A registration method, device and storage medium for a construction chamber section real scene model

Abstract

The present invention relates to the field of data processing technology, and provides a registration method, device and storage medium for a real-life model of a construction chamber section, obtains a two-dimensional design drawing of the chamber section, establishes BIM modeling parameters of the chamber section according to the two-dimensional design drawing, completes the reconstruction of the real-life three-dimensional model of the chamber section according to the real-life image data, constructs the BIM point cloud model of the chamber section according to the BIM modeling parameters and the pile number of the chamber section, determines the parameter information required for model registration according to the real-life three-dimensional model and the BIM point cloud model, and registers the real-life three-dimensional model according to the parameter information to obtain the registered real-life three-dimensional model. This application does not affect the on-site construction operation process, and only image data needs to be shot on site, and model reconstruction and model registration can be completed indoors; the operation is convenient and simple, and only one BIM remodeling process is required for a chamber, and multiple segments of the real-life three-dimensional model of the entire chamber can be registered, and the registration efficiency is high and the accuracy is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a registration method, a device and a storage medium for a real-scene model of a construction chamber section. Background Art

[0002] At present, underground construction chamber excavation and blasting operations adopt a cyclical approach, which has the characteristics of fast construction speed, strong process connection, and immediate support during excavation. Based on oblique photography technology, the real-life 3D model of the current blasting chamber section can be reconstructed, but the reconstructed model only has a relative coordinate system. The traditional method requires the use of a total station to measure the real coordinates of at least 3 control points on the model, and calculate the seven spatial parameters required for registration, so that the real-life 3D model can be registered to the correct spatial coordinate system.

[0003] However, if the registration process of the real-scene 3D model of each chamber section is completed by measuring the control points with a total station, it is equivalent to adding a new process of measuring the control points with a total station during the blasting operation, which is time-consuming and labor-intensive, not only resulting in a waste of on-site human resources, but also hindering the promotion of real-scene 3D technology. Therefore, it is necessary to study new real-scene 3D model registration technology to quickly register the real-scene 3D model of the chamber section after the excavation and blasting of the project, and the registration accuracy of the real-scene 3D model can meet the requirements of related professions (such as geological cataloging operations).

[0004] In view of this, it is necessary to propose a registration method, device and storage medium for the real-scene model of the construction chamber section to solve or at least alleviate the above-mentioned defects. Summary of the invention

[0005] The main purpose of the present invention is to provide a registration method, equipment and storage medium for the real-life model of a construction chamber section, so as to solve the technical problem that each time a real-life three-dimensional model of a construction chamber section is constructed, a total station needs to be used to measure the real coordinates of the control points to complete the model registration work, which is time-consuming and labor-intensive.

[0006] To achieve the above object, the present invention provides a registration method for a construction chamber segment real scene model, comprising the following steps:

[0007] S1, obtaining a two-dimensional design drawing of a chamber section, and establishing BIM modeling parameters of the chamber section according to the two-dimensional design drawing; wherein the two-dimensional design drawing includes a plane design drawing, an excavation support section drawing, and a longitudinal section design drawing of the chamber section, and the BIM modeling parameters include a central axis node parameter and a section contour line node parameter;

[0008] S2, obtaining real-scene image data of the current blasting chamber section, and completing the reconstruction of the real-scene three-dimensional model of the chamber section according to the real-scene image data;

[0009] S3, constructing a BIM point cloud model of the chamber segment according to the BIM modeling parameters and the pile number of the chamber segment;

[0010] S4, determining parameter information required for model alignment according to the real-scene three-dimensional model and the BIM point cloud model, and aligning the real-scene three-dimensional model according to the parameter information to obtain the aligned real-scene three-dimensional model; wherein the parameter information includes a translation parameter, a scaling parameter, and a rotation parameter.

[0011] Preferably, establishing the BIM modeling parameters of the chamber section according to the two-dimensional design drawing in step S1 specifically includes the following steps:

[0012] S11, obtaining the central axis of the chamber section according to the plan design drawing, and obtaining each node P of the central axis i The coordinate value in the real geographic coordinate system (P Xi ,P Yi ), and record each node P i The corresponding pile number;

[0013] S12, obtaining a longitudinal section design drawing corresponding to the central axis of the chamber section, and obtaining the elevation value H of each node k of the excavated road surface of the chamber section according to the longitudinal section design drawing k , and obtain the stake number corresponding to each node k;

[0014] S13, node P i The corresponding stake number and the stake number corresponding to node k are deduplicated and integrated, and then the three-dimensional space coordinates corresponding to all stake numbers are calculated according to the interpolation algorithm (P Xi ,P Yi ,H ki ), and the three-dimensional space coordinates (P Xi ,P Yi ,H ki ) as the central axis node parameter of the chamber segment;

[0015] S14, constructing a relative XOZ coordinate system according to the excavation support cross-section diagram, wherein the XOZ coordinate system takes the cross section of the chamber section as the X-axis, the height direction of the chamber section as the Z-axis, the coordinate origin of the XOZ coordinate system is the intersection of the excavation support cross-section diagram and the central axis, and the excavation support cross-section diagram is perpendicular to the central axis;

[0016] S15, obtain each node D on the chamber section contour line j The coordinate value (D Xj ,Dz j ) to obtain the node parameters of the cross-section contour line.

