Measurement method, processing end and measurement device for foundation bolt of overhead line system foundation

Abstract

The invention relates to a measuring method, a processing end and a measuring device for a foundation bolt of a contact network foundation, in particular to the technical field of foundation network construction. Comprising the following steps: acquiring three-dimensional point cloud data of a foundation bolt sent by a measuring device; fitting based on the preprocessed three-dimensional point cloud data to obtain a target cylinder model; in the target coordinate system, the exposure distance of the foundation bolts and the spacing distance between the different foundation bolts are calculated according to the target cylinder model; wherein the target coordinate system takes the bottom surface of the target cylinder model as a base surface and takes the corner point of the bottom surface as an original point. The embodiment of the invention is used for improving the measurement efficiency of the foundation bolt of the overhead line system foundation.

Description

Technical Field

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

[0002] In the existing construction of roads, tunnels, and bridges, the contact network foundation anchor bolts are measured using standard metal templates 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 the anchor bolts, and each set of data is recorded one by one. However, in the existing contact network, each base is equipped with a number of bolts. The traditional measurement method of measuring with tools such as metal templates and rulers requires recording data every time a set of data is measured. The measurement process is cumbersome, time-consuming, and labor-intensive. Summary of the invention

[0003] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a measurement method, a processing end and a measurement device for a contact network foundation anchor bolts, which can improve the measurement efficiency of the contact network foundation anchor bolts.

[0004] In order to achieve the above purpose, the technical solutions provided by the embodiments of the present application are as follows:

[0005] In a first aspect, the present application provides a method for measuring a contact network foundation anchor bolt, comprising:

[0006] Acquire the three-dimensional point cloud data of the anchor bolt sent by the measuring device;

[0007] Based on the preprocessed three-dimensional point cloud data, the target cylindrical model is fitted;

[0008] In the target coordinate system, the exposed distance of the anchor bolts and the spacing distances between different anchor bolts are calculated according to the target cylindrical model; wherein the target coordinate system takes the bottom surface of the target cylindrical model as the base surface and the corner point of the bottom surface as the origin.

[0009] As an optional implementation of the embodiment of the present application, after fitting the target cylindrical model based on the preprocessed three-dimensional point cloud data, before calculating the exposed distance of the anchor bolts and the spacing distance between different anchor bolts according to the target cylindrical model in the target coordinate system, the method further includes:

[0010] For each point in the 3D point cloud data, calculate the average distance to the neighboring point set;

[0011] The points whose average distance is greater than the outlier threshold are deleted from the three-dimensional point cloud data to obtain preprocessed three-dimensional point cloud data;

[0012] The outlier threshold is calculated based on the mean and standard deviation of the average distances corresponding to all points in the three-dimensional point cloud data.

[0013] As an optional implementation of the embodiment of the present application, for each point in the three-dimensional point cloud data, the average distance to the neighboring point set is calculated, including:

[0014] For any point P in the 3D point cloud data i , calculate point P i and the jth nearest neighbor point P j(i) The Euclidean distance between the jth neighbor point P j(i) is any point in the set of neighboring points;

[0015] According to the Euclidean distance, the sum is obtained to get point P i The sum of the Euclidean distances to the neighboring point set;

[0016] According to the sum of the Euclidean distance and the number of points in the neighboring point set, calculate point P i The average distance to the set of neighboring points.

[0017] As an optional implementation of the embodiment of the present application, the outlier threshold is calculated according to the following formula:

[0018] d t =u d +t*σ d

[0019] Where, d t is the outlier threshold, μ d is the mean of the average distances, is the average distance between any point and its neighboring points in the 3D point cloud data, N is the total number of points contained in the 3D point cloud data; t is the standard deviation multiple threshold, σ d is the standard deviation of the mean distance,

[0020] As an optional implementation of the embodiment of the present application, fitting a target cylindrical model based on the preprocessed three-dimensional point cloud data includes repeatedly performing the following steps:

[0021] For each anchor bolt point cloud in the preprocessed three-dimensional point cloud data, an initial cylindrical model is fitted;

[0022] Calculate the first distance between the target point and the corresponding initial cylindrical model, where the target point is any point on any anchor bolt point cloud in the preprocessed three-dimensional point cloud data;

[0023] If the first distance is less than or equal to the radius of the initial cylindrical model, the residual value between the target point and the corresponding initial cylindrical model is calculated until the residual value is less than the residual threshold and the number of matching points is greater than the number threshold to obtain the target cylindrical model; wherein the matching point is the target point whose first distance is less than or equal to the radius of the initial cylindrical model.

[0024] As an optional implementation of the embodiment of the present application, calculating the first distance between the target point and the corresponding initial cylindrical model includes calculating the first distance according to the following formula:

[0025]

[0026] Where l is the first distance, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i Indicates the target point.

[0027] As an optional implementation of the embodiment of the present application, if the first distance is less than or equal to the radius of the initial cylindrical model, the residual value between the target point and the corresponding initial cylindrical model is calculated, including calculating the residual value according to the following formula:

[0028]

[0029] Where E is the residual value, N is the number of conforming points, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i represents the target point, and r is the radius of the initial cylindrical model.

[0030] As an optional implementation of the embodiment of the present application, in the target coordinate system, the exposed distance of the anchor bolts and the spacing distance between different anchor bolts are calculated according to the target cylindrical model, including:

[0031] Determine the coordinates of the bottom midpoint position and the top midpoint position of the target cylindrical model;

[0032] The first distance between the coordinates of the midpoint of the bottom surface and the midpoint of the top surface is used as the exposed distance of the anchor bolt;

[0033] The second distance between the coordinates of the bottom midpoints of the target cylindrical model of different anchor bolts is calculated, and the second distance is used as the spacing distance between the different anchor bolts.

[0034] In a second aspect, the present application provides a processing end, the device comprising:

[0035] An acquisition module, used for acquiring three-dimensional point cloud data of the anchor bolt sent by the measuring device;

[0036] A fitting module is used to fit the target cylindrical model based on the preprocessed three-dimensional point cloud data;

[0037] The calculation module is used to calculate the exposed distance of the anchor bolts and the spacing distance between different anchor bolts in the target coordinate system; wherein the target coordinate system takes the bottom surface of the target cylindrical model as the base surface and the corner point of the bottom surface as the origin.

