Method and system for evaluating economic value of wine storage karst cave

Abstract

The invention discloses a wine storage karst cave economic value evaluation method and system. The method comprises the steps of collecting karst cave point cloud data; splicing is carried out according to the collected karst cave point cloud data; the integral output of the spliced point cloud is *. Las; removing noisy points except the caves in the point cloud; the denoised point clouds are classified, after classification is completed, the bottom surfaces of the point clouds are independently displayed, boundary extraction is carried out on the bottom surfaces, and the area defined by the boundary is the bottom area of the karst cave; for the karst cave with the cave height being N times of the height of the wine jar to be stored, the layer height section area of each layer is extracted and counted through a slicing tool or manual outlining; and calculating the karst cave economic value according to the karst cave bottom area and the floor height section area of each floor. According to the method, the economic value of the wine storage karst cave can be effectively and rapidly obtained, the three-dimensional laser scanner is adopted for modeling extraction of the bottom area, the bottom area can be rapidly obtained, and the economic value of the wine storage karst cave can be accurately obtained in cooperation with the floor height sectional area of each layer.

Description

Technical Field

[0001] The invention belongs to the technical field of economic value assessment of wine-storing caves, and relates to an economic value assessment method and system for wine-storing caves. Background Art

[0002] Compared with the surface environment, caves have the characteristics of relatively constant temperature and humidity, which is very conducive to the fermentation of microorganisms and is often used to store wine. Experience has shown that when Maotai-flavor liquor is placed in a cave, microbial fermentation is extremely active, and the effect can be equivalent to the surface for at least 3 years, that is, using caves to store wine has obvious comparative advantages. However, as part of the national space, caves have been limited by the exploration attributes of cave surveys and have not been included in the national land surveys for a long time, resulting in a lack of understanding of the number of caves in my country. Most underground cave spaces are still unknown, and there is a lack of classified guidance documents on how to develop and utilize them. In recent years, some local governments have negotiated with wine companies to use natural caves to store wine, and actively explored the transaction of cave use rights, which has gradually highlighted the value of caves. Therefore, in the process of leasing or transferring caves, how to calculate the rent or transfer fee, the bottom area of ​​the cave is a crucial measurement indicator. In addition, as a cavity, the cave has a certain height, which has a certain flexibility in the way of use (depending on the cave), and is also an indicator that should be considered.

[0003] Although traditional paperless cave surveying can quickly obtain cave planes, profiles and cross-sections, and then calculate the cave bottom area based on the plane diagram, the plane data can only represent the plane area at one horizontal height, and cannot provide the cross-sectional area at different heights, and the data accuracy is slightly low. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for evaluating the economic value of a wine-storing cave, which can quickly and effectively realize the economic value of a wine-storing cave.

[0005] The scheme implemented by the present invention is:

[0006] A method for evaluating the economic value of a wine storage cave, the method comprising the following steps:

[0007] (1) Point cloud data collection: Collecting cave point cloud data, including point cloud data outside the cave and point cloud data inside the cave;

[0008] (2) Point cloud stitching: stitching is performed based on the collected cave point cloud data;

[0009] (3) Data format conversion: The stitched point cloud is output as a whole in *.las or *.e57 format to facilitate data processing on third-party software platforms;

[0010] (4) Point cloud denoising: Remove noise points other than caves in the converted point cloud. Noise points include meaningless and irregular points. These noise points are removed to improve data quality and subsequent processing effects.

[0011] (5) Extraction of bottom area: Classify the point cloud after denoising in step (4). After classification, display the bottom surface of the point cloud separately and extract the boundary of the bottom surface. The area enclosed by the boundary is the bottom area of ​​the cave.

[0012] (6) Extraction of cross-sectional areas at different layer heights: Slice the caves whose height is higher than N times the height of the wine vat to be stored, where N is an integer greater than 1, and round down to the nearest integer. Use the slicing tool or manually outline to extract the cross-sectional area at the N-1 layer.

[0013] (7) Value assessment: The economic value of the cave is calculated based on the bottom area of ​​the cave and the cross-sectional area of ​​each layer.

