阅读说明：本技术 用于实测实量的显示方法、测量系统及激光雷达 (Display method and measurement system for actual measurement and laser radar ) 是由 李辉 金海建 于 2021-06-21 设计创作，主要内容包括：本发明公开了一种用于实测实量的显示方法、测量系统及激光雷达,所述显示方法包括：扫描一墙体获取所述墙体的三维数据点；通过对所述三维数据点主成分分析获取所述三维数据点中的一平面区域作为零平面；将所述三维数据点划分为若干数据点区域；获取目标区域到零平面的距离；在一显示界面中零平面对应位置以基础颜色显示在零平面中的数据点区域所对应的影像,并在显示界面目标区域对应的位置以预设颜色显示目标区域所对应的影像。本发明的显示方法、测量系统及激光雷达能够直观详细的显示墙体的平整度,提升建筑行业信息化程度,为用户验收、整改墙体提供便利,加快施工进度。(The invention discloses a display method, a measurement system and a laser radar for actual measurement, wherein the display method comprises the following steps: scanning a wall to obtain a three-dimensional data point of the wall; acquiring a plane area in the three-dimensional data points as a zero plane through principal component analysis of the three-dimensional data points; dividing the three-dimensional data points into a plurality of data point regions; acquiring the distance from a target area to a zero plane; and displaying the image corresponding to the data point area in the zero plane at the corresponding position of the zero plane in a display interface by using the basic color, and displaying the image corresponding to the target area at the corresponding position of the target area in the display interface by using the preset color. The display method, the measurement system and the laser radar can visually and detailedly display the flatness of the wall, improve the informatization degree of the building industry, provide convenience for users to check and accept and reform the wall, and accelerate the construction progress.)

1. A display method for actual measurement, the display method comprising:

scanning a wall to obtain a three-dimensional data point of the wall;

obtaining a plane area in the three-dimensional data points as a zero plane by analyzing the principal components of the three-dimensional data points, wherein the plane area is a continuous maximum area plane formed by the three-dimensional data points;

dividing the three-dimensional data points into a plurality of data point areas, wherein the size of each data point area is the same;

acquiring the distance from a target area to the zero plane, wherein the target area is a data point area except the plane area;

and displaying the image corresponding to the data point area in the zero plane at the corresponding position of the zero plane in a display interface by using the basic color, and displaying the image corresponding to the target area at the corresponding position of the target area in the display interface by using the preset color, wherein the preset color of the target area is obtained according to the distance.

2. The display method according to claim 1, wherein the display method comprises:

scanning a room through a laser radar to obtain a spatial point cloud;

dividing the space point cloud into a plurality of voxel units, and acquiring information of the voxel units according to point cloud coordinates contained in the voxel units;

combining the mutually correlated voxel units into a sub-model according to the information of the voxel units;

obtaining semantic information of the submodel according to the position and the size of the submodel and the relation between adjacent submodels;

and acquiring a sub-model of the wall according to the semantic information, wherein the point cloud coordinate contained in the sub-model of the wall is the three-dimensional data point.

3. The display method according to claim 1, wherein the display method comprises:

and for a target area, searching a preset color of the target area in a comparison table, wherein the comparison table comprises a plurality of value ranges of the distance, and each value range corresponds to one color.

4. The display method according to claim 3, wherein in the look-up table, if the value of the value range is positive, the color corresponding to the value range is warm, and if the value of the value range is negative, the color corresponding to the value range is cold.

