Tunnel scanning method, apparatus, device, and storage medium

Abstract

This application discloses a tunnel scanning method, apparatus, equipment, and medium, relating to the field of tunnel scanning. The method acquires scanning data from any target at each station. The tunnel target array includes a preset target arranged in a closed loop on the tunnel plane and at least two targets to be measured, with the preset target located outside the tunnel entrance and each station positioned between corresponding adjacent targets. Measurement data of the preset target is obtained using a closed-loop scanning method. Translational correction values ​​for each target are obtained from the measurement data and the actual data of the preset target. An angle correction value is obtained from the coordinate transformation matrix of two adjacent targets. The translational and angle correction values ​​are used to correct the scanning data to obtain corrected scanning data. The corrected scanning data provides the coordinate information of each target in an initial coordinate system. The initial coordinate system is constructed with the location of the preset target as the origin. This application can accurately scan tunnels.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tunnel scanning, and particularly relates to a tunnel scanning method, device, equipment and storage medium. BACKGROUND

[0002] In the prior art, according to the influence size and law of various scanning error sources on the scanning operation, combined with the principle of wire control measurement and the registration method of scanning operation data, the scanning operation scheme based on control point information, the branch line scanning operation scheme, the closed line scanning operation scheme, the attached line scanning operation scheme and the operation scheme of the fixed scanner are analyzed. According to these schemes, the observation of the tunnel situation can be realized.

[0003] However, the existing scanning operation scheme cannot accurately scan the tunnel situation.

[0004] APPLICATION CONTENT

[0005] The main purpose of the present application is to provide a tunnel scanning method, device, equipment and storage medium, which aims to solve the technical problem that the existing scanning operation scheme cannot accurately scan the tunnel situation.

[0006] In a first aspect, to achieve the above-mentioned purpose, the present application provides a tunnel scanning method, which comprises the following steps:

[0007] Obtaining three-dimensional laser scanning data of any target in each of the station tunnel target arrays; wherein the tunnel target array comprises a preset target and at least two to-be-measured targets arranged in a closed ring on the tunnel plane, and the preset target is located outside the tunnel entrance, and each station is located between the corresponding adjacent two to-be-measured targets;

[0008] Using the closed ring scanning line method, obtaining the measurement position data of the preset target based on the three-dimensional laser scanning data;

[0009] Based on the measurement position data and the actual position data of the preset target, obtaining the translation correction value of each to-be-measured target;

[0010] Based on the coordinate conversion matrix of the adjacent two to-be-measured targets, obtaining the angle correction value of each to-be-measured target;

[0011] Based on the translation correction value and the angle correction value, correcting each three-dimensional laser scanning data to obtain corrected three-dimensional laser scanning data;

[0012] Based on the corrected three-dimensional laser scanning data, obtaining the coordinate information of each to-be-measured target in the initial coordinate system; the initial coordinate system is a coordinate system constructed with the position of the preset target as the origin.

[0013] Optionally, the translation amount correction value of each of the to-be-measured targets is obtained based on the measured position data and the actual position data of the preset targets, and the translation amount correction value of each of the to-be-measured targets comprises:

[0014] The coordinate closure difference between the measured position and the actual position of the preset target is determined based on the measured position data and the actual position data of the preset target.

[0015] The translation amount correction value of each of the to-be-measured targets is obtained according to the coordinate closure difference.

[0016] Optionally, the angle correction value of each of the to-be-measured targets is obtained based on the coordinate conversion matrix of the adjacent two to-be-measured targets, and the angle correction value of each of the to-be-measured targets comprises:

[0017] The angle closure difference between the adjacent two to-be-measured targets is calculated based on the coordinate conversion matrix of the adjacent two to-be-measured targets.

[0018] The angle correction value of each of the to-be-measured targets is obtained by performing adjustment processing on the angle closure difference.

[0019] Optionally, the three-dimensional laser scanning data is corrected based on the translation amount correction value and the angle correction value, and the corrected three-dimensional laser scanning data is obtained, and the method comprises:

[0020] The adjustment value of the scanning coordinate system conversion parameter between the adjacent two to-be-measured targets and the scanning coordinate system of the preset target is calculated based on the translation amount correction value and the angle correction value.

