Track-based Hollow Drum Acquisition Method and Hollow Drum Acquisition Method for Detection Surface

Abstract

The present invention provides a method for collecting hollow drums based on a trajectory and a method for collecting hollow drums on a detection surface. The method includes: pushing and sweeping the detection surface along the current trajectory, and simultaneously collecting point cloud data and echo data corresponding to each sampling point in the current trajectory; obtaining the position information of each sampling point on the detection surface based on the coordinate information of the point cloud data; and obtaining the degree of hollow drum corresponding to each sampling point by extracting the acoustic wave characteristics in the echo data; obtaining the hollow drum collection result corresponding to the current trajectory based on the degree of hollow drum corresponding to each sampling point on the current trajectory; The present invention not only effectively improves the collection efficiency, but also greatly improves the collection accuracy and precision.

Description

Technical Field

[0001] The present invention relates to the technical field of building monitoring, and particularly to a method for collecting hollowing based on a trajectory, a method for collecting hollowing on a detection surface, a terminal, and a computer storage medium. Background Art

[0002] Hollowing in the wall surface can cause the wall decoration layer to easily fall off, which may pose a threat to people's lives and property safety.

[0003] Existing methods for detecting hollowing usually adopt visual inspection methods or scratch detection methods, etc., that is, by observing the flatness of the wall surface with the human eye and detecting the scratch sound of the wall surface with the human ear, and combining with manual experience to judge whether there is hollowing in the wall surface; 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 obvious, and it cannot effectively detect the internal hollowing of the wall surface with a flat surface; while the scratch detection method can only preliminarily judge whether there is an internal hollowing problem in the wall surface, and cannot quantitatively evaluate the degree of hollowing, that is, the size of the gap or the depth of the depression, etc.;

[0004] In addition, for the detected hollowing in the wall surface, its recording method usually adopts the method of drawing circles on the detection surface and marking them on the wall surface, and it cannot display the distribution position and the degree of hollowing of the hollowing on the detection surface in real time, resulting in low detection efficiency of the hollowing and unsatisfactory detection effect, etc. Summary of the Invention

[0005] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a method for collecting hollowing based on a trajectory, a method for collecting hollowing on a detection surface, a terminal, and a computer storage medium, which can solve the problems that the existing methods cannot obtain the position and the degree of hollowing of the hollowing on the detection surface in real time during the detection process, resulting in low detection efficiency of the hollowing and unsatisfactory detection effect, etc.

[0006] To achieve the above object and other related objects, the present invention provides a method for collecting hollowing based on a trajectory in the first aspect, including:

[0007] Pushing and sweeping the detection surface along the current trajectory, and simultaneously collecting the point cloud data and the echo data corresponding to each sampling point in the current trajectory; obtaining the position information of each sampling point on the detection surface based on the coordinate information of the point cloud data; and obtaining the degree of hollowing corresponding to each sampling point by extracting the acoustic wave characteristics in the echo data; obtaining the hollowing collection result corresponding to the current trajectory based on the degree of hollowing corresponding to each sampling point on the current trajectory.

[0008] In some embodiments of the first aspect, for a single sampling point, the collection methods of the point cloud data and the echo data include:

[0009] At the sampling moment corresponding to the current sampling point, perform the laser measurement and acoustic wave measurement corresponding to this moment to obtain the point cloud data and echo data corresponding to the current sampling point; or determine the sampling period corresponding to the current sampling point; comprehensively process each point cloud data and each echo data within this sampling period respectively to obtain the point cloud data and echo data corresponding to the current sampling point.

[0010] In some embodiments of the first aspect, for a single sampling point, the acquisition methods of the point cloud data and the echo data include:

[0011] At the sampling moment corresponding to the current sampling point, perform the laser measurement and acoustic wave measurement corresponding to this moment to obtain the point cloud data and echo data corresponding to the current sampling point; or determine the sampling period corresponding to the current sampling point; comprehensively process each point cloud data and each echo data within this sampling period respectively to obtain the point cloud data and echo data corresponding to the current sampling point.

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

[0013] Obtain each of the echo signals corresponding to the current sampling point, and extract the signal intensity in the echo signals; take the average value of the signal intensities of each of the echo signals, and use this average value as the acoustic wave feature corresponding to the current sampling point; according to the mapping relationship between the acoustic wave feature and the degree of hollowing, obtain the degree of hollowing corresponding to this acoustic wave feature.