5. The display method according to claim 1, wherein the display method comprises:

generating a laser plane vertical to the horizontal plane by using a laser swinger in front of the wall;

acquiring two adjusting points on a zero plane of the display interface, and acquiring the length from the adjusting points to the boundary of the wall body according to the coordinates of the adjusting points;

searching the actual position of the adjusting point on the wall according to the length;

vertically placing the measuring scale on a wall body at an actual position, checking the scales printed on the measuring scale by the laser surface, and adjusting the laser surface to be parallel to the wall surface corresponding to the zero plane by using the same scales at the two actual positions;

selecting a plurality of rechecking points on the display interface, and acquiring the lengths from the rechecking points to the boundary of the wall body according to the coordinates of the rechecking points;

searching the actual position of a rechecking point on the wall;

and vertically placing the measuring scale on the wall body at the actual position of the rechecking point, checking whether the scale printed on the measuring scale by the laser surface is matched with the three-dimensional data point corresponding to the rechecking point, and if so, successfully rechecking.

6. The display method according to claim 5, wherein the display method comprises:

selecting a plurality of modifying points on the display interface, and acquiring the length from the modifying points to the boundary of the wall body according to the coordinates of the modifying points;

searching the actual position of the correction point on the wall;

vertically placing a measuring scale on a wall body at the actual position of the rectification point, and checking the scale printed on the measuring scale by a laser surface to obtain the rectification quantity;

and utilizing the rectification amount to rectify the wall body.

7. A measuring system for measuring actual quantity, which is characterized in that the measuring system comprises a laser radar and a processing module,

the laser radar is used for scanning a wall body to obtain a three-dimensional data point of the wall body;

the processing module is used for obtaining a plane area in the three-dimensional data points as a zero plane through analyzing the principal components of the three-dimensional data points, wherein the plane area is a continuous maximum area plane formed by the three-dimensional data points;

the processing module is used for dividing the three-dimensional data points into a plurality of data point areas, and the size of each data point area is the same;

the processing module is used for obtaining the distance from a target area to the zero plane, wherein the target area isA data point region other than the planar region;

the processing module is used for displaying the image corresponding to the data point area in the zero plane at the corresponding position of the zero plane in a display interface in a basic color mode, displaying the image corresponding to the target area at the corresponding position of the target area in the display interface in a preset color mode, and obtaining the preset color of the target area according to the distance.

8. The measurement system of claim 7,

the laser radar is used for scanning a room to obtain a spatial point cloud;

the processing module is used for dividing the space point cloud into a plurality of voxel units and acquiring information of the voxel units according to point cloud coordinates contained in the voxel units;

the processing module is used for combining the correlated voxel units into a sub-model according to the information of the voxel units;

the processing module is used for acquiring semantic information of the submodel according to the position and the size of the submodel and the relation between adjacent submodels;

the processing module is used for acquiring the sub-model of the wall according to the semantic information, and the point cloud coordinate contained in the sub-model of the wall is the three-dimensional data point.

9. The measurement system of claim 7, further comprising a laser scanner and a measuring tape;

the laser swinger is used for generating a laser plane vertical to the horizontal plane in front of the wall body;

the processing module is used for acquiring two adjusting points on a zero plane of the display interface and acquiring the length from the adjusting points to the boundary of the wall body according to the coordinates of the adjusting points;

the measuring scale is used for searching the actual position of the adjusting point on the wall body according to the length, then placing the adjusting point on the wall body at the actual position, checking the scale of the laser surface on the measuring scale, and adjusting the laser surface to be parallel to the wall surface corresponding to the zero plane by using the same scale on the two actual positions;

the processing module is used for selecting a plurality of rechecking points on the display interface and acquiring the length from the rechecking points to the boundary of the wall body according to the coordinates of the rechecking points;

the measuring scale is used for searching the actual position of the rechecking point on the wall body, then placing the wall body at the actual position of the rechecking point, checking whether the scale printed on the measuring scale by the laser surface is matched with the three-dimensional data point corresponding to the rechecking point, and if so, successfully rechecking.

10. Lidar for measuring actual quantities, characterized in that the lidar is used in a measuring system according to any of claims 7 to 9.

Technical Field

The invention relates to a display method and a measurement system for actual measurement and a laser radar.

Background

The actual measurement refers to a method for truly reflecting product quality data through field test and measurement by using a measuring tool. And according to the related quality acceptance standard, the error of the metering control engineering quality data is within the range allowed by the national housing construction standard.