[0021] The three-dimensional laser scanning data is corrected according to the adjustment value, and the corrected three-dimensional laser scanning data is obtained.

[0022] Optionally, before the three-dimensional laser scanning data of any target in the tunnel target array of each of the measuring stations is obtained, the method further comprises:

[0023] The first position data of the next to-be-measured target adjacent to the preset target in the preset scanning direction is obtained according to the preset scanning direction, the preset position data of the preset target and the measurement data.

[0024] The next to-be-measured target is taken as a reference target, and the first position data is taken as reference position data.

[0025] The target position data of the next target to-be-measured target adjacent to the reference to-be-measured target in the preset scanning direction is obtained according to the first position data and the measurement data.

[0026] updating the reference position data according to the target position data, taking the next target to-be-measured target as the reference target, and returning to perform the obtaining of the target position data of the next target to-be-measured target adjacent to the reference to-be-measured target in the preset scanning direction according to the first position data and the measurement data until the calculation position data of the preset target is obtained;

[0027] judging whether the calculation position data and the preset position data are consistent;

[0028] if consistent, obtaining the tunnel measurement data according to the measurement data.

[0029] Optionally, the tunnel measurement data is coordinate data in the initial coordinate system.

[0030] Optionally, the preset scanning direction includes a clockwise direction or an anticlockwise direction.

[0031] In a second aspect, the present application provides a tunnel scanning device, which comprises:

[0032] a laser scanning data acquisition module, configured to acquire three-dimensional laser scanning data of any target in a tunnel target array of each measuring station; wherein the tunnel target array comprises a preset target and at least two to-be-measured targets arranged in a closed ring on a tunnel plane, and the preset target is located outside a tunnel entrance, and each measuring station is located between two adjacent to-be-measured targets;

[0033] a measurement position data acquisition module, configured to obtain measurement position data of the preset target based on the three-dimensional laser scanning data by using a closed loop scanning route method;

[0034] a translation correction value acquisition module, configured to obtain a translation correction value of each to-be-measured target based on the measurement position data and actual position data of the preset target;

[0035] an angle correction value acquisition module, configured to obtain an angle correction value of each to-be-measured target based on a coordinate conversion matrix of two adjacent to-be-measured targets;

[0036] a correction module, configured to correct each three-dimensional laser scanning data based on the translation correction value and the angle correction value, and obtain corrected three-dimensional laser scanning data;

[0037] a coordinate information acquisition module, configured to obtain coordinate information of each to-be-measured target in an initial coordinate system based on the corrected three-dimensional laser scanning data; the initial coordinate system is a coordinate system constructed with the position of the preset target as an origin.

[0038] In a third aspect, the present application provides a tunnel scanning device, comprising a processor, a memory, and a tunnel scanning program stored in the memory, wherein the tunnel scanning program, when executed by the processor, implements the steps of the tunnel scanning method according to the first aspect.

[0039] In a fourth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a tunnel scanning program, and the tunnel scanning program, when executed by a processor, implements the tunnel scanning method according to the first aspect.

[0040] The tunnel scanning method provided by the embodiments of the present application corrects the three-dimensional laser scanning data based on the translation correction value and the angle correction value, so that the corrected three-dimensional laser scanning data is more accurate, and the coordinate information of each target to be measured in the initial coordinate system is obtained, thereby achieving accurate scanning of the tunnel. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 FIG. 1 is a schematic diagram of the architecture of a tunnel scanning system for the tunnel scanning method of the present application;

[0042] Figure 2 FIG. 3 is a schematic diagram of the structure of a tunnel scanning device for the hardware running environment of the tunnel scanning method of the present application;

[0043] Figure 3 FIG. 4 is a flowchart of a first embodiment of the tunnel scanning method provided by the present application;

[0044] Figure 4 FIG. 5 is a flowchart of a second embodiment of the tunnel scanning method provided by the present application;

[0045] Figure 5 FIG. 6 is a schematic diagram of the modules of a tunnel scanning device according to the present application.

