Track-based hollowing collection method and detection surface hollowing collection method

Abstract

The invention provides a track-based hollowing collection method and a detection surface hollowing collection method, and the method comprises the steps: carrying out the push-broom of a detection surface along a current track, and collecting the point cloud data and echo data corresponding to each sampling point in the current track; based on the coordinate information of the point cloud data, obtaining the position information of each sampling point on the detection surface; obtaining the hollowing degree corresponding to each sampling point by extracting sound wave characteristics in the echo data; based on the hollowing degree corresponding to each sampling point on the current track, acquiring a hollowing acquisition result corresponding to the current track; according to the invention, the collection efficiency is effectively improved, and the collection precision and accuracy are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building monitoring, and in particular to a trajectory-based hollowing collection method and a detection surface hollowing collection method, a terminal and a computer storage medium. Background Art

[0002] Hollow walls can cause the wall finishing layer to fall off easily, which may threaten people's lives and property safety.

[0003] Existing hollowing detection methods usually adopt visual inspection or scratching detection methods, that is, observing the flatness of the wall with human eyes and detecting the scratching sound of the wall with human ears, combined with manual experience to judge whether there is hollowing in the wall; however, although the visual inspection method is simple to operate and low in cost, it is only applicable to the case where the hollowing problem of the exterior wall is more obvious, and it cannot effectively detect the hollowing inside the wall with a flat surface; and the scratching detection method can only preliminarily judge whether there is a hollowing problem inside the wall, and cannot quantitatively evaluate the degree of hollowing, that is, the size of the gap or the depth of the depression;

[0004] In addition, the detected wall hollows are usually recorded by drawing circles on the detection surface, which cannot display the distribution position and degree of the hollows on the detection surface in real time, resulting in low hollow detection efficiency and unsatisfactory detection results. Summary of the invention

[0005] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide a trajectory-based hollowing collection method, a detection surface hollowing collection method, a terminal and a computer storage medium, which can solve the problems that the existing methods are unable to obtain the position and degree of hollowing on the detection surface in real time during the detection process, resulting in low hollowing detection efficiency and unsatisfactory detection effect.

[0006] To achieve the above-mentioned and other related purposes, the present invention provides a trajectory-based hollow drum collection method in a first aspect, comprising:

[0007] The detection surface is pushed and scanned along the current trajectory, and point cloud data and echo data corresponding to each sampling point in the current trajectory are collected simultaneously; based on the coordinate information of the point cloud data, the position information of each sampling point on the detection surface is obtained; and by extracting the acoustic wave characteristics in the echo data, the hollowing degree corresponding to each sampling point is obtained; based on the hollowing degree corresponding to each sampling point on the current trajectory, the hollowing collection result corresponding to the current trajectory is obtained.

[0008] In some embodiments of the first aspect, for a single sampling point, the point cloud data and the echo data are collected by:

[0009] At the sampling moment corresponding to the current sampling point, the laser measurement and the acoustic wave measurement corresponding to the moment are performed to obtain the point cloud data and the echo data corresponding to the current sampling point; or the sampling period corresponding to the current sampling point is determined; each point cloud data and each echo data within the sampling period are respectively integrated to obtain the point cloud data and the echo data corresponding to the current sampling point.

[0010] In some embodiments of the first aspect, for a single sampling point, the point cloud data and the echo data are collected by:

[0011] At the sampling moment corresponding to the current sampling point, the laser measurement and the acoustic wave measurement corresponding to the moment are performed to obtain the point cloud data and the echo data corresponding to the current sampling point; or the sampling period corresponding to the current sampling point is determined; each point cloud data and each echo data within the sampling period are respectively integrated to obtain the point cloud data and the echo data corresponding to the current sampling point.

[0012] In some embodiments of the first aspect, for a single sampling point, the method for obtaining the hollowing degree includes:

[0013] Acquire the echo signals corresponding to the current sampling point, and extract the signal strength in the echo signals; take the average of the signal strengths of the echo signals, and use the average as the acoustic wave feature corresponding to the current sampling point; and acquire the hollowness degree corresponding to the acoustic wave feature based on the mapping relationship between the acoustic wave feature and the hollowness degree.

[0014] In some embodiments of the first aspect, for a single sampling point, the method for obtaining the hollowing degree includes:

[0015] Perform Fourier transform on the echo signal corresponding to the current sampling point, and convert the power spectrum in the echo signal into a corresponding frequency spectrum; in the frequency spectrum, extract the frequency spectrum segment within the target frequency range as the target spectrum segment; and perform weighted averaging on each frequency value in the target spectrum segment, and use the weighted average value as the sound wave feature corresponding to the current sampling point; according to the mapping relationship between the sound wave feature and the hollowness degree, obtain the hollowness degree corresponding to the sound wave feature.

