CN109059865B - Earthwork measuring method, system and device - Google Patents
Earthwork measuring method, system and device Download PDFInfo
- Publication number
- CN109059865B CN109059865B CN201810637813.XA CN201810637813A CN109059865B CN 109059865 B CN109059865 B CN 109059865B CN 201810637813 A CN201810637813 A CN 201810637813A CN 109059865 B CN109059865 B CN 109059865B
- Authority
- CN
- China
- Prior art keywords
- area
- measured
- point cloud
- ppk
- cloud data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000012545 processing Methods 0.000 claims abstract description 76
- 238000009412 basement excavation Methods 0.000 claims abstract description 28
- 239000004575 stone Substances 0.000 claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 23
- 238000004590 computer program Methods 0.000 claims description 9
- 239000011435 rock Substances 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 abstract description 13
- 238000000691 measurement method Methods 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007596 consolidation process Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
Images
Classifications
-
- 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
- G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Astronomy & Astrophysics (AREA)
- Theoretical Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Image Processing (AREA)
Abstract
The invention provides an earthwork measuring method, system and device, wherein the method comprises the following steps: dividing an RTK region to be tested and a PPK region to be tested from a target region; carrying out aerial photography operation of the flight equipment in the target area to obtain an oblique photography image; performing point cloud processing according to the oblique photographic image to obtain point cloud data; modeling is carried out according to the point cloud data to obtain the preliminary engineering quantity of the excavated and filled earthwork; respectively scanning the areas to be measured to obtain vegetation coverage areas, and acquiring the total vegetation amount of the vegetation coverage areas; and obtaining the final engineering quantity of the earth excavation and filling stone according to the difference value of the initial engineering quantity of the earth excavation and filling stone and the total vegetation square quantity. The method can measure according to different terrains, obtains the oblique photographic image of the area to be measured through aerial photography operation of flight equipment, thereby realizing aerial arrangement of image control points, obtains the final engineering quantity of the earth-filled earthwork through the difference value of the initial engineering quantity of the earth-filled earthwork and the total vegetation square quantity, and improves the efficiency and the accuracy of measurement and calculation.
Description
Technical Field
The invention mainly relates to the technical field of building measurement, in particular to an earthwork measuring method, system and device.
Background
The earthwork measurement is to compare the design with the original field and calculate the earthwork amount to be excavated above the designed elevation surface and the earthwork amount to be filled below the designed elevation surface in the field, so as to calculate the earthwork amount planned to be transported in and out.
The traditional earth volume calculation generally adopts a square grid method, the method is to use measuring equipment to carry out fixed-point elevation acquisition on a construction site aiming at a large-area site with small and gentle terrain change to acquire original data, the site is divided into a plurality of square grids, then each volume is summarized by calculating the volume of a three-dimensional quadrangular prism to acquire the final earth volume, but the method has certain limitation, the method cannot effectively measure the engineering with large terrain fluctuation in the area, and the calculation result is not accurate enough.
Disclosure of Invention
The invention aims to solve the technical problem of providing an earthwork measuring method, system and device aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: an earthwork measuring method includes the following steps:
dividing an RTK to-be-detected area lower than a preset elevation surface value from the target area according to an RTK real-time dynamic difference method, and surveying an area higher than the preset elevation surface value from the target area according to a PPK real-time dynamic carrier phase difference method to serve as the PPK to-be-detected area;
carrying out aerial photography operation of the flight equipment in the target area to obtain an inclined photographic image of the PPK area to be measured and an inclined photographic image of the RTK area to be measured;
performing point cloud processing according to the oblique photographic image of the RTK region to be detected to generate first point cloud data, performing point cloud processing according to the oblique photographic image of the PPK region to be detected to generate second point cloud data, and performing post-differential processing on the second point cloud data;
respectively carrying out three-dimensional modeling according to the first point cloud data and the second point cloud data after post differential processing to obtain a dem digital elevation model of the area to be measured and a dem digital elevation model of the PPK area to be measured, and obtaining preliminary engineering quantity of the earth excavation and filling stone through the dem digital elevation model of the RTK area to be measured and the dem digital elevation model of the PPK area to be measured;
scanning the RTK area to be tested and the PPK area to be tested respectively to obtain a vegetation coverage area of the RTK area to be tested and a vegetation coverage area of the PPK area to be tested, and acquiring the total vegetation square amount of the vegetation coverage areas;
and obtaining the final engineering quantity of the earth excavation and filling stone according to the difference value of the engineering quantity of the preliminary earth excavation and filling stone and the total vegetation square quantity.
Another technical solution of the present invention for solving the above technical problems is as follows: an earth and rock surveying system comprising:
the survey module is used for dividing an RTK to-be-measured area which is lower than the preset elevation surface value from the target area according to an RTK real-time dynamic difference method, and surveying the area which is higher than the preset elevation surface value from the target area according to a PPK real-time dynamic carrier phase difference method to serve as the PPK to-be-measured area;
the aerial photography module is used for carrying out aerial photography operation of the flight equipment in the target area to obtain an inclined photographic image of the PPK area to be measured and an inclined photographic image of the RTK area to be measured;
the data processing module is used for carrying out point cloud processing according to the oblique photographic image of the RTK region to be measured to generate first point cloud data, carrying out point cloud processing according to the oblique photographic image of the PPK region to be measured to generate second point cloud data, and carrying out post-differential processing on the second point cloud data;
respectively carrying out three-dimensional modeling according to the first point cloud data and the second point cloud data after post differential processing to obtain a dem digital elevation model of the RTK area to be measured and a dem digital elevation model of the PPK area to be measured, and obtaining preliminary engineering quantity of the earth excavation and filling stone through the dem digital elevation model of the PPK area to be measured and the dem digital elevation model of the RTK area to be measured;
scanning the PPK area to be measured and the RTK area to be measured respectively to obtain a vegetation coverage area of the PPK area to be measured and a vegetation coverage area of the RTK area to be measured, and acquiring the total vegetation square amount of the vegetation coverage areas;
and obtaining the final engineering quantity of the earth excavation and filling stone according to the difference value of the engineering quantity of the preliminary earth excavation and filling stone and the total vegetation square quantity.
