Method and device for acquiring current space state information of an existing facility

Abstract

The embodiment of the present application discloses a kind of current space state information acquisition method and device of existing facility, it is related to industrial digitalization technical field, to be able to more fully reflect the real space state information of current existing facility and invent.The method comprises: based on the initial design and / or completion graphics of target facility, obtain the initial three-dimensional model of the target facility;The current visible surface of the target facility is three-dimensionally modeled, and the current three-dimensional model of the target facility is obtained;The initial three-dimensional model and the current three-dimensional model are respectively extracted features;Based on each corresponding feature, the registration of the current three-dimensional model and the initial three-dimensional model in spatial position is carried out in the same three-dimensional coordinate system;The corresponding difference between the current three-dimensional model and the initial three-dimensional model is identified, and the difference is screened according to distance;According to screening result, corresponding automatic strategy or manual operation is adopted to select or draw three-dimensional model surface, the fusion of the current three-dimensional model and the initial three-dimensional model is realized, and the panoramic three-dimensional model of the current target facility is obtained.The present application is suitable for obtaining the current space state information of existing facility.

Description

Technical Field

[0001] This invention relates to the field of industrial digital technology, and in particular to a method and apparatus for acquiring current spatial status information of existing facilities. Background Technology

[0002] The operation and maintenance of existing facilities (such as nuclear power plants) cannot be separated from the current spatial status information of the existing facilities. The current spatial status information may include information such as the plant buildings, equipment, pipelines and their relative positions in the site environment.

[0003] In existing technologies, surviving 2D drawings or computer-aided design (CAD) drawings are typically converted into 3D models to obtain information on the current spatial status of existing facilities. However, surviving 2D drawings and CAD drawings can only reflect the design and construction of the plant, and cannot reflect information such as newly added or adjusted systems and equipment after the facility's completion. This results in incomplete information on the current spatial status of existing facilities, failing to fully reflect their true current spatial status.

[0004] On the other hand, with the gradual maturation of laser scanning and photogrammetry technologies, three-dimensional surface data of target objects can be obtained through scanning with scanners and / or cameras. The acquired data can then be processed, calculated, and analyzed to construct a three-dimensional model of the existing facility. However, due to the inherent straight-line propagation of laser and visible light, only front-row pipes, equipment, and structures can be detected, and the surface three-dimensional data of obscured objects cannot be obtained. More seriously, in compact spatial layouts or high-radioactive environments, it is difficult to use transport equipment to send scanners or cameras into the facility for mapping, thus failing to fully reflect the current true spatial state information of the existing facility. Summary of the Invention

[0005] In view of this, the embodiments of this application provide a method and apparatus for obtaining current spatial status information of existing facilities, which can more comprehensively reflect the current real spatial status information of existing facilities.

[0006] In a first aspect, embodiments of this application provide a method for obtaining current spatial status information of an existing facility, comprising: obtaining an initial three-dimensional model of the target facility based on its initial design and / or as-built drawings; performing three-dimensional modeling on the currently visible surface of the target facility to obtain a current three-dimensional model of the target facility; extracting features from the initial three-dimensional model and the current three-dimensional model respectively; registering corresponding features between the current three-dimensional model and the initial three-dimensional model in the same three-dimensional coordinate system; determining the differences between the current three-dimensional model and the initial three-dimensional model; identifying the corresponding differences between the current three-dimensional model and the initial three-dimensional model, and filtering the differences based on distance; and, according to the filtering results, adopting automatic strategies or manual operations to select or draw the surface of the three-dimensional model to achieve the fusion of the current three-dimensional model and the initial three-dimensional model, thereby obtaining a current panoramic three-dimensional model of the target facility.

[0007] According to one possible implementation of this application embodiment, before performing feature extraction on the initial 3D model and the current 3D model respectively, the method further includes: converting the current 3D model and / or the initial 3D model of the target facility into a format compatible current 3D model and initial 3D model; wherein, performing feature extraction on the initial 3D model and the current 3D model respectively includes: performing feature extraction on the format compatible initial 3D model and the current 3D model respectively.

[0008] According to one possible implementation of this application, the registration of the current three-dimensional model and the initial three-dimensional model in the same three-dimensional coordinate system based on corresponding features includes: performing spatial translation, spatial angle rotation, and / or spatial scaling on the corresponding features of the current three-dimensional model and the initial three-dimensional model, so as to register the corresponding features of the current three-dimensional model and the initial three-dimensional model in the same three-dimensional coordinate system.

[0009] According to one possible implementation of this application, identifying the corresponding differences between the current 3D model and the initial 3D model and filtering the differences based on distance includes: mapping differences from the two models that represent the same region, calculating the distance between the corresponding differences, comparing the corresponding difference distance with a predetermined distance threshold, and filtering out differences that are less than the predetermined threshold and differences that are greater than or equal to the predetermined threshold.

