Point cloud coordinate system registration method

Abstract

The invention discloses a point cloud coordinate system registration method. The method comprises the following steps: arranging a plurality of targets on a construction site; acquiring first coordinate data of each target according to a site coordinate system of the construction site; site coordinate data of the construction site are obtained according to the coordinate system of the construction site, and the site coordinate data comprise second coordinate data of all targets and coordinate data of other components; performing marking processing on the second coordinate data, and enabling the marked second coordinate data to correspond to the first coordinate data; and by taking the first coordinate data as a reference, registering the site coordinate data to a ground coordinate system where the construction site is located so as to obtain standard coordinate data. According to the point cloud coordinate system registration method, the point cloud data can be well converted into the construction coordinate system, the conversion mode is simple and easy to operate, and therefore the overall construction efficiency is well improved.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and in particular to a point cloud coordinate system registration method. Background Technology

[0002] During construction, the coordinate system of the point cloud model and the construction coordinate system are generally not the same coordinate system. In order to apply point cloud data to the digital construction and BIM process of building decoration construction, the point cloud coordinate system needs to be adjusted to be consistent with the construction coordinate system. At present, there is no good conversion method. Summary of the Invention

[0003] In view of this, the purpose of this invention is to provide a point cloud coordinate system registration method that can effectively convert point cloud data into a construction coordinate system. The conversion method is simple and easy to operate, thereby greatly improving the overall construction efficiency.

[0004] This invention provides a point cloud coordinate system registration method, comprising the following steps:

[0005] Several targets were placed on the construction site.

[0006] The first coordinate data of each target are obtained according to the site coordinate system of the construction site;

[0007] The site coordinate data of the construction site is obtained according to its own coordinate system, wherein the site coordinate data includes the second coordinate data of each target and the coordinate data of other components;

[0008] The second coordinate data is marked, and the marked second coordinate data is mapped to the first coordinate data;

[0009] Using the first coordinate data as a reference, the site coordinate data is registered to the local coordinate system of the construction site to obtain standard coordinate data.

[0010] In one embodiment, the arrangement of a plurality of targets at the construction site further includes:

[0011] Print a cross-shaped checkerboard pattern on several A4 sheets of paper as targets;

[0012] Several targets are laid out flat on the construction site.

[0013] In one embodiment, obtaining the first coordinate data of each target according to the site coordinate system of the construction site further includes:

[0014] The site coordinate system of the construction site shall be used as the reference.

[0015] A total station is set up at the control point, and the center point data of the target is obtained according to the measurement specifications of the total station. The center point data is used as the first coordinate data.

[0016] In one embodiment, the step of obtaining site coordinate data of the construction site according to its own coordinate system, wherein the site coordinate data includes the second coordinate data of each target and the coordinate data of other components, further includes:

[0017] Several 3D scanners use their own location as the origin of the coordinate system;

[0018] The construction site is scanned to obtain the site coordinate data.

[0019] In one embodiment, the step of marking the second coordinate data and mapping the marked second coordinate data to the first coordinate data further includes:

[0020] The site coordinate data acquired by the same 3D scanner are used as a dataset;

[0021] The second coordinate data in each dataset is labeled;

[0022] The second coordinate data is mapped to the first coordinate data according to the target.

[0023] In one embodiment, the step of using the first coordinate data as a reference to register the site coordinate data to the geodetic coordinate system where the construction site is located to obtain standard coordinate data further includes:

[0024] Import the first coordinate data and the dataset into the SENCE software;

[0025] The first coordinate data is registered with the dataset to obtain the standard coordinate data.

[0026] The point cloud coordinate system registration method provided by this invention can effectively convert point cloud data into the construction coordinate system. The conversion method is simple and easy to operate, thereby greatly improving the overall construction efficiency. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1This is a flowchart illustrating the point cloud coordinate system registration method provided by the present invention.

[0029] Figure 2 This is a schematic diagram of the target structure for the point cloud coordinate system registration method provided by the present invention.

[0030] Figure 3 A scanning interface diagram in SENCE software for the point cloud coordinate system registration method provided by this invention.

[0031] Figure 4 A schematic diagram of the scanning operation in SENCE software for the point cloud coordinate system registration method provided by the present invention.

[0032] Figure 5 This is a registration diagram in SENCE software for the point cloud coordinate system registration method provided by the present invention. Detailed Implementation

[0033] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. Based on the description of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0034] In the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0035] The terms “upper,” “lower,” “left,” “right,” “front,” “back,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of description and simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0036] The terms “first,” “second,” “third,” etc., are used merely to distinguish elements with similar properties, not to indicate or imply relative importance or a specific order.

[0037] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0038] Please see Figure 1 The point cloud coordinate system registration method provided by the present invention includes the following steps:

[0039] S1, several targets are placed on the construction site.

[0040] It is understandable that the above steps further include:

[0041] S101, Print a cross-shaped checkerboard pattern as a target on several A4 sheets of paper;

[0042] S102, several targets are laid out flat on the construction site.

[0043] Please see Figure 2 It is understandable that the cross grid can be laser-printed onto A4 paper and fixed to the construction site with tape or double-sided tape. Generally, it is evenly distributed throughout the construction site, with 4-6 targets. The number can be adjusted according to the actual situation of the project. When placing the targets, they must be attached to a flat surface on site, and it is essential to ensure that the targets are flat.

[0044] S2, obtain the first coordinate data of each target according to the site coordinate system of the construction site.

[0045] It is understandable that the above steps may further include:

[0046] S201, using the site coordinate system of the construction site as a reference;

[0047] S202, a total station is set up at the control point, and the center point data of the target is obtained according to the measurement specifications of the total station. The center point data is used as the first coordinate data.

