Engineering laser point cloud rapid scanning method and system based on BIM model information

Abstract

The invention relates to the technical field of three-dimensional modeling, in particular to an engineering laser point cloud rapid scanning method based on BIM model information, which comprises the following steps: S1, reading engineering BIM model information; s2, rasterizing an engineering scanning modeling area; s3, setting an engineering scanning modeling area; and S4, scanning path setting and inspection optimization. According to the method and the system, the basic characteristics and information of the to-be-modeled scene can be accurately acquired.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional modeling, and in particular to a method and system for rapid scanning of engineering laser point clouds based on BIM model information. Background Art

[0002] With the rapid development of computer vision, LiDAR technology and 3D scanning technology, the object 3D model reconstruction method based on point cloud data has become a research hotspot in many fields such as computer graphics, virtual reality, industrial design and cultural heritage protection. Traditional 3D reconstruction methods mostly rely on manual measurement or photogrammetry, which is not only time-consuming and labor-intensive, but also difficult to ensure the accuracy and integrity of the model. 3D laser scanning technology is a non-contact measurement technology that uses high-resolution scanning point clouds to store and express the spatial shape and size of the scanned object. In recent years, point cloud scanning technology in my country has developed rapidly and been widely used. It is mainly used in the fields of 3D reconstruction of buildings, digital protection of cultural heritage, industrial design, urban planning, satellite mapping and environmental monitoring.

[0003] Point cloud data, as a set of three-dimensional coordinates composed of a large number of discrete points, can accurately reflect the geometric information of the surface of an object, providing a richer and more accurate data source for three-dimensional reconstruction. Point cloud data is acquired through advanced technologies such as lidar, structured light scanning, and stereo vision, and has the advantages of high density, high precision, and non-contact measurement. These characteristics enable the three-dimensional reconstruction method based on point cloud data to quickly and accurately capture the complex details of the surface of an object, thereby generating a high-quality three-dimensional model. In recent years, with the continuous optimization of point cloud processing algorithms and the improvement of computing power, three-dimensional reconstruction technology based on point cloud data has made significant progress and has shown great potential in many practical application scenarios.

[0004] Point cloud data is a data format acquired by laser scanners. Point cloud data has two core characteristics: high acquisition efficiency and high acquisition accuracy. It has been used in fields such as power transmission line inspection and substation reverse modeling. Currently, there are many technical means and methods based on laser point cloud scanning modeling, all of which focus on the processing method of point cloud models after laser scanning or the matching and fusion of multiple point cloud models. There is a lack of a method that comprehensively considers the actual on-site laser point cloud scanning path planning of the proposed modeling scene. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for rapid scanning of engineering laser point clouds based on BIM model information, which is conducive to accurately acquiring basic features and information of the simulated modeling scene.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: a method for rapid scanning of engineering laser point cloud based on BIM model information, comprising the following steps:

[0007] S1. Engineering BIM model information reading;

[0008] S2, rasterization of engineering scanning modeling area;

[0009] S3, Engineering scanning modeling area setting;

[0010] S4. Scan path setting and inspection optimization.

[0011] Furthermore, in step S1, a BIM model for guiding construction on the project site is constructed by three-dimensional design software, and the three-dimensional spatial position coordinate information of the BIM model and the safety distance requirement information of each important electrical equipment or key building structure are obtained.

[0012] Furthermore, in step S2, the spatial area that needs to be scanned and modeled is rasterized, and the spatial area that needs to be scanned and modeled is divided into a number of cubes of m×n×z size; m, n, and z should all be smaller than the scanning radius R of the scanning device to ensure that the rasterization process does not affect the accuracy of engineering scanning modeling.

[0013] Furthermore, in step S3, the spatial area that needs to be scanned and modeled by laser point cloud is determined. First, the two-dimensional spatial coordinates (x, y) are determined, and then the height (z) of the scanning device under the corresponding two-dimensional spatial coordinates is determined; the spatial area that needs to be scanned and modeled is represented by a coordinate range, that is, a set of points in the spatial rectangular coordinate system (x, y, z), represented by x∈[x1,x2], y∈[y1,y2], z∈[z1,z2].

[0014] Furthermore, in step S4, the scanning equipment position (x, y, z, t) is planned and selected according to the data collection requirements, equipment parameters and specific project conditions, including initial path setting, path verification and path optimization.

