CN109459746B - Engineering dump volume measuring method combining unmanned aerial vehicle and ground penetrating radar - Google Patents

Engineering dump volume measuring method combining unmanned aerial vehicle and ground penetrating radar Download PDF

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CN109459746B
CN109459746B CN201811194872.0A CN201811194872A CN109459746B CN 109459746 B CN109459746 B CN 109459746B CN 201811194872 A CN201811194872 A CN 201811194872A CN 109459746 B CN109459746 B CN 109459746B
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ground penetrating
penetrating radar
stacking
stacking body
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CN109459746A (en
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王志刚
李建明
许文盛
程冬兵
王一峰
沈盛彧
张平仓
陈兰
杨贺菲
牛俊
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Changjiang River Scientific Research Institute Changjiang Water Resources Commission
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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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only

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Abstract

The invention provides an engineering waste amount measuring method combining an unmanned aerial vehicle and a ground penetrating radar. The method can avoid the problem that the underlying surface cannot be distinguished due to long piling time limit of the piled body, and also solves the problem that the piling quantity cannot be accurately calculated through satellite remote sensing images and aerial photography by using an unmanned aerial vehicle alone.

Description

Engineering dump volume measuring method combining unmanned aerial vehicle and ground penetrating radar
Technical Field
The invention relates to the technical field of engineering waste volume measurement, in particular to an engineering waste volume measurement method combining an unmanned aerial vehicle and a ground penetrating radar.
Background
With the rapid development of economy, various production and construction projects are represented by point projects such as mineral products, hydropower stations, nuclear power stations, real estate and municipal infrastructure and linear projects such as roads, railways and pipelines, so that a large amount of excavation and filling activities are caused in the engineering construction process, the ground surface is severely disturbed, and a large amount of waste soil, waste residue and waste heap are generated. Because the stacking gradient of the stacking body is steep, serious disasters such as landslide, collapse, debris flow, high sand-containing water flow and the like are easily generated under the condition of heavy rain when relevant protective measures are not taken. Especially those piled up around the urban area or above the farmland are liable to threaten the lives and properties. The amount of the stacking waste is accurately calculated by high and new technology, so that a foundation is provided for judging the stability of the stacking waste and making corresponding water and soil conservation measures to prevent water and soil loss and ecological restoration, and meanwhile, technical support can be provided for management decisions (punishment) of water administration departments and the like.
According to the regulations of the water and soil conservation related laws, sand, stone, soil, gangue, tailings, waste residues and the like which are discharged in production and construction activities are comprehensively utilized, cannot be comprehensively utilized, are discarded, are stacked in a special storage place determined by a water and soil conservation scheme, and are taken measures to ensure that new hazards are not generated. However, in the actual engineering, most of the water and soil conservation schemes are written according to the foundation of engineering feasibility study reports, the depth only reaches the ground stage, and in the later initial design and construction stage, the waste soil and the waste slag cannot be stacked in the waste slag field of the batch recovery scheme due to the actual situation, especially in the linear engineering, the waste slag stacking in the construction is disordered, and the effective management cannot be carried out. Before the waste slag is discarded, geological survey is not carried out on the original underlying surface, and after the waste slag is piled up for years and naturally settled, the lower surface of the waste slag is possibly fused with the original underlying surface and cannot be distinguished, so that the problem of measuring the amount of the waste slag is great.
At present, the method for measuring the amount of engineering waste mainly comprises the following steps: 1) providing data by a construction unit or a construction unit; 2) the water and soil conservation monitoring unit provides monitoring data; 3) extracting an image through satellite remote sensing; 4) unmanned aerial vehicle low latitude technique of taking photo by plane. The former two are process data, the project construction period is often longer, and the total amount obtained after the earth and stone volume is accumulated once and the actual volume of the waste slag often cause great difference due to reasons such as density, water content and natural settlement, and the volume of the waste slag cannot be accurately obtained. In the early stage, the image map is obtained through satellite remote sensing, and because the satellite image has fixed spatial-temporal resolution, long period, large weather influence, high cost and the like, the method for obtaining the amount of the heap waste through the satellite remote sensing image cannot be popularized and popularized in a large range in practical application. The application of unmanned aerial vehicle technology and remote sensing technology in the water conservancy industry field is becoming more mature, and at present, the application of unmanned aerial vehicle in the water and soil conservation field mainly focuses on aspects such as water and soil conservation monitoring and evaluation, supervision and management, disaster emergency monitoring, scheme establishment, planning and designing. The image data are acquired through the field aerial photography of the unmanned aerial vehicle, software such as Photoscan and Pix4D is adopted to carry out three-dimensional modeling to acquire DEM and DOM data results, GIS software is utilized to carry out measurement and analysis on the DEM and the DOM, and the amount of the stacking waste slag can be acquired. Because the types of the bottom cushion surfaces of the abandoned slag field are various, the original topography of the gland of the abandoned slag field is difficult to determine, and the total amount of the piled abandoned amount cannot be accurately obtained.
