Tunnel laser point cloud hole repairing method, device and equipment and storage medium

Abstract

The present application relates to the technical field of point cloud repair, and discloses a tunnel laser point cloud hole repairing method, device, equipment and storage medium. The tunnel laser point cloud hole repairing method provided by the present application converts a tunnel laser point cloud model to a preset coordinate system, calculates the laser point cloud model in the converted coordinate system, generates the coordinates (Z p , alpha p , r p ) of the corresponding repair points of the hole unit P by using a preset hole repairing algorithm, completes the repair of the hole unit P, and until all hole units in the point cloud model after the coordinate conversion are traversed, the repair of the tunnel laser point cloud hole model is completed. The method provided by the present application improves the accuracy of the calculation of the coordinates of the corresponding repair points of the hole unit, is suitable for the hole repair of irregular surfaces, and improves the restoration degree of irregular surfaces.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of point cloud repair, in particular to a tunnel laser point cloud hole repair method, device, equipment and storage medium. BACKGROUND

[0002] At present, for hole repair, the hole is selectively filled according to the number of hole boundary edges, and the integrity and smoothness of the hole surface are maintained by iteratively inserting edges around the hole. However, the surface of the tunnel after blasting is irregular, and this method cannot be applied to the hole repair of irregular tunnel surfaces. In addition, there is a method of repairing holes in point clouds based on a Bayesian model, which calculates local features through mathematical algorithms, and the smooth surface is repaired far from the hole edge. This method has low restoration degree. In the process of tunnel engineering construction, the tunnel after blasting presents an irregular surface. The current laser point cloud hole repair is mainly for modifying the relatively flat surface after lining, and lacks repair of irregular surfaces after blasting. The existing laser point cloud hole repair method cannot repair irregular surfaces or the repaired hole surface is not smooth, and has the defect of low restoration degree. SUMMARY

[0003] Therefore, the present application provides a tunnel laser point cloud hole repair method, device, equipment and storage medium to solve the problem of low restoration degree.

[0004] In a first aspect, the present application provides a tunnel laser point cloud hole repair method, which comprises:

[0005] Step S101, acquiring a laser point cloud model of the tunnel, and converting the point cloud model to a preset coordinate system (Z, a, r), wherein Z is the length value of the tunnel axis, a is the polar coordinate angle value of the point on the cross section, and r is the distance from the point to the tunnel center axis;

[0006] Step S102, scanning the point cloud model after conversion according to a preset step length to obtain a hole unit P;

[0007] Step S103, generating the coordinates (Z p , a p , r p ) of the repair points corresponding to the hole unit P by using a preset hole repair algorithm, and completing the repair of the hole unit P, wherein the generation of the coordinates (Z p , a p , r p ) of the repair points corresponding to the hole unit P by using the preset hole repair algorithm comprises: respectively in Z = Z p section, a = a pin the angular direction, find a preset number of non-cavity reference units, and calculate the radius of each non-cavity reference unit; according to the tunnel radius, the distance between the cavity unit P and each non-cavity reference unit is calculated by a first preset formula; according to the distance between the cavity unit P and each non-cavity reference unit, and the radius of each non-cavity reference unit, the coordinates of the corresponding repair point r of the cavity unit P are calculated by a second preset formula, thereby generating the coordinates of the corresponding repair point of the cavity unit P (Z p , alpha p , r p ). p p p

[0008] Step S104, the above steps S102, step S103 are cycled until all the cavity units in the point cloud model after the coordinate system conversion are repaired.

[0009] The tunnel laser point cloud cavity repair method provided by the application can adapt to the cavity repair of irregular surfaces by converting the tunnel laser point cloud model to a preset coordinate system and calculating the laser point cloud model in the converted coordinate system, thereby improving the restoration degree of irregular surfaces.

[0010] In an optional embodiment, the point cloud model after the coordinate system conversion is scanned according to a preset step length to obtain the cavity unit P, including:

[0011] The point cloud model after the coordinate system conversion is traversed according to the preset step length Delta Z and Delta alpha, and when there is no point cloud at the coordinates (Z0+iDelta Z<=Z<=Z0+(i+1)Delta Z, iDelta Alpha<=Alpha<=(i+1)Delta Alpha), the cavity unit P is obtained, wherein Z0 is the starting mileage of the point cloud model after the coordinate system conversion, and i is a preset loop increment number.

