CN117723029B - Data acquisition and modeling method and system suitable for wide area surface mine - Google Patents
Data acquisition and modeling method and system suitable for wide area surface mine Download PDFInfo
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Abstract
The invention discloses a data acquisition and modeling method and system suitable for a wide area surface mine. The method comprises the following steps: determining a target mine, and constructing an unmanned aerial vehicle group based on the target mine; flight measurement, namely acquiring the latest boundary information and elevation information of a target mine, and arranging control points to obtain a control point set; planning a high-altitude flight route, controlling the unmanned aerial vehicle group to fly high-altitude, and obtaining a target digital surface model; dividing the area of the target mine according to the topography of the terrain to obtain a plurality of mine subareas; planning a low-altitude ground-imitating flight scheme by combining the sun irradiation azimuth time, and carrying out shadowless shooting on the subareas to acquire a plurality of subarea acquisition data; and performing data splicing and three-dimensional modeling through the control point set to obtain a target mine three-dimensional model. The technical problems that rock mass is shielded by shadow, the contour is deformed and the texture of a ground object is fuzzy when the unmanned aerial vehicle acquires images in the prior art are solved, and the technical effect of shadow-free high-precision modeling is achieved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a data acquisition and modeling method and system suitable for a wide area surface mine.
Background
The surface mine in China has a plurality of surface mines, and the surface mining is a mining mode with high productivity, low cost and safety. Along with the continuous development of surface mine exploitation in China to deep, high-strength and large-scale directions, the problems of slope stability and safety production are more and more remarkable. The unmanned aerial vehicle is widely applied to three-dimensional modeling of mine slopes and structural surface investigation due to the characteristics of flexible maneuvering, low cost, high image resolution and the like, and becomes one of important means for acquiring data in the mine industry. In the application of the existing unmanned aerial vehicle oblique photogrammetry technology to wide-area surface mines, the key problems of long working time, inconsistent shooting resolution, shadow region missing information of shot images and the like exist because the mine topography fluctuation is large, the mine area is wide, the aerial images are affected by sunlight and the like.
Disclosure of Invention
The embodiment of the application provides a data acquisition and modeling method and system suitable for a wide area surface mine, which solve the technical problems that rock mass is shielded by shadow, contour is deformed and texture of a ground object is fuzzy when an unmanned aerial vehicle performs image acquisition in the prior art.
In view of the above problems, the embodiment of the application provides a data acquisition and modeling method and system suitable for a wide area surface mine.
In a first aspect of an embodiment of the present application, there is provided a data acquisition and modeling method suitable for a wide area surface mine, the method comprising:
Determining a target mine, and constructing an unmanned aerial vehicle group based on the target mine, wherein the target mine is a wide area surface mine, and each unmanned aerial vehicle in the unmanned aerial vehicle group is provided with a laser radar and a high-definition camera;
Performing flight measurement on the target mine based on the unmanned aerial vehicle group, acquiring the latest boundary information and the elevation information of the target mine, and laying control points based on the latest boundary information and the elevation information of the target mine to obtain a control point set;
Planning a high-altitude flight route for the unmanned aerial vehicle group based on the latest boundary information and the elevation information of the target mine, and controlling the unmanned aerial vehicle group to fly high-altitude according to the planned high-altitude flight route to acquire a target digital surface model;
dividing the target mine into a plurality of mine subareas according to the optimal signal transmission distance between the target digital surface model and the unmanned aerial vehicle, wherein overlapping buffer transition areas are arranged between adjacent mine subareas;
Planning a low-altitude ground-imitating flight scheme for the unmanned aerial vehicle group according to the mine subareas and the target digital surface model, controlling the unmanned aerial vehicle group to carry out shadowless shooting according to the low-altitude ground-imitating flight scheme by combining with the sun irradiation azimuth time, and acquiring a plurality of subareas acquisition data;
And performing data splicing on the plurality of subareas acquired data through the control point set, and performing three-dimensional modeling on the target mine by using a data splicing result to obtain a target mine three-dimensional model.
In a second aspect of the embodiments of the present application, there is provided a data acquisition and modeling system suitable for a wide area surface mine, the system comprising:
the construction module is used for determining a target mine and constructing an unmanned aerial vehicle group based on the target mine, wherein the target mine is a wide area surface mine, and each unmanned aerial vehicle in the unmanned aerial vehicle group is provided with a laser radar and a high-definition camera;
the measurement module is used for carrying out flight measurement on the target mine based on the unmanned aerial vehicle group, acquiring the latest boundary information and the elevation information of the target mine, and laying control points based on the latest boundary information and the elevation information of the target mine to obtain a control point set;
The model acquisition module is used for planning a high-altitude flight route for the unmanned aerial vehicle group based on the latest boundary information and the elevation information of the target mine, and controlling the unmanned aerial vehicle group to fly high-altitude according to the planned high-altitude flight route so as to acquire a target digital surface model;
The division module is used for dividing the target mine into a plurality of mine subareas according to the optimal signal transmission distance between the target digital surface model and the unmanned aerial vehicle, wherein overlapping buffer transition areas are arranged between adjacent mine subareas;
The shooting module is used for planning a low-altitude ground-imitating flight scheme for the unmanned aerial vehicle group according to the mine subareas and the target digital surface model, controlling the unmanned aerial vehicle group to carry out shadowless shooting according to the low-altitude ground-imitating flight scheme by combining with the sun irradiation azimuth time, and acquiring a plurality of subarea acquisition data;
and the splicing module is used for carrying out data splicing on the plurality of subareas acquired data through the control point set, and carrying out three-dimensional modeling on the target mine by utilizing a data splicing result to obtain a target mine three-dimensional model.