[0015] Furthermore, the specific implementation method of the initial path setting is as follows: considering the requirements of the project safety distance, the height z of the initial path of the scanning equipment is set to be higher than the height of the scanning worker, and the two-dimensional coordinates (x, y) of the equipment scanning path are set based on this as the reference height; the initial point is set, and then the path is set at the center of the road where the project site personnel patrol on a daily basis and ensures that it goes around the spatial area to be scanned and modeled. If the project site cannot meet the above-mentioned requirement of going around the area, the scanning path solution of returning to the scanning starting point is adopted.

[0016] Furthermore, the specific implementation method of path verification is as follows: take the center coordinates of the grid through which the path passes as the spatial position of the scanning device, and use the device scanning radius R as a virtual sphere to verify whether the spatial distance between the object to be modeled at the engineering site and the scanning device is greater than the safety distance r and less than the device scanning radius R. If so, the inspection passes; otherwise, optimize and adjust according to the following principles and then inspect again until the optimization and adjustment are successful.

[0017] Furthermore, the specific implementation method of the path optimization method is as follows: if the spatial distance between the object to be modeled at the engineering site and the scanning device is less than the safety distance r, the two-dimensional coordinate of the scanning device at the time t is moved to the left or right by one grid in the forward direction in the direction of increasing the safety distance r; if the spatial distance between the object to be modeled at the engineering site and the scanning device is greater than the device scanning radius R, the two-dimensional coordinate of the scanning device at the time t is moved to the left or right by one grid in the forward direction in the direction of reducing the spatial distance between the two; if the above two adjustment methods cannot meet the requirement of whether the spatial distance between the object to be modeled at the engineering site and the scanning device is greater than the safety distance r and less than the device scanning radius R, the spatial height z of the scanning device at the time t is adjusted;

[0018] The specific method for adjusting the spatial height z of the scanning device at the set time t is as follows: when the spatial height z of the scanning device needs to be adjusted during the path optimization process, first adjust it downward by 1 grid, and then check whether the spatial distance between the object to be modeled at the engineering site and the scanning device is greater than the safety distance r and less than the device scanning radius R. If it is satisfied, the spatial height z of the current scanning device is used as the spatial height at the time t. If it is not satisfied, adjust it upward by 1 grid and re-check; if it still does not meet the requirements after re-checking, re-perform the rasterization process of step S2;

[0019] If the spatial height z of the scanning device at the set time t still does not meet the requirements after adjustment, it means that the grid setting of the rasterization processing is too large and the grid size needs to be reset.

[0020] Further, in step S4, after testing and optimization, The scan path is The trajectory that the scanning device needs to travel during the scanning process; x and y represent the two-dimensional spatial coordinates of the scanning device, z represents the height of the scanning device, and t represents the time. From small to arrival, it is the order in which the scanning personnel needs to pass the positions with the scanning device. That is, the first set of coordinates (x, y, z) in the sequence is the scanning starting point, and the last set of coordinates (x, y, z) is the scanning end point.

[0021] The present invention also provides an engineering laser point cloud rapid scanning system based on BIM model information, comprising a memory, a processor, and computer program instructions stored in the memory and capable of being executed by the processor. When the processor executes the computer program instructions, the above-mentioned method steps can be implemented.

[0022] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a method and system for rapid scanning of engineering laser point clouds based on BIM model information. The method and system determine the two-dimensional motion route and height of the laser point cloud scanning device by rapid point selection and optimized scanning path, effectively mining the value of BIM model data, thereby accurately acquiring the basic features and information of the simulated modeling scene, while shortening the scanning time of engineering laser point cloud scanning and improving the efficiency of point cloud modeling scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of the method implementation of the embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0026] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0027] like Figure 1 As shown, this embodiment provides a method for rapid scanning of engineering laser point clouds based on BIM model information, comprising the following steps:

[0028] S1. Read engineering BIM model information.

[0029] Specifically, a BIM model for guiding construction on site is constructed through three-dimensional design software to obtain key information such as the three-dimensional spatial position coordinate information of the BIM model, safety distance requirements of important electrical equipment or key structures, etc.

[0030] S2. Rasterization of engineering scanning modeling area.

[0031] Specifically, the spatial area to be scanned and modeled is rasterized, and the spatial area to be scanned and modeled is divided into several m×n×z cubes as needed. Among them, m, n, and z should all be smaller than the scanning radius R of the scanning device to ensure that the rasterization process does not affect the accuracy of engineering scanning modeling.

[0032] S3. Engineering scanning modeling area setting.

[0033] Specifically, determine the spatial area that needs to be scanned and modeled by laser point cloud. First, determine the two-dimensional spatial coordinates (x, y), and then determine the height of the scanning device (z) under the corresponding two-dimensional spatial coordinates. The spatial area that needs to be scanned and modeled is represented by a coordinate range, that is, a set of points in the spatial rectangular coordinate system (x, y, z), represented by x∈[x1,x2], y∈[y1,y2], z∈[z1,z2].