[0012] The application can accurately identify the cavities in the model by finely scanning the point cloud model after the coordinate system conversion through the preset step length, and the preset step length is not limited, and the corresponding value is selected according to the actual situation.

[0013] In an optional embodiment, the value of the preset loop increment number i is determined according to the number of cutting the point cloud model after the coordinate system conversion in the tunnel axis direction, wherein when the number of cutting is a preset value, the preset loop increment number i starts from 1 and increases by an integer 1 to the preset value.

[0014] The application cuts the entire model into small models by cutting the point cloud model after the coordinate system conversion in the tunnel axis direction, and scans each small model by setting the preset loop increment number, thereby improving the accuracy of point cloud scanning.

[0015] In an alternative embodiment, the point cloud model after the preset step length scanning conversion coordinate system is obtained, and the Z p and alpha p coordinates of the corresponding repair points of the hollow unit P are obtained

[0016] The Z p is calculated by the following formula:

[0017] The Z p = Z0 + (i + q) ΔZ

[0018] The alpha p is calculated by the following formula:

[0019] The alpha p = (i + q) Δ alpha

[0020] Wherein, q is any value between 0 and 1.

[0021] The present application obtains the Z p and alpha p coordinates of the corresponding repair points of the hollow unit P by scanning, and the values of the Z p and alpha p coordinates can be calculated according to the above formula, q is any value between 0 and 1, which is not limited here, and is selected according to the actual situation to adapt to the extraction of irregular surface hollow corresponding repair points.

[0022] In an alternative embodiment, the radius of the non-hollow reference unit is the average value of the point cloud radius in the non-hollow reference unit.

[0023] The present application improves the accuracy of calculation by taking the average value.

[0024] In an alternative embodiment, in the Z = Z p section, the center O of the tunnel is taken as the center, the line OP connecting the center O and the hollow unit P is taken as the axis, and the section is scanned in clockwise and counterclockwise directions according to the preset step length, to obtain 0 or 1 or 2 non-hollow reference units.

[0025] In the alpha = alpha p direction, the section is scanned in the Z axis increasing direction and the Z axis decreasing direction, to obtain 0 or 1 or 2 non-hollow reference units.

[0026] The present application improves the restoration degree of the repair point coordinate calculation result by searching for non-hollow reference units in four directions.

[0027] In an alternative embodiment, in the Z = Z p section, the distance between the hollow unit P and the non-hollow reference unit is calculated by the following formula:

[0028] l PA = βR

[0029] Wherein, R is the radius of the tunnel, β is the angle between the axis OP and the axis OA, OA is the line between the center O and the non-cavity reference unit A.

[0030] The present application improves the restoration degree of the calculated result of the coordinates of the repair point by calculating the distance between the cavity unit P and the non-cavity reference unit by the above formula.

[0031] In an alternative embodiment, the section is scanned along the Z-axis increasing direction at the angle direction of α = α p , and the distance between the cavity unit P and the non-cavity reference unit is calculated by the following formula:

[0032] l PC = (Z C -Z P )

[0033] Wherein, Z c is the coordinate of the non-cavity reference unit C on the tunnel axis.

[0034] The present application improves the restoration degree of the calculated result of the coordinates of the repair point by calculating the distance between the cavity unit P and the non-cavity reference unit by the above formula at the angle direction of α = α p , along the Z-axis increasing direction.

[0035] In an alternative embodiment, the section is scanned along the Z-axis decreasing direction at the angle direction of α = α p , and the distance between the cavity unit P and the non-cavity reference unit is calculated by the following formula:

[0036] l PD = (Z P -Z D )

[0037] Wherein, Z D is the coordinate of the non-cavity reference unit D on the tunnel axis.

[0038] The present application improves the restoration degree of the calculated result of the coordinates of the repair point by calculating the distance between the cavity unit P and the non-cavity reference unit by the above formula at the angle direction of α = α p , along the Z-axis decreasing direction.