[0017] Preferably, the step S2 specifically includes the following steps:

[0018] S21, according to the excavation progress of the construction site, obtain the real-scene image data of the current blasting chamber section, and record the starting pile number of the chamber section;

[0019] S22, reconstructing the real-scene three-dimensional model of the chamber section based on the real-scene image data and the SFM algorithm to obtain an OBJ model with texture information.

[0020] Preferably, the step S3 specifically includes the following steps:

[0021] S31, according to the three-dimensional space coordinates (P Xi ,P Yi ,H ki ), generate three-dimensional space coordinates (P Xi ,P Yi ,H ki )’s virtual axis;

[0022] S32, according to the BIM modeling parameters of the chamber section and the starting pile number of the chamber section, obtain the three-dimensional coordinates of the starting point of the virtual axis, and calculate the coordinates of the interpolation points on the virtual axis with a spacing of 0.5 meters;

[0023] S33, according to the node D of the chamber section j Draw the contour line of the chamber section, and connect the node D with the point line of the point cloud every 0.1m j Connect them together to get the point cloud of the chamber section contour line;

[0024] S34, for all interpolation point coordinates of the virtual axis, draw a point cloud of the chamber section contour line once with each interpolation point as the origin, and ensure that the plane where the point cloud of the chamber section contour line is located is perpendicular to the central axis, so as to obtain the BIM point cloud model of the chamber section.

[0025] Preferably, in step S4, registering the real-scene 3D model according to the parameter information to obtain the registered real-scene 3D model specifically comprises the following steps:

[0026] S41, translating the real-scene three-dimensional model according to the translation amount parameter to complete the spatial position translation process of the real-scene three-dimensional model;

[0027] S42, scaling the real-scene three-dimensional model according to the scaling ratio parameter to complete the spatial scaling process of the real-scene three-dimensional model;

[0028] S43, rotating the real-scene three-dimensional model according to the rotation parameters to complete the spatial rotation process of the real-scene three-dimensional model.

[0029] Preferably, the translation parameter in step S4 is obtained by the following steps:

[0030] Acquire the first spatial coordinates of all triangulated mesh vertices of the real-scene three-dimensional model, and calculate the first centroid of the real-scene three-dimensional model according to the first spatial coordinates of all triangulated mesh vertices;

[0031] Acquire the second spatial coordinates of all points of the BIM point cloud model, and calculate the second centroid of the BIM point cloud model according to the second spatial coordinates of all points;

[0032] The difference between the first mass center and the second mass center is calculated, and the difference is used as a translation parameter in the real scene three-dimensional model registration process.

[0033] Preferably, the scaling parameter in step S4 is obtained by:

[0034] Calculate the first mean square error of distances from all triangulated mesh vertices of the real-scene three-dimensional model to the first centroid;

[0035] Calculate the second mean square error of distances from all points of the BIM point cloud model to the second centroid;

[0036] The ratio of the first distance mean square error to the second distance mean square error is used as a scaling parameter in the real-scene three-dimensional model registration process.

[0037] Preferably, the rotation parameters in step S4 are obtained by:

[0038] After completing step S42, the real-scene 3D model and the BIM point cloud model are loaded into the same 3D point cloud processing platform, the initial position of the real-scene 3D model is obtained, and the real-scene 3D model is rotated to a position that completely overlaps with the BIM point cloud model;

[0039] The rotation angle corresponding to when the real-scene 3D model and the BIM point cloud model completely overlap is obtained, and the rotation angle is used as a rotation parameter in the real-scene 3D model registration process.

[0040] The present invention also provides a registration device for a construction chamber segment real-scene model, comprising:

[0041] A BIM modeling parameter determination unit is used to obtain a two-dimensional design drawing of a chamber section, and establish BIM modeling parameters of the chamber section according to the two-dimensional design drawing; wherein the two-dimensional design drawing includes a plane design drawing, an excavation support section drawing, and a longitudinal section design drawing of the chamber section, and the BIM modeling parameters include a central axis node parameter and a section contour line node parameter;

[0042] A real-scene model reconstruction unit, used to obtain real-scene image data of the current blasting chamber section, and complete the reconstruction of the real-scene three-dimensional model of the chamber section according to the real-scene image data;

[0043] A BIM point cloud model determination unit, used to construct a BIM point cloud model of the chamber section according to the BIM modeling parameters and the pile number of the chamber section;

[0044] A model registration processing unit is used to determine parameter information required for model registration according to the real-scene three-dimensional model and the BIM point cloud model, and to register the real-scene three-dimensional model according to the parameter information to obtain the registered real-scene three-dimensional model; wherein the parameter information includes a translation parameter, a scaling parameter, and a rotation parameter.

