CN108375367A - Combined ground laser radar and the work of oblique photograph point surveying method and system - Google Patents
Combined ground laser radar and the work of oblique photograph point surveying method and system Download PDFInfo
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- CN108375367A CN108375367A CN201810073778.3A CN201810073778A CN108375367A CN 108375367 A CN108375367 A CN 108375367A CN 201810073778 A CN201810073778 A CN 201810073778A CN 108375367 A CN108375367 A CN 108375367A
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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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
The present invention relates to work points to reconnoitre field, provides a kind of work point surveying method of combined ground laser radar and oblique photograph, including S1, obtains radar data；S2 obtains oblique photograph data；Laser point cloud model and three-dimensional live model are imported in three-dimensional platform and are handled, used for work point design by S3；S4 is surveyed and drawn the topographic map and section of work point based on laser point cloud data, terrain data is provided for work point design.A kind of work point survey system of combined ground laser radar and oblique photograph is provided, including terrestrial Laser scanner, flying platform, processing module and is installed in the camera on flying platform.The present invention combines ground laser radar and oblique photograph, technically has complementary advantages, and can replace artificial actual measurement, can high quality, accurately realize the prospecting of fine work point, field work amount is greatly reduced, quality is substantially reduced, there is significant technical benefits and social benefit；The informative of acquisition, is recorded by equipment, can be recalled at any time to data.
Description
Technical field
The present invention relates to work points to reconnoitre field, the work point prospecting of specially a kind of combined ground laser radar and oblique photograph
Method.
Background technology
In engineering investigation design, bored for optimization Decision Making of Line Schemes, selection bridge type bridge-type, positioning bridge pier abutment, arrangement geology
Hole and design tunnel's entrance and exit etc., need to carry out fine survey to certain work points.In the prospecting of work point, height is not only needed
Survey and draw to precision work point topographic map and section, it is also necessary to by carrying out human interpretation to landform, landforms, the lithology etc. on work point,
Sentence and knows rockfall etc..Therefore, work point prospecting not only quantitative measurment is completed, it is also necessary to qualitative interpretation.
Currently, the technologies such as work point prospecting generally use GPS-RTK, total powerstation manually survey and draw, sentence knowledge completion on the spot, though means
Right mature and reliable, but time-consuming and laborious safety to mapping worker and is surveyed especially under relatively difficult, dangerous engineering-environment
Mass metering brings larger hidden danger.
Invention content
The purpose of the present invention is to provide the work point surveying methods of a kind of combined ground laser radar and oblique photograph, tilt
The combination of camera work and ground laser technology plays great complementary effect, instead of existing artificial surveying method, avoids
Security risk, and improve the quality of work point prospecting, substantially reduces quality, has significant technical benefits and actively
Social benefit.
To achieve the above object, the embodiment of the present invention provides a kind of technical solution：A kind of combined ground laser radar and incline
The work point surveying method tiltedly photographed, includes the following steps：
S1 obtains radar data, the laser point of ground laser radar technical limit spacing work point is specifically used at prospecting scene
The full-view image data of cloud data and work point, and the laser point cloud data is handled, generate laser point cloud model；
S2 obtains oblique photograph data, the inclination shadow of oblique photograph technical limit spacing work point is specifically used at prospecting scene
As data, and the inclination image data is handled, generates three-dimensional live model；
The laser point cloud model and the three-dimensional live model are imported in three-dimensional platform and are handled, set for work point by S3
Meter uses；
S4 is surveyed and drawn the topographic map and section of work point based on the laser point cloud data, landform is provided for the work point design
Data.
Further, in the S1 steps, preparation need to be passed through, included the following steps：
S1a1 disposes the instrument of use before carrying out acquisition work：Dispensing power supply is carried out to neutralizing screed operation；
The parameter of the instrument of use is arranged in S1a2：To project file name, file storage position, scanning range and target
Type is configured；The relevant parameter setting of precision is directed to the work point design to be consistent；
S1a3 lays laser controlling point：The laser controlling point is known engineering coordinate system coordinate and laser scanning simultaneously
The laser point cloud data that the instrument obtains is transformed to engineering construction place by the point of coordinate system coordinate by the laser controlling point
Survey area coordinate system under；
S1a4 starts to scan after being ready work using instrument：Show process and residue are swept during scanning
The time is retouched, scanning can be suspended or cancel by going wrong, and be observed record to the process；
S1a5, scan through one of prospecting work point and confirm it is errorless after, be transferred to next prospecting work point.
