TWI526986B - Virtual positioning board and construction detecting method using the same - Google Patents

Description

Virtual positioning board and construction detecting method using the same

The invention is a virtual positioning board which is applied to a three-dimensional laser scanning system and arranged in a reference point of a building or its periphery.

The digital stereoscopic image of the object can be completed using a three-dimensional laser scanning system. The three-dimensional laser scanner acquires point cloud data on each side of the object, and the back-end software constructs the point cloud data to form a digital stereo image of the object. Different three-dimensional laser scanners and software are used depending on the properties of the objects. Digital stereoscopic representations of large-scale physical objects such as buildings (architecture, monuments, sites, archaeological sites) are achieved using the ground-borne light (LiDAR) in a three-dimensional laser scanning system. Due to the conditional limitations of the ground-borne light itself and the excessively large, too complex space of the building entity, the obscuration of some building entities by other objects or the surrounding environmental factors, it usually takes two or even two to carry out large-scale construction scanning. The above stations can only perform a complete scan. The resettlement points of the stations are located at different positions around the building. After the software obtains the point cloud data of each station, it needs to be spliced to integrate the complete 360-degree point cloud map. For example, point cloud images and data can be used for different applications by doing many different file conversions through other auxiliary software. When the software stitches the point cloud data of each station, it needs to pass several reference points to accurately match. The reference point is composed of several features set in or around the building itself, and the 3D scanner scans the building at each station. At the same time, the reference point is also scanned in.

One of the difficulties in establishing a benchmark is its layout, but this difficulty can be solved by field training after training by trained professionals.

The second difficulty in establishing a reference point is that the feature cannot be damaged to the structure itself or its surroundings. In other words, the feature cannot be fixed at the reference point by external force means (such as nailing, locking...); The building itself belongs to the monuments, ruins, archaeological sites, etc., and the external force will fix the features on the reference point, which will cause the building to be destroyed twice; in addition, some buildings (such as bridges, piers, tunnels). ..) The structure is extremely precise. If external forces are used to set features at the reference point, the supporting force, force balance, load, shear, and camber of the building may be damaged.

The third difficulty in setting up the benchmark point is that if the building monitoring needs to perform the first, second, third... three-dimensional laser scanning and point cloud data establishment at different times (such as bridge crack monitoring: .), each time the reference point must be the same, in order to calculate the variable of the building through software reconstruction; however, if the feature cannot be fixed by external force, or the external force can not leave traces on the ground or object The first benchmark is saved, so how do you make the first benchmark set up for the second and third scans?

The invention provides a virtual positioning board, which can solve the above difficulties 2 and 3.

The virtual positioning plate of the present invention comprises a plate having a geometric shape having a predetermined thickness, the virtual positioning plate having a first surface and a second surface; the first surface has a plurality of color blocks, and the color block is Formed by a coating of a coating scanned by a three-dimensional laser scanner; the plurality of color patches constitute a first reference line and a second reference line passing through a center point of the virtual positioning plate, the first reference line and the second reference line The right angle of the line intersects at the center point of the virtual positioning plate. The first surface further includes a first core circle centered on the center point, the first core circle and a first calibration line and a second reference line formed therein forming a first calibration of the first surface; The second surface has two color patches, the color patches Is composed of a coating coating that can be scanned by a three-dimensional laser scanner, and the two color blocks form a second center circle on the second surface centered on a center point of the virtual positioning plate, the second heart circle The center point has a crosshair mark, and the second heart circle and the crosshair mark constitute a second scale of the second surface.

Further, the first and second circles are transparent regions.

Further, the material of the virtual positioning plate includes, but is not limited to, plastic and metal. The thickness of the virtual positioning plate includes, but is not limited to, 1 mm to 4 mm. The contour shape of the virtual positioning plate may be a rectangle, a circle, or a variety of geometric shapes. The outline size of the virtual positioning plate can be determined according to actual needs.