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

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

[0016] In some embodiments of the first aspect, the hollowing acquisition method based on the trajectory further includes:

[0017] According to the corresponding relationship between the degree of hollowing and the rendering method, perform rendering display on the hollowing acquisition result corresponding to the current trajectory.

[0018] In some embodiments of the first aspect, the acquisition method of the corresponding relationship between the degree of hollowing and the rendering method includes:

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

[0020] To achieve the above and other related purposes, the present invention provides a method for collecting hollowing of a detection surface in a second aspect, including:

[0021] Push and sweep the detection surface along the current trajectory, and use any of the above-mentioned trajectory-based hollowing collection methods to obtain the hollowing collection result corresponding to the current trajectory; update the current total collection result based on this hollowing collection result; in the hollowing collection result, extract the hollowing segments in the current trajectory and obtain the distribution density of the hollowing segments in the current trajectory; determine the trajectory interval according to the distribution density; determine the distribution of the next trajectory based on this trajectory interval; take the next trajectory as the new current trajectory and re-perform hollowing collection.

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

[0023] Detect the magnitude relationship between the hollowing distribution density of the current trajectory and that of the previous trajectory; when it is greater than the distribution density of the previous trajectory, then reduce the current trajectory interval, and detect whether the reduced trajectory interval is less than the minimum interval threshold. If so, use this 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, then increase the current trajectory interval, and detect whether the increased trajectory interval is greater than the maximum interval threshold. If so, use this 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, including: a processor and a memory, and 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 above-mentioned trajectory-based hollowing collection methods or executes any of the above-mentioned methods for collecting hollowing of a detection surface.

[0025] The present invention also provides a computer storage medium in a fourth aspect. The computer storage medium stores a computer program, and the computer program is executed by a processor to execute any of the above-mentioned trajectory-based hollowing collection methods or execute any of the above-mentioned methods for collecting hollowing of a detection surface.

[0026] In summary, the trajectory-based hollow drum acquisition method, the hollow drum acquisition method for the detection surface, the terminal, and the computer storage medium provided by the present invention push and sweep the detection surface to be detected along the current trajectory, and collect the point cloud data and echo data corresponding to each sampling point in the current trajectory while pushing and sweeping, so as to obtain the position information of the sampling point on the wall surface based on the point cloud data and the hollow drum degree information corresponding to each sampling point based on the echo data, thereby realizing the efficient positioning of the hollow drum position and the rapid and accurate acquisition of the hollow drum degree synchronously during the pushing and sweeping process, without waiting for the end of the pushing and sweeping process, and the acquisition result of the hollow drum degree can be obtained in real time, which not only effectively improves the acquisition efficiency but also greatly improves the acquisition accuracy and precision, providing effective support and guarantee for the formulation of subsequent hollow drum treatment plans. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It shows a schematic structural diagram of the hollow drum acquisition device according to an embodiment of the present invention.

[0028] Figure 2 It shows a schematic flow diagram of the trajectory-based hollow drum acquisition method according to an embodiment of the present invention.

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

[0030] Figure 4 It shows a schematic diagram of the acoustic wave characteristics collected under different knocking forces in the present invention.

[0031] Figure 5 It shows a schematic flow diagram of step S300 of the present invention in another embodiment.

[0032] Figure 6 It shows a schematic flow diagram of the trajectory-based hollow drum acquisition method of the present invention in another embodiment.

[0033] Figure 7 It shows a schematic diagram of the synchronous rendering display corresponding to the hollow drum acquisition result of the present invention.

[0034] Figure 8 It shows a schematic flow diagram of the detection surface hollow drum acquisition method according to an embodiment of the present invention.

[0035] Figure 9 It shows a schematic structural diagram of the hollow drum degree corresponding to each sampling point according to an embodiment of the present invention.

[0036] Figure 10 It shows a schematic flow diagram of the implementation manner of determining the trajectory interval according to the distribution density in the present invention in an embodiment.

[0037] Figure 11 It shows a schematic structural diagram of the terminal according to an embodiment of the present invention. Detailed implementation manners

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

[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 can also be used, and mechanical composition, structure, electrical, and operational changes can 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 "comprising", "including" indicate the presence of the described features, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or meaning any one or any combination.

[0041] To make the purpose, technical solutions, and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention are further described in detail through the following embodiments 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] To solve the technical problems existing in the prior art, the present application first provides a method for collecting hollowing based on a trajectory, using a hollowing collection device to push and sweep a detection surface to be detected along a preset trajectory, and during the pushing and sweeping process, collecting the degree of hollowing in the area of the detection surface covered by the trajectory.

