阅读说明：本技术 一种基于激光扫描仪的隧道模型建立方法 (Tunnel model building method based on laser scanner ) 是由 郭圣楠 黄俊杰 朱晓峰 李昂 陈涛 于 2018-06-01 设计创作，主要内容包括：本发明公开了一种基于激光扫描仪的隧道模型建立方法,包括激光扫描仪,激光扫描仪上设有数据采集器、大轴编码器、小轴编码器、激光测距仪、倾角传感器,其中,包括以下步骤：步骤一、激光扫描仪扫描隧道,步骤二、激光扫描仪点云生成步骤,步骤三、点云数据的预处理步骤,步骤四、点云数据的处理步骤,步骤五、点云模型创建步骤,步骤六：更换扫描区域,重复步骤一至步骤五完成整个隧道的扫描。(the invention discloses a tunnel model building method based on a laser scanner, which comprises the laser scanner, wherein the laser scanner is provided with a data acquisition device, a large shaft encoder, a small shaft encoder, a laser range finder and an inclination angle sensor, and the tunnel model building method comprises the following steps: the method comprises the following steps of firstly, scanning a tunnel by a laser scanner, secondly, generating a point cloud by the laser scanner, thirdly, preprocessing point cloud data, fourthly, processing the point cloud data, fifthly, establishing a point cloud model, and sixthly: and (5) replacing the scanning area, and repeating the steps from the first step to the fifth step to complete the scanning of the whole tunnel.)

1. the tunnel model building method based on the laser scanner comprises the laser scanner, wherein a data acquisition device, a large shaft encoder, a small shaft encoder, a laser range finder and an inclination angle sensor are arranged on the laser scanner, and the tunnel model building method is characterized by comprising the following steps of:

Step one, scanning a tunnel by a laser scanner:

Scanning the wall surface of the tunnel by using a laser scanner, and simultaneously, ranging by using a laser range finder to obtain distance data and measuring the angle by using an inclination angle sensor to obtain angle data;

secondly, point cloud generation of a laser scanner:

the method comprises the following steps that a data acquisition unit is used for acquiring encoder data of a large-axis encoder and a small-axis encoder in real time during scanning, distance data of a laser range finder are acquired at the same time, and the data acquisition unit is used for fusing and converting the acquired encoder data and the distance data to form point cloud data;

step three, point cloud data preprocessing step:

adjusting the horizontal posture (including roll and pitch directions) of the point cloud data according to the angle data, and then homogenizing the point cloud data;

step four, processing the point cloud data:

Calculating normal vectors of all points of the obtained point cloud data by using a K tree, judging the position of a section (the section is a boundary line between a sprayed surface and a surface to be sprayed) by using coordinates of points in the point cloud data in an auxiliary manner, extracting the point cloud data of the sprayed surface, and solving a fitting surface equation;

then, extending the sprayed surface according to a standard tunnel model, calculating the distance from the upper point of the surface to be sprayed to the standard surface in the tunnel point cloud data, calculating the volume through the height and the bottom surface area, and calculating the integral to obtain the square quantity;

Step five, point cloud model establishing:

establishing a tunnel model through point cloud data for visual display, and reconstructing the model by using a greedy triangular projection algorithm;

Step six: and (5) replacing the scanning area, and repeating the steps from the first step to the fifth step to complete the scanning of the whole tunnel.

2. The method for building a tunnel model based on laser scanner as claimed in claim 1, wherein the point cloud data homogenization process in step three is a sparse process in the scanning line direction (i.e. the tunnel central axis direction).

3. the method for building a tunnel model based on a laser scanner as claimed in claim 1, wherein the homogenization process of the point cloud data in step three is a voxel filtering method, so that the length of a voxel side smaller than the line spacing can be set to effectively perform the sparse process on the line direction of the point cloud data.

4. The method for building a tunnel model based on laser scanner as claimed in claim 1, wherein the point cloud data homogenization process in step three is to increase the density of point cloud data in the column direction by using a projection interpolation method.