[0038] As an optional implementation of the embodiment of the present application, after fitting the target cylindrical model based on the preprocessed three-dimensional point cloud data, before calculating the exposed distance of the anchor bolts and the spacing distance between different anchor bolts according to the target cylindrical model in the target coordinate system, the method further includes:

[0039] For each point in the 3D point cloud data, calculate the average distance to the neighboring point set;

[0040] The points whose average distance is greater than the outlier threshold are deleted from the three-dimensional point cloud data to obtain preprocessed three-dimensional point cloud data;

[0041] The outlier threshold is calculated based on the mean and standard deviation of the average distances corresponding to all points in the three-dimensional point cloud data.

[0042] As an optional implementation of the embodiment of the present application, for each point in the three-dimensional point cloud data, the average distance to the neighboring point set is calculated, including:

[0043] For any point P in the 3D point cloud data i , calculate point P i and the jth nearest neighbor point P j(i) The Euclidean distance between the jth neighbor point P j(i) is any point in the set of neighboring points;

[0044] According to the Euclidean distance, the sum is obtained to get point P i The sum of the Euclidean distances to the neighboring point set;

[0045] According to the sum of the Euclidean distance and the number of points in the neighboring point set, calculate point P i The average distance to the set of neighboring points.

[0046] As an optional implementation of the embodiment of the present application, the outlier threshold is calculated according to the following formula:

[0047] d t =μ d +t*σ d

[0048] Where, d t is the outlier threshold, μ d is the mean of the average distances, N is the total number of points contained in the 3D point cloud data; t is the standard deviation multiple threshold, σ d is the standard deviation of the mean distance,

[0049] As an optional implementation of the embodiment of the present application, fitting a target cylindrical model based on the preprocessed three-dimensional point cloud data includes repeatedly performing the following steps:

[0050] For each anchor bolt point cloud in the preprocessed three-dimensional point cloud data, an initial cylindrical model is fitted;

[0051] Calculate the first distance between the target point and the corresponding initial cylindrical model, where the target point is any point on any anchor bolt point cloud in the preprocessed three-dimensional point cloud data;

[0052] If the first distance is less than or equal to the radius of the initial cylindrical model, the residual value between the target point and the corresponding initial cylindrical model is calculated until the residual value is less than the residual threshold and the number of matching points is greater than the number threshold to obtain the target cylindrical model; wherein the matching point is the target point whose first distance is less than or equal to the radius of the initial cylindrical model.

[0053] As an optional implementation of the embodiment of the present application, calculating the first distance between the target point and the corresponding initial cylindrical model includes calculating the first distance according to the following formula:

[0054]

[0055] Where l is the first distance, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i Indicates the target point.

[0056] As an optional implementation of the embodiment of the present application, if the first distance is less than or equal to the radius of the initial cylindrical model, the residual value between the target point and the corresponding initial cylindrical model is calculated, including calculating the residual value according to the following formula:

[0057]

[0058] Where E is the residual value, N is the number of conforming points, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i represents the target point, and r is the radius of the initial cylindrical model.

[0059] As an optional implementation of the embodiment of the present application, in the target coordinate system, the exposed distance of the anchor bolts and the spacing distance between different anchor bolts are calculated according to the target cylindrical model, including:

[0060] Determine the coordinates of the bottom midpoint position and the top midpoint position of the target cylindrical model;

[0061] The first distance between the coordinates of the midpoint of the bottom surface and the midpoint of the top surface is used as the exposed distance of the anchor bolt;

[0062] The second distance between the coordinates of the bottom midpoints of the target cylindrical model of different anchor bolts is calculated, and the second distance is used as the spacing distance between the different anchor bolts.

[0063] In a third aspect, the present application provides a measuring device, including: an information acquisition module, including a 3D scanning camera and a visible light camera, the 3D scanning camera is used to 3D scan the anchor bolts and the base and generate 3D point cloud data; the visible light camera is used to take on-site pictures of the anchor bolts and the base;

[0064] A control module, used for sending the three-dimensional point cloud data to the processing end;

[0065] The control module is also used to display the aiming frame on the site map. When the aiming frame and the base in the site map coincide with each other, the information acquisition module is controlled to perform three-dimensional scanning of the anchor bolts and the base.

[0066] In a fourth 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 the method for measuring the contact network foundation anchor bolts as described in the first aspect or any one of its optional embodiments.

[0067] In a fifth 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.

[0068] In a sixth 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.

[0069] Compared with the prior art, the technical solution provided by the embodiments of the present application has the following advantages:

[0070] The disclosed embodiment provides a method for measuring the anchor bolts of the contact network foundation, a processing terminal and a measuring device, wherein the method first obtains the three-dimensional point cloud data of the anchor bolts sent by the measuring device, and then fits the pre-processed three-dimensional point cloud data to obtain a target cylindrical model, and then in a target coordinate system with the bottom surface of the target cylindrical model as the base surface and the corner points of the bottom surface as the origin, the exposed distance of the anchor bolts and the spacing distance between different anchor bolts are calculated according to the target cylindrical model. In this way, the embodiment of the present application obtains the three-dimensional point cloud data of the anchor bolts for pre-processing and model fitting, so as to calculate the exposed distance of the anchor bolts and the spacing distance between different anchor bolts in the constructed target coordinate system, so as to accurately and quantitatively evaluate whether the anchor bolts meet the requirements, and the measurement method is simple and fast, which reduces labor costs and improves the measurement efficiency of the contact network foundation anchor bolts. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] 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.

[0072] 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.

[0073] 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;

[0074] Figure 2 A schematic diagram of the structure of a processing terminal provided in an embodiment of the present application;

[0075] Figure 3A A structural diagram of a measuring device provided in an embodiment of the present application Figure 1 ;

[0076] Figure 3B A structural diagram of a measuring device provided in an embodiment of the present application Figure 2 ;

[0077] Figure 4 A schematic diagram of the structure of an electronic device described in an embodiment of the present application. DETAILED DESCRIPTION

[0078] 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:

[0079] 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.

[0080] 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.

[0081] 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.

