Space internal structure modeling method, device and equipment and readable storage medium

Abstract

The invention discloses a space internal structure modeling method, device and equipment and a computer readable storage medium. According to the method, measurement key points in a target area are determined, and the target area is determined according to a piping path; for each measurement key point, scanning a scanning area corresponding to the measurement key point to obtain coordinates of nodes of the internal structure of the wall in a unified coordinate system, the nodes including end points and turning points of the internal structure in the scanning area; and fitting the coordinates of the measurement key points in the unified coordinate system and the coordinates of the nodes of the internal structure of the wall body in the unified coordinate system to generate a three-dimensional model of the target area, thereby realizing spatial association between the piping path and the internal structure of the wall body, achieving integrated three-dimensional modeling of the target area, and improving the modeling precision and efficiency.

Description

Technical Field

[0001] This application relates to the field of building information acquisition technology, specifically to a method, apparatus, device, and computer-readable storage medium for modeling the internal structure of a space. Background Technology

[0002] With the rapid development of rail transit construction, the demand for electrical conduit construction in underground station halls, tunnels and other spaces has surged. At present, the requirements for the accuracy and efficiency of conduit path and wall concealment structure modeling are becoming increasingly urgent.

[0003] In related technologies, piping path modeling often relies on satellite positioning, manual tape measure measurement, single laser ranging, or traditional lidar SLAM technology. Some solutions require the deployment of external base stations or reliance on single tag reference points. The modeling data is mostly recorded in a scattered manner and needs to be manually entered into the BIM system.

[0004] However, the lack of satellite signals in underground spaces renders satellite positioning modeling completely ineffective. Manual measurements and single laser ranging have low accuracy and large errors, which can easily lead to pipe misalignment and wall hole misalignment, making it difficult to meet the fast-paced and high-precision construction modeling requirements in confined underground spaces. Summary of the Invention

[0005] This application provides a method, apparatus, device, and computer-readable storage medium for modeling internal spatial structures, which can solve the technical problems of low efficiency and large error in construction modeling in the prior art.

[0006] In a first aspect, embodiments of this application provide a method for modeling the internal structure of a space, the method comprising: Determine the key measurement points in the target area, which is determined based on the piping route; For each measurement key point, the corresponding scanning area is scanned to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system. The nodes include the endpoints and turning points of the internal structure in the scanning area. The coordinates of the key measurement points in a unified coordinate system are fitted with the coordinates of the nodes of the internal structure of the wall in a unified coordinate system to generate a three-dimensional model of the target area.

[0007] In conjunction with the first aspect, in one implementation, determining the measurement key points in the target area includes: The first region in the image of the target region with a feature point density less than a preset value is divided into grids, and the points corresponding to the intersections of the grids in the target region are taken as the first measurement key points. The feature points in the second region of the target region, excluding the first region, are taken as the points in the target region corresponding to the feature points in the target region; The first and second measurement key points are used as the measurement key points.

[0008] In conjunction with the first aspect, in one implementation, determining the measurement key points in the target area includes: Based on the distance, azimuth, and elevation angle of the key measurement point relative to the measuring equipment, the coordinates of the key measurement point in the local coordinate system are obtained; Based on the coordinates of the key measurement points in the local coordinate system and the coordinates of the measuring equipment in the unified coordinate system, the coordinates of the key measurement points in the unified coordinate system are obtained by combining the coordinate transformation formula.

[0009] In conjunction with the first aspect, in one embodiment, before obtaining the coordinates of the measurement key points in a unified coordinate system using the coordinate transformation formula, the method further includes: Determine the characteristic reference point in the space where the target area is located, and construct a unified coordinate system with the characteristic reference point as the origin, the extension direction along the piping path as the X-axis, the horizontal direction perpendicular to the X-axis as the Y-axis, and the vertical direction perpendicular to the horizontal plane as the Z-axis; Determine the coordinates of the measuring equipment in a unified coordinate system.