[0034] S4. Scan path setting and inspection optimization.

[0035] Specifically, according to the data collection requirements, equipment parameters and specific project conditions, the scanning equipment position (x, y, z, t) is planned and selected, and the implementation steps include: initial path setting, path verification and path optimization.

[0036] The specific implementation method of the initial path setting is as follows: Considering the requirements of the project safety distance, the height z of the initial path of the scanning equipment is set to a height slightly higher than the height of the scanning operator (such as 2 meters), and the two-dimensional coordinates (x, y) of the equipment scanning path are set based on this reference height; the position that is convenient for the rapid scanning of the laser point cloud is used as the initial point, which is usually an arbitrary position, and can also be set according to special requirements and preferences. After that, the path is set at the center of the road that the construction site personnel patrol daily and ensure that it goes around the spatial area to be scanned and modeled. If the construction site cannot meet the above requirements of going around the area, the scanning path solution of returning to the scanning starting point is adopted.

[0037] The specific implementation method of path verification is as follows: take the center coordinates of the grid through which the path passes as the spatial position of the scanning device, and use the device scanning radius R as a virtual sphere to verify whether the spatial distance between the object to be modeled at the project site and the scanning device is greater than the safety distance r and less than the device scanning radius R. If it is within the range, the inspection passes; if it is not within the range, optimize and adjust according to the following principles and then inspect again until the optimization and adjustment are successful.

[0038] The specific implementation method of the path optimization method is as follows: if the spatial distance between the object to be modeled at the engineering site and the scanning device is less than the safety distance r, the two-dimensional coordinate of the scanning device at the time t is moved one grid to the left or right in the direction of increasing the safety distance r in the forward direction; if the spatial distance between the object to be modeled at the engineering site and the scanning device is greater than the device scanning radius R, the two-dimensional coordinate of the scanning device at the time t is moved one grid to the left or right in the forward direction in the direction of reducing the spatial distance between the two; if the above two adjustment methods cannot meet the requirement of whether the spatial distance between the object to be modeled at the engineering site and the scanning device is greater than the safety distance r and less than the device scanning radius R, the spatial height z of the scanning device at the time t is adjusted.

[0039] Among them, the specific method for adjusting the spatial height z of the scanning device at the set time t is: when the spatial height z of the scanning device needs to be adjusted during the path optimization process, first adjust it downward by 1 grid, and then check whether the requirement that the spatial distance between the object to be modeled at the engineering site and the scanning device is greater than the safety distance r and less than the device scanning radius R is met. If it is met, the spatial height z of the current scanning device is used as the spatial height at the time t. If it is not met, adjust it upward by 1 grid and re-check; if it still does not meet the requirements after re-checking, re-perform the rasterization process of step S2.

[0040] If the spatial height z of the scanning device at the set time t still does not meet the requirements after adjustment, it means that the grid of the rasterization processing, that is, the length m, width n, and height z of the cube are set too large, and the grid size needs to be reset.

[0041] After testing and optimization The scan path is The trajectory that the scanning device needs to travel during the scanning process; x and y represent the two-dimensional spatial coordinates of the scanning device, z represents the height of the scanning device, and t represents the time. From small to arrival, it is the order in which the scanning personnel needs to pass the positions with the scanning device. That is, the first set of coordinates (x, y, z) in the sequence is the scanning starting point, and the last set of coordinates (x, y, z) is the scanning end point.

[0042] This embodiment also provides an engineering laser point cloud rapid scanning system based on BIM model information, including a memory, a processor, and computer program instructions stored in the memory and capable of being executed by the processor. When the processor executes the computer program instructions, the above-mentioned method steps can be implemented.

[0043] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0044] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0045] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0046] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0047] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A method for rapid scanning of engineering laser point clouds based on BIM model information, characterized in that: The steps include: S1. Engineering BIM model information reading; S2, rasterization of engineering scanning modeling area; S3, Engineering scanning modeling area setting; S4. Scan path setting and inspection optimization.

2. The method for rapid scanning of engineering laser point clouds based on BIM model information according to claim 1 is characterized in that: In step S1, a BIM model for guiding construction on the project site is constructed through three-dimensional design software, and the three-dimensional spatial position coordinate information of the BIM model and the safety distance requirement information of each important electrical equipment or key building structure are obtained.

