CN101750015B - Gravel pit earth volume measuring method based on digital image technology - Google Patents
Gravel pit earth volume measuring method based on digital image technology Download PDFInfo
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- CN101750015B CN101750015B CN2009102628527A CN200910262852A CN101750015B CN 101750015 B CN101750015 B CN 101750015B CN 2009102628527 A CN2009102628527 A CN 2009102628527A CN 200910262852 A CN200910262852 A CN 200910262852A CN 101750015 B CN101750015 B CN 101750015B
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Abstract
A gravel pit earth volume measuring method based on digital image technology adopts a palm computer, a GPS receiver and a digital camera to realize the digital acquisition and recording of field information. During field measurement, the GPS receiver distributes control points and collects the three-dimensional coordinates of the control points; the software running on the palm computer receives GPS positioning results in real-time through the GNSS network and generates a GPSPoint point coverage and gravel pit boundary coverage; a proper control is selected to erect a marker post, two signboards are arranged on the marker post and used as the photo control points, the digital camera is adopted to take photos of the gravel pit and the marker post; when the field operation is over, the photos and the field acquisition data are uploaded to an interior work data processing system; according to the control point coverage, a single photo is utilized to resolve the photo information, and then the three-dimensional coordinates of the internal point of the gravel pit are obtained through three-dimensional relative calculation; a triangular network model of the gravel pit is constructed andis calculated to obtain the depth and earth volume of the gravel pit.
Description
Technical field
The present invention relates to the measuring method of gravel pit earth volume, particularly a kind of gravel pit earth volume measuring method based on Digital image technology belongs to land management electronic information technical field.
Background technology
Along with the quickening of national urbanization paces and the development of every building cause, China's sandstone ore deposit exploitation rate is accelerated gradually, but mostly based on middle and small scale.From middle and later periods nineteen nineties to the beginning of this century; quickening along with Urbanization in China; the particularly fast development of real estate and road-based infrastructure construction; there is great demand in large, medium and small city to the sandstone material; digging husky mining phenomenon constantly aggravates; once reaching runaway condition, and the behavior corporatization of digging sand, scale and mechanization feature are fairly obvious.The existence in sandstone holes not only worsens ecologic environment, destroys valuable land resource, also urban construction and city management and the reallocation of land has been caused adverse influence, and it is most important therefore to administer and repair the sandstone hole.
Measurement means with prior art is cheated the degree of depth and scale and the gravel pit earth volume that on-site investigation mainly comprises the sandstone hole to sandstone, from several respects analyses such as precision, production cycle, production cost and restriction conditions, exists obviously not enough:
(1) airborne laser scanner (aviation LIDAR): the LIDAR system all is furnished with the CCD camera usually when work, gather the ground point three-dimensional data along surveying design course line, district during work, can handle obtaining surveying district's orthography and ground elevation model (DEM) after data are obtained and finished.LIDAR ground acquisition precision is quite high, and the production cycle is shorter, is subjected to the constraint of meteorological condition also smaller than aeroplane photography.But production cost generally is applicable to the large-scale terrain measurement still than higher.
(2) territorial laser scanning instrument (ground LIDAR): ground LIDAR adopts contactless high-rate laser metering system, scanner is launched laser to target, according to the mistiming of Laser emission and reception, calculate the distance of corresponding measured point and scanner, follow again according to level to vertical to stepping angle apart from value, calculate the three-dimensional coordinate of measured point in real time, promptly obtain the array geometry data of landform and complex object three-dimensional surface with the form of a cloud.Precision is very high, and operation of equipment is simple, the automaticity height.But the production cost height, and compare aviation LIDAR, the laser power of ground LIDAR is much smaller, so about the most 300m of its maximum measuring distance (reflectivity is greater than under 80% the condition), and ground surface reflectance is then lower in the sand pit below 20% morning usually.
(3) field operation actual measurement: in the field operation actual measurement, distributing GPS reference mark at first, adopt the gps satellite receiver to carry out the collection of reference mark data, with the data that total powerstation replenishes the point that GPS can't collect, the landform of measuring appropriate section in the sandstone hole efficiently, at low cost changes.But all can there be complete, the inaccurate situation of data acquisition in this field operation actual measurement, such as does not have point or lack point below top the having a few such as landform variation place Ru Gou, bank, dike, slope, also can be subjected to the influence of weather and environment.
