A laser lofting method, device and medium based on three-dimensional digital field

Abstract

The present invention discloses a laser lofting method, device, and medium based on a three-dimensional digital field. The method comprises: establishing a global coordinate system based on the three-dimensional digital field and obtaining the coordinates of the known physical control points in the global coordinate system; aligning the three-dimensional digital field with the design model in the global coordinate system to obtain the coordinates of the model lofting points of the design model; obtaining the coordinates of a surveying robot based on the known physical control points; calculating the laser projection orientation based on the surveying robot coordinates and the model lofting point coordinates in the global coordinate system; and lofting the model lofting point coordinates to the site based on the laser projection orientation to obtain the target physical control points corresponding to the model lofting point coordinates. Using the present invention, based on the three-dimensional cloned digital field of the site, the coordinates in the design model can be quickly lofted to the site via laser, enabling construction personnel to quickly and efficiently perform lofting construction and ensuring consistency between the site and the design.

Description

Technical Field

[0001] The present invention relates to the technical field of point cloud data detection, and in particular to a laser lofting method, device and medium based on a three-dimensional digital field. Background Art

[0002] Current stakeout technology mainly relies on outdoor RTK or the introduction of control points indoors for on-site stakeout. Outdoor RTK stakeout has a limited scope of use and requires that the design data have geodetic coordinates, such as the WGS84 coordinate system. RTK point correction is the process of converting WGS84 coordinates into the coordinate system of the current project and solving the conversion parameters. Point correction is divided into single-point correction (three parameters), two-point correction (four parameters), three-point correction (seven parameters), and four-point correction (seven parameters). The same is true for indoor control point stakeout. Control point coordinates are required for stakeout, but in design, obtaining control point coordinates is extremely difficult because the positions in the design software cannot be aligned one-to-one with the actual positions on site. Summary of the Invention

[0003] The embodiments of the present invention provide a laser lofting method, device and medium based on a three-dimensional digital field. Based on the three-dimensional clone digital field of the site, the coordinates in the model are quickly lofted to the site through laser, so that construction personnel do not need to perform relevant measurement and calculation of the control point coordinates.

[0004] To achieve the above-mentioned objectives, a first aspect of an embodiment of the present application provides a laser lofting method based on a three-dimensional digital field, comprising:

[0005] Arranging known physical control points on an existing physical object, and obtaining a three-dimensional digital field containing data of the known physical control points by three-dimensional scanning at the site where the existing physical object is located; the three-dimensional digital field is a type of point cloud data;

[0006] Establishing a global coordinate system according to the three-dimensional digital field and obtaining the coordinates of the known physical control points in the global coordinate system;

[0007] Aligning the three-dimensional digital field with the design model in the global coordinate system to obtain the coordinates of the model lofting points;

[0008] Acquiring the coordinates of the measuring robot according to the known physical control points;

[0009] Calculating the laser projection orientation according to the measurement robot coordinates and the model layout point coordinates in the global coordinate system;

[0010] According to the laser projection orientation, the coordinates of the model layout points are layouted on site to obtain target physical control points corresponding to the coordinates of the model layout points.

[0011] In a possible implementation of the first aspect, arranging known physical control points on an existing physical object specifically includes:

[0012] Targeting is performed on an existing physical object so that the three-dimensional digital field obtained by three-dimensional scanning contains target data; the target data corresponds to the control point data of the known physical object.

[0013] In a possible implementation of the first aspect, establishing a global coordinate system according to the three-dimensional digital field specifically includes:

[0014] According to the on-site situation, the origin and orientation of the coordinate system are fixed in the three-dimensional digital field to establish a global coordinate system.

[0015] In a possible implementation of the first aspect, aligning the three-dimensional digital field with the design model in the global coordinate system to obtain coordinates of model lofting points specifically includes:

[0016] The coordinate system origins and orientations of the three-dimensional digital field and the design model are made to coincide with each other, and the coordinates of the coincidence point of the three-dimensional digital field and the design model in the global coordinate system are obtained as the coordinates of the model layout point.

