CN116908876A - Three-dimensional laser scanning mapping method and device, three-dimensional laser scanner and medium - Google Patents
Three-dimensional laser scanning mapping method and device, three-dimensional laser scanner and medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
The application relates to a three-dimensional laser scanning mapping method, a device, a three-dimensional laser scanner and a medium, belonging to the mapping field, wherein the method is executed by the three-dimensional laser scanner and comprises the following steps: acquiring a preset mapping plan, wherein the mapping plan comprises a plurality of control points, point numbers of the control points and a scanning path, and the first control point is a starting point of the scanning path; acquiring positioning instruction information input by a user and receiving the current position of the positioning instruction information; and according to the current position and the scanning path, matching the current position with each control point, and determining the point number of the control point matched consistently as the point number of the current position. The application has the effect of reducing the error probability when the control point number is input.
Description
Technical Field
The application relates to the technical field of mapping, in particular to a three-dimensional laser scanning mapping method, a device, a three-dimensional laser scanner and a medium.
Background
Along with the development of science and technology, the requirements of digital twin and live-action three-dimensional Chinese construction on novel three-dimensional mapping technology and indoor and outdoor space integrated three-dimensional data acquisition are increasing. The three-dimensional laser scanning adopts a non-contact high-speed laser measurement mode, and array geometric figure data of the three-dimensional surface of the terrain and the complex object are obtained in a point cloud mode, so that three-dimensional reconstruction is realized. And generating a high-precision three-dimensional building model after processing by related software. Has wide application prospect in digital city construction and city planning.
Based on the mobile laser scanner of wearing formula VLX equipment and RTK, the RTK sets up in the top of VLX equipment, and the staff dresses the VLX equipment in front of being by oneself, through the operation mode of wearing, VLX can follow the operator and remove the completion to indoor outer space's scanning. When a control point is needed, the RTK positioning technology is used, so that high-precision positioning can be realized in an outdoor space, and accurate position information is provided. And (3) aligning and fusing the positioning data of the indoor and outdoor spaces with the mobile laser scanning data through a corresponding coordinate conversion program, and performing coordinate conversion.
Before the scanning operation, a worker is required to survey the to-be-detected area, plan a scanning path and arrange control points. When the control point is met in actual scanning, the VLX device is required to be placed on the control point identifier, the point number is input, and coordinate value observation and recording are carried out.
However, when the control points are recorded on site, the staff is required to pay attention to the point numbers of the control points in real time by contrasting the control point record chart, and then the point numbers of the control points corresponding to the positions of the control points are input to the VLX equipment, so that the error probability is high under the condition that the scanning path is long.
Disclosure of Invention
In order to reduce the error probability when the control point number is recorded, the application provides a three-dimensional laser scanning mapping method, a device, a three-dimensional laser scanner and a medium.
In a first aspect, the present application provides a three-dimensional laser scanning mapping method, which adopts the following technical scheme:
performed by a three-dimensional laser scanner, comprising:
acquiring a preset mapping plan, wherein the mapping plan comprises a plurality of control points, point numbers of the control points and a scanning path, and the first control point is a starting point of the scanning path;
acquiring positioning instruction information input by a user and receiving the current position of the positioning instruction information;
and according to the current position and the scanning path, matching the current position with each control point, and determining the point number of the control point matched consistently as the point number of the current position.
Through adopting above-mentioned technical scheme, three-dimensional laser scanner at first acquires the survey and drawing planning chart of survey and drawing personnel input, including control point, the dot number and the scanning route of control point in the survey and drawing planning chart, and then acquire the location instruction information of user input, obtain the current position when receiving location instruction information simultaneously, and then match current position with each control point in the scanning route, regard the dot number of the control point that matches unanimously as the dot number of current position, and then three-dimensional laser scanner automatic determination dot number fuses the data and the geographical position data that scan at current position. The method saves the steps of checking the point numbers and inputting the point numbers from time to time, reduces the error probability of the point number input, and reduces the scanning workload.
Further, the matching the current position with each control point according to the current position and the scan path, and determining the point number of the control point with the same matching as the point number of the current position includes:
judging whether the positioning instruction information is acquired for the first time; if yes, responding to the positioning instruction information, and determining a point number corresponding to the first control point as the point number of the current position;
otherwise, determining the next control point as the current control point, and determining the current position corresponding to the last time of acquiring the positioning execution information as the last position;
determining a first position of the current position relative to the previous position;
determining an azimuth threshold value of the last control point facing the current control point according to the scanning path;
judging whether the first azimuth is within the azimuth threshold;
and if the first azimuth is within the azimuth threshold, determining the point number corresponding to the current control point as the point number of the current position.