Summary of the invention
The objective of the invention is to overcome the prior art weak point, a kind of gravel pit earth volume measuring method based on Digital image technology is provided, adopts close-shot photography measure technique, based on palm PC and digital camera, based on GPS/RTK and double-flag bar, realized the field data acquisition robotization, removed total powerstation from and lay and adopt a little that equipment is simple, easy to operate, with short production cycle, significantly reduced the field process amount, reduced cost.
For achieving the above object, the technical scheme that the present invention takes is: a kind of gravel pit earth volume measuring method based on Digital image technology is characterized in that being provided with:
(1) is used for the GNSS network of global positioning satellite;
(2) field data acquisition system: comprise that operating system is Windows Mobile 5.0 and above version and palm PC, digital camera, the GPS/RTK equipment that the field data acquisition software is installed;
(3) interior industry data handling system: industry data processing software and hardware in being provided with comprises .NET Framework2.0 and the interior computing machine of data handling system already is installed;
At first carrying out field operation measures, according to sandstone hole landform, lay the reference mark at the sandstone pit edge, operate in the field operation software of palm PC, receive the GPS positioning result, be presented on the palm PC in real time and be kept in the GPSPoint point diagram layer of field operation software by the GNSS network real-time, then GPSPoint point diagram layer being carried out screen gets a little, the reference mark of being laid is connected in order successively, constitute border, sand pit line chart layer, be kept among the PDA; Select the reference mark, these reference mark as picture control point, on these picture control points, set up the double-flag bar, with digital camera cave in district and double-flag bar of sandstone holes taken pictures, with photo and field data acquisition data upload to interior industry data handling system, according to GPSPoint point diagram layer and photo, resolve individual photo information, resolve the three-dimensional coordinate that obtains sandstone hole internal point by stereogram then, utilize border, sandstone hole line chart layer file to set up triangulation network model, triangulation network model is calculated, obtain the sandstone hole degree of depth and earth volume.
Said method can be undertaken by following concrete steps:
(1) striograph imports: interior industry data handling system is downloaded map datum by the access chart database, and these data are imported in the palm PC of field data acquisition system by data line, and it is on-the-spot to navigate to the sandstone hole;
(2) gather sandstone hole boundary Control dot information: the boundary characteristic point place in the sandstone hole lays the reference mark, the field operation software that operates in palm PC receives the GPS positioning result by the GNSS network real-time, and be presented on the palm PC in real time, these points are kept in the GPSPoint point diagram layer of field operation software automatically, then GPSPoint point diagram layer being carried out screen gets a little, connect successively in order, constitute border, sand pit line chart layer, be kept among the PDA; Select the reference mark as picture control point, it is right that these picture control points should guarantee to constitute four photo pictures, to obtaining the internal point of caving in and distinguish in the sandstone hole, set up the double-flag bar by these four photo pictures, promptly on the mark post of a picture control point, lay two survey marks at picture control point;
(3) digital camera is taken pictures on the spot: digital camera is cheated the direction of inner landform and is taken stereogram from reflecting sandstone, the camera angle of forming stereogram should be greater than 45 ° and less than 135 °, the sandstone hole should be in the centre position of photo, and comprise three double-flag bars in every photo at least, variation along with photography direction, label should be able in time positively be aimed at photography direction, to improve the label imaging effect;
(4) the field operation software that operates in palm PC saves as the shapefile formatted file with all spaces and attribute information, finishes until the field data collecting work;
(5) industry data handling system in the field data importing: the digital photo that the control point diagram layer and the digital camera of field data acquisition generation are taken pictures imports interior industry data handling system by data line;
(6) individual photo resolves photographic information: based on GPSPoint point diagram layer, utilize the two dimensional surface coordinate on photograph of picture control point and the three dimensional space coordinate of field data acquisition, utilize photogrammetric Theory, calculate the elements of interior orientation of digital photo, the elements of exterior orientation and the distortion factor of photograph, wherein, elements of exterior orientation comprises the camera positions parameter X
S, Y
S, Z
SWith the photography attitude parameter
ω, κ, elements of interior orientation comprise the image coordinate x of shadow objective focal length f and photo principal point
0, y
0(the two is 0 in this algorithm), photo principal point are the intersection point point of object lens center on photo, and the object lens distortion factor is k
1
(7) stereogram is resolved sandstone hole internal point coordinate information: according to some inner unique points of sandstone hole, utilize the forward intersection principle of stereogram, calculate the 3 d space coordinate of these unique points, these unique points are kept in the inner point diagram layer in sand pit, form the data (TIN) that make up the TIN model jointly with border, the sand pit line chart layer that field operation obtains;
(8) Earthwork Calculation: according to the data of field data acquisition data and the processing of interior industry, utilize sandstone hole frontier point to make up first phase TIN, under first phase TIN, insert sandstone hole internal point, set up second phase TIN, two phase TIN subtract each other, thereby try to achieve gravel pit earth volume, and can obtain the degree of depth in sandstone hole.