Further, in the step S1a3, the laser point cloud data that the instrument obtains is transformed into engineering construction place
Survey area coordinate system under include two methods, respectively：
Direct Directional Method is directly that the instrument is oriented by the laser controlling point, that is, acquires the position of the instrument
And posture, then transform under the survey area coordinate system where engineering construction；
Indirect orientation method directly converts laser point cloud data by the laser controlling point, is calculated by laser controlling point
Laser point cloud is converted directly to engineering coordinate by the transformational relation of laser scanning coordinate system and engineering coordinate system using transformational relation
Under system.
Further, in the S1 steps, the acquisition of radar data is using pulsed and with the laser of digital camera functionality
Scanner, and panorama is obtained by the digital camera functionality that it is carried.
Further, in the S2 steps, by carrying sensor on same flying platform, while from vertical and inclined
Angle acquisition image, obtains the work point three-dimensional information of complete and accurate, and the detailed process of acquisition is：
S2a1 selects flying platform：Using unmanned plane or someone's aircraft；
S2a2 selects inclined camera：Using five cameras, double camera or one camera；
S2a3 lays and tilts image control point：The inclination image control point is its known engineering coordinate system coordinate simultaneously
With the point of multiple inclination imaged image coordinate system coordinates, the inclination image control point is for determining the inclination image data
Position, is transformed under engineering coordinate system；
S2a4 designs the course line of flying platform：When using one camera, the ground resolution and image weight of oblique photograph are set
Folded degree is laid " well " font course line and is adopted for there is the work of steep cliffs cliff point for the work point of no steep cliffs cliff
With 45 ° of oblique photograph course lines, course line is added along overhanging cliff, for the work point of overhanging cliff height above sea level, is laid by its height more
Course line, and ensure other to be higher than 80% to ship's control；When using five cameras or double camera, using five cameras or double camera
Professional flight-line design software design course line；
S2a5 carries out aeroplane photography：Aeroplane photography is carried out according to the course line of design, monitoring and warning is carried out, completes
The quality of data is checked afterwards, it is errorless to terminate the flow.
Further, in the S1 steps, the specific steps for handling the laser point cloud data include：
S1b1, noise reduction：Outside environmental elements and instrument when obtaining radar data are removed by laser radar data processing software
Noise caused by device problem itself；
S1b2, colouration：Colouration is carried out to the laser point cloud data, color laser point cloud data are obtained, to solve laser
Point cloud data itself lacks texture information, the problem of being unfavorable for sentencing knowledge and interpretation；
S1b3 reads and tilts image control point：When for handling the inclination image data, in the color laser point cloud number
The coordinate for tilting image control point is accurately read in, is oriented for follow-up oblique photograph data；The inclination image control point
For the point of its known engineering coordinate system coordinate and multiple inclination imaged image coordinate system coordinates simultaneously；
S1b4 generates laser point cloud model by laser radar data processing software.
Further, in the S2 steps, handling the inclination image data specific steps includes：
S2b1, the selection of processing software：Using photoscan, pix4D or ContextCapture；
S2b2, input tilt image data：Image data will be tilted and be input to institute with the relevant POS information of image is tilted
It states in processing software, for larger work point, piecemeal processing can be carried out；
S2b3, orientation：Image control point will be tilted to be input in the processing software, and fixed on tilting image data
Position；Specifically, a part is read from laser point cloud data, another part is laid real by scene at the inclination image control point
It surveys；
S2b4 generates three-dimensional live model by the processing software；
S2b5, the inspection of the three-dimensional live model and editor：Manually three-dimensional live model is checked, finds to pay no attention to
Want to locate, using oblique model software for editing into edlin.
Further, in the step S3, three-dimensional platform is Skyline softwares, and the flow of processing includes：
S30, with reference to the engineering design plan (EDP) customized before going into operation, the various factors to influencing the design scheme is interpreted,
Sentence knowledge, mark and assessment；
Multiple engineering design plan (EDP)s are imported into Skyline softwares by S31, carry out scheme comparison；
S32, calculates and assesses corresponding quantities, goes out Treatment Scheme for the factor design of the influence scheme identified.