[0017] In a possible implementation of the first aspect, obtaining the coordinates of the measurement robot according to the known physical control points specifically includes:

[0018] The measuring robot is made to observe the known physical control point, and the coordinates of the measuring robot are controlled and calculated according to the rear intersection situation of the measuring robot as the measuring robot coordinates.

[0019] In a possible implementation of the first aspect, the process of calculating the coordinates of the measuring robot is performed by a total station, specifically as follows:

[0020] The positions of known physical control points are observed by a total station, and the three-dimensional coordinates of the position of the measuring robot in the global coordinate system are obtained by reverse calculation.

[0021] In a possible implementation of the first aspect, before aligning the three-dimensional digital field with the design model in the global coordinate system and obtaining the coordinates of the model lofting points, the method further includes:

[0022] The designer sets a new design model according to the three-dimensional digital field, and the origin and orientation of the coordinate system of the design model are consistent with the global coordinate system.

[0023] In a possible implementation of the first aspect, staking out the model stakeout point coordinates to the site according to the laser projection orientation to obtain target physical control points corresponding to the model stakeout point coordinates specifically includes:

[0024] The total station moves the laser according to the coordinates of the model layout point and displays a laser spot at a position on site. The laser spot is the target physical control point.

[0025] A second aspect of the embodiments of the present application provides a laser layout device based on a three-dimensional digital field, comprising:

[0026] A three-dimensional module is used to scan and arrange known physical control points on an existing physical object, and obtain a three-dimensional digital field containing the data of the known physical control points through three-dimensional scanning at the site where the existing physical object is located; the three-dimensional digital field is a type of point cloud data;

[0027] A coordinate system establishment module, configured to establish a global coordinate system based on the three-dimensional digital field and obtain the coordinates of the known physical control points in the global coordinate system;

[0028] an alignment module, configured to align the three-dimensional digital field with the design model in the global coordinate system to obtain the coordinates of the model lofting points;

[0029] A coordinate acquisition module, used to acquire the coordinates of the measurement robot according to the known physical control points;

[0030] An orientation calculation module, configured to calculate the laser projection orientation based on the measurement robot coordinates and the model layout point coordinates in the global coordinate system;

[0031] The layout module is used to layout the coordinates of the model layout point to the scene according to the laser projection direction to obtain the target physical control point corresponding to the coordinates of the model layout point.

[0032] A third aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the laser lofting method based on the three-dimensional digital field as described above.

[0033] Compared to existing technologies, the present invention provides a 3D digital field-based laser lofting method, device, and medium. Based on a 3D digital field clone established on-site, the coordinates of the intersection of the 3D clone field and the design model are quickly lofted to the site via laser. This facilitates precise on-site work by construction personnel, bridging the gap between on-site construction and design. Since designers can design new models based on the 3D digital field, the precise construction locations of the relevant physical designs in the design model can be accurately fed back to on-site construction personnel via laser spot, effectively improving on-site construction efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 1 is a flow chart of a point cloud and model error detection method provided by an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of performing targeting on an existing object in one embodiment of the present invention;

[0036] Figure 3 1 is a schematic diagram of a model of a three-dimensional digital field provided by an embodiment of the present invention;

[0037] Figure 4 An embodiment of the present invention provides an operation diagram for obtaining coordinates of a measuring robot;

[0038] Figure 5 An embodiment of the present invention provides an operation diagram for staking out the coordinates of model staking points to a site. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0040] See Figure 1 An embodiment of the present invention provides a laser lofting method based on a three-dimensional digital field, comprising:

[0041] S10. Arrange known physical control points on an existing physical object, and obtain a three-dimensional digital field containing data of the known physical control points by three-dimensional scanning at the site where the existing physical object is located; the three-dimensional digital field is a type of point cloud data.

