Method and equipment for measuring foundation bolt of overhead line system foundation and storage medium

Abstract

The invention relates to an overhead line system foundation bolt measuring method and device and a storage medium, and the method comprises the steps: obtaining the three-dimensional point cloud data of an overhead line system foundation bolt, and transmitting the three-dimensional point cloud data to a processing end; the processing end preprocesses the three-dimensional point cloud data; fitting a cylinder model of each foundation bolt area in the three-dimensional point cloud data, and substituting the point cloud data of each foundation bolt area into the cylinder model for verification; repeating the previous step until the target cylinder model of each foundation bolt area is determined; based on the target cylinder model of each foundation bolt area, the exposed length of each foundation bolt is calculated; based on the target cylinder model of each foundation bolt area, calculating the distance between different foundation bolts; and storing the exposed length of each foundation bolt and the distance between different foundation bolts, carrying out real-time detection, and if the exposed length and / or the distance exceed a preset threshold value, giving an alarm.

Description

Technical Field

[0001] The present application relates to the technical field of foundation network construction, and in particular to a method, device and storage medium for measuring anchor bolts of a contact network foundation. Background Art

[0002] In the fields of industrial manufacturing, bolts are widely used as basic elements for structural assembly, and anchor bolts are one of the important supporting components of buildings, mainly for bearing horizontal loads and resisting overturning. Therefore, in the design and construction of buildings, the layout of anchor bolts is very critical. In some application scenarios, there are certain requirements for the exposed length and spacing of anchor bolts. If a certain measurement data of the anchor bolts does not meet the standard, it may cause the instability of the supporting structure and pose a safety hazard.

[0003] Therefore, whether in the assembly stage of the anchor bolts or in the subsequent maintenance stage, it is necessary to strictly ensure that their specifications and dimensions meet the requirements of the specifications. In the construction of existing roads, tunnels, and bridges, for the measurement of the anchor bolts of the contact network foundation, standard metal templates are often used to measure whether the diameter of the anchor bolts meets the requirements, and a tape measure or laser rangefinder is used to measure the exposed length of a single anchor bolt and the spacing between different anchor bolts, and each set of data is recorded one by one. However, in the existing contact network, a number of bolts are set on each base. The traditional measurement method uses tools such as metal templates and rulers to measure, and it is necessary to record the data once each set of data is measured. The measurement process is cumbersome, time-consuming and labor-intensive, and the measurement efficiency is low. In addition, manual measurement will inevitably produce human errors, and the measurement accuracy is not high. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a method, device and storage medium for measuring the contact network foundation anchor bolts, which can solve the problem that the existing measurement method for the contact network foundation anchor bolts is too cumbersome and the measurement accuracy cannot be guaranteed.

[0005] In order to achieve the above purpose, the technical solutions provided by the embodiments of the present application are as follows:

[0006] In a first aspect, the present application provides a method for measuring a contact network foundation anchor bolt, comprising the following steps:

[0007] S1, obtaining the three-dimensional point cloud data of the contact network foundation anchor bolts, and sending the three-dimensional point cloud data to the processing end;

[0008] S2, the processing end pre-processes the three-dimensional point cloud data;

[0009] S3, the processing end fits a cylindrical model of each anchor bolt area in the three-dimensional point cloud data, and substitutes the point cloud data of each anchor bolt area into the cylindrical model for verification;

[0010] S4, the processing end repeats step S3 until the target cylindrical model of each anchor bolt area is determined;

[0011] S5, the processing end calculates the exposed length of each anchor bolt based on the target cylindrical model of each anchor bolt area;

[0012] S6, the processing end calculates the distances between different anchor bolts based on the target cylindrical model of each anchor bolt area;

[0013] S7. The processing end stores the exposed length of each anchor bolt and the distance between different anchor bolts, and performs real-time detection. If the exposed length and / or distance exceeds a preset threshold, an alarm is issued.

[0014] As an optional implementation of the embodiment of the present application, in step S1, the method of obtaining the three-dimensional point cloud data of the contact network anchor bolts is to use a three-dimensional scanning device to scan the entire contact network anchor bolt area from above the contact network anchor bolts.

[0015] As an optional implementation of the embodiment of the present application, in step S2, the preprocessing includes:

[0016] Crop irrelevant points of anchor bolts in 3D point cloud data;

[0017] For each relevant point P of the anchor bolt in the 3D point cloud data i , select its nearest k neighboring points and calculate each relevant point P i The average distance between its neighbors

[0018]

[0019] In the formula, ||P i -P j(i) || represents point P i To its jth nearest neighbor point P j(i) The Euclidean distance of

[0020] Calculate the corresponding average distance for all relevant points of the anchor bolts in the 3D point cloud data The mean μ d and standard deviation σ d :

[0021]

[0022] Where N is the relevant point P iTotal number of;

[0023] If any relevant point P i The average distance between its neighbors If the following thresholds are met, the points are marked as outliers:

[0024]

[0025] Among them, t is the set standard deviation multiple threshold;

[0026] Remove outlier points from 3D point cloud data.

