CN117745931A - Modeling method and device based on three-dimensional laser scanning and computer equipment - Google Patents
Modeling method and device based on three-dimensional laser scanning and computer equipment Download PDFInfo
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Abstract
The invention relates to a modeling method, a modeling device and computer equipment based on three-dimensional laser scanning, wherein the method comprises the steps of obtaining point cloud data of a construction site by utilizing a three-dimensional laser scanning device, obtaining texture data by utilizing a high-list anti-reflection camera, and processing the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle; based on result data, performing factory building modeling, pipeline modeling and part modeling, and then splicing the factory building modeling, the pipeline modeling, the part modeling and texture data to obtain a texture map; and performing model rendering on the texture map to obtain a three-dimensional model. The invention can rapidly acquire detailed point cloud data, and the structural model of the related building is extracted through the point cloud data, so that the digital acquisition efficiency is greatly improved, and the possible rough difference of manually acquired data can be eliminated.
Description
Technical Field
The invention belongs to the technical field of three-dimensional modeling, and particularly relates to a modeling method, device and computer equipment based on three-dimensional laser scanning.
Background
Along with the development of information technology, the pace of digital factory construction is faster and faster, and particularly, the three-dimensional digital factory construction is a current hot spot, and in the three-dimensional digital factory construction engineering, not only a great amount of three-dimensional coordinate information and attribute information are required to be collected, but also fine modeling and the scalability and precision of geometric model data are required to be carried out.
The development of demand has led to the development of technology, and some related three-dimensional technologies have also appeared successively or have improved on the basis of the original technology, and new terms such as virtual display, digital cities, digital museums, digital factories and the like have appeared successively and started to enter the application stage. These techniques require three-dimensional geometric modeling, and traditional manual measurement modes are gradually inadequate for modeling complex curved objects. With the development demand of the informatization age, the production processes and daily management of factory management, production operation and the like gradually enter the holographic management stage. How to display the current situation of the factory in a vivid and visual mode, and based on the current situation, realize more functions such as analysis, simulation, exercise, training and the like, and provide challenges for us. It can be seen that the creation of a digital plant requires a current plant model as a basic data support.
In the related art, the existing factories often have dense structures, and many structures have complex structures and irregular geometric shapes, and if the traditional measurement mode is adopted for data acquisition, the acquisition efficiency is low and the data acquisition is limited by certain measurement environmental conditions.
Disclosure of Invention
In view of the above, the invention aims to overcome the defects of the prior art, and provides a modeling method, a modeling device and computer equipment based on three-dimensional laser scanning, which are used for solving the problems that the acquisition efficiency is low and the acquisition efficiency is limited by certain measurement environmental conditions in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme: a modeling method based on three-dimensional laser scanning, comprising:
acquiring point cloud data of a construction site by using a three-dimensional laser scanning device, acquiring texture data by using a high-list camera, and processing the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle;
based on the result data, performing factory building modeling, pipeline modeling and component modeling, and then splicing the factory building modeling, the pipeline modeling and the component modeling with the texture data to obtain a texture map;
and performing model rendering on the texture map to obtain a three-dimensional model.
Further, the processing the point cloud data to obtain result data includes:
acquiring point cloud data, and performing scanning site splicing on the point cloud data according to positioning;
judging whether the splicing precision of the site meets the target requirement, if so, carrying out point cloud color-imparting to obtain color-imparting data, otherwise, splicing again until the splicing precision of the site is met;
and carrying out point cloud denoising on the color-imparting data to obtain result data.
Further, the modeling of the plant based on the outcome data includes:
slicing the section of the result data, and extracting a two-wire frame;
modeling is carried out by using a preset two-dimensional graph and the two wire frames, so as to obtain an initial factory building model;
after carrying out uniform color treatment on the texture data, carrying out clipping classification to obtain a result texture map;
and performing texture mapping on the initial plant model by using the result texture map to obtain a plant three-dimensional model.