The development stages of projects related to actual measurement mainly comprise a main structure stage, a masonry stage, a plastering stage, an equipment installation stage and a finishing stage. The measurement range comprises concrete structure, masonry engineering, plastering engineering, waterproof engineering, door and window engineering, paint engineering, finish decoration engineering and the like.

The existing actual measurement instrument has low use efficiency and single function and is inconvenient to check.

Disclosure of Invention

The invention aims to overcome the defects that the existing actual measurement tool in the prior art is low in use efficiency, single in function and inconvenient to check, and provides a display method, a measurement system and a laser radar for actual measurement, which can visually and detailedly display the flatness of a wall body, improve the informatization degree of the building industry, provide convenience for a user to check and accept and reform the wall body and accelerate the construction progress.

The invention solves the technical problems through the following technical scheme:

a display method for actually measured actual quantity is characterized by comprising the following steps:

scanning a wall to obtain a three-dimensional data point of the wall;

obtaining a plane area in the three-dimensional data points as a zero plane by analyzing the principal components of the three-dimensional data points, wherein the plane area is a continuous maximum area plane formed by the three-dimensional data points;

dividing the three-dimensional data points into a plurality of data point areas, wherein the size of each data point area is the same;

acquiring the distance from a target area to the zero plane, wherein the target area is a data point area except the plane area;

and displaying the image corresponding to the data point area in the zero plane at the corresponding position of the zero plane in a display interface by using the basic color, and displaying the image corresponding to the target area at the corresponding position of the target area in the display interface by using the preset color, wherein the preset color of the target area is obtained according to the distance.

Preferably, the display method includes:

scanning a room through a laser radar to obtain a spatial point cloud;

dividing the space point cloud into a plurality of voxel units, and acquiring information of the voxel units according to point cloud coordinates contained in the voxel units;

combining the mutually correlated voxel units into a sub-model according to the information of the voxel units;

obtaining semantic information of the submodel according to the position and the size of the submodel and the relation between adjacent submodels;

and acquiring a sub-model of the wall according to the semantic information, wherein the point cloud coordinate contained in the sub-model of the wall is the three-dimensional data point.

Preferably, the display method includes:

and for a target area, searching a preset color of the target area in a comparison table, wherein the comparison table comprises a plurality of value ranges of the distance, and each value range corresponds to one color.

Preferably, in the comparison table, if the value of the value range is positive, the color corresponding to the value range is warm, and if the value of the value range is negative, the color corresponding to the value range is cold.

Preferably, the display method includes:

generating a laser plane vertical to the horizontal plane by using a laser swinger in front of the wall;

acquiring two adjusting points on a zero plane of the display interface, and acquiring the length from the adjusting points to the boundary of the wall body according to the coordinates of the adjusting points;

searching the actual position of the adjusting point on the wall according to the length;

vertically placing the measuring scale on a wall body at an actual position, checking the scales printed on the measuring scale by the laser surface, and adjusting the laser surface to be parallel to the wall surface corresponding to the zero plane by using the same scales at the two actual positions;

selecting a plurality of rechecking points on the display interface, and acquiring the lengths from the rechecking points to the boundary of the wall body according to the coordinates of the rechecking points;

searching the actual position of a rechecking point on the wall;

and vertically placing the measuring scale on the wall body at the actual position of the rechecking point, checking whether the scale printed on the measuring scale by the laser surface is matched with the three-dimensional data point corresponding to the rechecking point, and if so, successfully rechecking.

Preferably, the display method includes:

selecting a plurality of modifying points on the display interface, and acquiring the length from the modifying points to the boundary of the wall body according to the coordinates of the modifying points;

searching the actual position of the correction point on the wall;

vertically placing a measuring scale on a wall body at the actual position of the rectification point, and checking the scale printed on the measuring scale by a laser surface to obtain the rectification quantity;

and utilizing the rectification amount to rectify the wall body.