[0027] As an optional implementation of the embodiment of the present application, step S3 specifically includes the following steps:

[0028] S301, randomly selecting some points in any anchor bolt area to fit a cylindrical model, and determining the central axis and radius of the cylindrical model;

[0029] S302, substituting all points in any anchor bolt area into the cylindrical model, and calculating the distances between all points and the cylindrical model;

[0030] S303, based on the distances between all points and the cylindrical model, extract the conforming points of the cylindrical model from all points, wherein the conditional formula for determining whether a point is a conforming point of the cylindrical model is as follows:

[0031]

[0032] In the formula, d represents the direction vector of the central axis of the cylindrical model, p represents any point on the central axis of the cylindrical model, x represents a point in any anchor bolt area, and r represents the radius of the cylindrical model. If the equation holds, x is a conforming point of the cylindrical model, otherwise it is not.

[0033] S304, calculating the residual value between the coincident point and the cylindrical model.

[0034] As an optional implementation of the embodiment of the present application, in step S304, the calculation formula of the residual value is:

[0035]

[0036] Where E is the residual value, N is the total number of matching points, and x i represents the i-th matching point.

[0037] As an optional implementation of the embodiment of the present application, step S4 includes:

[0038] Record the number of conforming points and residual values ​​of the cylindrical model corresponding to each anchor bolt area;

[0039] The cylindrical model with the largest number of conforming points and the smallest residual value is selected as the target cylindrical model for each anchor bolt area.

[0040] As an optional implementation of the embodiment of the present application, step S5 includes:

[0041] From the bottom surfaces of the target cylindrical models in all anchor bolt areas, select the target bottom surface as the base surface so that the ground surfaces of all target cylindrical models are located on the base surface;

[0042] Construct a coordinate system with the corner points of the base surface as the origin, and obtain the coordinates of the bottom center point and the top center point of each target cylinder model;

[0043] Calculate the exposed length of each anchor bolt according to the following formula:

[0044]

[0045] In the formula, (x 1 ,y 1 ,z 1 ) is the coordinate of the bottom center point of any target cylindrical model, (x 2 ,y 2 ,z 2 ) are the coordinates of the top surface center point of the same target cylindrical model.

[0046] As an optional implementation of the embodiment of the present application, step S6 includes:

[0047] Get the center position coordinates of each target cylinder model;

[0048] Calculate the distance between different anchor bolts according to the following formula:

[0049]

[0050] Where D ij is the distance between any two different anchor bolts i and j, (x i ,y i ,z i ) is the center position coordinate of the target cylindrical model corresponding to the anchor bolt i, (x j ,y j ,z j ) is the center position coordinate of the target cylindrical model corresponding to the anchor bolt j.

[0051] In a second aspect, the present application provides an electronic device comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements a method for measuring the contact network foundation anchor bolts as described in the first aspect or any one of its optional embodiments.

[0052] In a third aspect, the present application provides a computer-readable storage medium, comprising: a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements the method for measuring the contact network foundation anchor bolts as described in the first aspect or any one of its optional embodiments.

[0053] In a fourth aspect, the present application provides a computer program product, comprising: the computer program product comprises a computer program, and when the computer program runs on a computer, the computer implements the method for measuring the contact network foundation anchor bolts as described in the first aspect or any one of its optional embodiments.

[0054] The beneficial effects of the technical solution provided by the embodiment of the present application are as follows:

[0055] 1. The measuring device obtains information about the base and all the anchor bolts thereon and generates 3D point cloud data, which is then sent to the processing end. The processing end quickly calculates whether the exposed length of the bolts and the distance between each bolt meet the requirements. The measurement process is simple, convenient and fast, which significantly reduces the need for manual recording and greatly improves the measurement efficiency of bolts.

[0056] 2. Preprocessing can remove redundant data in the 3D point cloud, which can improve the accuracy of data processing, reduce irrelevant data, and reduce errors in anchor bolt measurement;

[0057] 3. Iterate the cylindrical model multiple times to make the fitted cylindrical model have a high degree of overlap with the anchor bolt, which is closer to the true value of the radius, length and position relationship of the anchor bolt, thereby improving the accuracy of the anchor bolt measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0059] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0060] Figure 1 A schematic flow chart of a method for measuring a contact network foundation anchor bolt provided in an embodiment of the present application;

[0061] Figure 2 A schematic diagram of the structure of an electronic device described in an embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the technical terms required to be used in the embodiments or the prior art description are briefly introduced below:

[0063] Catenary foundation anchor bolts are fasteners used in buildings and engineering structures, usually made of high-strength steel, and are used to connect steel structures, bridges, wind power towers, etc. to the foundation. This bolt is designed to ensure the stability and safety of the structure.