[0016] In some embodiments of the first aspect, the trajectory-based hollow drum collection method further includes:

[0017] According to the corresponding relationship between the hollowing degree and the rendering mode, the hollowing collection result corresponding to the current track is rendered and displayed.

[0018] In some embodiments of the first aspect, the method for acquiring the correspondence between the hollowing degree and the rendering mode includes:

[0019] Obtain a preset degree range and rendering color band of the hollowing degree; perform linear interpolation on the degree range to obtain a plurality of degree intervals; based on the number of degree intervals, perform color division on the rendering colors contained in the rendering color band in a color gradient order; based on the division order, perform one-to-one correspondence between each divided rendering color and the degree interval to obtain a corresponding relationship between each degree interval and the rendering color.

[0020] To achieve the above-mentioned and other related purposes, the present invention provides a method for collecting hollow drums on a detection surface in a second aspect, comprising:

[0021] Scan the detection surface along the current trajectory, and use any of the trajectory-based hollow drum collection methods as described above to obtain the hollow drum collection result corresponding to the current trajectory; based on the hollow drum collection result, update the current total collection result; in the hollow drum collection result, extract the hollow drum segment in the current trajectory, and obtain the distribution density of the hollow drum segment in the current trajectory; determine the trajectory interval according to the distribution density; based on the trajectory interval, determine the distribution of the next trajectory; use the next trajectory as the new current trajectory and re-execute the hollow drum collection.

[0022] In some embodiments of the second aspect, the implementation method of determining the track interval according to the distribution density includes:

[0023] Detect the relationship between the hollow drum distribution density of the current trajectory and the hollow drum distribution density of the previous trajectory; when it is greater than the distribution density of the previous trajectory, reduce the current trajectory interval, and detect whether the reduced trajectory interval is less than the minimum interval threshold. If so, use the minimum interval threshold as the new trajectory interval, if not, use the reduced trajectory interval as the new trajectory interval; when it is less than the distribution density of the previous trajectory, increase the current trajectory interval, and detect whether the increased trajectory interval is greater than the maximum interval threshold. If so, use the maximum interval threshold as the new trajectory interval, if not, use the increased trajectory interval as the new trajectory interval.

[0024] The present invention also provides a terminal in a third aspect, comprising: a processor and a memory, wherein the memory is communicatively connected to the processor; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal executes any of the trajectory-based hollow drum collection methods described above, or executes any of the detection surface hollow drum collection methods described above.

[0025] In a fourth aspect, the present invention further provides a computer storage medium storing a computer program, wherein the computer program is executed by a processor to perform any of the above-described trajectory-based hollow drum collection methods, or to perform any of the above-described detection surface hollow drum collection methods.

[0026] In summary, the trajectory-based hollowing collection method and the detection surface hollowing collection method, terminal and computer storage medium provided by the present invention, through push-sweeping the detection surface to be detected along the current trajectory, and collecting point cloud data and echo data corresponding to each sampling point in the current trajectory while push-sweeping, so as to obtain the position information of the sampling point on the wall based on the point cloud data and the hollowing degree information corresponding to each sampling point based on the echo data, thereby synchronously realizing the efficient positioning of the hollowing position and the fast and accurate acquisition of the hollowing degree during the push-sweeping process, and there is no need to wait for the end of the push-sweeping process, and the collection results of the hollowing degree can be obtained in real time, which not only effectively improves the collection efficiency but also greatly improves the collection precision and accuracy, and provides effective support and guarantee for the formulation of subsequent hollowing control plans. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Shown is a schematic structural diagram of a hollow drum collecting device according to an embodiment of the present invention.

[0028] Figure 2 Shown is a schematic flow chart of a trajectory-based hollow drum collection method according to an embodiment of the present invention.

[0029] Figure 3 It is a schematic diagram of the flow of step S300 in one embodiment of the present invention.

[0030] Figure 4 Shown is a schematic diagram of the sound wave characteristics collected at different knocking forces in the present invention.

[0031] Figure 5 It is a flow chart of step S300 in another embodiment of the present invention.

[0032] Figure 6 Shown is a schematic flow chart of another embodiment of the trajectory-based hollow drum collection method of the present invention.

[0033] Figure 7 Shown is a schematic diagram of the synchronous rendering display corresponding to the hollow drum collection result described in the present invention.

[0034] Figure 8 Shown is a schematic flow chart of a detection surface hollowing collection method according to an embodiment of the present invention.

[0035] Fig. 9 It is a structural schematic diagram showing the hollowing degree corresponding to each sampling point in one embodiment of the present invention.

[0036] Fig.10 It is a schematic flow chart of an implementation method of determining the track interval according to the distribution density in one embodiment of the present invention.

[0037] Fig.11 Shown is a schematic diagram of the structure of the terminal according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0039] It should be noted that in the following description, reference is made to the accompanying drawings, which describe several embodiments of the present application. It should be understood that other embodiments may be used, and mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present application.