Advantage of the present invention and remarkable result:
(1) design of novelty the gravel pit earth volume new measurement method, based on palm PC and digital camera, GPS/RTK and two labels are auxilliary, realize the total digitalization collection and the record of field operation information, field operation equipment is simple, workload is little.Palm PC can show the locating information of GPS in real time, and border, recorded and stored sandstone hole point diagram layer; The sandstone hole photo that digital camera is taken can provide abundant sand pit information, utilizes individual photo and stereogram to resolve and can obtain the three-dimensional coordinate that sandstone are cheated internal point.
(2) design of novelty the form of " bar two mark " in the field data acquisition, just on the mark post that is erected at a reference mark, lay two survey mark boards, this method not only can reduce the laying quantity at reference mark, can improve measuring accuracy simultaneously.
(3) design of novelty interior industry data handling system, base map information in conjunction with palm PC, the picture control point figure layer that GPS/RTK obtains, in interior industry system, carry out overall treatment with digital photo, obtain the internal point in sandstone hole, and then make up the triangulation network model that sandstone are cheated, and carry out Earthwork Calculation, simple and convenient.
The present invention can be applicable to following field or industry:
(1) planning department is used for the reallocation of land;
(2) territory department is used for the improvement of sandstone hole and repairs;
(3) land resources department is used for mineral products calculating.
Description of drawings
Fig. 1 is system's connection diagram of the inventive method;
Fig. 2 is that field data is gathered synoptic diagram;
Fig. 3 is a data flow diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is further described.
As Fig. 1, be provided with based on the earth volume measuring method of close-shot photography measure technique
(1) is used for the GNSS network of global positioning satellite;
(2) field data acquisition system: operating system is Windows Mobile 5.0 and above version and of one of palm PC, digital camera, GPS/RTK equipment one cover that the field data acquisition software is installed;
In industry data handling system: .NetFramework 2.0 and be equipped with in one in the computing machine of industry data handling system.
Before carrying out the field operation measurement, earlier the palm PC of having disposed the field data acquisition software is carried out parameter configuration and be connected with network; When carrying out the field operation measurement, lay the reference mark, operate in the field operation software of palm PC, receive the GPS positioning result by the GNSS network real-time, and be presented in real time on the palm PC, these points are kept in the GPSPoint point diagram layer of field operation software automatically, then it being carried out screen gets a little, connect successively in order, constitute border, sand pit line chart layer, be kept among the PDA; Select suitable reference mark to set up mark post, lay two Sign Boards on the mark post, i.e. " the two marks of a bar " are as picture control point; With digital camera taken pictures in sandstone hole and Sign Board; After field process finishes, with photo and field data acquisition data upload interior industry data handling system extremely; Based on GPSPoint point diagram layer, utilize individual photo to resolve photo information, by cubic phase clearing are obtained the three-dimensional coordinate of sandstone hole internal point then; Make up the triangulation network model in sandstone hole, triangulation network model is calculated, obtain the sandstone hole degree of depth and earth volume.
As Fig. 2, field data collecting flowchart of the present invention is:
At first lay the reference mark, operate in the field operation software of palm PC, receive the GPS positioning result by the GNSS network real-time, and be presented on the palm PC in real time, these points are kept in the GPSPoint point diagram layer of field operation software automatically, then it are carried out screen to get a little, connect successively in order, constitute border, sand pit line chart layer, be kept among the PDA; According to in-site measurement, the field operation software that operates in palm PC can obtain the GPSPoint point diagram layer and border, the sand pit line chart layer in sand pit; Select suitable reference mark to set up mark post, lay two Sign Boards on the mark post, as picture control point; With digital camera taken pictures in sandstone hole and Sign Board; Repeat above-mentioned steps, finish until field process.When reality is tested, laid 13 reference mark, the field operation software that operates in palm PC receives the positioning result at these 13 reference mark by the GNSS network real-time, obtains its three-dimensional coordinate; Select No. 1 point, No. 2 points, No. 3 points, No. 4 points, No. 5 points, No. 7 points, No. 10 points, No. 12 points and No. 13 points set up the double-flag bar as identification point (picture control point) on these aspects; Different from afar angles are taken pictures to it, shooting is as right, it is right that this experiment has obtained four pairs of pictures, first pair all comprises No. 1 point, No. 2 points, No. 3 points and No. 4 points as every right photo, second pair comprises No. 3 points, No. 4 points, No. 5 points and No. 7 points as every right photo, the 3rd pair comprises No. 7 points, No. 4 points, No. 10 points and No. 12 points as every right photo, and the 4th pair comprises No. 12 points, No. 10 points, No. 13 points and No. 4 points as every right photo.