[0042] S11. Establish a global coordinate system based on the three-dimensional digital field and obtain the coordinates of the known physical control points in the global coordinate system.

[0043] S12: aligning the three-dimensional digital field with the design model in the global coordinate system to obtain the coordinates of the model layout points.

[0044] S13. Acquire the coordinates of the measuring robot according to the known physical control points.

[0045] S14. Calculate the laser projection orientation according to the measurement robot coordinates and the model layout point coordinates in the global coordinate system.

[0046] S15. According to the laser projection orientation, the coordinates of the model layout points are laid out on site to obtain target physical control points corresponding to the coordinates of the model layout points.

[0047] In the embodiment of the present invention, the implementation of the entire method generally requires the use of a total station surveying machine or a device with corresponding functions to the total station surveying instrument. S11-S12 involve the establishment of a three-dimensional digital field and the corresponding calibration of the coordinate system of the three-dimensional digital field. The goal of S13-S14 is to obtain the construction position coordinates of the design model designed by the designer during actual construction. In S15, the construction position coordinates are displayed on site in the form of a laser spot to facilitate the construction of relevant staff. During the entire process, the designer is only responsible for designing the design model. The designer can improve the design model according to the three-dimensional digital field. The precise construction position of the design can be accurately fed back to the on-site construction personnel through the total station surveying instrument, effectively improving the on-site construction efficiency and construction accuracy.

[0048] Exemplarily, the arranging known physical control points on an existing physical object specifically includes:

[0049] See also Figure 2 , targeting is performed on an existing physical object so that the three-dimensional digital field obtained by three-dimensional scanning contains target data; the target data corresponds to the known physical object control point data.

[0050] In this embodiment, a target paper is attached to the existing object, such as Figure 2 Then make sure you can see the target paper when scanning the on-site point cloud.

[0051] Exemplarily, establishing a global coordinate system according to the three-dimensional digital field specifically includes:

[0052] See also Figure 3 , according to the on-site conditions, the origin and orientation of the coordinate system are fixed in the three-dimensional digital field to establish a global coordinate system.

[0053] In this embodiment, "fixed" means selecting a coordinate corresponding to a site location as the origin, which can be determined based on the actual situation, as long as a suitable location is used. It is convenient for subsequent use to maintain the same coordinate system.

[0054] Exemplarily, aligning the three-dimensional digital field with the design model in the global coordinate system to obtain the coordinates of the model lofting points specifically includes:

[0055] The coordinate system origins and orientations of the three-dimensional digital field and the design model are made to coincide with each other, and the coordinates of the coincidence point of the three-dimensional digital field and the design model in the global coordinate system are obtained as the coordinates of the model layout point.

[0056] As an example, if the designer adds a table to the design model, then after the table is overlapped with the ground, the position where the table should be placed can be obtained through the coordinates of the bounding box.

[0057] For example, if a table is placed on the ground, four points are required for staking out. After staking out on site, the four points can be drawn on the ground on site.

[0058] See also Figure 4 Exemplarily, the obtaining of the coordinates of the measuring robot according to the known physical control points specifically includes:

[0059] The measuring robot is made to observe the known physical control point, and the coordinates of the measuring robot are controlled and calculated according to the rear intersection situation of the measuring robot as the measuring robot coordinates.

[0060] It should be noted that "resection" is a standard general function of the total station surveying machine. Its main function is to observe the position of known points through the total station, and then inversely calculate the three-dimensional coordinates of the current machine.

[0061] Exemplarily, the process of calculating the coordinates of the measuring robot is completed by a total station, specifically as follows:

[0062] The positions of known physical control points are observed by a total station, and the three-dimensional coordinates of the position of the measuring robot in the global coordinate system are obtained by reverse calculation.

[0063] Exemplarily, before aligning the three-dimensional digital field with the design model in the global coordinate system and obtaining the coordinates of the model lofting points, the method further includes:

[0064] The designer sets a new design model according to the three-dimensional digital field, and the origin and orientation of the coordinate system of the design model are consistent with the global coordinate system.