[0040] Also, as used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprises", "includes", "includes" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination.

[0041] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the technical solution in the embodiments of the present invention is further described in detail through the following embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the invention.

[0042] In order to solve the technical problems existing in the prior art, the present application first provides a trajectory-based hollowing collection method, which uses a hollowing collection device to push and sweep the detection surface to be detected along a preset trajectory, and during the pushing and sweeping process, collects the hollowing degree in the detection surface area covered by the trajectory.

[0043] The trajectory is the corresponding push-sweeping path when the hollow drum collection device pushes and sweeps the detection surface.

[0044] The hollowing degree is a parameter used to characterize the size of the structural space such as the gap, hole or depression between the peeling layer and the base layer on the detection surface; illustratively, the hollowing degree is the distance difference between the gap, hole or depression and the surrounding normal detection surface;

[0045] The detection surface is the surface of an object with a coating layer, including but not limited to a wall, a ground, etc.

[0046] In the present application, the hollowing acquisition device acquires the hollowing degree corresponding to each sampling point in the current trajectory based on a preset sampling frequency to obtain the hollowing acquisition result corresponding to the current trajectory.

[0047] In some optional embodiments, such as Figure 1 As shown, the hollow drum collection device 100 is an integrated collection device including at least a positioning unit 110 and a sound wave collection unit 120;

[0048] The positioning unit 110 is a component for obtaining the position information of each sampling point on the detection surface; illustratively, the positioning unit is a laser radar, which obtains the position information of each sampling point on the detection surface by collecting point cloud data;

[0049] The sound wave collection unit 120 is a component that uses ultrasonic signals to collect the hollowness level corresponding to each sampling point; illustratively, the sound wave collection unit is a directional microphone that obtains the hollowness level information corresponding to each sampling point by collecting echo signals.

[0050] In a preferred embodiment, the laser radar adopts a single-threaded laser radar, which can quickly acquire two-dimensional point cloud data to meet the needs of fast scanning and data collection in mobile scenarios; and the directional microphone adopts a super-cardioid directional microphone, thereby reducing the effect of ambient noise on the collection process and effectively reducing the noise signal contained in the collected echo signal.

[0051] Based on the above hollow drum collection device, the trajectory-based hollow drum collection method provided in the embodiment of the present application performs hollow drum degree collection along a single trajectory, such as Figure 2 As shown, the following steps are included:

[0052] S100, scanning the detection surface along the current trajectory, and collecting point cloud data and echo data corresponding to each sampling point in the current trajectory during the scanning;

[0053] In this embodiment, the hollow drum collection device is used to sweep the detection surface to be detected by a scraping method; that is, the front end surface of the hollow drum collection device is attached to the detection surface, and the hollow drum collection device is driven to move on the detection surface along the current trajectory to realize the sweeping process of the detection surface along the current trajectory.

[0054] During the push-scan process, laser measurement and acoustic wave measurement are performed according to a preset measurement frequency, that is, the laser radar is controlled to collect corresponding point cloud data according to a preset sampling frequency, and the directional microphone is controlled to collect corresponding echo data according to the same sampling frequency, so as to obtain point cloud data and echo data corresponding to each sampling point.

[0055] Wherein, the measurement frequency is not less than the sampling frequency.

[0056] It should be noted that the measurement frequency corresponding to the laser measurement may be the same as or different from the measurement frequency corresponding to the sound wave measurement, and is not specifically limited here.

[0057] In a specific implementation, the measurement frequency corresponding to the laser measurement and the measurement frequency corresponding to the acoustic wave measurement are the same as the sampling frequency. For a single sampling point in the current trajectory, the point cloud data and the echo data are collected in a manner including:

[0058] At the sampling moment corresponding to the current sampling point, the laser measurement and the acoustic wave measurement corresponding to the moment are performed to obtain the point cloud data and the echo data corresponding to the current sampling point;

[0059] Specifically, during the push-scan process, it is detected in real time whether the current moment is the sampling moment corresponding to the current sampling point. If so, the laser measurement at the current moment is triggered to collect the corresponding point cloud data, and the corresponding acoustic wave measurement at the current moment is triggered to collect the corresponding echo data; the collected point cloud data and echo data are used as the point cloud data and echo data corresponding to the current sampling point.

[0060] Among them, the sampling moment is a moment predetermined in the current push-scan process based on a preset sampling frequency; exemplarily, when the sampling frequency is 1 time / second, the corresponding sampling moments are the 1st second, the 2nd second, the 3rd second, ..., and so on.