[0064] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0065] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all of the embodiments.

[0066] In order to solve some or all of the technical problems existing in the related art, the embodiment of the present application provides a measurement method, a processing end and a measurement device for the anchor bolts of the contact network foundation, wherein the method.

[0067] A method for measuring the foundation bolts of a contact network provided in the embodiment of the present application can be implemented by a measuring device or an electronic device, and the processing end includes but is not limited to a personal computer, a laptop computer, a tablet computer, a smart phone, etc. The operating system of the processing end may include Android, a mobile operating system (iOS) developed by Apple, an operating system (Windows) developed by Microsoft Corporation of the United States, etc., and the embodiment of the present application does not limit this. The processing end can be run alone to implement the present application, or it can be connected to a network and implemented by interactive operations with other computer devices in the network. Among them, the network where the processing end is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN) network, etc.

[0068] It should be noted that the protection scope of the method for measuring the anchor bolts of the contact network foundation described in the embodiment of the present application is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present application are included in the protection scope of the present application.

[0069] like Figure 1 As shown, Figure 1 The following is a flow chart of a method for measuring the foundation bolts of a contact network according to an embodiment of the present application. The method can be performed by a measuring device or an electronic device, and the measuring device can be implemented by software and / or hardware. Figure 1 As shown, the method mainly includes the following steps S1 to S7:

[0070] S1. Obtain the three-dimensional point cloud data of the contact network foundation anchor bolts, and send the three-dimensional point cloud data to the processing end.

[0071] In some embodiments, the three-dimensional point cloud data of the contact network anchor bolts is obtained by using a three-dimensional scanning device to scan the entire contact network anchor bolt area from above the contact network anchor bolts.

[0072] The processing end includes but is not limited to electronic devices such as tablet computers, desktop computers, and laptop computers.

[0073] S2. The processing end pre-processes the three-dimensional point cloud data.

[0074] The original 3D point cloud data received by the processing end usually contains a large number of redundant or irrelevant points, such as background noise during scanning, external areas, etc. These irrelevant point cloud data will affect the subsequent analysis and calculation, resulting in inaccurate measurement results. At the same time, a large amount of redundant data will increase the amount of calculation, resulting in slower processing speed. Therefore, the original 3D point cloud data is preprocessed.

[0075] In some embodiments, the preprocessing includes the following steps S201 to S205:

[0076] S201. Crop irrelevant points of anchor bolts in the three-dimensional point cloud data.

[0077] Crop points irrelevant to the anchor bolts in the 3D point cloud data, including but not limited to noise and isolated points.

[0078] Optionally, when clipping data, the point cloud can be clipped according to the region of interest (ROI), for example, using box clipping or custom shape clipping to clip points in irrelevant external areas. When clipping, the edge of the base is used as the clipping edge, and only the point cloud data related to the anchor bolts and the base is retained.

[0079] S202, for each relevant point P of the anchor bolt in the three-dimensional point cloud data i , select its nearest k neighboring points and calculate each relevant point P i The average distance between its neighbors As shown in formula (1):

[0080]

[0081] In formula (1), ||P i -P j(i) || represents point P i To its jth nearest neighbor point P j(i) The Euclidean distance of

[0082] S203, for all relevant points of the anchor bolts in the three-dimensional point cloud data, calculate the corresponding average distance The mean μ d and standard deviation σ 6 , as shown in formula (2-1) and formula (2-2):

[0083]

[0084] Where N is the relevant point P i The total number of .

[0085] S204, if any relevant point P i The average distance between its neighbors If the following thresholds are met, the points are marked as outliers:

[0086]

[0087] Where t is the set standard deviation multiple threshold.

[0088] S205: Delete outlier points from the three-dimensional point cloud data.

[0089] Removing the marked outliers from the 3D point cloud data of the anchor bolt can improve the visualization of the point cloud and make the outline of the anchor bolt clearer. Preprocessing the 3D point cloud data on the processing end can improve data quality, reduce redundant data, and optimize computing efficiency.

[0090] S3. The processing end fits a cylindrical model of each anchor bolt area in the three-dimensional point cloud data, and substitutes the point cloud data of each anchor bolt area into the cylindrical model for verification.