The invention also provides a measuring system for actually measuring actual quantity, which is characterized by comprising a laser radar and a processing module,

the laser radar is used for scanning a wall body to obtain a three-dimensional data point of the wall body;

the processing module is used for obtaining a plane area in the three-dimensional data points as a zero plane through analyzing the principal components of the three-dimensional data points, wherein the plane area is a continuous maximum area plane formed by the three-dimensional data points;

the processing module is used for dividing the three-dimensional data points into a plurality of data point areas, and the size of each data point area is the same;

the processing module is used for acquiring the distance from a target area to the zero plane, wherein the target area is a data point area except the plane area;

the processing module is used for displaying the image corresponding to the data point area in the zero plane at the corresponding position of the zero plane in a display interface in a basic color mode, displaying the image corresponding to the target area at the corresponding position of the target area in the display interface in a preset color mode, and obtaining the preset color of the target area according to the distance.

Preferably, the first and second liquid crystal films are made of a polymer,

the laser radar is used for scanning a room to obtain a spatial point cloud;

the processing module is used for dividing the space point cloud into a plurality of voxel units and acquiring information of the voxel units according to point cloud coordinates contained in the voxel units;

the processing module is used for combining the correlated voxel units into a sub-model according to the information of the voxel units;

the processing module is used for acquiring semantic information of the submodel according to the position and the size of the submodel and the relation between adjacent submodels;

the processing module is used for acquiring the sub-model of the wall according to the semantic information, and the point cloud coordinate contained in the sub-model of the wall is the three-dimensional data point.

Preferably, the measuring system further comprises a laser swinger and a measuring scale;

the laser swinger is used for generating a laser plane vertical to the horizontal plane in front of the wall body;

the processing module is used for acquiring two adjusting points on a zero plane of the display interface and acquiring the length from the adjusting points to the boundary of the wall body according to the coordinates of the adjusting points;

the measuring scale is used for searching the actual position of the adjusting point on the wall body according to the length, then placing the adjusting point on the wall body at the actual position, checking the scale of the laser surface on the measuring scale, and adjusting the laser surface to be parallel to the wall surface corresponding to the zero plane by using the same scale on the two actual positions;

the processing module is used for selecting a plurality of rechecking points on the display interface and acquiring the length from the rechecking points to the boundary of the wall body according to the coordinates of the rechecking points;

the measuring scale is used for searching the actual position of the rechecking point on the wall body, then placing the wall body at the actual position of the rechecking point, checking whether the scale printed on the measuring scale by the laser surface is matched with the three-dimensional data point corresponding to the rechecking point, and if so, successfully rechecking.

The invention also provides a laser radar for actually measuring actual quantity, which is characterized in that the laser radar is used for the measuring system.

On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.

The positive progress effects of the invention are as follows:

the display method, the measurement system and the laser radar can visually and detailedly display the flatness of the wall, improve the informatization degree of the building industry, provide convenience for users to check and accept and reform the wall, and accelerate the construction progress.

Drawings

Fig. 1 is a schematic structural diagram of a display interface in embodiment 1 of the present invention.

Fig. 2 is a flowchart of a display method according to embodiment 1 of the present invention.

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

Example 1

The present embodiment provides a measuring system for actually measuring a real quantity.

The measuring system comprises a laser radar, a processing module, a laser swinger and a measuring scale. The processing module can be a tablet computer or a desktop computer, and the processing module can also be integrated into the laser radar, so that the laser radar has the computing capability.

The laser radar is used for scanning a wall body to obtain a three-dimensional data point of the wall body;

the processing module is used for obtaining a plane area in the three-dimensional data points as a zero plane through analyzing the principal components of the three-dimensional data points, wherein the plane area is a continuous maximum area plane formed by the three-dimensional data points;

the processing module is used for dividing the three-dimensional data points into a plurality of data point areas, and the size of each data point area is the same;

referring to fig. 1, in this embodiment, a wall surface central point and a wall surface normal vector are obtained through principal component analysis of three-dimensional data points of a wall body, that is, the maximum and the most plane of the wall surface is found through the principal component analysis and is used as a zero plane 11.