By adopting the technical scheme, when the current position is matched with each control point, the three-dimensional laser scanner judges that the point number corresponding to the first control point is determined as the point number of the current position when positioning instruction information is acquired for the first time; when the positioning instruction information is not acquired for the first time, the next control point is determined to be the current control point, the last position is determined, the first azimuth of the current position relative to the last position is further determined, the azimuth threshold of the last control point facing the current control point is determined according to the scanning path, when the first azimuth is within the azimuth threshold, the current position can be basically determined, the point number corresponding to the current control point is determined to be the point number of the current position, and the point number of the control point can be intelligently determined according to actual conditions.
Further, if the first bearing is not within the bearing threshold, the method further comprises:
determining a plurality of candidate control points adjacent to the last control point according to the mapping planning chart;
determining a candidate azimuth threshold value of the last control point facing each candidate control point;
judging whether the first azimuth is positioned in any candidate azimuth threshold value or not; if yes, determining a candidate azimuth threshold value where the first azimuth is located as a first azimuth threshold value, determining a point number of a control point corresponding to the first azimuth threshold value as a point number of a current position, and generating route error prompt information;
otherwise, generating positioning error information.
By adopting the technical scheme, if the first azimuth is not in the azimuth threshold, a plurality of candidate control points are determined according to the mapping planning diagram, a plurality of candidate azimuth thresholds are further determined, the first azimuth is compared with each candidate azimuth threshold, whether the current position is matched with any candidate control point is determined, if the first azimuth is in any candidate azimuth threshold, the point number of the control point corresponding to the first azimuth threshold is determined as the point number of the current position, and meanwhile route error prompt information is generated; when the first azimuth is not positioned in any candidate azimuth threshold, the conditions such as missing control points, misoperation and the like can occur, and positioning error information is generated, so that the current working condition of a surveying and mapping personnel can be timely prompted, and the current working condition can be timely corrected.
Further, the determining, according to the scan path, the azimuth threshold of the last control point facing the current control point includes:
in the mapping planning diagram, connecting the last control point with the current control point, and determining a connecting line;
respectively generating side edges forming a preset included angle with the central line to two sides by taking the connecting line as the central line;
determining the direction of the side edge, and generating an azimuth threshold value of the sector area by the side edge with a preset length, wherein the preset length is proportional to the maximum distance between two adjacent control points.
Through adopting above-mentioned technical scheme, when determining the azimuth threshold value, three-dimensional laser scanner is at first in the survey and drawing planning diagram, links to each other last control point with current control point, obtains the connecting wire, confirms the side that is located both sides according to connecting wire and the contained angle of predetermineeing, confirms the direction and the length of side, and then generates the azimuth threshold value of fan-shaped region. The azimuth threshold can be determined quickly and accurately, taking into account the error between the actual and mapping plans.
Further, the first position includes a direction and a distance between a current position and a previous position, and the determining whether the first position is within the position threshold includes:
Determining a first length according to the distance between the current position and the last position and the ratio;
generating an arrow pointing in the direction, the length of the arrow being equal to the first length;
placing the arrow and the sector area corresponding to the azimuth threshold in the same coordinate system, wherein the starting point of the arrow coincides with the vertex of the angle of the sector area;
judging whether the arrow is positioned in the sector area or not; if yes, determining that the first azimuth is located in the azimuth threshold;
otherwise, it is determined that the first bearing is not within the bearing threshold.
By adopting the technical scheme, when judging whether the first azimuth is positioned in the azimuth threshold, firstly, an imaged arrow is obtained according to the first azimuth, the arrow is used for representing the first azimuth, the arrow is overlapped with the azimuth threshold, and whether the first azimuth is positioned in the azimuth threshold is determined by judging whether the arrow is positioned in the sector area, so that the relation between the first azimuth and the azimuth threshold can be intuitively and rapidly judged.
Further, before obtaining the positioning instruction information and the current position when the positioning instruction information is received, the method further comprises:
Acquiring the current moment and the current direction;
determining a control point which is the latest and consistent in matching in the mapping planning chart as an indication starting point based on the current moment;
determining a next control point based on the indicated start point and the scan path;
determining a target position of a next control point;
a walking direction is determined based on the current heading and the target location.
Through adopting above-mentioned technical scheme, in order to instruct the mapping personnel to walk according to the scanning route, three-dimensional laser scanner acquires current orientation, and then confirms the instruction starting point, and according to the position of next control point, confirm the walking direction, mapping personnel refer to the walking direction, can reduce mapping personnel and walk wrong, lose the possibility of control point.
Further, the method further comprises:
when successful prompt information that the current position is successfully matched with any control point is obtained, judging whether a scanning path is completed or not;
if not, generating prompt voice according to the walking direction.
Through adopting above-mentioned technical scheme, at the node that matches successfully, generate suggestion pronunciation, the mapping personnel need not to look over the screen, according to the pronunciation action can, improvement work efficiency.