[0091] In the 3D point cloud data, the point data of each anchor bolt is concentrated in different areas, which can be defined as each anchor bolt area. Then, each anchor bolt area is fitted separately. The shape of the anchor bolt is a cylinder. The 3D point cloud data of the anchor bolt is selected to fit a cylindrical model that matches the anchor bolt. The center point, diameter, exposed length and other data of the anchor bolt can be calculated through the fitted cylindrical model; each 3D point cloud data of the anchor bolt is substituted into the fitted cylindrical model to verify the compatibility of the cylindrical model with the anchor bolt.

[0092] In some embodiments, step S3 specifically includes the following steps S301 to S304:

[0093] S301. Randomly select some points in any anchor bolt area to fit a cylindrical model, and determine the central axis and radius of the cylindrical model.

[0094] S302, substituting all points in any anchor bolt area into the cylindrical model, and calculating the distances between all points and the cylindrical model.

[0095] S303, based on the distances between all points and the cylindrical model, extract the conforming points of the cylindrical model from all points, wherein the conditional formula for determining whether a point is a conforming point of the cylindrical model is as follows (3):

[0096]

[0097] In formula (3), d represents the direction vector of the central axis of the cylindrical model, p represents any point on the central axis of the cylindrical model, x represents a point in any anchor bolt area, and r represents the radius of the cylindrical model. If the equation holds, the point x is a conforming point of the cylindrical model, otherwise it is not.

[0098] Specifically, the points in the corresponding area are substituted into the fitted cylindrical model, the distance between these points and the fitted cylindrical model is calculated, the points that conform to the cylindrical model and the points that do not conform to the cylindrical model are judged according to the distance, and the number of points that conform to the cylindrical model in different areas is recorded respectively.

[0099] S304, calculating the residual value between the coincident point and the cylindrical model.

[0100] In some embodiments, in step S304, the residual value is calculated as follows:

[0101]

[0102] Where E is the residual value, N is the total number of matching points, and x i represents the i-th matching point.

[0103] S4. The processing end repeats step S3 until the target cylindrical model of each anchor bolt area is determined.

[0104] Fitting different cylindrical models multiple times, and selecting the cylindrical model with the highest fitness as the final cylindrical model, and using it as the true profile of the anchor bolt, fitting multiple times and selecting the cylindrical model with the highest fitness can reduce errors and improve measurement accuracy.

[0105] In some embodiments, step S4 includes the following steps S401-S402:

[0106] S401. Record the number of conforming points and residual values ​​of the cylindrical model corresponding to each anchor bolt area.

[0107] S402: Select a cylindrical model with the largest number of conforming points and the smallest residual value as the target cylindrical model of each anchor bolt area.

[0108] Specifically, in step S4, during multiple iterations, the number of points that conform to the cylindrical model and the residual values ​​in different regions are recorded in turn. After multiple iterations, the cylindrical model with the largest number of points that conform to the cylindrical model and the smallest residual value is selected as the target cylindrical model for the region.

[0109] In order to improve the iteration efficiency, the number of selected points can be gradually increased in step S3 during multiple iterations, and a minimum threshold of the residual value and a maximum threshold of the number of matching points can be set. When the iteration is less than the minimum threshold of the residual value and greater than the maximum threshold of the number of matching points, the iteration is stopped.

[0110] S5. The processing end calculates the exposed length of each anchor bolt based on the target cylindrical model of each anchor bolt area.

[0111] In some embodiments, step S5 includes the following steps S501 to S503:

[0112] S501. Select a target bottom surface from the bottom surfaces of the target cylindrical models in all anchor bolt areas as a base surface, so that the ground surfaces of all target cylindrical models are located on the base surface.

[0113] In step S5, the bottom surface of the target cylindrical model is used as the base surface, and the shape and area of ​​the base surface are set. Preferably, the base surface is set to a rectangle, and the bottom surfaces of all target cylindrical models are located on the base surface.

[0114] S502: construct a coordinate system with the corner points of the base surface as the origin, and obtain the coordinates of the bottom center point and the top center point of each target cylindrical model.

[0115] S503. Calculate the exposed length of each anchor bolt according to the following formula (5):

[0116]

[0117] In formula (5), (x 1 ,y 1 ,z 1 ) is the coordinate of the bottom center point of any target cylindrical model, (x 2 ,y 2 ,z 2 ) are the coordinates of the top surface center point of the same target cylindrical model.

[0118] S6. The processing end calculates the distances between different anchor bolts based on the target cylindrical model of each anchor bolt area.

[0119] In some embodiments, step S6 includes the following steps S601-S602:

[0120] S601, obtaining the center position coordinates of each target cylindrical model.

[0121] S602. Calculate the distances between different anchor bolts according to the following formula (6).