Further, the modeling of the pipeline based on the outcome data includes:
fitting a rule structure according to the result data;
carrying out interface processing on the pipeline structure model according to preset parameters, carrying out collision detection on the processed interface, modeling the pipeline initial model based on three-dimensional laser scanning after the detection is passed, otherwise, modifying the fitting rule, and carrying out interface processing again;
and carrying out material color-imparting on the pipeline initial model to obtain a pipeline three-dimensional model.
Further, based on the outcome data, performing part modeling includes:
removing discrete points from the result data and then packaging;
performing surface filling repair treatment on the packaged data, judging whether the curved surface modeling constructed by the processed data meets the requirement, and modeling an initial model of a part based on three-dimensional laser scanning when the curved surface modeling meets the requirement, otherwise, revising parameters to re-package;
and carrying out material color-imparting on the initial model of the part to obtain the three-dimensional model of the part.
Further, the three-dimensional laser scanning device includes: the positioning laser head, the three-dimensional laser scanner, the panoramic camera, the inertial navigation unit and the controller are respectively connected with the controller;
the positioning laser head is used for positioning and collecting point clouds in the moving process of the three-dimensional laser scanning device;
the three-dimensional laser scanner is used for scanning a building on a construction site and collecting point clouds;
the panoramic camera is used for shooting a construction site to acquire image data;
the inertial navigation unit is used for acquiring building attitude information;
the controller is used for calculating the position and the relation of the point cloud coordinates and photographing time under the global coordinate system according to the spatial relation between the building of the construction site, the three-dimensional laser scanner and the panoramic camera, and obtaining the point cloud data.
Further, the acquiring the point cloud data of the construction site by using the three-dimensional laser scanning device includes:
presetting a sampling interval, selecting a station setting position, and acquiring point cloud data of a construction site by using a three-dimensional laser scanning device;
and carrying out data quality inspection on the point cloud data.
Further, performing scan site splicing on the point cloud data includes:
and selecting data to be spliced, and sequentially performing rough splicing and fine splicing.
The embodiment of the application provides a modeling device based on three-dimensional laser scanning, which comprises:
the acquisition module is used for acquiring point cloud data of a construction site by utilizing the three-dimensional laser scanning device, acquiring texture data by utilizing the high-list anti-camera, and processing the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle;
the modeling module is used for carrying out factory building modeling, pipeline modeling and part modeling based on the result data, and then splicing the factory building modeling, the pipeline modeling and the part modeling with the texture data to obtain a texture map;
and the rendering module is used for performing model rendering on the texture map to obtain a three-dimensional model.
An embodiment of the present application provides a computer device, including: a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of any of the three-dimensional laser scanning-based modeling methods described above.
By adopting the technical scheme, the invention has the following beneficial effects:
the invention provides a modeling method, a modeling device and computer equipment based on three-dimensional laser scanning, wherein the modeling method, the modeling device and the computer equipment utilize a three-dimensional laser scanning device to acquire point cloud data of a construction site, utilize a high-list anti-camera to acquire texture data, and process the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle; then, according to result data, carrying out factory building modeling, pipeline modeling and part modeling, and then splicing the factory building modeling, the pipeline modeling and the part modeling with the texture data to obtain a texture map; and finally, performing model rendering on the texture map to obtain a three-dimensional model. According to the technical scheme, the detailed point cloud data can be acquired rapidly, the structural model of the related building is extracted through the point cloud data, the digital acquisition efficiency is greatly improved, and the possible rough difference of manually acquired data can be eliminated.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of steps of a modeling method based on three-dimensional laser scanning according to the present invention;
FIG. 2 is a flow chart of a modeling method based on three-dimensional laser scanning according to the present invention;
FIG. 3 is a schematic diagram of a plant modeling flow provided by the present invention;
FIG. 4 is a schematic diagram of a pipeline modeling flow provided by the present invention;
FIG. 5 is a schematic diagram of a modeling flow of a component provided by the present invention;
FIG. 6 is a schematic structural diagram of a modeling apparatus based on three-dimensional laser scanning according to the present invention;
fig. 7 is a schematic diagram of a computer device structure involved in the modeling method based on three-dimensional laser scanning.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
A specific modeling method, device and computer equipment based on three-dimensional laser scanning provided in the embodiments of the present application are described below with reference to the accompanying drawings.