In a second aspect, the present application provides a three-dimensional laser scanning mapping apparatus, which adopts the following technical scheme:
The system comprises a mapping planning chart acquisition module, a mapping planning chart acquisition module and a scanning module, wherein the mapping planning chart acquisition module is used for acquiring a preset mapping planning chart, the mapping planning chart comprises a plurality of control points, point numbers of the control points and a scanning path, and the first control point is a starting point of the scanning path;
the current position acquisition module is used for acquiring positioning instruction information input by a user and the current position when the positioning instruction information is received;
and the point number determining module is used for matching the current position with each control point according to the current position and the scanning path, and determining the point number of the control point with the same matching as the point number of the current position.
Through adopting above-mentioned technical scheme, survey plan acquisition module acquires survey plan that survey personnel input, including control point in the survey plan, the dot number and the scanning route of control point, and then current position acquisition module acquires the location instruction information of user input, obtain the current position when receiving location instruction information simultaneously, and then dot number determination module matches current position with each control point in the scanning route, regard the dot number of the control point that matches unanimously as the dot number of current position, and then three-dimensional laser scanner automatic determination dot number fuses the data of scanning at current position and geographical position data. The method saves the steps of checking the point numbers and inputting the point numbers from time to time, reduces the error probability of the point number input, and reduces the scanning workload.
In a third aspect, the present application provides a three-dimensional laser scanning surveying instrument, which adopts the following technical scheme:
a three-dimensional laser scanning mapper comprising:
at least one processor;
a memory;
at least one computer program, wherein the at least one computer program is stored in the memory and configured to be executed by the at least one processor, the at least one computer program configured to: performing the method of any of the first aspects.
Through adopting the technical scheme, the processor executes the computer program in the memory, firstly acquires the mapping plan input by mapping personnel, and comprises control points in the mapping plan, point numbers of the control points and scanning paths, further acquires positioning instruction information input by a user, and simultaneously acquires the current position when receiving the positioning instruction information, further matches the current position with each control point in the scanning paths, takes the point number of the control point matched consistently as the point number of the current position, further automatically determines the point number by the three-dimensional laser scanner, and fuses the data scanned at the current position with geographic position data. The method saves the steps of checking the point numbers and inputting the point numbers from time to time, reduces the error probability of the point number input, and reduces the scanning workload.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
a computer readable storage medium storing a computer program capable of being loaded by a processor and executing the method according to any one of the first aspects.
By adopting the technical scheme, the processor executes the computer program in the computer readable storage medium, firstly acquires the mapping planning chart input by mapping personnel, comprises control points in the mapping planning chart, point numbers of the control points and scanning paths, further acquires positioning instruction information input by a user, and simultaneously acquires the current position when receiving the positioning instruction information, further matches the current position with each control point in the scanning paths, takes the point number of the control point matched consistently as the point number of the current position, further automatically determines the point number by the three-dimensional laser scanner, and fuses data scanned at the current position with geographic position data. The method saves the steps of checking the point numbers and inputting the point numbers from time to time, reduces the error probability of the point number input, and reduces the scanning workload.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the three-dimensional laser scanner firstly acquires a mapping plan inputted by mapping personnel, wherein the mapping plan comprises control points, point numbers of the control points and a scanning path in the mapping plan, further acquires positioning instruction information inputted by a user, and simultaneously acquires the current position when receiving the positioning instruction information, further matches the current position with each control point in the scanning path, takes the point number of the control point matched with the current position as the point number of the current position, further automatically determines the point number by the three-dimensional laser scanner, fuses data scanned at the current position with geographical position data, saves the steps of checking the point number and inputting the point number from time to time, reduces the error probability of inputting the point number, and reduces the scanning workload;
2. In order to instruct a surveyor to walk according to the scanning path, the three-dimensional laser scanner acquires the current orientation, further determines an indication starting point, determines a walking direction according to the position of the next control point, and can reduce the possibility that the surveyor walks wrong and loses the control point by referring to the walking direction.
Drawings
Fig. 1 is a block diagram of a three-dimensional laser scanner in an embodiment of the present application.
Fig. 2 is a flow chart of a three-dimensional laser scanning mapping method in an embodiment of the application.
FIG. 3 is a schematic diagram of comparing a first bearing to a bearing threshold in an embodiment of the application.
