CN107907110B - Multi-angle identification method for structural plane occurrence and properties based on unmanned aerial vehicle - Google Patents
Multi-angle identification method for structural plane occurrence and properties based on unmanned aerial vehicle Download PDFInfo
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- CN107907110B CN107907110B CN201711108494.5A CN201711108494A CN107907110B CN 107907110 B CN107907110 B CN 107907110B CN 201711108494 A CN201711108494 A CN 201711108494A CN 107907110 B CN107907110 B CN 107907110B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/005—Measuring inclination, e.g. by clinometers, by levels specially adapted for use in aircraft
Abstract
The invention discloses a multi-angle identification method of structural surface space distribution and characters based on difficult close observation of an unmanned aerial vehicle, which comprises the following steps: 1) determining the range of the structural surface; 2) photographing the structural surface with the determined range by using an unmanned aerial vehicle; 3) forming a three-dimensional entity image map by utilizing Smart3DCapture software; 4) the method comprises the steps of carrying out geological interpretation on a three-dimensional entity image, determining the exposure position, length, occurrence and properties of a structural plane space, shooting a structural plane at multiple angles through an unmanned aerial vehicle, combining a measurement control coordinate network, processing the picture by utilizing Smart3D software to form the three-dimensional entity image, carrying out geological interpretation on the three-dimensional entity image, and identifying the spatial distribution and properties of the structural plane. The method solves the problems that the spatial distribution and the properties of the near-looking structural surface are difficult to identify, and provides basic data for researching the stability of the rock mass of the high slope and large-span high-side wall cavern.
Description
Technical Field
The invention relates to engineering exploration technology, in particular to a structural surface space distribution and character multi-angle identification method based on an unmanned aerial vehicle.
Background
The stability of the side slope and the cavern is a major engineering problem which is mainly faced in the engineering investigation and design process, wherein the most important basic work is to determine the basic characteristics of the structural surface, find out the spatial distribution and the properties of the structural surface so as to judge the distribution position and the physical and mechanical properties of the structural surface, and is an important technical problem in the engineering investigation field.
The difficulty in determining the spatial distribution and the properties of a closely-observed structural surface is always a main technical problem in the geological exploration process, and particularly in the high and steep side slope and large-scale grotto exploration, how to accurately determine the spatial distribution and the properties of the structural surface, so as to judge and calculate the stability of a side slope or a grotto crown and a side wall, provide reliable geological data for design, and become one of important subjects of engineering geological exploration. Usually, a telescope, a camera or a spider man is adopted for identification, in the process, the spatial distribution or the properties of a structural surface are easy to miss or misjudge, some conditions are even unable to be identified at all, and great potential safety hazards also exist. Therefore, a method for determining the spatial distribution and properties of a structural plane safely, reliably and comprehensively is needed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a structural surface space distribution and character multi-angle identification method based on an unmanned aerial vehicle, aiming at overcoming the defects in the prior art, and solving the problems that the space distribution and character short-distance actual measurement of large-scale high and steep slopes and structural surfaces in caverns are difficult, and misjudgment, missing judgment and even judgment cannot be easily performed in the engineering investigation process.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a multi-angle identification method of structural plane space exhibition and property based on unmanned aerial vehicle which characterized in that includes following concrete step:
1) determining the range of the structural surface;
1.1) determining the elevation, pile number range and trend of a side slope or a cavern where a structural plane is required to be identified;
1.2) selecting 6 to 8 datum points in a determined range;
1.3) measuring the selected datum point by using a prism-free total station, and measuring the coordinate and the elevation of the datum point;
2) photographing the structural surface with the determined range by using an unmanned aerial vehicle;
2.1) planning the flight route of the unmanned aerial vehicle according to the determined range;
2.2) when the unmanned aerial vehicle takes a flight shot, the starting end needs to take 2 pictures repeatedly each time, the unmanned aerial vehicle is controlled to move and take pictures in sequence until the end point, the contact ratio of two adjacent pictures is not less than 70%, and the end point needs to take 2 pictures repeatedly;
2.3) respectively carrying out long-shot, medium-shot, close-shot and multi-angle shooting on the structural surface with the determined range;
3) forming a three-dimensional entity image map by utilizing Smart3DCapture software;
4) performing geological interpretation on the three-dimensional entity image map, and determining the exposure position, length, occurrence and character of the structural plane space;
4.1) opening a three-dimensional entity image map by Smart3 DCapply software, and selecting a structural plane to be identified;
4.2) reading the spatial coordinates of the structural surface exposure end points, determining the exposure position of the structural surface, and calculating the exposure length of the structural surface according to the spatial coordinates of the 2 points;
4.3) reading the space coordinates of three points on the structural surface, which are not on a straight line, and calculating the inclination and the dip angle of the structural surface according to the 3-point space coordinates;
4.4) determining the filling material of the structural surface according to the multi-angle close-range photo shot by the unmanned aerial vehicle so as to determine the properties of the structural surface.
