CN104897059A - Portable irregular accumulation body volume measurement method - Google Patents
Portable irregular accumulation body volume measurement method Download PDFInfo
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- CN104897059A CN104897059A CN201510338418.8A CN201510338418A CN104897059A CN 104897059 A CN104897059 A CN 104897059A CN 201510338418 A CN201510338418 A CN 201510338418A CN 104897059 A CN104897059 A CN 104897059A
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- range finder
- laser range
- measuring method
- gps module
- body volume
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Abstract
The invention discloses a portable irregular accumulation body volume measurement method, comprising the steps of: selecting a plurality of object points on the surface of an irregular accumulation body; (2) placing a laser range finder and a GPS module on largely the same place, aligning at one target point for dotting by the laser range finder, obtaining the longitude and latitude, and elevation of a current position through the GPS module, obtaining a slope distance, pitch angle and azimuth angle from the current position to the target point by the laser range finder, and sending the information to a hand-held device; (3) calculating by the hand-held device to obtain coordinates of the target point in a three dimensional space; (4) repeating the steps (2) and (3) to obtain coordinates of all target points in the three dimensional space; and (5) constructing a volume calculating model to calculate volume values in dependence on the coordinates. The portable irregular accumulation body volume measurement method is suitable for water and soil maintenance application occasions where the requirement for cost and efficiency is high and the requirement for precision can be reduced.
Description
Technical field
The present invention relates to the cubing research field of irregular body, particularly a kind of irregular stacking body volume measuring method of pocket.
Background technology
Fields of measurement out of doors, for any accumulation body as dump, waste etc., needs the spatial volume recorded shared by it.The comparison typical method of current use has two kinds, and one uses three-dimensional laser scanner to scan accumulation body surface, obtains cloud data, then carries out model construction and resolve obtaining bulking value according to cloud data; Another kind is the method using close shot industrial photogrammetry, is had the multiple image of certain degree of overlapping, resolve the three-dimensional coordinate of object marker point by multi-angled shooting, thus builds three-dimensional model, resolves bulking value.Data measured by these methods are accurate, but need the equipment of specialty and supporting resolve software, cost is high, but requires higher type of service to accuracy requirement is lower to cost and time efficiency in the business such as such as water and soil conservation value, and its applicability is restricted.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art and deficiency, provide a kind of irregular stacking body volume measuring method of pocket, this measuring method has the advantage that efficiency is high, cost is low.
Object of the present invention is realized by following technical scheme: a kind of irregular stacking body volume measuring method of pocket, comprises step:
(1) several impact points are chosen in irregular stacking surface;
(2) laser range finder and GPS module are placed in substantially identical position, aim at one of them impact point with laser range finder to get ready, obtain the longitude and latitude of current location and elevation by GPS module, obtain current location to the oblique distance of aiming spot, the angle of pitch, position angle by laser range finder; Above-mentioned information is sent to handheld terminal equipment;
(3) at handheld terminal equipment, this impact point coordinate is in three dimensions calculated according to above-mentioned information;
(4) step (2), (3) are repeated, until obtain all impact points coordinate in three dimensions;
(5) according to above-mentioned impact point coordinate in three dimensions, build volume computation model, calculate bulking value.
Preferably, in described step (1), laser range finder, GPS module, handheld terminal equipment are all provided with bluetooth module, and three carries out Wireless Data Transmission by bluetooth.
Preferred as one, in described step (4), carry out in gatherer process to impact point, when the impact point needing collection laser range finder to arrive, carry out corresponding movement to laser range finder and GPS module, move mode adopts the station-keeping mode that floats, that is: after a station acquisition impact point, laser range finder and GPS module move to next position simultaneously and continue to gather other impact points, and each coordinate of all obtaining with Current GPS measured is for reference point.Under this move mode, personnel can handheld device movement arbitrarily, good and to the good station acquisition coordinate of ground point of impact point sighting distance at any one gps signal.