Further, the S4 steps specifically include：
S40 classifies to laser point cloud data, isolates ground point；
S41, relief model is generated based on ground point data, and contour and elevational point are generated based on relief model；
S42 cuts section according to the cross section place of design in relief model, to obtain section；
S43 in the laser point cloud data after colouration, can differentiate various atural objects, be sketched the contours of in laser point cloud data
Vector simultaneously exports as CAD formatted datas, and CAD formatted datas, which are imported into editor in large scale topographical map software, draws atural object；
Contour, elevational point and atural object vector imported into large scale topographical map software and carry out compilation and whole by S44
Decorations, to obtain final work point topographic map.
The embodiment of the present invention provides another technical solution：Including terrestrial Laser scanner, flying platform, processing module with
And it installs in the camera on the flying platform；
The terrestrial Laser scanner, the full-view image data of laser point cloud data and work point for obtaining work point；
It the flying platform and installs in the camera on the flying platform, the inclination image number for obtaining work point
According to；
The processing module, what data and the flying platform for handling the terrestrial Laser scanner acquisition obtained
Data.
Compared with prior art, the beneficial effects of the invention are as follows：
1, the combination of ground laser radar and oblique photograph, technically has complementary advantages, and can replace artificial actual measurement, can be high-quality
Amount accurately realizes fine work point prospecting, greatly reduces field work amount, substantially reduces quality, has notable
Technical benefits and social benefit.
2, the informative obtained, is recorded by equipment, can be recalled at any time to data.
Description of the drawings
Fig. 1 is a kind of combined ground laser radar provided in an embodiment of the present invention and the work point surveying method of oblique photograph
Flow chart of steps；
Fig. 2 is a kind of combined ground laser radar provided in an embodiment of the present invention and the work point surveying method of oblique photograph
The flow chart of specific S1 steps；
Fig. 3 is a kind of combined ground laser radar provided in an embodiment of the present invention and the work point surveying method of oblique photograph
The flow chart of specific S2 steps；
Fig. 4 is a kind of combined ground laser radar provided in an embodiment of the present invention and the work point surveying method of oblique photograph
Handle the flow chart of the specific steps of the laser point cloud data；
Fig. 5 is a kind of combined ground laser radar provided in an embodiment of the present invention and the work point surveying method of oblique photograph
Handle the flow chart for tilting image data specific steps；
Fig. 6 is a kind of combined ground laser radar provided in an embodiment of the present invention and the work point surveying method of oblique photograph
The flow chart of specific S3 steps；
Fig. 7 is a kind of combined ground laser radar provided in an embodiment of the present invention and the work point surveying method of oblique photograph
The flow chart of specific S4 steps；
Fig. 8 is a kind of combined ground laser radar provided in an embodiment of the present invention and the work point surveying method of oblique photograph
Using the route map of flying platform when one camera.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the embodiment of the present invention provides a kind of work point prospecting side of combined ground laser radar and oblique photograph
Method includes the following steps：
S1 obtains radar data, the laser point of ground laser radar technical limit spacing work point is specifically used at prospecting scene
The full-view image data of cloud data and work point, and the laser point cloud data is handled, generate laser point cloud model；
S2 obtains oblique photograph data, the inclination shadow of oblique photograph technical limit spacing work point is specifically used at prospecting scene
As data, and the inclination image data is handled, generates three-dimensional live model；
The laser point cloud model and the three-dimensional live model are imported in three-dimensional platform and are handled, set for work point by S3
Meter uses；
S4 is surveyed and drawn the topographic map and section of work point based on the laser point cloud data, landform is provided for the work point design
Data.
Before carrying out above-mentioned steps, the work point for needing fine emphasis prospecting can be determined first with existing engineering prospecting data,
It can so accomplish to save the time, emphasis is treated, and the purpose of working efficiency is improved.Existing engineering prospecting data includes mainly two
A aspect, first, the stages such as engineering feasibility and feasibility study and Preliminary design collect boat, defend piece；Second, engineering skill
Art personnel on site makes an on-the-spot survey and investigates achievement.
