基于三维模型重构技术的公路预制构件尺寸检验评价方法

石雪飞; 徐梓齐; 朱荣; 傅青松

doi:10.19818/j.cnki.1671-1637.2021.02.006

基于三维模型重构技术的公路预制构件尺寸检验评价方法

doi: 10.19818/j.cnki.1671-1637.2021.02.006

1.
同济大学土木工程学院，上海 200092
2.
上海同济检测技术有限公司，上海 200092

基金项目:

国家重点研发计划项目 2018YFC0809606

详细信息

作者简介:
石雪飞(1964-)，男，江苏泰州人，同济大学教授，工学博士，从事桥梁工程施工与信息技术研究

通讯作者:
徐梓齐(1996-)，男，黑龙江齐齐哈尔人，同济大学工学博士研究生

中图分类号: U449.34
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出版历程
- 收稿日期: 2020-10-05
- 刊出日期: 2021-04-01

Dimensional inspection and evaluation method of highway prefabricated components based on 3D model reconstruction technology

1.
College of Civil Engineering, Tongji University, Shanghai 200092, China
2.
Shanghai Tongji Testing Technology Co., Ltd., Shanghai 200092, China

Funds:

National Key Research and Development Program of China 2018YFC0809606

More Information

Author Bio:
SHI Xue-fei(1964-), male, professor, PhD, xfs@tongji.edu.cn

Corresponding author: XU Zi-qi(1996-), male, doctoral student, xuziqi@tongji.edu.cn

摘要

摘要: 为使公路工程异形混凝土预制构件的制造尺寸检验评价适应工业化建造要求，应用三维模型重构技术检验评价了异形混凝土预制构件尺寸，提出了高精度、自动化异形混凝土预制构件尺寸检验评价方法，包括三维模型重构、点云数据处理和检验评价体系3个环节；总结了基于三维摄影的点云模型重构技术的原理和关键环节，研究了基于坐标转换和包围盒的无关点云自动剔除算法，并通过2个实例验证了该算法的效果；研究了点云整体配准和3类局部配准方法，针对不同形状的构件和不同位置的细部构造，结合工程需求进行对照；考虑工程需求并与配准方法对应，提出了基于彩色误差云图和数理统计方法进行构件尺寸检验评价的3种判异原则，包括误差均值和标准差判异原则、误差极值判异原则、综合判异原则；综合分析彩色误差云图和误差分布，利用判异原则对箱型涵洞侧墙和管型涵洞侧墙实例的尺寸进行了检验评价。研究结果表明：3种判异原则分别适合对预制构件进行整体宏观、局部单项和先整体后局部的检验评价；采用三维模型重构技术建立的异形混凝土预制构件点云模型，与实际构件相比其长度和宽度的误差均值约为1.5 mm，三维模型重构技术可以替代人工测量；能够自动化剔除无关点云，并执行更为严格且符合工程需求的构件尺寸检验评价。
- 桥梁工程 /
- 异形混凝土预制构件 /
- 尺寸检验评价 /
- 三维模型重构 /
- 点云去噪 /
- 点云配准
Abstract: To adapt the manufacturing dimensional inspection and evaluation of special-shaped concrete prefabricated components of highway engineering to the requirements of industrialized construction, the 3D model reconstruction technology was used to inspect and evaluate the dimensions of special-shaped concrete prefabricated components. A high-precision and automated method of the dimensional inspection and evaluation on special-shaped concrete prefabricated components was proposed, including three steps as 3D model reconstruction, point cloud data processing, and inspection and evaluation system. Principles and key links of point cloud model reconstruction technology based on the 3D photography were summarized. An algorithm of automatically eliminating irrelevant point clouds based on the coordinate transformation and bounding box was studied, and the effectiveness of this algorithm was validated using two case examples. The global point cloud registration and three local registration methods were studied. The detailed structures of components with different shapes and different positions were combined with engineering requirements for comparison. Considering the engineering requirements and the correspondence of registration method, three discriminant principles were proposed for the component dimensional inspection based on the color error nephogram and mathematical statistics method, including the discriminant principle based on mean and standard deviation of error, discriminant principle based on extreme value of error and comprehensive discrimination. The dimensions of a box culvert side wall and a pipe culvert side wall were inspected and evaluated by using these discriminant principles, based on comprehensive analysis of color error nephograms and error distributions. Research result shows that the three different discriminant principles are respectively suitable for the global, local, and global at first and then local inspections and evaluations of prefabricated components. Compared with the actual component, the average dimensional errors of length and width in the point cloud model of special-shaped concrete prefabricated component established by the 3D model reconstruction technology are about 1.5 mm. The 3D model reconstruction technology can replace the manual measurement method, can automatically eliminate irrelevant point clouds, and can facilitate a more stringent component dimensional inspection and evaluation meeting engineering requirements. 2 tabs, 16 figs, 31 refs.
- bridge engineering /
- special-shaped concrete prefabricated component /
- dimensional inspection and evaluation /
- 3D model reconstruction /
- point cloud denoising /
- point cloud registration

