Underground corridor dangerous area identification method and system based on handheld laser radar

文档序号：1814776 发布日期：2021-11-09 浏览：4次中文

阅读说明：本技术 基于手持式激光雷达的地下廊道危险区识别方法及系统 (Underground corridor dangerous area identification method and system based on handheld laser radar ) 是由蒋涛魏飞翔朱晨徐国强杨鹏姚海滨李斌宋维庭陈硕高贞于 2021-09-03 设计创作，主要内容包括：本发明属于三维激光点云处理领域,提供了一种基于手持式激光雷达的地下廊道危险区识别方法及系统。该方法包括,对手持式激光雷达获取的激光点云数据进行自适应聚类；基于手持式激光雷达获取的激光点云数据结合手持式激光雷达获取的惯导位姿数据进行激光点云拼接；采用建筑信息模型识别拼接后激光点云中的铺设部件及其分布状态；根据预设的地下廊道的部件分布模型,对当前铺设部件及其分布状态进行诊断,识别是否存在危险区,若是,则报警。本发明可实现对地下廊道的快速检测排查,并快速准确的识别地下廊道危险区。同时可通过提升激光点云拼接的精度,提升激光点云图像的准确性,进而提高危险区的识别准确性,便于提升排查效率。(The invention belongs to the field of three-dimensional laser point cloud processing, and provides an underground corridor dangerous area identification method and system based on a handheld laser radar. The method comprises the steps of carrying out self-adaptive clustering on laser point cloud data acquired by a handheld laser radar; laser point cloud data acquired based on the handheld laser radar is combined with inertial navigation pose data acquired by the handheld laser radar to carry out laser point cloud splicing; adopting a building information model to identify paved parts and distribution states thereof in the spliced laser point cloud; and diagnosing the current laid parts and the distribution state thereof according to a preset part distribution model of the underground gallery, identifying whether a dangerous area exists or not, and if so, alarming. The invention can realize the rapid detection and investigation of the underground gallery and rapidly and accurately identify the dangerous area of the underground gallery. Meanwhile, the accuracy of laser point cloud splicing can be improved, the accuracy of laser point cloud images can be improved, the identification accuracy of the dangerous area can be further improved, and the troubleshooting efficiency can be improved conveniently.)

1. An underground corridor dangerous area identification method based on a handheld laser radar is characterized by comprising the following steps:

self-adaptive clustering is carried out on laser point cloud data acquired by the handheld laser radar;

laser point cloud data acquired based on the handheld laser radar is combined with inertial navigation pose data acquired by the handheld laser radar to carry out laser point cloud splicing;

adopting a building information model to identify paved parts and distribution states thereof in the spliced laser point cloud;

and diagnosing the current laid parts and the distribution state thereof according to a preset part distribution model of the underground gallery, identifying whether a dangerous area exists or not, and if so, alarming.

2. The underground corridor danger area identification method based on the handheld laser radar as claimed in claim 1, characterized in that the handheld laser radar is adopted to acquire laser point cloud data according to a specified scanning operation standard; the prescribed scan job criteria includes at least any one of:

(1) collecting route travel closed loop;

(2) acquiring the initial position and the end position of the route to obtain position point information through GPS acquisition;

(3) the position point information of at least one target point existing in the target field of view is known.

3. The method for identifying the underground corridor danger zone based on the handheld laser radar as claimed in claim 1, wherein the identifying the paved parts and the distribution state thereof in the spliced laser point cloud by using the building information model comprises: according to the building information model, obtaining design parameters of laying components of the underground pipe gallery; and comparing the laser point clouds after splicing with the corresponding clusters of the laser point clouds in the building information model in sequence with the design parameters of the laying components of the underground pipe gallery in the building information model, and recording corresponding position information aiming at the clusters matched with the design parameters of the laying components in the building information model.

4. The method of hand-held lidar-based underground corridor danger area identification as claimed in claim 1, wherein the procedure of danger area diagnosis comprises:

and comparing the identified laying parts and the distribution state thereof with the laying parts in the preset underground gallery part distribution model and the reasonable distribution range thereof, judging whether the laying parts are consistent, if so, judging the laying parts to be normal, if not, judging whether the laying parts are dangerous according to the safe position range of the part distribution model, and if so, alarming.

