Three-dimensional wall surface scanning method and system based on point cloud data

Abstract

The invention relates to a three-dimensional wall surface scanning method and system based on point cloud data, and belongs to the technical field of three-dimensional wall surface scanning, and the method comprises the following steps: S1, an early-stage preparation stage; s2, a data acquisition stage; s3, data preprocessing; s4, extracting wall surface information; s5, constructing a wall surface model; and S6, subsequent application. According to the three-dimensional wall surface scanning method and system based on the point cloud data, the three-dimensional data of the surface of the wall surface can be rapidly obtained by using the laser ranging principle, the measurement time is greatly saved, and the three-dimensional coordinate data of a large number of dense points on the surface of the wall surface can be obtained, so that a high-precision three-dimensional model is generated, fine features of the wall surface can be captured, and the accuracy of the wall surface scanning is improved. The requirement of high-precision measurement is met; a non-contact measurement method is adopted, damage or pollution to the measured wall in the measurement process is avoided, the safety of measurement personnel can be ensured, meanwhile, errors caused by human factors are avoided through non-contact measurement, and the measurement accuracy and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional wall scanning, and in particular to a three-dimensional wall scanning method and system based on point cloud data. Background Art

[0002] The 3D wall scanning method and system based on point cloud data originated from 3D laser scanning technology, which was a technology that began to emerge in the mid-1990s. As another breakthrough in surveying and mapping technology after the GPS spatial positioning system, 3D laser scanning technology can quickly obtain 3D coordinate data of the surface of the measured object with high resolution over a large area through high-speed laser scanning measurement. The emergence of this technology provides a new technical means for quickly establishing a 3D image model of an object.

[0003] At present, the 3D wall scanning method and system based on point cloud data have been widely used in the fields of architecture, cultural relic protection, topographic surveying and mapping. In the construction industry, this technology can be used for wall quality inspection, restoration plan design, and renovation effect evaluation; in the field of cultural relic protection, it can be used to create accurate digital models of cultural relics and provide basic data for protection and restoration work; in the field of topographic surveying and mapping, it can quickly obtain the topographic data of the construction site and provide accurate ground information for design.

[0004] With the continuous development of technology, 3D wall scanning methods and systems based on point cloud data will be applied in more fields, such as intelligent transportation, urban planning, disaster assessment, etc. At the same time, with the continuous upgrading of hardware equipment and the continuous optimization of data processing algorithms, the measurement accuracy and efficiency of this technology will be further improved, providing more accurate and reliable data support for related industries.

[0005] In summary, the 3D wall scanning method and system based on point cloud data is a technology with broad application prospects and huge development potential. It can not only improve the efficiency and quality of construction projects, but also promote the digitalization and intelligent management of building information, and contribute to the sustainable development of the construction industry. Therefore, a 3D wall scanning method and system based on point cloud data is proposed to solve the above problems. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention provides a three-dimensional wall scanning method and system based on point cloud data, which has the advantages of high measurement accuracy and high reliability, and solves the problems of poor measurement accuracy and low reliability of the existing three-dimensional wall scanning methods.

[0007] To achieve the above object, the present invention provides the following technical solution: a three-dimensional wall scanning method based on point cloud data, comprising the following steps: S1. Preliminary preparation stage: Select a high-precision and stable 3D laser scanner to survey the scanning area, determine the scanning range, scanning angle and scanning site location, so that subsequent scanning work can proceed smoothly; S2, data collection stage: Set up the scanner in a suitable position to ensure that it can fully cover the wall to be scanned; adjust the angle and position of the scanner according to the size and shape of the wall to perform multiple scans; the scanner collects point cloud data and image information of the wall, which needs to be properly stored in the device for subsequent processing; S3, data preprocessing: the data preprocessing includes denoising, simplification, registration and hole filling. The denoising needs to remove noise points from the collected point cloud data. The simplification needs to simplify the point cloud data on the basis of ensuring geometric features, reduce the number of data points and improve processing efficiency. The registration needs to unify the point cloud data obtained by multiple scans into the same coordinate system to ensure the consistency and integrity of the data. The hole filling needs to use a special hole filling algorithm or tool to fill these holes. S4. Wall information extraction: plane detection algorithm is used to extract the plane information of the wall from the point cloud data; for adjacent walls, if the angle between their normal vectors is less than the threshold of 3° and the difference in the projection distance on the horizontal plane is less than the threshold of 0.06 meters, they are considered to belong to the same wall and are fused; in the CAD drawing software, the outline of the wall is redrawn according to the extracted wall information; S5. Wall model construction: Use real-scene modeling software to perform 3D modeling on the extracted wall information; optimize the constructed 3D model to improve the accuracy and realism of the model; compare and verify the constructed 3D model with the actual wall to ensure the accuracy and reliability of the model; S6. Subsequent applications: The constructed three-dimensional wall model can be applied to multiple fields such as architectural design, interior decoration and cultural heritage protection.