[0010] In conjunction with the first aspect, in one implementation, the step of scanning the corresponding scanning area for each measurement key point to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system includes: For each key measurement point, a scanning area of ​​a preset size is defined, starting from the key measurement point and extending horizontally along the piping path and into the wall depth. The scanning area is scanned to obtain the original reflected signal; Wave velocity calibration is performed based on the original reflected signal to obtain the wave velocity calibration result. By combining the wave velocity calibration results, the original reflected signal is converted to time depth to obtain the relative position of the internal structure of the wall and the key measurement points; The coordinates of the internal structural nodes in a unified coordinate system are determined based on the relative positions of the internal structure of the wall and the measurement key points, as well as the coordinates of the measurement key points.

[0011] In conjunction with the first aspect, in one implementation, obtaining the coordinates of the nodes of the internal structure of the wall in a unified coordinate system includes: Perform the above process N times for each measurement key point, and scan the corresponding scanning area of ​​the measurement key point to obtain N sets of coordinates of the first node in a unified coordinate system; Data cleaning is performed on the coordinates of the N groups of first nodes in a unified coordinate system to obtain the coordinates of the M groups of second nodes in a unified coordinate system. Calculate the average value of the coordinates of the second node in each group under a unified coordinate system to obtain the coordinates of the nodes of the internal structure of the wall under a unified coordinate system.

[0012] In conjunction with the first aspect, in one implementation, the step of fitting the coordinates of the measured key points in a unified coordinate system with the coordinates of the nodes of the internal structure of the wall in a unified coordinate system to generate a three-dimensional model of the target area includes: The coordinates of the nodes in a unified coordinate system are fitted and stitched together to generate a three-dimensional model of the internal structure of the wall. Path fitting is performed on the coordinates of key measurement points to generate a three-dimensional reference line for the piping path; The three-dimensional model of the internal structure of the wall is integrated with the three-dimensional reference line of the piping path, and combined with the preset wall base model to generate a three-dimensional model of the target area containing the piping path and the internal structure of the wall.

[0013] Secondly, embodiments of this application provide a spatial internal structure modeling device, the spatial internal structure modeling device comprising: A determination module is used to determine key measurement points in a target area, which is determined based on the piping path; The scanning module is used to scan the corresponding scanning area for each measurement key point to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system. The nodes include the endpoints and turning points of the internal structure in the scanning area. The fitting module is used to fit the coordinates of the measurement key points in a unified coordinate system with the coordinates of the nodes of the internal structure of the wall in a unified coordinate system to generate a three-dimensional model of the target area.

[0014] Thirdly, embodiments of this application provide a spatial internal structure modeling device, the spatial internal structure modeling device including a processor, a memory, and a spatial internal structure modeling program stored in the memory and executable by the processor, wherein when the spatial internal structure modeling program is executed by the processor, it implements the steps of the spatial internal structure modeling method as described in the first aspect.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a spatial internal structure modeling program, wherein when the spatial internal structure modeling program is executed by a processor, it implements the steps of the spatial internal structure modeling method as described in the first aspect.

[0016] The beneficial effects of the technical solutions provided in this application include: By identifying key measurement points within a target area, which is determined based on the piping path, and scanning the corresponding area for each key measurement point to obtain the coordinates of nodes within the wall structure in a unified coordinate system (the nodes include endpoints and turning points of the internal structure within the scanned area), a 3D model of the target area is generated. This achieves spatial association between the piping path and the internal structure of the wall, resulting in integrated 3D modeling of the target area and improving modeling accuracy and efficiency. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating an embodiment of the spatial internal structure modeling method of this application; Figure 2 For this application Figure 1 A detailed flowchart of step S10; Figure 3 For this application Figure 1 A detailed flowchart of step S20; Figure 4 This is a schematic diagram of the functional modules of an embodiment of the spatial internal structure modeling device of this application; Figure 5 This is a schematic diagram of the hardware structure of the spatial internal structure modeling device involved in the embodiments of this application. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0020] In a first aspect, embodiments of this application provide a method for modeling the internal structure of a space.