[0082] In order to solve some or all of the technical problems existing in the related art, the embodiment of the present application provides a method, a processing end and a measuring device for the contact network foundation anchor bolts, wherein the method first obtains the three-dimensional point cloud data of the anchor bolts sent by the measuring device, and then fits the pre-processed three-dimensional point cloud data to obtain a target cylindrical model, and then in a target coordinate system with the bottom surface of the target cylindrical model as the base surface and the corner points of the bottom surface as the origin, the exposed distance of the anchor bolts and the spacing distance between different anchor bolts are calculated according to the target cylindrical model. In this way, the embodiment of the present application obtains the three-dimensional point cloud data of the anchor bolts for pre-processing and model fitting, so as to calculate the exposed distance of the anchor bolts and the spacing distance between different anchor bolts in the constructed target coordinate system, so as to accurately and quantitatively evaluate whether the anchor bolts meet the requirements, and the measurement method is simple and fast, which reduces labor costs and improves the measurement efficiency of the contact network foundation anchor bolts.

[0083] A method for measuring the foundation bolts of a contact network provided in the embodiment of the present application can be implemented by a processing end 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.

[0084] 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.

[0085] like Figure 1 As shown, Figure 1 The following is a flow chart of a method for measuring the anchor bolts of a contact network foundation according to an embodiment of the present application. The method can be executed by a processing end, which can be implemented by software and / or hardware. Figure 1 As shown, the method mainly includes the following steps S101 to S103:

[0086] S101. Acquire three-dimensional point cloud data of the anchor bolt sent by a measuring device.

[0087] The measuring device scans the entire contact network foundation anchor bolts from top to bottom in sequence, obtains the three-dimensional point cloud data of the anchor bolts, and sends it to the processing end; the processing end obtains the three-dimensional point cloud data of the anchor bolts through wireless networks and other means.

[0088] In some embodiments, since the anchor bolts are installed on the base, the acquired three-dimensional point cloud data of the anchor bolts includes not only the points of the anchor bolts, but also the points of the base and the peripheral area of ​​the base. In order to remove the points that may be redundant or irrelevant, such as background noise, areas outside the anchor bolts, etc., after executing step S101, the three-dimensional point cloud data of the anchor bolts are preprocessed; optionally, the three-dimensional point cloud data of the anchor bolts are cropped according to the region of interest (ROI).

[0089] Exemplarily, box clipping or custom shape clipping is used, with the edge of the base as the clipping edge, the points corresponding to the anchor bolts and the base are retained, and the points in the peripheral area of ​​the base are clipped off.

[0090] In some embodiments, after executing step S101, the following steps S1011 to S1012 are executed to pre-process the three-dimensional point cloud data:

[0091] S1011, for each point P in the three-dimensional point cloud data i , and calculate the average distance between it and its neighboring point set.

[0092] Among them, the neighbor point set is point P i The set of neighboring points of .

[0093] In some embodiments, when executing step S1011, first, for any point P in the three-dimensional point cloud data, i , calculate point Pi and the jth nearest neighbor point P j(i) The Euclidean distance between the jth neighbor point P j(i) is any point in the neighboring point set; then, according to the Euclidean distance, the point P is obtained by adding i The sum of the Euclidean distances between the point P and the neighboring point set; and then according to the sum of the Euclidean distances and the number of points in the neighboring point set, calculate the point P i The average distance between the point and the neighboring point set.

[0094] Optionally, calculate point P according to the following formula (1): i The average distance to the neighboring points

[0095]

[0096] In formula (1), k represents the size of the neighbor point set, that is, the number of neighbor points; P j(i) It's point P i The jth neighbor of ||P i -P j(i) || represents point P i To the jth nearest neighbor point P j(i) The Euclidean distance of .

[0097] After executing step S011, the present application embodiment provides an implementation method to calculate the mean and standard deviation of the average distances corresponding to all points in the three-dimensional point cloud data to set the outlier threshold as the judgment point P. i The standard for being an outlier.

[0098] After calculating the average distances corresponding to all points in the 3D point cloud data, the mean μ of the average distances is calculated according to the following formula (2-1): d , calculate the standard deviation σ of the average distance according to the following formula (2-2): d :

[0099]

[0100] In formulas (2-1) and (2-2), N is the total number of points in the three-dimensional point cloud data.

[0101] S1012: Delete points whose average distance is greater than the outlier threshold from the three-dimensional point cloud data to obtain pre-processed three-dimensional point cloud data.

[0102] Specifically, at point P i When the average distance to the neighboring point set is greater than the outlier threshold, point P i Delete from 3D point cloud data.

[0103] The outlier threshold is calculated based on the mean and standard deviation of the average distances corresponding to all points in the three-dimensional point cloud data. The outlier threshold d is calculated according to the following formula (3): t :

[0104] d t =μ d +t*σ d (3)

[0105] In the above formula (3), t is the standard deviation multiple threshold, and its value range is [1, 2].

[0106] exist In the case of i is an outlier, then the outlier point P i Delete from 3D point cloud data.

[0107] The above embodiment removes noise and outliers in the three-dimensional point cloud data through preprocessing, reduces interference from irrelevant data, improves the accuracy of data processing, and improves the visualization effect of the three-dimensional point cloud data, making the outline of the anchor bolt clearer.

[0108] S102: fitting a target cylindrical model based on the preprocessed three-dimensional point cloud data.

[0109] In some embodiments, the target cylindrical model of each anchor bolt is obtained by iterative fitting. The iterative process includes the following steps S1021 to S1023:

[0110] S1021. For each anchor bolt point cloud in the preprocessed three-dimensional point cloud data, fitting an initial cylindrical model;

[0111] It can be understood that in the three-dimensional point cloud data, the point data of each anchor bolt are concentrated in different areas, that is, the point cloud data of one anchor bolt will only be concentrated in one area, and the point cloud data of another anchor bolt will be concentrated in another area. The corresponding cylindrical model is fitted in each area, and some points in the corresponding area are randomly selected to fit an initial cylindrical model, and the central axis and radius of the initial cylindrical model are determined.

[0112] S1022. Calculate a first distance between the target point and the corresponding cylindrical model.

[0113] The target point is any point on any anchor bolt in the preprocessed three-dimensional point cloud data.

[0114] According to formula (4) in the table, calculate a point (target point x i ) and its corresponding first distance l of the initial cylindrical model:

[0115]

[0116] In formula (4), d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i Indicates the target point.

