CN112836260A - Three-dimensional mapping and collecting method and system for building foundation structure data - Google Patents
Three-dimensional mapping and collecting method and system for building foundation structure data Download PDFInfo
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Abstract
The invention discloses a three-dimensional mapping and collecting method of building foundation structure data, which comprises the following steps: s1: scanning and collecting the geometric characteristics of the external space of the building to obtain three-dimensional point cloud data; s2: collecting panoramic images of the roof and the surrounding environment of a building; s3: matching the three-dimensional point cloud data obtained in the step S1 with the panoramic image obtained in the step S2 to obtain point cloud data with high-definition colors; s4: scanning and collecting the geometric characteristics of the internal space of the building to obtain three-dimensional point cloud data; s5: splicing the three-dimensional point cloud data obtained in the S3 and/or S4; s6: and classifying and denoising the spliced point cloud data to obtain a three-dimensional digital model. The invention utilizes a laser radar system, an oblique photography system and the like to collect the geometric characteristic data of the external space of the building, and means that laser point cloud and image data are fused, and high-quality elevation images are obtained through splicing, noise reduction and slicing of later data, so that the building elevation measurement work is rapidly completed.
Description
Technical Field
The invention relates to the technical field of building surveying and mapping, in particular to a three-dimensional surveying and mapping acquisition method for building foundation structure data.
Background
In urban construction and historical building protection projects, the facades of buildings need to be beautified and treated. Drawing a building elevation map can provide a data base for the design and repair work. In order to ensure the quality of the building elevation measurement, the attention of the elevation measurement work must be increased, and a strict flow is adhered to; on the other hand, in order to improve the efficiency of the elevation measurement, it is necessary to adopt emerging measurement equipment superior to the conventional total station. So as to complete the measurement of the building elevation well and quickly.
The traditional building elevation measurement uses a method combining 'total station prism-free measurement' and 'hand-drawing sketch'. Measuring each angular point of structures such as doors and windows by using a total station, and converting three-dimensional coordinates into two-dimensional coordinates of a vertical surface during interior work processing by using a sketch for explanation, thereby drawing a CAD file of the vertical surface of the building.
When the operation mode meets the condition that a building structure system is complex, the number of structural points needing to be measured is very large, the workload is large, the record is difficult, and the efficiency is low, so that the original workflow needs to be improved to be competent for the elevation mapping tasks of more types of buildings.
Disclosure of Invention
The invention provides a three-dimensional mapping acquisition method and a three-dimensional mapping acquisition system for building foundation structure data, which can ensure the drawing quality of elevation measurement, and the acquired data can be used for various purposes such as drawing, transferring, quality inspection and the like. Meanwhile, all three-dimensional information in the whole panoramic view field can be acquired in a short time, and the efficiency is higher than that of a total station prism-free observation structure point by dozens of times.
In order to achieve the above object, a method for three-dimensional mapping and acquisition of building infrastructure data is characterized by comprising the following steps:
s1: scanning and collecting the geometric characteristics of the external space of the building to obtain three-dimensional point cloud data;
s2: collecting panoramic images of the roof and the surrounding environment of a building;
s3: matching the three-dimensional point cloud data obtained in the step S1 with the panoramic image obtained in the step S2 to obtain point cloud data with high-definition colors;
s4: scanning and collecting the geometric characteristics of the internal space of the building to obtain three-dimensional point cloud data;
s5: splicing the three-dimensional point cloud data obtained in the S3 and/or S4;
s6: classifying and denoising the spliced point cloud data to obtain a three-dimensional digital model;
s7: and obtaining a facade map or a perspective map by using three-dimensional design software, and acquiring related data of the building foundation structure.
In addition, the invention also provides a three-dimensional mapping and acquisition system for building infrastructure data, which comprises a laser radar system for acquiring external space geometric characteristic data, an oblique photography system for collecting images of the roof and the surrounding environment of a building, a mobile laser scanning system for acquiring internal space geometric characteristic data of the building and a data processing system.
Preferably, the laser scanning radar system comprises a multi-line laser scanner, an inertial navigation measurement system, a high-resolution CCD digital camera and a computer control system, and the multi-line laser scanner, the inertial navigation measurement system and the high-resolution CCD digital camera are respectively connected with the computer control system.
