CN106643494A - Mine windrow volume measurement method and system - Google Patents

Mine windrow volume measurement method and system Download PDF

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Publication number
CN106643494A
CN106643494A CN201611199046.6A CN201611199046A CN106643494A CN 106643494 A CN106643494 A CN 106643494A CN 201611199046 A CN201611199046 A CN 201611199046A CN 106643494 A CN106643494 A CN 106643494A
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CN
China
Prior art keywords
mine
windrow
data
system
control point
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Application number
CN201611199046.6A
Other languages
Chinese (zh)
Inventor
何伟
汤琼
陈娟
宋连凯
赵延平
Original Assignee
上海华测导航技术股份有限公司
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Priority to CN201611199046.6A priority Critical patent/CN106643494A/en
Publication of CN106643494A publication Critical patent/CN106643494A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00Geometric image transformation in the plane of the image
    • G06T3/40Scaling the whole image or part thereof
    • G06T3/4007Interpolation-based scaling, e.g. bilinear interpolation
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10028Range image; Depth image; 3D point clouds

Abstract

The present invention provides a mine windrow volume measurement method and system. The mine composting volume measurement method comprises: arranging photo control spots in an area to be measured, and according to the arranged photo control spots, employing an unmanned aerial vehicle to perform flight scanning measurement and imaging of the mine windrow to obtain a surface high-precision point cloud and image data; and according to the geometric coordinate information of the point cloud data, employing the point-by-point insertion method to construct a triangular irregular network (TIN), and employing the point-by-point interpolation method to generate a DEM based on the TIN construction. A high-precision laser-point cloud in the las format is thinned and then is converted to a txt formatted file for storage and a point file is imported. Based on the DTM method, the direct operation is performed to obtain the volume of the mine windrow. The mine windrow volume measurement method and system have good mobility, flexibility and safety, can perform flight scanning measurement and imaging of ground objects in an automatic mode to obtain the surface high-precision point cloud and image data so as to realize the measurement of the volume of the mine windrow.

Description

A kind of mine windrow volume measuring method and system

Technical field

The present invention relates to technical field of mapping, and in particular to a kind of mine windrow volume measuring method and system.

Background technology

It is widely used in resource-based enterprises take inventory work, at present mostly employing is manually measured or laser ranging is got ready Method, workload is big, and the time is long, and precision is low, expends a large amount of manpower and materials.Measurement project verification each time, to owner and survey crew All it is a body and mind test.

The content of the invention

In order to solve the defect of above-mentioned deficiency, the invention provides a kind of mine windrow volume measuring method and system, tool Standby good mobility, flexibility and security, can carry out flight scanning survey and imaging to atural object by automated manner, obtain Earth's surface high-precision dot cloud and image data, so as to realize the measurement to mine windrow volume.

The invention provides a kind of mine windrow volume measuring method, comprises the following steps:

Treat and lay in mensuration region photo control point, and measure the coordinate value of the laying photo control point and carry out data acquisition, According to the photo control point laid, flight scanning survey and imaging are carried out to mine windrow using unmanned plane, obtain earth's surface high-precision dot Cloud and image data;

According to the geometric coordinate information of cloud data, TIN TIN is built using incremental algorithm, and in TIN DEM is generated using pointwise interpolating method on the basis of structure;

By las forms high-precision laser point cloud take out it is dilute after, conversion storage txt formatted files, by the establishment one that creates Surfaces Individual present situation face, and import dot file;

Direct computing is carried out based on DTM methods, mine windrow volume is obtained final product out.

Above-mentioned method, wherein, described treating lay in mensuration region photo control point, and measures the seat of the laying photo control point Scale value simultaneously carries out data acquisition, according to lay photo control point, using unmanned plane mine windrow is carried out flight scanning survey and into The step of picture, acquisition earth's surface high-precision dot cloud and image data, includes:Cloud data is obtained.

Above-mentioned method, wherein, include the step of the cloud data is obtained:Photo control point is laid in coverage of survey area, and The measurement coordinate value for laying photo control point.

Above-mentioned method, wherein, described treating lay in mensuration region photo control point, and measures the seat of the laying photo control point Scale value simultaneously carries out data acquisition, according to lay photo control point, using unmanned plane mine windrow is carried out flight scanning survey and into The step of picture, acquisition earth's surface high-precision dot cloud and image data, includes:Cloud data to obtaining is pre-processed.

Above-mentioned method, wherein, it is described by las forms high-precision laser point cloud take out it is dilute after, conversion storage txt forms text Part, by creating Surfaces a present situation face is created, and is included the step of import dot file:

Mine windrow border draws;

According to mine windrow bounds, contour establishment plan face is set up on the basis of the ground level of border.