5. The method of hand-held lidar-based underground corridor danger zone identification as claimed in claim 1, comprising, after said identifying a danger zone: and searching a corresponding danger elimination scheme from a database according to the danger area.

6. The method for identifying the dangerous area of the underground corridor based on the handheld laser radar as claimed in claim 1, wherein the laser point cloud data collected by the handheld laser radar in the underground corridor is continuous in time sequence, and the data overlapping rate of adjacent frames is greater than 60%.

7. The method of claim 1, wherein the laser point cloud stitching process comprises:

obtaining an error value of the inertial navigation device based on inertial navigation pose data by combining an error relation between the laser radar and the inertial navigation device;

based on the characteristic point set of the laser point cloud, combining a source point cloud matrix in two adjacent frames of laser point clouds, a target point cloud matrix and a translation matrix in the two adjacent frames of laser point clouds to obtain a deviation value of the laser point cloud;

obtaining an integral offset model based on a norm of a square sum of an error value of the inertial navigation device and a deviation value of the laser point cloud;

and carrying out iterative calculation of an ICP point cloud registration algorithm on the whole offset model based on a point set formed by adjacent frames in the same section until an initial iterative condition is reached, finishing data registration, and splicing the laser point clouds after the point cloud registration is finished.

8. Underground corridor dangerous area identification method system based on hand-held laser radar is characterized by comprising the following steps:

a clustering module configured to: self-adaptive clustering is carried out on laser point cloud data acquired by the handheld laser radar;

a stitching module configured to: laser point cloud data acquired based on the handheld laser radar is combined with inertial navigation pose data acquired by the handheld laser radar to carry out laser point cloud splicing;

an analysis module configured to: adopting a building information model to identify paved parts and distribution states thereof in the spliced laser point cloud;

an alert module configured to: and diagnosing the current laid parts and the distribution state thereof according to a preset part distribution model of the underground gallery, identifying whether a dangerous area exists or not, and if so, alarming.

9. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of the method for identification of a danger zone of a underground corridor based on a hand-held lidar according to any one of claims 1-7.

10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements the steps in the method of hand-held lidar based underground corridor hazard identification according to any one of claims 1-7.

Technical Field

The invention belongs to the field of three-dimensional laser point cloud processing, and particularly relates to an underground corridor dangerous area identification method and system based on a handheld laser radar.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Underground galleries are a practical form of grid laying. The underground water-saving building block is laid underground, is high in concealment, can fully and actively utilize space, can also be laid with public facilities such as communication, heating power and combustion power, is high in utilization efficiency, and has good cost performance.

The underground corridor needs regular maintenance, and is subjected to periodic mapping detection so as to track dangerous areas such as damage, consumption, displacement or dangerous conditions which may occur to the underground corridor and conduct timely investigation.

Because the equipment parts arranged in the underground corridor are numerous, the system is huge, the corridor is long along the line, and the overhauling and maintenance are slow. Manual inspection of all components is inefficient and impractical.

In order to effectively improve the detection efficiency, how to keep the safety of manual maintenance under limited manpower, secondary damage in the detection process does not occur, and no potential safety hazard exists.

Disclosure of Invention

In order to solve the technical problems in the background art, the invention provides an underground corridor dangerous area identification method and system based on a handheld laser radar, which can accurately identify the underground corridor dangerous area and realize the rapid detection and investigation of the underground corridor.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a method for identifying a dangerous area of an underground corridor based on a handheld laser radar.

An underground corridor dangerous area identification method based on a handheld laser radar comprises the following steps:

self-adaptive clustering is carried out on laser point cloud data acquired by the handheld laser radar;

laser point cloud data acquired based on the handheld laser radar is combined with inertial navigation pose data acquired by the handheld laser radar to carry out laser point cloud splicing;

adopting a building information model to identify paved parts and distribution states thereof in the spliced laser point cloud;

Further, a handheld laser radar is adopted to acquire laser point cloud data according to a specified scanning operation standard; the prescribed scan job criteria includes at least any one of:

(1) collecting route travel closed loop;

(2) acquiring the initial position and the end position of the route to obtain position point information through GPS acquisition;

(3) the position point information of at least one target point existing in the target field of view is known.