[0045] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the registration method for a real-scene model of a construction chamber section as described above.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The present invention provides a registration method, device and storage medium for a real-life model of a construction chamber section. The method comprises obtaining a two-dimensional design drawing of the chamber section and establishing BIM modeling parameters of the chamber section according to the two-dimensional design drawing, wherein the two-dimensional design drawing includes a plane design drawing, an excavation support section drawing and a longitudinal section design drawing of the chamber section, and the BIM modeling parameters include a central axis node parameter and a section contour line node parameter. Real-life image data of the chamber section currently being blasted is obtained, and a real-life three-dimensional model of the chamber section is reconstructed according to the real-life image data. A BIM point cloud model of the chamber section is constructed according to the BIM modeling parameters and the pile number of the chamber section. Parameter information required for model registration is determined according to the real-life three-dimensional model and the BIM point cloud model, and the real-life three-dimensional model is registered according to the parameter information to obtain the registered real-life three-dimensional model. The present application provides a new real-life 3D model registration technology, which does not affect the on-site construction process. Only the image data of the chamber segment needs to be captured on-site, and model reconstruction and model registration can be completed indoors. The operation is convenient and simple, and only one BIM remodeling process is required for a chamber to meet the registration requirements of multiple segments of real-life 3D models generated by the blasting operation of the entire chamber, with high registration efficiency and guaranteed accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0049] Figure 1 is a schematic diagram of a flow chart in one embodiment of the present invention;

[0050] Figure 2 A schematic diagram of a visualization effect of a BIM point cloud model in an embodiment of the present invention;

[0051] Figure 3 It is a schematic diagram of a real-scene three-dimensional model of a chamber section reconstructed based on the oblique photography technology in one embodiment of the present invention;

[0052] Figure 4 A schematic diagram of translation and scaling of a real-scene three-dimensional model in one embodiment of the present invention;

[0053] Figure 5 It is a front view schematic diagram of the real-scene three-dimensional model after rotation and registration in one embodiment of the present invention;

[0054] Figure 6 It is a side schematic diagram of the real-scene 3D model after rotation and registration in one embodiment of the present invention.

[0055] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] In the present invention, the descriptions involving "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0059] Please refer to Figures 1 to 6 The present invention provides a registration method for a construction chamber section real scene model, comprising the following steps:

[0060] S1, obtaining a two-dimensional design drawing of a chamber section, and establishing BIM modeling parameters of the chamber section according to the two-dimensional design drawing; wherein the two-dimensional design drawing includes a plane design drawing, an excavation support section drawing, and a longitudinal section design drawing of the chamber section, and the BIM modeling parameters include a central axis node parameter and a section contour line node parameter;

[0061] S2, obtaining real-scene image data of the current blasting chamber section, and completing the reconstruction of the real-scene three-dimensional model of the chamber section according to the real-scene image data;

[0062] S3, constructing a BIM point cloud model of the chamber segment according to the BIM modeling parameters and the pile number of the chamber segment;

[0063] S4, determining parameter information required for model alignment according to the real-scene three-dimensional model and the BIM point cloud model, and aligning the real-scene three-dimensional model according to the parameter information to obtain the aligned real-scene three-dimensional model; wherein the parameter information includes a translation parameter, a scaling parameter, and a rotation parameter.

[0064] Specifically, the present application obtains the two-dimensional design drawings of the chamber section, including the plane design drawings, the excavation support section drawings and the longitudinal section design drawings. Preferably, the CAD two-dimensional design drawings corresponding to the current chamber section can be obtained from the two-dimensional design drawings of the underground chamber. The two-dimensional design drawings of the underground chamber describe in detail the real structure, size, position and other key information of the chamber section; using technology such as drone oblique photography, the real-life image data of the current blasted chamber section is obtained; the BIM point cloud model can reflect the structural characteristics and size information of the chamber section. By comparing the real-life three-dimensional model and the BIM point cloud model, the parameter information required for model registration is determined, including the translation parameters, scaling parameters and rotation parameters. These parameters are used to adjust the position, size and direction of the real-life three-dimensional model so that the real-life three-dimensional model is registered with the BIM point cloud model.

[0065] According to the determined parameter information, the real-life 3D model is registered. Through operations such as translation, scaling, and rotation, the real-life 3D model and the BIM point cloud model are kept consistent in position, size, and direction. The registered real-life 3D model can accurately reflect the actual situation of the cavern section and achieve precise matching with the BIM point cloud model.