Another technical solution of the present invention for solving the above technical problems is as follows: an earth and rock measuring device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the earth and rock measuring method when executing the computer program.
Another technical solution of the present invention for solving the above technical problems is as follows: a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the earth and rock measuring method according to one of the preceding claims.
The invention has the beneficial effects that: the method can carry out measurement according to different terrains, surveys a region to be measured with higher terrain from a target region by a PPK real-time dynamic carrier phase difference method and surveys the region to be measured with lower terrain from the target region by an RTK real-time dynamic difference method, and can keep high precision under a complex terrain environment; the oblique photographic images of the area to be measured are obtained through aerial photography operation of the flight equipment, so that aerial arrangement of image control points is achieved, workload of field workers is reduced, excavation and filling are not carried out in consideration of the vegetation coverage area, final excavation and filling stone engineering quantity is obtained through the difference value between the preliminary excavation and filling stone engineering quantity and the total vegetation square quantity, and efficiency and accuracy of measurement and calculation are improved.
Drawings
Fig. 1 is a flowchart of a method of an earth and rockfill measurement method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an earth and rockfill measurement provided by an embodiment of the present invention;
FIG. 3 is a schematic flow chart of an earth and rockfill measurement provided by an embodiment of the present invention;
fig. 4 is a block diagram of an earth and stone measurement system according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a method of an earth and rockfill measurement method according to an embodiment of the present invention; fig. 2 is a schematic flow chart of the earthwork measurement provided by the embodiment of the invention.
As shown in fig. 1 and 2, an earth and rockfill measuring method includes the steps of:
dividing an RTK (Real-time kinematic) region to be measured which is lower than a preset elevation surface value from a target region according to an RTK (Real-time kinematic) Real-time dynamic difference method, and surveying a region which is higher than the preset elevation surface value from the target region as the PPK region to be measured according to a PPK (post processed kinematic) Real-time dynamic carrier phase difference method;
carrying out aerial photography operation of the flight equipment in the target area to obtain an inclined photographic image of the PPK area to be measured and an inclined photographic image of the RTK area to be measured;
performing point cloud processing according to the oblique photographic image of the RTK region to be detected to generate first point cloud data, performing point cloud processing according to the oblique photographic image of the PPK region to be detected to generate second point cloud data, and performing post-differential processing on the second point cloud data;
respectively carrying out three-dimensional modeling according to the first point cloud data and the second point cloud data after post differential processing to obtain a dem digital elevation model of the area to be measured and a dem digital elevation model of the PPK area to be measured, and obtaining preliminary engineering quantity of the earth excavation and filling stone through the dem digital elevation model of the RTK area to be measured and the dem digital elevation model of the PPK area to be measured;
scanning the RTK area to be tested and the PPK area to be tested respectively to obtain a vegetation coverage area of the RTK area to be tested and a vegetation coverage area of the PPK area to be tested, and acquiring the total vegetation square amount of the vegetation coverage areas;
and obtaining the final engineering quantity of the earth excavation and filling stone according to the difference value of the engineering quantity of the preliminary earth excavation and filling stone and the total vegetation square quantity.
In the embodiment, the measurement can be carried out according to different terrains, the region to be measured with higher terrain is surveyed from the target region by the PPK real-time dynamic carrier phase difference method, the region to be measured with lower terrain is surveyed from the target region by the RTK real-time dynamic difference method, and the high precision can be kept in a complex terrain environment; the oblique photographic images of the area to be measured are obtained through aerial photography operation of the flight equipment, so that aerial arrangement of image control points is achieved, workload of field workers is reduced, excavation and filling are not carried out in consideration of the vegetation coverage area, final excavation and filling stone engineering quantity is obtained through the difference value between the preliminary excavation and filling stone engineering quantity and the total vegetation square quantity, and efficiency and accuracy of measurement and calculation are improved.
The geographic environment surveyed by the PPK real-time dynamic carrier phase difference method is a mountain or dense forest and the like which are higher than a preset elevation surface value and used as a first target measurement area, and the geographic environment surveyed by the RTK real-time dynamic difference method is a flat ground, a farmland or a shrub and the like which are lower than the preset elevation surface value and used as a second target measurement area, so that the measurement accuracy is improved.
Optionally, as an embodiment of the present invention, the performing aerial photography operation of the flight device in the target area specifically includes:
planning aerial photography operation of the flight equipment, wherein planning information comprises flight height, flight range, flight route and image control points; the flight range is larger than the range of the target area, and when the range of the target area exceeds the single aerial photography area of the flight equipment, at least one flight path between every two adjacent aerial photography areas is overlapped. The image control point is the position for shooting the inclined photographic image, and the image control point is arranged on the flight route.
