A cable protection zone delineation method and system based on true color point cloud

Abstract

The present invention discloses a cable protection zone delineation method and system based on true color point cloud. In the construction stage, a cable trench is scanned by a three-dimensional laser scanning device to obtain three-dimensional point cloud data of the cable trench. After the construction is completed, the cable trench is covered with soil and the cable trench is no longer visible. Therefore, when it is necessary to delineate the cable protection zone in the later stage, a three-dimensional laser scanning device supporting true color point cloud output is used to scan the target area position to obtain true color three-dimensional point cloud data of the target area position. Then, the three-dimensional point cloud data of the cable trench obtained in the construction stage are imported into the spatial coordinate system M together. The three-dimensional point cloud data of the cable trench is used to calculate the cable protection zone boundary line of the target area position and mark it with a preset color, thereby realizing the intuitive delineation of the cable protection zone, which is simple, convenient, accurate and reliable. The present invention solves the technical problem that the existing cable protection zone delineation method cannot delineate the cable protection zone intuitively, conveniently, accurately and reliably, and is difficult to promote and apply.

Description

Technical Field

[0001] The present invention relates to the technical field of underground cable protection areas, and in particular to a cable protection area delineation method and system based on true color point cloud. Background Art

[0002] A cable trench is an underground structure that protects power cables. It has a rectangular cross-section and is usually made of reinforced concrete. Cable engineering is a concealed engineering project. The actual location of the cable trench can only be seen when the road surface is excavated during construction. After the cable engineering is completed, the actual location of the cable trench cannot be seen on the road surface. If there is piling, drilling or other construction nearby, it may damage the cable, causing serious consequences such as electric shock and line tripping. Therefore, it is necessary to install cable markers on the ground to locate the location of the cable trench.

[0003] The Regulations on the Protection of Electric Power Facilities stipulates: "The width of the underground power cable protection zone is the area within two parallel lines formed by 0.75 meters on each side of the ground marker stakes of the underground power cable line." Cable markers installed on the ground may be damaged, lost, buried, etc. for various reasons. Especially when there are large-scale construction projects such as roads and bridges on the road surface above the cable trench, cable markers can easily be destroyed in large numbers, causing operation and maintenance personnel to lose reference and be unable to locate the exact position of the cable, let alone accurately delineate the cable protection zone, which brings risks to the operation and maintenance of the cable.

[0004] In the absence of cable markings, the main way for operation and maintenance personnel to demarcate cable protection areas is to use drawings for positioning, cable detection instruments for positioning, or on-site excavation for positioning. Using drawings for positioning mainly uses the completion drawings and route maps (1:500 accuracy) that reflect the "original appearance" of the cable project, as well as the layout maps used by operation and maintenance personnel for daily inspections. Through the drawings, cable operation and maintenance personnel can quickly understand important information such as the geographical location, length, depth, and cross-sectional shape of the cable channel, as well as the relative position relationship between the cable channel and the structures on the road surface. However, since the drawings are static, the information on the drawings can only reflect the status at the time of drawing production, and cannot reflect subsequent changes. For example, urban roads may be diverted or the road surface may be raised. When the road surface conditions change, the relative relationship between the cable channel and the road and other structures will also change, and the drawings will lose their reference value. Using cable detection instruments for positioning is mainly that cable operation and maintenance personnel use instruments such as guides and path meters to calculate the location of the cable channel by receiving and analyzing the electromagnetic wave signals emitted by underground cables based on the principle of electromagnetic induction. However, the positioning accuracy of cable detection instruments is low. Positioning through electromagnetic wave media is easily affected by external factors, especially when there are other cables or equipment that can generate strong electromagnetic waves nearby. The detection instrument is easily interfered by other electromagnetic wave signals, and thus cannot accurately identify the electromagnetic wave signals of the measured cable. In actual use, the positioning accuracy is low, and the maximum deviation can reach several meters. On-site excavation positioning is to dig the ground until the cable channel body is seen, and determine the position and depth of the cable channel by seeing it with your own eyes. This method has great safety hazards and is time-consuming and labor-intensive. Excavation near the cable itself is an extremely risky job. If the cable is damaged during the excavation process, it may cause casualties to the construction workers. Some cable jacking sections are more than ten meters deep and need to be constructed by caisson method. The construction period is long and the construction difficulty is high, requiring a lot of manpower and material resources.

[0005] Therefore, the existing cable protection zone demarcation methods are not ideal, and cannot intuitively, conveniently, accurately and reliably demarcate the cable protection zone, making it difficult to promote and apply. Summary of the invention

[0006] The present invention provides a cable protection zone delineation method and system based on true color point cloud, which is used to solve the technical problem that the existing cable protection zone delineation method cannot delineate the cable protection zone intuitively, conveniently, accurately and reliably, and is difficult to promote and apply.

[0007] In view of this, a first aspect of the present invention provides a cable protection zone delineation method based on true color point cloud, comprising:

[0008] During the cable trench construction phase, the cable trench is scanned using a 3D laser scanning device to obtain 3D point cloud data of the cable trench in the spatial coordinate system M. The 3D point cloud data of the cable trench includes the left line point set and the right line point set of the cable trench;

[0009] When receiving the demand for demarcating the cable protection area, the target area location is obtained, and the target area location is scanned using a 3D laser scanning device that supports true color point cloud output to obtain true color 3D point cloud data of the target area location;

[0010] Correct the true color three-dimensional point cloud data of the target area in the spatial coordinate system M, and import the left line point set and the right line point set of the cable trench into the spatial coordinate system M;

[0011] According to the left line point set and the right line point set of the cable trench in the spatial coordinate system M, the point cloud data of the cable protection zone boundary line at the target area position in the spatial coordinate system M is calculated;

[0012] The edge line of the cable protection zone at the target area position in the obtained spatial coordinate system M is marked with a preset color.

[0013] Optionally, according to the left line point set and the right line point set of the cable trench in the spatial coordinate system M, the point cloud data of the cable protection zone boundary line at the target area position in the spatial coordinate system M is calculated, including:

[0014] S1. Select any point L from the left line point set of the cable trench. i , and find a point L in the right line point of the cable trench i The closest point R i ;

[0015] S2, according to point L i and point R i Construct straight line A;

[0016] S3. Find points C and D on line A so that point L i The distance to point C is equal to 0.75 meters, and point R i The distance to point D is equal to 0.75 meters, and point R i The distance to point C is greater than 0.75 meters, point L i The distance to point D is greater than 0.75 meters;

[0017] S4. Construct a ray K parallel to the Z axis of the space coordinate system M through point C;

[0018] S5. Construct a surface Q with ray K as axis and radius r, where the radius r does not exceed 0.01 m;

[0019] S6, obtaining a point set T falling within the surface Q from the true color three-dimensional point cloud data of the target area position;

[0020] S7. Find a point in the point set T that makes T i Point T with the largest vertical distance to point C i , mark and put into point set H1;

[0021] S8. Construct a ray J parallel to the Z axis of the spatial coordinate system M through point D;

[0022] S9. Construct a surface P with ray J as axis and radius r, where the radius r does not exceed 0.01 m;

[0023] S10, obtaining a point set W falling within the curved surface P from the true color three-dimensional point cloud data of the target area position;

[0024] S11. Find the point W in the point set W such that i Point W with the largest vertical distance to point D i , mark and put into point set H2;

[0025] S12, return to step S1, and repeat steps S1 to S11 until all points in the left line point set of the cable trench are selected, that is, the left line of the cable protection zone at the target area position formed by the point set H1 and the right line of the cable protection zone at the target area position formed by the point set H2 are obtained.

[0026] Optionally, during the cable trench construction phase, the cable trench is scanned using a three-dimensional laser scanning device to obtain three-dimensional point cloud data of the cable trench in a spatial coordinate system M, including:

[0027] During the cable trench construction phase, the cable trench is scanned using 3D laser scanning equipment to obtain the original 3D point cloud data set of the cable trench;

[0028] Preprocess the original cable trench 3D point cloud dataset to remove noise point clouds;

[0029] The original cable trench 3D point cloud data set is converted into the spatial coordinate system M to obtain a converted point cloud data set, and the Z axis of the spatial coordinate system M is made perpendicular to the horizontal plane;

[0030] Find the left and right line point sets representing the edge lines of the cable trench in the converted point cloud dataset.

[0031] Optionally, before correcting the true color three-dimensional point cloud data of the target area position in the spatial coordinate system M and importing the left line point set and the right line point set of the cable trench into the spatial coordinate system M, the method further includes:

[0032] The true color 3D point cloud data of the target area is preprocessed to remove the noise point cloud.

[0033] Optionally, marking the edge of the cable protection zone at the target area position in the obtained spatial coordinate system M with a preset color includes:

[0034] The edge line of the cable protection zone at the target area position in the obtained space coordinate system M is marked with a preset color different from the ambient color.

[0035] A second aspect of the present invention provides a cable protection zone delineation system based on true color point cloud, comprising:

[0036] The cable trench edge point cloud data acquisition module is used to scan the cable trench using a three-dimensional laser scanning device during the cable trench construction phase to obtain the three-dimensional point cloud data of the cable trench in the space coordinate system M. The three-dimensional point cloud data of the cable trench includes the left line point set and the right line point set of the cable trench;

[0037] The target area point cloud data acquisition module is used to obtain the target area position when receiving the demand for demarcating the cable protection area, and use the three-dimensional laser scanning device that supports true color point cloud output to scan the target area position to obtain the true color three-dimensional point cloud data of the target area position;

[0038] The point cloud data import module is used to correct the true color three-dimensional point cloud data of the target area position in the spatial coordinate system M, and import the left line point set and the right line point set of the cable trench into the spatial coordinate system M;

[0039] The cable protection zone boundary calculation module is used to calculate the point cloud data of the cable protection zone boundary at the target area position in the spatial coordinate system M according to the left line point set and the right line point set of the cable trench in the spatial coordinate system M;

[0040] The cable protection zone edge coloring module is used to mark the cable protection zone edge at the target area position in the obtained spatial coordinate system M with a preset color.

[0041] Optionally, the cable protection zone boundary calculation module is specifically used to perform the following steps:

[0042] S1. Select any point L from the left line point set of the cable trench. i , and find a point L in the right line point of the cable trench i The closest point R i ;

[0043] S2, according to point L i and point R i Construct straight line A;

[0044] S3. Find points C and D on line A so that point Li The distance to point C is equal to 0.75 meters, and point R i The distance to point D is equal to 0.75 meters, and point R i The distance to point C is greater than 0.75 meters, point L i The distance to point D is greater than 0.75 meters;

[0045] S4. Construct a ray K parallel to the Z axis of the space coordinate system M through point C;

[0046] S5. Construct a surface Q with ray K as axis and radius r, where the radius r does not exceed 0.01 m;

[0047] S6, obtaining a point set T falling within the surface Q from the true color three-dimensional point cloud data of the target area position;

[0048] S7. Find a point in the point set T that makes T i Point T with the largest vertical distance to point C i , mark and put into point set H1;

[0049] S8. Construct a ray J parallel to the Z axis of the spatial coordinate system M through point D;

[0050] S9. Construct a surface P with ray J as axis and radius r, where the radius r does not exceed 0.01 m;

[0051] S10, obtaining a point set W falling within the curved surface P from the true color three-dimensional point cloud data of the target area position;

[0052] S11. Find the point W in the point set W such that i Point W with the largest vertical distance to point D i , mark and put into point set H2;

[0053] S12, return to step S1, and repeat steps S1 to S11 until all points in the left line point set of the cable trench are selected, that is, the left line of the cable protection zone at the target area position formed by the point set H1 and the right line of the cable protection zone at the target area position formed by the point set H2 are obtained.

[0054] Optionally, the cable trench edge point cloud data acquisition module is specifically used for:

[0055] During the cable trench construction phase, the cable trench is scanned using 3D laser scanning equipment to obtain the original 3D point cloud data set of the cable trench;

[0056] Preprocess the original cable trench 3D point cloud dataset to remove noise point clouds;

[0057] The original cable trench 3D point cloud data set is converted into the spatial coordinate system M to obtain a converted point cloud data set, and the Z axis of the spatial coordinate system M is made perpendicular to the horizontal plane;

[0058] Find the left line point set L = {L1, L2, ..., L q} and the right side point set R = {R1, R2, ..., R q}.

[0059] Optionally, the point cloud data import module is also used to:

[0060] Before the true color 3D point cloud data of the target area position is corrected in the spatial coordinate system M and the left line point set and the right line point set of the cable trench are imported into the spatial coordinate system M, the true color 3D point cloud data of the target area position is preprocessed to remove the noise point cloud.

[0061] Optionally, the cable protection zone edge coloring module is specifically used for:

[0062] The edge line of the cable protection zone at the target area position in the obtained space coordinate system M is marked with a preset color different from the ambient color.

[0063] It can be seen from the above technical solutions that the cable protection zone delineation method based on true color point cloud provided by the present invention has the following advantages:

[0064] The cable protection zone delineation method based on true color point cloud provided by the present invention uses a three-dimensional laser scanning device to scan the cable trench during the construction stage to obtain three-dimensional point cloud data of the cable trench. After the construction is completed, the cable trench is covered with soil and the cable trench is no longer visible. Therefore, when it is necessary to delineate the cable protection zone in the later stage, a three-dimensional laser scanning device supporting true color point cloud output is used to scan the target area position to obtain true color three-dimensional point cloud data of the target area position, and then the three-dimensional point cloud data of the cable trench obtained during the construction stage are imported into the spatial coordinate system M together, and the three-dimensional point cloud data of the cable trench is used to calculate the cable protection zone boundary line at the target area position, and the boundary line is marked with a preset color, thereby realizing intuitive delineation of the cable protection zone, which is simple, convenient, accurate and reliable, does not require professional background to understand the drawings, does not require cable detection instruments, does not have the problem of cable detection instruments being susceptible to electromagnetic interference, and does not require manpower and material resources to dig cables, thereby solving the technical problems that the existing cable protection zone delineation method cannot intuitively, conveniently, accurately and reliably delineate the cable protection zone and is difficult to promote and apply. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] 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 related drawings can be obtained based on these drawings without paying creative work.

[0066] Figure 1 A schematic diagram of a process flow of a cable protection zone delineation method based on true color point cloud provided by the present invention;

[0067] Figure 2 A schematic diagram of selecting point C and point D on straight line A provided by the present invention;

[0068] Figure 3 A schematic diagram showing the true color three-dimensional point cloud data F' of the target area provided by the present invention falling into the curved surface Q;

[0069] Figure 4 A structural schematic diagram of a cable protection zone delineation system based on true color point cloud provided by the present invention. DETAILED DESCRIPTION

[0070] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0071] Definition Notes:

[0072] True color point cloud: Point cloud is a collection of a large number of points with three-dimensional spatial coordinates, which is obtained by 3D laser scanning equipment. By giving each point the color of its actual material, a true color point cloud is formed.

[0073] Cable trench edge line: located at the top of the cable trench side wall, formed by the intersection of the surface where the cable trench side wall is located (vertical direction) and the top surface of the side wall (horizontal direction).

[0074] For easier understanding, see Figure 1 The present invention provides an embodiment of a cable protection zone delineation method based on true color point cloud, comprising:

[0075] Step 101: During the cable trench construction phase, the cable trench is scanned using a three-dimensional laser scanning device to obtain three-dimensional point cloud data of the cable trench in a spatial coordinate system M. The three-dimensional point cloud data of the cable trench includes a left line point set and a right line point set of the cable trench.

[0076] It should be noted that the cable protection zone delineation method based on true color point cloud provided by the present invention includes two stages, one stage is the engineering data collection stage, and the other stage is the on-site positioning and delineation of the protection zone stage. Step 101 is the engineering data collection stage, that is, during the cable trench construction stage, confirm that the cable trench is in an open state, and the cable trench is clearly visible, and then use a three-dimensional laser scanning device to scan the cable trench to obtain the three-dimensional point cloud data of the cable trench in the spatial coordinate system M. Specifically, use a three-dimensional laser scanning device to scan the cable trench to obtain the original three-dimensional point cloud data E of the cable trench = {E1, E2, ..., E n}, n is the number of points in E. For the original cable trench 3D point cloud data E = {E1, E2, ..., E n} to remove noise point cloud and reduce the impact of imbalanced category data that affects the accuracy of the results. Then the original cable trench 3D point cloud data E = {E1, E2, ..., E n} is converted into the spatial coordinate system M, and the converted point cloud data E'={E'1,E'2,...,E' n}, and make the Z axis of the spatial coordinate system M perpendicular to the horizontal plane in reality (that is, perpendicular to the ground), in the point cloud data E'={E'1,E'2,...,E' n} to find the points representing the edge of the cable trench, and one side is recorded as the left line point set L = {L1, L2, ..., L q}, and the other side is recorded as the right side line point set R = {R1, R2, ..., R q}, q is the number of points in L and R. In E', L and R are marked, extracted and saved, and other point clouds are deleted.

[0077] Step 102: upon receiving a request to demarcate a cable protection area, obtain the target area location, scan the target area location using a three-dimensional laser scanning device that supports true color point cloud output, and obtain true color three-dimensional point cloud data of the target area location.

[0078] It should be noted that step 102 is the stage of entering the on-site positioning and demarcation of the protection zone. In this stage, the area that needs to be demarcated as the cable protection zone is selected first, that is, the target area. Then, a 3D laser scanning device that supports true color point cloud output is used to scan the target area to obtain true color 3D point cloud data of the target area, which can be recorded as F, F = {F1, F2, ..., F n}.

[0079] In order to avoid the influence of noise point cloud on the accuracy of the result, the true color three-dimensional point cloud data F of the target area position can also be preprocessed to remove the noise point cloud and reduce the influence of imbalanced category data.

[0080] Step 103: Correct the true color three-dimensional point cloud data of the target area in the spatial coordinate system M, and import the left line point set and the right line point set of the cable trench into the spatial coordinate system M.

[0081] It should be noted that the point cloud data F is corrected in the spatial coordinate system M, and the corrected data is recorded as F', where F' = {F'1, F'2, ..., F' n Then, the left line point set L and the right line point set R of the cable trench obtained in step 101 are imported into the space coordinate system M.

[0082] Step 104 : Calculate the point cloud data of the cable protection zone boundary line at the target area position in the spatial coordinate system M according to the left side line point set and the right side line point set of the cable trench in the spatial coordinate system M.

[0083] It should be noted that after step 103, the point cloud data F' of the target area position in the spatial coordinate system M and the left line point set L and the right line point set R of the cable trench in the area have been obtained. According to the provisions of the "Electric Power Facilities Protection Regulations": "The width of the underground power cable protection zone is the area within two parallel lines formed by 0.75 meters on both sides of the ground stakes of the underground power cable line.", the point cloud data of the cable protection zone edge corresponding to the cable trench edge of the left line point set L and the right line point set R of the cable trench at the target area position can be obtained.

[0084] Specifically, the calculation process of step 104 is as follows:

[0085] S1. Select any point L from the left line point set L of the cable trench. i , i∈q, and find a point R in the right line point set R of the cable trench i , i∈q, so that point R i To point L i The distance is the closest;

[0086] S2, according to point L i and point R i Construct straight line A;

[0087] S3. Find points C and D on line A so that point L i The distance to point C is equal to 0.75 meters, and point R i The distance to point D is equal to 0.75 meters, and point R i The distance to point C is greater than 0.75 meters, point L i The distance to point D is greater than 0.75 meters, such as Figure 2 As shown;

[0088] S4. Construct a ray K parallel to the Z axis of the space coordinate system M through point C;

[0089] S5. Construct a surface Q with ray K as axis and radius r, where the radius r does not exceed 0.01 m;

[0090] S6, obtaining the point set T that falls within the surface Q in the true color three-dimensional point cloud data F' of the target area position = {T1, T2, ..., T j}, j<n, such as Figure 3 As shown;

[0091] S7. Find a point T in the point set T j , so that point T j The point T with the largest vertical distance to point C is marked and put into point set H1. j That is, the point C is projected onto the ground, which can make point C projected to the topmost point on the ground without being blocked.

[0092] S8. Construct a ray J parallel to the Z axis of the spatial coordinate system M through point D;

[0093] S9. Construct a surface P with ray J as axis and radius r, where the radius r does not exceed 0.01 m, which can ensure the negligibility of the error;

[0094] S10, obtaining a point set W falling within the curved surface P from the true color three-dimensional point cloud data F' of the target area position;

[0095] S11. Find a point W in the point set W j , so that point W j The point with the largest vertical distance to point D is marked and put into point set H2. The point W in point set W with the largest vertical distance to point D is j That is, the point D is projected onto the ground, which can make point D projected to the topmost point on the ground without being blocked.

[0096] S12, return to step S1, and repeat steps S1 to S11 until all points in the left line point set of the cable trench are selected, that is, the left line of the cable protection zone at the target area position formed by the point set H1 and the right line of the cable protection zone at the target area position formed by the point set H2 are obtained.

[0097] Step 105: Mark the edge of the cable protection zone at the target area position in the obtained spatial coordinate system M with a preset color.

[0098] It should be noted that by marking the point cloud data corresponding to the edge of the cable protection zone at the target area position in the spatial coordinate system M with a preset color, the edge of the cable protection zone can be visually seen in the spatial coordinate system M. Specifically, since the color of the point cloud data F' at the target area position is the environmental color, the point cloud data corresponding to the edge of the cable protection zone can be marked with a color different from the environmental color, so that the visual and intuitive delineation of the cable protection zone can be achieved.

[0099] The cable protection zone delineation method based on true color point cloud provided by the present invention uses a three-dimensional laser scanning device to scan the cable trench during the construction stage to obtain three-dimensional point cloud data of the cable trench. After the construction is completed, the cable trench is covered with soil and the cable trench is no longer visible. Therefore, when it is necessary to delineate the cable protection zone in the later stage, a three-dimensional laser scanning device supporting true color point cloud output is used to scan the target area position to obtain true color three-dimensional point cloud data of the target area position, and then the three-dimensional point cloud data of the cable trench obtained during the construction stage are imported into the spatial coordinate system M together, and the three-dimensional point cloud data of the cable trench is used to calculate the cable protection zone boundary line at the target area position, and the boundary line is marked with a preset color, thereby realizing intuitive delineation of the cable protection zone, which is simple, convenient, accurate and reliable, does not require professional background to understand the drawings, does not require cable detection instruments, does not have the problem of cable detection instruments being susceptible to electromagnetic interference, and does not require manpower and material resources to dig cables, thereby solving the technical problems that the existing cable protection zone delineation method cannot intuitively, conveniently, accurately and reliably delineate the cable protection zone and is difficult to promote and apply.

[0100] For easier understanding, see Figure 4 The present invention provides an embodiment of a cable protection zone delineation system based on true color point cloud, comprising:

[0101] The cable trench edge point cloud data acquisition module is used to scan the cable trench using a three-dimensional laser scanning device during the cable trench construction phase to obtain the three-dimensional point cloud data of the cable trench in the space coordinate system M. The three-dimensional point cloud data of the cable trench includes the left line point set and the right line point set of the cable trench;

[0102] The target area point cloud data acquisition module is used to obtain the target area position when receiving the demand for demarcating the cable protection area, and use the three-dimensional laser scanning device that supports true color point cloud output to scan the target area position to obtain the true color three-dimensional point cloud data of the target area position;

[0103] The point cloud data import module is used to correct the true color three-dimensional point cloud data of the target area position in the spatial coordinate system M, and import the left line point set and the right line point set of the cable trench into the spatial coordinate system M;

[0104] The cable protection zone boundary calculation module is used to calculate the point cloud data of the cable protection zone boundary at the target area position in the spatial coordinate system M according to the left line point set and the right line point set of the cable trench in the spatial coordinate system M;

[0105] The cable protection zone edge coloring module is used to mark the cable protection zone edge at the target area position in the obtained spatial coordinate system M with a preset color.

[0106] The cable protection zone boundary calculation module is specifically used to perform the following steps:

[0107] S1. Select any point L from the left line point set of the cable trench. i , and find a point R in the right line point set of the cable trench i , so that point R i To point L i The distance is the closest;

[0108] S2, according to point L i and point R i Construct straight line A;

[0109] S3. Find points C and D on line A so that point L i The distance to point C is equal to 0.75 meters, and point R i The distance to point D is equal to 0.75 meters, and point R i The distance to point C is greater than 0.75 meters, point L i The distance to point D is greater than 0.75 meters;

[0110] S4. Construct a ray K parallel to the Z axis of the space coordinate system M through point C;

[0111] S5. Construct a surface Q with ray K as axis and radius r, where the radius r does not exceed 0.01 m;

[0112] S6, obtaining a point set T falling within the surface Q from the true color three-dimensional point cloud data of the target area position;

[0113] S7. Find a point T in the point set T i , so that point T i The vertical distance to point C is the largest, and it is marked and put into point set H1;

[0114] S8. Construct a ray J parallel to the Z axis of the spatial coordinate system M through point D;

[0115] S9. Construct a surface P with ray J as axis and radius r, where the radius r does not exceed 0.01 m;

[0116] S10, obtaining a point set W falling within the curved surface P from the true color three-dimensional point cloud data of the target area position;

[0117] S11. Find a point W in the point set W i , so that point W i The vertical distance to point D is the largest, and it is marked and put into point set H2;

[0118] S12, return to step S1, and repeat steps S1 to S11 until all points in the left line point set of the cable trench are selected, that is, the left line of the cable protection zone at the target area position formed by the point set H1 and the right line of the cable protection zone at the target area position formed by the point set H2 are obtained.

[0119] The cable trench edge point cloud data acquisition module is specifically used for:

[0120] During the cable trench construction phase, the cable trench is scanned using a 3D laser scanning device to obtain the original 3D point cloud data of the cable trench E = {E1, E2, ..., E n};

[0121] For the original cable trench 3D point cloud data E={E1,E2,...,E n}Preprocessing to remove noise point cloud;

[0122] The original cable trench 3D point cloud data E = {E1, E2, ..., E n} is converted into the spatial coordinate system M, and the converted point cloud data E'={E1',E'2,...,E' n}, and make the Z axis of the spatial coordinate system M perpendicular to the horizontal plane;

[0123] In the point cloud data E'={E'1,E'2,...,E' n} to find the left line point set L = {L1,L2,...,L q} and the right side point set R = {R1, R2, ..., R q}.

[0124] The point cloud data import module is also used for:

[0125] Before the true color 3D point cloud data of the target area position is corrected in the spatial coordinate system M and the left line point set and the right line point set of the cable trench are imported into the spatial coordinate system M, the true color 3D point cloud data of the target area position is preprocessed to remove the noise point cloud.

[0126] The cable protection zone edge coloring module is specifically used for:

[0127] The edge line of the cable protection zone at the target area position in the obtained space coordinate system M is marked with a preset color different from the ambient color.