[0021] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the spatial internal structure modeling method of this application. Figure 1 As shown, the methods for modeling the internal structure of space include: Step S10: Determine the key measurement points in the target area, wherein the target area is determined based on the piping path; In one embodiment, taking the construction modeling scenario of electrical conduit construction in an underground station hall of rail transit without satellite signal as an example, in the overall space, according to the preset electrical conduit path (assuming the conduit path length is 12m from the equipment room distribution box to the station hall lighting fixtures), the wall area within 30cm on each side of the conduit path is delineated as the target area; a handheld main body with a weight ≤500g and a protection level ≥IP54 is used, and its vision module (binocular camera, resolution 1280×720, frame rate 30fps) acquires panoramic images of the target area; the control module automatically identifies feature points such as wall protrusions, wall corners, and beam-column nodes in the image, and in combination with the preset rules of the conduit path, extracts the starting point, turning point, and center of the wall penetration hole as key measurement points, thus completing the determination of key measurement points in the target area.

[0022] Furthermore, in one embodiment, determining the measurement key points in the target area includes: The first region in the image of the target region with a feature point density less than a preset value is divided into grids, and the points corresponding to the intersections of the grids in the target region are taken as the first measurement key points. The feature points in the second region of the target region, excluding the first region, are taken as the points in the target region corresponding to the feature points in the target region; The first and second measurement key points are used as the measurement key points.

[0023] In one embodiment, such as Figure 2 As shown, Figure 2 For this application Figure 1 A detailed flowchart of step S10 is shown below. Figure 2 In the process, the control module performs feature point density analysis on the target area image, and directly uses the natural feature points in the dense feature point area (such as beam-column joints and wall protrusions) as the second measurement key points; the sparse feature area is divided into 10×10mm pixel grids according to preset rules, and the grid intersections are selected as the first measurement key points; the two sets of measurement key points are merged to obtain the set of all measurement key points, which can adapt to the needs of different feature scenarios in underground construction.

[0024] Furthermore, in one embodiment, determining the measurement key points in the target area includes: Based on the distance, azimuth, and elevation angle of the key measurement point relative to the measuring equipment, the coordinates of the key measurement point in the local coordinate system are obtained; Based on the coordinates of the key measurement points in the local coordinate system and the coordinates of the measuring equipment in the unified coordinate system, the coordinates of the key measurement points in the unified coordinate system are obtained by combining the coordinate transformation formula.

[0025] In one embodiment, the laser ranging module of the handheld main body (ranging accuracy ≤ ±2mm, range 0.05-150m) emits a laser to measure the straight-line distance L, pitch angle α, and azimuth angle β of key points relative to the handheld main body; A local coordinate system is established with the handheld device as the origin. The coordinates of the key points in the local coordinate system are calculated using the formulas X1=L×cosα×cosβ, Y1=L×cosα×sinβ, and Z1=L×sinα, i.e., (X1, Y1, Z1). Combined with the real-time coordinates of the handheld device in a unified coordinate system, the local coordinates are converted to the unified coordinate system coordinates using a spatial coordinate transformation algorithm. For example, the local coordinates of a key point (1.2m, 0.8m, 0.3m) are converted to unified coordinates (8.5m, 2.3m, 3.7m). The positioning accuracy of the core feature points reaches ±2mm. Alternatively, a local coordinate system can be established with a point in space as the origin.

[0026] Furthermore, in one embodiment, before obtaining the coordinates of the measurement key points in a unified coordinate system using the coordinate transformation formula, the method further includes: Determine the characteristic reference point in the space where the target area is located, and construct a unified coordinate system with the characteristic reference point as the origin, the extension direction along the piping path as the X-axis, the horizontal direction perpendicular to the X-axis as the Y-axis, and the vertical direction perpendicular to the horizontal plane as the Z-axis; Determine the coordinates of the measuring equipment in a unified coordinate system.

[0027] In one embodiment, a fixed reference point label (affixed QR code label) on the wall of the target area is selected as the origin of the coordinate system (0,0,0). A unified coordinate system is constructed with the direction along the pipeline path as the X-axis, the horizontal direction perpendicular to the X-axis as the Y-axis, and the vertical direction as the Z-axis. If it is necessary to associate the coordinates on the unified coordinate system, the unified coordinate system of the reference point label is measured using a total station, and the local unified coordinate system is associated and corrected with the unified coordinate system.