Dividing the wall surface into N × M small wall surfaces with the length and the width of 25mm × 25mm,

the processing module is used for acquiring the distance from a target area to the zero plane, wherein the target area is a data point area except the plane area;

the processing module is used for displaying the image corresponding to the data point area in the zero plane at the corresponding position of the zero plane in a display interface in a basic color mode, displaying the image corresponding to the target area at the corresponding position of the target area in the display interface in a preset color mode, and obtaining the preset color of the target area according to the distance.

The position of the zero plane can be obtained according to the three-dimensional data point coordinates in the zero plane, the distance between the three-dimensional data point and the wall edge can accurately obtain the range and the position of the zero plane, and the position of the target area can also be obtained.

The display interface is a display screen of a tablet personal computer and can also be a small screen on the side face of the laser radar.

Further, the laser radar is used for scanning a room to obtain a spatial point cloud;

the processing module is used for dividing the space point cloud into a plurality of voxel units and acquiring information of the voxel units according to point cloud coordinates contained in the voxel units;

the processing module is used for combining the correlated voxel units into a sub-model according to the information of the voxel units;

the processing module is used for acquiring semantic information of the submodel according to the position and the size of the submodel and the relation between adjacent submodels;

in this embodiment, which submodels are doors and which are windows can be respectively determined according to the positions of the windows and the doors, for example, the doors are holes on the ground, and the windows are holes at a certain distance from the ground. Thereby obtaining the meaning of each submodel.

The voxel units comprise a plurality of point cloud coordinates, similar voxel units are combined, if the voxel units are parallel and connected, the similar voxel units can be combined into a wall, and the target voxel unit is connected with two mutually vertical voxel units, so that the target voxel unit is a wall corner line.

The processing module is used for acquiring the sub-model of the wall according to the semantic information, and the point cloud coordinate contained in the sub-model of the wall is the three-dimensional data point.

Further, for a target area, the processing module is configured to search a preset color of the target area in a comparison table, where the comparison table includes a plurality of value ranges of the distance, and each value range corresponds to one color.

In the comparison table, if the value of the value range is positive, the color corresponding to the value range is warm, and if the value of the value range is negative, the color corresponding to the value range is cold.

In the present embodiment, the warm color indicates the protrusion 12, the green color indicates the zero plane 11, and the cool color indicates the depression 13, and the warm color indicates the depth by the color of the same color system, and if the red color indicates the protrusion, the darker the red color indicates the protrusion.

Further, the laser swinger is used for generating a laser plane perpendicular to the horizontal plane in front of the wall body;

the processing module is used for acquiring two adjusting points on a zero plane of the display interface and acquiring the length from the adjusting points to the boundary of the wall body according to the coordinates of the adjusting points;

the measuring scale is used for searching the actual position of the adjusting point on the wall body according to the length, then placing the adjusting point on the wall body at the actual position, checking the scale of the laser surface on the measuring scale, and adjusting the laser surface to be parallel to the wall surface corresponding to the zero plane by using the same scale on the two actual positions;

in the embodiment, at the two adjusting points, the scales of the laser on the measuring scale are the same, so that the laser surface is parallel to the wall surface corresponding to the zero plane. And when the laser surface is parallel to the zero plane, acquiring the distance between the laser surface and the zero plane.

The processing module is used for selecting a plurality of rechecking points on the display interface and acquiring the length from the rechecking points to the boundary of the wall body according to the coordinates of the rechecking points;

the measuring scale is used for searching the actual position of the rechecking point on the wall body, then placing the wall body at the actual position of the rechecking point, checking whether the scale printed on the measuring scale by the laser surface is matched with the three-dimensional data point corresponding to the rechecking point, and if so, successfully rechecking.