Further, the method for identifying the paved parts and the distribution state thereof in the spliced laser point cloud by using the building information model comprises the following steps: according to the building information model, obtaining design parameters of laying components of the underground pipe gallery; and comparing the laser point clouds after splicing with the corresponding clusters of the laser point clouds in the building information model in sequence with the design parameters of the laying components of the underground pipe gallery in the building information model, and recording corresponding position information aiming at the clusters matched with the design parameters of the laying components in the building information model.

Further, the process of risk zone diagnosis includes:

Further, after the identifying the danger zone, comprising: and searching a corresponding danger elimination scheme from a database according to the danger area.

Furthermore, the laser point cloud data collected by the handheld laser radar in the underground corridor is continuous in time sequence, and the data overlapping rate of adjacent frames is more than 60%.

Further, the laser point cloud splicing process comprises:

obtaining an error value of the inertial navigation device based on inertial navigation pose data by combining an error relation between the laser radar and the inertial navigation device;

obtaining an integral offset model based on a norm of a square sum of an error value of the inertial navigation device and a deviation value of the laser point cloud;

A second aspect of the invention provides a hand-held lidar based underground corridor danger zone identification system.

The underground corridor dangerous area identification method system based on the handheld laser radar comprises the following steps:

a clustering module configured to: self-adaptive clustering is carried out on laser point cloud data acquired by the handheld laser radar;

an analysis module configured to: adopting a building information model to identify paved parts and distribution states thereof in the spliced laser point cloud;

Further, a lookup module is included that is configured to: finding out corresponding danger elimination scheme from database according to the danger area

A third aspect of the invention provides a computer-readable storage medium.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for identifying a danger zone in a underground corridor based on a hand-held lidar as defined in the first aspect above.

A fourth aspect of the invention provides a computer apparatus.

A computer apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the steps in the method of handheld lidar based underground corridor hazard identification as described in the first aspect above.

Compared with the prior art, the invention has the beneficial effects that:

by adopting the technical scheme of the invention, the rapid detection and investigation of the underground corridor can be realized through the handheld laser radar, and the dangerous area of the underground corridor can be rapidly and accurately identified. Meanwhile, the accuracy of laser point cloud splicing can be improved, the accuracy of laser point cloud images can be improved, the identification accuracy of the dangerous area can be further improved, and the troubleshooting efficiency can be improved conveniently.

Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

FIG. 1 is a flow chart of a method of identifying a hazardous area in an underground corridor based on a hand-held lidar of the present invention;

FIG. 2A is a flow chart of a stitching method according to an embodiment of the present invention;

FIG. 2B is a flowchart of a registration process in a stitching method according to an embodiment of the present invention;

FIG. 2C is a flow chart of another stitching method in an embodiment of the present invention;

FIG. 3 is a flow chart of a clustering process in an embodiment of the invention;

fig. 4 is a diagram of a system for identifying a danger zone of an underground corridor in an embodiment of the invention.

Detailed Description

The invention is further described with reference to the following figures and examples.

It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It is noted that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and systems according to various embodiments of the present disclosure. It should be noted that each block in the flowchart or block diagrams may represent a module, a segment, or a portion of code, which may comprise one or more executable instructions for implementing the logical function specified in the respective embodiment. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Example one

As shown in fig. 1, the present embodiment provides a method for identifying a dangerous area in an underground corridor based on a handheld lidar, including:

self-adaptive clustering is carried out on laser point cloud data acquired by the handheld laser radar;

laser point cloud data acquired based on the handheld laser radar is combined with inertial navigation pose data acquired by the handheld laser radar to carry out laser point cloud splicing;

adopting a building information model to identify paved parts and distribution states thereof in the spliced laser point cloud;

Specifically, the following technical solution may be adopted in this embodiment:

step 1, carrying out laser point cloud data acquisition on an underground corridor based on a handheld laser radar.

The handheld laser radar is used for acquiring continuous and dynamic laser point cloud data in narrow spaces such as underground galleries and basements in a manual handheld mode.

In an optimized embodiment, the handheld laser radar is generally required to acquire laser point cloud data according to a specified scanning operation standard. The prescribed scan job criteria includes at least any one of:

1. and acquiring a route stroke closed loop. That is, the acquisition path may start from a starting point, reach a midpoint, and finally return to the starting point.

2. The initial position and the end position of the collection route can be collected by the geographic information module to obtain the position point information. That is, the initial position and the end position have known their GPS information. The geographic information module may employ GPS.