[0028] By recognizing reference point labels through the visual module of the handheld device and combining them with the continuous position trajectory provided by the inertial navigation module, the coordinate system parameters are calibrated, reducing the dependence on ground reference control points and adapting to the coordinate establishment needs in underground environments without satellite signals.

[0029] Step S20: For each measurement key point, scan the corresponding scanning area to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system. The nodes include the endpoints and turning points of the internal structure in the scanning area. In one embodiment, for each key measurement point, the control module of the handheld device drives the ground-penetrating radar module (operating frequency 500MHz-1.5GHz, concrete penetration depth 5-30cm) to delineate a scanning area that scans into the wall starting from the key point; the scanning area is detected to identify the endpoints and turning points of the concealed structure within the scanning area as nodes; and the relative positions of the nodes are converted into coordinates under the unified coordinate system by combining the parameters of the unified coordinate system.

[0030] Furthermore, in one embodiment, the step of scanning the corresponding scanning area for each measurement key point to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system includes: For each key measurement point, a scanning area of ​​a preset size is defined, starting from the key measurement point and extending horizontally along the piping path and into the wall depth. The scanning area is scanned to obtain the original reflected signal; Wave velocity calibration is performed based on the original reflected signal to obtain the wave velocity calibration result. By combining the wave velocity calibration results, the original reflected signal is converted to time depth to obtain the relative position of the internal structure of the wall and the key measurement points; The coordinates of the internal structural nodes in a unified coordinate system are determined based on the relative positions of the internal structure of the wall and the measurement key points, as well as the coordinates of the measurement key points.

[0031] In one embodiment, such as Figure 3 As shown, Figure 3 For this application Figure 1 A detailed flowchart of step S20 is shown below. Figure 3 In the process, for each key measurement point, a scanning area is defined by extending 10cm along the X-axis of the piping path; the ground-penetrating radar module scans the area at a working frequency of 800MHz to obtain the original reflected signal (the concrete background is dark gray, and the steel bars / pipelines appear as bright white lines).

[0032] A concrete test block of known thickness within the scanning area was selected for wave velocity calibration to obtain the propagation speed of electromagnetic waves in the wall medium. The original reflected signal was then converted into a time-depth value based on the wave velocity calibration results, and the electromagnetic wave propagation time was converted into the depth value of the internal structure relative to the wall surface.

[0033] The control module uses the TDR algorithm to identify the start point, end point, and turning point of the reflected signal bright line as internal structural nodes; it establishes a pixel-physical size calibration relationship (1 pixel corresponds to 0.5mm), and combines the unified coordinates of the key measurement points and the relative positions of the nodes to calculate the unified coordinates of the nodes. For example, the coordinates of the turning point of a certain pre-buried pipeline are (8.7m, 2.2m, 3.6m).

[0034] Furthermore, in one embodiment, obtaining the coordinates of the nodes of the internal structure of the wall in a unified coordinate system includes: Perform the above process N times for each measurement key point, and scan the corresponding scanning area of ​​the measurement key point to obtain N sets of coordinates of the first node in a unified coordinate system; Data cleaning is performed on the coordinates of the N groups of first nodes in a unified coordinate system to obtain the coordinates of the M groups of second nodes in a unified coordinate system. Calculate the average value of the coordinates of the second node in each group under a unified coordinate system to obtain the coordinates of the nodes of the internal structure of the wall under a unified coordinate system.

[0035] In one embodiment, the same scanning area is scanned N=3 times to obtain 4 sets of first node coordinates; the control module uses the Kalman filter algorithm to preprocess the 3 sets of coordinates to remove abnormal values ​​caused by equipment vibration and signal interference, and obtains M=3 sets of valid second node coordinates.

[0036] Calculate the average value of the second node coordinates in each group. For example, if the coordinates of a certain rebar endpoint are (8.3m, 2.1m, 3.5m), (8.31m, 2.09m, 3.5m), and (8.29m, 2.11m, 3.5m), take the average value to obtain the final node coordinates (8.3m, 2.1m, 3.5m), thus offsetting random errors and improving data accuracy.

[0037] Step S30: Fit the coordinates of the measurement key points in a unified coordinate system with the coordinates of the nodes of the internal structure of the wall in a unified coordinate system to generate a three-dimensional model of the target area.