According to the scheme, in the step 3), the method specifically comprises the following steps:
3.1) storing the shot picture and the datum point measurement data into a file folder;
3.2) editing and generating a photo and a reference point information text, wherein the text comprises the number, the coordinate, the elevation and the photo number of the reference point;
3.3) importing the photos and the texts into Smart3D software to generate a three-dimensional entity image.
According to the scheme, the reference points in the step 1) are mark points uniformly distributed in the structural surface area through the infrared laser indicator.
The invention has the following beneficial effects: the invention shoots the structural surface from multiple angles by the unmanned aerial vehicle, combines with a measurement control coordinate network, processes the picture by utilizing Smart3D software to form a three-dimensional entity image, carries out geological interpretation on the three-dimensional entity image, and identifies the spatial distribution and the properties of the structural surface. The method solves the problems that the spatial distribution and the properties of the near-looking structural surface are difficult to identify, and provides basic data for researching the stability of the rock mass of the high slope and large-span high-side wall cavern.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a three-dimensional image of an artificial slope according to an embodiment of the present invention;
FIG. 2 is a schematic view of an artificial slope structure according to an embodiment of the present invention;
FIG. 3 is a flow diagram of a method of an embodiment of the present invention;
in the figure, 1-the side slope shooting range of the structural plane; 2-eight different measurement reference points selected within the shooting range; 3-target structure surface, 4-three coordinate points on the structure surface which are not on a straight line, and T-structure surface occurrence number.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 3, a method for multi-angle identification of structural plane space distribution and properties based on an unmanned aerial vehicle comprises the following specific steps:
A. determining the range of the structural surface;
determining the elevation, pile number range and trend of a side slope or a cavern where a structural plane is required to be identified;
selecting 6-8 reference points in the determined range;
and step three, measuring the selected datum point by using a prism-free total station, and measuring the coordinate and the elevation of the datum point.
B. Shooting the determined range and the structural plane by using an unmanned aerial vehicle;
planning a flight route of the unmanned aerial vehicle according to the determined range;
step two, during flying, the starting end needs to shoot 2 pictures repeatedly each time, the unmanned aerial vehicle is moved to shoot in sequence until the end point, the contact ratio of two adjacent pictures is not less than 70%, and the ending end needs to shoot 2 pictures repeatedly;
and step three, performing long-shot, medium-shot, close-shot and multi-angle shooting on the determined structural plane.
C. Forming a three-dimensional entity image map by utilizing Smart3DCapture software;
step one, storing the shot picture and the datum point measurement data into a folder;
editing a text, wherein the text comprises the number, the coordinate, the elevation and the photo number of the reference measuring point;
and step three, importing the photos and the texts into Smart3D software to generate a three-dimensional entity image.
D. And carrying out geological interpretation on the three-dimensional entity image map, and determining the exposure position, length, occurrence and character of the structural plane space.
Step one, opening a three-dimensional entity image map by Smart3DCapture software, and selecting a structural plane to be identified;
reading the spatial coordinates of the exposure end points of the structural surface, determining the exposure position of the structural surface, and calculating the exposure length of the structural surface according to the spatial coordinates of the 2 points;
reading the space coordinates of three points on the structural surface, which are not on a straight line, and calculating the inclination and the dip angle of the structural surface according to the 3-point space coordinates;
and step four, determining the filling materials of the structural surface according to the multi-angle close-range photos shot by the unmanned aerial vehicle so as to determine the properties of the structural surface.