One or more technical schemes provided by the application have at least the following technical effects or advantages:
First, a target mine is determined, and an unmanned aerial vehicle group carrying a laser radar and a high-definition camera is constructed. Next, a flight survey is performed on the target mine using the unmanned aerial vehicle group. In this way, the latest boundary information and elevation information of the target mine are acquired. Then, control points are laid out based on the information, and a control point set is formed. And then, according to the latest boundary information and elevation information of the target mine, a high-altitude flight route is planned for the unmanned aerial vehicle group. Then, the unmanned aerial vehicle group is controlled to fly high altitude according to the plan, so that a target digital surface model is obtained. And then, dividing the area of the target mine according to the target digital surface model and the optimal signal transmission distance of the unmanned aerial vehicle, and obtaining a plurality of mine subareas. Notably, a plurality of overlapping buffer transition areas are arranged between adjacent mine subareas so as to ensure that the unmanned aerial vehicle has enough overlapping areas when the unmanned aerial vehicle is spliced to establish a wide-area mine complete model. Then, a low-altitude ground-imitating flight scheme is planned for the unmanned aerial vehicle group according to the mine subareas and the target digital surface model. According to the scheme, the unmanned aerial vehicle group is controlled to carry out shadowless shooting, so that a plurality of subareas are acquired for collecting data. And finally, carrying out data splicing on the partition acquired data through the control point set. The spliced result is used for carrying out three-dimensional modeling on the target mine, and finally a three-dimensional model of the target mine is obtained. The technical problems that rock mass is shielded by shadow, the contour is deformed and the texture of a ground object is fuzzy when the unmanned aerial vehicle acquires images in the prior art are solved, and the technical effect of shadow-free high-precision modeling is achieved.
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Fig. 1 is a schematic flow chart of a data acquisition and modeling method applicable to a wide area surface mine according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a data acquisition and modeling system suitable for a wide area surface mine according to an embodiment of the present application;
Reference numerals illustrate: the system comprises a construction module 11, a measurement module 12, a model acquisition module 13, a division module 14, a shooting module 15 and a splicing module 16.
Detailed Description
The embodiment of the application solves the technical problems that rock mass is shielded by shadow, contour is deformed and ground object texture is fuzzy when an unmanned aerial vehicle performs image acquisition in the prior art by providing the data acquisition and modeling method suitable for a wide area surface mine.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "comprises" and "comprising," along with any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.
Example 1: as shown in fig. 1, an embodiment of the present application provides a data acquisition and modeling method suitable for a wide area surface mine, where the method includes:
Determining a target mine, and constructing an unmanned aerial vehicle group based on the target mine, wherein the target mine is a wide area surface mine, and each unmanned aerial vehicle in the unmanned aerial vehicle group is provided with a laser radar and a high-definition camera;
along with the continuous progress of technology, unmanned aerial vehicle technology has obtained rapid development, and unmanned aerial vehicle's application in the measuring field is also becoming more and more extensive. Compared with the traditional measurement method, the unmanned aerial vehicle measurement has the advantages of high efficiency, low cost, flexibility, convenience and the like. In mine measurement, the unmanned aerial vehicle can rapidly acquire image data of a mine and provide data support for modeling of the mine.
The target mine, that is, the wide area surface mine, is a mine with a large area and complex terrain. The production operation of the target mine is carried out every day, the inside of the stope can be greatly changed in about one month, and the mine measurement needs to be carried out quickly and efficiently. After the target mine is determined, an unmanned aerial vehicle group carrying the laser radar and the high-definition camera is constructed. In mine measurement, the unmanned aerial vehicle can rapidly acquire the latest image data of the mine, and data support is provided for modeling of the mine.
Performing flight measurement on the target mine based on the unmanned aerial vehicle group, acquiring the latest boundary information and the elevation information of the target mine, and laying control points based on the latest boundary information and the elevation information of the target mine to obtain a control point set;
The unmanned aerial vehicle measures the mine according to a preset route, and data information of the mine is obtained. In the process, no one can scan and shoot the topography of the mine by using the carried laser radar and the high-definition camera, acquire the elevation information of the mine and record the boundary information of the mine. The latest boundary information of the target mine refers to the boundary position of the mine, and includes data such as mining boundaries and stope areas. The latest elevation information of the target mine refers to the topographic elevation data of the mine, and comprises the latest data of the mine elevation, the step slope height and the like. After the data information of the mine is obtained, control points can be distributed based on the information, and a control point set is obtained. When the control points are distributed, the positions and the number of the control points are determined according to the latest boundary information and the elevation information of the mine. The control points are used for determining the flight track of the unmanned aerial vehicle and the absolute position of the shot image, and the accuracy and the consistency of the unmanned aerial vehicle in the measurement process can be verified by arranging the control points.