[0039] In an alternative embodiment, when the non-cavity reference units A and B exist in the section of Z = Z p1 , and the non-cavity reference units C and D exist at the angle direction of α = α p , the corresponding repair point r pThe coordinates are expressed by the second preset formula as follows:

[0040]

[0041] Where, r A r B r C r D The radii of non-void reference elements A, B, C, and D are divided into l. PA l PB l PC l PD These represent the distances between the void element P and the non-void reference elements A, B, C, and D, respectively.

[0042] This invention finds non-void reference elements in four directions and calculates the repair point r corresponding to the void element P using a second preset formula. p The coordinates of the reference point are assigned different weights based on the distance from the reference point. The farther the reference point is from point p, the smaller its weight becomes. p The smaller the impact on the calculation results, the higher the accuracy of the calculation results.

[0043] In one optional implementation, the second preset formula is adjusted according to the number of non-void reference units obtained. When at least one of the non-void reference units A, B, C, and D is absent, the corresponding item in the second preset formula is deleted.

[0044] The second preset formula of the present invention can be applied to a variety of situations, improving the flexibility of the applicable scenarios.

[0045] Secondly, the present invention provides a tunnel laser point cloud cavity repair device, the device comprising:

[0046] The acquisition module is used to acquire the laser point cloud model of the tunnel and convert the point cloud model to a preset coordinate system (Z, α, r), where z is the length of the tunnel axis, α is the polar coordinate angle of the point on the cross section, and r is the distance from the point to the central axis of the tunnel.

[0047] The scanning module is used to scan the point cloud model after coordinate system transformation according to the preset step size to obtain the void unit P;

[0048] The first repair module is used to generate the coordinates (Z) of the repair point corresponding to the cavity unit P using a preset cavity repair algorithm. p α p r p The process involves repairing the void unit P, wherein the coordinates (Z, Z) of the repair point corresponding to the void unit P are generated using a preset void repair algorithm. p α p r p ), including: respectively in Z=Zp Within the cross section, α = α p In the angular direction, a predetermined number of non-void reference units are located, and the radius of each non-void reference unit is calculated. Based on the tunnel radius, the distance between the void unit P and each non-void reference unit is calculated using a first predetermined formula. Based on the distance between the void unit P and each non-void reference unit, and the radius of each non-void reference unit, the repair point r corresponding to the void unit P is calculated using a second predetermined formula. p The coordinates are used to generate the coordinates (Z) of the repair point corresponding to the void element P. p α p r p );

[0049] The second repair module is used to cycle through the above scanning module and the first repair module until all the hole units in the point cloud model after the coordinate system transformation are repaired.

[0050] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the tunnel laser point cloud cavity repair method described in the first aspect or any corresponding embodiment.

[0051] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the tunnel laser point cloud cavity repair method described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0052] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0053] Figure 1 This is a flowchart of a method for repairing tunnel laser point cloud cavities according to an embodiment of the present invention;

[0054] Figure 2 This is a model diagram of the point cloud model before repair according to an embodiment of the present invention;

[0055] Figure 3 This is a coordinate diagram of a void point cloud model in a preset coordinate system according to an embodiment of the present invention;

[0056] Figure 4 This is a model diagram of the repaired void point cloud model according to an embodiment of the present invention;

[0057] Figure 5 is a non-hollow reference unit schematic diagram scanned on a cross section according to an embodiment of the present application;

[0058] Figure 6 is a non-hollow reference unit schematic diagram scanned in an angle direction according to an embodiment of the present application;

[0059] Figure 7 is a structural block diagram of a tunnel laser point cloud hole repairing device according to an embodiment of the present application;

[0060] Figure 8 is a hardware structure schematic diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0062] The present application is suitable for repairing a tunnel irregular surface after blasting. A laser point cloud model of the tunnel is processed by a computer to find a corresponding repairing point to complete the tunnel irregular surface repairing.

[0063] According to an embodiment of the present application, a tunnel laser point cloud hole repairing method embodiment is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a group of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0064] In the present embodiment, a tunnel laser point cloud hole repairing method is provided, which can be used in the computer terminal device described above, Figure 1 is a flowchart of a tunnel laser point cloud hole repairing method according to an embodiment of the present application, as Figure 1 shown, the flowchart includes the following steps:

[0065] In step S101, a laser point cloud model of the tunnel is obtained, and the point cloud model is converted to a preset coordinate system (Z, a, r), wherein z is a tunnel axis length value, a is a polar coordinate angle value of the point on the cross section, and r is a distance of the point to the tunnel center axis.