[0122]

[0123] Where D ij is the distance between any two different anchor bolts i and j, (x i ,y i ,z i ) is the center position coordinate of the target cylindrical model corresponding to the anchor bolt i, (x j ,y j ,z j ) is the center position coordinate of the target cylindrical model corresponding to the anchor bolt j.

[0124] S7. The processing end stores the exposed length of each anchor bolt and the distance between different anchor bolts, and performs real-time detection. If the exposed length and / or distance exceeds a preset threshold, an alarm is issued.

[0125] The calculated exposed length of the anchor bolts and the distance between different anchor bolts are stored in a file and detected in real time to determine whether the exposed length of each anchor bolt is greater than a first threshold value and / or whether the distance between different anchor bolts is greater than a second threshold value. If so, it means that the anchor bolt does not meet the requirements, and an alarm is issued. The first threshold value is a preset threshold value for the exposed length of the anchor bolts; the second threshold value is a preset threshold value for the distance between different anchor bolts.

[0126] In summary, the embodiment of the present application provides a method for measuring the anchor bolts of a contact network. The method obtains information about a base and all the anchor bolts thereon through a measuring device and generates three-dimensional point cloud data, and sends the three-dimensional point cloud data to a processing end. The processing end quickly calculates whether the exposed length of the bolts and the distance between each bolt meet the requirements. The measurement process is simple, convenient and fast, which significantly reduces the need for manual recording and greatly improves the measurement efficiency of the bolts. By preprocessing, redundant data in the three-dimensional point cloud is removed, which can improve the accuracy of data processing, reduce irrelevant data, and reduce errors in the measurement of anchor bolts. The cylindrical model is fitted by multiple iterations to make the fitted cylindrical model have a high degree of overlap with the anchor bolts, which is closer to the true value of the radius, length and position relationship of the anchor bolts, thereby improving the accuracy of the anchor bolt measurement.

[0127] In one embodiment, the present application provides an electronic device, which may be a terminal, and its internal structure diagram may be as follows: Figure 2 As shown. The electronic device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the electronic device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a method for measuring the foundation bolts of a contact network is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the housing of the electronic device, or an external keyboard, touchpad or mouse.

[0128] Those skilled in the art will understand that Figure 2 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0129] In one embodiment, the processing end provided by the present application can be implemented in the form of a computer program, and the computer program can be Figure 2 The memory of the electronic device can store various program modules constituting the processing end.

[0130] In one embodiment, the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0131] S1, obtaining the three-dimensional point cloud data of the contact network foundation anchor bolts, and sending the three-dimensional point cloud data to the processing end;

[0132] S2, the processing end pre-processes the three-dimensional point cloud data;

[0133] S3, the processing end fits a cylindrical model of each anchor bolt area in the three-dimensional point cloud data, and substitutes the point cloud data of each anchor bolt area into the cylindrical model for verification;

[0134] S4, the processing end repeats step S3 until the target cylindrical model of each anchor bolt area is determined;

[0135] S5, the processing end calculates the exposed length of each anchor bolt based on the target cylindrical model of each anchor bolt area;

[0136] S6, the processing end calculates the distances between different anchor bolts based on the target cylindrical model of each anchor bolt area;

[0137] S7. The processing end stores the exposed length of each anchor bolt and the distance between different anchor bolts, and performs real-time detection. If the exposed length and / or distance exceeds a preset threshold, an alarm is issued.

[0138] In one embodiment, the processor further implements the following steps when executing the computer program: In step S1, the three-dimensional point cloud data of the contact network anchor bolts is obtained by using a three-dimensional scanning device to scan the entire contact network anchor bolt area from above the contact network anchor bolts.

[0139] In one embodiment, the processor further implements the following steps when executing the computer program: In step S2, preprocessing includes:

[0140] Crop irrelevant points of anchor bolts in 3D point cloud data;

[0141] For each relevant point P of the anchor bolt in the 3D point cloud data i , select its nearest k neighboring points and calculate each relevant point P i The average distance between its neighbors

[0142]

[0143] In the formula, ||P i -P j(i) || represents point P iTo its jth nearest neighbor point P j(i) The Euclidean distance of

[0144] Calculate the corresponding average distance for all relevant points of the anchor bolts in the 3D point cloud data The mean μ d and standard deviation σ d :

[0145]

[0146] Where N is the relevant point P i Total number of;

[0147] If any relevant point P i The average distance between its neighbors If the following thresholds are met, the points are marked as outliers:

[0148]

[0149] Among them, t is the set standard deviation multiple threshold;

[0150] Remove outlier points from 3D point cloud data.