[0117] S1023. If the first distance is less than or equal to the radius of the initial cylindrical model, calculate the residual value between the target point and the initial cylindrical model until the residual value is less than the residual threshold and the number of matching points is greater than the quantity threshold, so as to obtain the target cylindrical model.

[0118] The coincidence point is a target point whose first distance is less than or equal to the radius of the initial cylindrical model. When the number of coincidence points in two initial cylindrical models is the same, it can be determined which initial cylindrical model is more accurate based on the residual value.

[0119] If l≤r, it means point x i Located on the surface or inside of the cylindrical model, point x i The points that conform to the cylindrical model are defined as conforming points, and the number of conforming points is recorded. The conforming points x are calculated according to the following formula (5): i The residual value E between the initial cylindrical model:

[0120]

[0121] In the above formula (5), N is the total number of matching points. The smaller the residual value, the more matching points x i The better the fit with the cylindrical model.

[0122] If l>r, it means point x i Located outside the cylindrical model, point x i It does not conform to the cylindrical model and will not be processed.

[0123] Repeat the above steps S1021 to S1023, record the number of conforming points and residual value of each cylindrical model, and the iterative goal is to obtain a target cylindrical model with the smallest residual value and the largest number of conforming points, and complete the fitting of an anchor bolt.

[0124] In some embodiments, the number of iterations can be set according to actual needs. The more iterations there are, the higher the accuracy of the fit between the cylindrical model and the anchor bolt, the higher the accuracy of the anchor bolt measurement, but of course the corresponding processing time will be longer.

[0125] The above embodiment improves the coincidence between the fitting model and the actual anchor bolt by fitting the cylindrical model for multiple iterations, and is closer to the real values ​​of the radius, length and position relationship of the anchor bolt, thereby improving the authenticity of the anchor bolt measurement.

[0126] S103. In the target coordinate system, the exposed distance of the anchor bolts and the spacing distances between different anchor bolts are calculated according to the target cylindrical model.

[0127] The target coordinate system takes the bottom surface of the target cylindrical model as the base surface and the corner point of the bottom surface as the origin. Optionally, the shape of the base surface is set to be a rectangle, and the base surface can accommodate the bottom surface of the target cylindrical model of all anchor bolts.

[0128] In some embodiments, when executing step S103, the bottom surface midpoint position coordinates and the top surface midpoint position coordinates of the target cylindrical model are first determined; the first distance between the bottom surface midpoint position coordinates and the top surface midpoint position coordinates is used as the exposed distance of the anchor bolt; the second distance between the bottom surface midpoint position coordinates of the target cylindrical models of different anchor bolts is calculated, and the second distance is used as the spacing distance between the different anchor bolts.

[0129] Optionally, in the target coordinate system, the exposed distance of the anchor bolt is calculated according to the following formula (6):

[0130]

[0131] In formula (6), (x1, y1, z1) is the position coordinate of the midpoint of the bottom surface of the target cylindrical model, and (x2, y2, z2) is the position coordinate of the midpoint of the top surface of the target cylindrical model.

[0132] The spacing between different anchor bolts is calculated according to the following formula (7):

[0133]

[0134] In formula (7), D ij Indicates the spacing between anchor bolts i and j, (x i ,y i , z i ) is the position coordinate of the midpoint of the bottom surface of the target cylindrical model of anchor bolt i, (x j ,y j , z j ) is the position coordinate of the midpoint of the bottom surface of the target cylindrical model of anchor bolt j.

[0135] Optionally, the calculated exposed distance of the anchor bolts and the spacing distances between different anchor bolts are stored in a file and detected in real time to determine whether the exposed distance is greater than a first threshold and / or whether the spacing distance is greater than a second threshold. If so, it indicates that the anchor bolts do not meet the requirements, and an alarm is issued. The first threshold is a preset threshold for the exposed distance of the anchor bolts; the second threshold is a preset threshold for the distance between different anchor bolts.

[0136] In summary, the embodiment of the present application provides a method for measuring the anchor bolts of the contact network foundation, which is applied to the processing end. The method first obtains the three-dimensional point cloud data of the anchor bolts sent by the measuring device, and then fits the pre-processed three-dimensional point cloud data to obtain a target cylindrical model, and then in a target coordinate system with the bottom surface of the target cylindrical model as the base surface and the corner points of the bottom surface as the origin, the exposed distance of the anchor bolts and the spacing distance between different anchor bolts are calculated according to the target cylindrical model. In this way, the embodiment of the present application obtains the three-dimensional point cloud data of the anchor bolts for pre-processing and model fitting, so as to calculate the exposed distance of the anchor bolts and the spacing distance between different anchor bolts in the constructed target coordinate system, so as to accurately and quantitatively evaluate whether the anchor bolts meet the requirements, and the measurement method is simple and fast, which reduces labor costs and improves the measurement efficiency of the contact network foundation anchor bolts.

[0137] like Figure 2 As shown, Figure 2 A schematic diagram of the structure of a processing end provided in an embodiment of the present application, the processing end includes:

[0138] An acquisition module 201 is used to acquire the three-dimensional point cloud data of the anchor bolt sent by the measuring device;

[0139] A fitting module 202 is used to fit a target cylindrical model based on the preprocessed three-dimensional point cloud data;

[0140] The calculation module 203 is used to calculate the exposed distance of the anchor bolts and the spacing distance between different anchor bolts according to the target cylindrical model in the target coordinate system; wherein the target coordinate system uses the bottom surface of the target cylindrical model as the base surface and the corner point of the bottom surface as the origin.

[0141] As an optional implementation of the embodiment of the present application, the acquisition module 201 is further used to:

[0142] For each point in the 3D point cloud data, calculate the average distance to the neighboring point set;

[0143] The points whose average distance is greater than the outlier threshold are deleted from the three-dimensional point cloud data to obtain preprocessed three-dimensional point cloud data;

[0144] The outlier threshold is calculated based on the mean and standard deviation of the average distances corresponding to all points in the three-dimensional point cloud data.

[0145] As an optional implementation of the embodiment of the present application, for each point in the three-dimensional point cloud data, the average distance to the neighboring point set is calculated, including:

[0146] For any point P in the 3D point cloud data i , calculate point P i and the jth nearest neighbor point P j(i) The Euclidean distance between the jth neighbor point P j(i) is any point in the set of neighboring points;

[0147] According to the Euclidean distance, the sum is obtained to get point P i The sum of the Euclidean distances to the neighboring point set;

[0148] According to the sum of the Euclidean distance and the number of points in the neighboring point set, calculate point P i The average distance to the set of neighboring points.