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图 1 基于三维重构技术的异形混凝土预制构件尺寸检验评价流程

Figure 1. Dimensional inspection and evaluation process of special-shaped concrete prefabricated components based on 3D reconstruction technology

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图 2 像素坐标系与图像坐标系

Figure 2. Pixel coordinate system and image coordinate system

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图 3 多张照片的点云拼接过程

Figure 3. Point cloud stitching process of multiple photos

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图 4 标记点示意

Figure 4. Schematic of mark points

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图 5 局部面配准示意

Figure 5. Schematics of local surface registration

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图 6 局部线配准示意

Figure 6. Schematics of local line registration

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图 7 局部角点配准示意

Figure 7. Schematics of local corner registration

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图 8 典型彩色误差云图

Figure 8. Typical color error nephogram

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图 9 典型误差分布

Figure 9. Typical error distribution

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图 10 预制涵洞构件实例(单位: cm)

Figure 10. Examples of prefabricated culvert components (unit: cm)

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图 11 无关点云剔除实例

Figure 11. Examples of irrelevant points elimination

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图 12 配准后的管涵点云和设计模型

Figure 12. Tube culvert point cloud and design model after registration

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图 13 箱涵侧墙整体检验评价实例

Figure 13. Example of global inspection and evaluation for side wall of box culvert

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图 14 箱涵侧墙底面检验评价实例

Figure 14. Example of bottom surface inspection and evaluation for side wall of box culvert

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图 15 箱涵侧墙左侧面检验评价实例

Figure 15. Example of left side surface inspection and evaluation for side wall of box culvert

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图 16 管涵侧墙整体检验评价实例

Figure 16. Example of global inspection and evaluation for side wall of tube culvert

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表 1 基于误差均值和标准差的判异原则

Table 1. Discriminant principle based on mean and standard deviation of error

项次	项目	允许值/mm
1	μ	10
2	3σ	20

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表 2 三维重构尺寸与人工测量尺寸比较

Table 2. Comparison between 3D reconstruction and manual measurement dimensions

项目名称	项目编号	第1次人工测量/m	第2次人工测量/m	第3次人工测量/m	第4次人工测量/m	第5次人工测量/m	实际尺寸/m	重构尺寸/m	误差/m	平均误差/m
长	1	0.285 6	0.285 3	0.285 2	0.285 2	0.285 5	0.285 4	0.285 7	0.000 3	0.001 5
	2	0.286 7	0.285 6	0.285 0	0.285 2	0.285 1	0.285 5	0.286 0	0.000 5
	3	0.283 0	0.284 0	0.283 9	0.283 7	0.283 9	0.283 7	0.286 2	0.002 5
	4	0.288 9	0.287 1	0.287 8	0.287 3	0.288 0	0.287 8	0.290 4	0.002 6
宽	1	0.283 0	0.283 8	0.283 4	0.283 3	0.283 9	0.283 5	0.284 5	0.001 0	0.001 4
	2	0.283 3	0.284 1	0.284 0	0.284 1	0.284 0	0.283 9	0.284 1	0.000 2
	3	0.285 2	0.284 3	0.284 6	0.285 0	0.285 0	0.284 8	0.287 1	0.002 3
	4	0.286 7	0.286 6	0.287 0	0.286 9	0.286 7	0.286 8	0.289 0	0.002 2

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