[0014] Furthermore, the economic value of the cave in the above step (7) is evaluated by the total transfer fee T, and the formula is as follows:

[0015] T=(S 底面 +∑S i ×θ i )×P

[0016] Where: S 底面 is the bottom area extracted from the cave; S i is the cross-sectional area at different layer heights; θ i is a coefficient, which decreases with the layer height; P is the unit price of the transfer fee of a certain cave; T is the total transfer fee.

[0017] Furthermore, the specific method in the above step (1) is: connect the CORS signal through an external RTK and match it with a three-dimensional laser scanner to collect the first station cloud in an open area outside the cave, and then remove the external RTK after confirming that the spatial geographic coordinates have been successfully solved, and then scan the data inside and outside the cave through the three-dimensional laser scanner.

[0018] Furthermore, the specific method in the above step 2) is: use Trimble RealWorks software to read the point cloud data collected in step (1), take the point cloud data with spatial geographic coordinates after the first station is successfully solved as the benchmark, and gradually use the common ground features in the segmented overlapping point clouds for splicing, and control the accuracy within 0.5 meters.

[0019] Furthermore, in the above step (4), CloudCompare software is used to remove noise points outside the cave.

[0020] Furthermore, the specific method in the above step (5) is: use the TerraScan application in the TerraSolid software to read the point cloud data in step (4), and then call the Macro module in the Tools tool to classify the loaded point cloud. When classifying, set parameters according to the height and angle of the objects, and divide them into ground, low-medium objects, and medium-high objects. The objects include secondary chemical sediments and collapsed rocks. Because the types and shapes of the deposits in each cave are different and the sizes are uneven, it is impossible to give a unified quantitative parameter during the setting, and it can only be adjusted manually according to the cave. In this case, the height of the stalagmites and the size of the collapsed rocks in the cave are generally less than 20 meters. Therefore, in the low-altitude ground point cloud classification parameter setting, the maximum height of the ground object is set to 20 meters, the terrain angle is set to 75°, the iteration angle with the ground is set to 10°, and the iteration distance with the ground is set to 1.5 meters. When the side length of the ground object is less than 5 meters, the iteration angle is subtracted; low-medium ground objects are set at 0.3-3 meters; medium-high ground objects are set at more than 3 meters;

[0021] After classifying and extracting point clouds of different objects displayed in layers, check whether the features of the objects in each layer of point cloud are clearly separated by comparing them up and down. Only after confirming that they are valid can we determine whether the ground extraction is accurate and complete. The effective area of ​​the cave ground needs to remove the area occupied by low-middle objects and medium-high objects to obtain the bottom surface of the separately displayed point cloud, save it as *.las format data, and then automatically / semi-automatically extract the bottom boundary of the point cloud. The area enclosed by the ground boundary is the bottom area of ​​the cave.

[0022] Furthermore, in the above step (6), the slicing tool in the Cyclone software or the Leica CloudWorx for AutoCAD plug-in is used to manually outline and extract and count the area of ​​each layer directly in AutoCAD.

[0023] A system for evaluating the economic value of wine-storing caves, comprising:

[0024] A point cloud data acquisition module is used to acquire cave point cloud data, wherein the cave point cloud data includes point cloud data outside the cave and point cloud data inside the cave;

[0025] Point cloud stitching module, used to stitch the collected cave point cloud data;

[0026] The format conversion module is used to convert the spliced ​​cave point cloud into *.las or *.e57 format;

[0027] Denoising module, used to remove noise points outside the cave from the converted point cloud;

[0028] The bottom area extraction module is used to classify the denoised point cloud. After the classification is completed, the bottom surface of the point cloud is displayed separately, and the boundary of the bottom surface is extracted to obtain the bottom area of ​​the cave;

[0029] The layer height section area extraction module is used to slice the caves whose height is several times higher than the height of the wine vat to be stored, and calculate the layer height section area on the N-1 layer respectively;

[0030] The value assessment module is used to calculate the economic value of the cave based on the value assessment and the layer height section area of ​​each layer. The economic value of the cave is assessed using the total transfer price T, and the formula is as follows:

[0031] T=(S 底面 +∑S i ×θ i )×P

[0032] Where: S 底面 is the bottom area extracted from the cave; S i is the cross-sectional area at different layer heights; θ i is a coefficient, which decreases with the layer height; P is the unit price of the transfer fee of a certain cave; T is the total transfer fee.