[0010] According to one possible implementation of this application, the method for obtaining current spatial state information of existing facilities, wherein the step of selecting or drawing a three-dimensional model surface by adopting an automatic strategy or manual operation according to the filtering result, and realizing the fusion of the current three-dimensional model and the initial three-dimensional model to obtain the current panoramic three-dimensional model of the target facility, includes: if the difference is less than a predetermined distance threshold, displaying at least one automatic fusion strategy; responding to the selection operation of one of the at least one automatic fusion strategies; and fusion of the current three-dimensional model of the target facility with the initial three-dimensional model based on the selected automatic fusion strategy;

[0011] If the difference is greater than or equal to a predetermined distance threshold, the difference is identified or highlighted; in response to dragging and / or drawing operations on the difference, the current 3D model of the target facility is merged with the initial 3D model.

[0012] According to one possible implementation of this application, after fusing the current three-dimensional model and the initial three-dimensional model in the same three-dimensional coordinate system to obtain the current panoramic three-dimensional model of the target facility, the method further includes: extracting attribute information of at least one object (equipment, building, pipeline, etc.) in the initial three-dimensional model based on the initial three-dimensional model, and adding corresponding attribute information to the at least one object in the panoramic three-dimensional model.

[0013] Secondly, embodiments of this application provide an apparatus for acquiring current spatial status information of existing facilities, comprising: an initial model acquisition module, used to obtain an initial three-dimensional model of the target facility based on the initial design and / or as-built drawings of the target facility; a current model acquisition module, used to perform three-dimensional modeling on the currently visible surface of the target facility to obtain a current three-dimensional model of the target facility; a feature extraction module, used to extract features from the initial three-dimensional model and the current three-dimensional model; a registration module, used to register the corresponding features between the current three-dimensional model and the initial three-dimensional model in the same three-dimensional coordinate system; a difference identification and filtering module, used to identify the corresponding differences between the current three-dimensional model and the initial three-dimensional model and filter the differences based on distance; and a model fusion module, used to select or draw the surface of the three-dimensional model according to the filtering results using automatic strategies or manual operations, thereby achieving the fusion of the current three-dimensional model and the initial three-dimensional model to obtain a current panoramic three-dimensional model of the target facility.

[0014] According to one possible implementation of this application, the existing facility current spatial status information acquisition device further includes: a format conversion module, used to convert the current three-dimensional model or the initial three-dimensional model of the target facility into a format compatible current three-dimensional model and initial three-dimensional model.

[0015] According to one possible implementation of an embodiment of this application, the feature extraction module is specifically used to: extract features from the format-compatible initial 3D model and the current 3D model respectively.

[0016] According to one possible implementation of this application, the registration module is specifically used to: perform spatial position translation, spatial angle rotation, and / or spatial size scaling on the corresponding features on the current three-dimensional model and the initial three-dimensional model, so as to register the corresponding features on the current three-dimensional model and the initial three-dimensional model in the same three-dimensional coordinate system.

[0017] According to one possible implementation of an embodiment of this application, the difference identification and filtering module is specifically used to: map the differences from the two models that express the same region, calculate the distance between the corresponding differences, compare the corresponding difference distance with a predetermined distance threshold, and filter out differences that are less than the predetermined threshold and differences that are greater than or equal to the predetermined threshold.

[0018] According to one possible implementation of an embodiment of this application, the model fusion module is specifically used for: if the difference is less than a predetermined distance threshold, displaying at least one automatic fusion strategy; responding to a selection operation of one of the at least one automatic fusion strategies; and fusing the current three-dimensional model of the target facility with the initial three-dimensional model based on the selected automatic fusion strategy.

[0019] If the difference is greater than or equal to a predetermined distance threshold, the difference is identified or highlighted; in response to dragging and / or drawing operations on the difference, the current 3D model of the target facility is merged with the initial 3D model.

[0020] According to one possible implementation of this application, the existing facility current spatial status information acquisition device further includes: an attribute information adding module, used to extract attribute information of at least one object (equipment, building, pipeline, etc.) in the initial three-dimensional model based on the initial three-dimensional model, and add corresponding attribute information to the at least one object in the panoramic three-dimensional model.

[0021] Thirdly, embodiments of this application also provide an electronic device, the electronic device comprising: a housing, a processor, a memory, a circuit board, and a power supply circuit, wherein the circuit board is disposed within the space enclosed by the housing, and the processor and the memory are disposed on the circuit board; the power supply circuit is used to supply power to various circuits or devices of the above-mentioned electronic device; the memory is used to store executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, for executing the method described in any of the foregoing implementations.