[0065] See also Figure 5 For example, according to the laser projection orientation, staking out the model layout point coordinates to the site to obtain the target physical control points corresponding to the model layout point coordinates, specifically including:

[0066] The total station moves the laser according to the coordinates of the model layout point and displays a laser spot at a position on site. The laser spot is the target physical control point.

[0067] The coordinates of the project model's layout points are entered into the surveying robot, and the total station calculates the laser projection orientation through the coordinates (this part is also the basic function of the total station. After setting the machine coordinates, you can enter the corresponding coordinates, and the machine will automatically point to the position and display the laser spot). The total station uses laser to layout the model's layout point coordinates to the site.

[0068] Compared to existing technologies, the laser lofting method based on a 3D digital field, provided in embodiments of the present invention, uses a 3D digital field clone established on-site to rapidly laser-locate the coordinates of the intersection between the 3D clone field and the design model. This facilitates precise on-site work by construction personnel, bridging the gap between on-site construction and design. Since designers can design new models based on the 3D digital field, the precise construction locations of the relevant physical designs in the design model can be accurately fed back to on-site construction personnel via laser spot, effectively improving on-site construction efficiency and accuracy.

[0069] A second aspect of an embodiment of the present application provides a laser layout device based on a three-dimensional digital field, comprising: a three-dimensional module, a coordinate system establishment module, an alignment module, a coordinate acquisition module, an orientation calculation module, and a layout module.

[0070] The three-dimensional module is used to scan and arrange known physical control points on an existing physical object, and obtain a three-dimensional digital field containing the known physical control point data through three-dimensional scanning at the site where the existing physical object is located; the three-dimensional digital field is a point cloud data.

[0071] A coordinate system establishment module, configured to establish a global coordinate system based on the three-dimensional digital field and obtain the coordinates of the known physical control points in the global coordinate system;

[0072] The alignment module is used to align the three-dimensional digital field with the design model in the global coordinate system to obtain the coordinates of the model layout points.

[0073] The coordinate acquisition module is used to acquire the coordinates of the measurement robot according to the known physical control points.

[0074] The orientation calculation module is used to calculate the laser projection orientation according to the coordinates of the measuring robot and the coordinates of the model layout points in the global coordinate system.

[0075] The layout module is used to layout the coordinates of the model layout point to the scene according to the laser projection direction to obtain the target physical control point corresponding to the coordinates of the model layout point.

[0076] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the positioning device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0077] Compared to existing technologies, the laser lofting device based on a 3D digital field, provided in embodiments of the present invention, uses a 3D digital field clone established on-site to rapidly loft the coordinates of the intersection between the 3D clone field and the design model to the site via laser. This facilitates precise on-site work by construction personnel, bridging the gap between on-site construction and design. Since designers can design new models based on the 3D digital field, the precise construction locations of the relevant physical designs in the design model can be accurately fed back to on-site construction personnel via laser spot, effectively improving on-site construction efficiency and accuracy.

[0078] An embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the laser lofting method based on a three-dimensional digital field as described above is implemented.

[0079] In several embodiments provided in the present application, it is understood that each box in the flow chart or block diagram can represent a part of a module, program segment or code, and the part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which depends on the functions involved.

[0080] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0081] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A laser lofting method based on a three-dimensional digital field, characterized in that: include: Arranging known physical control points on an existing physical object, and obtaining a three-dimensional digital field containing data of the known physical control points by three-dimensional scanning at the site where the existing physical object is located; the three-dimensional digital field is a type of point cloud data; Establishing a global coordinate system according to the three-dimensional digital field and obtaining the coordinates of the known physical control points in the global coordinate system; Aligning the three-dimensional digital field with the design model in the global coordinate system to obtain the coordinates of the model lofting points; Acquiring the coordinates of the measuring robot according to the known physical control points; Calculating the laser projection orientation according to the measurement robot coordinates and the model layout point coordinates in the global coordinate system; According to the laser projection orientation, the coordinates of the model layout point are laid out on site to obtain the target physical control points corresponding to the coordinates of the model layout point; The obtaining of the coordinates of the measuring robot according to the known physical control points specifically includes: The measuring robot is made to observe the known physical control point, and the coordinates of the measuring robot are controlled and calculated according to the rear intersection situation of the measuring robot as the measuring robot coordinates.