Further, based on the unmanned aerial vehicle group performing flight measurement on the target mine, obtaining the latest boundary information and elevation information of the target mine includes:
Setting a ground control point, and constructing a ground control point network based on the ground control point;
Activating a laser radar and a high-definition camera of each unmanned aerial vehicle in the unmanned aerial vehicle group, and controlling the unmanned aerial vehicle group to acquire data of a target mine according to a preset mine measurement scheme to acquire target mine point cloud data and target mine image data;
And acquiring the latest boundary information and elevation information of the target mine based on the ground control point network, the target mine point cloud data and the target mine image data.
And selecting a smooth and visual field open area to lay control points on the mine side slope. Some representative markers can be selected as ground image control points and used for supplementing the problem that control points cannot be distributed in partial areas. When the ground control points are selected, factors such as the size, the elevation, the topography and the like of the mine need to be considered so as to ensure that the ground control points can accurately reflect the characteristics of the mine. By setting the ground control points, a ground control point network covering the whole mine can be constructed, so that the accurate control of unmanned aerial vehicle aerial survey data and the accurate construction of a mine model are realized. The ground control point network is used for navigating and controlling the unmanned aerial vehicle, so that the unmanned aerial vehicle can accurately acquire the measurement data of the mine.
And activating the laser radar and the high-definition camera of each unmanned aerial vehicle in the unmanned aerial vehicle group. Next, the unmanned aerial vehicle group needs to be controlled to acquire data of the target mine according to a preset mine measurement scheme. The mine measurement scheme comprises the steps of measuring the mine exploitation boundary, measuring the mine height, the step slope angle and the like. The manner of control may be implemented by a remote control, an automatic flight system, or programming code. The target mine point cloud data refers to space three-dimensional coordinate information of mine topography, landform, facilities and the like, which is acquired through equipment such as a laser radar. The target mine image data is mine surface image data obtained by aerial photography.
And registering and converting coordinates of the target mine point cloud data based on the ground control point network so as to ensure the accuracy and consistency of the point cloud data. And processing and analyzing the registered point cloud data, and extracting boundary information of the mine. Such as performing surface reconstruction, trimming models, etc., using point cloud processing software to obtain more accurate boundary information. Based on the image data of the target mine, three-dimensional reconstruction software can be used for image processing and analysis, and morphological characteristics and texture information of the mine can be extracted. By processing and analyzing the image data, more visual and fine mine morphology information can be obtained. And fusing and integrating the results of processing and analyzing the target mine point cloud data and the image data to obtain the latest boundary information and elevation information of the target mine.
And planning a high-altitude flight route for the unmanned aerial vehicle group based on the latest boundary information and the elevation information of the target mine, and controlling the unmanned aerial vehicle group to fly high-altitude according to the planned high-altitude flight route to acquire a target digital surface model.
And (3) based on the latest boundary information and elevation information of the target mine, performing data processing and analysis by using a Geographic Information System (GIS), and making a high-altitude flight route planning scheme. The high-altitude flight route planning scheme comprises parameters such as the altitude, speed, direction, camera angle and the like of the flight so as to ensure that an unmanned aerial vehicle can acquire high-quality digital surface model data. And carrying out high-altitude flight by using the unmanned aerial vehicle group according to the planned high-altitude flight route scheme. In the flight process, the unmanned aerial vehicle flies according to a preset route, and the surface of the mine is shot by using a carried high-definition camera so as to obtain a digital surface model. The target digital surface model refers to a digital model describing the topography and relief by digital technology, and is a three-dimensional grid consisting of a series of discrete points and lines.
And dividing the target mine into a plurality of mine subareas according to the optimal signal transmission distance between the target digital surface model and the unmanned aerial vehicle, wherein overlapping buffer transition areas are arranged between adjacent mine subareas.
And determining the size area and the elevation difference value of each mine subarea based on the target digital surface model and the optimal signal transmission distance of the unmanned aerial vehicle. And arranging enough overlapping buffer transition areas between adjacent mine subareas so as to ensure that the unmanned aerial vehicle has enough overlapping areas when splicing and establishing a wide-area mine complete model.
Further, according to the optimal signal transmission distance between the target digital surface model and the unmanned aerial vehicle, the target mine is divided into a plurality of mine subareas, including:
The interactive signal receiving device acquires the signal receiving coordinates;
performing test flight based on the signal receiving coordinates and the unmanned aerial vehicle group, and determining an optimal signal transmission distance of the unmanned aerial vehicle;
Determining regional range constraint through the optimal signal transmission distance of the unmanned aerial vehicle and the target digital surface model;
and based on the regional range constraint, dividing the target mine into regions according to a preset mine partitioning scheme to obtain a plurality of mine partitioning regions.