[0149] As an optional implementation of the embodiment of the present application, the outlier threshold is calculated according to the following formula:

[0150] d t =u d +t*σ d

[0151] Where, d t is the outlier threshold, μ d is the mean of the average distances, is the average distance between any point and its neighboring points in the 3D point cloud data, N is the total number of points contained in the 3D point cloud data; t is the standard deviation multiple threshold, σ d is the standard deviation of the mean distance,

[0152] As an optional implementation of the embodiment of the present application, the fitting module 202 is specifically configured to repeatedly perform the following steps:

[0153] For each anchor bolt point cloud in the preprocessed three-dimensional point cloud data, an initial cylindrical model is fitted;

[0154] Calculate the first distance between the target point and the corresponding initial cylindrical model, where the target point is any point on any anchor bolt point cloud in the preprocessed three-dimensional point cloud data;

[0155] If the first distance is less than or equal to the radius of the initial cylindrical model, the residual value between the target point and the corresponding initial cylindrical model is calculated until the residual value is less than the residual threshold and the number of matching points is greater than the number threshold to obtain the target cylindrical model; wherein the matching point is the target point whose first distance is less than or equal to the radius of the initial cylindrical model.

[0156] As an optional implementation of the embodiment of the present application, the fitting module 202 is specifically configured to calculate the first distance according to the following formula:

[0157]

[0158] Where l is the first distance, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i Indicates the target point.

[0159] As an optional implementation of the embodiment of the present application, the fitting module 202 is specifically used to calculate the residual value according to the following formula:

[0160]

[0161] Where E is the residual value, N is the number of conforming points, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i represents the target point, and r is the radius of the initial cylindrical model.

[0162] As an optional implementation of the embodiment of the present application, the calculation module 203 is specifically used to: determine the bottom midpoint position coordinates and the top midpoint position coordinates of the target cylindrical model;

[0163] The first distance between the coordinates of the midpoint of the bottom surface and the midpoint of the top surface is used as the exposed distance of the anchor bolt;

[0164] The second distance between the coordinates of the bottom midpoints of the target cylindrical model of different anchor bolts is calculated, and the second distance is used as the spacing distance between the different anchor bolts.

[0165] For the specific definition of the processing end, please refer to the definition of the measurement method of the contact network foundation anchor bolts mentioned above, which will not be repeated here. Each module in the above processing end can be implemented in whole or in part by software, hardware and their combination. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0166] like Figure 3A As shown, Figure 3AA structural diagram of a measuring device provided in an embodiment of the present application Figure 1 , the measuring device comprises:

[0167] The information acquisition module 301 includes a 3D scanning camera and a visible light camera. The 3D scanning camera is used to 3D scan the anchor bolts and the base and generate 3D point cloud data. The visible light camera is used to take on-site pictures of the anchor bolts and the base.

[0168] A control module 302 is used to send the three-dimensional point cloud data to a processing end;

[0169] The control module 302 is also used to display an aiming frame on the site map, and when the aiming frame and the base in the site map coincide with each other, control the information acquisition module to perform three-dimensional scanning of the anchor bolts and the base.

[0170] In some embodiments, a measuring device is used to scan the entire contact network foundation anchor bolts from above, and the horizontal inclination of the measuring device is ensured so that the measuring device is parallel to the upper surface of the base in the contact network to obtain three-dimensional point cloud data of the contact network anchor bolts.

[0171] As an optional implementation of the present application, Figure 3B As shown, Figure 3B A structural diagram of a measuring device provided in an embodiment of the present application Figure 2 The measuring device further includes: a positioning module, including an RTK positioning module for measuring and recording the position information of the anchor bolts and the base. The information acquisition module, the positioning module and the control module are integrated and installed in the handheld housing.

[0172] As an optional implementation of the present application, the control module includes an embedded processor and a control board, and the control board is electrically connected to the embedded processor.

[0173] Among them, the embedded processor is used to process the information obtained by the information acquisition module, and can upload the obtained information to the processing end through a wireless network; the embedded processor can adopt existing processors such as a microprocessor unit (MPU), a digital signal processor (DSP), and a system on chip (SoC); the embedded processor is also provided with a USB interface. When the processing end is a portable electronic device such as a tablet computer or a laptop computer, it can also be directly connected to the processing end through the USB interface to send information to the processing end, thereby speeding up the information transmission. At the same time, for developers, the USB interface can be used as a debugging and development interface.

[0174] The embedded processor is also connected to a display screen. The display screen is used to provide real-time information and operation feedback to the operator, thereby helping the user to perform scanning operations and monitor the scanning process more effectively. The visible light camera can display a real-time preview image of the base and anchor bolts currently being scanned and the real-time tilt degree measured by the above-mentioned level. During the process of adjusting the tilt of the measuring device, an aiming frame appears on the display screen. When the aiming frame completely overlaps with the base, it indicates that the measuring device and the base are in a parallel state, and scanning can be performed at this time.

[0175] The embedded processor is also provided with an aviation plug, which is used for an external power supply to provide power to the entire measuring device. The external power supply preferably uses a battery pack, so that the measuring device can be used in an environment without a fixed power supply, greatly improving the portability of the device.

[0176] The control panel is also connected with control buttons, a level, an attitude sensor, an LED compensation light source and a laser compensation light source, and the RTK positioning module is electrically connected to the control panel. The control panel is provided with indicator lights, including a power indicator light, a system indicator light and a trigger indicator light. The power indicator light is used to display whether the measuring device is powered on. If the indicator light is on, it indicates that the device is powered on. The system indicator light displays whether each module in the measuring device is working properly. When the device is working properly, the indicator light flashes slowly. The trigger indicator light is used to remind the operator whether the 3D scanning camera is in working condition. If the indicator light is on for a long time, it indicates that the 3D scanning camera is scanning.

[0177] Among them, the control buttons include a preview button and a shooting button. When the preview button is pressed, the display screen shows an aiming frame. When the aiming frame completely overlaps with the base, the shooting button can be pressed to control the 3D scanning camera and the visible light camera to shoot.