[0033] The point cloud data acquisition module uses a laser scanner (5) for acquisition. The base of the laser scanner (5) is detachably fixedly connected to the upper end of the laser scanner support frame (1). The lower end of the laser scanner support frame (1) is detachably plugged into an interface (4). The interface (4) is arranged at the center of the backrest of the safety belt (2). The safety belt (2) is connected to a shoulder belt (3). A detachable universal shaping hose (6) is also arranged on the laser scanner support frame (1). The universal shaping hose (6) can extend from the shoulder to the front side of the head after being bent, and a mobile phone holder (7) is arranged at this end.

[0034] Furthermore, the above-mentioned laser scanner support frame is a telescopic mechanism, including an outer shell and an inner flat rod, and a screw is rotatably connected to the inner flat rod, and the screw can pass through a vertical strip hole provided on one side of the outer shell, and the contact point between the screw and the vertical strip hole is a round light rod, and the round light rod is provided with a symmetrical flat head, and the flat head is adapted to the width of the vertical strip hole, and the vertical strip hole is vertically provided with multiple pairs of symmetrical arc notches, and the arc notches are gap-matched with the round light rod, and the screw is locked with a nut after passing through the arc notch; the upper end of the laser scanner support frame is connected to the base through a left and right front and back electric swing frame, and the left and right front and back electric swing frame includes a left and right swing block, which is rotatably connected to the front and back pitch ears through a rotating shaft and driven to rotate by a joint motor, and a single ear is provided at the bottom of the front and back pitch ears, and the single ear is rotatably connected to the front and back pitch ears and driven to rotate by a joint motor, and the left and right swing blocks are detachably connected to the base, and the front and back pitch ears are fixedly connected to the upper end of the laser scanner support frame, and also includes a three-axis gyroscope installed on the laser scanner support frame.

[0035] The effects of the present invention are as follows: the economic value assessment method of the wine-storing cave of the present invention can effectively and quickly obtain the economic value of the wine-storing cave, and the bottom area modeling and extraction using a three-dimensional laser scanner can quickly achieve the acquisition of the bottom area, and combined with the layer height section area of ​​each layer, the economic value of the wine-storing cave can be accurately obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The figure is a flow chart of a method for evaluating the economic value of wine storage caves;

[0037] Figure 2 This is a schematic diagram of an economic value assessment system for wine storage caves;

[0038] Figure 3 A schematic diagram of ground point cloud classification parameter settings for the bottom surface extraction process of a wine cave;

[0039] Figure 4 This is a schematic diagram of the parameter settings for high ground point cloud classification in the process of extracting the bottom surface of a wine cave;

[0040] Figure 5 This is a schematic diagram of the layered cross-section of a point cloud during the extraction process of the bottom surface of a wine cave;

[0041] Figure 6 This is a schematic diagram of extracting cross-sectional features from the bottom of a wine-storing cave;

[0042] Figure 7 A schematic diagram of semi-automatic extraction of the bottom area boundary of a wine storage cave;

[0043] Figure 8 A schematic diagram of the structure of a multifunctional back frame suitable for cave mapping;

[0044] Fig. 9 It is a schematic diagram of the front structure of the laser scanner support frame;

[0045] Fig.10 for Fig. 9 A schematic diagram of the enlarged structure of the middle part A;

[0046] Fig.11 It is a schematic diagram of the front view structure of the interface;

[0047] Fig.12 It is a schematic diagram of the structure of the left, right, front and back electric swing frame. DETAILED DESCRIPTION

[0048] The present invention is further described below in conjunction with specific embodiments.

[0049] Example 1: Figure 1-7 As shown, a method for evaluating the economic value of a wine cave comprises the following steps:

[0050] (1) Point cloud data collection: Collecting cave point cloud data, including point cloud data outside the cave and point cloud data inside the cave;

[0051] The specific method is: connect the CORS signal with the Lingguang L2 handheld 3D laser scanner through an external RTK to collect the first station cloud in an open area outside the cave. After confirming that the spatial geographic coordinates have been successfully solved, remove the external RTK and then use the 3D laser scanner to scan the data inside and outside the cave;

[0052] (2) Point cloud stitching: stitching is performed based on the collected cave point cloud data;