In the area division, factors such as signal coverage and flying height of the unmanned aerial vehicle need to be considered. Therefore, interaction with the signal receiving device is required for acquiring signal receiving coordinates of the unmanned aerial vehicle, testing flight is carried out on the unmanned aerial vehicle based on the coordinates, an optimal signal transmission distance is determined, the distance and the target digital surface model are utilized for determining regional range constraint, namely the maximum range of the subarea, and finally, regional division is carried out on the target mine according to a preset mine subarea scheme based on the regional range constraint, so that a plurality of mine subareas are obtained. The mine partition scheme is a scheme for dividing the mining area into southeast, northwest and northwest according to the topography and the sun irradiation azimuth, and factors such as regional stratum, lithology, geological structure and the like can be synchronously considered. The interactive signal receiving device may include one or more signal receivers, which may receive signals from the drone and obtain signal reception coordinates. These coordinates can be used to determine the position and orientation of the drone. Then, based on the coordinates and the position information of the unmanned aerial vehicle, test flight is performed, and signal transmission effects at different distances can be evaluated, so that an optimal signal transmission distance is determined. After the optimal signal transmission distance is obtained, the optimal signal transmission distance can be combined with a target digital surface model, and the constraint condition of each mine subarea is determined. By using the constraint conditions, the target mine can be further divided into areas according to a preset mine partition scheme, so that a plurality of mine partition areas are obtained.
And planning a low-altitude ground-imitating flight scheme for the unmanned aerial vehicle group according to the mine subareas and the target digital surface model, controlling the unmanned aerial vehicle group to carry out shadowless shooting according to the low-altitude ground-imitating flight scheme by combining the sun irradiation azimuth time, and acquiring a plurality of subareas acquired data.
When planning the low-altitude ground-imitating flight scheme, the elevation change of the mine subareas needs to be considered. In general, it is necessary to ensure that each mine subarea can be sufficiently covered in low-altitude ground-imitation flight, and that the shadowless effect of photographing is good. To achieve this goal, the appropriate fly-height and camera angle may be selected and route planned as needed. Specifically, an elevation change for each mine subdivision is determined based on a plurality of mine subdivisions and a target digital surface model. And selecting proper flying height and camera angle according to the elevation change of each mine subarea to carry out route planning. And planning a plurality of low-altitude ground-imitating flying routes in each mine subarea so as to ensure that the unmanned aerial vehicle can perform shadowless shooting. And controlling the unmanned aerial vehicle group to fly in a low-altitude ground-imitating manner according to the planned low-altitude ground-imitating flight scheme, and collecting data of a plurality of subareas.
Further, the method further comprises:
setting a low-altitude ground-imitating flying height constraint function;
determining a low-altitude ground-imitating flying height map of the unmanned aerial vehicle based on the low-altitude ground-imitating flying height constraint function and the target digital surface model;
and planning and generating a low-altitude ground-imitating flight scheme by taking the low-altitude ground-imitating flight height of the unmanned aerial vehicle as constraint.
In order to finely plan a low-altitude ground-imitating flight scheme of the unmanned aerial vehicle, the quality and the safety of data acquisition are improved. The method is characterized in that a low-altitude simulated ground flying height constraint function is set, and the function is defined based on a target digital surface model and the flying characteristics of the unmanned aerial vehicle and is used for limiting the maximum height of the unmanned aerial vehicle when the unmanned aerial vehicle flies in the low-altitude simulated ground so as to ensure the accuracy and safety of shooting data. And determining the low-altitude ground-imitating flying height map of the unmanned aerial vehicle based on the low-altitude ground-imitating flying height constraint function and the target digital surface model. The low-altitude ground-imitating flying height map reflects the maximum flying height limit of the unmanned aerial vehicle in different positions and directions, and provides an important reference basis for the subsequent low-altitude ground-imitating flying scheme planning. And finally, taking the low-altitude ground-imitating flying height of the unmanned aerial vehicle as constraint, and planning to generate a low-altitude ground-imitating flying scheme.
Further, the method further comprises:
the low-altitude ground-imitating flying height constraint function is as follows:
；
wherein, L is the vertical height distance of unmanned aerial vehicle and target mine on arbitrary coordinate point, GSD is the image resolution that high definition camera that unmanned aerial vehicle carried, f is the focal length of high definition camera that unmanned aerial vehicle carried, d is the sensor pixel size of high definition camera that unmanned aerial vehicle carried.
The low-altitude ground-imitating flying height constraint function calculates the vertical height distance (L) between the unmanned aerial vehicle and the target mine at any coordinate point by taking the image resolution (GSD) of the unmanned aerial vehicle, the focal length (f) of the camera and the pixel size (d) of the sensor as parameters. Through the function, the low-altitude ground-imitating flying height of the unmanned aerial vehicle can be reasonably limited and planned according to the hardware configuration of the unmanned aerial vehicle and the characteristics of a target mine.