[0061] In another specific embodiment, the measurement frequency corresponding to the laser measurement and the measurement frequency corresponding to the acoustic wave measurement are both different from the sampling frequency. For a single sampling point in the current trajectory, the point cloud data and the echo data are collected in a manner including:

[0062] Determine the sampling period corresponding to the current sampling point; respectively integrate each point cloud data and each echo data within the sampling period to obtain the point cloud data and echo data corresponding to the current sampling point;

[0063] Among them, the sampling period is the time period between the current sampling point and the previous sampling point; that is, the sampling moment corresponding to the previous sampling point is the first sampling moment, the sampling moment corresponding to the current sampling point is the second sampling moment, and the time period between the first sampling moment and the second sampling moment is used as the sampling period corresponding to the current sampling point.

[0064] Specifically, during the push-scan process, each laser measurement is performed according to a preset measurement frequency, and corresponding point cloud data is collected to obtain the point cloud data corresponding to each measurement moment; at the same time, each acoustic wave measurement is performed according to a preset measurement frequency, and corresponding echo data is collected to obtain the echo data corresponding to each measurement moment.

[0065] According to the sampling period corresponding to the current sampling point, the point cloud data of each point located within the sampling period at the measurement time is extracted, the collected point cloud data are integrated, and the integrated point cloud data is used as the point cloud data corresponding to the current sampling point; similarly, according to the sampling period corresponding to the current sampling point, the echo data of each echo located within the sampling period at the measurement time is extracted, the collected echo data are integrated, and the integrated echo data is used as the echo data corresponding to the current sampling point.

[0066] In some optional embodiments, when step S100 is executed, it further includes:

[0067] Preprocessing the collected point cloud data and echo signal respectively;

[0068] Specifically, performing data preprocessing on the collected point cloud data, including filtering, coordinate conversion, etc., to improve the accuracy of the collected point cloud data;

[0069] Furthermore, data preprocessing is performed on each collected echo signal, including filtering and noise reduction, signal enhancement, etc., to improve the accuracy of the collected echo data.

[0070] In order to make the echo signals corresponding to the collected sampling points more accurately and objectively conform to the actual distribution of the detection surface, in some optional embodiments, the method for acquiring the echo data corresponding to the current sampling point also includes:

[0071] Determine the current acquisition time corresponding to the current sampling point, and determine the previous acquisition time corresponding to the previous sampling point; use the echo signals collected between the current sampling time and the previous sampling time as the echo signals corresponding to the current sampling point; perform signal processing on the echo signals corresponding to the sampling points to obtain the sound wave information corresponding to each echo signal; perform mean processing on each sound wave information, and use the obtained mean of the sound wave information as the echo data corresponding to the sampling point.

[0072] S200, obtaining position information of each sampling point on the detection surface based on the coordinate information of the point cloud data;

[0073] Among them, the spatial position of the sampling point on the detection surface is the position of the hollow drum collection device relative to the detection surface at the collection time corresponding to each sampling point; the scanning area range corresponding to the sampling point is the local area range that can be collected by the hollow drum collection device on the detection surface at the collection time corresponding to each sampling point.

[0074] In this embodiment, the point cloud data includes the spatial coordinates of each point cloud and the distance from the point cloud to the laser radar; based on the spatial coordinates and distance of each point cloud, combined with the detection surface coordinates corresponding to the laser radar at the initial measurement point, coordinate transformation is performed on the spatial coordinates of each point cloud to obtain the detection surface coordinate value (x, y) of each point cloud relative to the detection surface;

[0075] In some other optional embodiments, the method of acquiring the position information of the sampling point on the detection surface includes:

[0076] Based on the spatial coordinates of each point cloud data corresponding to the current sampling point, determine the detection surface coordinates corresponding to the four corner points in the outline rectangle (maximum circumscribed rectangle) formed by each point cloud data, namely, the upper left corner, lower left corner, upper right corner and lower right corner through manual annotation or automatic detection methods;

[0077] Based on the detection surface coordinates of the four corner points, the area range of the scanning area corresponding to the current sampling point on the detection surface is determined, and the coordinates of the center point of the area range are used as the position information of the current sampling point on the detection surface.

[0078] S300, obtaining the hollowing degree corresponding to each sampling point by extracting the acoustic wave features in the echo data;

[0079] Specifically, for a single sampling point, when step S300 is executed, Figure 3 As shown, including:

[0080] S310, acquiring each of the echo signals corresponding to the current sampling point, and extracting the signal strength in the echo signal;

[0081] S320, taking an average of the signal strengths of the echo signals, and using the average as the acoustic wave feature corresponding to the current sampling point;

[0082] S330, according to the mapping relationship between the sound wave feature and the hollowness degree, obtaining the hollowness degree corresponding to the sound wave feature.

[0083] The mapping relationship between the acoustic wave characteristics and the hollowing degree is a corresponding relationship constructed based on a priori testing or experience.