Further, the color block of the first surface includes at least two first color blocks and at least two second color blocks; the first color block and the second color block are alternately arranged on the first surface, the first The color block may be a light color or a white color, and the color of the second color block is a contrast color system of the first color block.

Further, the color patches of the first surface have a rectangular shape and the number is four. Each color block has the same shape and area.

Further, the color of the second center circle is a light color or a white color, and the color around the second color circle is a contrast color system of the second heart circle for highlighting the second heart circle.

Further, the coating is a high reflectivity coating.

The method for detecting the construction of the virtual positioning plate comprises: conducting on-site inspection of a building to confirm the position of the station and the number of stations of the three-dimensional laser scanner; according to the position of each station and the three-dimensional laser scanner Scanning angle, setting a plurality of scanning reference points around the building and/or the building; Positioning or erecting a virtual positioning plate horizontally at each scanning reference point; each station scanning the building and the reference point with the three-dimensional laser scanner to obtain the stations and the reference point for each station Point cloud data; a software receiving and calculating the point cloud data of the building and the reference point, and interpreting the three-dimensional coordinates of each point cloud, and stacking the point cloud data of the building of each station at the center of the reference point The three-dimensional point cloud image and data constituting the building.

One of the methods for setting a reference point by using the virtual positioning board of the present invention is that a first reference line and a second reference line of the first surface of the virtual positioning board are respectively linearly corresponding to a specific target with a fixed position and no change. According to this, the position of the first calibration of the first surface of the virtual positioning plate is the reference point. The second method of setting the reference point by the virtual positioning plate of the present invention is that the X-axis and the Y-axis respectively of the cross-hair mark of the second surface of the virtual positioning plate are respectively corresponding to a specific reference point whose position is not fixed. Accordingly, the position of the second calibration of the second surface of the virtual positioning plate is the reference point.

The third method for establishing the reference point by the virtual positioning board of the present invention is to use a center point of the first calibration or the second calibration to correspond to a specific reference point of a fixed position whose position is not fixed by a predetermined linear distance.

The method for recording the reference point of the present invention comprises: taking a digital camera to capture and record the correspondence between the first calibration or the second calibration of the virtual positioning plate and the position and distance of the target reference point, and storing the position record of the reference point. .

The effect of the invention:

The virtual positioning plate is horizontally placed on the reference with the first surface facing upward Point for scanning by a 3D laser scanner.

The virtual positioning plate is vertically disposed at the reference point in such a manner that the first surface faces the station.

The virtual positioning plate is attached to a reference point of the surface of the building with a second surface, the first surface being scanned by a three-dimensional laser scanner.

The virtual positioning plate is attached to a reference point of the surface of the building with a first surface, and the second surface is scanned by a three-dimensional laser scanner.

The virtual positioning plate can be placed, erected or adhered to the reference point through the support, and does not cause any structural damage to the surface of the reference point, so as to avoid the construction of monuments, sites, archaeological sites and the like due to three-dimensional scanning. damage.

The recording of the reference point does not need to leave a recording mark on the ground or the object surface by external force means, but the position of the first reference point is saved by means of photographing and recording. After completing the 3D laser scan, the virtual locator can be removed from the datum point. If you need to perform the second and third time of the 3D laser scanning and point cloud data establishment in different time periods, you can refer to the photo record of the first reference point, the position of the reference point can be reproduced, and the virtual point will be virtualized. The positioning plate can be placed accurately at the reference point.

The three-dimensional laser scanner acquires point cloud data of each station and the virtual positioning board of the reference point, and the back end software can pass through the first surface of the virtual positioning board and the first or second surface and the second calibration The point cloud data of the structural feature is quickly calculated to obtain the central position coordinate of the reference point, and the central position coordinate is used as a feature point for nesting the point cloud data of each station.

The virtual positioning plate of the present invention selects the first surface as the scanning surface or the second surface as the scanning surface according to the environmental condition of the scanning reference point. Therefore, the virtual positioning plate of the present invention can be adapted to various reference points of various large spaces or complex structures.