Further, the method further comprises:
traversing the mine subareas to obtain a first mine subarea;
judging the sun irradiation azimuth when the first mine subarea is shadowless, and obtaining the sun irradiation azimuth time of the first mine subarea;
And matching and combining the first mine subarea with the solar irradiation azimuth time of the first mine subarea, and adding the first mine subarea and the solar irradiation azimuth time into a low-altitude ground-imitation flight scheme.
First, a plurality of mine subareas are traversed, and a first mine subarea is selected for processing. Then, the irradiation azimuth of the sun of the mine subarea under the condition of no shadow is judged, and the first sun irradiation azimuth time is obtained. For example, when the sun irradiates the azimuth from east to west, the ground-imitating flying work of the 'west' area is performed by utilizing the irradiation azimuth time; when the sun irradiates the azimuth from west to east, performing ground-imitating flying operation of an east area by utilizing the irradiation azimuth time; when the sun irradiates the azimuth from the south to the north, performing the ground-imitating flying operation of the north area by utilizing the irradiation azimuth time; when the sun irradiates the azimuth from north to south, the irradiation azimuth time is utilized to carry out the ground-imitating flying operation of the 'south' area; when the sun irradiates the azimuth to direct the ground, the fixed-altitude flying operation of the 'middle' area is performed by utilizing the irradiation azimuth time. Next, the first mine subareas are matched to the first solar azimuth time, i.e. they are correlated. For example, the time interval of the solar irradiation direction is matched or optimized according to the characteristics of the mine subareas. Finally, the result of this matching combination is added to the low-altitude ground-imitation flight scheme. The low-altitude ground-imitating flight scheme is a predefined scheme for guiding the unmanned aerial vehicle to fly and collect data at low altitude.
And performing data splicing on the plurality of subareas acquired data through the control point set, and performing three-dimensional modeling on the target mine by using a data splicing result to obtain a target mine three-dimensional model.
The data can be spliced for the collected data of a plurality of subareas through the control point set. This stitching process is typically based on control points, which are photo control points of known coordinates, that can be used for photo correction and stitching. The data collected by different subareas can be spliced through the control point set to form a complete target mine three-dimensional model. Specifically, the coordinate information of the control points and the geometric relationship between the adjacent photos can be utilized to splice and position the data acquired by different subareas. This process may be implemented by specialized algorithms, such as feature matching based stitching algorithms, control point based stitching algorithms, and the like. After the data are spliced, the result can be used for carrying out three-dimensional modeling on the target mine to obtain a three-dimensional model of the target mine. This model may be implemented by specialized three-dimensional modeling software or algorithms, such as ContextCapture, photoscan or point cloud data-based three-dimensional reconstruction algorithms, image-based three-dimensional reconstruction algorithms, and the like.
Furthermore, the control point set is used for data stitching of the collected data of the multiple subareas, and the three-dimensional modeling is performed on the target mine by using the data stitching result to obtain a three-dimensional model of the target mine, which comprises the following steps:
Acquiring a control point coordinate set based on the control point set;
Traversing the plurality of subarea acquisition data to obtain first subarea acquisition data, identifying control points in the first subarea acquisition data, and obtaining a first control point set and a first control point coordinate set;
Acquiring data of the first partition, and acquiring a first partition three-dimensional point cloud by using an aerial triangulation and beam adjustment algorithm based on the first control point set and the first control point coordinate set;
acquiring a plurality of subarea three-dimensional point clouds through the plurality of subarea acquisition data;
Identifying common control points in the plurality of regional three-dimensional point clouds, and correcting and integrating the plurality of regional three-dimensional point clouds based on the common control point identification result to obtain a target mine point cloud model;
and acquiring data from the multiple subareas to extract a real image, and mapping the real image on the target mine point cloud model to obtain a target mine three-dimensional model.