[0151] In one embodiment, the processor further implements the following steps when executing the computer program: Step S3 specifically includes the following steps:

[0152] S301, randomly selecting some points in any anchor bolt area to fit a cylindrical model, and determining the central axis and radius of the cylindrical model;

[0153] S302, substituting all points in any anchor bolt area into the cylindrical model, and calculating the distances between all points and the cylindrical model;

[0154] S303, based on the distances between all points and the cylindrical model, extract the conforming points of the cylindrical model from all points, wherein the conditional formula for determining whether a point is a conforming point of the cylindrical model is as follows:

[0155]

[0156] In the formula, d represents the direction vector of the central axis of the cylindrical model, p represents any point on the central axis of the cylindrical model, x represents a point in any anchor bolt area, and r represents the radius of the cylindrical model. If the equation holds, x is a conforming point of the cylindrical model, otherwise it is not.

[0157] S304, calculating the residual value between the coincident point and the cylindrical model.

[0158] As an optional implementation of the embodiment of the present application, in step S304, the calculation formula of the residual value is:

[0159]

[0160] Where E is the residual value, N is the total number of matching points, and x i represents the i-th matching point.

[0161] In one embodiment, the processor further implements the following steps when executing the computer program: Step S4 includes:

[0162] Record the number of conforming points and residual values ​​of the cylindrical model corresponding to each anchor bolt area;

[0163] The cylindrical model with the largest number of conforming points and the smallest residual value is selected as the target cylindrical model for each anchor bolt area.

[0164] In one embodiment, the processor further implements the following steps when executing the computer program: Step S5 includes:

[0165] From the bottom surfaces of the target cylindrical models in all anchor bolt areas, select the target bottom surface as the base surface so that the ground surfaces of all target cylindrical models are located on the base surface;

[0166] Construct a coordinate system with the corner points of the base surface as the origin, and obtain the coordinates of the bottom center point and the top center point of each target cylinder model;

[0167] Calculate the exposed length of each anchor bolt according to the following formula:

[0168]

[0169] In the formula, (x 1 ,y 1 ,z 1 ) is the coordinate of the bottom center point of any target cylindrical model, (x 2 ,y 2 ,z 2 ) are the coordinates of the top surface center point of the same target cylindrical model.

[0170] As an optional implementation of the embodiment of the present application, step S6 includes:

[0171] Get the center position coordinates of each target cylinder model;

[0172] Calculate the distance between different anchor bolts according to the following formula:

[0173]

[0174] Where Dij is the distance between any two different anchor bolts i and j, (x i ,y i ,z i ) is the center position coordinate of the target cylindrical model corresponding to the anchor bolt i, (x j ,y j ,z j ) is the center position coordinate of the target cylindrical model corresponding to the anchor bolt j.

[0175] The present application obtains information about the base and all the anchor bolts thereon through a measuring device and generates three-dimensional point cloud data, and sends the three-dimensional point cloud data to a processing end, through which the exposed length of the bolts and the distance between each bolt are quickly calculated to see whether they meet the requirements. The measurement process is simple, convenient and fast, which significantly reduces the need for manual recording and greatly improves the efficiency of bolt measurement. By preprocessing, redundant data in the three-dimensional point cloud is removed, which can improve the accuracy of data processing, reduce irrelevant data, and reduce errors in anchor bolt measurement. The cylindrical model is fitted by multiple iterations, so that the fitted cylindrical model has a high degree of overlap with the anchor bolt, which is closer to the true value of the radius, length and position relationship of the anchor bolt, thereby improving the accuracy of anchor bolt measurement.

[0176] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by the computer program, the following steps are implemented:

[0177] S1, obtaining the three-dimensional point cloud data of the contact network foundation anchor bolts, and sending the three-dimensional point cloud data to the processing end;

[0178] S2, the processing end pre-processes the three-dimensional point cloud data;

[0179] S3, the processing end fits a cylindrical model of each anchor bolt area in the three-dimensional point cloud data, and substitutes the point cloud data of each anchor bolt area into the cylindrical model for verification;

[0180] S4, the processing end repeats step S3 until the target cylindrical model of each anchor bolt area is determined;

[0181] S5, the processing end calculates the exposed length of each anchor bolt based on the target cylindrical model of each anchor bolt area;

[0182] S6, the processing end calculates the distances between different anchor bolts based on the target cylindrical model of each anchor bolt area;

[0183] S7. The processing end stores the exposed length of each anchor bolt and the distance between different anchor bolts, and performs real-time detection. If the exposed length and / or distance exceeds a preset threshold, an alarm is issued.

[0184] In one embodiment, the computer program further implements the following steps when executing the computer program: in step S1, the three-dimensional point cloud data of the contact network anchor bolts is obtained by using a three-dimensional scanning device to scan the entire contact network anchor bolt area from above the contact network anchor bolts.