Preferred as another kind, in described step (4), carry out in gatherer process to impact point, when the impact point needing collection laser range finder to arrive, carry out corresponding movement to laser range finder and GPS module, move mode adopts relative positioning mode, that is: after a station acquisition impact point, first locate next reference point by laser range finder, then preserve this reference point location, then laser range finder and GPS module are moved to this reference point location and gather other impact points.Adopt this move mode, reference point does not change with the change of GPS, thus can not rely on GPS.
Preferably, in described step (5), the construction method of described volume computing model is: based on the cylinder parted pattern of Differential Integral Thought, or based on the surface model of TIN.
Further, the step of the described cylinder parted pattern based on Differential Integral Thought is:
(5-1) the projection convex hull of surface level is built according to the set of impact point;
(5-2) to the projection convex hull smoothingization process constructed;
(5-3) convex hull is divided into tiny graticule mesh;
(5-4) height of each graticule mesh cylinder is calculated;
(5-5) columnar volume is calculated;
(5-6) volume of possessive case net post body is sued for peace, obtain the volume of accumulation body.
Further, described step (5-1) is the Graham Sodd method of investing convex hull construction algorithm based on improving according to the method for the projection convex hull of the set structure surface level of surface point.
Further, described step (5-2), adopts cubic spline function to the projection convex hull smoothingization process constructed.
Further, described step (5-4), adopts inverse distance weighting to calculate the height of each graticule mesh cylinder.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
The invention provides a kind of accumulation body volume measuring method of low cost, although the more existing three-dimensional laser scanner of its precision or industrial photogrammetry device decrease, be suitable for this class of water and soil conservation value to cost with the application scenario that efficiency requirements is higher, accuracy requirement is lower.
Accompanying drawing explanation
Fig. 1 is the hardware component relationship schematic diagram of the present embodiment.
Fig. 2 is the technical scheme schematic flow sheet of the present embodiment.
Fig. 3 is the schematic diagram that the present embodiment spatial location is resolved.
Fig. 4 (a) is the operation chart that the present embodiment adopts the station-keeping mode that floats.
Fig. 4 (b) is the operation chart that the present embodiment adopts relative positioning mode.
Fig. 5 is the techniqueflow chart of the volume computing model used in the present embodiment.
Fig. 6 is the overall technology route map of the present embodiment.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment 1
As shown in Figure 1, the irregular stacking body volume measuring method of a kind of pocket of the present embodiment is based on such system, comprise GPS module, laser range finder and handheld terminal equipment, a kind of relatively typical combination is selection one with the GPS device (as loaded the PDA type GPS device of Windows Mobile system or loading the plate GPS device of android system) of intelligent operating system and bluetooth module, makes it have the function of GPS module and handheld terminal platform concurrently.GPS module is longitude and latitude for gathering current location and elevation.Select one again with the laser range finder of Bluetooth function, this laser range finder is for gathering current location to the oblique distance of aiming spot, the angle of pitch, position angle.Laser range finder is connected by bluetooth and GPS device and transmits data, to facilitate the use of equipment.
See Fig. 2,6, based on said system, the detailed process of the present embodiment irregular stacking body volume measuring method is described as follows.
The software module realizing the cubing of irregular stacking body is integrated on handheld terminal equipment, when carrying out concrete collection, according to the difference of the current laser range finder that will use, arranges accordingly.The analysis mode of the data that such as different at present laser range finders returns is different, can carry out relative set to the Data Analysis mode received.
Arrange successfully, detect whether successful connection, after successful connection, select measurement pattern.In the present embodiment, measurement pattern has two kinds, is called floating station-keeping mode and relative positioning mode.Both differences are: float station-keeping mode when the three-dimensional coordinate of each calculating impact point, are all that therefore personnel can move arbitrarily (shown in Fig. 4 (a)) with the coordinate of Current GPS acquisition for reference point.And the reference point of relative positioning mode does not change with the change of GPS, when needs are mobile, next reference point is first navigated to by laser range finder, after preservation, personnel move to this new reference point again and continue collection surface impact point (shown in Fig. 4 (b)), and therefore reference point does not rely on GPS.The object of design relative positioning mode is to provide a kind of irregular body cubing mode not relying on GPS.
Below in conjunction with Fig. 6, the course of work of two kinds of measurement patterns is described respectively.