[0046] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are merely intended to explain the present application, and are not intended to limit the present application.

[0048] Due to the prior art, according to the influence of various scanning error sources on the scanning operation and the size and regularity, combined with the principle of wire control measurement and the registration method of scanning operation data, the scanning operation scheme based on control point information, the branch line scanning operation scheme, the closed line scanning operation scheme, the attached line scanning operation scheme and the fixed scanner operation scheme are analyzed. According to these schemes, the observation of the tunnel situation can be realized. Among them, the scanning operation scheme based on control point information has high precision, but the field work is heavy, the efficiency is low, and the data processing in the office is complex. The efficiency of the branch line scanning operation scheme is high, but the precision is relatively low.

[0049] However, the existing scanning operation scheme cannot accurately scan the tunnel situation.

[0050] The present application provides a tunnel scanning method, based on the translation correction value and the angle correction value, the three-dimensional laser scanning data is corrected, the corrected three-dimensional laser scanning data is more accurate, and the coordinate information of each target to be measured in the initial coordinate system is obtained, which can realize accurate scanning of the tunnel situation. The scanning method starts from the first station and scans in clockwise or counterclockwise order. At each station, two adjacent target groups can be scanned at the same time, such as target group 1 and target group 2 at the first station. According to the adjacent target groups, the point cloud data scanned by each station can be unified into a coordinate system, and according to the closed loop scanning line, the rotation and translation of each station point cloud data can be checked.

[0051] In the following embodiments of the present application, the tunnel scanning system applied in the technical implementation of the present application will be described:

[0052] Referring to Figure 1 , Figure 1 is a schematic diagram of the architecture of a tunnel scanning system provided by an exemplary embodiment. As Figure 1 shown, the tunnel scanning system can include a server 11, a network 12 and a tunnel scanning device 13.

[0053] The server 11 can be a physical server containing a standalone host, or the server 11 can be a virtual server carried by a host cluster. In the running process, the server 11 can run the server side program of an application to realize the related business functions of the application, such as when the tunnel scanning device 13 acquires three-dimensional laser scanning data of any target in the tunnel target array of each station, the server 11 can be used as a server for the application of acquiring three-dimensional laser scanning data of any target in the tunnel target array of each station to support the tunnel scanning device 13 to complete the work of acquiring three-dimensional laser scanning data of any target in the tunnel target array of each station.

[0054] The network 12 can include various types of wired or wireless networks. In one embodiment, the network 12 can include a Public Switched Telephone Network (PSTN) and the Internet. The tunnel scanning device 13 can interact with the server 11 through the network 12.

[0055] The tunnel scanning device 13 can include electronic devices such as user workstations, smart phones, tablet devices, notebook computers, Personal Digital Assistants (PDAs), and the like, without limitation to the embodiments of the present disclosure.

[0056] Referring to Figure 2 , Figure 2 A structural schematic diagram of the tunnel scanning device involved in the hardware running environment of the embodiment of the present application.

[0057] As Figure 2 shown, the tunnel scanning device can include a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 can include a display screen, an input unit such as a keyboard, and can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a WIreless-FIdelity (WI-FI) interface). The memory 1005 can be a high-speed Random Access Memory (RAM) memory, or a stable Non-Volatile Memory (NVM) such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0058] Those skilled in the art can understand that Figure 2 the structure shown in the foregoing description does not constitute a limitation on the tunnel scanning device, and can include more or fewer components than shown, or combine certain components, or different component arrangements.

[0059] As Figure 2 shown, the memory 1005 as a storage medium can include an operating system, a data storage module, a network communication module, a user interface module, and a tunnel scanning program.

[0060] InFigure 2 In the tunnel scanning device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the tunnel scanning device can be arranged in the tunnel scanning device, the tunnel scanning device calls the tunnel scanning program stored in the memory 1005 through the processor 1001, and executes the tunnel scanning method provided in the embodiment.