[0008] Furthermore, the three-dimensional laser scanner in S1 is Faro Premium 350, and the use of Faro Premium 350 to scan the wall can meet the scanning requirements.

[0009] Furthermore, the plane detection algorithm in S4 involves segmentation, classification and fitting operations on point cloud data.

[0010] Furthermore, the three-dimensional modeling in S5 includes constructing the geometric shape, texture and material properties of the wall.

[0011] Furthermore, the optimization process in S5 includes smoothing, texture mapping and detail enhancement of the model.

[0012] Another technical problem to be solved by the present invention is to provide a three-dimensional wall scanning system based on point cloud data, including a three-dimensional laser scanner, a computer and data processing software, wherein the three-dimensional laser scanner is connected to the computer signal via USB or HDMI, and the data processing software needs to be installed on the computer according to the model and brand of the three-dimensional laser scanner; The computer includes a data acquisition module, a data processing module, a three-dimensional modeling module, a data storage and management module, a user interaction module and a control module; The data acquisition module is connected to the three-dimensional laser scanner via USB or HDMI, and the data acquisition module is responsible for receiving the point cloud data transmitted by the three-dimensional laser scanner; The data processing module usually relies on professional Context Capture software to provide a wealth of data processing algorithms and tools. The data processing module is used to pre-process the received point cloud data to improve the quality and accuracy of the data; The 3D modeling module converts the point cloud data into an intuitive 3D model through data structures such as a triangular mesh model, a 3D wireframe model or a 3D surface model, and constructs a 3D model of the wall using the processed point cloud data; The data storage and management module usually uses a hard disk or cloud storage medium to ensure data security and accessibility. The data storage and management module is responsible for storing and managing the scanned point cloud data and the constructed three-dimensional model; The user interaction module includes a graphical operation interface, clear menus and buttons, and real-time data feedback functions to improve the user experience. The user interaction module provides users with a friendly operation interface and interaction mode, allowing users to conveniently control the scanning process, view scanning results, and perform subsequent operations; The control module communicates with the three-dimensional laser scanner through a specific communication protocol to ensure the stability and accuracy of the scanning process. The control module is responsible for controlling the scanning process of the three-dimensional laser scanner.

[0013] Furthermore, when installing the data processing software, it is necessary to ensure that the version of the data processing software matches the model of the 3D laser scanner to avoid compatibility issues.

[0014] Furthermore, the hardware configuration of the computer needs to meet the requirements of the three-dimensional laser scanner and data processing software to ensure the smoothness and accuracy of data processing.

[0015] Furthermore, the operating system of the computer needs to match the compatibility of the 3D laser scanner and the data processing software to avoid connection failure or data processing errors caused by compatibility issues.

[0016] Furthermore, before connecting the 3D laser scanner, it is necessary to install a corresponding driver on the computer, which is the basis for communication and data transmission between the 3D laser scanner and the computer.

[0017] Compared with the prior art, the present invention provides a three-dimensional wall scanning method and system based on point cloud data, which has the following beneficial effects: 1. The 3D wall scanning method and system based on point cloud data can quickly obtain 3D data of the wall surface by utilizing the principle of laser ranging, greatly saving measurement time, and can obtain 3D coordinate data of a large number of dense points on the wall surface, thereby generating a high-precision 3D model, which can capture the subtle features of the wall and meet the needs of high-precision measurement; the non-contact measurement method is adopted to avoid damage or contamination to the measured wall during the measurement process, which can ensure the safety of the measurement personnel. At the same time, non-contact measurement also avoids errors caused by human factors and improves the accuracy and reliability of measurement.