The inventor of the present application has found through research in the process of implementing the present invention that: at present, the ground penetrating radar is mainly applied to the aspects of geological exploration of frozen soil engineering, soil water content, soil thickness estimation of sloping fields, tunnel lining detection, underground archaeological relics, a method for detecting hidden diseases of bridges, military and safety detection, dam and reservoir bank and other hydraulic engineering detection. In the radar mobile detection process, pulse electromagnetic waves are transmitted to the underground at regular time and reflected waves of a target body are continuously received, and the pulse electromagnetic waves and the reflected waves form a radar section image. The distribution characteristics of the target body can be determined by interpreting the radar image, the electromagnetic wave transmitted by the transmitting antenna is transmitted under the ground surface, the electromagnetic wave is reflected when encountering an interface with abrupt change of dielectric property, and the burial depth of the target body is calculated by reading the propagation time of the received reflected wave and calculating the propagation speed of the electromagnetic wave. Because the stacking body is directly stacked on the original ground, the contact surface of the stacking body and the original ground has dielectric characteristics with obvious difference, and no relevant research is currently carried out when the ground penetrating radar is used for detecting the stacking height of the stacking body.
Disclosure of Invention
The invention aims to solve the problem that the existing unmanned aerial vehicle cannot acquire the original underlying surface of a stacking body, so that the stacking body amount cannot be accurately calculated, and provides an engineering stacking body amount measuring method combining the unmanned aerial vehicle and a ground penetrating radar.
A measuring method for engineering waste volume combining an unmanned aerial vehicle and a ground penetrating radar measures the elevation of the lower surface of a waste body by calibrating the propagation rate of the ground penetrating radar in the waste body, obtains the elevation of the upper surface of the waste body by aerial photography of the unmanned aerial vehicle and arrangement of control point positions, and calculates the elevation difference of the upper surface and the lower surface of the waste body by utilizing a GIS (geographic information system).
The measuring method specifically comprises the following steps:
the method comprises the following steps: calibrating the electromagnetic wave propagation rate of the ground penetrating radar: at least 3 sections of line segments with known lengths are randomly selected on the surface of the heap body to form at least 3 lines, and the propagation velocity v of the electromagnetic waves in the heap body can be calculated by taking an average value through multiple measurements according to the distance Z between known point positions and the pulse wave double-travel time t:
Figure BDA0001828487740000031
wherein X is the distance between a transmitting antenna and a receiving antenna of the ground penetrating radar;
step two: verifying the type of the stacking body medium by looking up a table for the electromagnetic wave propagation velocity v obtained in the first step, and acquiring the propagation velocity v' of the electromagnetic wave in the stacking body medium according to the following formula after determining the type of the medium:
Figure BDA0001828487740000032
in the formula: c. CoThe propagation rate of electromagnetic waves in vacuum, mu is magnetic conductivity, omega is electromagnetic wave frequency, sigma is electric conductivity, and epsilon is dielectric constant;
step three: the method comprises the steps that an unmanned aerial vehicle is adopted to carry out all-dimensional aerial photography on a abandoned body, control points are distributed through a positioning instrument, three-dimensional model making software is used for processing images of the unmanned aerial vehicle for field aerial photography, processes such as three-dimensional reconstruction, point cloud dense matching and terrain modeling are automatically carried out through geometric correction, image registration and image fusion, an irregular triangular net is built through directional coordinates, grid spacing setting is carried out on the triangular net, elevation points are interpolated to obtain a digital orthographic image DOM and a digital surface model DSM, and elevation data of each point in the upper surface range of the abandoned body can be obtained through the control points;
step four: analyzing the aerial image of the stacking object obtained in the step three, and determining the lower surface boundary of the stacking object; transversely and vertically arranging measuring lines along the surface of the stacking waste body, and dividing the stacking waste body into grids with different sizes; measuring the depth of the stacking body at different measuring points by adopting a ground penetrating radar, calculating the depth values of the different measuring points of the stacking body through the electromagnetic wave double-travel time t 'and the electromagnetic wave velocity v' obtained by calculation in the second step, and obtaining the lower surface elevation data of the stacking body by combining the upper surface elevation data in the third step;
step five: inputting the elevation value of the upper surface of the stacking body obtained in the third step and the elevation value of the lower surface of the stacking body obtained in the fourth step into ArcGIS software, constructing a complete three-dimensional model of the stacking body through a 3D analysis tool, and calculating the square amount of the stacking body.
Further, the positioning instrument used in the third step is a Zhonghai Qmini A5/A7GPS positioning instrument.
Further, the three-dimensional modeling software used in the third step is Agisoft photoscan professional software.
Furthermore, the ground penetrating radar is fixed on the ground penetrating radar cart and can move the ground penetrating radar as required.
The invention has the beneficial effects that:
according to the method, after the propagation rate of the ground penetrating radar in the stacking body is calibrated, the type of the stacking body medium is verified through table lookup, the propagation rate of electromagnetic waves in the stacking body medium is obtained, the lower surface elevation of the stacking body can be accurately measured, the upper surface elevation of the stacking body can be accurately obtained through unmanned aerial vehicle aerial photography and control point location arrangement, and then the stacking body amount can be calculated by calculating the elevation difference of the upper surface and the lower surface of the stacking body through the GIS.
Drawings
FIG. 1 is a schematic flow chart of the present invention for an unmanned aerial vehicle measuring elevation of an upper surface of a construction dump;