5. the laser scanner-based tunnel model building method according to claim 1, wherein the square quantities in the fourth step include a square quantity and a total square quantity of any area to be sprayed.

Technical Field

the invention relates to a tunnel model establishing method, in particular to a tunnel model establishing method based on a laser scanner.

Background

at present, the operation mode of the domestic wet spraying machine is stopped at the manual stage, an operator controls the mechanical arm and the spray head to spray concrete on the wall surface of the tunnel by eyes, and the spraying amount is observed by eyes. Often requiring cooperation of multiple people to accomplish. In a manual operation mode, dust in the tunnel flies and has poor sight, human eyes observe wall spraying effect with great inaccuracy, a plurality of hollow places can be sprayed, secondary repair is needed, and the hollow places can be large. In the spraying process, people are required to control the mechanical arm, at least two people control the spray head, and one person observes and commands beside the spray head, so that the waste of human resources is caused.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a tunnel model establishing method based on a laser scanner, which can quickly acquire tunnel point cloud data through the laser scanner, establish a point cloud model, provide control information for a control system through point cloud data operation, facilitate the automatic control of a mechanical arm and a spray head, accelerate the operation speed, save the labor cost and overcome the defects caused by the prior art.

In order to solve the technical problems, the invention provides the following technical scheme: the tunnel model building method based on the laser scanner comprises the laser scanner, wherein a data acquisition device, a large shaft encoder, a small shaft encoder, a laser range finder and an inclination angle sensor are arranged on the laser scanner, and the tunnel model building method comprises the following steps:

Step one, scanning a tunnel by a laser scanner:

Scanning the wall surface of the tunnel by using a laser scanner, and simultaneously, ranging by using a laser range finder to obtain distance data and measuring the angle by using an inclination angle sensor to obtain angle data;

secondly, point cloud generation of a laser scanner:

the method comprises the following steps that a data acquisition unit is used for acquiring encoder data of a large-axis encoder and a small-axis encoder in real time during scanning, distance data of a laser range finder are acquired at the same time, and the data acquisition unit is used for fusing and converting the acquired encoder data and the distance data to form point cloud data;

Step three, point cloud data preprocessing step:

Adjusting the horizontal posture (including roll and pitch directions) of the point cloud data according to the angle data, and then homogenizing the point cloud data;

step four, processing the point cloud data:

Calculating normal vectors of all points of the obtained point cloud data by using a K tree, judging the position of a section (the section is a boundary line between a sprayed surface and a surface to be sprayed) by using coordinates of points in the point cloud data in an auxiliary manner, extracting the point cloud data of the sprayed surface, and solving a fitting surface equation;

Then, extending the sprayed surface according to a standard tunnel model, calculating the distance from the upper point of the surface to be sprayed to the standard surface in the tunnel point cloud data, calculating the volume through the height and the bottom surface area, and calculating the integral to obtain the square quantity;

Step five, point cloud model establishing:

establishing a tunnel model through point cloud data for visual display, and reconstructing the model by using a greedy triangular projection algorithm;

step six: and (5) replacing the scanning area, and repeating the steps from the first step to the fifth step to complete the scanning of the whole tunnel.

In the tunnel model building method based on the laser scanner, the point cloud data homogenization processing in the third step is to perform sparse processing in the scanning line direction (i.e., the central axis direction of the tunnel).

In the tunnel model building method based on the laser scanner, the point cloud data homogenization processing in the third step is a voxel filtering mode, so that the length of a voxel side smaller than the line spacing is set, and the line direction of the point cloud data can be effectively sparse processed.

in the tunnel model building method based on the laser scanner, the point cloud data in the third step is homogenized by increasing the density of the point cloud data in the column direction by using a projection interpolation method.

The tunnel model building method based on the laser scanner is characterized in that the square amount in the fourth step includes a square amount and a total square amount of any area to be sprayed.