[0053] The specific method is as follows: use Trimble RealWorks software to read the point cloud data collected in step (1), take the point cloud data with spatial geographic coordinates after successful solution of the first station as the benchmark, and gradually use the common ground features in the segmented overlapping point clouds for splicing, with the accuracy controlled within 0.5 meters;

[0054] (3) Data format conversion: The stitched point cloud is output as a whole in *.las or *.e57 format;

[0055] (4) Point cloud denoising: Use CloudCompare software to remove noise points other than caves in the converted point cloud format; noise points include meaningless and irregular points, which are removed to improve data quality and subsequent processing effects;

[0056] (5) Extraction of bottom area: Classify the point cloud after denoising in step (4). After classification, display the bottom surface of the point cloud separately and extract the boundary of the bottom surface. The area enclosed by the boundary is the bottom area of ​​the cave.

[0057] The specific method is as follows: use the TerraScan module in the TerraSolid software to read the point cloud in step (4), and then use the Macro in the Tools tool to classify the loaded point cloud. When classifying, set parameters according to the height and angle of the objects, and divide them into ground, low-medium objects, and medium-high objects. The objects include secondary chemical sediments and collapsed rocks. Since the cave is a cavity and the sediments and accumulations in the cave are rich and diverse, the terrain is also relatively complex and varies from cave to cave. Therefore, when classifying, we can only appropriately refer to the reference surface to extract buildings, vegetation, ground terrain, etc. When setting parameters such as height and slope, we need to make flexible adjustments according to the actual situation. It is impossible to give a unified quantitative parameter when setting, and we can only adjust it manually according to the cave. In this case, the height of the stalagmites and the size of the collapsed rocks in the cave are generally less than 20 meters. Therefore, in the low-altitude ground point cloud classification parameter setting, the maximum height of the ground object is set to 20 meters, the terrain angle is set to 75°, the iteration angle with the ground is set to 10°, and the iteration distance with the ground is set to 1.5 meters. When the side length of the ground object is less than 5 meters, the iteration angle is subtracted; low-medium ground objects are set at 0.3-3 meters; medium-high ground objects are set at more than 3 meters;

[0058] After classifying and extracting the point clouds of different objects displayed in layers, check whether the features of the objects in each layer of point clouds are clearly separated by comparing them from top to bottom. Only after confirming that they are valid can we determine whether the ground extraction is accurate and complete. The classification of low-medium objects and medium-high objects is used as the basis for determining the complete layering. The effective area of ​​the cave ground needs to remove the area occupied by low-medium objects and medium-high objects to obtain the bottom surface of the separately displayed point cloud, which is saved as *.las format data. Then, the bottom boundary of the point cloud is automatically / semi-automatically extracted. The area enclosed by the ground boundary is the bottom area of ​​the cave.

[0059] (6) Extraction of cross-sectional areas at different layer heights: When the height of the karst cave is relatively high and is N times the height of the wine vats to be stored, a cement frame can be arranged to store the wine vats to improve the use of the effective area. For karst caves whose height is higher than N times the height of the wine vats to be stored, slice the caves. N is an integer greater than 1 and is rounded down. It is necessary to further extract and calculate the cross-sectional areas at different heights. At this time, the slicing tool in the Cyclone software or the Leica CloudWorx for AutoCAD plug-in can be used to manually outline and extract and count the cross-sectional areas on the N-1 layer in AutoCAD.

[0060] (7) Value assessment: The economic value of the cave is calculated based on the bottom area of ​​the cave and the cross-sectional area of ​​each layer. The economic value of the cave is assessed using the total transfer fee T, and the formula is as follows:

[0061] T=(S 底面 +∑S i ×θ i )×P

[0062] Where: S 底面 is the bottom area extracted from the cave; S i is the cross-sectional area at different layer heights; θ i is a coefficient, which decreases with the layer height; P is the unit price of the transfer fee of a certain cave; T is the total transfer fee.

[0063] Different from the measurement method of cave bottom area, the cross-sectional area is difficult to develop and utilize, and the development and construction cost needs to be considered. Therefore, a certain coefficient θ can be assigned i , combined with the unit price weighted calculation and then cumulatively summed.