As shown in fig. 1, the modeling method based on three-dimensional laser scanning provided in the embodiment of the application includes:
s101, acquiring point cloud data of a construction site by using a three-dimensional laser scanning device, acquiring texture data by using a high-list camera, and processing the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle;
the data acquisition flow is divided into two parts: and (5) collecting laser point cloud data and collecting high-definition texture photos.
The laser point cloud data acquisition uses a three-dimensional laser scanner, and can adopt the three-dimensional laser scanner and a Z+F series three-dimensional laser scanner according to different environments and requirements, and the acquisition process is high in automation degree, simple and convenient to operate and quick.
High-definition texture photo collection generally uses a high-list camera for collection, and the collection process follows the principle from whole to local, panorama and detail, so that the integrity of all textures is ensured under the condition of minimum data volume.
S102, carrying out factory building modeling, pipeline modeling and part modeling based on the result data, and then splicing the factory building modeling, the pipeline modeling and the part modeling with the texture data to obtain a texture map;
and S103, performing model rendering on the texture map to obtain a three-dimensional model.
The modeling method based on three-dimensional laser scanning has the working principle that: as shown in fig. 2, the present application acquires point cloud data of a construction site by using a three-dimensional laser scanning device, acquires texture data by using a high-list camera, and processes the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle; based on result data, performing factory building modeling, pipeline modeling and part modeling, and then splicing the factory building modeling, the pipeline modeling, the part modeling and texture data to obtain a texture map; and performing model rendering on the texture map to obtain a three-dimensional model. Different from the traditional modeling means, the three-dimensional laser scanning device adopts a non-contact measurement method, directly obtains sampling points represented by real objects, uses the point cloud data to reconstruct any curved surface. The method is not influenced by the complexity of the curved surface, and can achieve very high reconstruction accuracy if the surface acquisition density is enough, so that the three-dimensional laser scanning technology and the related data modeling technology have the advantage of being thick on a single day. By adopting the three-dimensional laser scanning technology, detailed point cloud data can be rapidly acquired, and the body model of the related building is extracted through the point cloud data, so that the digital acquisition efficiency is greatly improved, and the possible rough difference of manually acquired data can be eliminated.
In some embodiments, the processing the point cloud data to obtain achievement data includes:
acquiring point cloud data, and performing scanning site splicing on the point cloud data according to positioning;
judging whether the splicing precision of the site meets the target requirement, if so, carrying out point cloud color-imparting to obtain color-imparting data, otherwise, splicing again until the splicing precision of the site is met;
and carrying out point cloud denoising on the color-imparting data to obtain result data.
The step of performing scanning site splicing on the point cloud data comprises the following steps:
and selecting data to be spliced, and sequentially performing rough splicing and fine splicing.
Specifically, the point cloud stitching is to stitch two by two, firstly select the data to be stitched, take one station as the reference station, take the first station as the reference station, move and rotate by selecting distance and rotation and changing the scale, set up (1,0.5,0.2) from big to small, stitch two point cloud data together approximately by clicking the coordinate system under the control. And if a plurality of stations exist in the same way, splicing every two stations, setting spliced data as a reference station, and performing rough splicing work. Then, performing fine splicing operation, namely taking a control point as a reference, wherein each measuring station is provided with an independent coordinate system, firstly, matching the central coordinate of the selected reflector with the actual coordinate, then completing coarse splicing, converting all independent coordinate systems into an engineering coordinate system, performing fine splicing, and then summarizing the independent coordinate systems to be connected with a known control point, so that each point is converted into a geodetic coordinate system. The measures for improving the accuracy of the point cloud data mainly comprise the following aspects: (1) Parameters of the three-dimensional laser scanning instrument are reasonably set, so that the accuracy of scanning data can be improved; (2) Setting a valid reference point, thereby improving the scanned data; (3) Avoiding adverse external environment as much as possible, thereby improving the scanning quality; (4) The overlapping degree of the point cloud data of the public area between the measuring stations is improved, so that the splicing accuracy is further improved; (5) And controlling a reasonable scanning range according to the precision of different instruments.
