CN116523751A - Method for carrying out point cloud splicing on underground comprehensive pipe rack by utilizing design drawing - Google Patents
Method for carrying out point cloud splicing on underground comprehensive pipe rack by utilizing design drawing Download PDFInfo
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- CN116523751A CN116523751A CN202310507399.1A CN202310507399A CN116523751A CN 116523751 A CN116523751 A CN 116523751A CN 202310507399 A CN202310507399 A CN 202310507399A CN 116523751 A CN116523751 A CN 116523751A
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- point cloud
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- utility tunnel
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- 238000013461 design Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000007781 pre-processing Methods 0.000 claims abstract description 10
- 238000004519 manufacturing process Methods 0.000 claims abstract description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a method for splicing point clouds of an underground comprehensive pipe rack by using a design drawing, and relates to the technical field of three-dimensional laser scanning application of the underground comprehensive pipe rack, comprising the steps of data acquisition, data preprocessing, manual point cloud splicing, frame point cloud manufacturing, corridor point cloud and frame point cloud splicing; the invention improves the scanning efficiency, makes the scanning more convenient, solves the problem that the error is continuously increased caused by the increase of the scanning distance and the station number, and improves the precision of the point cloud splicing.
Description
Technical Field
The invention relates to the technical field of three-dimensional laser scanning application of underground comprehensive pipe racks, in particular to a method for splicing underground comprehensive pipe racks by utilizing a design drawing.
Background
At present, the mode of underground tunnel point cloud splicing is to splice by utilizing target balls, and the mode can be divided into local splicing and global splicing according to different layout modes of the target balls. However, no matter what splicing method is used, according to the error propagation law, as the scanning distance and the station number increase, the error inevitably increases. A target ball with a prism is thus created, and the coordinates of the target ball can be obtained during operation, but this requires a large amount of control measurement in the early stage and takes more time during scanning.
The underground comprehensive pipe rack is narrower than the space of most tunnels, so that the number of stations required for scanning is more, and the difficulty of controlling and measuring is also greater, therefore, research on a point cloud splicing method which has higher practicability and can control errors is needed;
therefore, a method for splicing the point clouds of the underground utility tunnel by using the design drawing is provided.
Disclosure of Invention
The invention aims to provide a method for splicing point clouds of an underground comprehensive pipe rack by using a design drawing, which improves the scanning efficiency, ensures that the scanning is more convenient, solves the problem that the error continuously increases due to the increase of the scanning distance and the station number, and improves the accuracy of the point cloud splicing.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a method for carrying out point cloud splicing of an underground utility tunnel by using a design drawing comprises the following specific steps:
s1, data acquisition;
s2, data preprocessing: preprocessing scanned data by using professional software;
s3, manually splicing point clouds and manufacturing frame point clouds: manually splicing the point clouds, converting each scanned point cloud into the same coordinate system, and converting the frame of the underground utility tunnel into the frame point cloud of the underground utility tunnel by using a design drawing;
s4, splicing gallery point clouds and frame point clouds: and matching the gallery point cloud which is spliced preliminarily with the frame point cloud.
As a further scheme of the invention: the specific data acquisition process in the step S1 is as follows: firstly, instrument erection and target ball placement are carried out, three common target balls are needed between two measuring stations according to actual conditions, the positions of the target balls are needed to be placed randomly and cannot be coplanar or collinear, data acquisition is carried out by scanning, and then step S1 is repeated until all data acquisition is completed.
As a further scheme of the invention: the preprocessing in step S2 includes, but is not limited to, colorizing, distance filtering, and target finding.
As a further scheme of the invention: in step S3, the specific steps of converting the frame of the underground utility tunnel into the frame point cloud of the underground utility tunnel by using the design drawing are as follows:
s31, opening a gallery CAD design drawing;
s32, independently taking out the CAD graph of the spliced gallery part;
s33, converting the extracted line of the CAD graph into a point by using a tool;
s34, extracting converted points to obtain an xls file;
s35, modifying the xls file into a point cloud file according to a required point cloud format;
s36, importing the manufactured frame point cloud file into point cloud processing software.