FIG. 2 is a schematic view of a process of measuring the elevation of the lower surface of a construction waste by using a ground penetrating radar according to the present invention;
fig. 3 is a schematic diagram of the combined unmanned aerial vehicle and ground penetrating radar measurement engineering dump volume measurement of the present invention.
In the figure: 1-engineering jettison body (A1A2A3A4 is the lower surface, B1B2B3B4 is the upper surface), 2-penetrating ground radar transmission and reflection electromagnetic wave, 3-penetrating ground radar shallow, 4-penetrating ground radar, 5-antenna, 6-penetrating ground radar control screen, 7-unmanned aerial vehicle camera path, 8-unmanned aerial vehicle camera, 9-unmanned aerial vehicle, 10-unmanned aerial vehicle battery.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, an embodiment of the method for measuring the quantity of engineering waste by combining an unmanned aerial vehicle and a ground penetrating radar of the present invention includes the following steps:
(1) calibrating the electromagnetic wave propagation rate of the ground penetrating radar: randomly selecting 3 segments of known lengths Z1, Z2 and Z3 on the surface of the heap-dump, calculating the two-way travel time t1, t2 and t3 of the electromagnetic wave pulse transmitted by the ground penetrating radar, and calculating the two-way travel time by using a formula
Figure BDA0001828487740000052
The propagation velocity of the electromagnetic wave in the stacking body can be calculated to be v1, v2 and v3 respectively (wherein X is the distance between a ground penetrating radar transmitting antenna and a receiving antenna), and the propagation velocity of the electromagnetic wave in the stacking body medium is determined to be v by averaging.
(2) Determining the composition of the stacking body material by contrasting the known propagation rates of different media, obtaining the type of the stacking body medium after table lookup, further obtaining the frequency omega, the conductivity sigma, the dielectric constant epsilon and the permeability mu of the electromagnetic wave of the medium, and obtaining the propagation rate v' of the electromagnetic wave in the stacking body medium by the following formula:
Figure BDA0001828487740000051
in the formula: c. CoIs the propagation rate (m/S) of electromagnetic waves in vacuum, mu is the magnetic permeability (H/m), omega is the frequency (Hz) of electromagnetic waves, sigma is the electrical conductivity (S/m), and epsilon is the dielectric constant (F/m).
(3) Unmanned aerial vehicle aerial photography piles up abandonment body upper surface to through the control point is laid to Zhonghai Dai Qmini A5/A7GPS locater, obtain piling up body upper surface height B1B2B3B4, specifically include: according to the specific actual condition of the region where the stacking body is located, the unmanned aerial vehicle is reasonably debugged, flight parameters are set (the image overlapping degree is required to meet the requirement that the course overlapping degree is generally 60% -80% and minimum is not less than 53%, the lateral overlapping degree is generally 15% -60% and minimum is not less than 8%), and a route and flight height are planned according to the landform and the landform. After the unmanned aerial vehicle is ready, starting the unmanned aerial vehicle to carry out aerial photography according to a planned route, and acquiring an image with a certain overlapping degree; the image is imported into Agisoft Photoscan Professional software, the software automatically carries out the processes of three-dimensional reconstruction, point cloud dense matching, terrain modeling and the like through the processes of aligning photos, establishing dense point clouds, generating grids, generating textures and the like, an irregular triangular net is constructed by utilizing directional coordinates, grid spacing setting is carried out on the triangular net, elevation points are interpolated, and then a Digital Elevation Model (DEM) and an orthographic image (DOM) can be derived. The elevation value of each point on the upper surface B1B2B3B4 of the stacking body can be determined by controlling the point position. The unmanned aerial vehicle aerial photography process is shown in figure 1.
(4) And (4) analyzing the aerial images of the stacking body unmanned aerial vehicle obtained in the step (3) to determine the boundary of the stacking body. The ground penetrating radar detects a circle along the boundary, the depths of different detection points can be obtained, and the height values of all points of the boundary line of the lower surface can be obtained by combining the heights of all points of the upper surface. According to the height distribution characteristics of the stacking body, the types of the ground penetrating radar and the antenna are selected, parameters are set, measuring lines are transversely and vertically distributed on the surface of the stacking body, and the stacking body is divided into grids with different sizes along the overlooking direction. The ground penetrating radar detects different point positions of the grid, the received data are subjected to gain, filtering, arithmetic operation, deconvolution, offset, static correction, Hilbert change and the like by RADA software, the depth value of each point position can be calculated by recording the two-way travel time t 'of the electromagnetic wave and the propagation rate v' of the electromagnetic wave in the step (2), and the elevation value of each point on the lower surface A1A2A3A4 of the pile body can be calculated by combining the elevation value of the detection point in the step (3).
(5) Inputting the elevation value of the upper Surface of the stacking body measured by the unmanned aerial vehicle and the elevation value of the lower Surface measured by the ground penetrating radar into Arcgis, and calculating the volume of the stacking body by a 3D Analysis tool (path: 3D Analysis- > Surface Analysis- > Cut/Fill).
Fig. 3 is a schematic diagram of the operation of the present invention during measurement, which uses a ground penetrating radar 4 and an unmanned aerial vehicle 9, wherein the unmanned aerial vehicle 9 is provided with an unmanned aerial vehicle camera 8 and an unmanned aerial vehicle battery 10, the ground penetrating radar 4 is fixed on the ground penetrating radar cart 3, the ground penetrating radar 4 can be moved as required, the ground penetrating radar 4 is provided with an antenna 5 for receiving and transmitting data, and the ground penetrating radar 4 is further provided with a ground penetrating radar control screen 6 for setting and controlling relevant parameters. The ground penetrating radar 4 forms the ground penetrating radar to transmit and reflect the electromagnetic wave 2 when in work.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (4)

