CN101865690B - Three-dimensional topographical feature observation method - Google Patents
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- CN101865690B CN101865690B CN2010101446897A CN201010144689A CN101865690B CN 101865690 B CN101865690 B CN 101865690B CN 2010101446897 A CN2010101446897 A CN 2010101446897A CN 201010144689 A CN201010144689 A CN 201010144689A CN 101865690 B CN101865690 B CN 101865690B
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Abstract
The invention relates to a method capable of observing the three-dimensional ditch and slop micro topographical feature in real time, which belongs to the field of topographic form measurement. The invention is characterized in that the method comprises the following steps: emitting laser positioning rays and laser positioning point spots to a measured ditch and slop surface by a topographic form positioning device, wherein the laser positioning rays track the topographic form change in real time and positions the topographic form space positions, and the laser positioning points are used as control points of dimension determination and deformation correction on the topographical feature video sectional drawing; using an image data collection device for collecting the space coordinate information of point groups of the ditch and slop surface in real time; intercepting the topographical feature images before and after the time of the ditch and slop topographic form change, forming digital models before and after the time of the ditch and slop topographic form change after the processing by computer software, and finally realizing the non-contact type quantitative observation on any time of the three-dimensional ditch and slop micro topographical feature. The invention is applicable to the quantitative study on the ditch and slop micro topographical feature change process, and is particularly applicable to the quantitative study on the ditch and slop gravity etching process.
Description
Technical field
The invention belongs to the topographical surveying technical field, relate to the method for three-dimensional ditch slope microtopography real-time quantitative observation.
Background technology
Along with people's topographical surveying area research deepen continuously and the development of advanced technologies such as laser technology, optical technology, ultrasonic technology, computer technology and image processing techniques, topographical surveying method develop into contactless measurements rapidly and efficiently such as 3 D laser scanning, ultrasonic measurement, close-range photogrammetry by the contact measurement method that traditional spirit-leveling instrument adds the transit single-point.At present, the observation technology of testing landforms among a small circle mainly is divided into following several types both at home and abroad:
The first kind; Three-dimensional laser is swept technology; Through the laser beam of returning through target surface to target surface emission pulse laser bundle and acceptance; With the three-dimensional coordinate of the accurate Measuring Object surface point of laser positioning principle, with the colored and 3 D stereo view of mode true reappearance testee of a large amount of spatial point or some cloud.The existing a lot of engineering example of releasing like Lycra company of Cyra three-dimensional laser scanning system (Fan Haiying, Yang Lun, the engineering Application Research [J] of .Cyra three-dimensional laser scanning systems such as Xing Zhihui. mine surveying, 2004 (3): 16-18).Three-dimensional laser scanner generally is to adopt the laser dot-matrix scan mode through tested zone, and accomplish a large amount of point group measurements needs certain hour, and most of at present research just utilizes three-dimensional laser scanner that static object is carried out high-acruracy survey.Simultaneously, three-dimensional laser scanner is a black box system, is difficult to calibration, and is difficult in maintenance, and equipment cost is high.
Second type, close range photogrammetry method is based on the binocular parallax principle, through the relative position of known 2 video cameras, obtains the three-dimensional coordinate of unique point on the interior object of public view field.Many baselines digital close range photogrammetry (Zhang Zuxun of system of development such as Zhang Zuxun; Yang Shengchun, Zhang Jianqing etc. many baseline-digital close range photogrammetry [J]. geospatial information, 2007; 5 (1): 1-4), at the three-dimensional measurement and the existing successful Application instance of deformation observation of degree of precision.In the close-range photogrammetry process, generally need pre-service is carried out on the measured target surface, like artificial target who does respective numbers at target surface and the reference mark of laying respective numbers etc., belong to contact type measurement; In the measuring process, the reference mark of the known spatial coordinate of respective numbers must be arranged in each image that requires to take, must be provided with more than 2 and take the photograph the station, observation time is longer, only is applicable to the measurement of static object.The matching algorithm of picture point and process are all very complicated simultaneously, and this has also limited the efficient of measuring to a certain extent and has promoted the use of scope.
The 3rd type, ultrasonic technology is a kind of based on the echolocation principle, utilizes hyperacoustic emission, propagates, penetrates and performance such as reflection is surveyed the technology of topography and geomorphology.Ultrasonic Topographical indicator has been realized the noncontacting measurement of landform; Interference to landform is little, can in the laboratory, accurately survey the topography, and (vast stretch of wooded country is upright to found the ultrasonic Topographical indicator that waits development like vast stretch of wooded country; Qu Zhaosong; Wang Xingkui. the digital signal processing of the ultrasonic Topographical indicator of river model [J]. hydropower, 2004,30 (11): 78-80).In air; Because sonic propagation speed can not show a candle to fast and echo signal sound wave of the velocity of propagation of light and also is interfered easily; So ultrasonic Topographical indicator is difficult to realization and obtains a large amount of spatial point of measured target or the volume coordinate of some cloud at short notice, is not suitable for ground dynamic object observation.