[0043] Wherein, the trajectory is the pushing path corresponding to the hollowing collection device when pushing and sweeping the detection surface.

[0044] The degree of hollowing is a parameter used to characterize the size of structural spaces such as gaps, cavities, or depressions between the peeling layer and the base layer on the detection surface; exemplarily, the degree of hollowing is the distance difference between the gap, cavity, 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 wall surfaces, floor surfaces, etc.

[0046] In this application, the hollow drum acquisition device acquires the degree of hollow drum corresponding to each sampling point in the current trajectory based on a preset sampling frequency, so as to obtain the hollow drum acquisition result corresponding to the current trajectory.

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

[0048] Among them, the positioning unit 110 is a component for obtaining the position information of each sampling point on the detection surface; Exemplarily, the positioning unit is a lidar, which obtains the position information of each sampling point on the detection surface by collecting point cloud data;

[0049] The acoustic wave acquisition unit 120 is a component for using ultrasonic signals to acquire the degree of hollow drum corresponding to each sampling point; Exemplarily, the acoustic wave acquisition unit is a directional microphone, which obtains the degree of hollow drum information corresponding to each sampling point by collecting echo signals.

[0050] In a preferred implementation manner, the lidar adopts a single-threaded lidar, which can quickly obtain two-dimensional point cloud data to meet the fast scanning and data acquisition in a mobile scenario; and, the directional microphone adopts a supercardioid directional microphone, so as to reduce the influence of ambient noise on the acquisition process and effectively reduce the noise signals contained in the collected echo signals.

[0051] Based on the above hollow drum acquisition device, when the trajectory-based hollow drum acquisition method provided in the embodiments of this application performs the acquisition of the degree of hollow drum along a single trajectory, such as Figure 2 As shown, it includes the following steps:

[0052] S100, push and sweep the detection surface along the current trajectory, and while pushing and sweeping, collect the point cloud data and echo data corresponding to each sampling point in the current trajectory;

[0053] In this embodiment, the scraping method is used to push and sweep the detection surface to be detected by using the hollow drum acquisition device; that is, the front end surface of the hollow drum acquisition device is attached to the detection surface, and the hollow drum acquisition device is driven to move along the current trajectory on the detection surface to realize the process of pushing and sweeping 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, and the sampling moment corresponding to the current sampling point is the second sampling moment. 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 pushbroom process, each laser measurement is performed according to a preset measurement frequency, and the 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 the 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, each point cloud data whose measurement moment is within this sampling period is extracted, and the collected point cloud data is synthesized. The synthesized 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, each echo data whose measurement moment is within this sampling period is extracted, and the collected echo data is synthesized. The synthesized echo data is used as the echo data corresponding to the current sampling point.

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

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

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

[0069] And performing data preprocessing 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 each sampling point collected more accurately and objectively conform to the actual distribution of the detection surface, in some optional embodiments, the acquisition method of the echo data corresponding to the current sampling point further includes:

[0071] Determine the current acquisition moment corresponding to the current sampling point and the previous acquisition moment corresponding to the previous sampling point; the echo signals collected between the current sampling moment and the previous sampling moment are used as the echo signals corresponding to the current sampling point; perform signal processing on each echo signal corresponding to the sampling point to obtain the acoustic wave information corresponding to each echo signal; perform mean processing on each acoustic wave information, and use the obtained mean value of the acoustic wave information as the echo data corresponding to the sampling point.

[0072] S200. Based on the coordinate information of the point cloud data, obtain the position information of each sampling point on the detection surface;

[0073] Among them, the spatial position of the sampling point on the detection surface is the position of the hollow drum acquisition device relative to the detection surface at the acquisition moment corresponding to each sampling point; the scanning area range corresponding to the sampling point is the local area range that the hollow drum acquisition device can collect on the detection surface at the acquisition moment 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 lidar. Based on the spatial coordinates and distances of each point cloud, combined with the detection surface coordinates corresponding to the lidar at the measurement initial point, perform coordinate transformation on the spatial coordinates of each point cloud to obtain the detection surface coordinate values (x, y) of each point cloud relative to the detection surface;

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

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

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

[0078] S300. By extracting the acoustic wave features in the echo data, obtain the degree of hollowing corresponding to each sampling point;

[0079] Specifically, for a single sampling point, when the step S300 is executed, as Figure 3 shown, it includes:

[0080] S310. Obtain each of the echo signals corresponding to the current sampling point, and extract the signal intensity in the echo signal;

[0081] S320. Take the average value of the signal intensities of each of the echo signals, and use this average value as the acoustic wave feature corresponding to the current sampling point;

[0082] S330. According to the mapping relationship between the acoustic wave feature and the degree of hollowing, obtain the degree of hollowing corresponding to this acoustic wave feature.