Fig. 4 is a block diagram of a three-dimensional laser scanning apparatus in an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
The embodiment of the application discloses a three-dimensional laser scanner, which adopts wearable VLX equipment and is a mobile scanning system specially designed for laser scanning and AEC (Architecture) professionals, and the mobile scanning system can realize high-quality rapid reality capturing even in the most complex building terrain. The VLX uses two multi-layer LiDAR sensors to collect 3D measurement data and combines with industry leading SLAM algorithm software to generate point cloud with mapping grade quality. Four high-definition cameras are mounted on the top of the VLX equipment and used for 360-degree all-dimensional high-resolution live-action shooting. The top of the VLX equipment is also provided with an RTK (Real-time differential positioning) module, so that the RTK can be suitable for different measurement scenes due to the characteristics of portability and millimeter-level precision, such as Real-time data acquisition, real geographic coordinates, topographic mapping, building measurement, GPS high-precision positioning, electric power measurement and survey, road construction lofting, hydraulic engineering control measurement, earthwork measurement, cultural relic archaeology and the like.
Referring to fig. 1, a three-dimensional laser scanner 100 includes: a processor 101, a memory 103, and a touch screen 105. The memory 103 and the touch screen 105 are connected to the processor 101, for example, via a bus 102. Optionally, the three-dimensional laser scanner 100 may also include a transceiver 104. It should be noted that, in practical applications, the transceiver 104 is not limited to one, and the structure of the three-dimensional laser scanner 100 is not limited to the embodiment of the present application.
The processor 101 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. Processor 301 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.
Bus 102 may include a path to transfer information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect Standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. Bus 302 may be divided into an address bus, a data bus, a control bus, and the like.
Memory 103 may be, but is not limited to, ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, EEPROM (Electrically Erasable Programmable Read Only Memory ), CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
The memory 103 is used for storing application program codes for executing the inventive arrangements and is controlled to be executed by the processor 101. The processor 101 is configured to execute application code stored in the memory 103 to implement what is shown in the foregoing method embodiments.
The three-dimensional laser scanner 100 shown in fig. 1 is only one example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
The embodiment of the application discloses a three-dimensional laser scanning mapping method. Referring to fig. 2, the method is performed by a three-dimensional laser scanner, and includes (step S201 to step S203):
step S201: the method comprises the steps of obtaining a preset mapping plan, wherein the mapping plan comprises a plurality of control points, point numbers of the control points and a scanning path, and the first control point is a starting point of the scanning path.
Specifically, before starting data acquisition, a surveying staff surveys a region, presets a scanning path, and lays a control point on the scanning path at intervals. The control point layout principle is that the control point interval is not more than 30m.
The three-dimensional laser scanner is provided with a touch screen, a surveying staff can operate the touch screen and call a simple top view of a region, then the position of a control point and the point number of the control point are input on the simple top view displayed by the touch screen, the scanning path connected with each control point is input from the first control point, namely the control point with the point number of 1, until the last control point is finished. Further, the three-dimensional laser scanner acquires and stores a preset mapping plan.
Step S202: and acquiring positioning instruction information input by a user and the current position when the positioning instruction information is received.
Specifically, a mapping personnel walks according to a scanning path, when the mapping personnel reaches each control point, the three-dimensional laser scanner is required to be placed on the control point mark, the measurement button is clicked, and the three-dimensional laser scanner receives positioning instruction information input by a user. At this time, the three-dimensional laser scanner performs coordinate value observation and recording, and the observed coordinate value is the current position.
Step S203: and according to the current position and the scanning path, matching the current position with each control point, and determining the point number of the control point matched consistently as the point number of the current position. The process includes the following steps (step S2031 to step S2037):
step S2031: judging whether positioning instruction information is acquired for the first time; if yes, step S2032 is executed: responding to the positioning instruction information, and determining a point number corresponding to the first control point as the point number of the current position; otherwise, step S2033 to step S2037 are executed.
Specifically, whether the positioning instruction information is acquired for the first time is judged, and the three-dimensional laser scanner starts to calculate from the starting time. If the three-dimensional laser scanner obtains the positioning instruction information for the first time, the three-dimensional laser scanner can be deduced to be at the first control point on the premise that a mapping personnel operates correctly. Therefore, the three-dimensional laser scanner determines the point number corresponding to the first control point as the point number of the current position, that is, the point number of the determined current position is 1.
Step S2033: and determining the next control point as the current control point, and determining the current position corresponding to the last time of acquiring the positioning execution information as the last position.
Specifically, if the three-dimensional laser scanner does not acquire the positioning instruction information for the first time, determining the next control point in the scanning path as the current control point, and changing the last "current position" into the last position, namely updating the current position.
Step S2034: a first position of the current location relative to the previous location is determined.
Specifically, the current position is the position where the mapping personnel arrives at the new control point, and the last position is already matched with the control point, so that the last position is used as a reference point, and the calculation amount is more accurate and reduced.
Wherein the first orientation comprises a direction and a distance between the current position and the last position. The three-dimensional laser scanner establishes a plane coordinate system, marks the last position in the plane coordinate system, and marks the current position in the same plane coordinate system, so that the direction from the last position to the current position is obtained, namely the direction of the first azimuth, and the distance between the last position and the current position is obtained. For example, the first bearing may be 28 meters in the forward east direction.