2. The laser lofting method based on a three-dimensional digital field according to claim 1, characterized in that: The arrangement of known physical control points on an existing physical object specifically includes: Targeting is performed on an existing physical object so that the three-dimensional digital field obtained by three-dimensional scanning contains target data; the target data corresponds to the control point data of the known physical object.

3. The laser lofting method based on three-dimensional digital field according to claim 1, characterized in that: The establishing of a global coordinate system according to the three-dimensional digital field specifically includes: According to the on-site situation, the origin and orientation of the coordinate system are fixed in the three-dimensional digital field to establish a global coordinate system.

4. The laser lofting method based on three-dimensional digital field according to claim 1, characterized in that: Aligning the three-dimensional digital field with the design model in the global coordinate system to obtain the coordinates of the model lofting points specifically includes: The coordinate system origins and orientations of the three-dimensional digital field and the design model are made to coincide with each other, and the coordinates of the coincidence point of the three-dimensional digital field and the design model in the global coordinate system are obtained as the coordinates of the model layout point.

5. The laser lofting method based on three-dimensional digital field according to claim 1, characterized in that: The process of calculating the coordinates of the measuring robot is completed by the total station, specifically: The positions of known physical control points are observed by a total station, and the three-dimensional coordinates of the position of the measuring robot in the global coordinate system are obtained by reverse calculation.

6. The laser lofting method based on three-dimensional digital field according to claim 1, characterized in that: Before aligning the three-dimensional digital field with the design model in the global coordinate system and obtaining the coordinates of the model lofting points, the method further includes: The designer sets a new design model according to the three-dimensional digital field, and the origin and orientation of the coordinate system of the design model are consistent with the global coordinate system.

7. The laser lofting method based on three-dimensional digital field according to claim 1, characterized in that: Staking out the model stakeout point coordinates to the site according to the laser projection orientation to obtain target physical control points corresponding to the model stakeout point coordinates, specifically comprising: The total station moves the laser according to the coordinates of the model layout point and displays a laser spot at a position on site. The laser spot is the target physical control point.

8. A laser lofting device based on a three-dimensional digital field, characterized in that: include: A three-dimensional module is used to scan and arrange known physical control points on an existing physical object, and obtain a three-dimensional digital field containing the data of the known physical control points through three-dimensional scanning at the site where the existing physical object is located; the three-dimensional digital field is a type of point cloud data; A coordinate system establishment module, configured to establish a global coordinate system based on the three-dimensional digital field and obtain the coordinates of the known physical control points in the global coordinate system; an alignment module, configured to align the three-dimensional digital field with the design model in the global coordinate system to obtain the coordinates of the model lofting points; A coordinate acquisition module, used to acquire the coordinates of the measurement robot according to the known physical control points; The obtaining of the coordinates of the measuring robot according to the known physical control points specifically includes: The measuring robot is made to observe the known physical control point, and the coordinates of the measuring robot are calculated according to the rear intersection situation of the measuring robot as the coordinates of the measuring robot. An orientation calculation module, configured to calculate the laser projection orientation based on the measurement robot coordinates and the model layout point coordinates in the global coordinate system; The layout module is used to layout the coordinates of the model layout point to the scene according to the laser projection direction to obtain the target physical control point corresponding to the coordinates of the model layout point.

9. A computer-readable storage medium, characterized in that It stores a computer program, which, when executed by a processor, implements the laser lofting method based on a three-dimensional digital field as claimed in any one of claims 1 to 7.

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