In some embodiments, the three-dimensional laser scanning device comprises: the positioning laser head, the three-dimensional laser scanner, the panoramic camera, the inertial navigation unit and the controller are respectively connected with the controller;
the positioning laser head is used for positioning and collecting point clouds in the moving process of the three-dimensional laser scanning device;
the three-dimensional laser scanner is used for scanning a building on a construction site and collecting point clouds;
the panoramic camera is used for shooting a construction site to acquire image data;
the inertial navigation unit is used for acquiring building attitude information;
the controller is used for calculating the position and the relation of the point cloud coordinates and photographing time under the global coordinate system according to the spatial relation between the building of the construction site, the three-dimensional laser scanner and the panoramic camera, and obtaining the point cloud data.
According to the method, the positioning laser head is used for collecting point clouds in the moving process of the device, the inertial navigation unit is used for acquiring gesture information, in the subsequent data fusion process, a time synchronization principle and an SLAM algorithm are used for calculating high-precision tracks, each track point comprises specific time, position and gesture information under a global coordinate system, then the position and relation of point cloud coordinates and photographing moments under the global coordinate system are calculated according to the spatial relation between a carrier, the three-dimensional laser scanner and the panoramic camera, and therefore three-dimensional live-action information acquisition is completed.
The three-dimensional laser scanning device provided by the application further comprises a telescopic rod and an external power supply; the telescopic link is used for controlling the high position and the low position of panoramic camera, and external power supply is used for providing the electric energy for three-dimensional laser scanning device.
The three-dimensional laser scanning device of the three-dimensional laser scanning device has the following beneficial effects that (1) the requirement on an actual measurement target is lower. Because most cultural relics and ancient buildings and the like cannot be contacted in a close range and can not be contacted by staff lost repair for a long time, the three-dimensional laser scanner can meet the requirements, does not need to be in contact with an object to be measured, and can be used for measuring in areas which are difficult to reach by measuring staff or have high danger. (2) the requirement for observing the environment is low. Most three-dimensional laser scanners have high waterproof performance, and can perform measurement work in rainy days or at night. And (3) the measurement accuracy is high. The precision requirement of building elevation measurement can be met. (4) rich data acquisition. There is a limitation in acquiring data of the target feature points by the total station. The high sampling rate of the three-dimensional laser scanner draws the measured object in more detail, and when the problem that the requirement is not satisfied occurs, retesting is not needed, and only measured point cloud data is called out for inspection and modification. (5) No aiming and omnibearing measurement are needed, the automation degree is high, and the field work efficiency is high.
In some embodiments, the acquiring the point cloud data of the construction site by using the three-dimensional laser scanning device includes:
presetting a sampling interval, selecting a station setting position, and acquiring point cloud data of a construction site by using a three-dimensional laser scanning device;
and carrying out data quality inspection on the point cloud data.