Step S2035: and determining the azimuth threshold value of the last control point facing the current control point according to the scanning path.
Specifically, in actual measurement, the actual values of the control points may be different from those in the mapping plan, and therefore, the three-dimensional laser scanner uses the azimuth threshold value to make a determination when determining whether the current position is at the correct control point. The azimuth threshold is a preset range, deviation between actual conditions and a plan is assumed, and if the first azimuth is within the azimuth threshold, the current position can be determined to be at the corresponding control point.
When determining the azimuth threshold value, the three-dimensional laser scanner comprises the following procedures (step Sa to step Sc):
step Sa: in the mapping planning diagram, the last control point is connected with the current control point, and a connecting line is determined.
Step Sb: and respectively generating side edges forming a preset included angle with the central line to two sides by taking the connecting line as the central line.
Referring to fig. 3, the connecting line is L0, and the preset included angle is 30 degrees, and then L0 is taken as the center line, sides L1 and L2 are generated to two sides, and the included angles between L1 and L2 and L0 are all 30 degrees.
Step Sc: determining the direction of the side edge, and generating an azimuth threshold of the sector area by the side edge with the preset length, wherein the preset length is proportional to the maximum distance between two adjacent control points.
Specifically, the preset length is set by a mapping personnel according to actual needs, for example, the maximum distance between two adjacent control points is 30m, and the scale of the mapping plan map and the actual map is 1:1000, and then the preset length is 3cm.
In order to determine the azimuth threshold, the length of the side edge is determined to be a preset length, an arc edge is generated at the position, away from the corner point, of the side edge, and then a closed sector area is obtained, and the sector area A in fig. 3 is the azimuth threshold.
Step S2036: judging whether the first azimuth is within an azimuth threshold; if the first azimuth is within the azimuth threshold, step S2037 is executed: and determining the point number corresponding to the current control point as the point number of the current position.
Specifically, in order to determine whether the first azimuth is within the azimuth threshold, the following steps (step S11 to step S15) are performed:
step S11: the first length is determined based on the distance and the ratio between the current position and the last position.
Step S12: an arrow pointing in a direction is generated, the length of the arrow being equal to the first length.
Specifically, the three-dimensional laser scanner first scales the distance between the current position and the previous position according to the proportion to obtain a proportional first length, and then generates an arrow which represents the first azimuth in an appearance mode, the direction of the arrow is the same as the direction of the first azimuth, and the length of the arrow is equal to the first length.
Step S13: the sector area corresponding to the arrow and the azimuth threshold is placed in the same coordinate system, wherein the starting point of the arrow coincides with the vertex of the angle of the sector area.
Specifically, referring to fig. 3, the azimuth threshold is set in one coordinate system, the arrow is also set in the same coordinate system, the start point of the arrow is the position of the last control point, and the vertex of the angle of the sector area is the position of the last control point, so that the start point of the arrow coincides with the vertex of the angle of the sector area, and the arrow is compared with the sector area.
Step S14: judging whether the arrow is positioned in the sector area or not; if yes, determining that the first azimuth is positioned in the azimuth threshold; otherwise, step S15 is performed: it is determined that the first orientation is not within the orientation threshold.
Specifically, if the arrow falls within the sector, it may be determined that the first orientation is also within the orientation threshold, and if the end of the arrow exceeds the sector, it is determined that the first orientation is not within the orientation threshold.
If the first direction is located at the azimuth threshold, determining that the current position reached by the mapping personnel is the position where the current control point is located, and determining the point number corresponding to the current control point as the point number of the current position. For example, if the point number of the current control point is 2, the point number corresponding to the current position is automatically determined to be 2.
If the first azimuth is not within the azimuth threshold, the method further comprises (step S21 to step S25):
step S21: a plurality of candidate control points adjacent to the last control point are determined from the mapping plan.
Specifically, in the mapping plan, there are a plurality of candidate control points adjacent to the previous control point except the control point that should be reached when walking along the scan path, wherein the possibility of the mapping personnel having a mistake or loss of the control point is not excluded.
Step S22: and determining a candidate azimuth threshold value of the last control point facing each candidate control point.
Specifically, when the three-dimensional laser scanner determines that the first azimuth is not located in the azimuth threshold, further querying which control point the current position of the mapping personnel is, so that the candidate azimuth threshold of the last control point facing each control point is determined, and when the first azimuth falls into one of the candidate azimuth thresholds, the control point corresponding to the current position can be determined.