[0083] Among them, the mapping relationship between the acoustic wave feature and the degree of hollowing is a corresponding relationship constructed based on prior tests or experience.

[0084] In some embodiments, due to reasons such as an uneven detection surface or non-standard device operation, when using the hollow drum acquisition device to push and scan the detection surface, there will be slight bumps or knocks between the device and the detection surface, causing the intensity of the acoustic wave signals corresponding to the same sampling point to change. When calculating and extracting the acoustic wave characteristics using the power spectrum in the echo signal, the extraction result will be inaccurate and deviate, thereby affecting the accuracy of the hollow drum acquisition result. To more clearly illustrate the above defects, please refer to Figure 3 , which shows a schematic diagram of the results of calculating and extracting acoustic wave characteristics according to the power spectrum when collecting echo signals of the same hollow drum under three knocking intensities; as Figure 4 shown, where Figure 4 the abscissa in Figure 4 represents different knocking intensities, and the ordinate represents different acoustic wave power values (as acoustic wave characteristics); as can be seen from

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

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

[0087] S302, in the frequency spectrum, extract the frequency spectrum segment located within the target frequency range as the target spectrum segment;

[0088] S303, perform a weighted average on each frequency value in the target spectrum segment, and use the weighted average value as the acoustic wave characteristic corresponding to the current sampling point;

[0089] S304, according to the mapping relationship between the acoustic wave characteristic and the degree of hollow drum, obtain the degree of hollow drum corresponding to the acoustic wave characteristic.

[0090] Among them, the target frequency range is a preset frequency range; by way of example, the target frequency is 1000 to 3000 Hertz.

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

[0092]

[0093] In the formula, 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 a 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 frequency range can be effectively excluded, and signal interference caused by loudness differences during the acquisition process such as bumps or knocks can be effectively excluded in terms of amplitude, thereby further ensuring the accuracy of the acquisition result of the hollow degree.

[0095] S400. Obtain the hollow acquisition result corresponding to the current trajectory based on the hollow degree corresponding to each sampling point on 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 connection line between the two sampling points is constructed as the sampling path corresponding to the current sampling point; according to the time sequence order of each sampling point in the current trajectory, the sampling paths corresponding to each sampling point are connected end to end to obtain the distribution of the current trajectory; the hollow degree corresponding to each sampling point is used as the hollow degree corresponding to the corresponding sampling path, that is, the hollow degree corresponding to each sampling point is superimposed on the corresponding sampling path to obtain the hollow degree corresponding to each sampling path in the current trajectory.

[0097] To facilitate the real-time, fast, and intuitive display of the hollow acquisition result corresponding to the current trajectory during the push-scan process, so that the user can quickly and conveniently obtain the hollow degree situation of the detection surface in the area corresponding to the current trajectory based on the displayed hollow acquisition result. In some optional embodiments, after the step S400 is executed in the hollow acquisition method based on the trajectory, as Figure 6 shown, it further includes:

[0098] S500. Render and display the hollow acquisition result corresponding to the current trajectory according to the corresponding relationship between the hollow degree and the rendering method.

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

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

[0101] Specifically, obtain a preset degree range of the hollow degree and obtain a color rendering strip for performing color rendering; perform linear interpolation on the degree range to obtain several degree intervals; based on the number of the degree intervals, perform color division on the rendering colors included in the color rendering strip in the order of color gradient; based on the division order, make each divided rendering color correspond to each divided degree interval one by one to obtain the corresponding relationship between each degree interval and each rendering color.

[0102] Exemplarily, the degree range of the hollowing degree is 0 - 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 sequentially divided into green, yellow - green, yellow, orange - yellow, orange, orange - red, and red according to the color gradient order, and each degree interval is sequentially corresponding to the corresponding rendering color according to the numerical size sorting, that is, the hollowing degree and the rendering method are constructed as shown in the following table:

[0103] Degree range Rendering color 0-5 Green 5-10 Yellowish green 10-15 Yellow 15-20 Orange-yellow 20-25 Orange 25-30 Orange-red 30-35 Red

[0104] After obtaining the corresponding relationship between the hollowing degree and the rendering method, according to this corresponding relationship, determine the rendering color corresponding to the hollowing degree of the sampling point in the current trajectory; based on the corresponding rendering color, perform the rendering display of the corresponding color on the sampling path corresponding to the sampling point, so as to realize the synchronous rendering display of the hollowing acquisition result during the push - sweep process.