[0018] 2. The 3D wall scanning method and system based on point cloud data can quickly obtain 3D data of the wall surface by adopting advanced laser scanning technology, which greatly shortens the measurement time, improves work efficiency, and reduces measurement costs, making wall scanning more economical and efficient; the 3D wall scanning system based on point cloud data can capture tiny details of the wall surface and provide high-precision 3D coordinate data, which greatly improves the accuracy of wall measurement and provides reliable data support for subsequent wall quality inspection, repair and renovation; the non-contact measurement method avoids measurement errors caused by human factors, improves the accuracy and reliability of measurement, and helps to ensure the objectivity and accuracy of wall scanning results; through 3D modeling technology, the system can convert wall data into intuitive 3D models, which not only helps users better understand the wall situation, but also provides a visual reference for subsequent repair and renovation work. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flowchart of a three-dimensional wall scanning method based on point cloud data and a scanning method in a system proposed by the present invention; Figure 2 This is a control block diagram of the scanning system in the three-dimensional wall scanning method based on point cloud data proposed by the present invention and the system. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Embodiment 1: See also Figure 1 , the three-dimensional wall scanning method based on point cloud data in this embodiment includes the following steps:.

[0022] S1. Preliminary preparation stage: Select a high-precision and stable 3D laser scanner to survey the scanning area, determine the scanning range, scanning angle and scanning site location, so that subsequent scanning work can proceed smoothly; S2, data collection stage: Set up the scanner in a suitable position to ensure that it can fully cover the wall to be scanned; adjust the angle and position of the scanner according to the size and shape of the wall to perform multiple scans; the scanner collects point cloud data and image information of the wall, which needs to be properly stored in the device for subsequent processing; S3. Data preprocessing: Data preprocessing includes denoising, simplification, registration and hole filling. Denoising requires removing noise points from the collected point cloud data. Simplification requires simplifying the point cloud data on the basis of ensuring geometric features, reducing the number of data points and improving processing efficiency. Registration requires unifying the point cloud data obtained from multiple scans into the same coordinate system to ensure data consistency and integrity. Hole filling requires the use of special hole filling algorithms or tools to fill these holes. S4. Wall information extraction: plane detection algorithm is used to extract the plane information of the wall from the point cloud data; for adjacent walls, if the angle between their normal vectors is less than the threshold of 3° and the difference in the projection distance on the horizontal plane is less than the threshold of 0.06 meters, they are considered to belong to the same wall and are fused; in the CAD drawing software, the outline of the wall is redrawn according to the extracted wall information; S5. Wall model construction: Use real-scene modeling software to perform 3D modeling on the extracted wall information; optimize the constructed 3D model to improve the accuracy and realism of the model; compare and verify the constructed 3D model with the actual wall to ensure the accuracy and reliability of the model; S6. Subsequent applications: The constructed three-dimensional wall model can be applied to multiple fields such as architectural design, interior decoration and cultural heritage protection.

[0023] In this embodiment, by utilizing the laser ranging principle, the three-dimensional data of the wall surface can be quickly acquired, which greatly saves the measurement time, and the three-dimensional coordinate data of a large number of dense points on the wall surface can be acquired, thereby generating a high-precision three-dimensional model, which can capture the subtle features of the wall surface and meet the needs of high-precision measurement; the non-contact measurement method is adopted to avoid damage or contamination to the measured wall surface during the measurement process, and can ensure the safety of the measurement personnel. At the same time, the non-contact measurement also avoids errors caused by human factors and improves the accuracy and reliability of the measurement.

[0024] Specifically, the plane detection algorithm in S4 involves segmentation, classification and fitting operations on point cloud data.

[0025] Specifically, 3D modeling in S5 includes constructing the geometric shape, texture, and material properties of the wall.

[0026] Specifically, the optimization processing in S5 includes smoothing, texture mapping and detail enhancement of the model.

[0027] It should be noted that the 3D laser scanner in S1 is Faro Premium 350, and using Faro Premium 350 to scan walls can meet scanning needs.