[0048] It is understandable that a construction site will have its own site coordinate system, and the center point data of the target measured by the total station are all based on this site coordinate system.

[0049] S3. Obtain the site coordinate data of the construction site according to its own coordinate system, wherein the site coordinate data includes the second coordinate data of each target and the coordinate data of other components.

[0050] It is understandable that the above steps may further include:

[0051] S301, Several 3D scanners use their own location as the origin of the coordinate system;

[0052] S302, Scan the construction site to obtain the site coordinate data.

[0053] It is known that by using one's own location as the origin of the coordinate system, any point on the construction site can be selected for measurement at any time without confirming one's own location information. This form of measurement is more convenient. The data measured by each 3D scanner can be a set. The site coordinate data can include the second coordinate data of the target, that is, the second coordinate data of the target in the coordinate system of the 3D scanner itself, as well as some components commonly found on construction sites such as concrete foundations and steel structures.

[0054] S4, mark the second coordinate data, and match the marked second coordinate data with the first coordinate data.

[0055] It is understood that the above steps may further include:

[0056] S401, the site coordinate data acquired by the same 3D scanner is used as a dataset;

[0057] S402, perform labeling processing on the second coordinate data in each dataset;

[0058] S403, the second coordinate data is matched with the first coordinate data according to the target.

[0059] It is understandable that using a 3D scanner to collect data from the construction site of a project involves setting scanning parameters according to actual needs, scanning each target and each component of the construction site during the operation, and ensuring the scanning quality of the targets to fit the target objectives.

[0060] The site coordinate data is registered according to the 3D scanning data processing flow. After checking the registration quality review requirements, the data cluster is "locked". After locking, the data of each 3D scanner in the data cluster is regarded as a whole.

[0061] S5, using the first coordinate data as a reference, the site coordinate data is registered to the ground coordinate system where the construction site is located to obtain standard coordinate data.

[0062] It is understood that the above steps may further include:

[0063] S501, import the first coordinate data and the dataset into the SENCE software;

[0064] S502, the first coordinate data is registered with the dataset to obtain the standard coordinate data.

[0065] Understandably, in the SENCE software, the first coordinate data of each target is marked using the software's "Mark Chessboard Targets" function, and named sequentially such as A, B, C, D, etc., to create a coordinate list CSV file;

[0066] The first coordinate data and second coordinate data of these targets measured by the total station in the field are mapped to point names, and a CSV table is formed in the order of point name, X coordinate, Y coordinate, Z coordinate, as shown in the table below:

[0067] .

[0068] The software for importing CSV files is located in the reference directory:

[0069] Save this CSV file and drag and drop it into the SCENE project file directory. The CSV file will then appear as a reference folder in the structure view.

[0070] At this point, right-click on cluster "1" and select Operation > Register > Deploy Scan, as follows: Figure 3 As shown, you can then enter the layout scanning interface. Figure 4 As shown, you can complete the registration by selecting "manual target name forced correspondence". The principle of this method is to use the target coordinates of the engineering coordinate system measured by the total station as the highest priority registration reference. By registering the data cluster that has been registered with the reference, the data can be registered to the construction coordinate system.

[0071] As described above, the point cloud coordinate system registration method provided by this invention can effectively convert point cloud data into the construction coordinate system. The conversion method is simple and easy to operate, thereby greatly improving the overall construction efficiency.

[0072] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A point cloud coordinate system registration method, characterized in that, Includes the following steps: Several targets were placed on the construction site. The first coordinate data of each target are obtained according to the site coordinate system of the construction site; The site coordinate data of the construction site is obtained according to its own coordinate system, wherein the site coordinate data includes the second coordinate data of each target and the coordinate data of other components; The second coordinate data is marked, and the marked second coordinate data is mapped to the first coordinate data; Using the first coordinate data as a reference, the site coordinate data is registered to the local coordinate system of the construction site to obtain standard coordinate data.

2. The point cloud coordinate system registration method as described in claim 1, characterized in that, The arrangement of several targets on the construction site further includes: Print a cross-shaped checkerboard pattern on several A4 sheets of paper as targets; Several targets are laid out flat on the construction site.

3. The point cloud coordinate system registration method as described in claim 1, characterized in that, The step of obtaining the first coordinate data of each target according to the site coordinate system of the construction site further includes: The site coordinate system of the construction site shall be used as the reference. A total station is set up at the control point, and the center point data of the target is obtained according to the measurement specifications of the total station. The center point data is used as the first coordinate data.

4. The point cloud coordinate system registration method as described in claim 1, characterized in that, The step of obtaining site coordinate data of the construction site according to its own coordinate system, wherein the site coordinate data includes the second coordinate data of each target and the coordinate data of other components, further includes: Several 3D scanners use their own location as the origin of the coordinate system; The construction site is scanned to obtain the site coordinate data.

5. The point cloud coordinate system registration method as described in claim 4, characterized in that, The step of marking the second coordinate data and mapping the marked second coordinate data to the first coordinate data further includes: The site coordinate data acquired by the same 3D scanner are used as a dataset; The second coordinate data in each dataset is labeled; The second coordinate data is mapped to the first coordinate data according to the target.

6. The point cloud coordinate system registration method as described in claim 5, characterized in that, The step of using the first coordinate data as a reference to register the site coordinate data to the geodetic coordinate system where the construction site is located to obtain standard coordinate data further includes: Import the first coordinate data and the dataset into the SENCE software; The first coordinate data is registered with the dataset to obtain the standard coordinate data.

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