[0105] Exemplarily, the synchronous rendering display corresponding to the hollowing acquisition result is as Figure 7 shown.

[0106] To achieve the rapid and automatic construction of the corresponding relationship between the hollowing degree and the rendering method, in some specific embodiments, the method for obtaining the corresponding relationship between the hollowing degree and the rendering method includes:

[0107] By linear interpolation of the degree range of the hollowing degree, 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 assign the median value y m (where m = n / 2 when n is even, m = (n + 1) / 2 when n is odd) in the sequence to yellow; assign the maximum value y n in the sequence to red.

[0108] Based on this, for any value y m between y1 and y i (where 1 < i < m), calculate the corresponding color color_i of this value y i , and for any value y m and y n between y j (where m < j < n), calculate the corresponding color color_j of this value y jThe corresponding color color_j are respectively

[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, the color color i is the color corresponding to the numerical value y i color j is the color corresponding to the numerical value y j ; green, yellow, and red respectively represent the color values of green, yellow, and red.

[0112] The trajectory-based hollowing collection method provided in this embodiment pushes and scans the detection surface to be detected along the current trajectory, and collects the 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 surface based on the point cloud data and the hollowing degree information corresponding to each sampling point based on the echo data, so that the collection result of the hollowing degree can be obtained in real time without waiting for the end of the pushing and scanning process, which not only effectively improves the collection efficiency, but also greatly improves the collection accuracy and precision.

[0113] To solve the technical problems in the prior art, the present application also provides a detection surface hollowing collection method, which uses a hollowing collection device to perform push and scan collections under several parallel trajectories to obtain the spatial distribution of the hollowing degree in the detection surface to be detected.

[0114] Please refer to Figure 8 , which shows the flow schematic diagram of the detection surface hollowing collection method in an embodiment; as Figure 8 shown, when the detection surface hollowing collection method is executed, it includes the following steps:

[0115] S10, perform push and scan collection of the detection surface hollowing along the current trajectory to obtain the hollowing collection result corresponding to the current trajectory;

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

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

[0118] S20. Update the current total collection result based on the hollowing collection result.

[0119] Specifically, superimpose the hollowing collection result corresponding to the current trajectory onto the current total collection result to obtain a new total collection result.

[0120] S30. Extract the hollowing segments in the current trajectory from the hollowing collection result, and obtain the distribution density of the hollowing segments in the current trajectory.

[0121] Among them, the hollowing segment is the continuous distribution of hollowing in the trajectory.

[0122] The distribution density is a parameter used to characterize the degree of density of the hollowing segments in a single trajectory.

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

[0124] After obtaining the degree of hollowing corresponding to each sampling point in the current trajectory, connect the sampling paths corresponding to adjacent sampling points with a hollowing degree greater than 0 to obtain the corresponding hollowing segments; for example, the current trajectory includes the 1st sampling point to the 10th sampling point, and the degree of hollowing corresponding to each sampling point is as Figure 9 shown, then the hollowing segments included in the current trajectory include the first hollowing segment S1 and the second hollowing segment S2.

[0125] Obtain the distribution density of the hollowing segments in the current trajectory according to the number of the hollowing segments in the current trajectory and the distribution length of the current trajectory.

[0126] It should be noted that in other embodiments, the distribution density can also be the ratio of the extension length of the hollowing segments in the current trajectory to the distribution length of the current trajectory.

[0127] S40. Determine the trajectory interval according to the distribution density, and based on this trajectory interval, determine the distribution of the next trajectory, and use the next trajectory as the new current trajectory to re-execute the hollowing collection process of the detection surface.

[0128] Specifically, obtain the distribution density of the hollowing segments in the current trajectory, and detect whether this distribution density is greater than the distribution density corresponding to the previous trajectory. If so, reduce the current trajectory interval to obtain a reduced new trajectory interval.

[0129] Based on the new track interval, combined with the track distribution of the current track, determine the track distribution of the next track, and continue to execute the push-sweeping acquisition process for detecting the hollowing of the surface along the track distribution of the next track, so as to obtain the hollowing acquisition result corresponding to the next track.