[0066] The registered real-life 3D model can intuitively display the current construction status of the chamber section, provide precise guidance for construction personnel, reduce misoperation, and improve construction efficiency.

[0067] As a preferred implementation, the step S1 of establishing the BIM modeling parameters of the chamber section according to the two-dimensional design drawing specifically includes the following steps:

[0068] S11, obtaining the central axis of the chamber section according to the plan design drawing, and obtaining each node P of the central axis i The coordinate value in the real geographic coordinate system (P Xi ,P Yi ), and record each node P i The corresponding pile number;

[0069] S12, obtaining a longitudinal section design drawing corresponding to the central axis of the chamber section, and obtaining the elevation value H of each node k of the excavated road surface of the chamber section according to the longitudinal section design drawing k , and obtain the stake number corresponding to each node k;

[0070] S13, node P i The corresponding stake number and the stake number corresponding to node k are deduplicated and integrated, and then the three-dimensional space coordinates corresponding to all stake numbers are calculated according to the interpolation algorithm (P Xi ,P Yi ,H ki ), and the three-dimensional space coordinates (P Xi ,P Yi ,H ki ) as the central axis node parameter of the chamber segment;

[0071] S14, constructing a relative XOZ coordinate system according to the excavation support cross-section diagram, wherein the XOZ coordinate system takes the cross section of the chamber section as the X-axis, the height direction of the chamber section as the Z-axis, the coordinate origin of the XOZ coordinate system is the intersection of the excavation support cross-section diagram and the central axis, and the excavation support cross-section diagram is perpendicular to the central axis;

[0072] S15, obtain each node D on the chamber section contour line j The coordinate value (D Xj ,Dz j) to obtain the node parameters of the cross-section contour line.

[0073] Specifically, the central axis of the chamber segment is obtained from the plane design drawing, the central axis extends along the extension direction of the chamber segment, and each node P is recorded. i The coordinate value in the real geographic coordinate system (P Xi ,P Yi ) and its corresponding pile number, for the convenience of node P i Obtaining node P i Preferably, it is the intersection / inflection point between the straight line segments or curve segments constituting the central axis in the plane design CAD drawing, such as a node P i It is the intersection point between the straight line in the axial direction and the curve in the axial direction.

[0074] Get the elevation value H of each node k from the longitudinal section design drawing k and its corresponding pile number, where the pile number is expressed in the mileage pile number K0+000, where the number before the “+” sign is the number of kilometers and the number after the “+” sign is the number of meters, and K is the abbreviation of Kilometers. i The pile number of node k is integrated to remove duplication, and the three-dimensional space coordinates corresponding to all pile numbers are calculated by interpolation algorithm (P Xi ,P Yi ,H ki ), these coordinates (P Xi ,P Yi ,H ki ) constitutes the central axis node parameter of the chamber segment. Similarly, to facilitate the acquisition of node k, node k is preferably the intersection / inflection point between the straight line segments or curve segments constituting the excavation road surface line in the longitudinal section design CAD drawing, for example, a certain node k is the intersection between the straight line and the curve of the excavation road surface line.

[0075] According to the excavation support section diagram, a relative XOZ coordinate system is constructed. The cross section of the chamber section is the X-axis, the height direction is the Z-axis, and the origin of the coordinate is the intersection of the excavation support section diagram and the central axis. In the XOZ coordinate system, each node D on the chamber section contour line is obtained. j The coordinate value (D Xj ,D zj ), these coordinates constitute the node parameters of the cross-section contour line. j Obtaining node D j Preferably, the intersection / inflection point between the straight line segments or curve segments constituting the cross-section contour line in the CAD drawing of the excavation support cross-section, such as a certain node D j It is the inflection point between the curves of the cross-section contour line.

[0076] As a preferred implementation, step S2 specifically includes the following steps:

[0077] S21, according to the excavation progress of the construction site, obtain the real-scene image data of the current blasting chamber section, and record the starting pile number of the chamber section;

[0078] S22, reconstructing the real-scene three-dimensional model of the chamber section based on the real-scene image data and the SFM algorithm to obtain an OBJ model with texture information.

[0079] Specifically, according to the excavation progress at the construction site, the starting pile number of the chamber section is recorded to ensure that the actual excavation pile number has been drawn on the chamber wall, and the real-life image data of the chamber section currently being blasted is obtained, and the starting pile number of the chamber section is recorded. It should be noted that the starting pile number recorded at this time is the same as the pile number corresponding to the starting point of the central axis.

[0080] This embodiment adopts the SFM algorithm (Structure from Motion). The SFM algorithm is an offline algorithm for three-dimensional reconstruction based on various collected unordered pictures. Based on the acquired real-scene image data, an OBJ model with texture information is reconstructed. The model can truly reflect the actual situation of the chamber section, including shape, size, texture and other information.