The laser radar device that the present invention uses is a kind of equipment that can obtain target three-dimensional information, its ground laser thunder
Up to technology can with the three-dimensional point cloud model of quick obtaining measured target, and due to its use stationary platforms, it is easy to carry.Incline
Oblique camera work is an International Photography fields of measurement new and high technology developed in recent years, which passes through vertical from one
With several oblique viewing angle synchronous acquisition images, the high-resolution texture of abundant building top surface and side view is got.It is not only
It can truly reflect atural object situation, accurately obtain object space texture information, can also pass through advanced positioning, fusion, modeling
Etc. technologies, generate true threedimensional model.The three-dimensional sight that engineering position can be realistically reproduced by the technology, can also be real
The measuring function of existing decimeter grade.
Laser point cloud model and three-dimensional live model are generated respectively after treatment by the data that above two technology acquires,
Wherein, the laser point cloud model of generation is dominant in precision, can carry out high-precision mapping, and the three-dimensional live model generated
It is that there is advantage in terms of the sense of reality, the interpretation of high quality can be carried out.The two models can imported into three-dimensional platform and handle,
Used for staff when carrying out work point design, in addition can also according to laser point cloud data come survey and draw work point topographic map and
Section provides terrain data for work point design.
The present invention combining neatly by ground laser radar technology and oblique photograph technology, make them technically
Have complementary advantages, on the one hand, instead of manually surveying, can high quality, accurately realize the prospecting of fine work point；On the other hand, greatly
Ground reduces field work amount, such as：A complicated work point is reconnoitred using artificial measurement method to usually require 10-15 days, and is adopted
It is needed 60 minutes with the method for the present invention field data acquisition, data processing needs 120 minutes, substantially reduces measurement period, avoids
The security risk of mapping worker climbs steep hills slope without reconnoitring personnel.Moreover, compared with existing only by Radar Technology,
Or only realize for prospecting there is significant technical benefits and social benefit, and this method passes through experiment by camera work
Detection, it is really effective.
It is specific embodiment below：
Optimization said program before carrying out acquisition work, is needed by some referring to Fig. 2, in above-mentioned S1 steps
Preparation includes mainly instrument, personnel arrangement, traffic, logistics support, measurement control points layout etc..For different brands
Instrument model, the method for specific scan operation will be different on a survey station, the basic step scanned on a survey station
It is as follows：
S1a1 disposes the instrument of use：Dispensing power supply is carried out to neutralizing screed operation；The instrument of use is arranged in S1a2
Parameter：Project file name, file storage position, scanning range and target type are configured；It is directed to precision correlation
Parameter setting be consistent with the work point design；S1a3 lays laser controlling point：The laser controlling point is known engineering simultaneously
The point of coordinate system coordinate and laser scanning coordinate system coordinate, the laser point cloud number for being obtained the instrument by the laser controlling point
According under the survey area coordinate system transformed to where engineering construction.The power supply of use is mainly lithium battery either AC power, is being needed
Centering is carried out when wanting, and is then flattened again.After confirming that equipment placement is errorless, you can open power switch device.After booting, need pair
The parameter of instrument is configured.The present invention sets the purpose of laser controlling point：What is directly acquired due to terrestrial Laser scanner is office
The coordinate of portion's coordinate system, it is therefore desirable to where the point cloud data of acquisition is transformed to engineering construction by laying laser controlling point
Under survey area coordinate system.
After having laid laser controlling point, that is, starts to scan, include the following steps：
S1a4 starts to scan using instrument：Show process and remaining sweep time during scanning, going wrong can
Scanning is cancelled in pause, and is observed record to the process；S1a5 scans through one of prospecting work point and confirms errorless
Afterwards, it is transferred to next prospecting work point.Record is observed to scanning process, convenient for after the instrument end of scan, checking scanning number
It is unqualified according to quality, rescan, the content of record include mainly scanning survey station sketch, scanner brand and model,
Sweep time, scan operation people, survey station number, parameter setting etc., can designed, designed table fill in.Work is being reconnoitred from one of
When point is transferred to another prospecting work point, whether midway shuts down depending on distance, instrument behaviour between the power conditions of instrument, two stations
The factors such as it is required.After having arrived another prospecting work point, above-mentioned steps are repeated, but need to pay attention to setting and previous prospecting work point
The special index parameters such as identical project file title, resolution ratio.