[0038] In one embodiment, the coordinates of the determined key measurement points and the coordinates of the nodes of the internal structure of the wall are fitted in a unified coordinate system to generate a three-dimensional model of the target area.

[0039] Further, in one embodiment, the step of fitting the coordinates of the measurement key points in a unified coordinate system with the coordinates of the nodes of the internal structure of the wall in a unified coordinate system to generate a three-dimensional model of the target area includes: The coordinates of the nodes in a unified coordinate system are fitted and stitched together to generate a three-dimensional model of the internal structure of the wall. Path fitting is performed on the coordinates of key measurement points to generate a three-dimensional reference line for the piping path; The three-dimensional model of the internal structure of the wall is integrated with the three-dimensional reference line of the piping path, and combined with the preset wall base model to generate a three-dimensional model of the target area containing the piping path and the internal structure of the wall.

[0040] In one embodiment, the coordinates of internal structural nodes are line-fitted and stitched together to generate a three-dimensional line model of the internal structure, such as reinforcing bars and embedded pipelines; the coordinates of key measurement points are curve-fitted to generate a three-dimensional reference line for the piping path, and a piping model with a preset pipe diameter can be generated based on the reference line.

[0041] Distortion correction is performed on the wall surface image, and its texture is mapped onto the surface of the wall base model; noise reduction and enhancement processing are performed on the ground penetrating radar scan image, and the hidden structural feature texture is extracted and attached to the surface of the internal structural model.

[0042] The model is simplified (redundant faces are removed and duplicate elements are merged), exported as IFC or DWG format, and integrated into mainstream BIM software such as Revit and Bentley; the wall model is made transparent and sectioned, and hidden structures are rendered in layers according to depth, supporting interactive viewing and meeting the needs of construction collision detection and path optimization.

[0043] In this embodiment, key measurement points are determined in the target area, which is determined based on the piping path. For each key measurement point, the corresponding scanning area is scanned to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system. The nodes include the endpoints and turning points of the internal structure in the scanning area. The coordinates of the key measurement points in the unified coordinate system are fitted with the coordinates of the nodes of the internal structure of the wall in the unified coordinate system to generate a three-dimensional model of the target area. This realizes the spatial association between the piping path and the internal structure of the wall, achieving integrated three-dimensional modeling of the target area and improving modeling accuracy and efficiency.

[0044] Secondly, embodiments of this application also provide a spatial internal structure modeling device.

[0045] In one embodiment, reference is made to Figure 4 , Figure 4 This is a schematic diagram of the functional modules of an embodiment of the spatial internal structure modeling device of this application. Figure 4 As shown, the space internal structure modeling device includes: Module 10 is used to determine key measurement points in a target area, wherein the target area is determined based on the piping path; The scanning module 20 is used to scan the scanning area corresponding to each measurement key point to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system. The nodes include the endpoints and turning points of the internal structure in the scanning area. The fitting module 30 is used to fit the coordinates of the measurement key points in a unified coordinate system with the coordinates of the nodes of the internal structure of the wall in a unified coordinate system to generate a three-dimensional model of the target area.

[0046] Furthermore, in one embodiment, the determining module 10 is used to: The first region in the image of the target region with a feature point density less than a preset value is divided into grids, and the points corresponding to the intersections of the grids in the target region are taken as the first measurement key points. The feature points in the second region of the target region, excluding the first region, are taken as the points in the target region corresponding to the feature points in the target region; The first and second measurement key points are used as the measurement key points.

[0047] Furthermore, in one embodiment, the determining module 10 is also used to: Based on the distance, azimuth, and elevation angle of the measurement key point relative to the measurement equipment, the coordinates of the measurement key point in the local coordinate system are obtained; Based on the coordinates of the key measurement points in the local coordinate system and the coordinates of the measuring equipment in the unified coordinate system, the coordinates of the key measurement points in the unified coordinate system are obtained by combining the coordinate transformation formula.