[0064] 3D laser scanning technology is also known as "real scene replication technology". It uses non-contact high-speed laser measurement to obtain the geometric figures and image data of terrain or complex objects, and the post-processing software processes the collected point cloud and image data to quickly reconstruct the 3D model of the scanned object. The morphology of natural caves is usually more complex and diverse than that of artificial tunnels or mine tunnels. It is difficult for stand-mounted scanners to achieve the best of both worlds while taking into account efficiency and integrity. They often prioritize efficiency and sacrifice integrity, resulting in certain blind spots in the tunnel point cloud data. Handheld 3D laser scanners can balance the two well. The domestic Qiyu Innovation Lingguang L2 handheld 3D laser scanner can collect and assign point cloud coordinate information, has long operation time, is light and compact, and has real-time visible scanning data. It has certain comparative advantages in its application in caves.

[0065] Embodiment 2: A system for evaluating the economic value of a wine storage cave, comprising:

[0066] A point cloud data acquisition module is used to acquire cave point cloud data, wherein the cave point cloud data includes point cloud data outside the cave and point cloud data inside the cave;

[0067] Point cloud stitching module, used to stitch the collected cave point cloud data;

[0068] The format conversion module is used to convert the spliced ​​cave point cloud into *.las or *.e57 format;

[0069] Denoising module, used to remove noise points outside the cave from the converted point cloud;

[0070] The bottom area extraction module is used to classify the denoised point cloud. After the classification is completed, the bottom surface of the point cloud is displayed separately, and the boundary of the bottom surface is extracted to obtain the bottom area of ​​the cave;

[0071] The layer height section area extraction module is used to slice the caves whose height is several times higher than the height of the wine vats to be stored (until it touches the secondary chemical sediments on the cave roof, such as stalactites, etc.), and calculate the layer height section area on each layer respectively;

[0072] The value assessment module is used to calculate the economic value of the cave based on the value assessment and the layer height section area of ​​each layer. The economic value of the cave is assessed using the total transfer price T, and the formula is as follows:

[0073] T=(S 底面 +∑S i ×θ i )×P

[0074] Where: S 底面 is the bottom area extracted from the cave; S i is the cross-sectional area at different layer heights; θ i is a coefficient, which decreases with the layer height; P is the unit price of the transfer fee of a certain cave; T is the total transfer fee.

[0075] The point cloud data acquisition module uses a laser scanner 5 for acquisition, such as Figure 8-12 The base of the laser scanner 5 is installed on a multifunctional backpack suitable for cave surveying and mapping. The multifunctional backpack suitable for cave surveying and mapping includes an industrial-grade SRT equipment and a laser scanner support frame 1. The industrial-grade SRT equipment has a safety belt 2 connected to the waist and a Y-shaped shoulder strap 3 connected thereto and two symmetrical cylindrical leg straps 4. The safety belt 2 is provided with an interface 5 at the center of the back surface. The lower end of the laser scanner support frame 1 is detachably plugged into the interface 5, and the upper end of the laser scanner support frame 1 is detachably fixedly connected to the base of the laser scanner 6. The laser scanner support frame 1 is also provided with a detachable universal shaping hose 7, which can extend from the shoulder to the front side of the head after bending, and a mobile phone holder 8 is provided at this end. The support frame of the three-dimensional laser scanner is integrated on the safety belt of the SRT equipment, which reduces the use of a separate backpack, makes cave exploration more time-saving and labor-saving, and has lower cost. In addition, a mobile phone support frame is installed to place the mobile phone in front of the head, so that the scanning effect of the laser scanner can be checked at any time during the walking scanning process to avoid re-scanning due to errors.

[0076] The support frame of the 3D laser scanner is integrated on the waist belt of the industrial-grade SRT equipment to reduce the use of a separate back frame, making cave exploration more time-saving, labor-saving and cost-effective. In addition, a mobile phone support frame is installed to place the mobile phone in front of the head, so that the scanning effect of the laser scanner can be checked at any time during the walking scanning process to avoid re-scanning due to errors. The back frame integrates the support of the laser scanner and the mobile phone to achieve multi-functions.