[0022] Thirdly, embodiments of this application also provide a computer-readable storage medium storing one or more programs, which can be executed by one or more processors to implement the method described in any of the foregoing implementations.

[0023] In this embodiment, an initial 3D model of the target facility is obtained through its initial design and / or as-built drawings. A 3D model of the currently visible surface of the target facility is then created to obtain its current 3D model. Feature extraction is performed on both the initial and current 3D models. Corresponding features between the current and initial 3D models are registered in the same 3D coordinate system to determine the differences between them. Corresponding differences between the current and initial 3D models are identified and filtered based on distance. Based on the filtering results, automatic or manual strategies are employed to select or draw the 3D model surface, thereby fusing the current and initial 3D models to obtain a panoramic 3D model of the target facility. This model comprehensively reflects the current real-world spatial state of the existing facility. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A schematic flowchart of a method for obtaining current spatial status information of existing facilities according to an embodiment of the present invention is provided.

[0026] Figure 2 A structural block diagram of an existing facility current spatial status information acquisition device provided in one embodiment of the present invention;

[0027] Figure 3This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0028] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0029] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0030] Figure 1 This is a flowchart illustrating a method for obtaining current spatial status information of existing facilities according to an embodiment of the present invention. (Refer to...) Figure 1 The existing method for obtaining current spatial status information of existing facilities in this embodiment includes the following steps:

[0031] S10. Based on the initial design and / or as-built drawings of the target facility, obtain the initial three-dimensional model of the target facility.

[0032] In this embodiment, the facility refers to a building facility, such as a nuclear power plant. The initial design and / or as-built drawings can be depicted in floor plans retained by the owner, design firm, or supplier. These floor plans can be two-dimensional drawings created using computer-aided design (CAD). The two-dimensional drawings reflect the plant's design and construction. Based on the spatial and dimensional relationships described in the two-dimensional drawings, a three-dimensional conversion can be performed to obtain an initial three-dimensional model of the target facility. Alternatively, the initial design and / or as-built drawings can be three-dimensional CAD drawings, upon which an initial three-dimensional model of the target facility can be obtained.

[0033] S12. Obtain the current 3D model of the currently visible surface of the target facility.

[0034] The target facility can be scanned using a scanner and / or camera to obtain 3D data of its currently visible surface. This 3D data can then be used to create a 3D model, thus constructing a current 3D model of the target facility. This process can also be referred to as reverse engineering of the current 3D model.

[0035] In one example, point cloud data acquired by a laser scanner can be patched to obtain a compatible current 3D model.

[0036] S14. Perform feature extraction on the initial 3D model and the current 3D model respectively.

[0037] S16. Register the corresponding features between the current 3D model and the initial 3D model in the same 3D coordinate system.

[0038] S18. Identify the corresponding differences between the current 3D model and the initial 3D model, and filter the differences based on the distance.

[0039] In this embodiment, the differences from the two models that represent the same region can be mapped, the distance between the corresponding differences can be calculated, and it can be determined whether the difference distance is less than a predetermined distance threshold and then classified and filtered accordingly.

[0040] S20. Based on the screening results, adopt automatic strategies or manual operations to select or draw the surface of the three-dimensional model, thereby achieving the fusion of the current three-dimensional model and the initial three-dimensional model to obtain the current panoramic three-dimensional model of the target facility.

[0041] The initial 3D model and the current 3D model require different data sources; therefore, they can be referred to as heterogeneous models. Their heterogeneity is mainly reflected in different model acquisition times, acquisition areas, acquisition sensing methods, data structures, coordinate systems, and attribute information.

[0042] By fusing heterogeneous models, a panoramic 3D model of the target facility is obtained, which can comprehensively reflect the current spatial status information of the target facility. Therefore, the current panoramic 3D model of the target facility can also be called a high-completeness 3D model of the target facility.

[0043] In this embodiment, an initial 3D model of the target facility is obtained based on its initial design and / or as-built drawings. A 3D model of the currently visible surface of the target facility is then performed to obtain its current 3D model. Feature extraction is performed on both the initial and current 3D models. Corresponding features between the current and initial 3D models are registered in the same 3D coordinate system. Differences between the two models representing the same area are mapped, and the distances between these differences are calculated. It is determined whether the distance is less than a predetermined distance threshold and is used for classification and filtering. Based on the filtering results, automatic strategies or manual operations are employed to select or draw the 3D model surface, thereby fusing the current and initial 3D models to obtain a panoramic 3D model of the target facility. This model comprehensively reflects the current real spatial state information of the existing facility.

[0044] 3D models obtained from original design / as-built drawings and 3D models obtained through 3D reverse reconstruction cannot be directly accepted by the model fusion platform due to differences in the underlying algorithms and expression methods between the different source model systems. They need to be normalized before they can be imported.

