CN108510585A - A kind of flyash backlog control method for establishing threedimensional model by unmanned plane shooting - Google Patents
A kind of flyash backlog control method for establishing threedimensional model by unmanned plane shooting Download PDFInfo
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- 239000010881 fly ash Substances 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000002956 ash Substances 0.000 claims abstract description 36
- 238000012545 processing Methods 0.000 claims description 10
- 239000010883 coal ash Substances 0.000 claims description 9
- 238000007726 management method Methods 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 4
- 239000000446 fuel Substances 0.000 claims description 3
- 239000000843 powder Substances 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 238000013440 design planning Methods 0.000 claims 1
- 238000000605 extraction Methods 0.000 abstract description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 10
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 6
- 229910052782 aluminium Inorganic materials 0.000 description 6
- 239000004411 aluminium Substances 0.000 description 5
- 239000000377 silicon dioxide Substances 0.000 description 5
- PNEYBMLMFCGWSK-UHFFFAOYSA-N aluminium oxide Inorganic materials [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 description 4
- 235000002918 Fraxinus excelsior Nutrition 0.000 description 3
- 235000013312 flour Nutrition 0.000 description 3
- 235000019752 Wheat Middilings Nutrition 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000000265 homogenisation Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000002910 solid waste Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The present invention provides a kind of flyash backlog control method for establishing threedimensional model by unmanned plane shooting, utilize photography modeling technique, more sensors are carried on same flying platform, it is same simultaneously vertical, four inclined different angles acquire image to flyash landfill yard, after image working process, the flyash backlog control pattern of oblique photograph model foundation threedimensional model is produced by special Survey and map software, the stored number of storage ash field difference grey type can be got information about, reservoir volume, the information such as storage orientation, precise positioning when convenient for the storage situation for understanding flyash and total utilization of PCA extraction from now on.
Description
Technical field
The present invention relates to a kind of flyash backlog control method, specifically a kind of shot by unmanned plane establishes three-dimensional mould
The flyash backlog control method of type, belongs to environmental protection technical field.
Background technology
The flyash largely formed by coal and ash is discharged per annual meeting for coal-fired power plant.Flyash is widely used, can be used for work
The multiple fields such as industry, agricultural, building.The thermal power plant of one band of Jungar of Inner Mongolia, coalfield aluminum content are high, be China most
Big high alumina coal enrichment region, the aluminium oxide generated after thermal power generation are up to 40 ~ 55%, and in addition is produced from the power plant in some areas
Flyash silicon content is higher, and silica reaches 40 ~ 50% in ingredient, and the comprehensive utilization value of flyash is high.But due to various
Condition limits, and there are regional differences and seasonal fluctuation for the comprehensive utilization of flyash, have a large amount of flyash to just think every year
It does general industry solid waste to be filled, subregion, does not classify, the land-fill method of this " finishing off with one blow ", to the comprehensive of flyash from now on
It closes to utilize and brings difficulty, or even lose utility value.
Invention content
The technical problem to be solved by the present invention is to, the shortcomings that overcoming the prior art, provides and a kind of shot by unmanned plane
The flyash backlog control method for establishing threedimensional model carries out shooting scanning to flyash landfill yard with unmanned plane, establishes three-dimensional
The flyash backlog control pattern of model, can get information about the stored number of storage ash field difference grey type, storage orientation, storage
The information such as volume are deposited, precise positioning when convenient for the storage situation for understanding flyash and total utilization of PCA extraction from now on.