[0084] In some embodiments, when the detection surface is uneven or the equipment is not operated properly, when the hollow drum collection device is used to push and sweep the detection surface, a slight bump or knock will occur between the device and the detection surface, causing the intensity of the sound wave signal corresponding to the same sampling point to change. When the power spectrum in the echo signal is used to calculate and extract the sound wave features, the extraction result will be inaccurate and offset, thereby affecting the accuracy of the hollow drum collection result. For a clearer explanation of the above defects, please refer to Figure 3 , which is a schematic diagram showing the results of calculating and extracting the acoustic wave characteristics according to the power spectrum when the echo signal is collected under three kinds of striking strength for the same hollow drum; Figure 4 As shown, Figure 4 The horizontal axis in represents different striking forces, and the vertical axis represents different sound wave power values ​​(as sound wave characteristics); Figure 4 It can be seen that for different knocking forces, the collected sound wave characteristics will be significantly different.

[0085] Based on this, in order to further improve the accuracy of the hollow drum collection result, in some optional embodiments, when the step S300 is executed, Figure 5 As shown, it can also be:

[0086] S301, performing Fourier transform on the power spectrum contained in the echo signal to obtain a corresponding frequency spectrum;

[0087] S302, extracting, from the frequency spectrum, a frequency spectrum segment within a target frequency range as a target spectrum segment;

[0088] S303, performing weighted averaging on each frequency value in the target spectrum segment, and taking the weighted average value as the acoustic wave feature corresponding to the current sampling point;

[0089] S304, according to the mapping relationship between the sound wave feature and the hollowness degree, obtaining the hollowness degree corresponding to the sound wave feature.

[0090] Wherein, the target frequency range is a preset frequency range; illustratively, the target frequency is 1000 to 3000 Hz.

[0091] In a specific implementation, performing Fourier transform on the echo signal includes:

[0092]

[0093] Where f is the frequency variable; P(f) is the power spectral density of the signal, which is used to characterize the power distribution of the signal at different frequencies.

[0094] In this embodiment, by performing Fourier transform on the power spectrum in the echo signal, the acoustic wave characteristics of the echo signal are extracted based on the converted frequency spectrum, so that signal interference in the non-hollow drum frequency range can be effectively eliminated. In terms of amplitude, signal interference caused by loudness differences in the collection process such as bumps or knocks can be effectively eliminated, thereby further ensuring the accuracy of the hollow drum degree collection results.

[0095] S400, based on the hollowing degree corresponding to each sampling point on the current trajectory, obtaining the hollowing collection result corresponding to the current trajectory.

[0096] Specifically, for a single sampling point, based on the spatial position corresponding to the current sampling point and the spatial position corresponding to the previous sampling point, a line is constructed between the two sampling points as the sampling path corresponding to the current sampling point; according to the temporal order of the sampling points in the current trajectory, the sampling paths corresponding to the sampling points are connected end to end to obtain the distribution of the current trajectory; the hollowing degree corresponding to each sampling point is used as the hollowing degree corresponding to the corresponding sampling path, that is, the hollowing degree corresponding to each sampling point is superimposed on the corresponding sampling path to obtain the hollowing degree corresponding to each sampling path in the current trajectory.

[0097] In order to facilitate the real-time, rapid and intuitive display of the hollow drum collection results corresponding to the current trajectory during the push-scan process, so that the user can quickly and conveniently obtain the hollow drum degree of the detection surface in the area corresponding to the current trajectory based on the displayed hollow drum collection results, in some optional embodiments, after executing step S400, the trajectory-based hollow drum collection method is as follows: Figure 6 As shown, it also includes:

[0098] S500, rendering and displaying the hollowing collection result corresponding to the current trajectory according to the correspondence between the hollowing degree and the rendering method.

[0099] Among them, the rendering method is a visual display method of the degree of hollowing; exemplarily, the rendering method includes but is not limited to color rendering, brightness rendering, grayscale rendering or other existing rendering methods.

[0100] In a specific embodiment, the rendering method adopts color rendering;

[0101] Specifically, a preset range of hollowing degrees and a rendering color band for color rendering are obtained; linear interpolation is performed on the range of degrees to obtain a plurality of degree intervals; based on the number of degree intervals, color division is performed on the rendering colors included in the rendering color band in a color gradient order; based on the division order, each rendering color after division is matched one-to-one with each degree interval after division to obtain a corresponding relationship between each degree interval and each rendering color.

[0102] Exemplarily, the hollowing degree ranges from 0 to 35, and the rendering color band is green-yellow-orange-red. When the degree range is divided into 7 degree intervals of 0-5, 5-10, ..., 25-30 and 30-35 by linear interpolation, the rendering color band is divided into green, yellow-green, yellow, orange-yellow, orange, orange-red and red in the order of color gradient, and each degree interval is sorted according to the numerical value and corresponds to the corresponding rendering color in turn, that is, the hollowing degree and rendering method are constructed as shown in the following table:

[0103] Degree range Render Color 0-5 green 5-10 Yellow Green 10-15 yellow 15-20 Orange 20-25 orange 25-30 Orange Red 30-35 red

[0104] After obtaining the correspondence between the hollowing degree and the rendering method, the rendering color corresponding to the hollowing degree of the sampling point in the current trajectory is determined according to the correspondence; based on the corresponding rendering color, the sampling path corresponding to the sampling point is rendered and displayed in the corresponding color to achieve synchronous rendering and display of the hollowing acquisition results during the push-scan process.