3. The method for rapid scanning of engineering laser point clouds based on BIM model information according to claim 1 is characterized in that: In step S2, the spatial area that needs to be scanned and modeled is rasterized, and the spatial area that needs to be scanned and modeled is divided into a number of cubes of m×n×z size; m, n, and z should all be smaller than the scanning radius R of the scanning device to ensure that the rasterization process does not affect the accuracy of engineering scanning modeling.

4. The engineering laser point cloud rapid scanning method based on BIM model information according to claim 1 is characterized in that: In step S3, the spatial area that needs to be scanned and modeled by laser point cloud is determined. First, the two-dimensional spatial coordinates (x, y) are determined, and then the height (z) of the scanning device under the corresponding two-dimensional spatial coordinates is determined; the spatial area that needs to be scanned and modeled is represented by a coordinate range, that is, a set of points in the spatial rectangular coordinate system (x, y, z), represented by x∈[x1,x2], y∈[y1,y2], z∈[z1,z2].

5. The engineering laser point cloud rapid scanning method based on BIM model information according to claim 1 is characterized in that: In step S4, the scanning equipment position (x, y, z, t) is planned and selected according to the data collection requirements, equipment parameters and project specific conditions, including initial path setting, path verification and path optimization.

6. The method for rapid scanning of engineering laser point clouds based on BIM model information according to claim 5 is characterized in that: The specific implementation method of the initial path setting is as follows: considering the requirements of the project safety distance, the height z of the initial path of the scanning equipment is set to be higher than the height of the scanning operator, and the two-dimensional coordinates (x, y) of the equipment scanning path are set based on this as the reference height; set the initial point, and then set the path at the center of the road that the construction site personnel patrol daily and ensure that it goes around the spatial area that needs to be scanned and modeled. If the construction site cannot meet the above requirements of going around the area, the scanning path plan of returning to the scanning starting point is adopted.

7. The method for rapid scanning of engineering laser point clouds based on BIM model information according to claim 6 is characterized in that: The specific implementation method of path verification is as follows: take the center coordinates of the grid through which the path passes as the spatial position of the scanning device, and use the device scanning radius R as a virtual sphere to verify whether the spatial distance between the object to be modeled at the project site and the scanning device is greater than the safety distance r and less than the device scanning radius R. If so, the inspection passes; otherwise, optimize and adjust according to the following principles and inspect again until the optimization and adjustment are successful.

8. The method for rapid scanning of engineering laser point clouds based on BIM model information according to claim 7 is characterized in that: The specific implementation method of the path optimization method is as follows: if the spatial distance between the object to be modeled at the engineering site and the scanning device is less than the safety distance r, then the two-dimensional coordinate of the scanning device at the time t is moved to the left or right by one grid in the direction of increasing the safety distance r in the forward direction; if the spatial distance between the object to be modeled at the engineering site and the scanning device is greater than the device scanning radius R, then the two-dimensional coordinate of the scanning device at the time t is moved to the left or right by one grid in the forward direction in the direction of reducing the spatial distance between the two; if the above two adjustment methods cannot meet the requirement that the spatial distance between the object to be modeled at the engineering site and the scanning device is greater than the safety distance r and less than the device scanning radius R, then adjust the spatial height z of the scanning device at the time t; The specific method for adjusting the spatial height z of the scanning device at the set time t is as follows: when the spatial height z of the scanning device needs to be adjusted during the path optimization process, first adjust it downward by 1 grid, and then check whether the spatial distance between the object to be modeled at the engineering site and the scanning device is greater than the safety distance r and less than the device scanning radius R. If it is satisfied, the spatial height z of the current scanning device is used as the spatial height at the time t. If it is not satisfied, adjust it upward by 1 grid and re-check; if it still does not meet the requirements after re-checking, re-perform the rasterization process of step S2; If the spatial height z of the scanning device at the set time t still does not meet the requirements after adjustment, it means that the grid setting of the rasterization processing is too large and the grid size needs to be reset.

9. The method for rapid scanning of engineering laser point clouds based on BIM model information according to claim 1, characterized in that: In step S4, after testing and optimization, The scan path is The trajectory that the scanning device needs to travel during the scanning process; x and y represent the two-dimensional spatial coordinates of the scanning device, z represents the height of the scanning device, and t represents the time. From small to arrival, it is the order in which the scanning personnel needs to pass the positions with the scanning device. That is, the first set of coordinates (x, y, z) in the sequence is the scanning starting point, and the last set of coordinates (x, y, z) is the scanning end point.

10. An engineering laser point cloud rapid scanning system based on BIM model information, characterized in that: The method comprises a memory, a processor, and computer program instructions stored in the memory and executable by the processor. When the processor executes the computer program instructions, the method steps as claimed in any one of claims 1 to 9 can be implemented.

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