Preferably, the camera lens of the oblique photography system is a fixed focus lens, the focusing is infinite, and the effective pixel of the camera is more than or equal to 1 hundred million.
Preferably, the vertical image course overlapping degree of the oblique photographing device is 70-80%, the lateral overlapping degree is 50-80%, the vertical image inclination angle is less than 12 degrees, and the vertical image rotation deviation angle is less than 25 degrees.
Preferably, the mobile laser scanning system comprises a data acquisition unit and a data processing and analyzing unit, the data acquisition unit acquires data of a spherical area 360 degrees right in front of the device when moving forward along with the device, and the data acquisition unit processes the acquired data to obtain point cloud data.
Preferably, the data acquisition unit plans a walking path by combining the absolute coordinate control point according to the indoor actual condition of the building, so that repeated scanning is avoided.
Preferably, the data processing system collects the data collected by the laser scanning radar system, the oblique photography system and the mobile laser scanning system, and then the collected data are merged into three-dimensional design software, and the collected data are spliced, synthesized and subjected to noise reduction.
Preferably, the three-dimensional design software comprises Autodesk CAD, Qinghua mountain dimension EPS and Trimble RealWorks.
The invention has the beneficial effects that: the invention utilizes a laser radar system and an oblique photography system to collect the geometric characteristic data of the external space of a building, which means that a mass of laser point clouds and high-quality image data are fused, and technical means such as post-processing and the like are utilized to realize the construction of an automatic three-dimensional model of the scene and obtain a measurable three-dimensional interactive scene, the oblique photography system collects the image data from different angles and obtains multi-view images and detailed side information of the same ground object, the internal space geometric characteristic data of the building is collected through a mobile laser scanning system, and a high-quality elevation map is obtained through the splicing, noise reduction and slicing of later data, thereby completing the measurement work of the elevation of the building well and quickly.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a general flow diagram of a method and system for three-dimensional mapping and acquisition of building infrastructure data in accordance with the present invention;
FIG. 2 is a point cloud after being spliced according to a first embodiment of the present invention;
fig. 3 is a point cloud diagram after point cloud data classification according to an embodiment of the present invention;
FIG. 4 is an elevation of a sliced building according to an embodiment of the present invention;
FIG. 5 is an elevation view drawn by the Autodesk CAD in the first embodiment of the present invention;
FIG. 6 is a cloud of outdoor points of the second embodiment of the present invention;
FIG. 7 is a second cloud of outdoor points in a second embodiment of the present invention;
FIG. 8 is a first cloud point diagram of a second embodiment of the present invention;
FIG. 9 is a second indoor dotted cloud of the second embodiment of the present invention;
FIG. 10 is a cloud point diagram III in a room according to a second embodiment of the present invention;
FIG. 11 is a cloud point image obtained by splicing indoor and outdoor images according to a second embodiment of the present invention;
FIG. 12 is a second outdoor model of an embodiment of the present invention;
FIG. 13 is a diagram of a first indoor model according to a second embodiment of the present invention;
FIG. 14 is a second indoor model diagram in the second embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
Example one
The test site of this embodiment is a villa, and this villa infrastructure data is carried out three-dimensional survey and drawing and is gathered to following data:
s1: scanning and collecting the geometric characteristics of the external space of the villa by using a laser radar system to obtain three-dimensional point cloud data;
s2: collecting panoramic images of the roof and the surrounding environment of a building by using an oblique photography system;
s3: matching the three-dimensional point cloud data obtained in the step S1 with the panoramic image obtained in the step S2 to obtain point cloud data with high-definition colors;
s4: splicing the point cloud data of high-definition colors obtained in the step S3, as shown in FIG. 2;
s5: classifying and denoising the spliced point cloud data to obtain a three-dimensional digital model, as shown in FIG. 3;
s6: the three-dimensional digital model is sliced by using a point cloud cutting tool of Trimble RealWorks to rapidly draw a building facade, as shown in figure 4, or the point cloud is sent to an Autodesk CAD to draw a facade drawing, as shown in figure 5.