[0061] Based on the hardware structure of the tunnel scanning device but not limited to the hardware structure, the present application provides a first embodiment of a tunnel scanning method. Referring to Figure 3 , Figure 3 The flowchart of the first embodiment of the tunnel scanning method of the present application is shown.

[0062] It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in an order different from that shown here.

[0063] In this embodiment, the method comprises:

[0064] S10, obtaining three-dimensional laser scanning data of any target in the tunnel target array of each station; wherein the tunnel target array comprises a preset target and at least two to-be-measured targets arranged in a closed ring on a tunnel plane, and the preset target is located outside the tunnel entrance, and each station is located between the corresponding adjacent two to-be-measured targets;

[0065] It should be understood that the execution subject of this embodiment is a tunnel scanning device. The tunnel scanning device comprises at least one three-dimensional laser scanner which utilizes the principle of laser ranging to record the three-dimensional coordinates, reflectivity and texture of a large number of dense points on the surface of the measured object, so as to quickly reconstruct the three-dimensional model of the measured target and various drawing data such as lines, surfaces and bodies. The tunnel target array of the station is arranged in a closed ring on the tunnel plane by the preset target and at least two to-be-measured targets, wherein the preset target is located outside the tunnel entrance, and the station is arranged between the adjacent two to-be-measured targets.

[0066] S20, obtaining measurement position data of the preset target based on the three-dimensional laser scanning data by using a closed loop scanning route method;

[0067] It should be understood that the closed loop scanning route method starts from the first station, scans the tunnel in a preset direction, and can scan two groups of targets adjacent to each station at the same time, such as scanning target group 1 and target group 2 at the first station, and according to the adjacent target groups, the point cloud data scanned by each station can be unified to a coordinate system. The tunnel scanning device obtains the measurement position data of the preset target according to the three-dimensional laser scanning data collected by the three-dimensional laser scanner.

[0068] S30, obtaining a translation correction value of each of the targets to be measured based on the measured position data and the actual position data of the preset target;

[0069] It should be understood that the tunnel scanning device brings the measured position data and the actual position data of the preset target into formula 1 to obtain the translation of each target to be measured.

[0070] Formula 1:

[0071] In the formula, x'0, y'0, and z'0 are respectively three translations calculated by the loop-closing route rotation matrix.

[0072] The three translations are brought into the total length closure of the traverse, that is, formula 2, to obtain the total length closure of the traverse.

[0073] Formula 2:

[0074] The total length closure of the traverse is brought into the relative total length closure formula 3 to obtain the relative total length closure.

[0075] Formula 3:

[0076] The relative total length closure is brought into formula 4 to calculate the translation correction value as:

[0077] Formula 4:

[0078] In formula 4, ∑S represents the total length of the scanning measurement route, S (i-1)i represents the route length between the (i-1)th station and the ith station.

[0079] According to formula 5, the translation of each station after correction can be calculated as:

[0080] Formula 5:

[0081] In formula 5, T' xi ,T' yi ,T' zi is the translation obtained by two-by-two splicing calculation.

[0082] S40, obtaining an angle correction value of each of the targets to be measured based on a coordinate conversion matrix of two adjacent targets to be measured;

[0083] It should be understood that the point cloud data scanned by two stations is assumed to be X i ,Y i ,Z i and x i ,yi ,z i According to the coordinate conversion formula, i.e., formula 6, the following can be obtained:

[0084] Formula 6:

[0085] wherein R is a rotation matrix of two coordinate systems, a is a first element of R; β is a second element of R; γ is a third element of R; (x i ,y i ,z i ) and (x i-1 ,y i-1 ,z i-1 ) are coordinates in two adjacent scanning coordinate systems, i.e., translation parameters.

[0086] The coordinate conversion formula, i.e., formula 6, is linearized to obtain formula 7:

[0087] Formula 7:

[0088] Let

[0089]

[0090] According to formula 6, T represents a conversion matrix between two coordinate systems. The coordinate conversion can be realized by left multiplying the matrix T. If the coordinate conversion matrix between the i+1th station and the ith station is T i+1 , the transformation matrix from the nth station to the first station can be expressed as T n T n-1 …T3T2. The transformation matrix should satisfy the closure condition, i.e., formula 8:

[0091] Formula 8: T n T n-1 …T3T2=E.