Position and coordinate information of the control point are determined first, and then a control point coordinate set is acquired through the information. And traversing each partition acquired data in the plurality of partition acquired data, and selecting first partition acquired data. The first zone acquisition data refers to acquisition data of a first zone acquired from a target mine. Then, control points are identified in the first partition acquisition data to obtain a first control point set and a first control point coordinate set. The first set of control points refers to a set of control points identified from the first partition collection data. The first control point coordinate set refers to a coordinate set of control points identified from the first partition acquisition data. And acquiring data of the first subarea, and acquiring a three-dimensional point cloud of the first subarea by using an aerial triangulation and beam adjustment algorithm based on the first control point set and the first control point coordinate set. In mine measurement, aerial triangulation can be used to obtain topographic data and measurement data of a mine by calculating coordinate information of control points and photo coordinate information. Specifically, using aerial triangulation involves establishing a conversion relationship between a photo coordinate system and a ground coordinate system. Knowing the coordinate information of the control points, the information can be used to convert the camera coordinates to ground coordinates. The beam adjustment algorithm is used for continuously iterating to optimize the conversion relation between the photo coordinate system and the ground coordinate system so as to obtain a more accurate measurement result. The three-dimensional point cloud data of the area can be further calculated by utilizing the coordinate information of the target point obtained by the aerial triangulation. The three-dimensional point cloud data of the multiple partitions can be obtained by collecting the data of the multiple partitions. After the multiple partitioned three-dimensional point clouds are acquired, common control points in the point clouds need to be identified in order to integrate and model them. Common control points refer to control points that exist in multiple partitioned three-dimensional point clouds that may be used to align and integrate three-dimensional point cloud data for different partitions. Specifically, the identification of common control points includes screening possible common control points from a plurality of partitioned three-dimensional point clouds, and generally selecting points with obvious characteristics and stability as candidate points; candidate points are matched and screened using algorithms and models to determine final common control points, such as SIFT (scale invariant feature transform), SURF (speeded up robust features), and the like. And (3) utilizing the identification result of the common control point, aligning and integrating the plurality of partitioned three-dimensional point cloud data to obtain a target mine point cloud model. Representative image data is selected from the plurality of partitioned acquisition data, which may be a digital surface image, a digital elevation model, or the like. And extracting real image information from the selected image data by using professional image processing software or algorithm. Such information may include color, texture, etc. of the image. And mapping the extracted real image information on the target mine point cloud model by using professional three-dimensional modeling software or algorithm to obtain a mine three-dimensional model. Through the process, a more accurate and complete three-dimensional model of the target mine can be obtained.
In summary, the embodiment of the application has at least the following technical effects:
First, a target mine is determined, and an unmanned aerial vehicle group carrying a laser radar and a high-definition camera is constructed. Next, a flight survey is performed on the target mine using the unmanned aerial vehicle group. In this way, the latest boundary information and elevation information of the target mine are acquired. Then, control points are laid out based on the information, and a control point set is formed. And then, according to the latest boundary information and elevation information of the target mine, a high-altitude flight route is planned for the unmanned aerial vehicle group. Then, the unmanned aerial vehicle group is controlled to fly high altitude according to the plan, so that a target digital surface model is obtained. And then, dividing the area of the target mine according to the target digital surface model and the optimal signal transmission distance of the unmanned aerial vehicle, and obtaining a plurality of mine subareas. Notably, a plurality of overlapping buffer transition areas are arranged between adjacent mine subareas so as to ensure that the unmanned aerial vehicle has enough overlapping areas when the unmanned aerial vehicle is spliced to establish a wide-area mine complete model. Then, a low-altitude ground-imitating flight scheme is planned for the unmanned aerial vehicle group according to the mine subareas and the target digital surface model. According to the scheme, the unmanned aerial vehicle group is controlled to carry out shadowless shooting, so that a plurality of subareas are acquired for collecting data. And finally, carrying out data splicing on the partition acquired data through the control point set. The spliced result is used for carrying out three-dimensional modeling on the target mine, and finally a three-dimensional model of the target mine is obtained. The technical problems that rock mass is shielded by shadow, the contour is deformed and the texture of a ground object is fuzzy when the unmanned aerial vehicle acquires images in the prior art are solved, and the technical effect of shadow-free high-precision modeling is achieved.
Example 2: based on the same inventive concept as the data acquisition and modeling method applicable to the wide area surface mine in the foregoing embodiments, as shown in fig. 2, the present application provides a data acquisition and modeling system applicable to the wide area surface mine, and the system and method embodiments in the embodiments of the present application are based on the same inventive concept. Wherein, the system includes:
the system comprises a construction module 11, a measurement module 12, a model acquisition module 13, a division module 14, a shooting module 15 and a splicing module 16.
The construction module 11 is used for determining a target mine and constructing an unmanned aerial vehicle group based on the target mine, wherein the target mine is a wide area surface mine, and each unmanned aerial vehicle in the unmanned aerial vehicle group is provided with a laser radar and a high-definition camera;
The measurement module 12 is configured to perform flight measurement on the target mine based on the unmanned aerial vehicle group, obtain latest boundary information and elevation information of the target mine, and lay control points based on the latest boundary information and the elevation information of the target mine to obtain a control point set;
The model acquisition module 13 is used for planning a high-altitude flight route for the unmanned aerial vehicle group based on the latest boundary information and the elevation information of the target mine, and controlling the unmanned aerial vehicle group to fly high-altitude according to the planned high-altitude flight route so as to acquire a target digital surface model;
The dividing module 14 is configured to divide the target mine into a plurality of mine subareas according to the optimal signal transmission distance between the target digital surface model and the unmanned aerial vehicle, where overlapping buffer transition areas are provided between adjacent mine subareas;
The shooting module 15 is configured to plan a low-altitude ground-imitation flight scheme for the unmanned aerial vehicle group according to the plurality of mine subareas and the target digital surface model, control the unmanned aerial vehicle group to perform shadowless shooting according to the low-altitude ground-imitation flight scheme in combination with the sun irradiation azimuth time, and acquire a plurality of subarea acquisition data;
And the splicing module 16 is used for carrying out data splicing on the plurality of subareas acquired data through the control point set, and carrying out three-dimensional modeling on the target mine by utilizing a data splicing result to obtain a target mine three-dimensional model.