[0077] In order to achieve lifting and lowering adjustment, the laser scanner support frame 1 is a telescopic mechanism, including an outer shell 101 and an inner flat rod 102. The inner flat rod 102 is rotatably connected with a screw 103. The screw 103 can pass through a vertical strip hole 105 provided on one side of the outer shell 101. The contact between the screw 103 and the vertical strip hole 105 is a round polished rod 107. The round polished rod is provided with a symmetrical flat head 104. The flat head 104 is adapted to the width of the vertical strip hole 105. The vertical strip hole 105 is vertically provided with multiple pairs of symmetrical arc notches 106. The arc notches 106 and the round polished rod 107 are gap-matched. After the screw 103 passes through the arc notch 106, it is locked with a nut 108. The bar hole, screw and nut are matched to facilitate height adjustment. In addition, a flat head is provided, and the flat head is stuck in the arc notch, which is more conducive to support stability. In order to adjust the support stability vertically, at least two pairs of screws 103 and nuts 108 are used.

[0078] In order to facilitate detachable connection, the interface 5 includes a bonding plate 501 and a socket 502. The bonding plate 501 is fixedly embedded in the belt 2, and the socket 502 is fixedly connected to the bonding plate 501. It also includes a plug connector 503 of the laser scanner support frame 1. After the plug connector 503 is plugged into the socket 502, it is locked by a locking device. The plug-in method is easy to assemble and disassemble and the connection is stable.

[0079] In order to make the plugging more stable, a V-groove 504 is provided on the plug socket 502, and two side grooves 505 are provided on both sides of the V-groove 504. The plug connector 503 is provided with a V-block 505, and external convex strips 506 are provided on both sides of the V-block 505. The external convex strips 506 are embedded in the two side grooves 505. A V-shaped plug-in interface is adopted, which has better plug-in stability and reliability.

[0080] In order to improve the locking reliability, the locking device includes a lateral elastic pull rod 507, which is movably extended into a locking through hole 508 on one side of the V-groove 504. A locking head 509 is provided at the inner end of the lateral elastic pull rod 507. The locking head 509 is movably passed through the lateral groove 505 and then embedded in the notch 510 provided on the V-block 505 for locking. The lateral elastic pull rod 507 is sleeved with a return spring 511. The two ends of the return spring 511 respectively abut against the inner step of the locking through hole 508 of the step and the locking head 509. The lateral elastic pull rod 507 extends out of the locking through hole 508 and is connected to a lifting ear nut 512. The lateral elastic pull rod is pulled by the lifting ear nut to facilitate the removal of the locking head from the notch, thereby facilitating the disassembly of the interface. When installing, just press it down or pull it out and press it in.

[0081] In order to improve the supporting stability of the universal shaping hose, an elastic supporting sleeve 9 is provided on the universal shaping hose 7, an arc-shaped supporting block 10 is provided on the lower side of the elastic supporting sleeve 9, and an arc-shaped groove 11 is provided on the lower side of the arc-shaped supporting block 10. The arc-shaped groove 11 rests on the shoulder, and the universal shaping hose is placed on the shoulder, thereby improving the supporting stability of the universal shaping hose, thereby preventing the mobile phone holder from swinging too much during walking due to excessive gravity.

[0082] In order to improve the supporting stability of the laser scanner support frame, a multifunctional backpack suitable for cave mapping also includes a binding strap 12 fixedly connected to the laser scanner support frame 1, and the two free ends of the binding strap 12 are provided with matching Velcro. By adding the binding strap to bind the chest, the shaking of the laser scanner support frame caused by being too high can be improved.

[0083] During the walking process, the base of the laser scanner cannot be always in a vertical orientation due to unevenness and climbing, which affects the cave exploration scanning effect of the laser scanner. Therefore, it is necessary to correct the posture by swinging it forward, backward, left and right. The upper end of the laser scanner support frame 1 is connected to the base through the left and right front and back electric swing frame 13. The left and right front and back electric swing frame includes a left and right swing block 1301, which is rotatably connected to the front and back pitch ears 1302 through a rotating shaft and driven to rotate by a joint motor 1305. The joint motor 1305 is installed in a single side plate of the front and back pitch ears 1302. A single ear 1303 is set at the bottom of the front and back pitch ears 1302. The single ear 1303 is rotatably connected to the front and back pitch ears 1304 through a quick release interface and driven to rotate by the joint motor 1305, so as to swing left and right. Block 1301 is detachably connected to the base, and the front and rear pitch ears 1304 are fixedly connected to the upper end of the laser scanner support frame 1. It also includes a three-axis gyroscope installed on the laser scanner support frame 1. The three-axis gyroscope detects posture changes, and then controls one or two joint motors to move, so as to finally realize the vertical position of the base, thereby improving the cave exploration scanning effect. The quick-release interface has the same structure as the previous interface. The top of the left and right swing block 1301 acts as a fitting plate 501 and a socket 502, and the plug connector 503 is fixedly connected to the mounting seat frame 1306. The mounting seat frame is fixedly connected to the back of the base by screws. The socket 502 and the plug connector 503 are provided with matching V-grooves 504 and V-blocks 505 and are locked with a locking device. The laser scanner is convenient and quick to assemble and disassemble.

