformed environment region point cloud
Figure 207062DEST_PATH_IMAGE028
Correcting the points in the image, and recording the point cloud formed by the corrected points as the point cloud of the correction environment area
Figure 713130DEST_PATH_IMAGE032
，
Figure 991664DEST_PATH_IMAGE033
Wherein, in the step (A),
Figure 939416DEST_PATH_IMAGE034
the number of the points in the point cloud of the correction environment area,
Figure 291900DEST_PATH_IMAGE035
and correcting points in the environment area point cloud.
6. The cable trench presentation method according to claim 5, wherein the splicing of the cable trench internal point cloud and the calibration environment area point cloud in the spatial coordinate system to obtain the global point cloud is specifically:
point cloud of the correction environment area
Figure 296765DEST_PATH_IMAGE032
Conversion to the first spatial coordinate system
Figure 797017DEST_PATH_IMAGE006
Obtaining a spliced point cloud, wherein the spliced point cloud comprises points in the point cloud of the correction environment area and points in the point cloud inside the cable trench;
eliminating coincident points in the spliced point cloud, and recording point cloud formed by the points left after eliminating the coincident points in the spliced point cloud as global point cloud
Figure 217634DEST_PATH_IMAGE036
，
Figure 752521DEST_PATH_IMAGE037
Wherein, in the step (A),
Figure 662708DEST_PATH_IMAGE038
the number of the points in the global point cloud is obtained; wherein the coincident point is the correction environment area point cloud
Figure 587938DEST_PATH_IMAGE032
And the point cloud in the cable trench
Figure 874563DEST_PATH_IMAGE019
In the first space coordinate system
Figure 263956DEST_PATH_IMAGE006
Of the two points coincide.
7. The trench presentation method according to claim 6, wherein said obtaining of said global point cloud comprises obtaining said point cloud of said corrected environment area and said point cloud of said trench interior in said spatial coordinate system
Figure 548307DEST_PATH_IMAGE001
And projection in the axial direction, recording a point in the correction environment area point cloud which is superposed with any point in the point cloud in the cable trench as a coverage point, and recording the point cloud formed by the coverage point as a coverage point cloud specifically comprises:
V1、randomly selecting the global point cloud
Figure 23151DEST_PATH_IMAGE036
Correcting the ambient area point cloud
Figure 850817DEST_PATH_IMAGE032
At any point in
Figure 32400DEST_PATH_IMAGE035
Memory for recording
Figure 549969DEST_PATH_IMAGE039
Wherein
Figure 512108DEST_PATH_IMAGE040
Is a point
Figure 78219DEST_PATH_IMAGE035
In the first spatial coordinate system
Figure 176625DEST_PATH_IMAGE041
The coordinate values on the axis are,
Figure 865095DEST_PATH_IMAGE042
is a point
Figure 314531DEST_PATH_IMAGE035
In the first spatial coordinate system
Figure 481070DEST_PATH_IMAGE043
The coordinate values on the axis are,
Figure 699562DEST_PATH_IMAGE044
is a point
Figure 561863DEST_PATH_IMAGE035
In the first spatial coordinate system
Figure 233016DEST_PATH_IMAGE001
Coordinate values on the axis;
v2, judging the point
Figure 468825DEST_PATH_IMAGE035
Whether the coverage point is a coverage point or not is judged, if so, the coverage point is marked as a coverage point
Figure 541824DEST_PATH_IMAGE045
(ii) a Wherein the coverage point is the midpoint of the point cloud of the correction environment area
Figure 509780DEST_PATH_IMAGE044
Value of point cloud midpoint in cable trench
Figure 668228DEST_PATH_IMAGE046
The point at which the values are of the same size,
Figure 176570DEST_PATH_IMAGE046
for points in the point cloud inside the cable trench in the first space coordinate system
Figure 369654DEST_PATH_IMAGE001
Coordinate values on the axis;
v3, repeating the above steps V1 and V2, traversing the correction environment area point cloud
Figure 570828DEST_PATH_IMAGE032
Get the coverage point of
Figure 231222DEST_PATH_IMAGE045
Constructed coverage point cloud
Figure 480937DEST_PATH_IMAGE013
，
Figure 528528DEST_PATH_IMAGE014
Wherein the content of the first and second substances,
Figure 900603DEST_PATH_IMAGE047
and the number of the points in the coverage point cloud is calculated.
8. The cable trench presentation method of claim 7, wherein the determining the point is performed by a computer
Figure 33644DEST_PATH_IMAGE035
Whether the coverage point is a coverage point or not is judged, if so, the coverage point is marked as a coverage point
Figure 149368DEST_PATH_IMAGE045
The method specifically comprises the following steps:
in the first space coordinate system
Figure 51465DEST_PATH_IMAGE006
Middle, passing through point
Figure 594442DEST_PATH_IMAGE035
Along said first spatial coordinate system
Figure 886883DEST_PATH_IMAGE001
Perpendicular to the axis
Figure 806297DEST_PATH_IMAGE048
Judging the perpendicular line
Figure 565830DEST_PATH_IMAGE048
Whether the point passes through the point in the point cloud in the cable trench or not, if so, the point is detected
Figure 279709DEST_PATH_IMAGE035
Marking as a coverage Point
Figure 387342DEST_PATH_IMAGE045
And if not, marking is not carried out.
9. The trench presentation method according to claim 1, wherein hiding the coverage point cloud in the global point cloud completes presentation of the trench specifically by:
hiding the global point cloud
Figure 782551DEST_PATH_IMAGE036
The coverage point cloud of
Figure 393661DEST_PATH_IMAGE013
Hiding the global point cloud
Figure 544020DEST_PATH_IMAGE036
The coverage point cloud of
Figure 873370DEST_PATH_IMAGE013
And point clouds formed by the residual points are point clouds formed in the cable trench, and points in the point clouds in the cable trench in the point clouds formed in the cable trench are highlighted and displayed to finish the presentation of the cable trench.
10. A cable trench presentation apparatus, the apparatus comprising a processor and a memory;
the memory is for storing a computer program which, when executed by the processor, implements the cable trench presentation method of any one of claims 1-9.
CN202210818731.1A 2022-07-13 2022-07-13 Cable trench presentation method and equipment Active CN114913214B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210818731.1A CN114913214B (en) 2022-07-13 2022-07-13 Cable trench presentation method and equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210818731.1A CN114913214B (en) 2022-07-13 2022-07-13 Cable trench presentation method and equipment