Step S23: judging whether the first azimuth is positioned in any candidate azimuth threshold value or not; if yes, step S24 is executed: determining a candidate azimuth threshold value where the first azimuth is located as a first azimuth threshold value, determining a point number of a control point corresponding to the first azimuth threshold value as a point number of a current position, and generating route error prompt information;
Otherwise, step S25 is performed: positioning error information is generated.
Specifically, the three-dimensional laser scanner adopts the same steps as Sa to Sc in generating the candidate orientation threshold values, and thus obtains a plurality of candidate orientation threshold values.
Further, the three-dimensional laser scanner performs the following steps (step S31 to step S34):
step S31: determining a first length according to the distance and the proportion between the current position and the last position; step S32: an arrow pointing in a direction is generated, the length of the arrow being equal to the first length.
The method of step S31 and step S32 is the same as the method of step S11 and step S12.
Step S33: the sector areas corresponding to the arrow and the azimuth threshold are placed in the same coordinate system, wherein the start point of the arrow coincides with the vertex of the angle of each sector area.
Step S34: judging whether the arrow is positioned in any sector area or not; if yes, determining that the first azimuth is located in any candidate azimuth threshold; otherwise, it is determined that the first orientation is not within any of the candidate orientation thresholds.
Specifically, when the arrow falls into any sector, it is determined that the first direction is located in the candidate direction threshold corresponding to the sector, and the corresponding candidate direction threshold is determined to be the first direction threshold, so that the point number of the first direction threshold is obtained and is used as the point number of the current position.
Route error prompt information is generated to remind mapping personnel to correct the route.
When the first azimuth is not within any of the candidate azimuth thresholds, the mapping personnel has the possibility of detecting errors, such as misoperation, missing control points and the like, so that the three-dimensional laser scanner generates positioning error information to prompt the mapping personnel to find the correct control points in time.
In another possible implementation manner, in order to reduce the smooth walking of the surveyor along the scan path, the method further includes (steps S41 to S45):
step S41: the current time and the current direction are obtained.
Specifically, the current orientation is the direction in which the three-dimensional laser scanner faces.
Step S42: based on the current moment, determining the control point which is the latest matching agreement in the mapping planning chart as an indication starting point.
Specifically, the three-dimensional laser scanner acquires the current time, and in order to be able to determine to update the indication start point in real time, the current time is taken as a limit, and a control point which is closest to the current time and successfully matches is taken as the indication start point. For example, the control point where the last matching was successful is point 2, and then 2 is an indication start point.
Step S43: the next control point is determined based on the indicated start point and the scan path.
Specifically, the three-dimensional laser scanner determines a control point corresponding to the indication start point in the scanning path, and determines the next control point according to the scanning path. For example, the indication start point is 2, and the next control point is 3.
Step S44: the target position of the next control point is determined.
Step S45: a walking direction is determined based on the current heading, the target location, and the current location.
Specifically, the three-dimensional laser scanner determines the target position of the next control point in the mapping planning chart, and determines the position relation between the target position and the current position, namely the position walking direction. For example, the walking direction may be right front, right left front, right front, left front, right front, etc
In another possible implementation, the three-dimensional laser scanner generates a prompt voice according to the position of the surveyor during the operation: for example, when obtaining the successful prompt information that the current position is successfully matched with any control point, judging whether the scanning path is completed or not; if not, generating prompt voice according to the walking direction.
Specifically, before the scanning path is completed, each time the matching between the current position and the control point is completed, the walking direction is determined according to the flow of step S41 to step S45, and further broadcasting is performed in advance.
In order to better perform the above method, an embodiment of the present application further provides a three-dimensional laser scanning and mapping apparatus, referring to fig. 4, a three-dimensional laser scanning and mapping apparatus 300 includes:
the mapping plan view obtaining module 301 is configured to obtain a preset mapping plan view, where the mapping plan view includes a plurality of control points, point numbers of the control points, and a scan path, and a first control point is a start point of the scan path;
the current position obtaining module 302 is configured to obtain positioning instruction information input by a user and a current position when the positioning instruction information is received;
the point number determining module 303 is configured to match the current position with each control point according to the current position and the scan path, and determine a point number of a control point with the same matching as the point number of the current position.
Further, the point number determining module 303 is specifically configured to:
judging whether positioning instruction information is acquired for the first time; if yes, responding to the positioning instruction information, and determining the point number corresponding to the first control point as the point number of the current position;
otherwise, determining the next control point as the current control point, and determining the current position corresponding to the last time of acquiring the positioning execution information as the last position;
Determining a first position of the current position relative to the previous position;
determining an azimuth threshold value of the last control point facing the current control point according to the scanning path;
judging whether the first azimuth is within an azimuth threshold;
and if the first azimuth is within the azimuth threshold, determining the point number corresponding to the current control point as the point number of the current position.