Up to the present; Both at home and abroad mostly be to utilize a kind of technology development high precision in laser positioning, audiolocation, the technology such as photogrammetric, the topographical surveying device of superhigh precision; These measuring equipments have high input, and technological means is single, are not suitable for dynamic object is carried out quantitative observation.Soil erosion, the soil erosion of China is to have risen to maximum environmental problem, and the loss that brings grows with each passing day, and has become a problem that must be solved as early as possible.For a long time, around corroding the quantitative observation aspect, lack suitable observation method to mass erosion real-time quantitative observation aspect, ditch slope especially always.Therefore, a kind of gordian technique that can become ditch slope mass erosion Quantitative study of invention to the topographic meter that Three-Dimensional Dynamic ditch hillside fields shape is carried out accurately efficient, contactless quantitative observation and simple and easy economy.
Summary of the invention
It is a kind of under ditch slope microtopography generation continually varying condition that the present invention provides; Obtain the volume coordinate information of the domatic point group of tested ditch in real time, realize any observation three-dimensional ditch slope microtopography volume, area, gradient distribution value constantly carried out the technical method of noncontact quantitative observation.
The present invention utilizes landform locating device and image data acquiring device to obtain the volume coordinate information of the domatic point group of ditch in real time; Through intercepting geomorphologic map picture in the observation video recording, import computing machine after treatment, form the digital model on tested ditch slope, realize three-dimensional ditch slope microtopography is observed contactless quantitative observation constantly arbitrarily.
Technical scheme of the present invention is following:
Its mesorelief locating device is formed by surveying bridge, laser positioning stigma emitter and constant voltage dc source; The image data acquiring device is made up of the computing machine and the video camera of band laser aiming instrument.
Survey bridge and be made up of one group of word line laser module, laser module trimming rack, survey bridge girder, survey bridge cover plate and supply line, the length of surveying bridge is by definite by the sloping scope of observation ditch; Word line laser module can adopt ruddiness, two kinds of photochromic models of green glow; Power can adopt 50～100mW; Quantity is required to confirm by tested ditch slope scope and accuracy of observation; The word line laser module of the photochromic model of a plurality of differences is surveyed on the bridge girder through parallel respectively being laid in of laser module trimming rack, between adopt parallel circuit to connect, by constant voltage dc source 3～5V is provided voltage; After the energising, word line laser module to one group of known separation of the domatic emission of tested ditch, be parallel to each other and continuous sector laser.One group of apparent laser positioning line of the domatic crossing formation of sector laser and ditch, the domatic landform of real-time follow-up ditch change and locus, locating groove slope.
With the plane of sector laser vertical on, the distance of each root laser positioning line between the projection line on this plane is design pitch, then can realize the domatic one dimension location on this direction of ditch; With the plane of sector laser parallel on, the laser positioning line directly reflects the landform actual change at the projection line on this plane, then can realize the domatic two-dimensional localization on this plane of ditch.Therefore, each root laser positioning line just can reflect that the three dimensions of the domatic landform counterpart of ditch changes.Suppose tested ditch slope along making the n equal portions perpendicular to the direction of face laser plane; When n was enough big, then soil layer was enough thin, and the available n part soil layer in ditch slope replaces; N bar laser positioning line just can be described domatic terrain feature variation so, realizes the three-dimensional Kinematic Positioning of whole tested ditch hillside fields shape.
Laser positioning stigma emitter is made up of stigma formula laser and fixed supported slab.Stigma formula laser can be selected ruddiness or green glow for use; Power can be selected 5～50mW for use; Quantity confirmed by the domatic scope of tested ditch, evenly is laid on the fixed supported slab with the sector laser parallel, and the energising back is sent one group and is parallel to each other and the laser rays vertical with the sector laser plane to ditch is domatic.This group laser rays and the bright laser positioning stigma of the domatic crossing formation of ditch, the domatic landform of real-time follow-up ditch changes.
The relative tertiary location of laser positioning stigma subpoint on the sector laser plane is constant, and the distance between the each point is a design load, so on the sector laser plane, can obtain one group of planar point coordinate.According to this group planar point coordinate can to camera acquisition to ditch hillside fields shape image carry out the size calibration and proofread and correct with distortion, for the landform three-dimensional reconstruction provides base map of topography really and accurately.