3. The position point information of at least one target point existing in the target field of view is known.

The specified scanning operation standard can be helpful for improving the accuracy of subsequent point cloud splicing and map building.

In addition, in step 1, inertial navigation pose data, namely IMU data, can also be acquired by using the handheld laser radar. The hand-held laser radar is provided with an IMU inertial navigation unit. And synchronizing the inertial navigation pose data and the laser point cloud data clock.

The handheld laser radar is used for carrying out laser point cloud collection on a target view field, collected laser point cloud data are continuous in time sequence, and the data overlapping rate of adjacent frames is larger than 60% so as to improve the number of homologous points of laser point cloud splicing, improve the cross reference degree between the adjacent frames and improve the splicing accuracy.

In an optimized embodiment, the steps 1 and 2 further include: and preprocessing the laser point cloud data by using the trained graph neural network.

In the acquisition process of laser point cloud data, the data accuracy cannot be completely consistent, and some noise points usually appear. The noise points can generate great interference on subsequent point cloud registration and influence the accuracy of point cloud registration, so that the point cloud data is denoised by applying least square filtering before being spliced.

And by utilizing the trained graph neural network, the characteristics of the laser point cloud data can be extracted to obtain a point cloud characteristic point set.

And 2, carrying out self-adaptive clustering on the laser point cloud data.

Through clustering, the laser points in the laser point cloud data can be corresponded to a predetermined specific number of target classes.

And 3, performing laser point cloud splicing based on the laser point cloud data and the inertial navigation pose data of the handheld laser radar.

And 3, sequentially carrying out point cloud ICP algorithm on adjacent frames in the laser point cloud data to realize data registration and further realize splicing.

The sequence of the steps 2 and 3 can be changed, and the method for performing splicing and then clustering also belongs to the disclosure range of the invention.

As shown in fig. 2A, the step 3 further includes:

and 301, constructing an error formula of the laser radar and the inertial navigation device according to the inertial navigation pose data.

Constructing an error equation of the IMU inertial navigation device:

E_B＝δp_k ^k+1

E_Band representing the error of the IMU inertial navigation device. δ p_k ^k+1And the displacement error of the IMU inertial navigation device from the kth frame to the k +1 frame under the laser radar coordinate system is represented.

The main deviation of IMU is that the displacement is obtained by twice integral of acceleration, and in order to reduce calculated amount, the error of IMU inertial navigation device is simplifiedTo E_BErrors in speed and angle are ignored.

Step 302, constructing a deviation formula E of the laser point cloud according to the laser point cloud data_L；

Constructing a deviation equation E of the laser point cloud according to the collected characteristic point set of the laser point cloud_LComprises the following steps:

wherein R represents a rotation matrix, A_iI point and B point representing source point clouds in two adjacent frames of laser point clouds_iAnd (3) representing the ith point of the target point cloud in two adjacent frames of laser point clouds, and t representing a translation matrix.

The initial conversion matrix of the two adjacent frames of laser point clouds is as follows:

wherein T is_k ^-1Represents the inverse of IMU pose corresponding to the kth frame of laser point cloud, T_k+1And representing the pose of the IMU inertial navigation unit corresponding to the point cloud of the (k + 1) th frame.

Step 303, constructing an overall offset formula according to the error formula and the deviation formula.

Global offset formula E:

and 304, performing ICP algorithm iterative computation on the overall offset formula based on a point set formed by adjacent frames in the laser point cloud data to reach an initial iterative condition, and realizing data registration and splicing.

As shown in fig. 2B, the iterative computation of the ICP algorithm includes:

3041, acquiring two adjacent frames of laser point cloud data, and recording as a source point cloud A_i＝(x_i y_i z_i) And an objectPoint cloud B_j＝(x_j y_j z_j) Wherein i belongs to (1,2, 3., n), j belongs to (1,2, 3., m), in the formula, (x y z) is a coordinate value of the laser point cloud under the laser radar coordinate system L, n represents the number of the source point clouds, and m represents the number of the target point clouds.

Step 3042, determining an angular point set and a plane point set corresponding to two adjacent frames of laser point cloud data according to the principle of minimizing the euclidean distance between two points.