As Fig. 3, the inventive method specifically may further comprise the steps:
(1) striograph imports: interior industry data handling system is downloaded map datum by the access chart database, and these data are imported in the palm PC of field data acquisition system by data line, and it is on-the-spot to navigate to the sandstone hole.
(2) gather sandstone hole boundary Control dot information: on the boundary characteristic point in sandstone hole, lay the reference mark, the field operation software that operates in palm PC receives the GPS positioning result by the GNSS network real-time, and be presented on the palm PC in real time, these points are kept in the GPSPoint point diagram layer of field operation software automatically, then it being carried out screen gets a little, connect successively in order, constitute border, sand pit line chart layer, be kept among the PDA, select suitable reference mark to set up mark post, lay two Sign Boards on the mark post, as picture control point.
(3) digital camera is taken pictures on the spot: digital camera is cheated the direction of inner landform and is taken stereogram from reflecting sandstone, and the camera angle of forming stereogram should be greater than 45 ° and less than 135 °.The sandstone hole should be in the centre position of photo, and comprises three double-flag bars at least in every photo.Along with the variation of photography direction, label should be able in time positively be aimed at photography direction, to improve the label imaging effect.
(4) the field operation software that operates in palm PC saves as the shapefile formatted file with all spaces and attribute information, finishes until the field data collecting work.
(5) industry data handling system in the field data importing: the digital photo that the control point diagram layer and the digital camera of field data acquisition generation are taken pictures imports interior industry data handling system by data line.
(6) individual photo resolves photographic information: based on GPSPoint point diagram layer, utilize the two dimensional surface coordinate on photograph of picture control point and the three dimensional space coordinate of field data acquisition, utilize photogrammetric Theory, calculate the elements of interior orientation of digital photo, the elements of exterior orientation and the distortion factor of photograph.Wherein, elements of exterior orientation comprises the camera positions parameter X
S, Y
S, Z
SWith the photography attitude parameter
ω, κ, elements of interior orientation comprise the image coordinate x of shadow objective focal length f and photo principal point
0, y
0(the two is 0 in this algorithm), photo principal point are the intersection point point of object lens center on photo.The object lens distortion factor is k
1
(7) stereogram is resolved sandstone hole internal point coordinate information: according to some inner unique points of sandstone hole, utilize the forward intersection principle of stereogram, calculate the 3 d space coordinate of these unique points, these unique points are kept in the inner point diagram layer in sand pit, form the data that make up triangulation network model jointly with border, the sand pit line chart layer that field operation obtains.
(8) Earthwork Calculation: according to the data of field data acquisition data and the processing of interior industry, utilize sandstone hole frontier point to make up first phase TIN model TIN, under first phase TIN, insert sandstone hole internal point, set up second phase TIN, two phase TIN subtract each other, thereby try to achieve gravel pit earth volume, and can obtain the degree of depth in sandstone hole.
Claims (2)
1. gravel pit earth volume measuring method based on Digital image technology is characterized in that being provided with:
(1) is used for the GNSS network of global positioning satellite;
(2) field data acquisition system: comprise that operating system is Windows Mobile 5.0 and above version and palm PC, digital camera, the GPS/RTK equipment that the field data acquisition software is installed;
(3) interior industry data handling system: industry data processing software and hardware in being provided with comprises .NET Framework2.0 and the interior computing machine of data handling system already is installed;
At first carrying out field operation measures, according to sandstone hole landform, lay the reference mark at the sandstone pit edge, operate in the field data acquisition software of palm PC, receive the GPS positioning result by the GNSS network real-time, be presented on the palm PC in real time and be kept in the GPSPoint point diagram layer of field data acquisition software; Then GPSPoint point diagram layer is carried out screen and get a little, the reference mark of being laid is connected in order successively, constitute border, sand pit line chart layer, be kept in the palm PC; Select the reference mark, these reference mark as picture control point, on these picture control points, set up the double-flag bar, with digital camera cave in district and double-flag bar of sandstone holes taken pictures, with photo and field data acquisition data upload to interior industry data handling system, according to GPSPoint point diagram layer and photo, resolve individual photo information; Resolve the three-dimensional coordinate that obtains sandstone hole internal point by stereogram at last, utilize border, sandstone hole line chart layer file to set up triangulation network model, triangulation network model is calculated, obtain the sandstone hole degree of depth and earth volume.