In another possible implementation, the first orientation is not within the orientation threshold, and the three-dimensional laser scanning mapping apparatus 300 further includes:
the candidate control point determining module is used for determining a plurality of candidate control points adjacent to the last control point according to the mapping planning chart;
the candidate azimuth threshold determining module is used for determining candidate azimuth thresholds of the last control point facing each candidate control point;
the first judging module is used for judging whether the first azimuth is positioned in any candidate azimuth threshold value or not;
the route error prompt generation module is used for determining a candidate azimuth threshold value where the first azimuth is located as a first azimuth threshold value when the first judgment module judges yes, determining the point number of a control point corresponding to the first azimuth threshold value as the point number of the current position and generating route error prompt information;
And the positioning error information generation module is used for generating positioning error information when the first judgment module judges that the first judgment module is not used.
Further, when the point number determining module 303 determines, according to the scan path, the azimuth threshold of the previous control point facing the current control point, the method is specifically used for:
in the mapping planning diagram, connecting the last control point with the current control point, and determining a connecting line;
the connecting line is taken as a central line, and side edges forming a preset included angle with the central line are respectively generated to two sides;
determining the direction of the side edge, and generating an azimuth threshold of the sector area by the side edge with the preset length, wherein the preset length is proportional to the maximum distance between two adjacent control points.
Further, when the first azimuth includes the direction and the distance between the current position and the previous position, the dot number determining module 303 determines whether the first azimuth is within the azimuth threshold, the method is specifically used for:
determining a first length according to the distance and the proportion between the current position and the last position;
generating an arrow pointing in the direction, wherein the length of the arrow is equal to the first length;
placing the sector area corresponding to the arrow and the azimuth threshold in the same coordinate system, wherein the starting point of the arrow coincides with the vertex of the angle of the sector area;
Judging whether the arrow is positioned in the sector area or not; if yes, determining that the first azimuth is positioned in the azimuth threshold;
otherwise, it is determined that the first orientation is not within the orientation threshold.
In another possible implementation, the three-dimensional laser scanning mapping apparatus 300 further includes:
the current moment and current orientation acquisition module is used for acquiring the current moment and the current orientation;
the indication starting point determining module is used for determining a control point which is the latest and consistent in matching in the mapping planning chart as an indication starting point based on the current moment;
a next control point determining module for determining a next control point based on the indication start point and the scan path;
the target position determining module is used for determining the target position of the next control point;
and the walking direction determining module is used for determining the walking direction based on the current direction and the target position.
Further, the three-dimensional laser scanning mapping apparatus 300 further includes:
the second judging module is used for judging whether the scanning path is completed or not when the successful prompt information of successful matching of the current position and any control point is obtained;
and the prompt voice generation module is used for generating prompt voice according to the walking direction when the second judgment module judges that the second judgment module does not exist.
The various modifications and specific examples of the method in the foregoing embodiment are equally applicable to the three-dimensional laser scanning mapping apparatus of the present embodiment, and the implementation method of the three-dimensional laser scanning mapping apparatus of the present embodiment will be clearly known to those skilled in the art from the foregoing detailed description of the three-dimensional laser scanning mapping method, so that the detailed description thereof will not be repeated for brevity.
The embodiment of the application also provides a computer readable storage medium, which stores a computer program, when the program is executed by a processor, the three-dimensional laser scanning mapping method provided by the embodiment is realized, the processor executes the computer program in the computer readable storage medium, firstly, a mapping planning chart input by a mapping personnel is obtained, the mapping planning chart comprises control points in the mapping planning chart, point numbers of the control points and scanning paths, further, positioning instruction information input by a user is obtained, meanwhile, the current position when the positioning instruction information is received is obtained, further, the current position is matched with each control point in the scanning paths, the point number of the control point with the same matching value is used as the point number of the current position, further, the three-dimensional laser scanner automatically determines the point number, and data scanned at the current position and geographic position data are fused. The method saves the steps of checking the point numbers and inputting the point numbers from time to time, reduces the error probability of the point number input, and reduces the scanning workload.
In this embodiment, the computer-readable storage medium may be a tangible device that holds and stores instructions for use by the instruction execution device. The computer readable storage medium may be, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination of the preceding. In particular, the computer readable storage medium may be a portable computer disk, hard disk, USB flash disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), podium random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital Versatile Disk (DVD), memory stick, floppy disk, optical disk, magnetic disk, mechanical coding device, and any combination of the foregoing.