[0185] In one embodiment, the computer program further implements the following steps when executing the computer program: In step S2, preprocessing includes:

[0186] Crop irrelevant points of anchor bolts in 3D point cloud data;

[0187] For each relevant point P of the anchor bolt in the 3D point cloud data i , select its nearest k neighboring points and calculate each relevant point P i The average distance between its neighbors

[0188]

[0189] In the formula, ||P i -P j(i) || represents point P i To its jth nearest neighbor point P j(i) The Euclidean distance of

[0190] Calculate the corresponding average distance for all relevant points of the anchor bolts in the 3D point cloud data The mean μ d and standard deviation σ d :

[0191]

[0192]

[0193] Where N is the relevant point P i Total number of;

[0194] If any relevant point P i The average distance between its neighbors If the following thresholds are met, the points are marked as outliers:

[0195]

[0196] Among them, t is the set standard deviation multiple threshold;

[0197] Remove outlier points from 3D point cloud data.

[0198] In one embodiment, the computer program further implements the following steps when executing the computer program: Step S3 specifically includes the following steps:

[0199] S301, randomly selecting some points in any anchor bolt area to fit a cylindrical model, and determining the central axis and radius of the cylindrical model;

[0200] S302, substituting all points in any anchor bolt area into the cylindrical model, and calculating the distances between all points and the cylindrical model;

[0201] S303, based on the distances between all points and the cylindrical model, extract the conforming points of the cylindrical model from all points, wherein the conditional formula for determining whether a point is a conforming point of the cylindrical model is as follows:

[0202]

[0203] In the formula, d represents the direction vector of the central axis of the cylindrical model, p represents any point on the central axis of the cylindrical model, x represents a point in any anchor bolt area, and r represents the radius of the cylindrical model. If the equation holds, x is a conforming point of the cylindrical model, otherwise it is not.

[0204] S304, calculating the residual value between the coincident point and the cylindrical model.

[0205] In one embodiment, the computer program further implements the following steps when executing the computer program: In step S304, the residual value is calculated as follows:

[0206]

[0207] Where E is the residual value, N is the total number of matching points, and x i represents the i-th matching point.

[0208] As an optional implementation of the embodiment of the present application, step S4 includes:

[0209] Record the number of conforming points and residual values ​​of the cylindrical model corresponding to each anchor bolt area;

[0210] The cylindrical model with the largest number of conforming points and the smallest residual value is selected as the target cylindrical model for each anchor bolt area.

[0211] In one embodiment, the computer program further implements the following steps when executing the computer program: Step S5 includes:

[0212] From the bottom surfaces of the target cylindrical models in all anchor bolt areas, select the target bottom surface as the base surface so that the ground surfaces of all target cylindrical models are located on the base surface;

[0213] Construct a coordinate system with the corner points of the base surface as the origin, and obtain the coordinates of the bottom center point and the top center point of each target cylinder model;

[0214] Calculate the exposed length of each anchor bolt according to the following formula:

[0215]

[0216] In the formula, (x 1 ,y 1 ,z 1 ) is the coordinate of the bottom center point of any target cylindrical model, (x 2 ,y 2 ,z 2 ) are the coordinates of the top surface center point of the same target cylindrical model.

[0217] In one embodiment, the computer program further implements the following steps when executing the computer program: Step S6 includes:

[0218] Get the center position coordinates of each target cylinder model;

[0219] Calculate the distance between different anchor bolts according to the following formula:

[0220]

[0221] Where D ij is the distance between any two different anchor bolts i and j, (x i ,y i ,z i ) is the center position coordinate of the target cylindrical model corresponding to the anchor bolt i, (x j ,y j ,z j ) is the center position coordinate of the target cylindrical model corresponding to the anchor bolt j.

[0222] The present application obtains information about the base and all the anchor bolts thereon through a measuring device and generates three-dimensional point cloud data, and sends the three-dimensional point cloud data to a processing end, through which the exposed length of the bolts and the distance between each bolt are quickly calculated to see whether they meet the requirements. The measurement process is simple, convenient and fast, which significantly reduces the need for manual recording and greatly improves the efficiency of bolt measurement. By preprocessing, redundant data in the three-dimensional point cloud is removed, which can improve the accuracy of data processing, reduce irrelevant data, and reduce errors in anchor bolt measurement. The cylindrical model is fitted by multiple iterations, so that the fitted cylindrical model has a high degree of overlap with the anchor bolt, which is closer to the true value of the radius, length and position relationship of the anchor bolt, thereby improving the accuracy of anchor bolt measurement.

[0223] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media that include computer-usable program code.

