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Datum plane height detection method, device and equipment, and storage medium

A technology of height detection and datum, applied in the field of surveying and mapping, can solve the problems of hidden danger of leveling equipment wear, inaccurate determination of the height of the datum, affecting the leveling process and the efficiency of the grinding process, etc. The effect of damage and simplification of point cloud data

Pending Publication Date: 2021-02-09
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the height of the ground around the building is generally directly used as the height of the datum level of the building, but the height of the ground around the building cannot accurately reflect the height of the datum level of the building, resulting in an inaccurate determination of the height of the datum level, which in turn causes problems for the leveling equipment. Bring hidden dangers of wear and affect the operating efficiency of the leveling process and grinding process

Method used

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  • Datum plane height detection method, device and equipment, and storage medium
  • Datum plane height detection method, device and equipment, and storage medium
  • Datum plane height detection method, device and equipment, and storage medium

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Embodiment 1

[0031] figure 1 It is a schematic flow chart of a datum height detection method provided by Embodiment 1 of the present invention. This embodiment can be applied to obtain the point cloud data of horizontal steel bars, and then map the point cloud data to obtain a maximum height grid map, and further The maximum height grid map is segmented, and the height of the reference plane is calculated based on the divided area. This method can be performed by a device for detecting the height of the reference plane, wherein the device can be implemented by software and / or hardware, and is generally integrated in the height of the reference plane. detection device or server. For details, see figure 1 As shown, the method may include the following steps:

[0032] S110, acquiring point cloud data of horizontal steel bars.

[0033] Among them, the point cloud data of the horizontal steel bar is the three-dimensional laser data obtained by scanning the horizontal steel bar from top to bo...

Embodiment 2

[0054] figure 2 It is a schematic flowchart of a method for detecting the height of a reference plane provided by Embodiment 2 of the present invention. The technical solution of this embodiment adds new steps on the basis of the foregoing embodiments. Optionally, before performing region segmentation on the maximum height grid map to generate a maximum connected domain detection area, the method further includes: based on the density of grid points in the maximum height grid map, determining discrete points in the maximum height grid map, and filter the discrete points to obtain a filtered maximum height grid map. For the parts not described in detail in the method embodiment, please refer to the above embodiment. For details, see figure 2 As shown, the method may include the following steps:

[0055] S210, acquiring point cloud data of the horizontal reinforcement.

[0056] S220, based on the mapping relationship between the pre-established point cloud data and the gr...

Embodiment 3

[0067] Figure 4 It is a schematic flowchart of a method for detecting the height of a reference plane provided by Embodiment 3 of the present invention. The technical solution of this embodiment is refined in the steps of the foregoing embodiments. Optionally, performing region segmentation on the maximum height grid image to generate a maximum connected domain detection region includes: determining a diameter of a convolution kernel, and comparing the maximum Perform convolution processing on the high grid image to generate a maximum height expansion grid image; based on the pixel value of the current expansion grid point in the maximum height expansion grid image, the neighborhood pixel set of the current expansion grid point and the smoothing threshold , generating a smooth region mask map; performing connected domain segmentation on the smooth region mask map to generate the maximum connected region detection region. For the parts not described in detail in the method e...

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Abstract

The embodiment of the invention discloses a datum plane height detection method, device and equipment and a storage medium. The method includes obtaining point cloud data of the horizontal steel bar,projecting the point cloud data into the initial grid graph based on a pre-established mapping relationship between the point cloud data and grid points in the initial grid graph to obtain a projection grid graph, and generating a maximum height grid graph corresponding to the point cloud data with the maximum height according to the projection grid graph, wherein the point cloud data with the maximum height is a horizontal steel bar with the maximum height; carrying out region segmentation on the maximum height grid map to generate a maximum connected domain detection region, and calculatingthe height of the datum plane according to the coordinate information of pixel points in the maximum connected domain detection region. The purpose of accurately determining the height of the datum plane through the maximum height grid graph is achieved, the process of generating the maximum height grid graph can simplify point cloud data, the calculation efficiency of the height of the datum plane is improved, and the operation efficiency of a leveling process and a grinding process is improved while leveling equipment is prevented from being damaged.

Description

technical field [0001] Embodiments of the present invention relate to surveying and mapping technology, and in particular to a method, device, equipment and storage medium for detecting the height of a reference plane. Background technique [0002] With the decline of the demographic dividend, the construction industry has put forward higher and higher requirements and demands for the automation of surveying and mapping technology. In recent years, the emergence of semi-automated self-elevating building equipment has replaced some repetitive and labor-intensive tasks. Correspondingly, the automation level of surveying and mapping technology needs to be improved accordingly. In the field of construction, the formation of floors and floors requires the execution of construction techniques such as grouting, troweling, and leveling in turn. Among them, during the smoothing and leveling process of building equipment, it is necessary to obtain the height information of the proces...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/11G06T7/136G06T7/187G06T7/62G01C5/00
CPCG06T7/0004G06T7/11G06T7/136G06T7/187G06T7/62G01C5/00G06T2207/10028G06T2207/30108
Inventor 傅志刚杨海溢贾宁彭登周森标刘玉平陶永康
Owner GUANGDONG BOZHILIN ROBOT CO LTD