2. according to the described gravel pit earth volume measuring method of claim 1, it is characterized in that according to the following steps based on Digital image technology:
(1) at first, striograph is imported, interior industry data handling system is downloaded map datum by the access chart database, and these data are imported in the palm PC of field data acquisition system by data line, and it is on-the-spot to navigate to the sandstone hole; Gather sandstone hole boundary Control dot information, boundary characteristic point place in the sandstone hole lays the reference mark, the field data acquisition software that operates in palm PC receives the GPS positioning result by the GNSS network real-time, and be presented in real time on the palm PC, these points are kept in the GPSPoint point diagram layer of field data acquisition software automatically;
(2) then, GPSPoint point diagram layer is carried out screen get a little, connect successively in order, constitute border, sand pit line chart layer, be kept in the palm PC; Select the reference mark as picture control point, it is right that these picture control points should guarantee to constitute four photo pictures, to obtaining the internal point of caving in and distinguish in the sandstone hole, set up the double-flag bar by these four photo pictures, promptly on the mark post of a picture control point, lay two survey mark boards at picture control point; Take pictures on the spot with digital camera, digital camera is cheated the direction of inner landform and is taken stereogram from reflecting sandstone, the camera angle of forming stereogram should be greater than 45 ° and less than 135 °, the sandstone hole should be in the centre position of photo, and comprise three double-flag bars in every photo at least, along with the variation of photography direction, the survey mark board should be able in time positively be aimed at photography direction, to improve the label imaging effect; The field data acquisition software that operates in palm PC saves as the shapefile formatted file with all spaces and attribute information, finishes until the field data collecting work; The digital photo that the control point diagram layer and the digital camera of field data acquisition generation are taken pictures imports interior industry data handling system by data line; Based on GPSPoint point diagram layer, utilize the two dimensional surface coordinate on photograph of picture control point and the three dimensional space coordinate of field data acquisition, utilize photogrammetric Theory, calculate the elements of interior orientation of digital photo, the elements of exterior orientation and the distortion factor of photo, wherein, elements of exterior orientation comprises the camera positions parameter X
S, Y
S, Z
SWith the photography attitude parameter
ω, κ, elements of interior orientation comprise the image coordinate x of shadow objective focal length f and photo principal point
0, y
0, x
0, y
0Be 0, the photo principal point is the intersection point point of object lens center on photo, and the object lens distortion factor is k
1
(3) last, according to the inner unique point of getting of appointing in the sandstone hole, utilize the forward intersection principle of stereogram, calculate the 3 d space coordinate of these unique points, these unique points are kept in the inner point diagram layer in sand pit, form the data that make up the TIN model jointly with border, the sand pit line chart layer that field operation obtains; Data according to field data acquisition data and the processing of interior industry, utilize sandstone hole frontier point to make up first phase TIN model, under first phase TIN model, insert sandstone hole internal point, set up second phase TIN model, the value of two phase TIN models is subtracted each other, thereby try to achieve gravel pit earth volume, and can obtain the degree of depth in sandstone hole.
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| CN104089607A (en) * | 2014-07-11 | 2014-10-08 | 北京林业大学 | Normal case photography forest metrology method through common digital camera |
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| CN109059865B (en) * | 2018-06-20 | 2020-08-28 | 桂林电子科技大学 | Earthwork measuring method, system and device |
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| CN112903552A (en) * | 2021-02-09 | 2021-06-04 | 南京宥安传感科技有限公司 | Device and method for measuring sand and mud content of water measuring weir |
| CN116754039B (en) * | 2023-08-16 | 2023-10-20 | 四川吉埃智能科技有限公司 | Method for detecting earthwork of ground pit body |
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