Advanced optimize said program, the laser point cloud data for obtaining the instrument of the instrument model of different brands
The method transformed under the survey area coordinate system where engineering construction is slightly different, as long as but have following two schemes on the whole,
Respectively：Direct Directional Method, by the laser controlling point directly be the instrument orient, that is, acquire the instrument position and
Posture, then transform under the survey area coordinate system where engineering construction；Indirect orientation method is directly converted by the laser controlling point
Laser point cloud data is calculated the transformational relation of laser scanning coordinate system and engineering coordinate system by laser controlling point, utilizes conversion
Relationship converts directly to laser point cloud under engineering coordinate system.
As the prioritization scheme of the embodiment of the present invention, in S1 steps, the acquisition of radar data using pulsed and carries
The laser scanner of digital camera functionality, and panorama is obtained by the digital camera functionality that it is carried.Its scanning distance preferably exists
1000 meters or more, plane precision is better than 0.2m, and height accuracy is better than 0.2m, and laser point interval is less than 0.1m, and full-view image is differentiated
Rate is higher than 0.05m, is that it lacks texture information because of simple laser point cloud using with digital camera functionality, it is difficult to identification reconciliation
It translates, a cloud colouration need to be carried out by digital camera functionality.
As the prioritization scheme of the embodiment of the present invention, such as Fig. 3, in S2 steps, passes through to carry on same flying platform and pass
Sensor, while from vertical and inclined angle acquisition image, obtaining the work point three-dimensional information of complete and accurate, the detailed process of acquisition
For：
S2a1 selects flying platform：Using unmanned plane or someone's aircraft；S2a2 selects inclined camera：Using five cameras,
Double camera or one camera；S2a3 lays and tilts image control point：The inclination image control point is its known engineering coordinate simultaneously
It is the point of coordinate and multiple inclination imaged image coordinate system coordinates, which is used for the inclination image data
It is positioned, is transformed under engineering coordinate system；S2a4 when using one camera, designs the course line of flying platform：Setting tilts
The ground resolution and image overlap degree of photography lay " well " font course line for the work point of no steep cliffs cliff, for
There is the work point of steep cliffs cliff to add course line along overhanging cliff using 45 ° of oblique photograph course lines, for overhanging cliff height above sea level
High work point lays a plurality of course line by its height, and ensures that side is higher than 80% to ship's control；Using five cameras or two-phase
When machine, course line is designed using the professional flight-line design software of five cameras or double camera；S2a5 carries out aeroplane photography：According to setting
The course line of meter carries out aeroplane photography, carries out monitoring and warning, checks after the completion the quality of data, errorless to terminate
The flow.As shown in figure 8, solid black lines item is " well " the word course line photographed downwards, black dotted lines item is that 45 ° of oblique photographs are navigated
Line, in the present embodiment, " well " word course line are sustained height, and 45 ° of oblique photograph course lines can be gradual according to the height above sea level of steep cliff
Rise.
In above-mentioned steps, unmanned plane is generally used, because its maneuverability, at low cost, is relatively more suitable for the inclination of work point
Photography.And the selection of camera, depending on being needed by project cost and real work, the performance that it is related to camera is different, for example, five
Camera, double camera belong to the oblique photograph camera of profession, and photographic effects are good, but expensive, require flying platform high, one camera
Comparatively photographic process is complex, but cheap, requires flying platform low.It, first should be according to locality before photography
Law application correlation spatial domain, and checked work point field condition, warning is carried out at scene, it is ensured that flight safety.It lays and tilts image
The purpose at control point is transformed under engineering coordinate system, but need to use in order to which the later stage positions oblique photograph data
Following principle：The density and quantity of photo control point, so-called photo control point refer on work point by checking that ground target, selection are wild repeatedly
The outer position on the spot with obvious characteristic, the position can be obviously imaged on tilting image, and positional precision can sentence knowledge to 0.1
The characteristic point of rice, photo control point density is uniformly distributed according to 200 meters of spacing on work point, and entire work point photo control point is no less than 4；Cloth
If when, the laser point cloud data of second step acquisition is first looked at, according to the close of inclination image control point in laser point cloud data
Degree and quantitative requirement find suitable photo control point, and point is marked in laser point cloud, record its coordinate；If by an original above
Enough inclination image control points can be then found, then tilts image control points layout and finishes, if but cannot find and enough incline
Oblique image control point can take artificial distribution method for the corresponding position for tilting image control point is lacked, and artificial lay uses
The mode of brush paint lays photo control point mark, and point should select the ground grading dark in background, color of paint to be advisable with white,
Mark can brush into " ten " font, and mark line thickness is that 15cm wide can be used GPS method and measure its work after mark is laid
Journey coordinate.When setting course line, ground resolution should be higher than that 5cm.