[0092] S50, correcting each three-dimensional laser scanning data based on the translation correction value and the angle correction value to obtain corrected three-dimensional laser scanning data;

[0093] It should be understood that the tunnel scanning device can correct each three-dimensional laser scanning data based on the translation correction value and the angle correction value, i.e., reduce the error of the three-dimensional laser scanning data, and obtain corrected three-dimensional laser scanning data.

[0094] S60, obtaining coordinate information of each target to be measured in an initial coordinate system based on the corrected three-dimensional laser scanning data; the initial coordinate system is a coordinate system constructed with the position of the preset target as the origin.

[0095] It needs to be understood that the tunnel scanning device obtains coordinate information of each of the targets to be measured in an initial coordinate system based on the corrected three-dimensional laser scanning data, and the initial coordinate system is a coordinate system constructed with the position of the preset target as an origin.

[0096] In the embodiment, the tunnel scanning device corrects the three-dimensional laser scanning data based on the translation correction value and the angle correction value, so that the corrected three-dimensional laser scanning data is more accurate, and the coordinate information of each of the targets to be measured in the initial coordinate system is obtained, and accurate scanning of the tunnel condition can be realized. In the case where the accuracy requirement is not very high, scanning measurement of a large project can meet the accuracy requirement, reduce the burden of field measurement, and bring convenience to data processing in the office.

[0097] As an embodiment, step S30 specifically includes:

[0098] S301, determining a coordinate closure error between the measurement position and the actual position of the preset target based on the measurement position data and the actual position data of the preset target;

[0099] S302, obtaining a translation correction value of each of the targets to be measured according to the coordinate closure error.

[0100] It needs to be understood that due to the accumulation of station scanning measurement sequence registration error, under the condition of closed route scanning measurement, the position of the first station and the measurement initial position calculated by station registration may have errors, thereby generating a coordinate closure error; the correction value of the translation can be calculated by bringing the coordinate closure error into formula 4:

[0101] Formula 4:

[0102] In the formula, ΣS represents the total length of the scanning measurement route, S (i-1)i represents the route length between the (i-1)th station and the ith station.

[0103] In the embodiment, the tunnel scanning device can obtain the translation correction value of each of the targets to be measured according to the coordinate closure error after determining the coordinate closure error between the measurement position and the actual position of the preset target.

[0104] As an embodiment, step S40 specifically includes:

[0105] S401, calculating an angle closure error of two adjacent targets to be measured based on the coordinate conversion matrix of the two adjacent targets to be measured;

[0106] S402, performing adjustment processing on the angle closure error to obtain an angle correction value of each of the targets to be measured.

[0107] It should be understood that based on formula 9: The closure error can be evenly distributed to each angle, that is, according to formula 10, each angle should be added with a correction value V α , V β , and V γ :

[0108] Formula 10:

[0109] In the formula, n is the number of total stations, and i represents the i-th station.

[0110] The tunnel scanning device calculates the angle closure error of the two adjacent targets based on the coordinate transformation matrix of the two adjacent targets, and evenly distributes the angle closure error to each target to obtain the angle correction value of each target. In this embodiment, the tunnel scanning device can quickly determine the angle correction value of each target through adjustment.

[0111] As an embodiment, step S50 specifically includes:

[0112] S501, based on the translation correction value and the angle correction value, calculating the adjustment value of the scanning coordinate system of the two adjacent targets and the scanning coordinate system transformation parameter of the preset target;

[0113] S502, correcting each three-dimensional laser scanning data according to the adjustment value to obtain corrected three-dimensional laser scanning data.

[0114] It should be understood that then the rotation parameter of each station relative to the first station after correction can be obtained by bringing the translation correction value and the angle correction value into formula 11:

[0115] Formula 11:

[0116] The tunnel scanning device adds the calculated correction number to the corresponding rotation and translation parameters, and then calculates the adjustment value of each scanning station relative to the initial coordinate system transformation parameter. Then, each station cloud data is substituted into formula 7 to finally determine the coordinates of each station cloud data in the initial coordinate system.

[0117] In this embodiment, the tunnel scanning device adds the calculated correction number to the corresponding rotation and translation parameters, and then calculates the adjustment value of each scanning station relative to the initial coordinate system transformation parameter. Then, each station cloud data is substituted into formula 7 to finally accurately determine the coordinates of each station cloud data in the initial coordinate system.

[0118] Further, as an embodiment, referring to Figure 4 , Figure 4A flowchart of a second embodiment of the tunnel scanning method.

[0119] In this embodiment, before step S10, further comprising:

[0120] S101, obtaining first position data of a next target to be measured adjacent to the preset target in the preset scanning direction according to the preset scanning direction, preset position data of the preset target and the measurement data;

[0121] S102, taking the next target to be measured as a reference target and taking the first position data as reference position data;

[0122] S103, obtaining target position data of a next target to be measured adjacent to the reference target to be measured in the preset scanning direction according to the first position data and the measurement data;

[0123] S104, updating the reference position data according to the target position data, taking the next target to be measured as the reference target, and returning to execute the step of obtaining target position data of a next target to be measured adjacent to the reference target to be measured in the preset scanning direction according to the first position data and the measurement data until the calculation position data of the preset target is obtained;

[0124] S105, judging whether the calculation position data and the preset position data are consistent;

[0125] S106, if consistent, obtaining the tunnel measurement data according to the measurement data.

[0126] It should be understood that the tunnel scanning device obtains first position data of a next target to be measured adjacent to the preset target in the preset scanning direction according to the preset scanning direction, preset position data of the preset target and the measurement data. Further, in this embodiment, the preset scanning direction includes a clockwise direction or an anticlockwise direction. The tunnel scanning device takes the next target to be measured as a reference target and takes the first position data as reference position data. The tunnel scanning device obtains target position data of a next target to be measured adjacent to the reference target to be measured in the preset scanning direction according to the first position data and the measurement data. The tunnel scanning device updates the reference position data according to the target position data, takes the next target to be measured as the reference target, and returns to execute the step of obtaining target position data of a next target to be measured adjacent to the reference target to be measured in the preset scanning direction according to the first position data and the measurement data until the calculation position data of the preset target is obtained. The tunnel scanning device judges whether the calculation position data and the preset position data are consistent. If consistent, the tunnel scanning device obtains the tunnel measurement data according to the measurement data. Further, in this embodiment, the tunnel measurement data is coordinate data in the initial coordinate system.

[0127] In the embodiment, the tunnel scanning device proposes a closed route scanning operation scheme, which can be used for scanning and measuring large projects under the condition that the precision requirement is not high, can meet the precision requirement, can reduce the burden of field measurement, and can also bring convenience to data processing in the office.

[0128] Based on the same inventive concept, the tunnel scanning device is proposed in the application, which is described with reference to Figure 5 , Figure 5 The tunnel scanning device is a module schematic diagram. In the embodiment, the device comprises:

[0129] The laser scanning data acquisition module 500 is configured to acquire three-dimensional laser scanning data of any target in the tunnel target array of each station; wherein the tunnel target array comprises a preset target and at least two to-be-measured targets arranged in a closed ring on the tunnel plane, and the preset target is located outside the tunnel entrance, and each station is located between the corresponding adjacent two to-be-measured targets;

[0130] The measurement position data acquisition module 510 is configured to obtain measurement position data of the preset target based on the three-dimensional laser scanning data by using the closed loop scanning route method.

[0131] The translation correction value acquisition module 520 is configured to obtain a translation correction value of each to-be-measured target based on the measurement position data and the actual position data of the preset target.

[0132] The angle correction value acquisition module 530 is configured to obtain an angle correction value of each to-be-measured target based on the coordinate conversion matrix of the adjacent two to-be-measured targets.