[0081] As a preferred implementation, step S3 specifically includes the following steps:

[0082] S31, according to the three-dimensional space coordinates (P Xi ,P Yi ,H ki ), generate three-dimensional space coordinates (P Xi ,P Yi ,H ki )’s virtual axis;

[0083] S32, according to the BIM modeling parameters of the chamber section and the starting pile number of the chamber section, obtain the three-dimensional coordinates of the starting point of the virtual axis, and calculate the coordinates of the interpolation points on the virtual axis with a spacing of 0.5 meters;

[0084] S33, according to the node D of the chamber section j Draw the contour line of the chamber section, and connect the node D with the point line of the point cloud every 0.1m j Connect them together to get the point cloud of the chamber section contour line;

[0085] S34, for all interpolation point coordinates of the virtual axis, draw a point cloud of the chamber section contour line once with each interpolation point as the origin, and ensure that the plane where the point cloud of the chamber section contour line is located is perpendicular to the central axis, so as to obtain the BIM point cloud model of the chamber section.

[0086] Specifically, according to the three-dimensional space coordinates (P Xi ,P Yi ,H ki ), generate three-dimensional space coordinates (P Xi ,P Yi ,H ki ) is a virtual axis, which is a virtual curve extending along the extension direction of the chamber segment. The coordinates of each node constituting the virtual curve are three-dimensional space coordinates. According to the central axis node parameters in the BIM modeling parameters, combined with the starting pile number, the three-dimensional coordinates of the starting point of the virtual axis can be determined, and the interpolation point coordinates on the virtual axis are calculated at intervals of 0.5 meters, thereby obtaining multiple interpolation points and their corresponding coordinates set at intervals along the extension direction of the virtual axis. For all interpolation points of the virtual axis, a point cloud of the chamber section contour line is drawn once with each interpolation point as the origin, and it is ensured that the plane where the point cloud of the chamber section contour line is located is perpendicular to the central axis, thereby realizing a similar conversion process from surface to body, thereby obtaining the BIM point cloud model of the chamber segment.

[0087] The BIM point cloud model of the chamber segment obtained in this application can accurately represent the shape and size of the chamber segment. It should be noted that this embodiment is applicable to the chamber segment of equal cross section.

[0088] As a preferred implementation, the real-scene 3D model is registered according to the parameter information in step S4, and obtaining the registered real-scene 3D model specifically includes the following steps:

[0089] S41, translating the real-scene three-dimensional model according to the translation amount parameter to complete the spatial position translation process of the real-scene three-dimensional model;

[0090] S42, scaling the real-scene three-dimensional model according to the scaling ratio parameter to complete the spatial scaling process of the real-scene three-dimensional model;

[0091] S43, rotating the real-scene three-dimensional model according to the rotation parameters to complete the spatial rotation process of the real-scene three-dimensional model.

[0092] Specifically, Figures 4 to 6 As shown, the real-life 3D model is regarded as a whole, and the model is translated according to the determined translation parameters, which include three parameters of the x-axis, y-axis and z-axis. The translation operation will not change the size, shape or direction of the model, but will only change the position of the model in space.

[0093] According to the determined scaling parameters, the real-life 3D model is enlarged or reduced in the same proportion. The scaling operation will change the size of the model but will not change the direction or shape of the model.

[0094] The real-life 3D model is rotated according to the determined rotation parameters (including the rotation axis and rotation angle). The rotation operation changes the direction of the model but does not change the size or shape of the model.

[0095] Furthermore, the translation amount parameter in step S4 is obtained specifically by the following steps:

[0096] Acquire the first spatial coordinates of all triangulated mesh vertices of the real-scene three-dimensional model, and calculate the first centroid of the real-scene three-dimensional model according to the first spatial coordinates of all triangulated mesh vertices;

[0097] Acquire the second spatial coordinates of all points of the BIM point cloud model, and calculate the second centroid of the BIM point cloud model according to the second spatial coordinates of all points;

[0098] The difference between the first mass center and the second mass center is calculated, and the difference is used as a translation parameter in the real scene three-dimensional model registration process.

[0099] Specifically, the real-life three-dimensional model is composed of a series of triangulated meshes, each triangulated mesh is composed of three vertices, the first spatial coordinates of all triangulated mesh vertices of the real-life three-dimensional model are obtained, and the first centroid of the real-life three-dimensional model is calculated based on the first spatial coordinates of all triangulated mesh vertices; the calculation formula of the centroid is the sum of all point coordinates divided by the number of points.

[0100] The BIM point cloud model is composed of a large number of discrete points, each point has its corresponding spatial coordinates, and the second centroid of the BIM point cloud model is calculated according to the second spatial coordinates of all discrete points.