As the prioritization scheme of the embodiment of the present invention, referring to Fig. 4, after the completion of laser point cloud data acquisition, need to this into
Row processing, the step of processing include：
S1b1, noise reduction：Outside environmental elements and instrument when obtaining radar data are removed by laser radar data processing software
Noise caused by device problem itself；S1b2, colouration：Colouration is carried out to the laser point cloud data, obtains color laser point cloud
Data are unfavorable for sentencing knowledge and interpretation to solve the problem of that laser point cloud data itself lacks texture information；S1b3 reads and tilts
Image control point：When for handling the inclination image data, accurately being read in the color laser point cloud data and tilting image
The coordinate at control point is oriented for follow-up oblique photograph data；The inclination image control point is its known engineering coordinate simultaneously
It is the point of coordinate and multiple inclination imaged image coordinate system coordinates；S1b4 generates laser by laser radar data processing software
Point cloud model.Most of existing laser radar data processing softwares all have decrease of noise functions.Above-mentioned use has digital phase
The laser scanner of machine function can be point cloud data colouration.
As the prioritization scheme of the embodiment of the present invention, referring to Fig. 5, in S2 steps, the inclination image data tool is handled
Body step includes：
S2b1, the selection of processing software：Using photoscan, pix4D or ContextCapture；S2b2, input tilt
Image data：Image data will be tilted and be input in the processing software with the relevant POS information of image is tilted, for larger
Work point, piecemeal processing can be carried out；S2b3, orientation：Image control point will be tilted to be input in the processing software, and tilted
It is positioned on image data；Specifically, a part is read from laser point cloud data, another part is logical at the inclination image control point
It crosses scene and lays actual measurement；S2b4 generates three-dimensional live model by the processing software；S2b5, the three-dimensional live model
It checks and edits：Manually three-dimensional live model is checked, finds undesirable place, is compiled using oblique model software for editing
Volume.
In above-mentioned steps, ContextCapture is the most commonly used.It is fixed by positioning when above-mentioned POS information refers to navigating winged
The position for the image that appearance system obtains and posture information.
As the prioritization scheme of the embodiment of the present invention, referring to Fig. 6, in step S3, three-dimensional platform is Skyline softwares,
The flow of processing includes：
S30, with reference to the engineering design plan (EDP) customized before going into operation, the various factors to influencing the design scheme is interpreted,
Sentence knowledge, mark and assessment, for example, rockfall on recognizable overhanging cliff, the structure for influencing scheme is measured,
Calculate etc.；Multiple engineering design plan (EDP)s are imported into Skyline softwares by S31, carry out scheme comparison；S32 is calculated and is assessed
Corresponding quantities goes out Treatment Scheme for the factor design of the influence scheme identified.
As the prioritization scheme of the embodiment of the present invention, tentatively set referring to Fig. 7, producing the work point based on laser radar data
Work point topographic map and section, step needed for meter and construction drawing design specifically include：
S40 classifies to laser point cloud data, isolates ground point；S41 generates landform mould based on ground point data
Type generates contour and elevational point based on relief model；S42 is cut according to the cross section place of design in relief model
Section, to obtain section；S43 in the laser point cloud data after colouration, can differentiate various atural objects, in laser point cloud number
Vector is sketched the contours of in and exports as CAD formatted datas, and CAD formatted datas, which are imported into editor in large scale topographical map software, paints
Atural object processed；Contour, elevational point and atural object vector imported into large scale topographical map software and carry out compilation and ornamenting by S44,
To obtain final work point topographic map.CASS may be used in large scale topographical map software.