[0045] The information directly obtained through 3D reverse reconstruction techniques such as laser scanning is point cloud data of the object's surface, which is surface data composed of a huge number of points, usually in PCD (point cloud data) format. This format model is discrete and cannot encompass space to represent the 3D objects contained within the surface, so the point cloud needs to be encapsulated.

[0046] In some implementations, triangular meshes can be used for encapsulation. Based on the adjacency relationships of the unordered point cloud, lines connecting the points are used to form triangular patches. A large number of small triangular patches are used to approximate and reconstruct the object of the 3D model. Each triangular patch is described by the 3D coordinates of its three vertices and the normal vector of the triangular patch, realizing the triangular patching of the point cloud and obtaining 3D model data compatible with STL (stereolithography) format.

[0047] In some embodiments, before performing feature extraction on the initial 3D model and the current 3D model respectively (step S14), the method may further include the following steps:

[0048] Convert the current or initial 3D model of the target facility to a compatible format to obtain a current or initial 3D model.

[0049] Accordingly, feature extraction is performed on the initial 3D model and the current 3D model respectively, including: feature extraction is performed on the format-compatible initial 3D model and the current 3D model respectively.

[0050] To fuse 3D models with different acquisition times, acquisition areas, acquisition sensing methods, model data structures, model coordinate systems, and model attribute information, it is necessary to match the similarity between features of heterogeneous models and automatically establish feature indexes as a feature space for comparison. Therefore, feature extraction is first performed on the current 3D model and the initial 3D model to obtain feature descriptors.

[0051] Feature descriptors can be geometrically significant and locatable feature points (such as discontinuities, graphic inflection points, and line intersections), or they can be the contours of key regions (closed boundaries, edges, curves, or surfaces of contours).

[0052] Feature extraction methods are crucial for matching accuracy. Ideal feature descriptions need to meet the following requirements: (1) easy to express and compute; (2) as unaffected as possible by boundary noise, deformation, model simplification, etc., and have good robustness; (3) have good stability due to geometric invariance to model translation, rotation, scaling, etc., and topological invariance to changes in various model formats; (4) feature representations of different models should be as different as possible, i.e., unique.

[0053] In this embodiment of the invention, robust detection algorithms can be used to achieve feature extraction based on geometric information. For example, depending on the characteristics of the actual scene, the following can be used: Harris operator, Susan operator, Moravec operator, etc. to extract point features; Log operator, Canny operator, etc. to extract line features; and region segmentation algorithms to extract surface features.

[0054] A local coordinate system is established using the normal direction and gradient of the features. Feature statistical histograms are generated based on the normal vectors and Gaussian curvature of vertices within the supporting region. The histograms are normalized to obtain feature descriptors. Similarity is measured to determine accuracy. Feature matching under multi-resolution and heterogeneous topological meshes is achieved based on Euclidean distance.

[0055] The features extracted from the current 3D model and the initial 3D model are registered in the same coordinate system. This registration is used to register 3D models of the same structure from different sources in the same space, thus achieving coordinate system unification for 3D models from different sources.

[0056] Since existing facility 3D models from various sources all use a Cartesian coordinate system, they can be rigidly aligned using linear transformations.

[0057] In some implementations, registering the corresponding features between the current 3D model and the initial 3D model in the same 3D coordinate system (step S16) may include: performing spatial translation, spatial angle rotation, and / or spatial scaling on the corresponding features of the current 3D model and the initial 3D model to register the corresponding features of the current 3D model and the initial 3D model in the same 3D coordinate system.

[0058] After registering the corresponding features on the current 3D model and the initial 3D model in the same 3D coordinate system, the differences between the current 3D model and the initial 3D model of the target facility can be determined.

[0059] Corresponding features of heterogeneous models placed in the same coordinate system often differ, and the number of differences is enormous. Each difference needs to be processed differently depending on the degree of error. Therefore, difference identification and screening can be performed before heterogeneous model fusion. In the embodiments of this application, the current 3D model and the initial 3D model of the target facility are heterogeneous models.

[0060] This implementation employs a primitive-based model difference identification and filtering technique. Primitives, or graphic elements, are the basic units that make up an image, such as points, lines, and surfaces in a 3D model, possessing attributes like position and normal vectors. After heterogeneous model registration (or alignment), corresponding primitives are roughly in the same position, allowing for primitive matching.

[0061] In some implementations, identifying the corresponding differences between the current 3D model and the initial 3D model and filtering the differences based on distance (step S18) may include: matching differences from the two models that represent the same region, calculating the distance between the corresponding differences, comparing the corresponding difference distance with a predetermined distance threshold, classifying and filtering out differences that are less than the predetermined threshold and differences that are greater than or equal to the predetermined threshold.