According to the technical scheme provided by the tunnel model establishing method based on the laser scanner, the method has the following effects: the tunnel point cloud data are rapidly acquired through the laser scanner, the point cloud model is established, control information is provided for the control system through point cloud data operation, automatic control over the mechanical arm and the spray head is convenient to achieve, the operation speed can be accelerated, and the labor cost is saved.

Detailed Description

The present invention is further described in order to make the technical means, inventive features, objectives and effects of the invention easy to understand.

The invention provides a tunnel model establishing method based on a laser scanner, and aims to quickly acquire tunnel point cloud data through the laser scanner, establish a point cloud model, provide control information for a control system through point cloud data operation, facilitate automatic control of a mechanical arm and a spray head, accelerate operation speed and save labor cost.

The tunnel model building method based on the laser scanner comprises the laser scanner, wherein a data acquisition device, a large shaft encoder, a small shaft encoder, a laser range finder and an inclination angle sensor are arranged on the laser scanner, and the tunnel model building method comprises the following steps:

step one, scanning a tunnel by a laser scanner:

Scanning the wall surface of the tunnel by using a laser scanner, and simultaneously, ranging by using a laser range finder to obtain distance data and measuring the angle by using an inclination angle sensor to obtain angle data;

secondly, point cloud generation of a laser scanner:

the method comprises the following steps that a data acquisition unit is used for acquiring encoder data of a large-axis encoder and a small-axis encoder in real time during scanning, distance data of a laser range finder are acquired at the same time, and the data acquisition unit is used for fusing and converting the acquired encoder data and the distance data to form point cloud data;

Step three, point cloud data preprocessing step:

adjusting the horizontal posture (including roll and pitch directions) of the point cloud data according to the angle data, and then homogenizing the point cloud data;

step four, processing the point cloud data:

calculating normal vectors of all points of the obtained point cloud data by using a K tree, judging the position of a section (the section is a boundary line between a sprayed surface and a surface to be sprayed) by using coordinates of points in the point cloud data in an auxiliary manner, extracting the point cloud data of the sprayed surface, and solving a fitting surface equation;

Then, extending the sprayed surface according to a standard tunnel model, calculating the distance from the upper point of the surface to be sprayed to the standard surface in the tunnel point cloud data, calculating the volume through the height and the bottom surface area, and calculating the integral to obtain the square quantity;

step five, point cloud model establishing:

Establishing a tunnel model through point cloud data for visual display, and reconstructing the model by using a greedy triangular projection algorithm;

Step six: and (5) replacing the scanning area, and repeating the steps from the first step to the fifth step to complete the scanning of the whole tunnel.

In the tunnel model building method based on the laser scanner provided by this embodiment, the point cloud data homogenization processing in step three is to perform sparse processing in the scanning line direction (i.e., the central axis direction of the tunnel).

In the tunnel model establishing method based on the laser scanner provided by this embodiment, the point cloud data homogenization processing in step three is a voxel filtering manner, so that the length of a voxel side smaller than the line spacing is set, and the line direction of the point cloud data can be effectively sparse-processed.

In the tunnel model establishing method based on the laser scanner provided by the embodiment, the point cloud data homogenization processing in the third step is to increase the density of the point cloud data in the column direction by using a projection interpolation method.

according to the tunnel model establishing method based on the laser scanner, the square quantity in the fourth step includes the square quantity and the total square quantity of any area to be sprayed, the square quantity of the area is used for controlling the flow rate and the traveling speed of the cement spray head in real time, and the total square quantity can be used for calculating the cement consumption.

in conclusion, according to the tunnel model establishing method based on the laser scanner, the tunnel point cloud data can be rapidly acquired through the laser scanner, the point cloud model is established, control information is provided for the control system through point cloud data operation, automatic control of the mechanical arm and the spray head is convenient to achieve, the operation speed can be accelerated, and the labor cost is saved.

Specific embodiments of the invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; various changes or modifications may be made by one skilled in the art within the scope of the claims without departing from the spirit of the invention, and without affecting the spirit of the invention.