[0101] After obtaining the centroids of the two models, the difference between them can be calculated. The difference reflects the relative position relationship of the two models in space. Since the centroid is an indicator of the overall position of the model, this difference can be used as the translation parameter required to align the real-life 3D model with the BIM point cloud model.

[0102] The real-scene 3D model is translated according to the translation parameters, achieving preliminary alignment between the real-scene 3D model and the BIM point cloud model.

[0103] Furthermore, the scaling parameters in step S4 are obtained by:

[0104] Calculate the first mean square error of distances from all triangulated mesh vertices of the real-scene three-dimensional model to the first centroid;

[0105] Calculate the second mean square error of distances from all points of the BIM point cloud model to the second centroid;

[0106] The ratio of the first distance mean square error to the second distance mean square error is used as a scaling parameter in the real-scene three-dimensional model registration process.

[0107] Specifically, after obtaining the mean square error of the distances between the two models, their ratio is calculated, which reflects the degree of difference in the spatial dimensions of the two models. If the ratio is greater than 1, it means that the real-life 3D model is larger in space than the BIM point cloud model; if the ratio is less than 1, it means that the real-life 3D model is smaller in space than the BIM point cloud model.

[0108] By scaling, the size deviation between the two models can be reduced, thereby improving the accuracy and efficiency of registration.

[0109] Furthermore, the rotation parameters in step S4 are obtained specifically by the following steps:

[0110] After completing step S42, the real-scene 3D model and the BIM point cloud model are loaded into the same 3D point cloud processing platform, the initial position of the real-scene 3D model is obtained, and the real-scene 3D model is rotated to a position that completely overlaps with the BIM point cloud model, and it is ensured that the pile number value on the real-scene 3D model completely overlaps with the pile number identification position of the BIM point cloud model;

[0111] The rotation angle corresponding to when the real-scene 3D model and the BIM point cloud model completely overlap is obtained, and the rotation angle is used as a rotation parameter in the real-scene 3D model registration process.

[0112] Specifically, after completing the translation and scaling steps, the real-life 3D model and the BIM point cloud model are loaded into the same 3D point cloud processing platform, such as the open source software Cloudcompare platform.

[0113] After loading the model, the purpose of rotation is to make the real-life 3D model and the BIM point cloud model completely overlap in space. When the real-life 3D model and the BIM point cloud model completely overlap, the corresponding rotation angle can be recorded to obtain the rotation parameters in the real-life 3D model alignment process.

[0114] The present application provides a new real-life 3D model registration technology, which does not affect the on-site construction process. Only the image data of the cavern section needs to be captured on site, and model reconstruction and model registration can be completed indoors. The operation is convenient and simple. Only one BIM remodeling process is required for a cavern to register multiple segments of the real-life 3D model of the entire cavern. The real-life 3D models of adjacent cavern sections do not need to be processed again. That is, when each segment of the model is registered to the BIM point cloud model corresponding to its pile number position, the real-life 3D models of adjacent cavern sections are automatically connected together, and the registration efficiency is high and the accuracy is guaranteed.

[0115] As another preferred embodiment, the step S27 further includes the following steps:

[0116] S18, with 5 meters as a unit, add a baffle plate perpendicular to the central longitudinal axis and running through the chamber section on the BIM point cloud model, and mark the stake number value of the baffle plate at a preset distance position outside the chamber section. Figure 2 As shown, it is expressed in the form of mileage post number K0+000, accurate to one decimal place, with 5 meters as a unit. For example, the next mileage post number is K0+005.0, and the rest are similar, which will not be repeated here.

[0117] like Figure 6 As shown in the figure, after registration, the identification baffle on the outside of the BIM point cloud model is aligned with the pile number identification of the real-life 3D model.

[0118] After obtaining the registered real-life 3D model through the above method, the point cloud of the geological structure surface is obtained on the 3D real-life model, and its 3D plane is fitted to calculate the occurrence value of the structure surface on the real-life 3D model. Geological personnel used a compass to measure the occurrence of the geological structure surface at the same position in the construction chamber section of the project, and conducted a comparative analysis, and found that the difference in the occurrence angles of the two was within 5°, which met the requirements of geological cataloging operations.

[0119] The present invention also provides a registration device for a construction chamber segment real-scene model, comprising:

[0120] A BIM modeling parameter determination unit is used to obtain a two-dimensional design drawing of a chamber section, and establish BIM modeling parameters of the chamber section according to the two-dimensional design drawing; wherein the two-dimensional design drawing includes a plane design drawing, an excavation support section drawing, and a longitudinal section design drawing of the chamber section, and the BIM modeling parameters include a central axis node parameter and a section contour line node parameter;

[0121] A real-scene model reconstruction unit, used to obtain real-scene image data of the current blasting chamber section, and complete the reconstruction of the real-scene three-dimensional model of the chamber section according to the real-scene image data;

[0122] A BIM point cloud model determination unit, used to construct a BIM point cloud model of the chamber section according to the BIM modeling parameters and the pile number of the chamber section;

[0123] A model registration processing unit is used to determine parameter information required for model registration according to the real-scene three-dimensional model and the BIM point cloud model, and to register the real-scene three-dimensional model according to the parameter information to obtain the registered real-scene three-dimensional model; wherein the parameter information includes a translation parameter, a scaling parameter, and a rotation parameter.