[0062] In one example, identifying the corresponding differences between the current 3D model and the initial 3D model, and filtering the differences based on distance (step S18), may include:

[0063] S180. Determine the second primitive in the current 3D model that matches the first primitive in the initial 3D model.

[0064] In this embodiment, the matching primitives in the current 3D model and the initial 3D model must satisfy the condition that the normal distance from this primitive to the corresponding primitive is the smallest and that its normal distance is within the region of the corresponding primitive.

[0065] The following rules can be used to determine the second primitive in the current 3D model that matches the first primitive in the initial 3D model:

[0066] If the normal focus of each endpoint of the first primitive in the initial 3D model is on the second primitive in the current 3D model (if it is a straight line, it is not on the extension of the straight line; if it is an arc, it is within the fan-shaped phase angle region formed by the arc), then the second primitive is the primitive corresponding to the first primitive. If the normal focus is outside the second primitive in the current 3D model, then continue searching for the second nearest primitive in the current 3D model until the corresponding primitive is found.

[0067] S182. Discretize the second primitive and calculate the normal distance from each discrete point of the second primitive to the first primitive.

[0068] S184. Among the normal distances from each discrete point of the second primitive to the first primitive, determine the normal distance with the largest distance value, and use the normal distance with the largest distance value as the difference value between the current three-dimensional model and the initial three-dimensional model of the target facility within the first primitive region.

[0069] After matching the primitives of the heterogeneous models, one primitive of the source model can be selected for discretization. The normal distance from the discrete point to the matching primitive is calculated, and its maximum value describes the difference between the heterogeneous models in this primitive region. For primitives without matching, the minimum distance of the other source model primitive is searched, that is, the length of the line segment between the two points, as the geometric difference.

[0070] In some implementations, the differences in the heterogeneous fusion model can be colored and marked for manual selection; in one embodiment, conditional filtering can also be used to allow quick selection of all differences within a specified region that are less than or greater than a specified degree of difference.

[0071] In some implementations, step S20, which involves selecting or drawing a 3D model surface based on the filtering results using either an automatic strategy or manual operation to achieve the fusion of the current 3D model and the initial 3D model, includes: if the difference is less than a predetermined distance threshold, displaying at least one automatic fusion strategy; responding to the selection of one of the at least one automatic fusion strategies; and fusing the current 3D model of the target facility with the initial 3D model based on the selected automatic fusion strategy.

[0072] If the difference between the current 3D model and the initial 3D model of the target facility is greater than or equal to a predetermined distance threshold, the difference is identified or highlighted; in response to dragging and / or drawing operations on the difference, the current 3D model and the initial 3D model of the target facility are merged.

[0073] In one example, the step of selecting or drawing a 3D model surface based on the screening results using automatic or manual methods to fuse the current 3D model with the initial 3D model, thereby obtaining a current panoramic 3D model of the target facility, may include:

[0074] If the difference is less than a predetermined distance threshold, then at least one automatic fusion strategy is displayed;

[0075] Responding to the selection operation of one of the automatic fusion strategies among not less than one;

[0076] Based on the selected automatic fusion strategy, the current 3D model of the target facility is fused with the initial 3D model within the first primitive region.

[0077] If the difference is greater than or equal to the predetermined distance threshold, the first primitive region and / or the second primitive region will be marked or highlighted.

[0078] In response to drag and / or draw operations on the first primitive region and / or the second primitive region, the current 3D model of the target facility is merged with the initial 3D model within the first primitive region.

[0079] The automatic fusion strategy may include at least two of the following strategies:

[0080] (1) Conservative strategy: Use the surface of the maximum space enclosed by two curved surfaces. This strategy generates a 3D model of the maximum enclosing space volume, which is suitable for applications such as accessibility verification of machine operation.

[0081] (2) Ideal strategy: Use the surface of the minimum space enclosed by two curved surfaces. This strategy generates a three-dimensional model with a minimum enveloping space volume.

[0082] (3) Weighted average strategy: The reliability of the model source is evaluated based on the completeness, accuracy, and precision of different model sources, and weights are assigned accordingly. A new surface between the two surfaces is then calculated and generated. The spatial volume enclosed by the 3D model generated by this strategy is close to the actual situation and is suitable for calculating the amount of demolition waste from the current facility.

[0083] (4) Prioritize the initial model source: For areas of difference, directly use the surface of the initial model source. The essence of this strategy is to use the initial model source as the main source and introduce the current model source to fill in the missing areas.

[0084] (5) Prioritize the current model source: For areas of difference, directly use the surface of the current model source. The essence of this strategy is to use the current model source as the main source and introduce an initial model source to fill in the missing areas.

[0085] In this embodiment, for areas in the heterogeneous model with significant differences (greater than or equal to a predetermined distance threshold), a marker guide label is used to warn the modeling staff. The nature of the difference (such as deviation, deformation, or loss) is judged manually, and the 3D model is edited by dragging or drawing to achieve the fusion of the current 3D model with the initial 3D model.