[0066] In the present embodiment of the present application, the tunnel is scanned by a radar or the like,Figure 2 As shown, the point cloud data of the tunnel is collected to obtain a laser point cloud model of the tunnel, at this time, the laser point cloud model obtained is in an (X, Y, Z) coordinate system, at this time, coordinate system conversion needs to be performed by a computer, as shown Figure 3 The tunnel and the coordinates are converted to a (Z, a, r) coordinate system to adapt to the hole repair of the irregular surface.

[0067] In step S102, the point cloud model after the coordinate system conversion is scanned according to a preset step length to obtain a hole unit P.

[0068] In the embodiment of the present application, the point cloud model after the coordinate system conversion is finely scanned through the setting of the preset step length, whether there is a hole unit is judged according to whether there is a point cloud at the scanned unit, and the preset step length is set to accurately identify the hole in the model, and the preset step length is not limited here, and the corresponding value is selected according to the actual situation.

[0069] In step S103, a preset hole repair algorithm is used to generate the coordinates (Z p , a p , r p ) of the repair points corresponding to the hole unit P to complete the repair of the hole unit P, wherein the generation of the coordinates (Z p , a p , r p ) of the repair points corresponding to the hole unit P by the preset hole repair algorithm comprises: finding a preset number of non-hole reference units in the Z = Z p section and in the angle direction of a = a p , and calculating the radius of each non-hole reference unit; according to the tunnel radius, the distance between the hole unit P and each non-hole reference unit is calculated by a first preset formula; according to the distance between the hole unit P and each non-hole reference unit and the radius of each non-hole reference unit, the coordinates of the repair point r p corresponding to the hole unit P are calculated by a second preset formula, so as to generate the coordinates (Z p , a p , r p ) of the repair points corresponding to the hole unit P.

[0070] In the embodiment of the present application, the coordinates (Z p , a p , r p ) of the repair points corresponding to the hole unit P are generated by using the preset hole repair algorithm, which improves the accuracy of the calculation of the coordinates of the repair points corresponding to the hole unit P, adapts to the hole repair of the irregular surface, and improves the restoration degree of the irregular surface.

[0071] Step S104, the above steps S102, step S103, until the point cloud model in the converted coordinate system after all the hole unit is completed repair.

[0072] In the embodiment of the application, by circulating step S102, step S103, until all the hole units in the point cloud model after the coordinate system is converted, the repair of the point cloud model is completed, as shown in Figure 4 , the restored degree of the irregular surface is improved.

[0073] The tunnel laser point cloud hole repair method provided in the embodiment improves the accuracy of the corresponding repair point coordinate calculation of the hole unit P, so as to adapt to the hole repair of the irregular surface, and improves the restored degree of the irregular surface.

[0074] In some optional embodiments, the point cloud model after the coordinate system is converted is scanned according to a preset step length to obtain the hole unit P, including: the point cloud model after the coordinate system is converted is traversed according to a preset step length ΔZ and Δα, when there is no point cloud at the coordinates (Z0+iΔZ≤Z≤Z0+(i+1)ΔZ, iΔα≤α≤(i+1)Δα), the hole unit P is obtained, wherein Z0 is the starting mileage of the point cloud model after the coordinate system is converted, and i is a preset loop increment number. The values of ΔZ and Δα are not limited here, and are selected according to actual conditions. The starting mileage is the coordinate of the starting tunnel axis of the scanned tunnel. By setting the preset step length, the point cloud model after the coordinate system is converted is scanned finely, and the holes in the model can be accurately identified.

[0075] The value of the preset loop increment number i is determined according to the number of cutting the point cloud model after the coordinate system is converted in the direction of the tunnel axis, wherein when the number of cutting is a preset value, the preset loop increment number i starts from 1 and increases by an integer 1 to the preset value. For example, when the number of cutting is 3, i starts from 1, and the first cut small model is scanned; after the scanning is completed, when i=2, the second cut small model is scanned, and so on, until all the cut small models are scanned. In the embodiment of the application, the point cloud model after the coordinate system is converted is cut into small models in the direction of the tunnel axis, and the accuracy of point cloud scanning is improved by setting the preset loop increment number.