[0178] The level is used to measure the inclination of the handheld housing. When using a 3D scanning camera to scan, it is necessary to ensure that the camera head of the 3D scanning camera remains parallel to the base. When using the measuring device, the handheld housing is manually grasped by hand, and the 3D scanning camera is manually placed directly above the anchor bolts. In actual operation, since it is impossible to accurately keep the camera head of the 3D scanning camera parallel to the base manually, the level can be used to measure the inclination of the handheld housing in real time, so that the operator can adjust the inclination of the measuring device. The level reminds the operator to adjust the 3D scanning camera to be parallel to the base, which is convenient for scanning data.

[0179] The posture sensor is used to monitor and record the spatial position and posture (including rotation angle, tilt direction, etc.) of the measuring device in real time, helping the measuring device to determine its own position in a complex environment to ensure the accuracy and completeness of the data during the scanning process; at the same time, in 3D scanning, it is usually necessary to collect data from multiple positions. The posture information provided by the posture sensor can help align the scan data at different positions to ensure that the final 3D model can seamlessly integrate the data at multiple positions; on the other hand, in the scanning process, especially handheld scanners, there will inevitably be irregular hand movements, which may introduce errors. The posture sensor can detect these movements and compensate for them in data processing to reduce the impact of motion errors on the scanning results.

[0180] LED compensation light source is used to enhance the ambient light when shooting with a visible light camera, thereby improving the shooting effect of the visible light camera.

[0181] Laser compensation light source is used to improve the shooting accuracy of 3D scanning cameras. Laser light source has high directionality and consistency, and can provide stable light irradiation during the scanning process. This consistency helps to reduce measurement errors caused by changes in ambient light or differences in reflection on the surface of the object, and improve the accuracy of the scanning results. In addition, by providing a strong and concentrated beam, the laser light source can suppress the interference of external light to a certain extent and reduce the errors caused by changes in ambient light during the scanning process. For example, in outdoor or light-changing environments, laser compensation light source can help maintain the stability and consistency of scanning.

[0182] 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 4 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.

[0183] Those skilled in the art will understand that Figure 4 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.

[0184] 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 4 The memory of the electronic device may store various program modules constituting the processing end, for example, Figure 2 The acquisition module 201, the fitting module 202 and the calculation module 203 are shown. The computer program composed of various program modules enables the processor to execute the steps of the method for measuring the anchor bolts of the contact network foundation of each embodiment of the present application described in this specification.

[0185] For example, Figure 4 The electronic device shown can be Figure 4 The acquisition module 201 in the processing end shown is executed to acquire the three-dimensional point cloud data of the anchor bolts sent by the measuring device; the electronic device can execute, through the fitting module 202, fitting based on the preprocessed three-dimensional point cloud data to obtain the target cylindrical model, and simulate and debug each layer of sub-image; the electronic device can execute, through the calculation module 203, in the target coordinate system, to calculate the exposed distance of the anchor bolts and the spacing distance between different anchor bolts according to the target cylindrical model.

[0186] 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:

[0187] Acquire the three-dimensional point cloud data of the anchor bolt sent by the measuring device;

[0188] Based on the preprocessed three-dimensional point cloud data, the target cylindrical model is fitted;

[0189] In the target coordinate system, the exposed distance of the anchor bolts and the spacing distances between different anchor bolts are calculated according to the target cylindrical model; wherein the target coordinate system takes the bottom surface of the target cylindrical model as the base surface and the corner point of the bottom surface as the origin.

[0190] In one embodiment, the processor further implements the following steps when executing the computer program: after fitting the target cylindrical model based on the preprocessed three-dimensional point cloud data, before calculating the exposed distance of the anchor bolts and the spacing distance between different anchor bolts according to the target cylindrical model in the target coordinate system, the method further includes:

[0191] For each point in the 3D point cloud data, calculate the average distance to the neighboring point set;

[0192] The points whose average distance is greater than the outlier threshold are deleted from the three-dimensional point cloud data to obtain preprocessed three-dimensional point cloud data;

[0193] The outlier threshold is calculated based on the mean and standard deviation of the average distances corresponding to all points in the three-dimensional point cloud data.

[0194] In one embodiment, when the processor executes the computer program, the following steps are further implemented: for each point in the three-dimensional point cloud data, calculating the average distance to the neighboring point set, including:

[0195] For any point P in the 3D point cloud data i , calculate point P i and the jth nearest neighbor point P j(i) The Euclidean distance between the jth neighbor point P j(i) is any point in the set of neighboring points;

[0196] According to the Euclidean distance, the sum is obtained to get point P i The sum of the Euclidean distances to the neighboring point set;

[0197] According to the sum of the Euclidean distance and the number of points in the neighboring point set, calculate point P i The average distance to the set of neighboring points.

[0198] The average distance is calculated according to the following formula:

[0199]

[0200] In the formula, is the average distance, k represents the total number of neighboring points contained in the neighboring point set, P i is any point in the 3D point cloud data, P j(i) It's point P i The jth neighbor point of ||P i -P j(i) || represents point P i To the nearest point P j(i) The Euclidean distance of .

[0201] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the outlier threshold is calculated according to the following formula:

[0202] d t =μ d +t*σ d

[0203] Where, d t is the outlier threshold, μd is the mean of the average distances, is the average distance between any point and its neighboring points in the 3D point cloud data, N is the total number of points contained in the 3D point cloud data; t is the standard deviation multiple threshold, σ d is the standard deviation of the mean distance,

[0204] In one embodiment, when the processor executes the computer program, the following steps are further implemented: fitting a target cylindrical model based on the preprocessed three-dimensional point cloud data, including repeatedly executing the following steps:

[0205] For each anchor bolt point cloud in the preprocessed three-dimensional point cloud data, an initial cylindrical model is fitted;

[0206] Calculate the first distance between the target point and the corresponding initial cylindrical model, where the target point is any point on any anchor bolt point cloud in the preprocessed three-dimensional point cloud data;

[0207] If the first distance is less than or equal to the radius of the initial cylindrical model, the residual value between the target point and the corresponding initial cylindrical model is calculated until the residual value is less than the residual threshold and the number of matching points is greater than the number threshold to obtain the target cylindrical model; wherein the matching point is the target point whose first distance is less than or equal to the radius of the initial cylindrical model.