In order to solve the above technical problems, the present invention provides a kind of flyash for establishing threedimensional model by unmanned plane shooting
Backlog control method, includes the following steps：
（1）According to the place situation of storage ash field, the flight path of unmanned plane, phase are planned using special flight-line design Software for Design
Triangle proportionate relationship need to be met to full size to flying height, ground resolution and physics, and unmanned plane during flying route is preserved；
（2）After unmanned plane during flying layout of roads, according to the flight path of setting to storage ash field by oblique photograph system into
Line tilt image collection uploads the collected image data of taking photo by plane containing location information in real time；
（3）After the completion of data acquisition, quality examination is carried out to obtaining image, carrying out benefit to unqualified region flies, until meeting shadow
As quality requirement；
（4）Light and color homogenization processing is carried out to the image of acquisition；
（5）To obtaining data（Coordinate information, direction angle information）It carries out geometric correction, matched with point, regional network simultaneous adjustment,
Assign the data after adjustment to every inclination image so that they have position and attitude data in virtual three-dimensional space；
（6）The inclination image of acquisition is processed, oblique photograph model is established by professional surveying and mapping software, generates storage ash
The initial threedimensional model of field；
（7）After the completion of the initial threedimensional model of storage ash field, classified according to the composition content of every batch of flyash, every batch of wheat-middlings
Coal ash landfill is corresponding with the image data matching of taking photo by plane containing location information that unmanned plane acquires；
（8）By, to the comparing of taking photo by plane of the acquisition of storage ash field, carrying out image procossing before and after every batch of flyash landfill, generating
The threedimensional model in the batch pulverized fuel ash reclamation area domain；
（9）The composition content of the threedimensional model being newly generated and the corresponding batch flyash is finally stored in management database,
It is utilized for follow-up management.
The technical solution that the present invention further limits is：The flyash above-mentioned that threedimensional model is established by unmanned plane shooting
Backlog control method, the step（8）Middle every batch of（Or daily）Flyash is weighed before being sent into storage ash field landfill and density
It measures, the batch that three-dimensional modeling is generated by the flyash volume being calculated（It）The volume of flyash is verified.
The flyash backlog control method above-mentioned that threedimensional model is established by unmanned plane shooting, described image processing include
To every inclination image of unmanned plane shooting, after cutting the global even color of algorithm with the figure based on markov random file, by automatic
Change modeling software and obtain threedimensional model, and precision layered shaping is carried out to the model.
Oblique photograph system in this programme includes three parts：Unmanned plane during flying platform, ground control personnel, sensor
And attitude positioning system.Wherein sensor includes Multi-head camera and GPS positioning device, three line elements for obtaining exposure moment
Plain x, y, z；Attitude positioning system is used to record the posture of camera exposure moment, i.e. three angle element α, β, θ.By unmanned plane during flying
The photo of platform acquisition is imported into modeling software, combines three angle element α, β, θ to carry out graphics calculations by computer, in conjunction with
Pos information sky three is handled, and generates point cloud, and point cloud constitutes grid, the threedimensional model for possessing texture is generated by grid combination photo.
It is above-mentioned that the flyash backlog control method of threedimensional model is established by unmanned plane shooting, before the image procossing
First every pictures of shooting are carried out to filter processing of making an uproar.
Further, the flyash backlog control method above-mentioned that threedimensional model is established by unmanned plane shooting, the filter
Processing of making an uproar carries out filtering processing of making an uproar using bilateral filtering or wavelet algorithm.
The beneficial effects of the invention are as follows：The present invention forms situation, the height of the content X of each constituents according to fine coal ash composition
It is low to classify, it can be finely divided again in each major class, flyash can be divided into high X ashes, middle X ashes, low X ashes three categories and carried out
Subregion stores（Wherein X indicates the active principle that emphasis monitors in flyash）, often can be according to the height of the amount containing X again by ladder in major class
Degree is finely divided.By unmanned plane repetition shooting is carried out to storage ash field within the interval time section of setting, can both grasped entire
The topography and geomorphology of storage ash field distributes grey type storage area for science, makes full use of inventory to provide foundation, and can be to entirely storing up ash
Field is monitored in real time, and the whole traffic-operating period of storage ash field is understood.The picture construction fly ash library acquired according to unmanned plane
Threedimensional model, can clearly show the flyash reserve status of storage ash field, convenient for flyash management and integrate from now on
Accurate excavation extraction when utilization.