[0076] In some optional embodiments, the point cloud model after the coordinate system is converted is scanned according to a preset step length to obtain the hole unit P, and the Z p and α p coordinates of the corresponding repair points of the hole unit P are obtained at the same time, wherein,

[0077] The Z p coordinates are calculated by the following formula:

[0078] Zp = Z0+ (i+q) ΔZ

[0079] α is calculated by the following formula p :

[0080] α p = (i+q) Δα

[0081] wherein q is any value between 0 and 1.

[0082] The embodiment of the present application obtains the Z p and α p coordinates of the corresponding repair point of the hollow unit P by scanning, and the value of the Z p and α p coordinates can be calculated according to the above formula, q is any value between 0 and 1, for example, 0.1 or 0.5 or 0.8, the selection of the value is not limited herein, and the corresponding selection can be made according to the actual situation of the model. Through the above formula of calculating the Z p and α p coordinates, the value of q can be adjusted according to the actual situation to adapt to the extraction of the corresponding repair point of the irregular surface hollow.

[0083] In some optional embodiments, in the step S103, the coordinates (Z p , α p , r p ) of the corresponding repair point of the hollow unit P are generated by using a preset hollow repair algorithm, including:

[0084] Step a1, a preset number of non-hollow reference units are found in the Z = Z p section and the α = α p angle direction respectively, and the radius of each non-hollow reference unit is calculated;

[0085] Step a2, the distance between the hollow unit P and each non-hollow reference unit is calculated by a first preset formula according to the tunnel radius;

[0086] Step a3, the coordinates of the corresponding repair point r p of the hollow unit P are calculated by a second preset formula according to the distance between the hollow unit P and each non-hollow reference unit and the radius of each non-hollow reference unit, so as to generate the coordinates (Z p , α p , r p ) of the corresponding repair point of the hollow unit P.

[0087] In the embodiment of the present application, the Z = Z p section and the α = α pIn the angular direction, find a predetermined number of non-void reference elements, where, in Z = Z p Within the cross-section, with the tunnel center O as the center and the line OP connecting the center O and the void element P as the axis, the cross-section is scanned clockwise and counterclockwise according to a preset step size, resulting in 0, 1, or 2 non-void reference elements. When all elements are disconnected, there are 0 non-void reference elements. When there are 2 non-void reference elements, there are 1 non-void reference element in each direction, one clockwise and one counterclockwise. Figure 5 As shown, scanning the cross-section clockwise and counterclockwise yields two non-void reference elements, A and B. At α = α p The angle direction is determined by scanning the cross-section along the increasing and decreasing directions of the Z-axis, resulting in 0, 1, or 2 non-void reference elements. When there are 2 non-void reference elements, there is one non-void reference element in each of the increasing and decreasing directions. For example... Figure 6 As shown, scanning the cross-section along the increasing and decreasing Z-axis directions yields two non-void reference elements C and D. This embodiment of the invention improves the accuracy of the repair point coordinate calculation results by locating non-void reference elements in four directions.

[0088] After obtaining each non-hollow reference cell, the average value of the point cloud radius within the non-hollow reference cell is the radius of the non-hollow reference cell. The accuracy of the calculation is improved by taking the average value.

[0089] The radius R of the tunnel is known. The distance between the void unit P and each non-void reference unit is calculated using the first preset formula. The selection of the first preset formula varies depending on the distance between the void unit P and each different non-void reference unit.

[0090] like Figure 5 As shown, in Z=Z p Within the cross-section, the distances between the void element P and the non-void reference elements A and B are calculated using the following formulas:

[0091] l PA =βR

[0092] l PB =θR

[0093] Where R is the tunnel radius, β and θ are the angles between axis OP and axes OA and OB, respectively, and OA and OB are the lines connecting the center O to the non-cavitary reference element A and the non-cavitary reference element B, respectively.