It should be noted that, after the shooting is completed, the method further includes a step of numbering and storing the shot oblique photographic images in the shooting order, so as to facilitate subsequent processing work. The flight path overlapping can ensure that the adjacent images have 70% or more overlapping degree, and the effectiveness of the image information is ensured.
In the embodiment, the flight path is arranged in the air for shooting, so that the workload of field workers is reduced, and the measuring efficiency is improved.
Optionally, as an embodiment of the present invention, performing point cloud processing according to the oblique photographic image of the RTK region to be measured to generate first point cloud data, specifically: searching object points in the plurality of oblique photographic images, matching the same object points in the plurality of oblique photographic images one by one to obtain a plurality of homonymous image points, connecting the plurality of homonymous image points according to a binocular stereo vision principle, and performing successive adjustment iteration processing on the connected plurality of homonymous image points to generate first point cloud data;
the three-dimensional modeling is carried out according to the first point cloud data to obtain a dem digital elevation model of the RTK area to be measured, and the method specifically comprises the following steps: recording the positioning information of an image control point when a camera on the flight equipment shoots an oblique photographic image at the set image control point, wherein the image control point is the position of the camera shooting the oblique photographic image;
and determining the geographic coordinate of the first point cloud data according to the positioning information, and performing three-dimensional modeling processing according to the geographic coordinate of the first point cloud data and the oblique photographic image of the RTK to-be-measured area to obtain a dem digital elevation model of the RTK to-be-measured area. And quickly and accurately obtaining the volume of earthwork to be excavated above the elevation surface and the volume of earthwork to be filled below the elevation surface through the dem digital elevation model, thereby obtaining the engineering volume of the primarily excavated and filled earthwork.
In the above embodiment, the homonymous image points of each object point are obtained from the oblique photographic image, the point cloud data is obtained by successively performing adjustment iteration processing on the homonymous image points, and the point cloud data is used as the basic data to perform three-dimensional modeling, thereby increasing the modeling speed; and obtaining a dem digital elevation model through three-dimensional modeling, and quickly and accurately obtaining the preliminary engineering quantity of the earth excavation and filling stone through the dem digital elevation model.
Optionally, as an embodiment of the present invention, performing point cloud processing according to the oblique photographic image of the area to be measured by the PPK to generate second point cloud data, specifically:
searching object points in the plurality of oblique photographic images, matching the same object points in the plurality of oblique photographic images one by one to obtain a plurality of homonymy image points, connecting the plurality of homonymy image points according to a binocular stereo vision principle, and performing successive adjustment iteration processing on the connected plurality of homonymy image points to obtain second point cloud data;
and respectively carrying out three-dimensional modeling according to the second point cloud data subjected to post differential processing to obtain a dem digital elevation model of the PPK area to be measured, which specifically comprises the following steps:
recording the positioning information of an image control point when a camera on the flight equipment shoots an oblique photographic image at the set image control point, wherein the image control point is the position of the camera shooting the oblique photographic image;
and determining the geographic coordinates of the post-differential-processed second point cloud data according to the positioning information, and performing three-dimensional modeling processing according to the geographic coordinates of the second point cloud data of the PPK area to be detected and the oblique photographic image of the PPK area to be detected to obtain a dem digital elevation model of the PPK area to be detected.
In the above embodiment, the homonymous image points of each object point are obtained from the oblique photographic image, the point cloud data is obtained by successively performing adjustment iteration processing on the homonymous image points, and the point cloud data is used as the basic data to perform three-dimensional modeling, thereby increasing the modeling speed; and obtaining a dem digital elevation model through three-dimensional modeling, and quickly and accurately obtaining the preliminary engineering quantity of the earth excavation and filling stone through the dem digital elevation model.
Specifically, in the above embodiment, the object point is searched for in the multiple oblique photographic images, and the specific process is as follows: and importing the oblique photography images into live-action modeling software, completing POS (position and Orientation System) data and information extraction of an image sensor, and searching corresponding object points from each image according to SIFT operators.
Specifically, in the above embodiment, the matching of the same object point in the multiple oblique photographic images to obtain the image point with the same name includes: selecting image pairs possibly having overlapping relation according to POS data or a preset constraint relation; matching the object points of each image pair, using RANSAC (random Sample consensus) algorithm to perform gross error elimination, eliminating mismatching, and obtaining the image points with the same name from the same object point in a plurality of oblique photographic images successfully matched.
FIG. 3 is a schematic flow chart of an earth and rockfill measurement provided by an embodiment of the present invention;
as shown in fig. 3, specifically, the process of obtaining the dem digital elevation model in the above embodiment includes: the method comprises the steps of obtaining the real space position of point cloud data through the geographic coordinates of the point cloud data and a DLS algorithm (the DLS algorithm is a Damp Least square method), importing the point cloud data containing the real space position information and an oblique photographic image into point cloud processing software, correcting the point cloud data, namely processing noise points, sundries, ground buildings and other obvious interferents in the point cloud data, carrying out three-dimensional modeling according to the corrected point cloud data, then exporting a dem digital elevation model, and recording detailed information so as to review records later and know the information quickly. The dem digital elevation model is accompanied by a positive shot image, the positive shot image is an aerial photograph of the terrain, and buildings and the like on the ground can be clearly distinguished by the positive shot image. The accuracy of three-dimensional modeling can be improved.