The another side of the present invention, present invention also offers a kind of system of mine windrow cubing, including unmanned plane is taken Loading system, UAV flight's system is to obtain image data;Data handling system, it is right that the data handling system is used for The data of reception are processed;Alignment system, the alignment system is connected with UAV flight's system, data processing end End, the data processing terminal is connected with UAV flight's system.

Above-mentioned system, wherein, the data handling system includes that the first contrast circuit, filter circuit and signal amplify electricity Road, the signal amplification circuit is connected respectively with first contrast circuit and filter circuit.

Above-mentioned system, wherein, the data handling system also include it is multiple to connection module and the second contrast circuit, it is described Second contrast circuit is contrasted and by the data transfer after contrast to data analysis module to the data-signal to receiving.

The present invention has advantages below:Possess good mobility, flexibility and security, can be by automated manner over the ground Thing carries out flight scanning survey and imaging, earth's surface high-precision dot cloud and image data is obtained, so as to realize to mine windrow volume Measurement.

Description of the drawings

By reading the detailed description made to non-limiting example with reference to the following drawings, the present invention and its feature, outward Shape and advantage will become more apparent upon.Identical mark indicates identical part in whole accompanying drawings.Not deliberately proportionally Draw accompanying drawing, it is preferred that emphasis is the purport of the present invention is shown.

Fig. 1 is a kind of schematic flow sheet of mine windrow volume measuring method of the present invention.

Specific embodiment

In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So And, it is obvious to the skilled person that the present invention can be able to without the need for one or more of these details Implement.In other examples, in order to avoid obscuring with the present invention, for some technical characteristics well known in the art do not enter Row description.

In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to Explaination technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this Invention can also have other embodiment.

The invention provides a kind of mine windrow volume measuring method, comprises the following steps:

With reference to shown in Fig. 1, step S1:Treat and lay in mensuration region photo control point, and measure the seat of the laying photo control point Scale value simultaneously carries out data acquisition, according to lay photo control point, using unmanned plane mine windrow is carried out flight scanning survey and into Picture, obtains earth's surface high-precision dot cloud and image data, and it is fixed for example can to carry out by unmanned plane and by GNSS satellite receiver Position, specifically includes cloud data acquisition, for example, photo control point is laid in coverage of survey area, and measures the coordinate of the laying photo control point Value, further for according to coverage of survey area to external expansion certain distance, coverage of survey area lays photo control point according to 9 methods, using GNSS Receiver is measured or all-station instrument accurate measurement lays the coordinate value of photo control point.Further, to the point of three-dimensional laser scanner collection Cloud data carry out denoising, smooth pretreatment;Then extract the boundary point of cloud data and carry out Cloud Points Reduction.It is further excellent Elect as:Formatted using Delaunay triangulation network and set up the grid model of road, drawn out using the method for texture mapping true to nature Road model.Wherein also include that the cloud data to obtaining carries out grid, form the point set array of grid, specifically include, Cloud data to obtaining is pre-processed, further for by the image data and POS data of acquisition and as control data are led Enter digital photogrammetric work station and complete empty three to calculate and point off density cloud is generated, rational point cloud outlet chamber is set away from obtaining a little Cloud data.Wherein, the POS data is the attitude parameter data of correspondence unmanned plane sensor.

Step S2:According to the geometric coordinate information of cloud data, TIN TIN is built using incremental algorithm, And DEM is generated using pointwise interpolating method on the basis of TIN builds.

Step S3:By las forms high-precision laser point cloud take out it is dilute after, conversion storage txt formatted files, by creating Surfaces A present situation face is created, and imports dot file, specifically include step S3a:Windrow border draws, specially first by las lattice Formula high-precision laser point cloud take out it is dilute after, conversion is stored as the txt formatted files of software support, and by " creating Surfaces " one is created " present situation face ", and dot file is imported, in the light of actual conditions add windrow border, delimit its scope;Step S3b:According to windrow side Boundary's scope, sets up contour establishment plan face on the basis of the ground level of border.

Step S4:Direct computing is carried out based on DTM methods, mine windrow volume is obtained final product out, specially using supporting specialty Data processing software, based on DTM methods (TIN method) direct computing is carried out, and draws mine windrow volume.

A kind of another side of the present invention, system of mine windrow cubing, including UAV flight's system, unmanned plane is taken To obtain image data, wherein UAV flight's laser scanner carries out affecting the acquisition of data loading system, with real time, The characteristics of 360 °, 3D data acquisitions and measurement, support that 16 passages, 300,000 three dimensional point clouds per second can realize 360 ° of nothings Dead angle laser point cloud data is obtained;Data handling system, the data handling system is used for the data to receiving and processes;It is fixed Position system, the alignment system is connected with UAV flight's system, data processing terminal, the data processing terminal and institute State UAV flight's system to be connected.