[0094] like Figure 6 As shown, in α = α p In the angular direction, scan the cross-section along the increasing and decreasing directions of the Z-axis, and calculate the distances between the void element P and the non-void reference elements C and D using the following formulas:

[0095] l PC = (Z C - Z P )

[0096] l PD = (Z P - Z D )

[0097] wherein Z c is the coordinate of the non-cavity reference unit C on the tunnel axis, and Z D is the coordinate of the non-cavity reference unit D on the tunnel axis.

[0098] The embodiment of the present application improves the restoration degree of the calculation result of the repair point coordinate by finding the non-cavity reference unit in four directions, and calculating the distance between the cavity unit P and the non-cavity reference unit by the above formula.

[0099] The coordinate of the repair point r p corresponding to the cavity unit P is calculated by a second preset formula, and the second preset formula is represented by the following formula:

[0100]

[0101] wherein r A , r B , r C , r D are the radii of the non-cavity reference units A, B, C, and D, and l PA , l PB , l PC , l PD are the distances between the cavity unit P and the non-cavity reference units A, B, C, and D, respectively. According to the number of the obtained non-cavity reference units, the second preset formula is adjusted, and when at least one of the non-cavity reference units A, B, C, and D does not exist, the corresponding term in the second preset formula is deleted.

[0102] The embodiment of the present application finds the non-cavity reference unit in four directions, uses the non-cavity reference unit, calculates the coordinate of the repair point r p corresponding to the cavity unit P by the second preset formula, thereby generating the coordinate (Z p , a p , r p ) of the repair point corresponding to the cavity unit P, and according to the distance, giving different weights to the reference points, the farther the distance between the reference point and the p point, the smaller the weight, and the smaller the influence on the calculation result of r p , thereby improving the higher restoration degree of the calculation result. Through adaptive modification of the second preset formula under different conditions, the second preset formula can be applied to various situations, and the flexibility of the applicable scene is improved.

[0103] A tunnel laser point cloud hole repairing device is also provided in the embodiment, which is used to implement the above-mentioned embodiments and preferred embodiments, and has been described above. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

[0104] The embodiment provides a tunnel laser point cloud hole repairing device, as shown in the drawings, comprising: Figure 7

[0105] The acquisition module 701 is configured to acquire a laser point cloud model of a tunnel and convert the point cloud model to a preset coordinate system (Z, a, r), where z is a tunnel axis length value, a is a polar coordinate angle value of a point on a cross section, and r is a distance of the point to a tunnel central axis.

[0106] The scanning module 702 is configured to scan the point cloud model after conversion according to a preset step length to obtain a hole unit P.

[0107] The first repairing module 703 is configured to generate coordinates (Z, a, r) of a repairing point corresponding to the hole unit P by using a preset hole repairing algorithm, and complete repairing of the hole unit P, where the generation of the coordinates (Z, a, r) of the repairing point corresponding to the hole unit P by using the preset hole repairing algorithm comprises: finding a preset number of non-hole reference units in the Z = Z section and in the a = a angle direction, respectively, and calculating radii of the non-hole reference units; calculating distances between the hole unit P and the non-hole reference units by using a first preset formula according to a tunnel radius, respectively; and calculating coordinates of the repairing point r corresponding to the hole unit P by using a second preset formula according to the distances between the hole unit P and the non-hole reference units and the radii of the non-hole reference units, thereby generating the coordinates (Z, a, r) of the repairing point corresponding to the hole unit P. p p p p p p p p p p p p

[0108] The second repairing module 704 is configured to loop the scanning module and the first repairing module until all hole units in the point cloud model after conversion are repaired.

[0109] Further function descriptions of the above-mentioned modules and units are the same as those of the above-mentioned corresponding embodiments, and will not be described here. ​​​​​​​​​​​​​

[0110] The tunnel laser point cloud hole repairing device in the embodiment is presented in the form of functional units, and the units refer to ASIC (Application Specific Integrated Circuit) circuits, processors and memories for executing one or more software or fixed programs, and / or other devices that can provide the above functions.

[0111] The embodiment of the present application also provides a computer device having the above Figure 7 tunnel laser point cloud hole repairing device.