[0133] The correction module 540 is configured to correct each three-dimensional laser scanning data based on the translation correction value and the angle correction value, and obtain corrected three-dimensional laser scanning data.

[0134] The coordinate information acquisition module 550 is configured to obtain coordinate information of each to-be-measured target in the initial coordinate system based on the corrected three-dimensional laser scanning data; and the initial coordinate system is a coordinate system constructed with the position of the preset target as the origin.

[0135] The technical scheme of the embodiment, through the mutual cooperation between the functional modules, the tunnel scanning device corrects the three-dimensional laser scanning data based on the translation correction value and the angle correction value, so that the corrected three-dimensional laser scanning data is more accurate, and the coordinate information of each to-be-measured target in the initial coordinate system is obtained, so that the tunnel can be accurately scanned.

[0136] Further, the embodiment of the present application also provides a computer storage medium, and the tunnel scanning program is stored in the computer storage medium. The tunnel scanning program is executed by the processor to realize the steps of the tunnel scanning method. Therefore, the description will not be repeated here. In addition, the beneficial effects of the same method are not described again. For the technical details of the computer readable storage medium embodiments involved in the present application, please refer to the description of the method embodiments of the present application. It is determined that the program instructions can be deployed to execute on one computing device, or on multiple computing devices located in one place, or on multiple computing devices distributed in multiple places and interconnected through a communication network.

[0137] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The above-mentioned program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM) or a random access memory (RAM).

[0138] In addition, it should be noted that the apparatus embodiments described above are only schematic, and the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. In addition, the connection relationship between the modules in the apparatus embodiment provided by the present application indicates that there is a communication connection between them. Specifically, it can be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement it without creative labor.

[0139] Those skilled in the art can clearly understand the application by the description of the above embodiments, and the application can be realized by means of software and necessary universal hardware, of course, can also be realized by special hardware including special integrated circuit, special CPU, special memory, special component and the like. Generally, the functions completed by computer program can be easily realized by corresponding hardware, and the specific hardware structure for realizing the same function can be various, for example, analog circuit, digital circuit or special circuit and the like. However, for the application, the software program implementation is a better embodiment. Based on such understanding, the technical solutions of the application can be embodied in the form of software product, and the computer software product is stored in a readable storage medium, such as a floppy disk, a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and the like, including a plurality of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute the method of each embodiment of the application.

[0140] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the application.

Claims

1. A method of tunnel scanning, characterized by, The method comprises: acquiring three-dimensional laser scanning data of any target in a tunnel target array of each measuring station; wherein the tunnel target array comprises a preset target and at least two to-be-measured targets arranged in a closed ring on a tunnel plane, and the preset target is located outside a tunnel entrance, and each measuring station is located between two adjacent to-be-measured targets; obtaining measurement position data of the preset target based on the three-dimensional laser scanning data by using a closed loop scanning line method; obtaining a translation correction value of each to-be-measured target based on the measurement position data and actual position data of the preset target; obtaining an angle correction value of each to-be-measured target based on a coordinate conversion matrix of two adjacent to-be-measured targets; correcting each three-dimensional laser scanning data based on the translation correction value and the angle correction value to obtain corrected three-dimensional laser scanning data; obtaining coordinate information of each to-be-measured target in an initial coordinate system based on the corrected three-dimensional laser scanning data; the initial coordinate system is a coordinate system constructed with the position of the preset target as the origin; Before the acquiring three-dimensional laser scanning data of any target in a tunnel target array of each measuring station, the method further comprises: obtaining first position data of a next to-be-measured target adjacent to the preset target in a preset scanning direction according to the preset scanning direction, preset position data and measurement data of the preset target; taking the next to-be-measured target as a reference target and taking the first position data as reference position data; obtaining target position data of a next target to-be-measured target adjacent to the reference target in the preset scanning direction according to the first position data and the measurement data; updating the reference position data according to the target position data, taking the next target to-be-measured target as the reference target, and returning to execute the obtaining target position data of a next target to-be-measured target adjacent to the reference target in the preset scanning direction according to the first position data and the measurement data until the calculation position data of the preset target is obtained; judging whether the calculation position data and the preset position data are consistent; if consistent, obtaining tunnel measurement data according to the measurement data.