Publications (2)

Publication Number Publication Date
CN114913214A true CN114913214A (en) 2022-08-16
CN114913214B CN114913214B (en) 2022-10-04

Family

ID=82772040

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210818731.1A Active CN114913214B (en) 2022-07-13 2022-07-13 Cable trench presentation method and equipment

Country Status (1)

Country Link
CN (1) CN114913214B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200003337A1 (en) * 2018-06-29 2020-01-02 Airbus Operations Limited Aircraft cable routing system and method of installation thereof
CN114419123A (en) * 2022-03-03 2022-04-29 广东电网有限责任公司 Cable protection zone determining method and system based on true color point cloud
CN114494020A (en) * 2022-02-15 2022-05-13 国网江苏省电力工程咨询有限公司 Data splicing method for cable channel point cloud data
CN114549784A (en) * 2022-02-24 2022-05-27 国网江苏省电力工程咨询有限公司 Transformer substation cable channel three-dimensional model construction method based on laser point cloud

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200003337A1 (en) * 2018-06-29 2020-01-02 Airbus Operations Limited Aircraft cable routing system and method of installation thereof
CN114494020A (en) * 2022-02-15 2022-05-13 国网江苏省电力工程咨询有限公司 Data splicing method for cable channel point cloud data
CN114549784A (en) * 2022-02-24 2022-05-27 国网江苏省电力工程咨询有限公司 Transformer substation cable channel three-dimensional model construction method based on laser point cloud
CN114419123A (en) * 2022-03-03 2022-04-29 广东电网有限责任公司 Cable protection zone determining method and system based on true color point cloud

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
陈辉等: "基于激光扫描和SFM的非同步点云三维重构方法", 《仪器仪表学报》 *

Also Published As

Publication number Publication date
CN114913214B (en) 2022-10-04

Similar Documents

Publication Publication Date Title
CN109826248B (en) Method for applying three-dimensional laser scanner to foundation pit deformation monitoring
KR101720755B1 (en) Image processing system for 3-dimensional modeling data of underground facilities
CN111895911A (en) Method for monitoring hidden danger of ground collapse of shallow sand layer
CN113822227A (en) Tunnel engineering construction risk monitoring method, device and medium
CN111274683A (en) Oil-gas pipeline data alignment management method
CN112132946A (en) Data extraction and display method for three-dimensional ground penetrating radar
CN114667434A (en) Method and mobile capturing device for capturing infrastructure elements of an underground line network
CN114913214B (en) Cable trench presentation method and equipment
KR102207792B1 (en) Apparatus for modeling 3d of underground structure and method thereof
CN116090981A (en) AR-based construction assistance system, AR-based construction assistance method, AR-based construction assistance computer device, and storage medium
US11348321B2 (en) Augmented viewing of a scenery and subsurface infrastructure
JP2012103212A (en) Underground radar
JP3437074B2 (en) Apparatus and method for detecting position of broken reinforcing bar in concrete pole
JP3691454B2 (en) Ground displacement positioning system
CN114419123A (en) Cable protection zone determining method and system based on true color point cloud
JP2020091590A (en) Display data generation apparatus, display data generation method, and display data generation program
CN111047699A (en) Seabed detection image display method, device, equipment and storage medium
US8897547B2 (en) Precision improving device for three dimensional topographical data, precision improving method for three dimensional topographical data and recording medium
CN115728833A (en) Direct-buried cable path detection vehicle and detection method thereof
KR102357109B1 (en) Tunnel surface mapping system under construction
CN114329708A (en) Rain sewage pipe network offset detection method based on three-dimensional laser scanning technology
KR20020085380A (en) Three-Dimensional Image Processing Method of Subsurface survey and The Same System
JP6478557B2 (en) Exploration method
CN113566686A (en) Method and device for verifying buried depth position based on ultra-large buried depth pipeline
CN112860832A (en) Cable display method, device, equipment and storage medium for three-dimensional map

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant