Building indoor point cloud data collection site automatic planning method, device and equipment

Abstract

This invention discloses an automatic planning method, apparatus, and equipment for indoor point cloud data acquisition sites in buildings. The method includes: acquiring a BIM model of the building to be inspected; extracting geometric information and topological relationships of target components from the BIM model, where the target components include rooms and doors; determining the ordinate of the scanning site and the concavity / convexity of the room boundaries of the building to be inspected based on the geometric information and topological relationships; determining the abscissa of the scanning site based on the ordinate and the concavity / convexity of the room boundaries; and determining the location of the scanning site based on the ordinate and abscissa. This achieves automatic planning of scanning sites, greatly improving scanning efficiency, reducing labor costs, and also reducing the difficulty of interpreting drawings in engineering projects. The scanning site plan is more easily accepted by personnel from different fields or professions, and it solves the drawbacks of traditional manual scanning that relies solely on human experience for judgment, reducing randomness and errors.

Description

Technical Field

[0001] This invention relates to the field of building inspection technology, and in particular to an automatic planning method, apparatus and equipment for building indoor point cloud data acquisition sites. Background Technology

[0002] Traditional building interior scanning plans fall into two categories: The first involves the scanner entering the building and then placing scanning sites based on their experience. The second involves the scanner planning the scan in advance based on CAD drawings. Scanning equipment includes theodolites, total stations, and 3D laser scanners. Scanning is typically done in pairs. Traditional scanning methods require a high level of experience from the scanners, necessitating manual planning of scanning sites before scanning begins.

[0003] Current building interior scanning relies heavily on manual experience, which introduces a significant element of chance and a high risk of error. Because interior spaces often contain numerous corners and irregularities, it's difficult for scanners to scan every area completely, leading to multiple scans and significantly reducing scanning speed and wasting valuable time. Furthermore, if a building contains various types of areas, the scanning process becomes even more tedious and complex. Summary of the Invention

[0004] This invention provides a method, apparatus, and equipment for automatically planning indoor point cloud data acquisition sites in buildings, thereby achieving automatic planning of scanning sites, improving scanning efficiency and accuracy, and reducing labor costs.

[0005] In a first aspect, embodiments of the present invention provide an automatic planning method for indoor point cloud data acquisition sites in buildings, the method comprising:

[0006] Obtain the BIM model of the building to be inspected;

[0007] Extract the geometric information and topological relationships of the target components from the BIM model, the target components including rooms and doors;

[0008] The vertical coordinates of the scanning station and the concavity / convexity of the room boundaries of the building to be inspected are determined based on the geometric information and the topological relationship.

[0009] The horizontal coordinate of the scanning station is determined based on the vertical coordinate and the concavity / convexity of the room boundary, and the location of the scanning station is determined based on the vertical coordinate and the horizontal coordinate.

[0010] Optionally, determining the ordinate of the scanning station based on the geometric information and the topological relationship includes:

[0011] Based on the geometric information, determine the piecewise function of the room, and determine the maximum value of the lower boundary and the minimum value of the upper boundary corresponding to each segment of the piecewise function;

[0012] The gate's ordinate is determined based on the geometric information and the topological relationship;

[0013] The ordinate is determined based on the ordinate of the gate, the maximum value of the lower boundary, and the minimum value of the upper boundary.

[0014] Optionally, determining the ordinate based on the ordinate of the door, the maximum value of the lower boundary, and the minimum value of the upper boundary includes:

[0015] The vertical coordinate of the gate is compared with the maximum value of the lower boundary and the minimum value of the upper boundary corresponding to each segment;

[0016] If the vertical coordinate of the door is greater than or equal to the minimum value of the upper boundary, then the difference between the minimum value of the upper boundary and the preset safety distance is used as the vertical coordinate;

[0017] If the vertical coordinate of the door is less than or equal to the maximum value of the lower boundary, then the sum of the maximum value of the lower boundary and the preset safety distance shall be used as the vertical coordinate;

[0018] If the ordinate of the door is greater than the maximum value of the lower boundary and less than the minimum value of the upper boundary, then the ordinate of the door is used as the ordinate.

[0019] Optionally, the geometric information includes room corner information, and determining the piecewise function of the room based on the geometric information includes:

[0020] The piecewise function is determined using the coordinate positions of three consecutive room corners, based on the coordinate order exported from Revit.

[0021] Optionally, determining the convexity / concavity of the room boundaries of the building to be detected based on the geometric information and the topological relationship includes:

[0022] The polygonal concave and convex surface information of the room is extracted based on the variation law of the dependent variable of the piecewise function.

[0023] Optionally, extracting the geometric information and topological relationships of the target component from the BIM model includes:

[0024] The attribute information of the BIM model is obtained through the secondary development component window of Revit, and the geometric information and topological relationships are extracted by adding dependencies in C# and adding UI ports in Revit's add-on modules.

[0025] Optionally, after determining the scanning station location based on the vertical coordinate and the horizontal coordinate, the method further includes:

[0026] The generated scan site information is read using C#, and the scan site information is assigned to a class object in Revit;

[0027] Scan sites are mapped into the BIM model using Revit's secondary development technology.

[0028] Secondly, embodiments of the present invention also provide an automatic planning device for indoor point cloud data acquisition sites in buildings, the device comprising:

[0029] The model acquisition module is used to acquire the BIM model of the building to be inspected.

[0030] The model information extraction module is used to extract the geometric information and topological relationships of target components from the BIM model, the target components including rooms and doors;

[0031] The concavity / convexity determination module is used to determine the ordinate of the scanning station and the concavity / convexity of the room boundary of the building to be detected based on the geometric information and the topological relationship.

[0032] The scanning site determination module is used to determine the abscissa of the scanning site based on the ordinate and the concavity / convexity of the room boundary, and to determine the location of the scanning site based on the ordinate and the abscissa.

[0033] Thirdly, embodiments of the present invention also provide a computer device, the computer device comprising:

[0034] One or more processors;

[0035] Memory, used to store one or more programs;

[0036] When the one or more programs are executed by the one or more processors, the one or more processors implement the automatic planning method for building indoor point cloud data acquisition sites provided in any embodiment of the present invention.

[0037] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the automatic planning method for building indoor point cloud data acquisition sites provided in any embodiment of the present invention.

[0038] This invention provides an automatic planning method for indoor point cloud data acquisition sites in buildings. First, a BIM model of the building to be inspected is acquired, and the geometric information and topological relationships of target components, including rooms and doors, are extracted from the BIM model. Then, the vertical coordinate of the scanning site and the concavity / convexity of the room boundaries of the building to be inspected are determined based on the obtained geometric information and topological relationships. Finally, the horizontal coordinate of the scanning site is determined based on the vertical coordinate of the scanning site and the concavity / convexity of the room boundaries, thus determining the location of the scanning site. This automatic planning method for indoor point cloud data acquisition sites in buildings, by extracting the geometric information and topological relationships of rooms and doors from the BIM model to determine the location of the scanning site, achieves automatic planning of the scanning site, greatly improving scanning efficiency, reducing labor costs, and simplifying the interpretation of drawings in engineering projects. The scanning site plan is more easily accepted by personnel from different fields or professions, and it solves the drawbacks of traditional manual scanning that relies solely on human experience for judgment, reducing randomness and errors. Furthermore, by considering the position of doors to constrain the scanning site, it helps to shorten the scanning path. Attached Figure Description

[0039] Figure 1 This is a flowchart of the automatic planning method for building indoor point cloud data acquisition sites provided in Embodiment 1 of the present invention;

[0040] Figure 2 This is a schematic diagram of the automatic planning device for building indoor point cloud data acquisition sites provided in Embodiment 2 of the present invention;

[0041] Figure 3 This is a schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0043] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processes, many of these steps can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the steps can be rearranged. The process can be terminated when its operation is complete, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0044] Example 1

[0045] Figure 1 This is a flowchart of an automatic planning method for indoor point cloud data acquisition sites in buildings, provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where indoor building data is scanned to obtain point cloud data. This method can be executed by the automatic planning device for indoor point cloud data acquisition sites provided in this embodiment of the invention. This device can be implemented in hardware and / or software, and is generally integrated into a computer device. Figure 1 As shown, the specific steps include the following:

[0046] S11. Obtain the BIM model of the building to be inspected.

[0047] S12. Extract the geometric information and topological relationships of the target components from the BIM model, wherein the target components include rooms and doors.

[0048] S13. Determine the vertical coordinates of the scanning station and the convexity / concavity of the room boundary of the building to be detected based on the geometric information and the topological relationship.

[0049] S14. Determine the horizontal coordinate of the scanning station based on the vertical coordinate and the concavity / convexity of the room boundary, and determine the location of the scanning station based on the vertical coordinate and the horizontal coordinate.

[0050] Specifically, a completed BIM model of the building to be inspected can be obtained from any storage location and opened and utilized using Revit software. After obtaining the BIM model, the geometric information and topological relationships of the target components can be extracted. During the planning of scanning sites, information such as room outlines is required; therefore, target components include rooms. Furthermore, to minimize the scanning path, scanning sites are generally placed near doorways; therefore, the coordinates of doors can be considered as one of the factors for selecting scanning sites, meaning target components also include doors. After obtaining the geometric information and topological relationships of the target components, the ordinate of the scanning site can be calculated based on the geometric information of the room, the geometric information of the door, and the topological relationship between the room and the door. Simultaneously, the convexity and concavity of the room boundaries of the building to be inspected can be determined based on the room's geometric information. The convexity and concavity of the room boundaries, i.e., the orientation of the room boundaries, affects the relevant incident angles, thus influencing the planning of scanning sites. After determining the ordinate of the scan sites and the convexity / concavity of the room boundaries, scanning can proceed from left to right and / or right to left based on the ordinate. Considering the convexity / concavity of the room boundaries, and ensuring complete coverage of the room's walls and ceiling surfaces, the abscissa of the scan sites can be determined by comparing and analyzing the number of scan sites and the length of the scan path. Therefore, the location of the scan sites can be determined based on the obtained ordinate and abscissa, minimizing the number of sites and the shortest scan path. The ordinate and abscissa can be relative to Revit's built-in coordinate system and can be obtained by exporting them.

[0051] Optionally, determining the ordinate of the scanning station based on the geometric information and the topological relationship includes: determining the piecewise function of the room based on the geometric information, and determining the maximum value of the lower boundary and the minimum value of the upper boundary corresponding to each segment of the piecewise function; determining the ordinate of the door based on the geometric information and the topological relationship; and determining the ordinate based on the ordinate of the door, the maximum value of the lower boundary, and the minimum value of the upper boundary.

[0052] Specifically, after obtaining the geometric information and topological relationships of the target components, information related to scanning stations in different areas can be generated using C++. The obtained information can be categorized and stored in different containers, and these containers can be arranged and stored in a specific order. Calculations can then be performed according to the partitions defined in the model. The calculation process can combine room connection topology and door positioning information with techniques such as integrating polygons into piecewise functions. This transforms a real-world building into a piecewise function, with X as the independent variable and Y as the dependent variable. The required data structure is then obtained through changes in the piecewise function and related geometric model algorithms and stored on the C++ console for easy access and computation. Door space and positioning information are imported and topologically connected to different spaces. The location of doors affects the distribution of related scanning stations, which is significantly influenced by the door positions and spatial shapes. Therefore, door information requires data processing. This can be achieved by combining doors and spatial contours within the same space, integrating door positioning information with spatial contour positioning. Optionally, determining the concavity / convexity of the room boundary of the building to be detected based on the geometric information and the topological relationship includes: extracting polygonal concavity / convexity information of the room based on the variation law of the piecewise function with respect to the dependent variable. Specifically, after determining that the door is located on the polygonal outline, the polygonal concavity / convexity is analyzed. Based on the variation law of the spatial piecewise function with respect to the Y value, polygonal concavity / convexity information is extracted, such as the X and Y coordinates of the concavity / convexity, the midpoint coordinates of the concavity / convexity, etc., and the polygonal concavity / convexity information is stored in a class in C++. Then, the scanning stations can be generated by combining the information stored in the C++ platform. Specifically, the maximum value of the lower boundary and the minimum value of the upper boundary corresponding to each segment can be determined first based on the piecewise function. Then, based on the door's positioning information and the room boundary information, it can be determined which boundary of the room the door is on. The room boundary information can be determined based on the room corner point information. The ordinate of the scanning station is determined based on the relationship between the door's ordinate and the maximum value of each lower boundary and the minimum value of the upper boundary. The ordinate of the door can be compared once in each partition of the room to determine the ordinate of one or more scanning stations.

[0053] Optionally, determining the ordinate based on the door's ordinate, the maximum value of the lower boundary, and the minimum value of the upper boundary includes: comparing the door's ordinate with the maximum value of the lower boundary and the minimum value of the upper boundary for each segment; if the door's ordinate is greater than or equal to the minimum value of the upper boundary, then the difference between the minimum value of the upper boundary and a preset safety distance is used as the ordinate; if the door's ordinate is less than or equal to the maximum value of the lower boundary, then the sum of the maximum value of the lower boundary and the preset safety distance is used as the ordinate; if the door's ordinate is greater than the maximum value of the lower boundary and less than the minimum value of the upper boundary, then the door's ordinate is used as the ordinate. The preset safety distance is used to prevent the scanning robot from colliding with the wall due to being too close to an obstacle or due to errors in the robot system's scanning and positioning.

[0054] Optionally, the geometric information includes room corner information. Determining the piecewise function of the room based on the geometric information includes: determining the piecewise function using the coordinate positions of three consecutive room corner points according to the coordinate order exported from Revit. Specifically, the relationship between the three coordinates can be analyzed based on the room corner information and different types of markings can be applied. Then, the piecewise function of the room can be determined using the coordinate positions of the three points and the default Revit order (e.g., counter-clockwise). The piecewise function is formed for the room's floor plan and is in the form of an interval with X as the range and Y as the size.

[0055] Based on the above technical solution, optionally, the extraction of geometric information and topological relationships of target components from the BIM model includes: obtaining the attribute information of the BIM model through the Revit secondary development component window, and extracting the geometric information and topological relationships by adding dependencies in C# and adding a UI port in Revit's add-in modules. Specifically, the geometric information and topological relationships of target components can be extracted using Revit's secondary development technology. Based on the BIM model, the model can first be lightweighted by using filtering options to extract the required components, such as keeping only rooms and doors, thereby speeding up the subsequent data extraction and component information processing. After lightweighting the model, the required model attribute information, such as walls, doors, boundaries, rooms, and topological relationships, can be obtained through the lookup function in the Revit secondary development component window. Then, Revit dependencies are added in C# to implement the window linking the model and programming. Finally, a UI window named "Add-in Manager" is added to Revit's add-in modules to extract the required component information, such as component name, component location, component link, and component ID.

[0056] Based on the above technical solution, optionally, after determining the scan site location according to the vertical and horizontal coordinates, the method further includes: reading the generated scan site information using C# and assigning the scan site information to a class object in Revit; and mapping the scan sites in the BIM model using Revit's secondary development technology. Specifically, after generating the scan sites, the scan site information can be read using C# and a scan area can be generated in the BIM model to achieve data visualization. This can be achieved by using Revit's API interface, exporting a series of generated scan sites to a txt document, then reading the information from the file using C# and assigning the relevant information to a class object in Revit. Then, the relevant parameters for creating a new family are set according to actual needs, and the family is created. After the family is created, the X and Y coordinates of the scan sites need to be extracted based on the text information of the scan sites and assigned to the family's Location-related positioning point parameters. Then, the scan sites generated by C++ are mapped in the BIM model using the Create command in Revit's secondary development port. After mapping is complete, the total length of the required scanning path for each space can be automatically generated and output to a folder, allowing scanners to intuitively understand the scanning range and scale, so that they can select appropriate scanning equipment to perform building scanning work. Furthermore, after obtaining the scanning sites, the scanning sites can be imported into the quadruped robot platform through the ROS system, enabling the robot to perform automatic fixed-point scanning tasks.

[0057] The technical solution provided by this invention first acquires a BIM model of the building to be inspected, and extracts the geometric information and topological relationships of the target components from the BIM model. These target components include rooms and doors. Then, based on the obtained geometric information and topological relationships, the vertical coordinate of the scanning station and the concavity / convexity of the room boundaries of the building to be inspected are determined. Finally, based on the vertical coordinate of the scanning station and the concavity / convexity of the room boundaries, the horizontal coordinate of the scanning station is determined, thus determining the location of the scanning station. By extracting the geometric information and topological relationships of rooms and doors from the BIM model to determine the scanning station location, automatic planning of the scanning station is achieved, greatly improving scanning efficiency, reducing labor costs, and also reducing the difficulty of interpreting drawings in engineering. The scanning station solution is more easily accepted by personnel from different fields or professions, and it solves the drawback of traditional manual scanning that relies solely on human experience for judgment, reducing randomness and errors. Furthermore, by considering the position of doors to constrain the scanning station, it helps to shorten the scanning path.

[0058] Example 2

[0059] Figure 2This is a schematic diagram of the automatic planning device for building indoor point cloud data acquisition sites provided in Embodiment 2 of the present invention. This device can be implemented in hardware and / or software, and is generally integrated into a computer device to execute the automatic planning method for building indoor point cloud data acquisition sites provided in any embodiment of the present invention. Figure 2 As shown, the device includes:

[0060] Model acquisition module 21 is used to acquire the BIM model of the building to be inspected;

[0061] The model information extraction module 22 is used to extract the geometric information and topological relationships of the target components from the BIM model, the target components including rooms and doors;

[0062] The concavity / convexity determination module 23 is used to determine the longitudinal coordinates of the scanning station and the concavity / convexity of the room boundary of the building to be detected based on the geometric information and the topological relationship.

[0063] The scanning site determination module 24 is used to determine the abscissa of the scanning site based on the ordinate and the concavity / convexity of the room boundary, and to determine the location of the scanning site based on the ordinate and the abscissa.

[0064] The technical solution provided by this invention first acquires a BIM model of the building to be inspected, and extracts the geometric information and topological relationships of the target components from the BIM model. These target components include rooms and doors. Then, based on the obtained geometric information and topological relationships, the vertical coordinate of the scanning station and the concavity / convexity of the room boundaries of the building to be inspected are determined. Finally, based on the vertical coordinate of the scanning station and the concavity / convexity of the room boundaries, the horizontal coordinate of the scanning station is determined, thus determining the location of the scanning station. By extracting the geometric information and topological relationships of rooms and doors from the BIM model to determine the scanning station location, automatic planning of the scanning station is achieved, greatly improving scanning efficiency, reducing labor costs, and also reducing the difficulty of interpreting drawings in engineering. The scanning station solution is more easily accepted by personnel from different fields or professions, and it solves the drawback of traditional manual scanning that relies solely on human experience for judgment, reducing randomness and errors. Furthermore, by considering the position of doors to constrain the scanning station, it helps to shorten the scanning path.

[0065] Based on the above technical solution, optionally, the concavity / convexity determination module 23 includes:

[0066] The piecewise function determination unit is used to determine the piecewise function of the room based on the geometric information, and to determine the maximum value of the lower boundary and the minimum value of the upper boundary corresponding to each segment of the piecewise function;

[0067] A gate ordinate determination unit is used to determine the gate ordinate based on the geometric information and the topological relationship;

[0068] The scanning station ordinate determination unit is used to determine the ordinate based on the gate ordinate, the maximum value of the lower boundary, and the minimum value of the upper boundary.

[0069] Based on the above technical solution, optionally, the scanning station ordinate determination unit is specifically used for:

[0070] The vertical coordinate of the gate is compared with the maximum value of the lower boundary and the minimum value of the upper boundary corresponding to each segment;

[0071] If the vertical coordinate of the door is greater than or equal to the minimum value of the upper boundary, then the difference between the minimum value of the upper boundary and the preset safety distance is used as the vertical coordinate;

[0072] If the vertical coordinate of the door is less than or equal to the maximum value of the lower boundary, then the sum of the maximum value of the lower boundary and the preset safety distance shall be used as the vertical coordinate;

[0073] If the ordinate of the door is greater than the maximum value of the lower boundary and less than the minimum value of the upper boundary, then the ordinate of the door is used as the ordinate.

[0074] Based on the above technical solution, optionally, the geometric information includes room corner point information, and the piecewise function determination unit is specifically used for:

[0075] The piecewise function is determined using the coordinate positions of three consecutive room corners, based on the coordinate order exported from Revit.

[0076] Based on the above technical solution, optionally, the concavity / convexity determination module 23 is specifically used for:

[0077] The polygonal concave and convex surface information of the room is extracted based on the variation law of the dependent variable of the piecewise function.