[0128] The cable protection zone delineation system based on true color point cloud provided by the present invention uses a three-dimensional laser scanning device to scan the cable trench during the construction stage to obtain three-dimensional point cloud data of the cable trench. After the construction is completed, the cable trench is covered with soil and the cable trench is no longer visible. Therefore, when it is necessary to delineate the cable protection zone in the later stage, a three-dimensional laser scanning device supporting true color point cloud output is used to scan the target area position to obtain true color three-dimensional point cloud data of the target area position, and then the three-dimensional point cloud data of the cable trench obtained during the construction stage are imported into the spatial coordinate system M together, and the three-dimensional point cloud data of the cable trench are used to calculate the cable protection zone boundary line at the target area position, and the boundary line is marked with a preset color, thereby realizing intuitive delineation of the cable protection zone, which is simple, convenient, accurate and reliable, does not require professional background to understand the drawings, does not require cable detection instruments, does not have the problem of cable detection instruments being susceptible to electromagnetic interference, and does not require manpower and material resources to dig cables, thereby solving the technical problems that the existing cable protection zone delineation method cannot intuitively, conveniently, accurately and reliably delineate the cable protection zone and is difficult to promote and apply.

[0129] The cable protection zone demarcation system based on true color point cloud provided in an embodiment of the present invention is used to execute the cable protection zone demarcation method based on true color point cloud in the aforementioned cable protection zone demarcation method based on true color point cloud embodiment. Its principle is consistent with the cable protection zone demarcation method based on true color point cloud in the aforementioned embodiment, and will not be repeated here.

[0130] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cable protection area delineation method based on true color point cloud, characterized in that: include: During the cable trench construction phase, the cable trench is scanned using a 3D laser scanning device to obtain 3D point cloud data of the cable trench in the spatial coordinate system M. The 3D point cloud data of the cable trench includes the left line point set and the right line point set of the cable trench; When receiving the demand for demarcating the cable protection area, the target area location is obtained, and the target area location is scanned using a 3D laser scanning device that supports true color point cloud output to obtain true color 3D point cloud data of the target area location; Correct the true color three-dimensional point cloud data of the target area in the spatial coordinate system M, and import the left line point set and the right line point set of the cable trench into the spatial coordinate system M; According to the left line point set and the right line point set of the cable trench in the spatial coordinate system M, the point cloud data of the cable protection zone boundary line at the target area position in the spatial coordinate system M is calculated; Mark the edge of the cable protection zone at the target area position in the obtained spatial coordinate system M with a preset color; According to the left and right line point sets of the cable trench in the spatial coordinate system M, the point cloud data of the cable protection zone boundary line at the target area position in the spatial coordinate system M is calculated, including: S1. Select any point L from the left line point set of the cable trench. i , and find a point L in the right line point of the cable trench i The closest point R i ; S2, according to point L i and point R i Construct straight line A; S3. Find points C and D on line A so that point L i The distance to point C is equal to 0.75 meters, and point R i The distance to point D is equal to 0.75 meters, and point R i The distance to point C is greater than 0.75 meters, point L i The distance to point D is greater than 0.75 meters; S4. Construct a ray K parallel to the Z axis of the space coordinate system M through point C; S5. Construct a surface Q with ray K as axis and radius r, where the radius r does not exceed 0.01 m; S6, obtaining a point set T falling within the surface Q from the true color three-dimensional point cloud data of the target area position; S7. Find a point in the point set T that makes T i Point T with the largest vertical distance to point C i , mark and put into point set H1; S8. Construct a ray J parallel to the Z axis of the spatial coordinate system M through point D; S9. Construct a surface P with ray J as axis and radius r, where the radius r does not exceed 0.01 m; S10, obtaining a point set W falling within the curved surface P from the true color three-dimensional point cloud data of the target area position; S11. Find the point W in the point set W such that i Point W with the largest vertical distance to point D i , mark and put into point set H2; S12, return to step S1, and repeat steps S1 to S11 until all points in the left line point set of the cable trench are selected, that is, the left line of the cable protection zone at the target area position formed by the point set H1 and the right line of the cable protection zone at the target area position formed by the point set H2 are obtained.

2. The cable protection zone delineation method based on true color point cloud according to claim 1 is characterized in that: During the cable trench construction phase, the cable trench is scanned using a 3D laser scanning device to obtain 3D point cloud data of the cable trench in the spatial coordinate system M, including: During the cable trench construction phase, the cable trench is scanned using 3D laser scanning equipment to obtain the original 3D point cloud data set of the cable trench; Preprocess the original cable trench 3D point cloud dataset to remove noise point clouds; The original cable trench 3D point cloud data set is converted into the spatial coordinate system M to obtain a converted point cloud data set, and the Z axis of the spatial coordinate system M is made perpendicular to the horizontal plane; Find the left and right line point sets representing the edge lines of the cable trench in the converted point cloud dataset.