Video camera adopts colored industrial camera; The coupling camera lens can select for use deformation rate less than 1% low distortion industrial lens; Laser positioning line that the ditch that camera acquisition arrives is domatic and laser positioning stigma should be clear distinguishable; The laser aiming instrument power that is fixed on the video camera can be selected 50～100mW, launches the track laser rays that is parallel to the video camera primary optical axis; Through adjustment track laser rays direction, can regulate video camera primary optical axis aspect quickly and accurately; In the shooting process, the video camera primary optical axis is all the time perpendicular to the sector laser plane.Take domatic dynamic change and the locus of going up laser positioning line and laser positioning stigma of ditch through video camera, gather the volume coordinate information of the domatic point group of tested ditch and the overall process of the domatic dynamic change of monitoring ditch in real time.
Geomorphologic map picture in the observation video recording before and after the intercepting ditch hillside fields deformationization moment; Import in the computer software; Coordinate figure according to laser positioning stigma known set carries out size calibration and distortion correction to the landforms image, successively the laser positioning line in the image is carried out assignment according to the known separation between each sector laser, and is converted into isoline; Isoline is carried out interpolation processing obtain the surperficial intensive point group in ditch slope; Set up the tested ditch slope digital model of moment front and back then, pass through inquiry at last, compare the ditch slope model bulking value of calculation time front and back, realization is to the contactless quantitative observation when inferior ditch hillside fields shape variable quantity.
The invention has the beneficial effects as follows the volume coordinate information that to gather the topographical surface point group of three-dimensional ditch slope microtopography in dynamic changing process in real time; The contactless quantitative observation that can realize the sloping volume change of any time ditch in the deformation process over the ground reaches the observation to the parameter value variation processes such as volume, area and gradient distribution on tested ditch slope; Whole system has higher observed efficiency and accuracy of observation, is applicable to the quantitative observation of ditch slope mass erosion process.
Description of drawings
Accompanying drawing 1 is a fundamental diagram of the present invention.
Accompanying drawing 2 is first kind of survey bridge structural map of the present invention.
Accompanying drawing 3 is second kind of survey bridge structural map of the present invention.
Accompanying drawing 4 is survey bridge longitudinal diagrams of the present invention.
Accompanying drawing 5 is survey bridge drawings in side sectional elevation of the present invention.
Among the figure: 1 word line laser module; 2 laser module trimming racks; 3 supply lines; 4 video cameras;
5 video camera primary optical axis; 6 computing machines; 7 survey bridge girder; 8 survey the bridge cover plate; 9 laser emitting holes;
10 cover plate side coupling bolts; 11T type bolt; 12 sector laser; 13 ditches are domatic;
14 laser positioning lines; 15 survey the bridge fixed sturcture; 16 laser aiming instruments;
17 stigma formula laser; 18 track laser rays; 19 laser positioning stigmas;
20 constant voltage dc sources; 21 fixed supported slabs.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
The three-dimensional topographical feature observation method concrete steps are following:
Before the microtopography of tested ditch slope; Fix, regulate survey bridge direction position through surveying bridge fixed sturcture 15; Survey in the bridge word line laser module 1 energising back through survey on the bridge cover plate 8 laser emitting hole 9 to one group of known separation of domatic 13 emissions of ditch, be parallel to each other and continuous sector laser 12; Intersect one group of apparent laser rays position line 14 of formation with ditch domatic 13, domatic 13 landform of this group laser rays real-time follow-up ditch change and locate the locus on dynamic ditch slope.See Fig. 1.
Wherein, surveying bridge is made up of one group of word line laser module 1, laser module trimming rack 2, survey bridge girder 7, survey bridge cover plate 8 and supply line 3.Survey bridge employing industrial aluminum profile, length is connected with survey bridge fixed sturcture 15 web joints through T type bolt 11 by being confirmed by the sloping scope of observation ditch, regulates survey bridge integral positions by 3 leveling serews surveying on bridge fixed sturcture 15 base plates.
The quantity of word line laser module 1 is required to confirm by the scope and the accuracy of observation on tested ditch slope; Between adopt parallel circuit to connect; With supply line 3 3～5V is provided voltage by constant voltage dc source 19, surveys on the bridge girder 7 through laser module trimming rack 2 parallel being laid in; Survey the scale mark that bridge girder 7 has degree of precision, can regulate sector laser design pitch quickly and accurately; Surveying bridge cover plate 8 is a trench structure, is connected with survey bridge girder 7 through cover plate side binder bolt 10.See Fig. 2 or Fig. 3.
Above the tested ditch domatic 13 and on the fixed supported slab parallel, evenly lay and be no less than the stigma formula laser 17 that 4 power can be 5～50mW with sector laser 12; Adopt parallel circuit to connect between the stigma formula laser 17; By specified constant voltage dc source 19 electric power is provided; The energising back is sent one group to ditch domatic 13 and is parallel to each other and the laser rays vertical with the sector laser plane, intersects with ditch domatic 13 to form bright laser positioning stigma 19; The relative position of laser positioning stigma 19 between the subpoint on sector laser 12 planes should be set according to domatic 13 sizes of ditch, should reach even distribution requirement; The domatic landform of laser positioning stigma 19 real-time follow-up ditches changes, as landforms video recording sectional drawing size calibration and distortion corrected control point.