The laser scanning radar system comprises a multi-line laser scanner, an inertial navigation measuring system, a high-resolution CCD digital camera and a computer control system, wherein the multi-line laser scanner, the inertial navigation measuring system and the high-resolution CCD digital camera are respectively connected with the computer control system.
The camera lens of the oblique photography system is a fixed focus lens and focuses infinitely far, the effective pixel of the camera is more than or equal to 1 hundred million, the vertical image course overlapping degree of the oblique photography device is 70-80%, the lateral overlapping degree is 50-80%, the vertical image inclination angle is less than 12 degrees, and the vertical image rotation deflection angle is preferably less than 25 degrees.
The mobile laser scanning system comprises a data acquisition unit and a data processing and analyzing unit, wherein the data acquisition unit acquires data of a 360-degree spherical area right in front of the equipment when moving forwards along with the equipment, the data acquisition unit processes the acquired data to obtain point cloud data, and the data acquisition unit plans a walking path according to the indoor actual condition of a building by combining absolute coordinate control points so as to avoid repeated scanning.
Data collected by the laser scanning radar system, the oblique photography system and the mobile laser scanning system are gathered through the data processing system and are imported into Trimble RealWorks software, and the collected data are spliced, synthesized, denoised and sliced to obtain a vertical image.
Example two
The test site of the embodiment is a Chinese canal culture museum, and the following method is adopted to carry out three-dimensional mapping and acquisition on the basic structure data of the Chinese canal culture museum:
s1: scanning and collecting the geometric characteristics of the external space of the villa by using a laser radar system to obtain three-dimensional point cloud data;
s2: collecting panoramic images of the roof and the surrounding environment of a building by using an oblique photography system;
s3: matching the three-dimensional point cloud data obtained in the step S1 with the panoramic image obtained in the step S2 to obtain point cloud data with high definition color, as shown in fig. 6-7;
s4: scanning and collecting the geometric characteristics of the inner space of the villa by using a movable laser scanning system to obtain three-dimensional point cloud data as shown in figures 8-10;
s5: splicing the three-dimensional point cloud data obtained in the step S4 with the point cloud data with high-definition colors obtained in the step S3, and obtaining a point cloud with high-definition colors as shown in a figure 11;
s6: classifying and denoising the spliced point cloud data to obtain a three-dimensional digital model, as shown in FIG. 12;
s7: the point cloud may be sent to an Autodesk CAD, which renders a perspective view, such as fig. 13-14.
The laser scanning radar system comprises a multi-line laser scanner, an inertial navigation measuring system, a high-resolution CCD digital camera and a computer control system, wherein the multi-line laser scanner, the inertial navigation measuring system and the high-resolution CCD digital camera are respectively connected with the computer control system.
The camera lens of the oblique photography system is a fixed focus lens and focuses infinitely far, the effective pixel of the camera is more than or equal to 1 hundred million, the vertical image course overlapping degree of the oblique photography device is 70-80%, the lateral overlapping degree is 50-80%, the inclination angle of the vertical image is less than 12 degrees, and the rotation deflection angle of the vertical image is less than 25 degrees.
The mobile laser scanning system comprises a data acquisition unit and a data processing and analyzing unit, wherein the data acquisition unit acquires data of a 360-degree spherical area right in front of the equipment when moving forwards along with the equipment, the data acquisition unit processes the acquired data to obtain point cloud data, and the data acquisition unit plans a walking path according to the indoor actual condition of a building by combining absolute coordinate control points so as to avoid repeated scanning.
Data collected by the laser scanning radar system, the oblique photography system and the mobile laser scanning system are gathered through the data processing system, are imported into Trimble RealWorks software, are spliced, synthesized and denoised, are imported into an automatic desk CAD to obtain a body diagram, and relevant data of a building foundation structure are obtained.
Claims (9)
1. A three-dimensional mapping acquisition method for building infrastructure data is characterized by comprising the following steps:
s1: scanning and collecting the geometric characteristics of the external space of the building to obtain three-dimensional point cloud data;
s2: collecting panoramic images of the roof and the surrounding environment of a building;
s3: matching the three-dimensional point cloud data obtained in the step S1 with the panoramic image obtained in the step S2 to obtain point cloud data with high-definition colors;
s4: scanning and collecting the geometric characteristics of the internal space of the building to obtain three-dimensional point cloud data;
s5: splicing the three-dimensional point cloud data obtained in the S3 and/or S4;
s6: and classifying and denoising the spliced point cloud data to obtain a three-dimensional digital model.