Further, the measurement module 12 is configured to perform the following method:
Setting a ground control point, and constructing a ground control point network based on the ground control point;
Activating a laser radar and a high-definition camera of each unmanned aerial vehicle in the unmanned aerial vehicle group, and controlling the unmanned aerial vehicle group to acquire data of a target mine according to a preset mine measurement scheme to acquire target mine point cloud data and target mine image data;
And acquiring the latest boundary information and elevation information of the target mine based on the ground control point network, the target mine point cloud data and the target mine image data.
Further, the dividing module 14 is configured to perform the following method:
The interactive signal receiving device acquires the signal receiving coordinates;
performing test flight based on the signal receiving coordinates and the unmanned aerial vehicle group, and determining an optimal signal transmission distance of the unmanned aerial vehicle;
Determining regional range constraint through the optimal signal transmission distance of the unmanned aerial vehicle and the target digital surface model;
and based on the regional range constraint, dividing the target mine into regions according to a preset mine partitioning scheme to obtain a plurality of mine partitioning regions.
Further, the shooting module 15 is configured to perform the following method:
setting a low-altitude ground-imitating flying height constraint function;
determining a low-altitude ground-imitating flying height map of the unmanned aerial vehicle based on the low-altitude ground-imitating flying height constraint function and the target digital surface model;
and planning and generating a low-altitude ground-imitating flight scheme by taking the low-altitude ground-imitating flight height of the unmanned aerial vehicle as constraint.
Further, the shooting module 15 is configured to perform the following method:
the low-altitude ground-imitating flying height constraint function is as follows:
；
wherein, L is the vertical height distance of unmanned aerial vehicle and target mine on arbitrary coordinate point, GSD is the image resolution that high definition camera that unmanned aerial vehicle carried, f is the focal length of high definition camera that unmanned aerial vehicle carried, d is the sensor pixel size of high definition camera that unmanned aerial vehicle carried.
Further, the shooting module 15 is configured to perform the following method:
traversing the mine subareas to obtain a first mine subarea;
judging the sun irradiation azimuth when the first mine subarea is shadowless, and obtaining the sun irradiation azimuth time of the first mine subarea;
And matching and combining the first mine subarea with the solar irradiation azimuth time of the first mine subarea, and adding the first mine subarea and the solar irradiation azimuth time into a low-altitude ground-imitation flight scheme.
Further, the splicing module 16 is configured to perform the following method:
Acquiring a control point coordinate set based on the control point set;
Traversing the plurality of subarea acquisition data to obtain first subarea acquisition data, identifying control points in the first subarea acquisition data, and obtaining a first control point set and a first control point coordinate set;
Acquiring data of the first partition, and acquiring a first partition three-dimensional point cloud by using an aerial triangulation and beam adjustment algorithm based on the first control point set and the first control point coordinate set;
acquiring a plurality of subarea three-dimensional point clouds through the plurality of subarea acquisition data;
identifying common control points in the plurality of regional three-dimensional point clouds, and integrating the plurality of regional three-dimensional point clouds based on a common control point identification result to obtain a target mine point cloud model;
and acquiring data from the multiple subareas to extract a real image, and mapping the real image on the target mine point cloud model to obtain a target mine three-dimensional model.
It should be noted that the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.
The specification and figures are merely exemplary illustrations of the present application and are considered to cover any and all modifications, variations, combinations, or equivalents that fall within the scope of the application. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the scope of the application. Thus, the present application is intended to include such modifications and alterations insofar as they come within the scope of the application or the equivalents thereof.