[0028] Embodiment 2: See also Figure 2 , the 3D wall scanning system based on point cloud data in this embodiment includes a 3D laser scanner, a computer and data processing software. The 3D laser scanner is connected to the computer signal via USB or HDMI. The data processing software needs to be installed on the computer according to the model and brand of the 3D laser scanner; The computer includes a data acquisition module, a data processing module, a three-dimensional modeling module, a data storage and management module, a user interaction module and a control module; The data acquisition module is connected to the 3D laser scanner via USB or HDMI, and is responsible for receiving the point cloud data transmitted by the 3D laser scanner; The data processing module usually relies on professional Context Capture software to provide a wealth of data processing algorithms and tools. The data processing module is used to pre-process the received point cloud data to improve the quality and accuracy of the data; The 3D modeling module converts point cloud data into an intuitive 3D model through data structures such as triangular mesh models, 3D wireframe models or 3D surface models, and uses the processed point cloud data to construct a 3D model of the wall. The data storage and management module usually uses hard disk or cloud storage media to ensure data security and accessibility. The data storage and management module is responsible for storing and managing the scanned point cloud data and the constructed 3D model; The user interaction module includes a graphical operation interface, clear menus and buttons, and real-time data feedback functions to improve the user experience. The user interaction module provides users with a friendly operation interface and interaction methods, allowing users to easily control the scanning process, view scanning results, and perform subsequent operations; The control module communicates with the 3D laser scanner through a specific communication protocol to ensure the stability and accuracy of the scanning process. The control module is responsible for controlling the scanning process of the 3D laser scanner.

[0029] In this embodiment, by adopting advanced laser scanning technology, three-dimensional data of the wall surface can be quickly acquired, which greatly shortens the measurement time, not only improves work efficiency, but also reduces measurement costs, making wall scanning more economical and efficient; the three-dimensional wall scanning system based on point cloud data can capture tiny details of the wall surface, provide high-precision three-dimensional coordinate data, greatly improve the accuracy of wall measurement, and provide reliable data support for subsequent wall quality inspection, repair and renovation; the non-contact measurement method avoids measurement errors caused by human factors, improves the accuracy and reliability of measurement, and helps to ensure the objectivity and accuracy of wall scanning results; through three-dimensional modeling technology, the system can convert wall data into an intuitive three-dimensional model, which not only helps users better understand the wall situation, but also provides a visual reference for subsequent repair and renovation work.

[0030] Specifically, data collection includes information such as the three-dimensional coordinates, reflectivity, and texture of the wall surface.

[0031] Specifically, preprocessing in data processing includes operations such as denoising, simplification, registration and hole filling.

[0032] Specifically, constructing a three-dimensional model of the wall includes restoring and representing information such as the shape, size, and texture of the wall.

[0033] Specifically, data storage includes functions such as data backup, recovery, query and sharing.

[0034] Specifically, the scanning process of the 3D laser scanner includes operations such as selection of scanning mode, configuration of scanning parameters, scanning start and scanning stop.

[0035] It should be noted that when installing the data processing software, you need to ensure that the version of the data processing software matches the model of the 3D laser scanner to avoid compatibility issues.

[0036] It should be noted that the computer's hardware configuration needs to meet the requirements of the 3D laser scanner and data processing software to ensure the smoothness and accuracy of data processing.

[0037] It should be noted that the computer's operating system needs to match the compatibility of the 3D laser scanner and data processing software to avoid connection failures or data processing errors caused by compatibility issues.

[0038] It should be noted that before connecting the 3D laser scanner, the corresponding driver needs to be installed on the computer. The driver is the basis for communication and data transmission between the 3D laser scanner and the computer.

[0039] The working principle of the above embodiment is: A pulsed laser signal is emitted by the laser transmitter and projected onto the wall surface for diffuse reflection. The echo signal returns along the original path, and the distance from the 3D laser scanner to a certain point on the wall is calculated based on the laser ranging principle. At the same time, the encoder is controlled to synchronously measure the horizontal and vertical scanning angles of each laser pulse, and the 3D coordinates of the point are obtained based on the 3D coordinate calculation principle. Combined with the camera, the RGB information of the wall can also be obtained to form colorful 3D point data, namely point cloud.