[0208] In one embodiment, when the processor executes the computer program, the following steps are further implemented: calculating a first distance between the target point and the corresponding initial cylindrical model, including calculating the first distance according to the following formula:

[0209]

[0210] Where l is the first distance, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i Indicates the target point.

[0211] In one embodiment, when the processor executes the computer program, the following steps are further implemented: if the first distance is less than or equal to the radius of the initial cylindrical model, then calculating the residual value between the target point and the corresponding initial cylindrical model, including calculating the residual value according to the following formula:

[0212]

[0213] Where E is the residual value, N is the number of conforming points, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i represents the target point, and r is the radius of the initial cylindrical model.

[0214] In one embodiment, when the processor executes the computer program, the following steps are further implemented: in the target coordinate system, the exposed distance of the anchor bolts and the spacing distance between different anchor bolts are calculated according to the target cylindrical model, including:

[0215] Determine the coordinates of the bottom midpoint position and the top midpoint position of the target cylindrical model;

[0216] The first distance between the coordinates of the midpoint of the bottom surface and the midpoint of the top surface is used as the exposed distance of the anchor bolt;

[0217] The second distance between the coordinates of the bottom midpoints of the target cylindrical model of different anchor bolts is calculated, and the second distance is used as the spacing distance between the different anchor bolts.

[0218] When the processor in the electronic device provided by the present application executes the computer program, the three-dimensional point cloud data of the anchor bolt sent by the measuring device is first obtained, and then the pre-processed three-dimensional point cloud data is fitted to obtain the target cylindrical model, and then in the target coordinate system with the bottom surface of the target cylindrical model as the base surface and the corner points of the bottom surface as the origin, the exposed distance of the anchor bolt and the spacing distance between different anchor bolts are calculated according to the target cylindrical model. In this way, the embodiment of the present application obtains the three-dimensional point cloud data of the anchor bolt for pre-processing and model fitting, so as to calculate the exposed distance of the anchor bolt and the spacing distance between different anchor bolts in the constructed target coordinate system, so as to accurately and quantitatively evaluate whether the anchor bolt meets the requirements, and the measurement method is simple and fast, which reduces labor costs and improves the measurement efficiency of the contact network foundation anchor bolts.

[0219] 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:

[0220] Acquire the three-dimensional point cloud data of the anchor bolt sent by the measuring device;

[0221] Based on the preprocessed three-dimensional point cloud data, the target cylindrical model is fitted;

[0222] In the target coordinate system, the exposed distance of the anchor bolts and the spacing distances between different anchor bolts are calculated according to the target cylindrical model; wherein the target coordinate system takes the bottom surface of the target cylindrical model as the base surface and the corner point of the bottom surface as the origin.

[0223] In one embodiment, the computer program further implements the following steps when executing the computer program: after fitting the target cylindrical model based on the preprocessed three-dimensional point cloud data, before calculating the exposed distance of the anchor bolts and the spacing distance between different anchor bolts according to the target cylindrical model in the target coordinate system, the method further includes:

[0224] For each point in the 3D point cloud data, calculate the average distance to the neighboring point set;

[0225] The points whose average distance is greater than the outlier threshold are deleted from the three-dimensional point cloud data to obtain preprocessed three-dimensional point cloud data;

[0226] The outlier threshold is calculated based on the mean and standard deviation of the average distances corresponding to all points in the three-dimensional point cloud data.

[0227] In one embodiment, when the computer program is executed, the computer program further implements the following steps: for each point in the three-dimensional point cloud data, calculating the average distance to the neighboring point set, including:

[0228] For any point P in the 3D point cloud data i , calculate point P i and the jth nearest neighbor point P j(i) The Euclidean distance between the jth neighbor point P j(i) is any point in the set of neighboring points;

[0229] According to the Euclidean distance, the sum is obtained to get point P i The sum of the Euclidean distances to the neighboring point set;

[0230] According to the sum of the Euclidean distance and the number of points in the neighboring point set, calculate point P i The average distance to the set of neighboring points.

[0231] In one embodiment, when the computer program is executed, the computer program further implements the following steps: the outlier threshold is calculated according to the following formula:

[0232] d t =μ d +t*σ d

[0233] Where, d t is the outlier threshold, μ d is the mean of the average distances, is the average distance between any point and its neighboring points in the 3D point cloud data, N is the total number of points contained in the 3D point cloud data; t is the standard deviation multiple threshold, σ d is the standard deviation of the mean distance,

[0234] In one embodiment, when the computer program is executed, the computer program further implements the following steps: fitting a target cylindrical model based on the preprocessed three-dimensional point cloud data, including repeatedly executing the following steps:

[0235] For each anchor bolt point cloud in the preprocessed three-dimensional point cloud data, an initial cylindrical model is fitted;

[0236] Calculate the first distance between the target point and the corresponding initial cylindrical model, where the target point is any point on any anchor bolt point cloud in the preprocessed three-dimensional point cloud data;

[0237] If the first distance is less than or equal to the radius of the initial cylindrical model, the residual value between the target point and the corresponding initial cylindrical model is calculated until the residual value is less than the residual threshold and the number of matching points is greater than the number threshold to obtain the target cylindrical model; wherein the matching point is the target point whose first distance is less than or equal to the radius of the initial cylindrical model.

[0238] In one embodiment, the computer program further implements the following steps when executing the computer program: calculating a first distance between the target point and the corresponding initial cylindrical model, including calculating the first distance according to the following formula:

[0239]

[0240] Where l is the first distance, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i Indicates the target point.

[0241] As an optional implementation of the embodiment of the present application, if the first distance is less than or equal to the radius of the initial cylindrical model, the residual value between the target point and the corresponding initial cylindrical model is calculated, including calculating the residual value according to the following formula:

[0242]

[0243] Where E is the residual value, N is the number of conforming points, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i represents the target point, and r is the radius of the initial cylindrical model.

[0244] As an optional implementation of the embodiment of the present application, in the target coordinate system, the exposed distance of the anchor bolts and the spacing distance between different anchor bolts are calculated according to the target cylindrical model, including:

[0245] Determine the coordinates of the bottom midpoint position and the top midpoint position of the target cylindrical model;

[0246] The first distance between the coordinates of the midpoint of the bottom surface and the midpoint of the top surface is used as the exposed distance of the anchor bolt;

[0247] The second distance between the coordinates of the bottom midpoints of the target cylindrical model of different anchor bolts is calculated, and the second distance is used as the spacing distance between the different anchor bolts.