The embodiment of the present invention provides a kind of work point survey system of combined ground laser radar and oblique photograph, including ground
It laser scanner, flying platform, processing module and installs in the camera on the flying platform；The territorial laser scanning
Instrument, the full-view image data of laser point cloud data and work point for obtaining work point；It the flying platform and installs in institute
The camera on flying platform is stated, the inclination image data for obtaining work point；The processing module swashs for handling the ground
The data that the data and the flying platform that photoscanner obtains obtain.This system combines ground laser radar technology and inclination
Camera work so that the advantage of two kinds of technologies obtains complementation, can replace artificial actual measurement, can high quality, accurately realize it is fine
Work point is reconnoitred, and is greatly reduced field work amount, is substantially reduced measurement period, and there is significant technical benefits and society to imitate
Benefit.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. the work point surveying method of a kind of combined ground laser radar and oblique photograph, which is characterized in that include the following steps：
S1 obtains radar data, the laser point cloud number of ground laser radar technical limit spacing work point is specifically used at prospecting scene
According to this and the full-view image data of work point, and the laser point cloud data is handled, generates laser point cloud model；
S2 obtains oblique photograph data, the inclination image number of oblique photograph technical limit spacing work point is specifically used at prospecting scene
According to, and the inclination image data is handled, generate three-dimensional live model；
The laser point cloud model and the three-dimensional live model are imported in three-dimensional platform and are handled, made for work point design by S3
With；
S4 is surveyed and drawn the topographic map and section of work point based on the laser point cloud data, terrain data is provided for the work point design.
2. a kind of work point surveying method of combined ground laser radar and oblique photograph as described in claim 1, feature exist
In, in the S1 steps, need to pass through preparation, include the following steps：
S1a1 disposes the instrument of use before carrying out acquisition work：Dispensing power supply is carried out to neutralizing screed operation；
The parameter of the instrument of use is arranged in S1a2：To project file name, file storage position, scanning range and target type
It is configured；The relevant parameter setting of precision is directed to the work point design to be consistent；
S1a3 lays laser controlling point：The laser controlling point is known engineering coordinate system coordinate and laser scanning coordinate simultaneously
It is the point of coordinate, the laser point cloud data that the instrument obtains is transformed to the survey where engineering construction by the laser controlling point
Under area's coordinate system；
S1a4 starts to scan after being ready work using instrument：When show process and residue scan during scanning
Between, scanning can be suspended or cancel by going wrong, and be observed record to the process；
S1a5, scan through one of prospecting work point and confirm it is errorless after, be transferred to next prospecting work point.
3. a kind of work point surveying method of combined ground laser radar and oblique photograph as claimed in claim 2, feature exist
In in the step S1a3, the laser point cloud data that the instrument obtains to be transformed to the survey area coordinate system where engineering construction
Include two methods down, respectively：
Direct Directional Method is directly that the instrument is oriented by the laser controlling point, that is, acquires position and the appearance of the instrument
State, then transform under the survey area coordinate system where engineering construction；
Indirect orientation method directly converts laser point cloud data by the laser controlling point, and laser is calculated by laser controlling point
Laser point cloud is converted directly to engineering coordinate system by the transformational relation of scan coordinate system and engineering coordinate system using transformational relation
Under.
4. the work point surveying method of a kind of combined ground laser radar as described in any one of claims 1-3 and oblique photograph,
It is characterized in that：In the S1 steps, the acquisition of radar data uses pulsed and the laser scanner with digital camera functionality,
And panorama is obtained by the digital camera functionality that it is carried.
5. a kind of work point surveying method of combined ground laser radar and oblique photograph as described in claim 1, feature exist
In in the S2 steps, by carrying sensor on same flying platform, while from vertical and inclined angle acquisition shadow
Picture, obtains the work point three-dimensional information of complete and accurate, and the detailed process of acquisition is：
S2a1 selects flying platform：Using unmanned plane or someone's aircraft；
S2a2 selects inclined camera：Using five cameras, double camera or one camera；
S2a3 lays and tilts image control point：The inclination image control point is its known engineering coordinate system coordinate and more simultaneously
The point for tilting imaged image coordinate system coordinate is opened, which is used to position the inclination image data,
It is transformed under engineering coordinate system；
S2a4 designs the course line of flying platform：When using one camera, the ground resolution and image overlap of oblique photograph are set
Degree lays " well " font course line for the work point of no steep cliffs cliff, for there is the work of steep cliffs cliff point, uses
45 ° of oblique photograph course lines, course line is added along overhanging cliff, for the work point of overhanging cliff height above sea level, is laid by its height a plurality of
Course line, and ensure that side is higher than 80% to ship's control；When using five cameras or double camera, using five cameras or double camera
Professional flight-line design software designs course line；
S2a5 carries out aeroplane photography：Aeroplane photography is carried out according to the course line of design, carries out monitoring and warning, it is right after the completion
The quality of data is checked, errorless to terminate the flow.