Description of the drawings
Fig. 1 is flow diagram of the present invention.
Fig. 2 is three-dimensional modeling flow chart of the embodiment of the present invention.
Specific implementation mode
Embodiment 1
A kind of flyash backlog control method for establishing threedimensional model by unmanned plane shooting provided in this embodiment, process is as schemed
Shown in 1, include the following steps：
（1）According to the place situation of storage ash field, the flight path of unmanned plane, phase are planned using special flight-line design Software for Design
Triangle proportionate relationship need to be met to full size to flying height, ground resolution and physics, and unmanned plane during flying route is preserved；
（2）It, will according to the flight path of setting to storage ash field into line tilt image collection after unmanned plane during flying layout of roads
The collected image data of taking photo by plane containing location information uploads in real time；
（3）After the completion of data acquisition, quality examination is carried out to obtaining image, carrying out benefit to unqualified region flies, until meeting shadow
As quality requirement；
（4）Light and color homogenization processing is carried out to the image of acquisition；
（5）To obtaining data（Coordinate information, direction angle information）It carries out geometric correction, matched with point, regional network simultaneous adjustment,
Assign the data after adjustment to every inclination image so that they have position and attitude data in virtual three-dimensional space；
（6）The inclination image of acquisition is processed, oblique photograph model is established by professional surveying and mapping software, generates storage ash
The initial threedimensional model of field；
（7）After the completion of the initial threedimensional model of storage ash field, classified according to the composition content of every batch of flyash, every batch of wheat-middlings
Coal ash landfill is corresponding with the image data matching of taking photo by plane containing location information that unmanned plane acquires；
（8）By, to the comparing of taking photo by plane of the acquisition of storage ash field, carrying out image procossing before and after every batch of flyash landfill, generating
The threedimensional model in the batch pulverized fuel ash reclamation area domain；
（9）The composition content of the threedimensional model being newly generated and the corresponding batch flyash is finally stored in management database,
It is utilized for follow-up management.
In this embodiment scheme, the scenario building of three dimensions is according to raw video, camera acquisition file and unmanned plane
POS files in information carry out region entirety adjustment, to realize the dense Stereo Matching of various visual angles image, and carry out three-dimensional TIN
The structure of the structure and lean type threedimensional model of grid, then pass through the structure of completion three-dimensional scenic by mapping of self-service texture.
The flyash of storage ash field is divided into three regions by the present embodiment on the whole：Aluminous fly-ash（Aluminium content>38%）, in
Aluminium powder coal ash (aluminium content：20 ~ 38%), low aluminium powder coal ash (aluminium content<20%).Each region carries out carefully according still further to 5% gradient
Point, when storing fly ash type using silica content as index such as storage ash field, storage ash field can be divided into high silica flour coal ash, middle silica flour
Coal ash, low silica flour coal ash three regions, other grey types and so on.The storage ash field global shape that is taken according to unmanned plane,
Shape builds threedimensional model in conjunction with the specific storage situation of flyash, and real-time update is carried out according to the landfill situation of storage ash field.
In addition to the implementation, the present invention can also have other embodiment.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (7)
1. a kind of flyash backlog control method for establishing threedimensional model by unmanned plane shooting, it is characterised in that including following step
Suddenly：
（1）According to the flight path of the site condition design planning unmanned plane of storage ash field, and unmanned plane during flying route is preserved, is flown
Walking along the street line includes the exposure point coordinate position of course line coordinate and each camera；
（2）After unmanned plane during flying layout of roads, storage ash field is carried out through oblique photograph system according to the flight path of setting
System carries out Oblique images capture, and the collected image data of taking photo by plane containing location information is uploaded in real time；
（3）According to picture and the location information progress three-dimensional modeling of taking photo by plane, the initial threedimensional model of storage ash field is generated；
（4）After the completion of the initial threedimensional model of storage ash field, classified according to the composition content of every batch of or daily flyash, often
Batch powder or daily coal ash landfill are corresponding with the image data matching of taking photo by plane containing location information that unmanned plane acquires；
（5）By, to the comparing of taking photo by plane of the acquisition of storage ash field, being carried out at image before and after every batch of or daily flyash landfill
Reason, generates the threedimensional model in the batch pulverized fuel ash reclamation area domain；
（6）Finally by the threedimensional model being newly generated and the corresponding batch or the composition content of the same day flyash deposit management number
According to library, utilized for follow-up management.