The computer program in this embodiment contains program code for executing all the methods described above, and the program code may include instructions corresponding to the execution of the steps of the methods provided in the embodiments described above. The computer program may be downloaded from a computer readable storage medium to the respective computing/processing device or to an external computer or external storage device via a network (e.g., the internet, a local area network, a wide area network, and/or a wireless network). The computer program may execute entirely on the user's computer and as a stand-alone software package.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
In addition, it is to be understood that relational terms such as first and second are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Claims (10)
1. A three-dimensional laser scanning mapping method performed by a three-dimensional laser scanner, comprising:
acquiring a preset mapping plan, wherein the mapping plan comprises a plurality of control points, point numbers of the control points and a scanning path, and the first control point is a starting point of the scanning path;
Acquiring positioning instruction information input by a user and receiving the current position of the positioning instruction information;
and according to the current position and the scanning path, matching the current position with each control point, and determining the point number of the control point with the same matching as the point number of the current position.
2. The method according to claim 1, wherein the matching the current position with each control point according to the current position and the scan path, and determining the point number of the control point matching as the point number of the current position, includes:
judging whether the positioning instruction information is acquired for the first time; if yes, responding to the positioning instruction information, and determining a point number corresponding to the first control point as the point number of the current position;
otherwise, determining the next control point as the current control point, and determining the current position corresponding to the last time of acquiring the positioning execution information as the last position;
determining a first position of the current position relative to the previous position;
determining an azimuth threshold value of the last control point facing the current control point according to the scanning path;
judging whether the first azimuth is within the azimuth threshold;
And if the first azimuth is within the azimuth threshold, determining the point number corresponding to the current control point as the point number of the current position.
3. The method of claim 2, further comprising, if the first orientation is not within the orientation threshold:
determining a plurality of candidate control points adjacent to the last control point according to the mapping planning chart;
determining a candidate azimuth threshold value of the last control point facing each candidate control point;
judging whether the first azimuth is positioned in any candidate azimuth threshold value or not; if yes, determining a candidate azimuth threshold value where the first azimuth is located as a first azimuth threshold value, determining a point number of a control point corresponding to the first azimuth threshold value as a point number of a current position, and generating route error prompt information;
otherwise, generating positioning error information.
4. The method of claim 1, wherein determining the azimuth threshold for the last control point to face the current control point based on the scan path comprises:
in the mapping planning diagram, connecting the last control point with the current control point, and determining a connecting line;
respectively generating side edges forming a preset included angle with the central line to two sides by taking the connecting line as the central line;
Determining the direction of the side edge, and generating an azimuth threshold value of the sector area by the side edge with a preset length, wherein the preset length is proportional to the maximum distance between two adjacent control points.
5. The method of claim 4, wherein the first position comprises a direction and a distance between a current position and a previous position, and wherein the determining whether the first position is within the position threshold comprises:
determining a first length according to the distance between the current position and the last position and the ratio;
generating an arrow pointing in the direction, the length of the arrow being equal to the first length;
placing the arrow and the sector area corresponding to the azimuth threshold in the same coordinate system, wherein the starting point of the arrow coincides with the vertex of the angle of the sector area;
judging whether the arrow is positioned in the sector area or not; if yes, determining that the first azimuth is located in the azimuth threshold;
otherwise, it is determined that the first bearing is not within the bearing threshold.
6. The method of claim 1, wherein prior to obtaining positioning instruction information and prior to receiving a current location of the positioning instruction information, the method further comprises:
Acquiring the current moment and the current direction;
determining a control point which is the latest and consistent in matching in the mapping planning chart as an indication starting point based on the current moment;
determining a next control point based on the indicated start point and the scan path;
determining a target position of a next control point;
a walking direction is determined based on the current heading and the target location.
7. The method of claim 6, wherein the method further comprises:
when successful prompt information that the current position is successfully matched with any control point is obtained, judging whether a scanning path is completed or not;
if not, generating prompt voice according to the walking direction.
8. A three-dimensional laser scanning mapping apparatus, comprising:
the system comprises a mapping planning chart acquisition module, a mapping planning chart acquisition module and a scanning module, wherein the mapping planning chart acquisition module is used for acquiring a preset mapping planning chart, the mapping planning chart comprises a plurality of control points, point numbers of the control points and a scanning path, and the first control point is a starting point of the scanning path;
the current position acquisition module is used for acquiring positioning instruction information input by a user and the current position when the positioning instruction information is received;
and the point number determining module is used for matching the current position with each control point according to the current position and the scanning path, and determining the point number of the control point with the same matching as the point number of the current position.
9. A three-dimensional laser scanning surveying instrument is characterized in that,
at least one processor;
a memory;
at least one computer program, wherein the at least one computer program is stored in the memory and configured to be executed by the at least one processor, the at least one computer program configured to: a three-dimensional laser scanning mapping method as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which executes a three-dimensional laser scanning mapping method as claimed in any one of claims 1 to 7.
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| CN202311100956.4A CN116908876A (en) | 2023-08-29 | 2023-08-29 | Three-dimensional laser scanning mapping method and device, three-dimensional laser scanner and medium |
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