[0112] Please refer to Figure 8 , Figure 8 is a structural schematic diagram of a computer device provided by an optional embodiment of the present application, as Figure 8 shown, the computer device comprises one or more processors 10, a memory 20, and an interface for connecting components, including a high-speed interface and a low-speed interface. Various components are communicatively connected to each other by different buses, and can be installed on a common mainboard or in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in the memory or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memories, if necessary. Similarly, multiple computer devices can be connected, each providing part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 8 The processor 10 is taken as an example in the embodiment.

[0113] The processor 10 can be a central processor, a network processor or a combination thereof. The processor 10 can further include a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic gate array, a general array logic or any combination thereof.

[0114] The memory 20 stores instructions executable by the at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0115] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system, application programs required for at least one function, and the like. The data storage area can store data created according to the use of the computer device, and the like. In addition, the memory 20 can include a high-speed random access memory, and can further include a non-transitory memory such as at least one of a magnetic disk storage device, a flash memory device, or other non-transitory solid state memory device. In some alternative embodiments, the memory 20 can optionally include a memory disposed remotely from the processor 10, which can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0116] The memory 20 can include a volatile memory such as a random access memory, and can further include a non-volatile memory such as a flash memory, a hard disk, or a solid state disk, and a combination thereof.

[0117] The computer device further includes a communication interface 30 for communication of the computer device with other devices or communication networks.

[0118] The embodiments of the present application also provide a computer readable storage medium. The above-described method according to the embodiments of the present application can be implemented in hardware, firmware, or as computer code recorded on a storage medium, or be stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded to a local storage medium through a network, and thus the method described herein can be processed by such software using a general purpose computer, a special purpose processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, and the like. Further, the storage medium can include a combination of the above-mentioned storage media. It can be understood that the computer, the processor, the microprocessor controller, or the programmable hardware includes a storage component that can store or receive software or computer code, which, when accessed and executed by the computer, the processor, or the hardware, implements the method shown in the above-described embodiments.

[0119] Although the embodiments of the present application have been described with reference to the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes are intended to fall within the scope of the appended claims.

Claims

1. A method for repairing voids in a tunnel using laser point cloud technology, characterized in that, The method includes: Step S101: Obtain the laser point cloud model of the tunnel and convert the point cloud model to a preset coordinate system (Z, α, r), where Z is the tunnel axis length, α is the polar coordinate angle of the point on the cross section, and r is the distance from the point to the tunnel center axis. Step S102: Obtain the void unit P by scanning the point cloud model after the coordinate system transformation according to the preset step size; Step S103: Use a preset void repair algorithm to generate the coordinates (Z) of the repair point corresponding to the void unit P. p α p r p The process involves repairing the void unit P, wherein the coordinates (Z, Z) of the repair point corresponding to the void unit P are generated using a preset void repair algorithm. p α p r p ), including: respectively in Z=Z p Within the cross section, α = α p In the angular direction, a predetermined number of non-void reference units are located, and the radius of each non-void reference unit is calculated. Based on the tunnel radius, the distance between the void unit P and each non-void reference unit is calculated using a first predetermined formula. Based on the distance between the void unit P and each non-void reference unit, and the radius of each non-void reference unit, the repair point r corresponding to the void unit P is calculated using a second predetermined formula. p The coordinates are used to generate the coordinates (Z) of the repair point corresponding to the void element P. p α p r p ); Step S104: Repeat steps S102 and S103 until all the hole units in the point cloud model after coordinate system transformation are repaired.

2. The method according to claim 1, characterized in that, Based on the point cloud model after coordinate system transformation by scanning with a preset step size, the void element P is obtained, including: Based on the preset step size ΔZ and Δα, the point cloud model after the coordinate system transformation is traversed. When there is no point cloud at the coordinate (Z0+iΔZ≤Z≤Z0+(i+1)ΔZ, iΔα≤α≤(i+1)Δα), a hole element P is obtained, where Z0 is the starting mileage of the point cloud model after the coordinate system transformation, and i is the preset cyclic increment number.

3. The method according to claim 2, characterized in that, The value of the preset cyclic increment i is determined based on the number of cuts made in the point cloud model along the tunnel axis after the coordinate system transformation. When the number of cuts is a preset value, the preset cyclic increment i starts from 1 and increments by an integer 1 to the preset value.