2. the flyash backlog control method according to claim 1 for establishing threedimensional model by unmanned plane shooting, special
Sign is：The step（4）Middle every batch of or daily flyash are weighed before being sent into storage ash field landfill and density measure, passes through
The flyash volume being calculated verifies the volume of the batch or same day flyash that three-dimensional modeling generates.
3. the flyash backlog control method according to claim 1 for establishing threedimensional model by unmanned plane shooting, special
Sign is：Described image processing includes choosing most right picture to every pictures that unmanned plane is shot and carrying out automatic textures, with
Figure based on markov random file obtains threedimensional model after cutting the global even color of algorithm, and the model to being established carries out precision point
Layer processing.
4. the flyash backlog control method according to claim 3 for establishing threedimensional model by unmanned plane shooting, special
Sign is：First every pictures of shooting are carried out before the image procossing to filter processing of making an uproar.
5. the flyash backlog control method according to claim 4 for establishing threedimensional model by unmanned plane shooting, special
Sign is：The filter is made an uproar to handle and is carried out filtering processing of making an uproar using bilateral filtering or wavelet algorithm.
6. the flyash backlog control method according to claim 1 for establishing threedimensional model by unmanned plane shooting, special
Sign is：In step（3）Before middle carry out three-dimensional modeling, quality examination first is carried out to the image of acquisition, unqualified region is carried out
It mends and flies, until meeting quality requirement of the three-dimensional modeling to image.
7. the flyash backlog control method according to claim 1 for establishing threedimensional model by unmanned plane shooting, special
Sign is：There is sensor and attitude positioning system, the sensor includes Multi-head camera and GPS in the oblique photograph system
Positioning device, the attitude positioning system are used to record the posture of camera exposure moment.
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| CN110136259A (en) * | 2019-05-24 | 2019-08-16 | 唐山工业职业技术学院 | A kind of dimensional Modeling Technology based on oblique photograph auxiliary BIM and GIS |
| CN110780313A (en) * | 2019-10-21 | 2020-02-11 | 广西电网有限责任公司 | Unmanned aerial vehicle visible light stereo measurement acquisition modeling method |
| CN111340872A (en) * | 2020-02-28 | 2020-06-26 | 蒋天泽 | Analysis and treatment system and method for biomass solid waste |
| CN111524228A (en) * | 2020-03-30 | 2020-08-11 | 中钢集团武汉安全环保研究院有限公司 | Unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management |
| CN115307611A (en) * | 2022-07-12 | 2022-11-08 | 宁夏超高压电力工程有限公司 | Substation unmanned aerial vehicle oblique photography modeling and autonomous inspection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111340872A (en) * | 2020-02-28 | 2020-06-26 | 蒋天泽 | Analysis and treatment system and method for biomass solid waste |
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| CN111524228A (en) * | 2020-03-30 | 2020-08-11 | 中钢集团武汉安全环保研究院有限公司 | Unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management |
| CN115307611A (en) * | 2022-07-12 | 2022-11-08 | 宁夏超高压电力工程有限公司 | Substation unmanned aerial vehicle oblique photography modeling and autonomous inspection method |
| CN115657706A (en) * | 2022-09-22 | 2023-01-31 | 中铁八局集团第一工程有限公司 | Landform measuring method and system based on unmanned aerial vehicle |
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