The virtual positioning plate of the invention is a plate-shaped structure body, so that it is easy to carry, and the reference point cloth row is horizontally placed, supported by the support, erected, or adhered to the surface of the building, and is easy to operate and implement.

Regardless of the angle at which the virtual positioning plate is set, the point cloud data obtained by the three-dimensional laser scanner can obtain the point cloud coordinates of the center point through the first calibration and the second calibration.

1‧‧‧Buildings

2‧‧‧Station

3‧‧‧ benchmark

10‧‧‧virtual positioning board

12‧‧‧ center point

20‧‧‧ first surface

21‧‧‧First color block

22‧‧‧Second color block

23‧‧‧First baseline

24‧‧‧second baseline

25‧‧‧First heart

26‧‧‧ first calibration

30‧‧‧ second surface

31‧‧‧ color blocks

32‧‧‧ color blocks

33‧‧‧Second heart

34‧‧‧cross wire mark

36‧‧‧second calibration

The first figure is a front view of the virtual positioning board of the present invention.

The second figure is a rear view of the virtual positioning board of the present invention.

The third figure is a schematic view of the virtual positioning board cloth arranged in the periphery of each station of a large-scale building.

For the convenience of the description, the central idea expressed by the present invention in the column of the above summary of the invention is expressed by the specific embodiments. Various items in the embodiments are depicted in terms of ratios, dimensions, amounts of deformation, or displacements that are suitable for illustration, and are not drawn to the proportions of actual elements, as set forth above.

As shown in the first and second figures, the virtual positioning plate 10 of the present invention is a plate having a geometric shape having a predetermined thickness, and the virtual positioning plate 10 has a first surface 20 and a second surface 30 which are different from each other. The material of the virtual positioning plate 10 includes, but is not limited to, plastic, metal or composite materials. The thickness of the virtual positioning plate 10 includes, but is not limited to, 1 mm to 4 mm. The outline shape of the virtual positioning plate 10 may be a rectangle, a circle, or a variety of geometric shapes. The outline size of the virtual positioning plate 10 can be determined according to actual needs.

The first surface 20 has a plurality of color patches that are formed by a high reflectivity coating that can be scanned by a three-dimensional laser scanner; the plurality of color patches form a center point 12 through the virtual positioning plate 10. a first reference line 23 and a second reference line 24, the first reference line 23 and the second reference The line 24 intersects at a right angle to the center point 12 of the virtual positioning plate 10. The first surface 20 further includes a first core 25 centered on the center point 12, and the first core 25 and the first reference line 23 and the second reference line 24 therein form the first surface 20 The first calibration is 26. In an embodiment, the color block of the first surface 20 includes at least two first color blocks 21 and at least two second color blocks 22; each color block 21, 22 has a rectangular shape, and each color block 21, 22 occupies One quarter of the area of the first surface 20. The first color block 21 and the second color block 22 are alternately arranged on the first surface 20, and the first color block 21 may be a light color system or a white color system, and the color of the second color block 22 is the first color. The contrasting color of the color patches is such that the first reference line 23 and the second reference line 24 are connected by the sides of the second color block 22. The first circle 25 is a transparent block for highlighting the first reference line 23, the second reference line 24 and the center point 12 in the first scale 26.

The second surface 30 has two color blocks 31, 32 which are formed by high reflectivity coating which can be scanned by a three-dimensional laser scanner, the two color blocks 31, 32 being The second surface 30 forms a second core 33 centered on the center point 12 of the virtual positioning plate 10, and the center point of the second core 33 has a crosshair 34, the second core 33 and the crosshair The index 34 constitutes a second scale 36 of the second surface 30. The second core 33 is a transparent block for highlighting the crosshair 34. The first heart circle 25 and the second heart circle 25 are circles having the same radius.