Specifically, in the above embodiment, post-difference processing is performed on the point cloud data, and processing may be performed by using a post-mismatch global posing system processing system. By carrying out post-differential processing on the point cloud data, errors caused by PPK measurement are eliminated, and the calculation precision can be improved.
The treatment process comprises the following steps:
a. newly building project and selecting needed coordinate system
b. And (4) introducing observation data, namely the observation data of the Trimble series receiver can be directly introduced into DAT files of the reference station and the rover station, and if other series receiver observation data are adopted, the file format is required to be converted into a Rinex format in advance for use.
c. Establishing or selecting a processing form, wherein if the PPK processing form is established, the PPK processing form can be directly selected, otherwise, a new processing form is required to be established, and the new processing form is as follows:
select "GPS processing form … …" in the drop down menu "measure";
selecting a new form, clicking a 'new' button and inputting a form name to 'confirm';
selecting 10 degrees for altitude angle limitation, selecting broadcast ephemeris for ephemeris, fixing the resolving type, and then clicking a 'high-level' button;
other parameters adopt system default values, click 'quality', modify quality control index parameters, only modify the double-frequency part, RMS 0.05, 0.10; ratio 3, 1.5; a reference factor of 50,100; editing the multiplier 3-3.5; the "search form" is switched in the "OTF search" according to the initialization and processing conditions, and then "determined".
d. Baseline processing-selecting "processing GPS Baseline … …" in the drop-down menu "Measure".
e. And (4) adjustment, namely entering an adjustment process after the baseline processing is finished.
Determining a adjustment reference;
loading the geodetic level model;
fix the known point of the reference station and make the least constrained adjustment.
f. Achievement consolidation
After adjustment is completed, the PPK results need to be sorted, besides the non-solution baseline, RMS, Ratio, referencevalue exceed points, individual points are influenced by factors such as observation conditions, and the like, so that the reliability of the results of the measuring points is reduced due to the fact that one of the RDOP value, the horizontal precision, the vertical precision and the standard deviation (sigma X, sigma Y and sigma h) of the individual points is too large, and the results are rejected in the sorting process to ensure the quality of the PPK results.
Optionally, as an embodiment of the present invention, the calculating the total vegetation amount of the vegetation coverage area specifically includes:
the vegetation coverage area of the PPK area to be measured and the vegetation coverage area of the RTK area to be measured are scanned equidistantly through a three-dimensional scanner, sampling data corresponding to the vegetation coverage areas are obtained, the vegetation area of the vegetation coverage areas is obtained, the average square amount of vegetation in the unit area of the corresponding vegetation coverage area is calculated according to the sampling data, the average square amount and the vegetation area of the corresponding vegetation coverage area are subjected to product operation, the vegetation square amount of the vegetation coverage areas is obtained, and the vegetation square amounts are added to obtain the total vegetation square amount of all the vegetation coverage areas in the PPK area to be measured and the RTK area to be measured.
In the above embodiment, the three-dimensional scanning technology is adopted to perform sampling analysis on the ground vegetation, so that the problem that the measurement area needs to be cleaned in advance in the traditional measurement method is solved, and the calculation efficiency and accuracy are improved.
FIG. 4 is a block diagram of an earth and rock measurement system according to another embodiment of the present invention;
alternatively, as another embodiment of the present invention, as shown in fig. 4, an earth and stone measuring system includes:
the survey module is used for dividing an RTK to-be-measured area which is lower than the preset elevation surface value from the target area according to an RTK real-time dynamic difference method, and surveying the area which is higher than the preset elevation surface value from the target area according to a PPK real-time dynamic carrier phase difference method to serve as the PPK to-be-measured area;
the aerial photography module is used for carrying out aerial photography operation of the flight equipment in the target area to obtain an inclined photographic image of the PPK area to be measured and an inclined photographic image of the RTK area to be measured;
the data processing module is used for carrying out point cloud processing according to the oblique photographic image of the RTK region to be measured to generate first point cloud data, carrying out point cloud processing according to the oblique photographic image of the PPK region to be measured to generate second point cloud data, and carrying out post-differential processing on the second point cloud data;
respectively carrying out three-dimensional modeling according to the first point cloud data and the second point cloud data after post differential processing to obtain a dem digital elevation model of the RTK area to be measured and a dem digital elevation model of the PPK area to be measured, and obtaining preliminary engineering quantity of the earth excavation and filling stone through the dem digital elevation model of the PPK area to be measured and the dem digital elevation model of the RTK area to be measured;
respectively scanning the PPK area to be measured and the RTK area to be measured to obtain a vegetation coverage area of the PPK area to be measured and a vegetation coverage area of the RTK area to be measured, and acquiring and calculating the total vegetation square amount of the vegetation coverage areas;
and obtaining the final engineering quantity of the earth excavation and filling stone according to the difference value of the engineering quantity of the preliminary earth excavation and filling stone and the total vegetation square quantity.
Optionally, as an embodiment of the present invention, the aerial photography module is specifically configured to:
planning aerial photography operation of the flight equipment, wherein planning information comprises flight height, flight range, flight route and image control points; the flight range is larger than the range of the target area, and when the range of the target area exceeds the single aerial photography area of the flight equipment, at least one flight path between two adjacent aerial photography areas is overlapped; the image control point is the position for shooting the inclined photographic image, and the image control point is arranged on the flight route.