[0048] Furthermore, in one embodiment, the space interior structure modeling apparatus further includes a construction module for: Determine the characteristic reference point in the space where the target area is located, and construct a unified coordinate system with the characteristic reference point as the origin, the extension direction along the piping path as the X-axis, the horizontal direction perpendicular to the X-axis as the Y-axis, and the vertical direction perpendicular to the horizontal plane as the Z-axis; Determine the coordinates of the measuring equipment in a unified coordinate system.

[0049] Furthermore, in one embodiment, the scanning module 20 is used for: For each key measurement point, a scanning area of ​​a preset size is defined, starting from the key measurement point and extending horizontally along the piping path and into the wall depth. The scanning area is scanned to obtain the original reflected signal; Wave velocity calibration is performed based on the original reflected signal to obtain the wave velocity calibration result. By combining the wave velocity calibration results, the original reflected signal is converted to time depth to obtain the relative position of the internal structure of the wall and the key measurement points; The coordinates of the internal structural nodes in a unified coordinate system are determined based on the relative positions of the internal structure of the wall and the measurement key points, as well as the coordinates of the measurement key points.

[0050] Furthermore, in one embodiment, the scanning module 20 is also used for: Perform the above process N times for each measurement key point, and scan the corresponding scanning area of ​​the measurement key point to obtain N sets of coordinates of the first node in a unified coordinate system; Data cleaning is performed on the coordinates of the N groups of first nodes in a unified coordinate system to obtain the coordinates of the M groups of second nodes in a unified coordinate system. Calculate the average value of the coordinates of the second node in each group under a unified coordinate system to obtain the coordinates of the nodes of the internal structure of the wall under a unified coordinate system.

[0051] Furthermore, in one embodiment, the fitting module 30 is used for: The coordinates of the nodes in a unified coordinate system are fitted and stitched together to generate a three-dimensional model of the internal structure of the wall. Path fitting is performed on the coordinates of key measurement points to generate a three-dimensional reference line for the piping path; The three-dimensional model of the internal structure of the wall is integrated with the three-dimensional reference line of the piping path, and combined with the preset wall base model to generate a three-dimensional model of the target area containing the piping path and the internal structure of the wall.

[0052] The functions of each module in the aforementioned spatial internal structure modeling device correspond to the steps in the aforementioned spatial internal structure modeling method embodiment, and their functions and implementation processes will not be described in detail here.

[0053] Thirdly, embodiments of this application provide a spatial internal structure modeling device, which can be a handheld device or other similar equipment.

[0054] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of the spatial internal structure modeling device involved in the embodiments of this application. In the embodiments of this application, the spatial internal structure modeling device may include a processor, a memory, a communication interface, and a communication bus.

[0055] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0056] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the spatial internal structure modeling equipment, as well as interfaces used for interconnecting the spatial internal structure modeling equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0057] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0058] The processor can be a general-purpose processor, which can call the spatial internal structure modeling program stored in the memory and execute the spatial internal structure modeling method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the spatial internal structure modeling program is called can be referred to in the various embodiments of the spatial internal structure modeling method of this application, and will not be repeated here.

[0059] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0060] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0061] The present application has a computer-readable storage medium storing a spatial internal structure modeling program, wherein when the spatial internal structure modeling program is executed by a processor, it implements the steps of the spatial internal structure modeling method described above.

[0062] The method implemented when the spatial internal structure modeling program is executed can be referred to in various embodiments of the spatial internal structure modeling method of this application, and will not be repeated here.

[0063] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0064] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0065] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0066] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0067] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0068] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0069] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for modeling the internal structure of a space, characterized in that, The method for modeling the internal structure of the space includes: Determine the key measurement points in the target area, which is determined based on the piping route; For each measurement key point, the corresponding scanning area is scanned to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system. The nodes include the endpoints and turning points of the internal structure in the scanning area. The coordinates of the key measurement points in a unified coordinate system are fitted with the coordinates of the nodes of the internal structure of the wall in a unified coordinate system to generate a three-dimensional model of the target area.

2. The spatial internal structure modeling method as described in claim 1, characterized in that, The key measurement points for determining the target area include: The first region in the image of the target region with a feature point density less than a preset value is divided into grids, and the points corresponding to the intersections of the grids in the target region are taken as the first measurement key points. The feature points in the second region of the target region, excluding the first region, are taken as the points in the target region corresponding to the feature points in the target region; The first and second measurement key points are used as the measurement key points.