In an alternate embodiment of the present invention, data handling system is put including the first contrast circuit, filter circuit and signal Big circuit, the signal amplification circuit is connected respectively with first contrast circuit and filter circuit, can be used for receiving number According to filtration and exclude abnormal data, the precision of measurement can be improved.

In an alternate embodiment of the present invention, data handling system also include it is multiple to connection module and the second contrast circuit, Second contrast circuit is contrasted and by the data transfer after contrast to data analysis to the data-signal to receiving Module, can improve mapping precision.

Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned Particular implementation, wherein the equipment and structure that do not describe in detail to the greatest extent are construed as giving reality with the common mode in this area Apply;Any those of ordinary skill in the art, under without departing from technical solution of the present invention ambit, all using the disclosure above Methods and techniques content make many possible variations and modification to technical solution of the present invention, or be revised as equivalent variations etc. Effect embodiment, this has no effect on the flesh and blood of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation The technical spirit of the present invention still falls within the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification In the range of technical scheme protection.

Claims (8)

1. a kind of mine windrow volume measuring method, it is characterised in that comprise the following steps:
Treat and lay in mensuration region photo control point, and measure the coordinate value of the laying photo control point and carry out data acquisition, according to The photo control point of laying, using unmanned plane flight scanning survey and imaging are carried out to mine windrow, obtain earth's surface high-precision dot cloud and Image data;
According to the geometric coordinate information of cloud data, TIN TIN is built using incremental algorithm, and built in TIN On the basis of using pointwise interpolating method generate DEM;
By las forms high-precision laser point cloud take out it is dilute after, conversion storage txt formatted files, created by creating Surfaces one it is existing Shape face, and import dot file;
Direct computing is carried out based on DTM methods, mine windrow volume is obtained final product out.
2. a kind of mine windrow volume measuring method as claimed in claim 1, it is characterised in that described to treat in mensuration region Photo control point is laid, and is measured the coordinate value of the laying photo control point and is carried out data acquisition, according to the photo control point laid, using nothing It is man-machine to carry out flight scanning survey and imaging to mine windrow, include the step of obtain earth's surface high-precision dot cloud and image data:
Cloud data is obtained.
3. a kind of mine windrow volume measuring method as claimed in claim 2, it is characterised in that what the cloud data was obtained Step includes:Photo control point is laid in coverage of survey area, and measures the coordinate value of the laying photo control point.
4. a kind of mine windrow volume measuring method as claimed in claim 1, it is characterised in that described to treat in mensuration region Photo control point is laid, and is measured the coordinate value of the laying photo control point and is carried out data acquisition, according to the photo control point laid, using nothing It is man-machine to carry out flight scanning survey and imaging to mine windrow, include the step of obtain earth's surface high-precision dot cloud and image data:
Cloud data to obtaining is pre-processed.
5. a kind of mine windrow volume measuring method as described in any one of claim 1-4, it is characterised in that described by las Form high-precision laser point cloud take out it is dilute after, conversion storage txt formatted files create a present situation face by creating Surfaces, and lead The step of entering dot file includes:
Mine windrow border draws;
According to mine windrow bounds, contour establishment plan face is set up on the basis of the ground level of border.
6. a kind of system of mine windrow cubing, it is characterised in that including UAV flight's system, the UAV flight System is to obtain image data;Data handling system, the data handling system is used for the data to receiving and processes;It is fixed Position system, the alignment system is connected with UAV flight's system, data processing terminal, the data processing terminal and institute State UAV flight's system to be connected.
7. a kind of system of mine windrow cubing as claimed in claim 6, it is characterised in that the data handling system Including the first contrast circuit, filter circuit and signal amplification circuit, the signal amplification circuit is electric with the described first contrast respectively Road is connected with filter circuit.
8. a kind of system of mine windrow cubing as claimed in claim 6, it is characterised in that the data handling system Also include multiple to connection module and the second contrast circuit, second contrast circuit is contrasted to the data-signal to receiving And by the data transfer after contrast to data analysis module.
CN201611199046.6A 2016-12-22 2016-12-22 Mine windrow volume measurement method and system CN106643494A (en)

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CN107403464A (en) * 2017-06-26 2017-11-28 中国科学院广州地球化学研究所 A kind of three-dimensional Mine Modeling system and method

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CN104376598A (en) * 2014-12-09 2015-02-25 鞍钢集团矿业公司 Open-pit mine mining and stripping quantity calculating method utilizing plane image aerial-photographing
CN104809759A (en) * 2015-04-03 2015-07-29 哈尔滨工业大学深圳研究生院 Large-area unstructured three-dimensional scene modeling method based on small unmanned helicopter
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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