[0084] In order to realize automatic control of pitch and roll, the three-axis gyroscope is connected to the controller, the controller is connected to the joint motors, and the joint motors are connected to the power supply of the power storage module or the laser scanner.

[0085] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for evaluating the economic value of a wine storage cave, characterized by: The method comprises the following steps: (1) Point cloud data collection: Collecting cave point cloud data, including point cloud data outside the cave and point cloud data inside the cave; (2) Point cloud stitching: stitching is performed based on the collected cave point cloud data; (3) Data format conversion: The stitched point cloud is output as a whole in *.las or *.e57 format; (4) Point cloud denoising: remove noise points other than caves in the converted point cloud; (5) Bottom area extraction: Classify the point cloud after denoising in step (4). After classification, display the bottom surface of the point cloud separately and extract the boundary of the bottom surface. The area enclosed by the boundary is the bottom area of ​​the cave. (6) Extraction of cross-sectional areas at different layer heights: Slice the caves whose height is higher than N times the height of the wine vat to be stored, where N is an integer greater than 1, and round down to the nearest integer. Use the slicing tool or manually outline to extract the cross-sectional area at the N-1 layer. (7) Value assessment: The economic value of the cave is calculated based on the bottom area of ​​the cave and the cross-sectional area of ​​each layer.

2. The economic value assessment method of a wine storage cave according to claim 1, characterized in that: In step (7), the economic value of the cave is evaluated using the total transfer price T, and the formula is as follows: T=(S 底面 +∑S i ×θ i )×P Where: S 底面 is the bottom area extracted from the cave; S i is the cross-sectional area at different layer heights; θ i is a coefficient, which decreases with the change of layer height; P is the unit price of the transfer fee of a certain cave; T is the total price of the transfer fee.

3. The economic value assessment method of a wine storage cave according to claim 1 is characterized by: The specific method in step (1) is: connect the CORS signal through an external RTK and match it with a handheld 3D laser scanner to collect the first station cloud in an open area outside the cave. After confirming that the spatial geographic coordinates have been successfully solved, remove the external RTK and then scan the data inside and outside the cave through the 3D laser scanner.

4. The economic value assessment method of a wine storage cave according to claim 2 is characterized by: The specific method in step (2) is: read the point cloud data collected in step (1), take the point cloud data with spatial geographic coordinates after the first station is successfully solved as the benchmark, and gradually use the common ground features in the segmented overlapping point clouds for splicing, with the accuracy controlled within 0.5 meters.

5. The economic value assessment method of a wine storage cave according to claim 2, characterized in that: In step (4), noise points outside the cave are removed.

6. The economic value assessment method of a wine storage cave according to claim 1, characterized in that: The specific method in step (5) is as follows: read the point cloud data in step (4), classify the loaded point cloud, set parameters according to the height and angle of the ground objects during classification, and divide the ground, low-medium ground objects, and medium-high ground objects. The ground objects include secondary chemical sediments and collapsed rocks. In the low-altitude ground point cloud classification parameter setting, the maximum height of the ground object is set to 20 meters, the terrain angle is set to 75°, the iteration angle with the ground is set to 10°, and the iteration distance with the ground is set to 1.5 meters. When the side length of the ground object is less than 5 meters, the iteration angle is subtracted, the low-medium ground object is set to 0.3-3 meters, and the medium-high ground object is set to more than 3 meters; After classifying and extracting point clouds of different objects displayed in layers, check whether the features of the objects in each layer of point cloud are clearly separated by comparing them up and down. Only after confirming that they are valid can we determine whether the ground extraction is accurate and complete. The effective area of ​​the cave ground needs to remove the area occupied by low-middle objects and medium-high objects to obtain the bottom surface of the separately displayed point cloud, save it as *.las format data, and then automatically / semi-automatically extract the bottom boundary of the point cloud. The area enclosed by the ground boundary is the bottom area of ​​the cave.