Specifically, in the application, field data scanning and acquisition determine the quality of point cloud data, and field environment investigation is needed first to preliminarily make a field acquisition plan. The conditions of scanning accuracy, data overlapping degree and the like need to be considered during acquisition. The technical key points of field collection include: sampling interval, station setting position, data quality check, etc. (1) sampling intervals. The size of the sampling interval determines the quality of data, the sampling interval is selected according to the requirement, the sampling interval is small, the data volume is large, the data resolution is high, the quality is good, but the acquisition time is long, and the sampling interval can be 8mm when the proportion of a drawing to a building object is smaller than 1:100. (2) selecting a station setting position. And the preliminary station setting position is selected according to the early-stage investigation work, the station setting is reasonably selected according to the temporary condition of the site, the overlapping rate is ensured, and the field acquisition data quality and the field acquisition efficiency are improved. The distance between two measuring stations can be increased in the area with small shielding condition and wide sight line, and the measuring stations can be encrypted when the measuring stations are close to the measured target under complex field conditions. And meanwhile, repeated scanning can be carried out for a plurality of times according to the special requirements of specific details of the building so as to improve the definition of the position. (3) data quality inspection. After each station is completed, data primary inspection is needed, inspection contents comprise whether the condition of a detected target main body is influenced by instantaneous environments (such as pedestrians, vehicles and the like), important contents are ensured not to be missed, meanwhile, later point cloud splicing is considered, whether the overlapping rate is met is inspected, 30% overlapping rate is generally needed to be ensured, when a problem exists, repeated acquisition of the station is needed to be added, and data acquisition of the next station can be performed after inspection is correct.
In some embodiments, as shown in fig. 3, the modeling the plant based on the outcome data includes:
slicing the section of the result data, and extracting a two-wire frame;
modeling is carried out by using a preset two-dimensional graph and the two wire frames, so as to obtain an initial factory building model;
after carrying out uniform color treatment on the texture data, carrying out clipping classification to obtain a result texture map;
and performing texture mapping on the initial plant model by using the result texture map to obtain a plant three-dimensional model.
Specifically, factory buildings and warehouses may occupy most of the area, and for the area with a large range and regular appearance, the point cloud Modeling software HD City Modeling or HD PtCloud Modeling may be used, and for the needs of different platforms of clients, a CAD platform or a 3DMax platform may be used respectively. By manually extracting the factory floor plan, software can automatically convert the two-dimensional map into three-dimensional model data according to the three-dimensional coordinate information of the point cloud, so that modeling is realized. If the factory area has the traditional two-wire line drawing, the model can be directly generated. The whole process is efficient and automatic, and the model availability reaches more than 80%.
In some embodiments, as shown in fig. 4, the modeling the pipeline based on the outcome data includes:
fitting a rule structure according to the result data;
carrying out interface processing on the pipeline structure model according to preset parameters, carrying out collision detection on the processed interface, modeling the pipeline initial model based on three-dimensional laser scanning after the detection is passed, otherwise, modifying the fitting rule, and carrying out interface processing again;
and carrying out material color-imparting on the pipeline initial model to obtain a pipeline three-dimensional model.
In particular, the digital plant is structurally complex, comprising various types of structural elements or critical components, such as: pipes, steel structures, cables, etc. The composition of these structural components is a major cause of complexity in the factory and difficulty in digitally modeling using conventional measurement methods. The point cloud modeling software HD PtCloud Modeling has a unique high-performance algorithm, can automatically extract point clouds of pipelines, steel structures and cables, fits a three-dimensional model, can automatically complete automatic modeling of complex structures such as pipeline interfaces and the like by setting related threshold values, and has the effective rate of more than 90 percent.
In some embodiments, as shown in fig. 5, modeling the component based on the outcome data includes:
removing discrete points from the result data and then packaging;
performing surface filling repair treatment on the packaged data, judging whether the curved surface modeling constructed by the processed data meets the requirement, and modeling an initial model of a part based on three-dimensional laser scanning when the curved surface modeling meets the requirement, otherwise, revising parameters to re-package;
and carrying out material color-imparting on the initial model of the part to obtain the three-dimensional model of the part.
Specifically, most of the areas of the digital factory are regular large-range areas, but part of special-shaped structural members and parts are arranged. For plant structural part management and asset checking, parts are indispensable parts, and the scheme adopts third-party reverse modeling software geomic.