[0105] Exemplarily, the synchronous rendering corresponding to the hollow drum collection result is shown as follows: Figure 7 shown.

[0106] In order to realize the rapid and automatic construction of the correspondence between the hollowing degree and the rendering mode, in some specific implementations, the method for obtaining the correspondence between the hollowing degree and the rendering mode includes:

[0107] The range of the hollowing degree is linearly interpolated to obtain the corresponding sequence {y1, y2, ..., y m ..., y n}, where n is the length of the sequence and satisfies y1 ≤ y2 ≤ ... ≤y n ; Assign the minimum value y1 in the sequence to green, and the median value y m (where m = n / 2 when n is an even number, and m = (n+1) / 2 when n is an odd number) are colored yellow; the maximum value y in the sequence n Assigned red.

[0108] Based on this, for any m The value y between i Where 1 < i < m), calculate the value y i The corresponding color color_i, and for any position y m and n The value y between j (where m < j < n), calculate the value y jThe corresponding colors color_j are

[0109] color i = green + (yellow - green) * (y i -y1) / (y m - y1);

[0110] color j = yellow + (red - yellow) * (y j -y m ) / (y n -y m ) ;

[0111] Among them, color i is the value y i The corresponding color, color j is the value y j The corresponding colors; green, yellow, and red represent the color values ​​of green, yellow, and red respectively.

[0112] The trajectory-based hollowing acquisition method provided in the present embodiment pushes and scans the inspection surface to be inspected along the current trajectory, and collects point cloud data and echo data corresponding to each sampling point in the current trajectory while pushing and scanning, so as to obtain the position information of the sampling point on the wall based on the point cloud data and the hollowing degree information corresponding to each sampling point based on the echo data, thereby obtaining the hollowing degree acquisition result in real time without waiting for the push-scanning process to end, which not only effectively improves the acquisition efficiency, but also greatly improves the acquisition precision and accuracy.

[0113] In order to solve the technical problems in the prior art, the present application also provides a method for collecting hollowing on a detection surface, which uses a hollowing collection device to perform push-scanning collection under several parallel tracks to obtain the spatial distribution of the hollowing degree in the detection surface to be detected.

[0114] See also Figure 8 , which is a schematic flow chart of the detection surface hollowing collection method in one embodiment; Figure 8 As shown, when the detection surface hollowing collection method is executed, it includes the following steps:

[0115] S10, performing push-scanning collection of hollows on the detection surface along the current trajectory to obtain hollow collection results corresponding to the current trajectory;

[0116] Specifically, based on the hollowing acquisition device and using the hollowing degree acquisition method, push-scan acquisition is performed on the detection surface area corresponding to the current trajectory to obtain the hollowing acquisition result in the area corresponding to the current trajectory.

[0117] In this embodiment, the hollowing degree collection method is the same as the trajectory-based hollowing collection method provided in the above embodiment, and will not be described again here.

[0118] S20, based on the hollow drum collection result, updating the current total collection result;

[0119] Specifically, the hollow drum collection result corresponding to the current trajectory is added to the current total collection result to obtain a new total collection result.

[0120] S30, extracting the hollow segment in the current trajectory from the hollow acquisition result, and obtaining the distribution density of the hollow segment in the current trajectory;

[0121] Wherein, the hollow segment is a hollow distribution that is continuously distributed in the trajectory;

[0122] The distribution density is a parameter used to characterize the density of hollow segments in a single track.

[0123] In this embodiment, the hollowing acquisition result corresponding to the current trajectory includes the hollowing degree corresponding to each sampling point, that is, the hollowing degree of the sampling path corresponding to each sampling point.

[0124] After obtaining the hollowing degree corresponding to each sampling point in the current trajectory, the sampling paths corresponding to the adjacent sampling points whose hollowing degree is greater than 0 are connected to obtain the corresponding hollowing segment; illustratively, the current trajectory includes the 1st sampling point to the 10th sampling point, and the hollowing degree corresponding to each sampling point is as follows: Fig. 9 As shown, the hollow segments contained in the current track include a first hollow segment S1 and a second hollow segment S2.

[0125] According to the number of hollow segments in the current track and the distribution length of the current track, the distribution density of the hollow segments in the current track is obtained.

[0126] It should be noted that, in other implementations, the distribution density may also be the extension length of the hollow drum segment in the current trajectory and the proportion of the distribution length of the current trajectory.