2. The tunnel scanning method of claim 1, wherein, The obtaining a translation correction value of each to-be-measured target based on the measurement position data and actual position data of the preset target comprises: determining a coordinate closure difference between the measurement position and the actual position of the preset target based on the measurement position data and the actual position data of the preset target; obtaining a translation correction value of each to-be-measured target according to the coordinate closure difference.

3. The tunnel scanning method of claim 1, wherein, The obtaining an angle correction value of each to-be-measured target based on a coordinate conversion matrix of two adjacent to-be-measured targets comprises: calculating an angle closure difference of two adjacent to-be-measured targets based on a coordinate conversion matrix of the two adjacent to-be-measured targets; obtaining an angle correction value of each to-be-measured target by adjusting the angle closure difference.

4. The tunnel scanning method of claim 1, wherein, The step of correcting each of the three-dimensional laser scanning data based on the translation correction value and the angle correction value to obtain corrected three-dimensional laser scanning data includes: Based on the translation correction value and the angle correction value, the adjustment value of the transformation parameters between the scanning coordinate system of two adjacent targets to be tested and the scanning coordinate system of the preset target is calculated. The three-dimensional laser scanning data are corrected according to the adjustment value to obtain the corrected three-dimensional laser scanning data.

5. The tunnel scanning method of claim 1, wherein, The tunnel measurement data are the coordinate data in the initial coordinate system.

6. The tunnel scanning method of claim 1, wherein, The preset scanning direction includes either clockwise or counterclockwise.

7. A tunnel scanning device, characterized in that The device includes: A laser scanning data acquisition module is used to acquire three-dimensional laser scanning data of any target in the tunnel target array of each station; wherein, the tunnel target array includes a preset target and at least two targets to be measured arranged in a closed ring on the tunnel plane, and the preset target is located outside the tunnel entrance, and each station is located between two adjacent targets to be measured. The module for acquiring measurement position data is used to obtain the measurement position data of a preset target based on the three-dimensional laser scanning data using the closed-loop scanning circuit method. The module for obtaining translation correction values ​​is used to obtain translation correction values ​​for each of the targets to be measured based on the measured position data and the actual position data of the preset targets. The angle correction value acquisition module is used to obtain the angle correction value of each of the two adjacent targets based on the coordinate transformation matrix of the two targets to be tested. The correction module is used to correct each of the three-dimensional laser scanning data based on the translation correction value and the angle correction value to obtain the corrected three-dimensional laser scanning data. The coordinate information acquisition module is used to obtain the coordinate information of each of the targets under test in an initial coordinate system based on the corrected three-dimensional laser scanning data; the initial coordinate system is a coordinate system constructed with the location of the preset target as the origin; The device is further configured to: obtain first position data of the next target to be tested adjacent to the preset target in the preset scanning direction, based on a preset scanning direction, preset position data of the preset target, and measurement data; use the next target to be tested as a reference target and the first position data as reference position data; obtain target position data of the next target to be tested adjacent to the reference target in the preset scanning direction based on the first position data and the measurement data; update the reference position data based on the target position data, and use the next target to be tested as the reference target, and return to execute the step of obtaining the target position data of the next target to be tested adjacent to the reference target in the preset scanning direction based on the first position data and the measurement data, until the calculated position data of the preset target is obtained; determine whether the calculated position data and the preset position data are consistent; if they are consistent, obtain tunnel measurement data based on the measurement data.

8. A tunnel scanning device, characterized in that include: A processor, a memory, and a tunnel scanning program stored in the memory, the tunnel scanning program, when executed by the processor, implements the steps of the tunnel scanning method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium has a tunnel scanning program stored thereon, the tunnel scanning program, when executed by a processor, implements the tunnel scanning method of any one of claims 1 to 6.

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