3. The spatial internal structure modeling method as described in claim 1, characterized in that, Determining key measurement points in the target area includes: Based on the distance, azimuth, and elevation angles of the key measurement points relative to the measuring equipment, the coordinates of the key measurement points in the local coordinate system are obtained; Based on the coordinates of the key measurement points in the local coordinate system and the coordinates of the measuring equipment in the unified coordinate system, the coordinates of the key measurement points in the unified coordinate system are obtained by combining the coordinate transformation formula.

4. The spatial internal structure modeling method as described in claim 3, characterized in that, Before obtaining the coordinates of the key measurement points in a unified coordinate system using the coordinate transformation formula, the following steps are also included: Determine the characteristic reference point in the space where the target area is located, and construct a unified coordinate system with the characteristic reference point as the origin, the extension direction along the piping path as the X-axis, the horizontal direction perpendicular to the X-axis as the Y-axis, and the vertical direction perpendicular to the horizontal plane as the Z-axis; Determine the coordinates of the measuring equipment in a unified coordinate system.

5. The spatial internal structure modeling method as described in claim 1, characterized in that, For each key measurement point, the scanning area corresponding to the key measurement point is scanned to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system, including: For each key measurement point, a scanning area of ​​a preset size is defined, starting from the key measurement point and extending horizontally along the piping path and into the wall depth. The scanning area is scanned to obtain the original reflected signal; Wave velocity calibration is performed based on the original reflected signal to obtain the wave velocity calibration result. By combining the wave velocity calibration results, the original reflected signal is converted to time depth to obtain the relative position of the internal structure of the wall and the key measurement points; The coordinates of the internal structural nodes in a unified coordinate system are determined based on the relative positions of the internal structure of the wall and the key measurement points, as well as the coordinates of the key measurement points.

6. The spatial internal structure modeling method as described in claim 1, characterized in that, The coordinates of the nodes of the internal structure of the wall in a unified coordinate system include: Perform the above process N times for each measurement key point, and scan the corresponding scanning area of ​​the measurement key point to obtain N sets of coordinates of the first node in a unified coordinate system; Data cleaning is performed on the coordinates of the N groups of first nodes in a unified coordinate system to obtain the coordinates of the M groups of second nodes in a unified coordinate system. Calculate the average coordinates of the second node in each group in a unified coordinate system to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system.

7. The spatial internal structure modeling method as described in claim 1, characterized in that, The step of fitting the coordinates of the key measurement points in a unified coordinate system with the coordinates of the nodes of the internal structure of the wall in a unified coordinate system to generate a three-dimensional model of the target area includes: The coordinates of the nodes in a unified coordinate system are fitted and stitched together to generate a three-dimensional model of the internal structure of the wall. Path fitting is performed on the coordinates of key measurement points to generate a three-dimensional reference line for the piping path; The three-dimensional model of the internal structure of the wall is integrated with the three-dimensional reference line of the piping path, and combined with the preset wall base model to generate a three-dimensional model of the target area containing the piping path and the internal structure of the wall.

8. A spatial internal structure modeling device, characterized in that, The space internal structure modeling device includes: A determination module is used to determine key measurement points in a target area, which is determined based on the piping path; The scanning module is used to scan the corresponding scanning area for each measurement key point to obtain the coordinates of the nodes of the internal structure of the wall in a unified coordinate system. The nodes include the endpoints and turning points of the internal structure in the scanning area. The fitting module is used to fit the coordinates of the measurement key points in a unified coordinate system with the coordinates of the nodes of the internal structure of the wall in a unified coordinate system to generate a three-dimensional model of the target area.

9. A spatial internal structure modeling device, characterized in that, The space interior structure modeling device includes a processor, a memory, and a space interior structure modeling program stored in the memory and executable by the processor, wherein when the space interior structure modeling program is executed by the processor, it implements the steps of the space interior structure modeling method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a spatial internal structure modeling program, wherein when the spatial internal structure modeling program is executed by a processor, it implements the steps of the spatial internal structure modeling method as described in any one of claims 1 to 7.

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