[0124] The present invention also provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the registration method of the real scene model of the construction chamber section are implemented as described above. It can be understood that when the computer program is executed by the processor, the registration method of the real scene model of the construction chamber section is implemented, so all embodiments of the above method are applicable to the storage medium, and can achieve the same or similar beneficial effects.

[0125] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A registration method for a real-scene model of a construction chamber section, characterized in that: The following steps are involved: S1, obtaining a two-dimensional design drawing of a chamber section, and establishing BIM modeling parameters of the chamber section according to the two-dimensional design drawing; wherein the two-dimensional design drawing includes a plane design drawing, an excavation support section drawing, and a longitudinal section design drawing of the chamber section, and the BIM modeling parameters include a central axis node parameter and a section contour line node parameter; S2, obtaining real-scene image data of the current blasting chamber section, and completing the reconstruction of the real-scene three-dimensional model of the chamber section according to the real-scene image data; S3, constructing a BIM point cloud model of the chamber segment according to the BIM modeling parameters and the stake number of the chamber segment; S4, determining parameter information required for model registration according to the real-scene 3D model and the BIM point cloud model, and registering the real-scene 3D model according to the parameter information to obtain a registered real-scene 3D model; wherein the parameter information includes a translation parameter, a scaling parameter, and a rotation parameter; The step S1 of establishing the BIM modeling parameters of the chamber section according to the two-dimensional design drawing specifically includes the following steps: S11, obtaining the central axis of the chamber section according to the plan design drawing, and obtaining each node P of the central axis i The coordinate value in the real geographic coordinate system (P Xi ,P Yi ), and record each node P i The corresponding pile number; S12, obtaining a longitudinal section design drawing corresponding to the central axis of the chamber section, and obtaining the elevation value H of each node k of the excavated road surface of the chamber section according to the longitudinal section design drawing k , and obtain the stake number corresponding to each node k; S13, node P i The corresponding stake number and the stake number corresponding to node k are deduplicated and integrated, and then the three-dimensional space coordinates corresponding to all stake numbers are calculated according to the interpolation algorithm (P Xi ,P Yi ,H ki ), and the three-dimensional space coordinates (P Xi ,P Yi ,H ki ) as the central axis node parameter of the chamber segment; S14, constructing a relative XOZ coordinate system according to the excavation support cross-section diagram, wherein the XOZ coordinate system takes the cross section of the chamber section as the X-axis, the height direction of the chamber section as the Z-axis, the coordinate origin of the XOZ coordinate system is the intersection of the excavation support cross-section diagram and the central axis, and the excavation support cross-section diagram is perpendicular to the central axis; S15, obtain each node D on the chamber section contour line j The coordinate value (D Xj ,Dz j ) to obtain the node parameters of the cross-section contour line.

2. The registration method of the construction chamber segment real scene model according to claim 1, characterized in that: The step S2 specifically includes the following steps: S21, according to the excavation progress of the construction site, obtain the real-scene image data of the current blasting chamber section, and record the starting pile number of the chamber section; S22, reconstructing the real-scene three-dimensional model of the chamber section based on the real-scene image data and the SFM algorithm to obtain an OBJ model with texture information.

3. The registration method of the construction chamber segment real scene model according to claim 2, characterized in that: The step S3 specifically comprises the following steps: S31, according to the three-dimensional space coordinates (P Xi ,P Yi ,H ki ), generate three-dimensional space coordinates (P Xi ,P Yi ,H ki )’s virtual axis; S32, according to the BIM modeling parameters of the chamber section and the starting pile number of the chamber section, obtain the three-dimensional coordinates of the starting point of the virtual axis, and calculate the coordinates of the interpolation points on the virtual axis with a spacing of 0.5 meters; S33, according to the node D of the chamber section j Draw the contour line of the chamber section, and connect the node D with the point line of the point cloud every 0.1m j Connect them together to get the point cloud of the chamber section contour line; S34, for all interpolation point coordinates of the virtual axis, draw a point cloud of the chamber section contour line once with each interpolation point as the origin, and ensure that the plane where the point cloud of the chamber section contour line is located is perpendicular to the central axis, so as to obtain the BIM point cloud model of the chamber section.