Claims (4)
1. A data acquisition and modeling method suitable for a wide area surface mine, the method comprising:
Determining a target mine, and constructing an unmanned aerial vehicle group based on the target mine, wherein the target mine is a wide area surface mine, and each unmanned aerial vehicle in the unmanned aerial vehicle group is provided with a laser radar and a high-definition camera;
Performing flight measurement on the target mine based on the unmanned aerial vehicle group, acquiring the latest boundary information and the elevation information of the target mine, and laying control points based on the latest boundary information and the elevation information of the target mine to obtain a control point set;
Planning a high-altitude flight route for the unmanned aerial vehicle group based on the latest boundary information and the elevation information of the target mine, and controlling the unmanned aerial vehicle group to fly high-altitude according to the planned high-altitude flight route to acquire a target digital surface model;
dividing the target mine into a plurality of mine subareas according to the optimal signal transmission distance between the target digital surface model and the unmanned aerial vehicle, wherein overlapping buffer transition areas are arranged between adjacent mine subareas; the method specifically comprises the following steps:
The interactive signal receiving device acquires signal receiving coordinates;
performing test flight based on the signal receiving coordinates and the unmanned aerial vehicle group, and determining an optimal signal transmission distance of the unmanned aerial vehicle;
Determining regional range constraint through the optimal signal transmission distance of the unmanned aerial vehicle and the target digital surface model;
Based on the regional range constraint, dividing the target mine into regions according to a preset mine partitioning scheme to obtain a plurality of mine partitioning regions;
According to the mine subareas and the target digital surface model, planning a low-altitude ground-imitating flight scheme for the unmanned aerial vehicle group, specifically comprising:
setting a low-altitude ground-imitating flying height constraint function; the low-altitude ground-imitating flying height constraint function is as follows:
；
Wherein L is the vertical height distance between the unmanned aerial vehicle and the target mine at any coordinate point, GSD is the resolution of the image shot by the high-definition camera carried by the unmanned aerial vehicle, f is the focal length of the high-definition camera carried by the unmanned aerial vehicle, and d is the sensor pixel size of the high-definition camera carried by the unmanned aerial vehicle;
determining a low-altitude ground-imitating flying height map of the unmanned aerial vehicle based on the low-altitude ground-imitating flying height constraint function and the target digital surface model;
taking the low-altitude ground-imitating flying height of the unmanned aerial vehicle as constraint, and planning and generating a low-altitude ground-imitating flying scheme;
and controlling the unmanned aerial vehicle group to carry out shadowless shooting according to the low-altitude ground-imitation flight scheme by combining the sun irradiation azimuth time to acquire a plurality of subarea acquisition data: traversing the mine subareas to obtain a first mine subarea;
judging the sun irradiation azimuth when the first mine subarea is shadowless, and obtaining the sun irradiation azimuth time of the first mine subarea;
Matching and combining the first mine subarea with the solar irradiation azimuth time of the first mine subarea, and adding the first mine subarea and the solar irradiation azimuth time into a low-altitude ground-imitation flight scheme;
And performing data splicing on the plurality of subareas acquired data through the control point set, and performing three-dimensional modeling on the target mine by using a data splicing result to obtain a target mine three-dimensional model.
2. The method of claim 1, wherein obtaining target mine latest boundary information and elevation information based on the flight measurements of the target mine by the unmanned aerial vehicle group comprises:
Setting a ground control point, and constructing a ground control point network based on the ground control point;
Activating a laser radar and a high-definition camera of each unmanned aerial vehicle in the unmanned aerial vehicle group, and controlling the unmanned aerial vehicle group to acquire data of a target mine according to a preset mine measurement scheme to acquire target mine point cloud data and target mine image data;
And acquiring the latest boundary information and elevation information of the target mine based on the ground control point network, the target mine point cloud data and the target mine image data.
3. The method of claim 1, wherein data stitching is performed on the plurality of partition collected data through the control point set, and the target mine is three-dimensionally modeled by using a data stitching result, so as to obtain a target mine three-dimensional model, including:
Acquiring a control point coordinate set based on the control point set;
Traversing the plurality of subarea acquisition data to obtain first subarea acquisition data, identifying control points in the first subarea acquisition data, and obtaining a first control point set and a first control point coordinate set;
Acquiring data of the first partition, and acquiring a first partition three-dimensional point cloud by using an aerial triangulation and beam adjustment algorithm based on the first control point set and the first control point coordinate set;
acquiring a plurality of subarea three-dimensional point clouds through the plurality of subarea acquisition data;
identifying common control points in the plurality of regional three-dimensional point clouds, and integrating the plurality of regional three-dimensional point clouds based on a common control point identification result to obtain a target mine point cloud model;
and acquiring data from the multiple subareas to extract a real image, and mapping the real image on the target mine point cloud model to obtain a target mine three-dimensional model.
4. A data acquisition and modeling system for a wide area surface mine according to any one of claims 1 to 3, the system comprising:
the construction module is used for determining a target mine and constructing an unmanned aerial vehicle group based on the target mine, wherein the target mine is a wide area surface mine, and each unmanned aerial vehicle in the unmanned aerial vehicle group is provided with a laser radar and a high-definition camera;
the measurement module is used for carrying out flight measurement on the target mine based on the unmanned aerial vehicle group, acquiring the latest boundary information and the elevation information of the target mine, and laying control points based on the latest boundary information and the elevation information of the target mine to obtain a control point set;
The model acquisition module is used for planning a high-altitude flight route for the unmanned aerial vehicle group based on the latest boundary information and the elevation information of the target mine, and controlling the unmanned aerial vehicle group to fly high-altitude according to the planned high-altitude flight route so as to acquire a target digital surface model;
The division module is used for dividing the target mine into a plurality of mine subareas according to the optimal signal transmission distance between the target digital surface model and the unmanned aerial vehicle, wherein overlapping buffer transition areas are arranged between adjacent mine subareas;
The shooting module is used for planning a low-altitude ground-imitating flight scheme for the unmanned aerial vehicle group according to the mine subareas and the target digital surface model, controlling the unmanned aerial vehicle group to carry out shadowless shooting according to the low-altitude ground-imitating flight scheme by combining with the sun irradiation azimuth time, and acquiring a plurality of subarea acquisition data;
and the splicing module is used for carrying out data splicing on the plurality of subareas acquired data through the control point set, and carrying out three-dimensional modeling on the target mine by utilizing a data splicing result to obtain a target mine three-dimensional model.
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