Step 3.1 is regulated track laser rays 18 directions that laser aiming instrument 16 is launched on the video camera 4, itself and video camera primary optical axis 5 is paralleled and laser aiming instrument 16 is fixed on this direction position; Afterwards, through adjustment track laser rays 18 directions, make the video camera primary optical axis vertical with sector laser 12 planes.
Step 3.2; Through the dynamic change and the shape locus, ditch hillside fields of laser positioning line 14 and laser positioning stigma 19 on the video camera 4 real-time shooting ditches domatic 13, gather the volume coordinate information of the domatic point group of tested ditch and the overall process of domatic 13 dynamic changes of monitoring ditch in real time; The data of utilizing computing machine 6 real-time storage video cameras 4 to gather.In shooting process, video camera primary optical axis 5 is all the time perpendicular to sector laser 12 planes and make tested ditch domatic 13 in video camera 4 shooting central areas.Wherein, video camera adopts colored industrial camera and camera lens, and camera lens can select for use deformation rate less than 1% low distortion industrial lens, and laser positioning line that the ditch that camera acquisition arrives is domatic and laser positioning stigma should be clear distinguishable.
Step 4
Geomorphologic map picture before and after the slope mass erosion of intercepting ditch takes place constantly in the observation video recording; Import in the computer software; Coordinate figure according to laser positioning stigma 19 known set carries out size calibration and distortion correction; Laser positioning line (14) in the image is carried out assignment and is converted into isoline, isoline is carried out interpolation, form mass erosion the ditch slope digital model of front and back constantly takes place; Can inquire about the volume that obtains the sloping body of actual ditch according to model, then the sloping body volume before and after the mass erosion generation is poor, is when the subgravity erosion amount.
Claims (1)
1. three-dimensional topographical feature observation method; Utilize three-dimensional landform observing device, obtain the volume coordinate information of tested ditch domatic (13) point group in real time, after computing machine (6) software processes; Form tested ditch slope digital model, realize the three-dimensional ditch slope microtopography contactless quantitative observation of any time; Its characteristic comprises the steps:
1) the geomorphologic map picture before and after the slope mass erosion of intercepting ditch takes place constantly; Set up mass erosion respectively the ditch slope digital model of front and back constantly takes place; According to the volume of the sloping body of model inquiry ditch, the sloping body volume differences before and after mass erosion takes place is when the subgravity erosion amount;
2) word line laser module (1) is launched one group at a certain angle to tested ditch domatic (13) and is parallel to each other and continuous sector laser (12), intersects with ditch domatic (13) to form one group of visible laser line, and ditch hillside fields shape is carried out real-time follow-up and location; Stigma formula laser (17) to tested ditch domatic launch one group be parallel to each other and with the vertical laser rays in sector laser (12) plane; Intersect one group of laser positioning stigma of formation with ditch domatic (13); Laser positioning stigma relative position on sector laser (12) plane is constant, as landforms sectional drawing size calibration and distortion corrected control point;
3) according to the coordinate figure of the known set of laser positioning stigma the landforms sectional drawing being carried out the size calibration proofreaies and correct with distortion; Import in the computing machine (6); Laser positioning line (14) is carried out being converted into isoline after the assignment; Isoline is carried out interpolation processing, form ditch slope digital model, realize the correlated digital product output of ditch slope model;
4) perpendicular to sector laser (12) in-plane video camera (4) being installed, have laser aiming instrument (16) on the video camera (4), laser aiming instrument (16) can be launched track laser rays (18); Track laser rays (18) is parallel to video camera primary optical axis (5), and the direction of auxiliary adjustment video camera primary optical axis (5) makes video camera primary optical axis (5) vertical with sector laser (12); Video camera (4) is gathered the volume coordinate information of ditch domatic (13) point group in real time;
Described three-dimensional landform observing device is made up of landform locating device and image data acquiring device; The landform locating device is to tested ditch domatic (13) emission laser positioning line (14) and laser positioning stigma (19), and the image data acquiring device is gathered the volume coordinate information of ditch domatic (13) point group in real time; The landform locating device is formed by surveying bridge, laser positioning stigma (19) emitter and constant voltage dc source (20), and the image data acquiring device is made up of the video camera (4) of computing machine (6) and band laser aiming instrument (16); Survey bridge and be made up of word line laser module (1), laser module trimming rack (2), survey bridge girder (7), survey bridge cover plate (8) and supply line (3), laser positioning stigma (19) emitter is made up of stigma formula laser (17) and fixed supported slab (21).
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