One, the station-keeping mode that floats is adopted
S11: according to floating station-keeping mode, see Fig. 4 (a), personnel can handheld device movement arbitrarily, good and to the good position of impact point sighting distance at any one gps signal, start to gather coordinate of ground point, be placed in substantially identical position by laser range finder and GPS device, such as, in figure position A1, use the important turning point on laser range finder run-home surface, press the firing button of laser range finder.
S12: laser range finder passes through Bluetooth transmission, oblique distance OP between equipment measurement obtained to impact point, pitching angle theta, position angle ф parameter send to handheld terminal by specific string format, cubing module is after receiving character string, by analysis program, extract oblique distance OP, pitching angle theta, position angle ф tri-parameters.Meanwhile, cubing module accesses GPS module, obtains the longitude and latitude (x of current device position
1, y
1) and altitude figures h
0.
S13: longitude and latitude is converted to projection coordinate's (being generally projection coordinate's system that current map uses) by cubing module, thus obtains the coordinate (x of equipment current location
0, y
0, z
0), with this coordinate for initial point, utilize the oblique distance OP of laser range finder, pitching angle theta, position angle ф tri-parameters, calculate impact point at three-dimensional position coordinates (x
p, y
p, z
p), principle is see Fig. 3.For Laser Craft Contour XLRic equipment, pitching angle theta is 90 ° with horizontal direction, reduces downwards, upwards increases, and range is only within the scope of ± 40 °.Position angle ф for benchmark, gets the angle value turned clockwise with positive north.
S14: at A1 place, position, repeat said process coordinate points collection is carried out to target surface, when need gather sight line cannot arrive surperficial time, personnel's handheld mobile device continue to another location collection, such as location point A2, A3 etc.Continue this process until gathered all impact points in surface.
S15: according to the set of the surface point collected, builds volume-based model, calculates volume.
Adopt the dividing method based on Differential Integral Thought in this example, see Fig. 5, concrete steps are:
1) building the projection convex hull of surface level according to the set of surface point, in this example, adopting the Graham Sodd method of investing convex hull construction algorithm based on improving.
2) to the convex hull smoothingization process constructed, in this example, cubic spline function is adopted.
3) convex hull is divided into tiny graticule mesh.
4) calculate the height of each graticule mesh cylinder, in this example, adopt inverse distance weighting.
5) columnar volume is calculated.
6) volume of possessive case net post body is sued for peace, obtain the volume of accumulation body.
S16: export volume computing result.
Two, relative positioning mode is adopted
S21: when standing in first position (the B1 point in Fig. 4 (b)) collection surface point coordinate, O point coordinate as reference reference point is (0,0,0), again according to oblique distance OP, pitching angle theta, position angle ф tri-parameters of laser range finder, calculate the position coordinates (x of impact point
p, y
p, z
p).
S22: when personnel need shift position to continue to gather, first should select next standing place, such as, select location point B2 in figure, get ready, by the coordinate figure (x of this point with laser range finder aligned position point B2
q, y
q, z
q) as the reference point (x of subsequent acquisition surface point
0, y
0, z
0).Then, personnel move to B2 point, continue to gather accumulation body superficial objects point coordinate.Now reference point (x
0, y
0, z
0) coordinate figure equal (x
q, y
q, z
q), then according to oblique distance OP, pitching angle theta, position angle ф tri-parameters of laser range finder, calculate the position coordinates (x of impact point
p, y
p, z
p).
S23: repeat step S22, until gathered all impact points in surface.
S24: according to the set of the impact point collected, according to step S15, builds volume-based model, calculates volume.
S25: export volume computing result.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (9)
1. an irregular stacking body volume measuring method for pocket, is characterized in that, comprise step:
(1) several impact points are chosen in irregular stacking surface;
(2) laser range finder and GPS module are placed in substantially identical position, aim at one of them impact point with laser range finder to get ready, obtain the longitude and latitude of current location and elevation by GPS module, obtain current location to the oblique distance of aiming spot, the angle of pitch, position angle by laser range finder; Above-mentioned information is sent to handheld terminal equipment;
(3) at handheld terminal equipment, this impact point coordinate is in three dimensions calculated according to above-mentioned information;
(4) step (2), (3) are repeated, until obtain all impact points coordinate in three dimensions;
(5) according to above-mentioned impact point coordinate in three dimensions, build volume computation model, calculate bulking value.