4. The method according to claim 3, characterized in that, Based on the point cloud model after coordinate system transformation by scanning with a preset step size, the void element P is obtained, and the Z of the corresponding repair point of void element P is also obtained. p and α p Coordinates, where, Z is calculated using the following formula. p : Z p =Z0+(i+q)ΔZ α is calculated using the following formula. p : a p =(i+q)Dα Where q is any value between 0 and 1.

5. The method according to claim 4, characterized in that, The radius of the non-void reference cell is the average value of the point cloud radius within the non-void reference cell.

6. The method according to claim 4, characterized in that, In Z=Z p Within the cross-section, with the center O of the tunnel as the center and the line OP connecting the center O and the cavity unit P as the axis, the cross-section is scanned clockwise and counterclockwise according to the preset step size to obtain 0, 1 or 2 non-cavity reference units. In α=α p By scanning the cross section along the Z-axis in both the increasing and decreasing directions at the angle, 0, 1, or 2 non-void reference elements are obtained.

7. The method according to claim 6, characterized in that, In Z=Z p Within the cross-section, the distance between the void element P and the non-void reference element is calculated using the following formula: l PA ＝βR Where R is the tunnel radius, β is the angle between axis OP and axis OA, and OA is the line connecting the center O and the non-void reference element A.

8. The method according to claim 6, characterized in that, In α=α p In the angular direction, scan the cross-section along the Z-axis increasing direction, and calculate the distance between the void element P and the non-void reference element using the following formula: l PC =(Z C -WITH P ) Among them, Z C The coordinates of the non-cavitary reference element C on the tunnel axis are given.

9. The method according to claim 6, characterized in that, In α=α p In the angular direction, scan the cross-section along the Z-axis minus direction, and calculate the distance between the void element P and the non-void reference element using the following formula: l PD =(Z P -WITH D ) Among them, Z D The coordinates of the non-cavitary reference element D on the tunnel axis are given.

10. The method according to any one of claims 4-9, characterized in that, When Z = Z p1 There are non-void reference elements A and B within the cross-section, at α = α p When non-void reference elements C and D exist in the angular direction, the repair point r corresponding to the void element P is calculated using the second preset formula. p The coordinates of the second preset formula are expressed by the following formula: Where, r A r B r C r D The radii of non-void reference elements A, B, C, and D are divided into l. PA l PB l PC l PD These represent the distances between the void element P and the non-void reference elements A, B, C, and D, respectively.

11. The method according to claim 10, characterized in that, Based on the number of non-void reference units obtained, the second preset formula is adjusted. When at least one of the non-void reference units A, B, C, and D is missing, the corresponding item in the second preset formula is deleted.

12. A device for repairing voids in a tunnel using laser point cloud technology, characterized in that, The device includes: The acquisition module is used to acquire the laser point cloud model of the tunnel and convert the point cloud model to a preset coordinate system (Z, α, r), where z is the length of the tunnel axis, α is the polar coordinate angle of the point on the cross section, and r is the distance from the point to the central axis of the tunnel. The scanning module is used to scan the point cloud model after coordinate system transformation according to the preset step size to obtain the void unit P; The first repair module is used to generate the coordinates (Z) of the repair point corresponding to the cavity unit P using a preset cavity repair algorithm. p α p r p The process involves repairing the void unit P, wherein the coordinates (Z, Z) of the repair point corresponding to the void unit P are generated using a preset void repair algorithm. p α p r p ), including: respectively in Z=Z p Within the cross section, α = α p In the angular direction, a predetermined number of non-void reference units are located, and the radius of each non-void reference unit is calculated. Based on the tunnel radius, the distance between the void unit P and each non-void reference unit is calculated using a first predetermined formula. Based on the distance between the void unit P and each non-void reference unit, and the radius of each non-void reference unit, the repair point r corresponding to the void unit P is calculated using a second predetermined formula. p The coordinates are used to generate the coordinates (Z) of the repair point corresponding to the void element P. p α p r p ); The second repair module is used to cycle through the above scanning module and the first repair module until all the hole units in the point cloud model after the coordinate system transformation are repaired.

13. A computer device, characterized in that, include: The system includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the tunnel laser point cloud cavity repair method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the tunnel laser point cloud cavity repair method according to any one of claims 1 to 11.

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