3. The cable protection zone delineation method based on true color point cloud according to claim 1 is characterized in that: Before correcting the true color three-dimensional point cloud data of the target area position in the spatial coordinate system M and importing the left line point set and the right line point set of the cable trench into the spatial coordinate system M, the following steps are also included: The true color 3D point cloud data of the target area is preprocessed to remove the noise point cloud.

4. The cable protection zone delineation method based on true color point cloud according to claim 1 is characterized in that: The cable protection zone edge line of the target area in the obtained spatial coordinate system M is marked with a preset color, including: The edge line of the cable protection zone at the target area position in the obtained space coordinate system M is marked with a preset color different from the ambient color.

5. A cable protection zone delineation system based on true color point cloud, characterized in that: include: The cable trench edge point cloud data acquisition module is used to scan the cable trench using a three-dimensional laser scanning device during the cable trench construction phase to obtain the three-dimensional point cloud data of the cable trench in the space coordinate system M. The three-dimensional point cloud data of the cable trench includes the left line point set and the right line point set of the cable trench; The target area point cloud data acquisition module is used to obtain the target area position when receiving the demand for demarcating the cable protection area, and use the three-dimensional laser scanning device that supports true color point cloud output to scan the target area position to obtain the true color three-dimensional point cloud data of the target area position; The point cloud data import module is used to correct the true color three-dimensional point cloud data of the target area position in the spatial coordinate system M, and import the left line point set and the right line point set of the cable trench into the spatial coordinate system M; The cable protection zone boundary calculation module is used to calculate the point cloud data of the cable protection zone boundary at the target area position in the spatial coordinate system M according to the left line point set and the right line point set of the cable trench in the spatial coordinate system M; A cable protection zone edge coloring module is used to mark the cable protection zone edge at the target area position in the obtained spatial coordinate system M with a preset color; The cable protection zone boundary calculation module is specifically used to perform the following steps: S1. Select any point L from the left line point set of the cable trench. i , and find a point L in the right line point of the cable trench i The closest point R i ; S2, according to point L i and point R i Construct straight line A; S3. Find points C and D on line A so that point L i The distance to point C is equal to 0.75 meters, and point R i The distance to point D is equal to 0.75 meters, and point R i The distance to point C is greater than 0.75 meters, point L i The distance to point D is greater than 0.75 meters; S4. Construct a ray K parallel to the Z axis of the space coordinate system M through point C; S5. Construct a surface Q with ray K as axis and radius r, where the radius r does not exceed 0.01 m; S6, obtaining a point set T falling within the surface Q from the true color three-dimensional point cloud data of the target area position; S7. Find a point in the point set T that makes T i Point T with the largest vertical distance to point C i , mark and put into point set H1; S8. Construct a ray J parallel to the Z axis of the spatial coordinate system M through point D; S9. Construct a surface P with ray J as axis and radius r, where the radius r does not exceed 0.01 m; S10, obtaining a point set W falling within the curved surface P from the true color three-dimensional point cloud data of the target area position; S11. Find the point W in the point set W such that i Point W with the largest vertical distance to point D i , mark and put into point set H2; S12, return to step S1, and repeat steps S1 to S11 until all points in the left line point set of the cable trench are selected, that is, the left line of the cable protection zone at the target area position formed by the point set H1 and the right line of the cable protection zone at the target area position formed by the point set H2 are obtained.

6. The cable protection zone delineation system based on true color point cloud according to claim 5 is characterized in that: The cable trench edge point cloud data acquisition module is specifically used for: During the cable trench construction phase, the cable trench is scanned using 3D laser scanning equipment to obtain the original 3D point cloud data set of the cable trench; Preprocess the original cable trench 3D point cloud dataset to remove noise point clouds; The original cable trench 3D point cloud data set is converted into the spatial coordinate system M to obtain a converted point cloud data set, and the Z axis of the spatial coordinate system M is made perpendicular to the horizontal plane; Find the left and right line point sets representing the edge lines of the cable trench in the converted point cloud dataset.

7. The cable protection zone delineation system based on true color point cloud according to claim 5, characterized in that: The point cloud data import module is also used for: Before the true color 3D point cloud data of the target area position is corrected in the spatial coordinate system M and the left line point set and the right line point set of the cable trench are imported into the spatial coordinate system M, the true color 3D point cloud data of the target area position is preprocessed to remove the noise point cloud.

8. The cable protection zone delineation system based on true color point cloud according to claim 5, characterized in that: The cable protection zone edge coloring module is specifically used for: The edge line of the cable protection zone at the target area position in the obtained space coordinate system M is marked with a preset color different from the ambient color.

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