7. The method for evaluating the economic value of a wine cave according to claim 2, characterized in that: In step (6), use the slicing tool in the Cyclone software or the Leica CloudWorx for AutoCAD plug-in to manually outline, extract and count the area of ​​each layer directly in AutoCAD.

8. A system for evaluating the economic value of wine caves, characterized by: include, A point cloud data acquisition module is used to acquire cave point cloud data, wherein the cave point cloud data includes point cloud data outside the cave and point cloud data inside the cave; Point cloud stitching module, used to stitch the collected cave point cloud data; The format conversion module is used to convert the spliced ​​cave point cloud into *.las or *.e57 format; Denoising module, used to remove noise points outside the cave from the converted point cloud; The bottom area extraction module is used to classify the denoised point cloud. After the classification is completed, the bottom surface of the point cloud is displayed separately, and the boundary of the bottom surface is extracted to obtain the bottom area of ​​the cave; The layer height section area extraction module is used to slice the caves whose height is several times higher than the height of the wine vat to be stored, and calculate the layer height section area on the N-1 layer respectively; The value assessment module is used to calculate the economic value of the cave based on the value assessment and the layer height section area of ​​each layer. The economic value of the cave is assessed using the total transfer price T, and the formula is as follows: T=(S 底面 +∑S i ×θ i )×P Where: S 底面 is the bottom area extracted from the cave; S i is the cross-sectional area at different layer heights; θ i is a coefficient, which decreases with the change of layer height; P is the unit price of the transfer fee of a certain cave; T is the total price of the transfer fee.

9. The economic value assessment system for wine caves according to claim 8 is characterized by: The point cloud data acquisition module uses a laser scanner (5) for acquisition. The base of the laser scanner (5) is detachably fixedly connected to the upper end of the laser scanner support frame (1). The lower end of the laser scanner support frame (1) is detachably plugged into an interface (4). The interface (4) is arranged at the center of the backrest of the safety belt (2). The safety belt (2) is connected to a shoulder belt (3). A detachable universal shaping hose (6) is also arranged on the laser scanner support frame (1). The universal shaping hose (6) can extend from the shoulder to the front side of the head after being bent, and a mobile phone holder (7) is arranged at this end.

10. The economic value assessment system for wine storage caves according to claim 9, characterized in that: The laser scanner support frame (1) is a telescopic mechanism, comprising an outer shell (101) and an inner flat rod (102), wherein a screw rod (103) is rotatably connected to the inner flat rod (102), and the screw rod (103) is capable of passing through a vertical strip hole (105) provided on one side of the outer shell (101), and a round polished rod (107) is provided at the contact point between the screw rod (103) and the vertical strip hole (105), and the round polished rod is provided with a symmetrical flat head (104), and the flat head (104) and the vertical strip hole (105) are adapted in width, and the vertical strip hole (105) is vertically provided with a plurality of pairs of symmetrical circular arc notches (106), and the circular arc notches (106) and the circular polished rod (107) are clearance-matched, and after the screw rod (103) passes through the circular arc notch (106), a nut is used to tighten the screw rod (103) and tighten the screw rod (103) to the outer shell (101). (108) Locking; the upper end of the laser scanner support frame (1) is connected to the machine base through the left and right front and back electric swing frame (13), the left and right front and back electric swing frame includes a left and right swing block (1301), which is rotatably connected to the front and back pitch ears (1302) through a rotating shaft and is driven to rotate by a joint motor, and a single ear (1303) is arranged at the bottom of the front and back pitch ears (1302), and the single ear (1303) is rotatably connected to the front and back pitch ears (1304) and is driven to rotate by a joint motor, the left and right swing block (1301) is detachably connected to the machine base, and the front and back pitch ears (1304) are fixedly connected to the upper end of the laser scanner support frame (1), and also includes a three-axis gyroscope installed on the laser scanner support frame (1).

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