[0127] S40, determining a track interval according to the distribution density, determining the distribution of a next track based on the track interval, and taking the next track as a new current track to re-execute the hollow drum collection process of the detection surface.

[0128] Specifically, the distribution density of the hollow drum segments in the current track is obtained, and it is detected whether the distribution density is greater than the distribution density corresponding to the previous track. If so, the current track interval is reduced to obtain a reduced new track interval;

[0129] Based on the new track interval and in combination with the track distribution of the current track, the track distribution of the next track is determined, and the push-scanning collection process of the hollowing of the detection surface is continued along the track distribution of the next track to obtain the hollowing collection result corresponding to the next track.

[0130] It should be noted that, in the present application, step S20 and step S30 may be executed in parallel or sequentially; when executed sequentially, step S20 may be executed first or step S30 may be executed first, and the execution order of the two is not specifically limited here.

[0131] In order to improve the hollow drum collection accuracy and ensure the high collection efficiency of the hollow drum collection, in some preferred embodiments, the implementation method of determining the track interval according to the distribution density is as follows: Fig.10 As shown, including:

[0132] S31, detecting the magnitude relationship between the hollow drum distribution density of the current track and the hollow drum distribution density of the previous track;

[0133] S32a, when the distribution density is greater than that of the previous track, the current track interval is reduced, and it is detected whether the reduced track interval is less than the minimum interval threshold. If so, the minimum interval threshold is used as the new track interval. If not, the reduced track interval is used as the new track interval.

[0134] S32b, when it is less than the distribution density of the previous trajectory, the current trajectory interval is increased, and it is detected whether the increased trajectory interval is greater than the maximum interval threshold. If so, the maximum interval threshold is used as the new trajectory interval. If not, the increased trajectory interval is used as the new trajectory interval.

[0135] The minimum interval threshold and the maximum interval threshold are based on a priori testing or obtained according to experience.

[0136] The method provided in this embodiment adjusts the track interval accordingly according to the change of the hollow distribution density between adjacent tracks, so as to perform subsequent hollow degree collection based on the adjusted track interval. It not only takes into account the change of the hollow distribution density but also takes into account the collection efficiency. When the hollow distribution density in the track becomes denser, the hollow collection frequency is increased by encrypting the distribution of the track to avoid missing hollows. When the hollow distribution density in the track becomes sparse, the hollow collection frequency is reduced accordingly to ensure the collection efficiency.

[0137] Based on the same technical concept, the trajectory-based hollow drum collection method or the detection surface hollow drum collection method provided in the above embodiments of the present invention can be implemented on the terminal side or the server side.

[0138] See also Fig.11, is an optional hardware structure diagram of an electronic terminal 700 provided in an embodiment of the present invention. The electronic terminal 700 may be a live broadcast machine, a camera, a mobile phone, a computer device, a tablet device, a personal digital processing device, a factory background processing device, etc. that integrates photo / video functions. The electronic terminal 700 includes: at least one processor 701, a memory 702, at least one network interface 703 and a user interface 705. The various components in the device are coupled together through a bus system 704. It can be understood that the bus system 704 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 704 also includes a power bus, a control bus and a status signal bus.

[0139] The user interface 705 may include a display, a keyboard, a mouse, a trackball, a click gun, keys, buttons, a touch pad or a touch screen.

[0140] It is understood that the memory 702 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), which is used as an external cache. By way of exemplary but not limiting explanation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM). The memory described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable categories of memory.

[0141] The memory 702 in the embodiment of the present invention is used to store various categories of data to support the operation of the electronic terminal 700. Examples of these data include: any executable program used to operate on the electronic terminal 700, such as an operating system 7021 and an application 7022; the operating system 7021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application 7022 can include various applications, such as a media player (MediaPlayer), a browser (Browser), etc., for implementing various application services. The trajectory-based hollow drum collection method or the detection surface hollow drum collection method implementing the embodiment of the present invention can be included in the application 7022.

[0142] The method disclosed in the above embodiment of the present invention can be applied to the processor 701, or implemented by the processor 701. The processor 701 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 701 or the instruction in the form of software. The above processor 701 may be a general processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 701 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiment of the present invention. The general processor 701 may be a microprocessor or any conventional processor, etc. In combination with the steps of the accessory optimization method provided in the embodiment of the present invention, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0143] In an exemplary embodiment, the electronic terminal 700 may be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD) to execute the aforementioned method.

[0144] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is called by a processor, the trajectory-based hollow drum collection method or the detection surface hollow drum collection method provided by the present invention is implemented.

[0145] Among them, the computer-readable storage medium can be a tangible device that can hold and store instructions used by the instruction execution device. The computer-readable storage medium can be, for example, (but not limited to) an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, and a mechanical encoding device.