[0224] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0225] In the present application, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0226] In this application, memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0227] In this application, computer-readable media includes permanent and non-permanent, removable and non-removable storage media. Storage media can be implemented by any method or technology to store information, and the information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. According to the definition in this article, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0228] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0229] The above is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for measuring the anchor bolts of a contact network foundation, characterized in that: The following steps are involved: S1, obtaining three-dimensional point cloud data of the contact network foundation anchor bolts, and sending the three-dimensional point cloud data to the processing end; S2, the processing end preprocesses the three-dimensional point cloud data; S3, the processing end fits a cylindrical model of each anchor bolt area in the three-dimensional point cloud data, and substitutes the point cloud data of each anchor bolt area into the cylindrical model for verification; S4, the processing end repeats step S3 until the target cylindrical model of each anchor bolt area is determined; S5, the processing end calculates the exposed length of each anchor bolt based on the target cylindrical model of each anchor bolt area; S6, the processing end calculates the distances between different anchor bolts based on the target cylindrical model of each anchor bolt area; S7. The processing end stores the exposed length of each anchor bolt and the distance between different anchor bolts, and performs real-time detection. If the exposed length and / or the distance exceeds a preset threshold, an alarm is issued.

2. The method according to claim 1, characterized in that In step S1, the three-dimensional point cloud data of the contact network anchor bolts is obtained by using a three-dimensional scanning device to scan the entire contact network anchor bolt area from above the contact network anchor bolts.

3. The method according to claim 1, characterized in that In step S2, the preprocessing includes: Cutting out irrelevant points of the anchor bolts in the three-dimensional point cloud data; For each relevant point P of the anchor bolt in the three-dimensional point cloud data i , select its nearest k neighboring points and calculate each relevant point P i The average distance between its neighbors In the formula, ||P i -P j(i) || represents point P i To its jth nearest neighbor point P j(i) The Euclidean distance of For all relevant points of the anchor bolts in the three-dimensional point cloud data, calculate the corresponding average distance The mean μ d and standard deviation σ d : Where N is the relevant point P i Total number of; If any relevant point P i The average distance between its neighbors If the following thresholds are met, the points are marked as outliers: Among them, t is the set standard deviation multiple threshold; Outlier points are deleted from the three-dimensional point cloud data.

4. The method according to claim 1, characterized in that: Step S3 specifically includes the following steps: S301, randomly selecting some points in any anchor bolt area to fit a cylindrical model, and determining the central axis and radius of the cylindrical model; S302, substituting all points in any one of the anchor bolt regions into the cylindrical model, and calculating the distances between all points and the cylindrical model; S303, based on the distances between all points and the cylindrical model, extract the conforming points of the cylindrical model from all points, wherein the conditional formula for determining whether a point is a conforming point of the cylindrical model is as follows: Wherein, d represents the direction vector of the central axis of the cylindrical model, p represents any point on the central axis of the cylindrical model, x represents a point in any anchor bolt area, and r represents the radius of the cylindrical model. If the equation holds, x is a conforming point of the cylindrical model, otherwise it is not. S304: Calculate the residual value between the conforming point and the cylindrical model.

5. The method according to claim 4, characterized in that In step S304, the residual value is calculated as follows: Where E is the residual value, N is the total number of matching points, and x i represents the i-th matching point.

6. The method according to claim 5, characterized in that Step S4 includes: Record the number of conforming points and residual values ​​of the cylindrical model corresponding to each anchor bolt area; The cylindrical model with the largest number of conforming points and the smallest residual value is selected as the target cylindrical model of each anchor bolt area.

7. The method according to claim 1, characterized in that Step S5 includes: Selecting a target bottom surface as a base surface from the bottom surfaces of the target cylindrical models in all anchor bolt areas, so that the ground surfaces of all target cylindrical models are located on the base surface; Constructing a coordinate system with the corner points of the base surface as the origin, and obtaining the coordinates of the bottom center point and the top center point of each target cylindrical model; Calculate the exposed length of each anchor bolt according to the following formula: Where (x1, y1, z1) is the coordinate of the bottom center point of any target cylindrical model, and (x2, y2, z2) is the coordinate of the top center point of the same target cylindrical model.

8. The method according to claim 7, characterized in that Step S6 includes: Get the center position coordinates of each target cylinder model; Calculate the distance between different anchor bolts according to the following formula: Where D ij is the distance between any two different anchor bolts i and j, (x i ,y i ,z i ) is the center position coordinate of the target cylindrical model corresponding to the anchor bolt i, (x j ,y j ,z j ) is the center position coordinate of the target cylindrical model corresponding to the anchor bolt j.

9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the method for measuring the contact network foundation anchor bolts as claimed in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: include: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for measuring the contact network foundation anchor bolts according to any one of claims 1 to 8 is implemented.

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