[0078] Based on the above technical solution, optionally, the model information extraction module 22 is specifically used for:

[0079] The attribute information of the BIM model is obtained through the secondary development component window of Revit, and the geometric information and topological relationships are extracted by adding dependencies in C# and adding UI ports in Revit's add-on modules.

[0080] Based on the above technical solution, optionally, the automatic planning device for indoor point cloud data acquisition sites in buildings also includes:

[0081] The scan site information reading module is used to read the generated scan site information in C# after the scan site location is determined according to the vertical coordinate and the horizontal coordinate, and to assign the scan site information to a class object in Revit;

[0082] The scan site mapping module is used to map scan sites in the BIM model using Revit's secondary development technology.

[0083] The automatic planning device for building indoor point cloud data acquisition sites provided in this embodiment of the invention can execute the automatic planning method for building indoor point cloud data acquisition sites provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0084] It is worth noting that in the above-mentioned embodiment of the automatic planning device for indoor point cloud data acquisition sites in buildings, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0085] Example 3

[0086] Figure 3 This is a schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention, showing a block diagram of an exemplary computer device suitable for implementing the embodiments of the present invention. Figure 3 The computer device shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. Figure 3 As shown, the computer device includes a processor 31, a memory 32, an input device 33, and an output device 34; the number of processors 31 in the computer device can be one or more. Figure 3 Taking a processor 31 as an example, the processor 31, memory 32, input device 33, and output device 34 in a computer device can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0087] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the automatic planning method for building indoor point cloud data acquisition sites in this embodiment of the invention (e.g., the model acquisition module 21, model information extraction module 22, concavity / convexity determination module 23, and scanning site determination module 24 in the automatic planning device for building indoor point cloud data acquisition sites). The processor 31 executes various functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 32, thereby realizing the above-described automatic planning method for building indoor point cloud data acquisition sites.

[0088] The memory 32 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 32 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 32 may further include memory remotely located relative to the processor 31, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0089] Input device 33 can be used to acquire the BIM model of the building, and to generate key signal inputs related to user settings and function control of the computer equipment. Output device 34 can be used to export scan site information to a quadruped robot, etc.

[0090] Example 4

[0091] Embodiment 4 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an automatic planning method for indoor point cloud data acquisition sites in buildings. The method includes:

[0092] Obtain the BIM model of the building to be inspected;

[0093] Extract the geometric information and topological relationships of the target components from the BIM model, the target components including rooms and doors;

[0094] The vertical coordinates of the scanning station and the concavity / convexity of the room boundaries of the building to be inspected are determined based on the geometric information and the topological relationship.

[0095] The horizontal coordinate of the scanning station is determined based on the vertical coordinate and the concavity / convexity of the room boundary, and the location of the scanning station is determined based on the vertical coordinate and the horizontal coordinate.

[0096] Storage media can be any type of memory device or storage device. The term "storage media" is intended to include: mounting media, such as CD-ROMs, floppy disks, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disks or optical storage); registers or other similar types of memory elements. Storage media may also include other types of memory or combinations thereof. Furthermore, storage media may reside in a computer system in which the program is executed, or may reside in a different second computer system connected to the computer system via a network (such as the Internet). The second computer system can provide program instructions to the computer for execution. The term "storage media" can include two or more storage media that may reside in different locations (e.g., in different computer systems connected via a network). Storage media may store program instructions (e.g., specifically implemented as a computer program) that can be executed by one or more processors.

[0097] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the automatic planning method for building indoor point cloud data acquisition sites provided in any embodiment of the present invention.

[0098] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0099] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0100] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0101] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for automatically planning indoor point cloud data acquisition sites for buildings, characterized in that, include: Obtain the BIM model of the building to be inspected; Extract the geometric information and topological relationships of the target components from the BIM model, the target components including rooms and doors; The vertical coordinates of the scanning station and the concavity / convexity of the room boundary of the building to be detected are determined based on the geometric information and the topological relationship, wherein the concavity / convexity of the room boundary is the orientation of the room boundary. The horizontal coordinate of the scanning station is determined based on the vertical coordinate and the concavity / convexity of the room boundary, and the location of the scanning station is determined based on the vertical coordinate and the horizontal coordinate. Determining the abscissa of the scanning station based on the ordinate and the concavity / convexity of the room boundary includes: Based on the vertical coordinate, scanning is performed from left to right and / or from right to left. Based on the concavity and convexity of the room boundary, the horizontal coordinate is determined by comparing and analyzing the number of scanning stations and the length of the scanning path, while ensuring that the scan can completely cover the surface area of ​​the room walls and ceiling.