As shown in fig. 6, an embodiment of the present application provides a modeling apparatus based on three-dimensional laser scanning, including:
an acquisition module 201, configured to acquire point cloud data of a construction site by using a three-dimensional laser scanning device, acquire texture data by using a high-list camera, and process the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle;
the modeling module 202 is configured to perform plant modeling, pipeline modeling, and component modeling based on the outcome data, and then splice the plant modeling, the pipeline modeling, the component modeling, and the texture data to obtain a texture map;
and the rendering module 203 is configured to perform model rendering on the texture map to obtain a three-dimensional model.
The working principle of the modeling device based on three-dimensional laser scanning provided by the application is that an acquisition module 201 acquires point cloud data of a construction site by using a three-dimensional laser scanning device, acquires texture data by using a high-list anti-camera, and processes the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle; the modeling module 202 performs factory building modeling, pipeline modeling and component modeling based on the result data, and then splices the factory building modeling, the pipeline modeling, the component modeling and the texture data to obtain a texture map; the rendering module 203 performs model rendering on the texture map to obtain a three-dimensional model.
The application provides a computer device comprising: the memory 1 and the processor 2 may further comprise a network interface 3, said memory storing a computer program, the memory may comprise non-volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory etc. form, such as Read Only Memory (ROM) or flash memory (flash RAM). The computer device stores an operating system 4, the memory being an example of a computer readable medium. The computer program, when executed by the processor, causes the processor to perform a modeling method based on three-dimensional laser scanning, the structure shown in fig. 7 is merely a block diagram of a portion of the structure relevant to the present application, and does not constitute a limitation of a computer device to which the present application is applied, and a specific computer device may include more or less components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
In one embodiment, the modeling method based on three-dimensional laser scanning provided in the present application may be implemented in the form of a computer program that can be run on a computer device as shown in fig. 7.
In some embodiments, the computer program, when executed by the processor, causes the processor to perform the steps of: acquiring point cloud data of a construction site by using a three-dimensional laser scanning device, acquiring texture data by using a high-list anti-reflection camera, and processing the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle; based on result data, performing factory building modeling, pipeline modeling and part modeling, and then splicing the factory building modeling, the pipeline modeling, the part modeling and texture data to obtain a texture map; and performing model rendering on the texture map to obtain a three-dimensional model.
The present application also provides a computer storage medium, examples of which include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassette storage or other magnetic storage devices, or any other non-transmission medium, that can be used to store information that can be accessed by a computing device.
In some embodiments, the present invention further provides a computer readable storage medium storing a computer program, where when the computer program is executed by a processor, the computer program obtains point cloud data of a construction site by using a three-dimensional laser scanning device, obtains texture data by using a high-list anti-camera, and processes the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle; based on result data, performing factory building modeling, pipeline modeling and part modeling, and then splicing the factory building modeling, the pipeline modeling, the part modeling and texture data to obtain a texture map; and performing model rendering on the texture map to obtain a three-dimensional model.
In summary, the invention provides a modeling method, a device and a computer device based on three-dimensional laser scanning, wherein the method comprises the steps of obtaining point cloud data of a construction site by using a three-dimensional laser scanning device, obtaining texture data by using a high-list camera, and processing the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle; based on result data, performing factory building modeling, pipeline modeling and part modeling, and then splicing the factory building modeling, the pipeline modeling, the part modeling and texture data to obtain a texture map; and performing model rendering on the texture map to obtain a three-dimensional model. The invention can rapidly acquire detailed point cloud data, and the structural model of the related building is extracted through the point cloud data, so that the digital acquisition efficiency is greatly improved, and the possible rough difference of manually acquired data can be eliminated.
It can be understood that the above-provided method embodiments correspond to the above-described apparatus embodiments, and corresponding specific details may be referred to each other and will not be described herein.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A modeling method based on three-dimensional laser scanning, comprising:
acquiring point cloud data of a construction site by using a three-dimensional laser scanning device, acquiring texture data by using a high-list camera, and processing the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle;
based on the result data, performing factory building modeling, pipeline modeling and component modeling, and then splicing the factory building modeling, the pipeline modeling and the component modeling with the texture data to obtain a texture map;
and performing model rendering on the texture map to obtain a three-dimensional model.