The virtual positioning board of the present invention cooperates with a conventional light-carrying (three-dimensional laser scanner and software) to perform large-dimensional, large-volume, or complex-shaped structures for three-dimensional laser scanning to acquire point cloud data, based on ground. The conditional limitations of the light-carrying itself and the fact that the physical or spatial space of the object to be tested is too large, too complex, some entities are obscured by other objects or surrounding environmental factors, etc., usually require two or even two to perform such scanning. More than one station can perform a complete scan. As shown in the third figure, the placement points of multiple stations 2 are located at different positions around the building 1, respectively. The ground-borne light of each station must include several (at least three) reference points 3 in the scan range, including the surface of the building and/or the perimeter of the building, each station 2 and each reference point 3. The location and layout are determined by the actual situation on the spot.

The virtual positioning plate 10 of the present invention is disposed at the reference point 3, and the virtual positioning plate 10 is horizontally placed on the reference point with the first surface 20 facing upward for scanning by the three-dimensional laser scanner. The virtual positioning plate 10 is also vertically disposed at the reference point in such a manner that the first surface 20 faces the station. The virtual positioning plate 10 is attached to a reference point of the surface of the building with a second surface 30 for scanning by a three-dimensional laser scanner. The virtual positioning plate 10 is attached to the reference point of the building surface with the first surface 20, and the second surface 30 is scanned by the three-dimensional laser scanner. The virtual positioning plate can be horizontally placed, erected or adhered to the reference point through the support, and does not cause any structural damage to the surface of the reference point.

One of the manners for establishing the reference point by the virtual positioning plate 10 is that the first reference line 23 and the second reference line 24 of the first surface 20 of the virtual positioning plate respectively correspond to a specific, fixed position and does not change. The reference point of the target (for example, the edge of the building, the corner of the building, or other concrete object as a reference), according to which the position of the first calibration 26 of the first surface 20 of the virtual positioning plate is the reference point.

The second method for establishing the reference point by the virtual positioning plate of the present invention is that the X-axis and the Y-axis of the cross-hair mark 34 of the second surface 30 of the virtual positioning plate respectively correspond to a specific target whose position is fixed and does not change. The reference point (for example, the edge of the building, the corner of the building, or other concrete object as a reference), according to which the position of the second scale 36 of the second surface 30 of the virtual positioning plate is the reference point.

The third method of establishing a reference point by using the virtual positioning board of the present invention is to utilize the first setting The center point of the mark 26 or the second scale 36 corresponds to a specific target position whose fixed position does not change with a predetermined straight line distance (for example, the edge of the building, the angle of the building, or other concrete objects that can be used as a reference. ).

In addition to the above methods, any other feasible way can be used to establish the benchmarks on the ground.

The ground carrying light of each station reaches the virtual positioning board 10 of the scanned building and the included reference point, thereby acquiring the point cloud data of each station and the virtual positioning board 10, and the back end software can pass through the virtual positioning board 10 The point cloud data of the first surface 20 and the first calibration 26 or the second surface 30 and the second calibration 36 are quickly calculated to obtain the central position coordinates of the reference point, and the central position coordinates are used as the nesting The characteristic point of the point cloud data of the station.

In summary, the method for detecting the structure of the virtual positioning board 10 includes: performing on-site inspection of a building to confirm the position of the station and the number of stations to be set by the three-dimensional laser scanner; a scanning angle of the three-dimensional laser scanner, a plurality of scanning reference points are set at the periphery of the building and/or the building; and the virtual positioning board is horizontally disposed or erected at each scanning reference point; The three-dimensional laser scanner scans the building and the reference point to obtain point cloud data about the building and the reference point of each station; a software receives and calculates the point cloud data of the building and the reference point, and interprets each The three-dimensional coordinates of the point cloud are used to nest the point cloud data of the building at each station at the center of the reference point to form a three-dimensional point cloud image and data of the building.

After the three-dimensional laser scanning is completed, the virtual positioning plate 10 of each reference point can be removed. However, before the withdrawal, if it is necessary to carry out the second and third three-dimensional laser scanning in the future, and the same reference point is used, all the reference points of the first arrangement should be recorded. Come down.