In the embodiment, the flight path is arranged in the air for shooting, so that the workload of field workers is reduced, and the measuring efficiency is improved.
Optionally, as an embodiment of the present invention, the data processing module is specifically configured to:
searching object points in the plurality of oblique photographic images, matching the same object points in the plurality of oblique photographic images one by one to obtain a plurality of homonymous image points, connecting the plurality of homonymous image points according to a binocular stereo vision principle, and performing successive adjustment iteration processing on the connected plurality of homonymous image points to generate first point cloud data;
recording the positioning information of an image control point when a camera on the flight equipment shoots an oblique photographic image at the set image control point, wherein the image control point is the position of the camera shooting the oblique photographic image;
and determining the geographic coordinate of the first point cloud data according to the positioning information, and performing three-dimensional modeling processing according to the geographic coordinate of the first point cloud data and the oblique photographic image of the RTK to-be-measured area to obtain a dem digital elevation model of the RTK to-be-measured area.
In the embodiment, the dem digital elevation model is obtained through three-dimensional modeling, and the dem digital elevation model can provide guarantee for obtaining the earthwork engineering quantity through calculation and improve the calculation precision.
Optionally, as an embodiment of the present invention, the data processing module is further specifically configured to:
searching object points in the plurality of oblique photographic images, matching the same object points in the plurality of oblique photographic images one by one to obtain a plurality of homonymy image points, connecting the plurality of homonymy image points according to a binocular stereo vision principle, and performing successive adjustment iteration processing on the connected plurality of homonymy image points to obtain second point cloud data;
the data processing module is further specifically configured to:
recording the positioning information of an image control point when a camera on the flight equipment shoots an oblique photographic image at the set image control point, wherein the image control point is the position of the camera shooting the oblique photographic image;
and obtaining the geographic coordinate of the second point cloud data obtained by post-differential processing according to the positioning information, and performing three-dimensional modeling processing according to the geographic coordinate of the second point cloud data of the PPK area to be detected and the inclined photographic image of the PPK area to be detected to obtain a dem digital elevation model of the PPK area to be detected.
In the embodiment, the dem digital elevation model is obtained through three-dimensional modeling, and the dem digital elevation model can provide guarantee for obtaining the earthwork engineering quantity through calculation and improve the calculation precision.
Optionally, as an embodiment of the present invention, the data processing module is further specifically configured to:
the vegetation coverage area of the PPK area to be measured and the vegetation coverage area of the RTK area to be measured are scanned equidistantly through a three-dimensional scanner, sampling data corresponding to the vegetation coverage areas are obtained, the vegetation area of the vegetation coverage areas is obtained, the average square amount of vegetation in the unit area of the corresponding vegetation coverage area is calculated according to the sampling data, the average square amount and the vegetation area of the corresponding vegetation coverage area are subjected to product operation, the vegetation square amount of the vegetation coverage areas is obtained, and the vegetation square amounts are added to obtain the total vegetation square amount of all the vegetation coverage areas in the PPK area to be measured and the RTK area to be measured.
In the above embodiment, the three-dimensional scanning technology is adopted to perform sampling analysis on the ground vegetation, so that the problem that the measurement area needs to be cleaned in advance in the traditional measurement method is solved, and the calculation efficiency and accuracy are improved.
Optionally, as another embodiment of the present invention, an earth and rock measuring apparatus includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the earth and rock measuring method when executing the computer program.
Alternatively, as another embodiment of the present invention, a computer-readable storage medium stores a computer program which, when executed by a processor, implements the steps of the earth and rockfill measurement method as described.
The method can measure according to different terrains, survey a region to be measured with higher terrain and a region to be measured with lower terrain from a target region, and obtain inclined photographic images of the region to be measured through aerial photography operation of flight equipment, thereby realizing aerial arrangement of image control points, reducing the workload of field workers, considering that a vegetation coverage area is not filled, obtaining the final filling earthwork amount through the difference value between the preliminary filling earthwork amount and the total vegetation square amount, and improving the efficiency and accuracy of measurement and calculation;
the geographic environment surveyed by the PPK real-time dynamic carrier phase difference method is a mountain or dense forest and the like which are higher than a preset elevation surface value and used as a first target measurement area, and the geographic environment surveyed by the RTK real-time dynamic difference method is a flat ground, a farmland or a shrub and the like which are lower than the preset elevation surface value and used as a second target measurement area.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An earthwork measuring method is characterized by comprising the following steps:
dividing an RTK to-be-detected area lower than a preset elevation surface value from the target area according to an RTK real-time dynamic difference method, and surveying an area higher than the preset elevation surface value from the target area according to a PPK real-time dynamic carrier phase difference method to serve as the PPK to-be-detected area;
carrying out aerial photography operation of the flight equipment in the target area to obtain an inclined photographic image of the PPK area to be measured and an inclined photographic image of the RTK area to be measured;
performing point cloud processing according to the oblique photographic image of the RTK region to be detected to generate first point cloud data, performing point cloud processing according to the oblique photographic image of the PPK region to be detected to generate second point cloud data, and performing post-differential processing on the second point cloud data;
respectively carrying out three-dimensional modeling according to the first point cloud data and the second point cloud data after post differential processing to obtain a dem digital elevation model of the RTK area to be measured and a dem digital elevation model of the PPK area to be measured, and obtaining preliminary engineering quantity of the earth excavation and filling stone through the dem digital elevation model of the RTK area to be measured and the dem digital elevation model of the PPK area to be measured;
scanning the RTK area to be tested and the PPK area to be tested respectively to obtain a vegetation coverage area of the RTK area to be tested and a vegetation coverage area of the PPK area to be tested, and acquiring the total vegetation square amount of the vegetation coverage areas;
and obtaining the final engineering quantity of the earth excavation and filling stone according to the difference value of the engineering quantity of the preliminary earth excavation and filling stone and the total vegetation square quantity.