2. The automatic planning method for building indoor point cloud data acquisition sites according to claim 1, characterized in that, Determining the ordinate of the scanning station based on the geometric information and the topological relationship includes: Based on the geometric information, determine the piecewise function of the room, and determine the maximum value of the lower boundary and the minimum value of the upper boundary corresponding to each segment of the piecewise function; The gate's ordinate is determined based on the geometric information and the topological relationship; The ordinate is determined based on the ordinate of the gate, the maximum value of the lower boundary, and the minimum value of the upper boundary.

3. The automatic planning method for indoor point cloud data acquisition sites in buildings according to claim 2, characterized in that, Determining the ordinate based on the ordinate of the gate, the maximum value of the lower boundary, and the minimum value of the upper boundary includes: The vertical coordinate of the gate is compared with the maximum value of the lower boundary and the minimum value of the upper boundary corresponding to each segment; If the vertical coordinate of the door is greater than or equal to the minimum value of the upper boundary, then the difference between the minimum value of the upper boundary and the preset safety distance is used as the vertical coordinate; If the vertical coordinate of the door is less than or equal to the maximum value of the lower boundary, then the sum of the maximum value of the lower boundary and the preset safety distance shall be used as the vertical coordinate; If the ordinate of the door is greater than the maximum value of the lower boundary and less than the minimum value of the upper boundary, then the ordinate of the door is used as the ordinate.

4. The automatic planning method for building indoor point cloud data acquisition sites according to claim 2, characterized in that, The geometric information includes room corner point information, and the step of determining the piecewise function of the room based on the geometric information includes: The piecewise function is determined using the coordinate positions of three consecutive room corners, based on the coordinate order exported from Revit.

5. The automatic planning method for building indoor point cloud data acquisition sites according to claim 2, characterized in that, Determining the convexity / concavity of the room boundaries of the building to be detected based on the geometric information and the topological relationship includes: The polygonal concave and convex surface information of the room is extracted based on the variation law of the dependent variable of the piecewise function.

6. The automatic planning method for indoor point cloud data acquisition sites in buildings according to claim 1, characterized in that, The extraction of geometric information and topological relationships of the target components from the BIM model includes: The attribute information of the BIM model is obtained through the secondary development component window of Revit, and the geometric information and topological relationships are extracted by adding dependencies in C# and adding UI ports in Revit's add-on modules.

7. The automatic planning method for indoor point cloud data acquisition sites in buildings according to claim 1, characterized in that, After determining the scanning station location based on the vertical and horizontal coordinates, the method further includes: The generated scan site information is read using C#, and the scan site information is assigned to a class object in Revit; Scan sites are mapped into the BIM model using Revit's secondary development technology.

8. An automatic planning device for indoor point cloud data acquisition sites in buildings, characterized in that, include: The model acquisition module is used to acquire the BIM model of the building to be inspected. The model information extraction module is used to extract the geometric information and topological relationships of target components from the BIM model, the target components including rooms and doors; The concavity / convexity determination module is used to determine the longitudinal coordinates of the scanning station and the concavity / convexity of the room boundary of the building to be detected based on the geometric information and the topological relationship, wherein the concavity / convexity of the room boundary is the orientation of the room boundary; The scanning site determination module is used to determine the abscissa of the scanning site based on the ordinate and the concavity / convexity of the room boundary, and to determine the location of the scanning site based on the ordinate and the abscissa. Determining the abscissa of the scanning station based on the ordinate and the concavity / convexity of the room boundary includes: Based on the vertical coordinate, scanning is performed from left to right and / or from right to left. Based on the concavity and convexity of the room boundary, the horizontal coordinate is determined by comparing and analyzing the number of scanning stations and the length of the scanning path, while ensuring that the scan can completely cover the surface area of ​​the room walls and ceiling.

9. A computer device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the automatic planning method for building indoor point cloud data acquisition sites as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the automatic planning method for building indoor point cloud data acquisition sites as described in any one of claims 1-7.

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