And searching the distance between the rechecking point and the zero plane by using the display interface, calculating a theoretical value of the laser surface on the measuring scale by using the distance between the rechecking point and the zero plane and the distance between the laser surface and the zero plane at the actual position of the rechecking point, checking whether the actual position of the laser surface on the measuring scale corresponds to the theoretical value or not, and if the compounding is successful, judging that the laser surface is not matched with the theoretical value.

The processing module is used for selecting a plurality of modifying points on the display interface and acquiring the length from the modifying points to the wall boundary according to the coordinates of the modifying points;

the measuring scale is used for searching the actual position of the correction point on the wall body, then placing the wall body at the actual position of the correction point, and checking the scale printed on the measuring scale by the laser surface to obtain the correction amount;

and the user corrects the wall by using the correction amount.

Referring to fig. 2, with the above measurement system, the present embodiment further provides a display method, where the display method includes:

step 100, scanning a wall to obtain a three-dimensional data point of the wall;

step 101, obtaining a plane area in the three-dimensional data points as a zero plane through analyzing the principal components of the three-dimensional data points, wherein the plane area is a continuous maximum area plane formed by the three-dimensional data points;

step 102, dividing the three-dimensional data points into a plurality of data point areas, wherein the size of each data point area is the same;

103, acquiring the distance from a target area to the zero plane, wherein the target area is a data point area except the plane area;

and 104, displaying the image corresponding to the data point area in the zero plane at the corresponding position of the zero plane in a display interface by using the basic color, and displaying the image corresponding to the target area at the corresponding position of the target area in the display interface by using the preset color, wherein the preset color of the target area is obtained according to the distance.

Wherein, step 100 comprises:

scanning a room through a laser radar to obtain a spatial point cloud;

dividing the space point cloud into a plurality of voxel units, and acquiring information of the voxel units according to point cloud coordinates contained in the voxel units;

combining the mutually correlated voxel units into a sub-model according to the information of the voxel units;

obtaining semantic information of the submodel according to the position and the size of the submodel and the relation between adjacent submodels;

and acquiring a sub-model of the wall according to the semantic information, wherein the point cloud coordinate contained in the sub-model of the wall is the three-dimensional data point.

The display method further comprises the following steps:

and for a target area, searching a preset color of the target area in a comparison table, wherein the comparison table comprises a plurality of value ranges of the distance, and each value range corresponds to one color.

In the comparison table, if the value of the value range is positive, the color corresponding to the value range is warm, and if the value of the value range is negative, the color corresponding to the value range is cold.

Further, step 100 is followed by:

generating a laser plane vertical to the horizontal plane by using a laser swinger in front of the wall;

acquiring two adjusting points on a zero plane of the display interface, and acquiring the length from the adjusting points to the boundary of the wall body according to the coordinates of the adjusting points;

searching the actual position of the adjusting point on the wall according to the length;

vertically placing the measuring scale on a wall body at an actual position, checking the scales printed on the measuring scale by the laser surface, and adjusting the laser surface to be parallel to the wall surface corresponding to the zero plane by using the same scales at the two actual positions;

selecting a plurality of rechecking points on the display interface, and acquiring the lengths from the rechecking points to the boundary of the wall body according to the coordinates of the rechecking points;

searching the actual position of a rechecking point on the wall;

and vertically placing the measuring scale on the wall body at the actual position of the rechecking point, checking whether the scale printed on the measuring scale by the laser surface is matched with the three-dimensional data point corresponding to the rechecking point, and if so, successfully rechecking.

After the coincidence is successful again, the display method further comprises the following steps:

selecting a plurality of modifying points on the display interface, and acquiring the length from the modifying points to the boundary of the wall body according to the coordinates of the modifying points;

searching the actual position of the correction point on the wall;

vertically placing a measuring scale on a wall body at the actual position of the rectification point, and checking the scale printed on the measuring scale by a laser surface to obtain the rectification quantity;

and utilizing the rectification amount to rectify the wall body.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.