2. The method for measuring earthwork according to claim 1, wherein the aerial work of the flight equipment is performed in the target area, and specifically comprises:
planning aerial photography operation of the flight equipment, wherein planning information comprises flight height, flight range, flight route and image control points; the flight range is larger than the range of the target area, and when the range of the target area exceeds the single aerial photography area of the flight equipment, at least one flight path between two adjacent aerial photography areas is overlapped; the image control point is the position for shooting the inclined photographic image, and the image control point is arranged on the flight route.
3. The method according to claim 1, wherein the point cloud processing is performed based on the tilted photographic image of the RTK area to be measured, and first point cloud data is generated, specifically:
searching object points in the plurality of oblique photographic images, matching the same object points in the plurality of oblique photographic images one by one to obtain a plurality of homonymous image points, connecting the plurality of homonymous image points according to a binocular stereo vision principle, and performing successive adjustment iteration processing on the connected plurality of homonymous image points to generate first point cloud data;
the three-dimensional modeling is carried out according to the first point cloud data to obtain a dem digital elevation model of the RTK area to be measured, and the method specifically comprises the following steps:
recording the positioning information of an image control point when a camera on the flight equipment shoots an oblique photographic image at the set image control point, wherein the image control point is the position of the camera shooting the oblique photographic image;
and determining the geographic coordinate of the first point cloud data according to the positioning information, and performing three-dimensional modeling processing according to the geographic coordinate of the first point cloud data and the oblique photographic image of the RTK to-be-measured area to obtain a dem digital elevation model of the RTK to-be-measured area.
4. The earthwork measuring method according to claim 1, wherein point cloud processing is performed based on the oblique photographic image of the area to be measured for PPK to generate second point cloud data, specifically:
searching object points in the plurality of oblique photographic images, matching the same object points in the plurality of oblique photographic images one by one to obtain a plurality of homonymy image points, connecting the plurality of homonymy image points according to a binocular stereo vision principle, and performing successive adjustment iteration processing on the connected plurality of homonymy image points to obtain second point cloud data;
and respectively carrying out three-dimensional modeling according to the second point cloud data subjected to post differential processing to obtain a dem digital elevation model of the PPK area to be measured, which specifically comprises the following steps:
recording the positioning information of an image control point when a camera on the flight equipment shoots an oblique photographic image at the set image control point, wherein the image control point is the position of the camera shooting the oblique photographic image;
and determining the geographic coordinates of the post-differential-processed second point cloud data according to the positioning information, and performing three-dimensional modeling processing according to the geographic coordinates of the second point cloud data of the PPK area to be detected and the oblique photographic image of the PPK area to be detected to obtain a dem digital elevation model of the PPK area to be detected.
5. The method according to any one of claims 1 to 4, wherein the calculating of the total vegetation amount of the vegetation-covered area specifically comprises:
the vegetation coverage area of the PPK area to be measured and the vegetation coverage area of the RTK area to be measured are scanned equidistantly through a three-dimensional scanner, sampling data corresponding to the vegetation coverage areas are obtained, the vegetation area of the vegetation coverage areas is obtained, the average square amount of vegetation in the unit area of the corresponding vegetation coverage area is calculated according to the sampling data, the average square amount and the vegetation area of the corresponding vegetation coverage area are subjected to product operation, the vegetation square amount of the vegetation coverage areas is obtained, and the vegetation square amounts are added to obtain the total vegetation square amount of all the vegetation coverage areas in the PPK area to be measured and the RTK area to be measured.
6. An earth and rockfill measurement system, comprising:
the survey module is used for dividing an RTK to-be-measured area which is lower than the preset elevation surface value from the target area according to an RTK real-time dynamic difference method, and surveying the area which is higher than the preset elevation surface value from the target area according to a PPK real-time dynamic carrier phase difference method to serve as the PPK to-be-measured area;
the aerial photography module is used for carrying out aerial photography operation of the flight equipment in the target area to obtain an inclined photographic image of the PPK area to be measured and an inclined photographic image of the RTK area to be measured;
the data processing module is used for carrying out point cloud processing according to the oblique photographic image of the RTK region to be measured to generate first point cloud data, carrying out point cloud processing according to the oblique photographic image of the PPK region to be measured to generate second point cloud data, and carrying out post-differential processing on the second point cloud data;
respectively carrying out three-dimensional modeling according to the first point cloud data and the second point cloud data after post differential processing to obtain a dem digital elevation model of the RTK area to be measured and a dem digital elevation model of the PPK area to be measured, and obtaining preliminary engineering quantity of the earth excavation and filling stone through the dem digital elevation model of the RTK area to be measured and the dem digital elevation model of the PPK area to be measured;
scanning the PPK area to be measured and the RTK area to be measured respectively to obtain a vegetation coverage area of the PPK area to be measured and a vegetation coverage area of the RTK area to be measured, and acquiring the total vegetation square amount of the vegetation coverage areas;
and obtaining the final engineering quantity of the earth excavation and filling stone according to the difference value of the engineering quantity of the preliminary earth excavation and filling stone and the total vegetation square quantity.