The following is a specific example of the method of the present invention.
As shown in fig. 1 and 2, in the drawings, 1 is a side slope shooting range where a structural plane is located; 2, eight different measurement reference points are selected in the shooting range; 3 is a target structural surface, 4 is three coordinate points which are not on a straight line on the structural surface, and T is the structural surface attitude number; selecting 8 datum points at the elevation 860-890 m and the pile number 0-49-0 +41 section of the artificial slope of the King-Sha-Wudong-De hydropower station, measuring the datum points by using a prism-free total station, shooting the slope, generating a three-dimensional image by using Smart3D software, acquiring three point coordinates which are not on a straight line on a structure to be identified on the three-dimensional image, calculating and interpreting the three point coordinates to obtain the attitude of a structural plane as 269 DEG, shooting the picture according to multiple angles, and determining the filling of the structural plane as mud-calcium, thereby obtaining clear and real geological data.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (3)
1. The utility model provides a multi-angle identification method of structural plane space exhibition and property based on unmanned aerial vehicle which characterized in that includes the following steps:
1) determining the range of the structural surface;
1.1) determining the elevation, pile number range and trend of a side slope or a cavern where a structural plane to be identified is located;
1.2) selecting 6-8 reference points in a determined range;
1.3) measuring the selected datum point by using a prism-free total station, and measuring the coordinate and the elevation of the datum point;
2) photographing the structural surface with the determined range by using an unmanned aerial vehicle;
2.1) planning the flight route of the unmanned aerial vehicle according to the determined range;
2.2) when the unmanned aerial vehicle takes a flight shot, the starting end needs to take 2 pictures repeatedly each time, the unmanned aerial vehicle is controlled to move and take pictures in sequence until the end point, the contact ratio of two adjacent pictures is not less than 70%, and the end point needs to take 2 pictures repeatedly;
2.3) respectively carrying out long-shot, medium-shot, close-shot and multi-angle shooting on the structural surface with the determined range;
3) forming a three-dimensional entity image map by utilizing Smart3DCapture software;
4) performing geological interpretation on the three-dimensional entity image map, and determining the exposure position, length, occurrence and character of the structural plane space;
4.1) opening a three-dimensional entity image map by Smart3 DCapply software, and selecting a structural plane to be identified;
4.2) reading the spatial coordinates of the structural surface exposure end points, determining the exposure position of the structural surface, and calculating the exposure length of the structural surface according to the spatial coordinates of the 2 points;
4.3) reading the space coordinates of three points on the structural surface, which are not on a straight line, and calculating the inclination and the dip angle of the structural surface according to the 3-point space coordinates;
4.4) determining the filling material of the structural surface according to the multi-angle close-range photo shot by the unmanned aerial vehicle so as to determine the properties of the structural surface.
2. The method for identifying the structural plane spatial distribution and the traits at multiple angles according to claim 1, wherein in the step 3), the specific steps are as follows:
3.1) storing the shot picture and the datum point measurement data into a file folder;
3.2) editing and generating a photo and a reference point information text, wherein the text comprises the number, the coordinate, the elevation and the photo number of the reference point;
3.3) importing the photos and the texts into Smart3DCapture software to generate a three-dimensional entity image.
3. The method for multi-angle identification of structural surface spatial distribution and traits as claimed in claim 1, wherein the reference points in step 1) are marker points uniformly distributed in a structural surface area through an infrared laser pointer.
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| CN107945272B (en) * | 2017-11-09 | 2021-10-08 | 长江三峡勘测研究院有限公司（武汉） | Rock mass structural plane searching method based on high-definition drilling color television |
| CN110823182B (en) * | 2019-11-11 | 2021-07-27 | 山东大学 | System and method for measuring stratum attitude of dangerous zone of unmanned aerial vehicle |
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