Compared with the prior art, the invention has the beneficial effects that:
the invention improves the scanning efficiency, makes the scanning more convenient, solves the problem that the error is continuously increased caused by the increase of the scanning distance and the station number, and improves the precision of the point cloud splicing.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
FIG. 1 is a process flow diagram of the present invention;
FIG. 2 is a spatial relationship diagram in the present embodiment;
FIG. 3 is a schematic diagram of a station in the present embodiment;
fig. 4 is a schematic diagram of manual splicing in the present embodiment;
FIG. 5 is a schematic view of a partially manually spliced point cloud in the present embodiment;
FIG. 6 is a schematic diagram of a frame point cloud in the present embodiment;
fig. 7 is a schematic view of a point cloud after processing in the present embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-7, a method for performing point cloud splicing of an underground utility tunnel by using a design drawing comprises the following specific steps:
and (3) data acquisition:
I. performing on-site survey: determining the scanner per station spacing from the width of the corridor, from fig. 2, the formula α=arctan (S/D), known that when α is greater than 60 °, the range error rises sharply, from which the maximum station spacing S can be calculated;
II. Laying a target ball: the arrangement of the target balls is in accordance with a random principle, the number of the target balls between each measuring station is not less than 3, the three target balls cannot be collinear and coplanar, then a scanner is erected, the scanner is erected on the central axis of a corridor as much as possible, scanner parameters are set, the scanner is controlled to scan, the scanning of the station is completed, the target balls in the non-overlapping area between the scanner and the two stations are moved to the next station for scanning, and specific reference can be made to fig. 3; repeating the scanning until the complete gallery is scanned;
and (3) data processing:
III, importing the scanned point cloud data into point cloud processing software, preprocessing the point cloud, and then manually splicing the point cloud: splicing by using target balls in the overlapping area, as shown in fig. 4; and (5) splicing all the point clouds, wherein part of the point clouds are shown in fig. 5.
IV, converting the frame of the underground comprehensive pipe gallery into a frame point cloud of the underground comprehensive pipe gallery by using a design drawing;
and V, matching the primarily spliced gallery point cloud with the frame point cloud, and manually adjusting according to the point cloud characteristic points, wherein the adjusted point cloud is shown in fig. 7.
Preprocessing in this embodiment includes, but is not limited to, colorizing, distance filtering, target finding.
In another implementation manner of this embodiment, the specific steps of converting the frame of the utility tunnel into the frame point cloud of the utility tunnel by using the design drawing are as follows:
s1, opening a gallery CAD design drawing;
s2, independently taking out the CAD graph of the spliced gallery part;
s3, converting the extracted lines of the CAD graph into points by using a tool;
s4, extracting converted points to obtain an xls file;
s5, modifying the xls file into a point cloud file according to a required point cloud format;
s6, importing the manufactured frame point cloud file into point cloud processing software, and particularly referring to FIG. 6.
In summary, the method for splicing the point clouds of the underground utility tunnel by using the design drawing comprises the steps of acquiring initial point cloud data, preprocessing the data, splicing the point clouds locally, manufacturing the frame point clouds, splicing the gallery point clouds and the frame point clouds, and can effectively save the scanning time and avoid complex control measurement.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (4)
1. A method for splicing point clouds of an underground utility tunnel by using a design drawing is characterized by comprising the following specific steps:
s1, data acquisition;
s2, data preprocessing: preprocessing scanned data by using professional software;
s3, manually splicing point clouds and manufacturing frame point clouds: manually splicing the point clouds, converting each scanned point cloud into the same coordinate system, and converting the frame of the underground utility tunnel into the frame point cloud of the underground utility tunnel by using a design drawing;
s4, splicing gallery point clouds and frame point clouds: and matching the gallery point cloud which is spliced preliminarily with the frame point cloud.
2. The method for performing point cloud splicing of the utility tunnel by using the design drawing according to claim 1, wherein the specific data acquisition process in step S1 is as follows: firstly, instrument erection and target ball placement are carried out, three common target balls are needed between two measuring stations according to actual conditions, the positions of the target balls are needed to be placed randomly and cannot be coplanar or collinear, data acquisition is carried out by scanning, and then step S1 is repeated until all data acquisition is completed.
3. A method for performing point cloud stitching on a utility tunnel according to claim 1 and wherein said preprocessing in step S2 includes but is not limited to color, distance filtering and target finding.
4. The method for performing point cloud splicing of the utility tunnel by using the design drawing according to claim 1, wherein the specific step of converting the frame of the utility tunnel into the frame point cloud of the utility tunnel by using the design drawing in step S3 is as follows:
s31, opening a gallery CAD design drawing;
s32, independently taking out the CAD graph of the spliced gallery part;
s33, converting the extracted line of the CAD graph into a point by using a tool;
s34, extracting converted points to obtain an xls file;
s35, modifying the xls file into a point cloud file according to a required point cloud format;
s36, importing the manufactured frame point cloud file into point cloud processing software.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310507399.1A CN116523751A (en) | 2023-05-06 | 2023-05-06 | Method for carrying out point cloud splicing on underground comprehensive pipe rack by utilizing design drawing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310507399.1A CN116523751A (en) | 2023-05-06 | 2023-05-06 | Method for carrying out point cloud splicing on underground comprehensive pipe rack by utilizing design drawing |
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| CN116523751A true CN116523751A (en) | 2023-08-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118376170A (en) * | 2024-06-21 | 2024-07-23 | 机械工业勘察设计研究院有限公司 | Tunnel deformation monitoring method based on three-dimensional laser scanning |
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2023
- 2023-05-06 CN CN202310507399.1A patent/CN116523751A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118376170A (en) * | 2024-06-21 | 2024-07-23 | 机械工业勘察设计研究院有限公司 | Tunnel deformation monitoring method based on three-dimensional laser scanning |
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