[0086] In some embodiments, after fusing the current 3D model and the initial 3D model in the same 3D coordinate system to obtain a current panoramic 3D model of the target facility, the method may further include:

[0087] Based on the initial 3D model, extract the attribute information of at least one object (equipment, building, pipeline, etc.) from the initial 3D model, and add the corresponding attribute information to the at least one object in the panoramic 3D model.

[0088] Furthermore, based on the attribute information added to the panoramic 3D model, a library of ancillary facility models can be established.

[0089] The attribute information may include relevant data information such as pipelines, equipment and components, such as assembly relationship, equipment type, equipment code, equipment name, spatial location, attributes, materials, source items, color, texture and other information.

[0090] Based on the attribute information, a model library containing name, type, specification, location, and code can be established.

[0091] In some embodiments, after establishing a library of ancillary facility models in the panoramic 3D model, the method may further include:

[0092] Extract features from pipes, equipment, and components in the model library;

[0093] To obtain the features of pipes, equipment, and components in a panoramic 3D model;

[0094] The feature comparison algorithm is applied to obtain the similarity score between the features of pipes, equipment and components in the panoramic 3D model within any region and the features of pipes, equipment and components in the model library;

[0095] Match features of pipes, equipment, and components from the model library with the highest similarity scores;

[0096] The various attributes collected from the model library are assigned to the target object. These attributes can include component data, assembly relationships, equipment type, equipment code, equipment name, spatial location, properties, materials, source items, color, texture, and other attribute information. The target object refers to the pipes, equipment, and components in the fused 3D model. In one example, the target object is the pipe, equipment, and component in the fused 3D model that has the highest similarity score to the pipes, equipment, and components in the model library.

[0097] Figure 2 A structural block diagram of an existing facility current spatial status information acquisition device provided in one embodiment of the present invention is shown below. Figure 2 The present invention provides an existing facility current spatial state information acquisition device, comprising: an initial model acquisition module 20, a current model acquisition module 22, a feature extraction module 24, a registration module 26, a difference identification and filtering module 28, and a model fusion module 30; wherein,

[0098] The initial model acquisition module 20 is used to obtain an initial three-dimensional model of the target facility based on the initial design and / or as-built drawings of the target facility.

[0099] The current model acquisition module 22 is used to perform three-dimensional modeling on the current visible surface of the target facility to obtain the current three-dimensional model of the target facility;

[0100] Feature extraction module 24 is used to extract features from the initial 3D model and the current 3D model;

[0101] Registration module 26 is used to register the corresponding features between the current 3D model and the initial 3D model in the same 3D coordinate system.

[0102] The difference identification and filtering module 28 is used to identify the corresponding differences between the current 3D model and the initial 3D model, and filter the differences based on the distance;

[0103] The model fusion module 30 is used to select or draw the surface of the three-dimensional model by adopting automatic strategies or manual operations according to the screening results, so as to realize the fusion of the current three-dimensional model and the initial three-dimensional model to obtain the current panoramic three-dimensional model of the target facility.

[0104] The existing facility current spatial status information acquisition device in this embodiment can perform... Figure 1 The implementation methods shown are basically the same in terms of implementation principle and beneficial effects, and will not be described again here.

[0105] In some embodiments, the existing facility current spatial state information acquisition device further includes: a format conversion module, used to convert the current three-dimensional model or the initial three-dimensional model of the target facility into a format compatible current three-dimensional model and an initial three-dimensional model; wherein, the feature extraction module is specifically used to: extract features from the format compatible initial three-dimensional model and the current three-dimensional model respectively.

[0106] In some implementations, the format conversion module is specifically used for: encapsulation using a triangular mesh. Based on the adjacency relationship of the unordered point cloud, lines connecting the points are used to form triangular patches, and a large number of small triangular patches are used to approximate and reconstruct the object of the 3D model. Each triangular patch is described by the 3D coordinates of three vertices and the normal vector of the triangular patch, realizing the triangular patching of the point cloud to obtain 3D model data compatible with STL (stereolithography) format.

[0107] In some implementations, the registration module is specifically used to: perform spatial translation, spatial angle rotation, and / or spatial scaling on the corresponding features on the current 3D model and the initial 3D model, so as to register the corresponding features on the current 3D model and the initial 3D model in the same 3D coordinate system.

[0108] In some implementations, the difference identification and filtering module is specifically used to: map differences from the two models that represent the same region, calculate the distance between the corresponding differences, compare the distance between the corresponding differences with a predetermined distance threshold, and filter out differences that are less than the predetermined threshold and differences that are greater than or equal to the predetermined threshold.