S7: and obtaining a facade map or a perspective map by using three-dimensional design software, and acquiring related data of the building foundation structure.
2. A three-dimensional mapping acquisition system for building infrastructure data is characterized by comprising a laser radar system for acquiring external space geometric feature data, an oblique photography system for collecting images of the roof and the surrounding environment of a building, a mobile laser scanning system for acquiring internal space geometric feature data of the building and a data processing system.
3. The system of claim 2, wherein the laser scanning radar system comprises a multi-line laser scanner, an inertial navigation measurement system, a high resolution CCD digital camera, and a computer control system, and the multi-line laser scanner, the inertial navigation measurement system, and the high resolution CCD digital camera are respectively connected to the computer control system.
4. The system of claim 2, wherein the camera lens of the oblique photography system is a fixed focus lens, and the focus is infinite, and the effective pixel of the camera is greater than or equal to 1 hundred million.
5. The system of claim 4, wherein the oblique camera device has a vertical image course overlap of 70-80%, a lateral overlap of 50-80%, a vertical image tilt angle of less than 12 °, and a vertical image yaw angle of less than 25 °.
6. The system of claim 2, wherein the mobile laser scanning system comprises a data acquisition unit and a data processing and analyzing unit, the data acquisition unit acquires data of a spherical area 360 ° right in front of the device when the device is moved forward, and the data acquisition unit processes the acquired data to obtain point cloud data.
7. The system of claim 6, wherein the data acquisition unit is configured to plan a walking path according to the actual indoor conditions of the building in combination with the control points of absolute coordinates, so as to avoid repeated scanning.
8. The system of claim 2, wherein the data processing system collects the data collected by the laser scanning radar system, the oblique photography system and the mobile laser scanning system, and sends the collected data to the three-dimensional design software for splicing, synthesizing and denoising.
9. The system of claim 8, wherein the three-dimensional design software comprises Autodesk CAD, Qinghuashan dimension EPS, and Trimble real works.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113985383A (en) * | 2021-12-27 | 2022-01-28 | 广东维正科技有限公司 | Method, device and system for surveying and mapping house outline and readable medium |
| CN114136287A (en) * | 2021-11-23 | 2022-03-04 | 广西瀚维智测科技有限公司 | Multi-source data superposition mapping method |
| CN115265490A (en) * | 2022-09-28 | 2022-11-01 | 常州奥视科技有限公司 | Data acquisition method and system based on three-dimensional digital twin camera shooting technology |
| CN116844068A (en) * | 2023-09-01 | 2023-10-03 | 山东省地质矿产勘查开发局第五地质大队（山东省第五地质矿产勘查院） | Building mapping method, system, computer equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114136287A (en) * | 2021-11-23 | 2022-03-04 | 广西瀚维智测科技有限公司 | Multi-source data superposition mapping method |
| CN113985383A (en) * | 2021-12-27 | 2022-01-28 | 广东维正科技有限公司 | Method, device and system for surveying and mapping house outline and readable medium |
| CN115265490A (en) * | 2022-09-28 | 2022-11-01 | 常州奥视科技有限公司 | Data acquisition method and system based on three-dimensional digital twin camera shooting technology |
| CN115265490B (en) * | 2022-09-28 | 2022-12-20 | 常州奥视科技有限公司 | Data acquisition method and system based on three-dimensional digital twin camera shooting technology |
| CN116844068A (en) * | 2023-09-01 | 2023-10-03 | 山东省地质矿产勘查开发局第五地质大队（山东省第五地质矿产勘查院） | Building mapping method, system, computer equipment and storage medium |
| CN116844068B (en) * | 2023-09-01 | 2023-12-26 | 山东省地质矿产勘查开发局第五地质大队（山东省第五地质矿产勘查院） | Building mapping method, system, computer equipment and storage medium |
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