6. a kind of work point surveying method of combined ground laser radar and oblique photograph as described in claim 1, feature exist
In, in the S1 steps, the specific steps for handling the laser point cloud data include,
S1b1, noise reduction：Outside environmental elements and instrument sheet when obtaining radar data are removed by laser radar data processing software
Noise caused by body problem；
S1b2, colouration：Colouration is carried out to the laser point cloud data, color laser point cloud data are obtained, to solve laser point cloud
Data itself lack texture information, the problem of being unfavorable for sentencing knowledge and interpretation；
S1b3 reads and tilts image control point：When for handling the inclination image data, in the color laser point cloud data
It is accurate to read the coordinate for tilting image control point, it is oriented for follow-up oblique photograph data；The inclination image control point is same
When known its engineering coordinate system coordinate and multiple inclination imaged image coordinate system coordinates point；
S1b4 generates laser point cloud model by laser radar data processing software.
7. a kind of work point surveying method of combined ground laser radar and oblique photograph as described in claim 1, feature exist
In, during the S2 is rapid, handling the inclination image data specific steps includes,
S2b1, the selection of processing software：Using photoscan, pix4D or ContextCapture；
S2b2, input tilt image data：Image data will be tilted and be input to the place with the relevant POS information of image is tilted
It manages in software, for larger work point, piecemeal processing can be carried out；
S2b3, orientation：Image control point will be tilted to be input in the processing software, and positioned on tilting image data；Institute
It states and tilts image control point specifically, a part is read from laser point cloud data, another part is laid by scene and surveyed；
S2b4 generates three-dimensional live model by the processing software；
S2b5, the inspection of the three-dimensional live model and editor：Manually three-dimensional live model is checked, is found undesirable
Place, using oblique model software for editing into edlin.
8. a kind of work point surveying method of combined ground laser radar and oblique photograph as described in claim 1, feature exist
In in the step S3, three-dimensional platform is Skyline softwares, and the flow of processing includes：
S30, with reference to the engineering design plan (EDP) customized before going into operation, the various factors to influencing the design scheme is interpreted, sentence knowledge,
Mark and assessment；
Multiple engineering design plan (EDP)s are imported into Skyline softwares by S31, carry out scheme comparison；
S32, calculates and assesses corresponding quantities, goes out Treatment Scheme for the factor design of the influence scheme identified.
9. a kind of work point surveying method of combined ground laser radar and oblique photograph as described in claim 1, feature exist
In the S4 steps specifically include：
S40 classifies to laser point cloud data, isolates ground point；
S41, relief model is generated based on ground point data, and contour and elevational point are generated based on relief model；
S42 cuts section according to the cross section place of design in relief model, to obtain section；
S43 in the laser point cloud data after colouration, can differentiate various atural objects, vector is sketched the contours of in laser point cloud data
And CAD formatted datas are exported as, CAD formatted datas, which are imported into editor in large scale topographical map software, draws atural object；
Contour, elevational point and atural object vector imported into large scale topographical map software and carry out compilation and ornamenting by S44, from
And obtain final work point topographic map.
10. the work point survey system of a kind of combined ground laser radar and oblique photograph, it is characterised in that：It is swept including ground laser
It retouches instrument, flying platform, processing module and installs in the camera on the flying platform；
The terrestrial Laser scanner, the full-view image data of laser point cloud data and work point for obtaining work point；
It the flying platform and installs in the camera on the flying platform, the inclination image data for obtaining work point；
The processing module, for handling the data that the terrestrial Laser scanner obtains and the number that the flying platform obtains
According to.
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