4. The registration method of the construction chamber segment real scene model according to claim 3 is characterized in that: In step S4, the real scene 3D model is registered according to the parameter information to obtain the registered real scene 3D model, which specifically includes the following steps: S41, translating the real-scene three-dimensional model according to the translation amount parameter to complete the spatial position translation process of the real-scene three-dimensional model; S42, scaling the real-scene three-dimensional model according to the scaling ratio parameter to complete the spatial scaling process of the real-scene three-dimensional model; S43, rotating the real-scene three-dimensional model according to the rotation parameters to complete the spatial rotation process of the real-scene three-dimensional model.

5. The registration method of the construction chamber segment real scene model according to claim 4 is characterized in that: The translation amount parameter in step S4 is obtained specifically by the following steps: Acquire the first spatial coordinates of all triangulated mesh vertices of the real-scene three-dimensional model, and calculate the first centroid of the real-scene three-dimensional model according to the first spatial coordinates of all triangulated mesh vertices; Acquire the second spatial coordinates of all points of the BIM point cloud model, and calculate the second centroid of the BIM point cloud model according to the second spatial coordinates of all points; The difference between the first mass center and the second mass center is calculated, and the difference is used as a translation parameter in the real scene three-dimensional model registration process.

6. The registration method of the construction chamber segment real scene model according to claim 5, characterized in that: The scaling parameters in step S4 are obtained by: Calculate the first mean square error of distances from all triangulated mesh vertices of the real-scene three-dimensional model to the first centroid; Calculate the second mean square error of distances from all points of the BIM point cloud model to the second centroid; The ratio of the first distance mean square error to the second distance mean square error is used as a scaling parameter in the real-scene three-dimensional model registration process.

7. The registration method of the construction chamber segment real scene model according to claim 4, characterized in that: The rotation parameters in step S4 are obtained specifically by the following steps: After completing step S42, the real-scene 3D model and the BIM point cloud model are loaded into the same 3D point cloud processing platform, the initial position of the real-scene 3D model is obtained, and the real-scene 3D model is rotated to a position that completely overlaps with the BIM point cloud model; The rotation angle corresponding to when the real-scene 3D model and the BIM point cloud model completely overlap is obtained, and the rotation angle is used as a rotation parameter in the real-scene 3D model registration process.

8. A registration device for a real-scene model of a construction chamber section, characterized in that: include: A BIM modeling parameter determination unit is used to obtain a two-dimensional design drawing of a chamber section, and establish BIM modeling parameters of the chamber section according to the two-dimensional design drawing; wherein the two-dimensional design drawing includes a plane design drawing, an excavation support section drawing, and a longitudinal section design drawing of the chamber section, and the BIM modeling parameters include a central axis node parameter and a section contour line node parameter; A real-scene model reconstruction unit, used to obtain real-scene image data of the current blasting chamber section, and complete the reconstruction of the real-scene three-dimensional model of the chamber section according to the real-scene image data; A BIM point cloud model determination unit, used to construct a BIM point cloud model of the chamber section according to the BIM modeling parameters and the pile number of the chamber section; A model registration processing unit, used to determine parameter information required for model registration according to the real-scene 3D model and the BIM point cloud model, and to register the real-scene 3D model according to the parameter information to obtain a registered real-scene 3D model; wherein the parameter information includes a translation parameter, a scaling parameter, and a rotation parameter; Establishing the BIM modeling parameters of the chamber section according to the two-dimensional design drawing specifically includes the following steps: S11, obtaining the central axis of the chamber section according to the plan design drawing, and obtaining each node P of the central axis i The coordinate value in the real geographic coordinate system (P Xi ,P Yi ), and record each node P i The corresponding pile number; S12, obtaining a longitudinal section design drawing corresponding to the central axis of the chamber section, and obtaining the elevation value H of each node k of the excavated road surface of the chamber section according to the longitudinal section design drawing k , and obtain the stake number corresponding to each node k; S13, node P i The corresponding stake number and the stake number corresponding to node k are deduplicated and integrated, and then the three-dimensional space coordinates corresponding to all stake numbers are calculated according to the interpolation algorithm (P Xi ,P Yi ,H ki ), and the three-dimensional space coordinates (P Xi ,P Yi ,H ki ) as the central axis node parameter of the chamber segment; S14, constructing a relative XOZ coordinate system according to the excavation support cross-section diagram, wherein the XOZ coordinate system takes the cross section of the chamber section as the X-axis, the height direction of the chamber section as the Z-axis, the coordinate origin of the XOZ coordinate system is the intersection of the excavation support cross-section diagram and the central axis, and the excavation support cross-section diagram is perpendicular to the central axis; S15, obtain each node D on the chamber section contour line j The coordinate value (D Xj ,Dz j ) to obtain the node parameters of the cross-section contour line.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of a registration method for a construction chamber section real scene model as described in any one of claims 1 to 7 are implemented.

Images