[0146] The computer-readable program described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. A network adapter card or a network interface in each computing / processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0147] It should be noted that, in the various embodiments of the present application, the serial numbers of the above steps do not indicate the order of execution. The execution order of the steps should be determined by their functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0148] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A trajectory-based hollow drum collection method, characterized in that: include: Scan the detection surface along the current trajectory, and collect the point cloud data and echo data corresponding to each sampling point in the current trajectory; Based on the coordinate information of the point cloud data, the position information of each sampling point on the detection surface is obtained; and by extracting the acoustic wave characteristics in the echo data, the hollowing degree corresponding to each sampling point is obtained; Based on the hollowing degree corresponding to each sampling point on the current trajectory, the hollowing collection result corresponding to the current trajectory is obtained.

2. The trajectory-based hollow drum collection method according to claim 1, characterized in that: For a single sampling point, the point cloud data and the echo data are collected in the following ways: At the sampling moment corresponding to the current sampling point, perform the laser measurement and the acoustic wave measurement corresponding to the moment to obtain the point cloud data and the echo data corresponding to the current sampling point; or Determine the sampling period corresponding to the current sampling point; and integrate each point cloud data and each echo data within the sampling period to obtain the point cloud data and echo data corresponding to the current sampling point.

3. The trajectory-based hollow drum collection method according to claim 1, characterized in that: For a single sampling point, the method for obtaining the hollowing degree includes: Acquire each echo signal corresponding to the current sampling point, and extract the signal strength in the echo signal; Taking an average of the signal strengths of the echo signals, and using the average as the acoustic wave feature corresponding to the current sampling point; According to the mapping relationship between the sound wave feature and the hollowness degree, the hollowness degree corresponding to the sound wave feature is obtained.

4. The trajectory-based hollow drum collection method according to claim 1, characterized in that: For a single sampling point, the method for obtaining the hollowing degree includes: Performing Fourier transform on the echo signal corresponding to the current sampling point, converting the power spectrum in the echo signal into a corresponding frequency spectrum; In the frequency spectrum, extract a frequency spectrum segment within a target frequency range as a target spectrum segment; and perform weighted averaging on each frequency value in the target spectrum segment, and use the weighted average value as the sound wave feature corresponding to the current sampling point; According to the mapping relationship between the sound wave feature and the hollowness degree, the hollowness degree corresponding to the sound wave feature is obtained.

5. The trajectory-based hollow drum collection method according to claim 1, characterized in that: Also includes: According to the corresponding relationship between the hollowing degree and the rendering mode, the hollowing collection result corresponding to the current track is rendered and displayed.

6. The trajectory-based hollow drum collection method according to claim 1, characterized in that: The method for obtaining the corresponding relationship between the hollowing degree and the rendering mode includes: Get the preset range of hollowing degree and rendering color band; performing linear interpolation on the degree range to obtain a plurality of degree intervals; Based on the number of degree intervals, color division is performed on the rendering colors included in the rendering color band in a color gradient order; Based on the division order, each divided rendering color is matched with the degree interval one by one to obtain the corresponding relationship between each degree interval and the rendering color.

7. A method for collecting hollowing of a detection surface, characterized in that: include: Scanning the detection surface along the current trajectory, and obtaining the hollow drum collection result corresponding to the current trajectory using the trajectory-based hollow drum collection method as described in any one of claims 1 to 6; Based on the hollow drum collection result, update the current total collection result; Extracting the hollow segment in the current track from the hollow acquisition result, and obtaining the distribution density of the hollow segment in the current track; According to the distribution density, the track interval is determined; based on the track interval, the distribution of the next track is determined; the next track is used as a new current track, and the hollow drum collection is re-executed.

8. The method for collecting hollowing on a detection surface according to claim 7, characterized in that: The implementation method of determining the track interval according to the distribution density includes: Detect the relationship between the hollow drum distribution density of the current track and the hollow drum distribution density of the previous track; When it is greater than the distribution density of the previous trajectory, the current trajectory interval is reduced, and it is detected whether the reduced trajectory interval is less than the minimum interval threshold. If so, the minimum interval threshold is used as the new trajectory interval. If not, the reduced trajectory interval is used as the new trajectory interval. When it is less than the distribution density of the previous trajectory, the current trajectory interval is increased, and it is detected whether the increased trajectory interval is greater than the maximum interval threshold. If so, the maximum interval threshold is used as the new trajectory interval. If not, the increased trajectory interval is used as the new trajectory interval.

9. A terminal, characterized in that: include: A processor and a memory, wherein the memory is communicatively connected to the processor; The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory, so that the terminal executes the trajectory-based hollow drum collection method as described in any one of claims 1 to 6, or executes the detection surface hollow drum collection method as described in any one of claims 7 to 8.

10. A computer storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the trajectory-based hollow drum collection method as described in any one of claims 1 to 6 is implemented, or the detection surface hollow drum collection method as described in any one of claims 7 to 8 is implemented.

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