A method for recording a reference point of the present invention includes photographing and recording a correspondence between a first scale 26 or a second scale 36 of the virtual positioning plate 10 and a position, a distance, and the like of the target reference point by a digital camera, and positioning the reference point The record is saved. The record of the reference point does not need to leave a record mark on the ground or the object surface by means of external force, but saves the position of the first reference point by means of photo recording, and then performs the second and third times of the third time. When the laser scanning and point cloud data are established, the camera record of the first reference point can be referred to, and the position of the reference point can be reproduced, and the virtual positioning board can be accurately placed on the reference point.

10‧‧‧virtual positioning board

12‧‧‧ center point

20‧‧‧ first surface

21‧‧‧First color block

22‧‧‧Second color block

23‧‧‧First baseline

24‧‧‧second baseline

25‧‧‧First heart

26‧‧‧ first calibration

Claims (7)

A virtual positioning plate is applied to a reference point of a three-dimensional laser scanning system arranged in a building or a periphery thereof, wherein the virtual positioning plate comprises a plate body having a predetermined thickness of a geometric shape, the virtual positioning plate having a first surface; the first surface has a plurality of color patches, and the color patches of the first surface are formed by coating coating that can be scanned by a three-dimensional laser scanner; the plurality of color patches of the first surface are formed by a first reference line and a second reference line at a center point of the virtual positioning board, the first reference line and the second reference line intersecting at a right angle of the virtual positioning board; the first surface further includes the center a first centroid of the center of the circle, the first core and the first reference line and the second reference line formed therein form a first calibration of the first surface; the virtual positioning plate also includes a different a second surface of the first surface; the second surface has two color patches, and the color patches of the second surface are formed by coating coating that can be scanned by a three-dimensional laser scanner, and the second surface is colored Forming a block on the second surface A virtual center point as the center of the positioning plate a second concentric circle, the circle center point of the second core having a standard cross wires, the second wires cross the center circle and the second calibration standard configuration of the second surface. The virtual positioning board according to claim 1, wherein the first heart circle and the second heart circle are transparent blocks. A method for detecting a building of a virtual positioning plate according to item 1 of the patent application scope includes: step one, conducting on-site inspection of a building to confirm the position of the station and the number of stations to be set in the three-dimensional laser scanner; And setting a plurality of scanning reference points around the building and/or the building according to the position of each station and the scanning angle of the three-dimensional laser scanner; Step 3, horizontally setting or erecting a virtual positioning board at each scanning reference point; in step 4, each station scanning the building and the virtual positioning board of the reference point by the three-dimensional laser scanner to obtain Point cloud data about the building and the virtual positioning board of the reference point; and step 5, a software receiving and calculating the point cloud data of the building and the virtual positioning board of the reference point, and interpreting the three-dimensional of each point cloud a coordinate, the software can quickly calculate the center position coordinate of the reference point through the first surface of the virtual positioning plate and the first calibration, or the second surface and the second scaled point cloud data, and the coordinates of the center position As a feature point of the point cloud data of each station of the stack, to form a three-dimensional point cloud image and data of the building. The detection method of claim 3, wherein, in step 3, the first reference line and the second reference line of the first surface of the virtual positioning plate respectively correspond to a specific target with a fixed position and no change. The reference point, the position of the center point of the first calibration of the virtual positioning board is the reference point. The detection method of claim 3, wherein, in step 3, the X-axis and the Y-axis respectively of the cross-hair mark of the second surface of the virtual positioning plate respectively correspond to a specific reference point of the target that does not change in position. According to this, the position of the center point of the crosshair mark of the virtual positioning board is the reference point. The detection method of claim 3, wherein the third step is that the center point of the first calibration or the second calibration of the virtual positioning plate corresponds to a specific linear distance by a predetermined linear distance, and the position is not fixed. The target point of the change. The detection method according to any one of claims 4 to 6, further comprising The digital camera captures the virtual positioning plate and the target reference point to record and save the reference point position.