7. The earthwork measuring system of claim 6 wherein the data processing module is specifically configured to:
searching object points in the plurality of oblique photographic images, matching the same object points in the plurality of oblique photographic images one by one to obtain a plurality of homonymous image points, connecting the plurality of homonymous image points according to a binocular stereo vision principle, and performing successive adjustment iteration processing on the connected plurality of homonymous image points to generate first point cloud data;
the flight equipment is provided with a camera, the camera is provided with a GPS positioning device, and when the camera shoots at the set image control point, the positioning information of the image control point is recorded by the GPS positioning device;
and determining the geographic coordinate of the first point cloud data according to the positioning information, and performing three-dimensional modeling processing according to the geographic coordinate of the first point cloud data and the oblique photographic image of the RTK to-be-measured area to obtain a dem digital elevation model of the PPK to-be-measured area.
8. The earthwork measuring system of claim 6 wherein the data processing module is further specifically configured to:
searching object points in the plurality of oblique photographic images, matching the same object points in the plurality of oblique photographic images one by one to obtain a plurality of homonymy image points, connecting the plurality of homonymy image points according to a binocular stereo vision principle, and performing successive adjustment iteration processing on the connected plurality of homonymy image points to obtain second point cloud data;
recording the positioning information of an image control point when a camera on the flight equipment shoots an oblique photographic image at the set image control point, wherein the image control point is the position of the camera shooting the oblique photographic image;
and obtaining the geographic coordinate of the second point cloud data obtained by post-differential processing according to the positioning information, and performing three-dimensional modeling processing according to the geographic coordinate of the second point cloud data of the PPK area to be detected and the inclined photographic image of the PPK area to be detected to obtain a dem digital elevation model of the PPK area to be detected.
9. An earth and rock measuring device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the method according to any one of claims 1 to 5 are carried out when the computer program is executed by the processor.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810637813.XA CN109059865B (en) | 2018-06-20 | 2018-06-20 | Earthwork measuring method, system and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810637813.XA CN109059865B (en) | 2018-06-20 | 2018-06-20 | Earthwork measuring method, system and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109059865A CN109059865A (en) | 2018-12-21 |
| CN109059865B true CN109059865B (en) | 2020-08-28 |
Family
ID=64821121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810637813.XA Expired - Fee Related CN109059865B (en) | 2018-06-20 | 2018-06-20 | Earthwork measuring method, system and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109059865B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110285792B (en) * | 2019-07-02 | 2021-06-01 | 山东省交通规划设计院集团有限公司 | Fine grid earthwork metering method for unmanned aerial vehicle oblique photography |
| CN112131987B (en) * | 2020-09-11 | 2023-01-31 | 国家管网集团西南管道有限责任公司 | Pipeline engineering pipe ditch quality acceptance system and method |
| CN112686969A (en) * | 2020-12-11 | 2021-04-20 | 广州誉宸信息科技有限公司 | Method, system, device and storage medium for generating section diagram |
| CN112907649B (en) * | 2021-01-21 | 2022-08-16 | 天津视通智能科技有限公司 | Method, device, equipment and storage medium for measuring volume of soil and stone in pipe ditch |
| CN115482269B (en) * | 2022-09-22 | 2023-05-09 | 佳都科技集团股份有限公司 | Method and device for calculating earthwork, terminal equipment and storage medium |
| CN115600909B (en) * | 2022-10-21 | 2023-05-02 | 宿州学院 | Computing and analyzing system for engineering quantity of earth and stone side for restoration of quarry mountain |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008058308A1 (en) * | 2006-11-16 | 2008-05-22 | Commonwealth Scientific And Industrial Research Organisation | Digital terrain mapping with gps and laser system |
| CN101750015A (en) * | 2009-12-11 | 2010-06-23 | 东南大学 | Gravel pit earth volume measuring method based on digital image technology |
| JP2015045549A (en) * | 2013-08-28 | 2015-03-12 | 日置電機株式会社 | Ground resistance measurement device, ground resistance measurement method, and ground resistance measurement program |
| CN105446917A (en) * | 2015-12-03 | 2016-03-30 | 西安羚控电子科技有限公司 | PPK-RTK data recording and locating information acquisition apparatus |
| CN105783810A (en) * | 2016-04-15 | 2016-07-20 | 昆山数字城市信息技术有限公司 | Earthwork quantity measuring method based on UAV photographic technology |
| CN105867404A (en) * | 2016-05-20 | 2016-08-17 | 张爱军 | Equipment and method for measuring earthwork through unmanned aerial vehicle |
| WO2016159282A1 (en) * | 2015-04-01 | 2016-10-06 | Ｔｅｒｒａ Ｄｒｏｎｅ 株式会社 | Method for capturing point group data generating image, and point group data generating method using said image |
| CN106767710A (en) * | 2016-12-22 | 2017-05-31 | 上海华测导航技术股份有限公司 | A kind of Earth Volume of Road Engineering measuring method and system |