2. The method of claim 1, wherein the processing the point cloud data to obtain outcome data comprises:
acquiring point cloud data, and performing scanning site splicing on the point cloud data according to positioning;
judging whether the splicing precision of the site meets the target requirement, if so, carrying out point cloud color-imparting to obtain color-imparting data, otherwise, splicing again until the splicing precision of the site is met;
and carrying out point cloud denoising on the color-imparting data to obtain result data.
3. The method of claim 1, wherein the modeling of the plant based on the outcome data comprises:
slicing the section of the result data, and extracting a two-wire frame;
modeling is carried out by using a preset two-dimensional graph and the two wire frames, so as to obtain an initial factory building model;
after carrying out uniform color treatment on the texture data, carrying out clipping classification to obtain a result texture map;
and performing texture mapping on the initial plant model by using the result texture map to obtain a plant three-dimensional model.
4. The method of claim 1, wherein the modeling of the pipeline based on the outcome data comprises:
fitting a rule structure according to the result data;
carrying out interface processing on the pipeline structure model according to preset parameters, carrying out collision detection on the processed interface, modeling the pipeline initial model based on three-dimensional laser scanning after the detection is passed, otherwise, modifying the fitting rule, and carrying out interface processing again;
and carrying out material color-imparting on the pipeline initial model to obtain a pipeline three-dimensional model.
5. The method of claim 1, wherein modeling the part based on the outcome data comprises:
removing discrete points from the result data and then packaging;
performing surface filling repair treatment on the packaged data, judging whether the curved surface modeling constructed by the processed data meets the requirement, and modeling an initial model of a part based on three-dimensional laser scanning when the curved surface modeling meets the requirement, otherwise, revising parameters to re-package;
and carrying out material color-imparting on the initial model of the part to obtain the three-dimensional model of the part.
6. The method of claim 1, wherein the three-dimensional laser scanning device comprises: the positioning laser head, the three-dimensional laser scanner, the panoramic camera, the inertial navigation unit and the controller are respectively connected with the controller;
the positioning laser head is used for positioning and collecting point clouds in the moving process of the three-dimensional laser scanning device;
the three-dimensional laser scanner is used for scanning a building on a construction site and collecting point clouds;
the panoramic camera is used for shooting a construction site to acquire image data;
the inertial navigation unit is used for acquiring building attitude information;
the controller is used for calculating the position and the relation of the point cloud coordinates and photographing time under the global coordinate system according to the spatial relation between the building of the construction site, the three-dimensional laser scanner and the panoramic camera, and obtaining the point cloud data.
7. The method of claim 1, wherein the acquiring the point cloud data of the job site using the three-dimensional laser scanning device comprises:
presetting a sampling interval, selecting a station setting position, and acquiring point cloud data of a construction site by using a three-dimensional laser scanning device;
and carrying out data quality inspection on the point cloud data.
8. The method of claim 2, wherein scanning site stitching the point cloud data comprises:
and selecting data to be spliced, and sequentially performing rough splicing and fine splicing.
9. A modeling apparatus based on three-dimensional laser scanning, comprising:
the acquisition module is used for acquiring point cloud data of a construction site by utilizing the three-dimensional laser scanning device, acquiring texture data by utilizing the high-list anti-camera, and processing the point cloud data to obtain result data; the three-dimensional laser scanning device is arranged on the unmanned aerial vehicle;
the modeling module is used for carrying out factory building modeling, pipeline modeling and part modeling based on the result data, and then splicing the factory building modeling, the pipeline modeling and the part modeling with the texture data to obtain a texture map;
and the rendering module is used for performing model rendering on the texture map to obtain a three-dimensional model.
10. A computer device, comprising: a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the three-dimensional laser scan-based modeling method of any of claims 1 to 8.
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