[0248] When the computer program in the computer-readable storage medium provided by the present application executes the computer program, the three-dimensional point cloud data of the anchor bolt sent by the measuring device is first obtained, and then the pre-processed three-dimensional point cloud data is fitted to obtain the target cylindrical model, and then in the target coordinate system with the bottom surface of the target cylindrical model as the base surface and the corner points of the bottom surface as the origin, the exposed distance of the anchor bolt and the spacing distance between different anchor bolts are calculated according to the target cylindrical model. In this way, the embodiment of the present application obtains the three-dimensional point cloud data of the anchor bolt for pre-processing and model fitting, so as to calculate the exposed distance of the anchor bolt and the spacing distance between different anchor bolts in the constructed target coordinate system, so as to accurately and quantitatively evaluate whether the anchor bolt meets the requirements, and the measurement method is simple and fast, which reduces labor costs and improves the measurement efficiency of the contact network foundation anchor bolts.

[0249] 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.

[0250] 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.

[0251] 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.

[0252] 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.

[0253] 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.

[0254] 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.

[0255] 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: Applied to the processing end, including: Acquire the three-dimensional point cloud data of the anchor bolt sent by the measuring device; Based on the preprocessed three-dimensional point cloud data, the target cylindrical model is fitted; In the target coordinate system, the exposed distance of the anchor bolts and the spacing distance between different anchor bolts are calculated according to the target cylindrical model; wherein the target coordinate system takes the bottom surface of the target cylindrical model as the base surface and the corner point of the bottom surface as the origin.

2. The method according to claim 1, characterized in that After fitting the target cylindrical model based on the preprocessed three-dimensional point cloud data, and before calculating the exposed distance of the anchor bolts and the spacing distance between different anchor bolts in the target coordinate system according to the target cylindrical model, the method further includes: For each point in the three-dimensional point cloud data, calculating the average distance to a set of neighboring points; Deleting points whose average distance is greater than an outlier threshold from the three-dimensional point cloud data to obtain the preprocessed three-dimensional point cloud data; The outlier threshold is calculated based on the mean and standard deviation of the average distances corresponding to all points in the three-dimensional point cloud data.

3. The method according to claim 2, characterized in that The step of calculating the average distance between each point in the three-dimensional point cloud data and a set of neighboring points includes: For any point P in the three-dimensional point cloud data i , calculate point P i and the jth nearest neighbor point P j(i) The Euclidean distance between the jth neighbor point P j(i) is any point in the neighbor point set; According to the Euclidean distance, the point P is obtained by adding i The sum of the Euclidean distances between the point set and the neighboring point set; According to the sum of the Euclidean distance and the number of points in the neighboring point set, the point P is calculated. i The average distance between the point and the neighboring point set.

4. The method according to claim 3, characterized in that: The outlier threshold is calculated according to the following formula: d t =the d +t*σ d Where, d t is the outlier threshold, μ d is the mean of the average distances, is the average sum distance, N is the total number of points contained in the three-dimensional point cloud data; t is the standard deviation multiple threshold, σ d is the standard deviation of the mean distance, 5. The method according to claim 1, characterized in that The fitting of the target cylindrical model based on the preprocessed three-dimensional point cloud data includes repeatedly performing the following steps: For each anchor bolt point cloud in the preprocessed three-dimensional point cloud data, fitting an initial cylindrical model; Calculating a first distance between a target point and a corresponding initial cylindrical model, wherein the target point is any point on any anchor bolt point cloud in the preprocessed three-dimensional point cloud data; If the first distance is less than or equal to the radius of the initial cylindrical model, the residual value between the target point and the corresponding initial cylindrical model is calculated until the residual value is less than the residual threshold and the number of matching points is greater than the number threshold to obtain the target cylindrical model; wherein the matching point is the target point whose first distance is less than or equal to the radius of the initial cylindrical model.

6. The method according to claim 5, characterized in that The calculating a first distance between the target point and the corresponding initial cylindrical model includes calculating the first distance according to the following formula: Wherein, l is the first distance, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x is i represents the target point.

7. The method according to claim 5, characterized in that If the first distance is less than or equal to the radius of the initial cylindrical model, calculating the residual value between the target point and the corresponding initial cylindrical model includes calculating the residual value according to the following formula: Where, E is the residual value, N is the number of the matching points, d is the direction vector of the axis of the initial cylindrical model, p is any point on the axis of the initial cylindrical model, and x i represents the target point, and r is the radius of the initial cylindrical model.

8. The method according to claim 1, characterized in that The method of calculating the exposed distance of the anchor bolts and the spacing distances between different anchor bolts according to the target cylindrical model in the target coordinate system includes: Determine the bottom midpoint position coordinates and the top midpoint position coordinates of the target cylindrical model; Taking the first distance between the coordinates of the midpoint of the bottom surface and the coordinates of the midpoint of the top surface as the exposed distance of the anchor bolt; A second distance between the coordinates of the bottom midpoints of the target cylindrical models of different anchor bolts is calculated, and the second distance is used as the spacing distance between the different anchor bolts.

9. A processing end, characterized in that: include: An acquisition module, used for acquiring three-dimensional point cloud data of the anchor bolt sent by the measuring device; A fitting module is used to fit the target cylindrical model based on the preprocessed three-dimensional point cloud data; A calculation module is used to calculate the exposed distance of the anchor bolts and the spacing distance between different anchor bolts in a target coordinate system; wherein the target coordinate system uses the bottom surface of the target cylindrical model as the base surface and the corner point of the bottom surface as the origin.

10. A measuring device, characterized in that: include: The information acquisition module includes a 3D scanning camera and a visible light camera. The 3D scanning camera is used to 3D scan the anchor bolts and the base and generate 3D point cloud data. The visible light camera is used to take on-site pictures of the anchor bolts and the base. A control module, used for sending the three-dimensional point cloud data to a processing end; The control module is also used to display an aiming frame on the site map, and when the aiming frame and the base in the site map overlap, control the information acquisition module to three-dimensionally scan the anchor bolts and the base.

Images