2. irregular stacking body volume measuring method according to claim 1, it is characterized in that, in described step (1), laser range finder, GPS module, handheld terminal equipment are all provided with bluetooth module, and three carries out Wireless Data Transmission by bluetooth.
3. irregular stacking body volume measuring method according to claim 1, it is characterized in that, in described step (4), carry out in gatherer process to impact point, when the impact point needing collection laser range finder to arrive, corresponding movement is carried out to laser range finder and GPS module, move mode adopts the station-keeping mode that floats, that is: after a station acquisition impact point, laser range finder and GPS module move to next position simultaneously and continue to gather other impact points, and each coordinate of all obtaining with Current GPS measured is for reference point.
4. irregular stacking body volume measuring method according to claim 1, it is characterized in that, in described step (4), carry out in gatherer process to impact point, when the impact point needing collection laser range finder to arrive, corresponding movement is carried out to laser range finder and GPS module, move mode adopts relative positioning mode, that is: after a station acquisition impact point, next reference point is first located by laser range finder, then preserve this reference point location, then laser range finder and GPS module are moved to this reference point location and gather other impact points.
5. irregular stacking body volume measuring method according to claim 1, it is characterized in that, in described step (5), the construction method of described volume computing model is: based on the cylinder parted pattern of Differential Integral Thought, or based on the surface model of TIN.
6. irregular stacking body volume measuring method according to claim 5, is characterized in that, the step of the described cylinder parted pattern based on Differential Integral Thought is:
(5-1) the projection convex hull of surface level is built according to the set of impact point;
(5-2) to the projection convex hull smoothingization process constructed;
(5-3) convex hull is divided into tiny graticule mesh;
(5-4) height of each graticule mesh cylinder is calculated;
(5-5) columnar volume is calculated;
(5-6) volume of possessive case net post body is sued for peace, obtain the volume of accumulation body.
7. irregular stacking body volume measuring method according to claim 6, is characterized in that, described step (5-1), is the Graham Sodd method of investing convex hull construction algorithm based on improving according to the method for the projection convex hull of the set structure surface level of surface point.
8. irregular stacking body volume measuring method according to claim 6, is characterized in that, described step (5-2), adopts cubic spline function to the projection convex hull smoothingization process constructed.
9. irregular stacking body volume measuring method according to claim 6, is characterized in that, described step (5-4), adopts inverse distance weighting to calculate the height of each graticule mesh cylinder.
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| CN201510338418.8A CN104897059B (en) | 2015-06-17 | 2015-06-17 | A kind of irregular stacking body volume measuring method of pocket |
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| CN109444937A (en) * | 2018-08-08 | 2019-03-08 | 北京木业邦科技有限公司 | Tree vigorous degree and Tending methods, device, electronic equipment and storage medium |
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Cited By (7)
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| CN109444937B (en) * | 2018-08-08 | 2021-04-02 | 北京木业邦科技有限公司 | Tree modeling and tending method and device, electronic equipment and storage medium |
| CN111649690A (en) * | 2019-12-12 | 2020-09-11 | 天目爱视（北京）科技有限公司 | Handheld 3D information acquisition equipment and method |
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| CN104897059B (en) | 2017-11-14 |
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Inventor after: Kang Qing Inventor after: Zeng Maimai Inventor after: Yu Fenghua Inventor after: Chen Li Inventor after: Wu Rongrong Inventor after: Huang Jun Inventor after: Wang Siwei Inventor after: He Qiuyin Inventor after: Weng Zhonghua Inventor before: Zeng Maimai Inventor before: Kang Qing Inventor before: Tang Qingzhong Inventor before: Wu Rongrong Inventor before: Lu Jingde Inventor before: Yang Jianxin Inventor before: Yu Fenghua Inventor before: Yu Guosong Inventor before: Kuang Gaoming |
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