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

[0131] In order to improve the hollowing acquisition accuracy while ensuring a relatively high acquisition efficiency for hollowing, in some preferred embodiments, the implementation manner of determining the track interval according to the distribution density is as Figure 10 shown, including:

[0132] S31, detect the magnitude relationship between the hollowing distribution density of the current track and the hollowing distribution density of the previous track;

[0133] S32a, when it is greater than the distribution density of the previous track, then reduce the current track interval, and detect whether the reduced track interval is less than the minimum interval threshold. If so, use this minimum interval threshold as the new track interval; if not, use the reduced track interval as the new track interval;

[0134] S32b, when it is less than the distribution density of the previous track, then increase the current track interval, and detect whether the increased track interval is greater than the maximum interval threshold. If so, use this maximum interval threshold as the new track interval; if not, use the increased track interval as the new track interval.

[0135] Wherein, the minimum interval threshold and the maximum interval threshold are obtained based on prior tests or according to experience.

[0136] The method provided in this embodiment adjusts the track interval accordingly according to the change of the hollowing distribution density between adjacent tracks, and performs subsequent hollowing degree acquisition based on the adjusted track interval, which not only considers the change of the hollowing distribution density but also the acquisition efficiency. When the hollowing distribution density in the track becomes denser, the hollowing acquisition frequency is increased by encrypting the track distribution to avoid missing hollowing, and when the hollowing distribution density in the track becomes sparser, the hollowing acquisition frequency is correspondingly reduced to ensure the acquisition efficiency.

[0137] Based on the same technical concept, the above-mentioned track-based hollowing acquisition method or the surface hollowing detection method provided by the embodiments of the present invention can be implemented on the terminal side or the server side.

[0138] Please refer to Figure 11, which is an optional hardware structure diagram of the electronic terminal 700 provided by 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-taking / camera 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. Each component in the device is 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] Among them, the user interface 705 may include a display, a keyboard, a mouse, a trackball, a click gun, a key, a button, a touchpad, or a touch screen, etc.

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

[0141] The memory 702 in the embodiments 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 for operation on the electronic terminal 700, such as an operating system 7021 and application programs 7022; the operating system 7021 contains 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 programs 7022 may include various application programs, such as a media player (MediaPlayer), a browser (Browser), etc., for implementing various application services. The described method for collecting hollow sounds based on a trajectory or the method for collecting hollow sounds on a detection surface in the embodiments of the present invention may be included in the application programs 7022.

[0142] The method disclosed in the embodiments of the present invention above can be applied to 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 integrated logic circuit in hardware or instructions in software form in the processor 701. The above-mentioned processor 701 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 701 can implement or execute each method, step, and logic block diagram disclosed in the embodiments of the present invention. The general-purpose processor 701 may be a microprocessor or any conventional processor, etc. Combining the steps of the accessory optimization method provided by the embodiments of the present invention can be directly embodied as being completed by the execution of the hardware decoding processor, or by the combination of the hardware and software modules in the decoding processor. The software module may be located in the storage medium, and this storage medium is located in the memory. The processor reads the information in the memory and combines its hardware to complete the steps of the foregoing method.

[0143] In an exemplary embodiment, the electronic terminal 700 may be an application-specific integrated circuit (ASIC), a DSP, a programmable logic device (PLD), or a complex programmable logic device (CPLD) for executing the foregoing method.

[0144] The embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, and when the program is called by a processor, it implements the trajectory-based hollow drum collection method or the detection surface hollow drum collection method provided by the present invention.

[0145] Among them, the computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. The computer-readable storage medium may 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 (non-exhaustive list) of the computer-readable storage medium include: portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memories), static random access memories (SRAM), portable compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs), memory sticks, floppy disks, mechanical encoding devices.

[0146] The computer-readable programs described herein can be downloaded from a computer-readable storage medium to various computing / processing devices, 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. The network adapter or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0147] It should be noted that in various embodiments of the present application, the sequence numbers of the above steps do not represent the order of execution. The execution order of each step should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0148] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A trajectory-based hollow drum collection method, characterized in that: include: The detection surface is pushed and scanned along the current trajectory. During the push and scan process, laser measurement and acoustic wave measurement are performed simultaneously to simultaneously collect 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; the position information of the sampling point on the detection surface is the position of the hollowing acquisition device relative to the detection surface at the acquisition time corresponding to each sampling point; Based on the hollowing degree corresponding to each sampling point on the current trajectory, the hollowing acquisition result corresponding to the current trajectory is obtained; wherein the hollowing degree is the distance difference between the gap, hole or depression and the surrounding normal detection surface.

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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