[0109] In some implementations, the model fusion module is specifically used to: display at least one automatic fusion strategy if the difference is less than a predetermined distance threshold; respond to the selection operation of one of the at least one automatic fusion strategies; and fuse the current three-dimensional model of the target facility with the initial three-dimensional model based on the selected automatic fusion strategy.

[0110] If the difference between the current 3D model and the initial 3D model of the target facility is greater than or equal to a predetermined distance threshold, the difference is identified or highlighted; in response to dragging and / or drawing operations on the difference, the current 3D model and the initial 3D model of the target facility are merged.

[0111] In some embodiments, the existing facility current spatial status information acquisition device may further include: an attribute information adding module, used to extract attribute information of at least one feature in the initial three-dimensional model based on the initial three-dimensional model, and add corresponding attribute information to the at least one feature in the panoramic three-dimensional model.

[0112] The attribute information may include relevant data information such as pipelines, equipment and components, such as assembly relationship, equipment type, equipment code, equipment name, spatial location, attributes, materials, source items, color, texture and other information.

[0113] The above-mentioned existing facility current spatial status information acquisition device implementation method can implement the aforementioned method implementation method, and its implementation principle and beneficial effects are basically the same, so it will not be repeated here.

[0114] Figure 3 This is a block diagram of an electronic device according to an embodiment of the present invention. (See attached diagram.) Figure 3 The electronic device includes: a housing 30, a processor 31, a memory 32, a circuit board 33, and a power supply circuit 34. The circuit board 33 is disposed inside the space enclosed by the housing 30, and the processor 31 and the memory 32 are disposed on the circuit board 33. The power supply circuit 34 is used to supply power to the various circuits or devices of the electronic device. The memory 32 is used to store executable program code. The processor 31 runs the program corresponding to the executable program code by reading the executable program code stored in the memory, and is used to execute the method described in any of the foregoing embodiments. Therefore, it can also achieve the corresponding technical effects, which has been described in detail above and will not be repeated here.

[0115] This electronic device can exist in various forms, including but not limited to:

[0116] (1) Personal computer equipment: This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally also has Internet access capabilities.

[0117] (2) Server: A device that provides computing services. The components of a server include a processor, hard disk, memory, system bus, etc. Servers are similar to general computer architectures, but because they need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0118] (3) Other electronic devices with data interaction functions.

[0119] The present invention also provides a computer-readable storage medium storing one or more programs, which can be executed by one or more processors to implement the method described in any of the foregoing embodiments, and thus can also achieve the corresponding technical effects. This has been described in detail above and will not be repeated here.

[0120] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0121] The various embodiments in this specification are described in a related manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

[0122] In particular, the device embodiment is basically similar to the method embodiment, so the description is relatively simple. For relevant details, please refer to the description of the method embodiment.

[0123] For ease of description, the above apparatus is described by dividing it into various functional units / modules. Of course, in implementing this invention, the functions of each unit / module can be implemented in one or more software and / or hardware.

[0124] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0125] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for acquiring current space state information of an existing facility, characterized by, The method comprises: obtaining an initial three-dimensional model of the target facility based on an initial design and / or as-built drawings of the target facility; three-dimensionally modeling a current visible surface of the target facility to obtain a current three-dimensional model of the target facility; extracting features from the initial three-dimensional model and the current three-dimensional model respectively; registering the current three-dimensional model and the initial three-dimensional model in a same three-dimensional coordinate system in terms of spatial positions based on corresponding features; identifying corresponding differences between the current three-dimensional model and the initial three-dimensional model, and screening the differences according to distances; according to the screening result, taking an automatic strategy or a manual operation to select or draw a three-dimensional model surface, so as to fuse the current three-dimensional model and the initial three-dimensional model, and obtain a panoramic three-dimensional model of the target facility; the identifying corresponding differences between the current three-dimensional model and the initial three-dimensional model, and screening the differences according to distances comprises: corresponding the differences from the two models but expressing the same region, calculating distances between the corresponding differences, comparing the distances of the corresponding differences with a predetermined distance threshold, and screening the differences smaller than the predetermined threshold and the differences greater than or equal to the predetermined threshold; the according to the screening result, taking an automatic strategy or a manual operation to select or draw a three-dimensional model surface, so as to fuse the current three-dimensional model and the initial three-dimensional model, and obtain a panoramic three-dimensional model of the target facility comprises: if the differences are smaller than the predetermined distance threshold, displaying not less than one automatic fusion strategy; in response to a selection operation on one of the not less than one automatic fusion strategy, fusing the current three-dimensional model and the initial three-dimensional model of the target facility based on the selected automatic fusion strategy; if the differences are greater than or equal to the predetermined distance threshold, identifying or highlighting the differences; in response to a dragging and / or drawing operation on the differences, fusing the current three-dimensional model and the initial three-dimensional model of the target facility.