| CN107421501A (en) * | 2017-03-02 | 2017-12-01 | 舜元建设(集团)有限公司 | A kind of cubic metre of earth and stone survey calculation method of combination oblique photograph, RTK and BIM technology |
| CN107917699A (en) * | 2017-11-13 | 2018-04-17 | 中国科学院遥感与数字地球研究所 | A kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8396664B2 (en) * | 2009-08-31 | 2013-03-12 | Terra Imaging | 3-D golf course navigation device and image acquisition method |
-
2018
- 2018-06-20 CN CN201810637813.XA patent/CN109059865B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008058308A1 (en) * | 2006-11-16 | 2008-05-22 | Commonwealth Scientific And Industrial Research Organisation | Digital terrain mapping with gps and laser system |
| CN101750015A (en) * | 2009-12-11 | 2010-06-23 | 东南大学 | Gravel pit earth volume measuring method based on digital image technology |
| JP2015045549A (en) * | 2013-08-28 | 2015-03-12 | 日置電機株式会社 | Ground resistance measurement device, ground resistance measurement method, and ground resistance measurement program |
| WO2016159282A1 (en) * | 2015-04-01 | 2016-10-06 | Ｔｅｒｒａ Ｄｒｏｎｅ 株式会社 | Method for capturing point group data generating image, and point group data generating method using said image |
| CN105446917A (en) * | 2015-12-03 | 2016-03-30 | 西安羚控电子科技有限公司 | PPK-RTK data recording and locating information acquisition apparatus |
| CN105783810A (en) * | 2016-04-15 | 2016-07-20 | 昆山数字城市信息技术有限公司 | Earthwork quantity measuring method based on UAV photographic technology |
| CN105867404A (en) * | 2016-05-20 | 2016-08-17 | 张爱军 | Equipment and method for measuring earthwork through unmanned aerial vehicle |
| CN106767710A (en) * | 2016-12-22 | 2017-05-31 | 上海华测导航技术股份有限公司 | A kind of Earth Volume of Road Engineering measuring method and system |
| CN107421501A (en) * | 2017-03-02 | 2017-12-01 | 舜元建设(集团)有限公司 | A kind of cubic metre of earth and stone survey calculation method of combination oblique photograph, RTK and BIM technology |
| CN107917699A (en) * | 2017-11-13 | 2018-04-17 | 中国科学院遥感与数字地球研究所 | A kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement |
Non-Patent Citations (1)
| Title |
|---|
| 《工程土方量计算精度关键影响因子研究》;阮晓光;《宁夏大学硕士学位论文》;20161231;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109059865A (en) | 2018-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109059865B (en) | Earthwork measuring method, system and device | |
| CN110285792B (en) | Fine grid earthwork metering method for unmanned aerial vehicle oblique photography | |
| CN109238239B (en) | Digital measurement three-dimensional modeling method based on aerial photography | |
| CN107421501A (en) | A kind of cubic metre of earth and stone survey calculation method of combination oblique photograph, RTK and BIM technology | |
| JP6761828B2 (en) | Columnar object state detection device, columnar object state detection method, columnar object state detection processing program | |
| CN109556569B (en) | Topographic map surveying and mapping method and device | |
| CN107917699B (en) | Method for improving aerial three quality of mountain landform oblique photogrammetry | |
| WO2020109666A1 (en) | Method and system for generating forestry data | |
| CN111667569B (en) | Three-dimensional live-action soil visual accurate measurement and calculation method based on Rhino and Grasshopper | |
| Corradetti et al. | Quantitative analysis of folds by means of orthorectified photogrammetric 3D models: a case study from Mt. Catria, Northern Apennines, Italy | |
| Baily et al. | Comparative assessment of analytical and digital photogrammetric methods in the construction of DEMs of geomorphological forms | |
| Holmlund | Aldegondabreen glacier change since 1910 from structure-from-motion photogrammetry of archived terrestrial and aerial photographs: Utility of a historic archive to obtain century-scale Svalbard glacier mass losses | |
| CN111256730A (en) | Earth mass balance correction calculation method for low-altitude oblique photogrammetry technology | |
| CN116625354A (en) | High-precision topographic map generation method and system based on multi-source mapping data | |
| Iheaturu et al. | An assessment of the accuracy of structure-from-motion (SfM) photogrammetry for 3D terrain mapping | |
| CN111986074A (en) | Real projective image manufacturing method, device, equipment and storage medium | |
| Bolkas et al. | Comparison of sUAS photogrammetry and TLS for detecting changes in soil surface elevations following deep tillage | |
| JP7298823B2 (en) | Evaluation method for standing trees in a forest area and boundary survey method suitable for identifying the evaluation target area in this evaluation method | |
| JP7123366B2 (en) | Evaluation method for standing trees in a forest area and boundary survey method suitable for identifying the evaluation target area in this evaluation method | |
| Wężyk et al. | Use of airborne laser scanning data for a revision and update of a digital forest map and its descriptive database: a case study from the Tatra National Park | |
| CN113538668A (en) | Geological model construction method, geological model construction system, storage medium and electronic equipment | |
| Lee et al. | Application of Terrestrial LiDAR for Displacement Detecting on Risk Slope | |
| Tommaselli et al. | Monitoring marginal erosion in hydroelectric reservoirs with terrestrial mobile laser scanner | |
| Rahmayudi et al. | Comparison of semi automatic DTM from image matching with DTM from Lidar | |
| Hlotov et al. | Accuracy assessment of external orientation elements for digital images obtained from UAVS using derivatives of implicitly specified functions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200828 |