Step 3043, taking the initial transformation matrix as an initial value, performing ICP algorithm iterative computation on the overall offset formula E to obtain an optimal transformation matrix, where the optimal transformation matrix minimizes the overall offset equation value.

Step 3044, transforming the target point cloud by using the optimal transformation matrix to obtain a new target point cloud.

Step 3045, calculate the average distance d between the new target point cloud and the source point cloud:

in the formula B_i' denotes a new target point cloud.

Step 3046, when the average distance d meets the initial iteration condition, that is, less than the set distance threshold λ or the iteration number reaches the set iteration number N, stopping the iterative computation, and using the obtained optimal transformation matrix as the final optimal transformation matrix, implementing data registration, and thus performing laser point cloud splicing. If the initial iteration condition is not met, step 3042 is performed.

And 4, analyzing the spliced laser point cloud according to the BIM model, and identifying the paved part and the distribution state of the paved part.

The BIM model is a pipe gallery building information model designed before the underground pipe gallery is built, and records design parameters of laid parts in the underground pipe gallery. The BIM model may also include design parameters and mutual position relationships of conventional mechanical parts.

The spliced laser point cloud not only has corresponding clustering information, the target class of each laser point is clear, but also has complete target object information in the environment, and the laser point cloud can be matched with the BIM model to identify the specific class of the target object.

As shown in fig. 3, the step 4 further includes:

step 401, obtaining design parameters of the laying components of the underground pipe gallery according to the BIM model.

Step 402, according to the spliced laser point cloud and the corresponding clusters thereof, comparing the laser point cloud with design parameters of laying components of the underground pipe gallery in the BIM module in sequence, recording corresponding position information aiming at the clusters matched with the design parameters of the laying components in the BIM module, and recording the unmatched parts as unknown components.

Through the step 4, the clustering result and the laying part can be corresponded from the collected laser point cloud, and the type and the position of the target object can be identified.

And 5, judging the current distribution state according to a preset component distribution model of the underground corridor, identifying a dangerous area and giving an alarm.

The actual distribution of the paved component in the currently scanned environmental area can be seen through step 4, and the paved component distribution may be consistent with the previous design, or may be changed due to airflow, water flow, impact, aging, temperature change, and human operation. The possible shifting may cause the overall lay-up to be in a dangerous state, requiring immediate troubleshooting, or may be shifting without risk.

The step 5 further comprises:

and (4) comparing the preset underground gallery component distribution model with the paving component and the distribution state thereof identified in the step (4) to judge whether the paving component is consistent with the component distribution model, if so, judging that the paving component is normal, if not, judging whether the paving component is dangerous according to the safe position range of the component distribution model, and if so, giving an alarm.

And 5, utilizing the scanning data of one operation of the laser radar to identify the danger area in which improvement needs to be checked. In order to identify the danger zone, the definition of the safety zone needs to be set in advance. Therefore, the invention can also preset a component distribution model of the underground gallery in the database and define various component distribution modes according with the safety state. In particular, a model of the distribution of components of a standard underground corridor can be defined, as well as the safe position ranges of the components, or the safe position relationships between the components, so that even elastic displacements are considered to be in safe zones. Thus, when the paved part and the distribution state thereof identified in the step 4 are compared with the part distribution model of the standard underground corridor, whether the paved part and the distribution state thereof are consistent or not is judged, if the paved part and the distribution state thereof are consistent, the paved part and the distribution state thereof are considered to be normal, if the paved part and the distribution state thereof are not consistent, the safe position range of each part of the part distribution model is compared again, if the paved part and the distribution state thereof are consistent, the paved part and the distribution state thereof are considered to be normal, and if the paved part and the distribution state thereof are not consistent, the safe position range of each part of the part distribution model is considered to be dangerous, and an alarm is given. The invention improves the identification accuracy, can contain the tiny harmless change of the field environment, does not regard all the conditions inconsistent with the component distribution model of the standard underground gallery as a dangerous area, and improves the effectiveness and the accuracy of the alarm.

In a preferred embodiment, as shown in fig. 4, the present invention further comprises:

and 6, searching a corresponding danger elimination scheme from the database according to the danger area.

And each danger area is preset with a set of danger elimination scheme, so that the corresponding danger elimination scheme can be quickly searched on the premise that the danger areas are determined, and the current danger is eliminated.

Example two