[0040] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional wall scanning method based on point cloud data, characterized in that: The following steps are involved: S1. Preliminary preparation stage: Select a high-precision and stable 3D laser scanner to survey the scanning area, determine the scanning range, scanning angle and scanning site location, so that subsequent scanning work can proceed smoothly; S2, data collection stage: Set up the scanner in a suitable position to ensure that it can fully cover the wall to be scanned; adjust the angle and position of the scanner according to the size and shape of the wall to perform multiple scans; the scanner collects point cloud data and image information of the wall, which needs to be properly stored in the device for subsequent processing; S3, data preprocessing: the data preprocessing includes denoising, simplification, registration and hole filling. The denoising needs to remove noise points from the collected point cloud data. The simplification needs to simplify the point cloud data on the basis of ensuring geometric features, reduce the number of data points and improve processing efficiency. The registration needs to unify the point cloud data obtained by multiple scans into the same coordinate system to ensure the consistency and integrity of the data. The hole filling needs to use a special hole filling algorithm or tool to fill these holes. S4. Wall information extraction: plane detection algorithm is used to extract the plane information of the wall from the point cloud data; for adjacent walls, if the angle between their normal vectors is less than the threshold of 3° and the difference in the projection distance on the horizontal plane is less than the threshold of 0.06 meters, they are considered to belong to the same wall and are fused; in the CAD drawing software, the outline of the wall is redrawn according to the extracted wall information; S5. Wall model construction: Use real-scene modeling software to perform 3D modeling on the extracted wall information; optimize the constructed 3D model to improve the accuracy and realism of the model; compare and verify the constructed 3D model with the actual wall to ensure the accuracy and reliability of the model; S6. Subsequent applications: The constructed three-dimensional wall model can be applied to multiple fields such as architectural design, interior decoration and cultural heritage protection.

2. The three-dimensional wall scanning method based on point cloud data according to claim 1, characterized in that: The 3D laser scanner in the S1 is Faro Premium 350, and using Faro Premium 350 to scan walls can meet scanning requirements.

3. The three-dimensional wall scanning method based on point cloud data according to claim 1, characterized in that: The plane detection algorithm in S4 involves segmentation, classification and fitting operations on point cloud data.

4. The three-dimensional wall scanning method based on point cloud data according to claim 1, characterized in that: The three-dimensional modeling in S5 includes constructing the geometric shape, texture and material properties of the wall.

5. The three-dimensional wall scanning method based on point cloud data according to claim 1, characterized in that: The optimization process in S5 includes smoothing, texture mapping and detail enhancement of the model.

6. A three-dimensional wall scanning system based on point cloud data, using the IT cloud resource demand assessment method according to any one of claims 1 to 5, characterized in that: It includes a 3D laser scanner, a computer and data processing software. The 3D laser scanner is connected to the computer signal via USB or HDMI. The data processing software needs to be installed on the computer according to the model and brand of the 3D laser scanner. The computer includes a data acquisition module, a data processing module, a three-dimensional modeling module, a data storage and management module, a user interaction module and a control module; The data acquisition module is connected to the three-dimensional laser scanner via USB or HDMI, and the data acquisition module is responsible for receiving the point cloud data transmitted by the three-dimensional laser scanner; The data processing module usually relies on professional Context Capture software to provide a wealth of data processing algorithms and tools. The data processing module is used to pre-process the received point cloud data to improve the quality and accuracy of the data; The 3D modeling module converts the point cloud data into an intuitive 3D model through data structures such as a triangular mesh model, a 3D wireframe model or a 3D surface model, and constructs a 3D model of the wall using the processed point cloud data; The data storage and management module usually uses a hard disk or cloud storage medium to ensure data security and accessibility. The data storage and management module is responsible for storing and managing the scanned point cloud data and the constructed three-dimensional model; The user interaction module includes a graphical operation interface, clear menus and buttons, and real-time data feedback functions to improve the user experience. The user interaction module provides users with a friendly operation interface and interaction mode, allowing users to conveniently control the scanning process, view scanning results, and perform subsequent operations; The control module communicates with the three-dimensional laser scanner through a specific communication protocol to ensure the stability and accuracy of the scanning process. The control module is responsible for controlling the scanning process of the three-dimensional laser scanner.

7. The three-dimensional wall scanning system based on point cloud data according to claim 6, characterized in that: When installing the data processing software, you need to ensure that the version of the data processing software matches the model of the 3D laser scanner to avoid compatibility issues.

8. The three-dimensional wall scanning system based on point cloud data according to claim 6, characterized in that: The hardware configuration of the computer needs to meet the requirements of the 3D laser scanner and data processing software to ensure the smoothness and accuracy of data processing.

9. The three-dimensional wall scanning system based on point cloud data according to claim 6, characterized in that: The operating system of the computer needs to match the compatibility of the 3D laser scanner and the data processing software to avoid connection failure or data processing errors caused by compatibility issues.

10. The three-dimensional wall scanning system based on point cloud data according to claim 6, characterized in that: Before connecting the 3D laser scanner, you need to install the corresponding driver on the computer. The driver is the basis for communication and data transmission between the 3D laser scanner and the computer.

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