2. The method according to claim 1, wherein Before the extracting features from the initial three-dimensional model and the current three-dimensional model respectively, the method further comprises: format-converting the current three-dimensional model or the initial three-dimensional model of the target facility to obtain format-compatible current three-dimensional model and initial three-dimensional model; wherein the extracting features from the initial three-dimensional model and the current three-dimensional model respectively comprises: extracting features from the format-compatible initial three-dimensional model and the current three-dimensional model respectively.

3. The method of claim 1, wherein the registering the current three-dimensional model and the initial three-dimensional model in a same three-dimensional coordinate system in terms of spatial positions based on corresponding features comprises: performing spatial position translation, spatial angle rotation, and / or spatial size scaling on the corresponding features on the current three-dimensional model and the initial three-dimensional model, so as to register the corresponding features on the current three-dimensional model and the initial three-dimensional model in a same three-dimensional coordinate system in terms of spatial positions.

4. The method of claim 1, wherein After fusing the current three-dimensional model and the initial three-dimensional model in the same three-dimensional coordinate system to obtain the panoramic three-dimensional model of the target facility at present, the method further comprises: Based on the initial three-dimensional model, attribute information of at least one object in the initial three-dimensional model is extracted, and corresponding attribute information is added to the at least one object in the panoramic three-dimensional model.

5. A device for acquiring current spatial status information of existing facilities, characterized in that, Comprise: An initial model acquisition module is configured to obtain an initial three-dimensional model of a target facility based on initial design and / or as-built drawings of the target facility; A current model acquisition module is configured to obtain a current three-dimensional model of the target facility by three-dimensional modeling of a current visible surface of the target facility; A feature extraction module is configured to extract features from the initial three-dimensional model and the current three-dimensional model; A registration module is configured to register corresponding features between the current three-dimensional model and the initial three-dimensional model in the same three-dimensional coordinate system in terms of spatial position; A difference identification and screening module is configured to identify corresponding differences between the current three-dimensional model and the initial three-dimensional model, and screen the differences according to distance; A model fusion module is configured to select or draw a three-dimensional model surface according to a screening result by using an automatic strategy or manual operation to fuse the current three-dimensional model and the initial three-dimensional model, and obtain a panoramic three-dimensional model of the target facility at present; The difference identification and screening module is specifically configured to: correspond to differences from the two models but expressing the same region, calculate distances between the corresponding differences, compare the distances of the corresponding differences with a predetermined distance threshold, and screen out differences smaller than the predetermined threshold and differences greater than or equal to the predetermined threshold; The model fusion module is specifically configured to: if the difference is smaller than the predetermined distance threshold, display at least one automatic fusion strategy; in response to a selection operation on one of the at least one automatic fusion strategy, fuse the current three-dimensional model and the initial three-dimensional model of the target facility based on the selected automatic fusion strategy; if the difference is greater than or equal to the predetermined distance threshold, identify or highlight the difference; and in response to a dragging and / or drawing operation on the difference, fuse the current three-dimensional model and the initial three-dimensional model of the target facility.

6. The existing facility current space state information acquisition apparatus according to claim 5, wherein Further comprise: A format conversion module is configured to convert the current three-dimensional model or the initial three-dimensional model of the target facility into a format compatible current three-dimensional model and an initial three-dimensional model; The feature extraction module is specifically configured to extract features from the format compatible initial three-dimensional model and the format compatible current three-dimensional model respectively.

7. The apparatus according to claim 5, wherein The registration module is specifically configured to perform spatial position translation, spatial angle rotation, and / or spatial size scaling on corresponding features of the current three-dimensional model and the initial three-dimensional model to register the corresponding features of the current three-dimensional model and the initial three-dimensional model in the same three-dimensional coordinate system in terms of spatial position.

8. The apparatus according to claim 5, wherein Further comprise: The attribute information adding module is configured to extract attribute information of at least one object in the initial three-dimensional model based on the initial three-dimensional model, and add corresponding attribute information of the at least one object in the panoramic three-dimensional model.

9. An electronic device, comprising: The electronic device comprises a shell, a processor, a memory, a circuit board and a power supply circuit, wherein the circuit board is arranged inside a space enclosed by the shell, the processor and the memory are arranged on the circuit board; the power supply circuit is configured to supply power to each circuit or device of the electronic device; the memory is configured to store executable program codes; the processor is configured to run programs corresponding to the executable program codes by reading the executable program codes stored in the memory, and execute the method according to any one of the preceding claims 1-4.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores one or more programs, which can be executed by one or more processors to implement the method according to any one of the preceding claims 1-4. The computer readable storage medium stores one or more programs, which can be executed by one or more processors to implement the method according to any one of the preceding claims 1-4.

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