1. The utility model provides a combine unmanned aerial vehicle and ground penetrating radar's engineering jetty volume measuring method which characterized in that: measuring the elevation of the lower surface of the stacking body by calibrating the propagation rate of the ground penetrating radar in the stacking body, acquiring the elevation of the upper surface of the stacking body by aerial photography of an unmanned aerial vehicle and distribution of control points, and calculating the elevation difference of the upper surface and the lower surface of the stacking body by using a GIS (geographic information system) to calculate the stacking body amount;
the measuring method specifically comprises the following steps:
the method comprises the following steps: calibrating the electromagnetic wave propagation rate of the ground penetrating radar: at least 3 sections of line segments with known lengths are randomly selected on the surface of the heap body to form at least 3 lines, and the propagation velocity v of the electromagnetic waves in the heap body can be calculated by taking an average value through multiple measurements according to the distance Z between known point positions and the pulse wave double-travel time t:
Figure FDA0002400411380000011
wherein X is the distance between a transmitting antenna and a receiving antenna of the ground penetrating radar;
step two: verifying the type of the stacking body medium by looking up a table for the electromagnetic wave velocity v obtained in the step one, and acquiring the propagation velocity v' of the electromagnetic wave in the stacking body medium according to the following formula after determining the medium type:
Figure FDA0002400411380000012
in the formula: c. C0The propagation rate of electromagnetic waves in vacuum, mu is magnetic conductivity, omega is electromagnetic wave frequency, sigma is electric conductivity, and epsilon is dielectric constant;
step three: the method comprises the steps that an unmanned aerial vehicle is adopted to carry out all-dimensional aerial photography on a stacking body, control points are distributed through a positioning instrument, three-dimensional model making software is used for processing images of the unmanned aerial vehicle for field aerial photography, three-dimensional reconstruction, point cloud dense matching and terrain modeling are automatically carried out through geometric correction, image registration and image fusion, the three-dimensional model making software is used for constructing an irregular triangular net through directional coordinates, grid spacing setting is carried out on the triangular net, elevation points are interpolated to obtain a digital orthographic image DOM and a digital surface model DSM, and elevation data of each point in the upper surface range of the stacking body can be obtained through the control points;
step four: analyzing the aerial image of the stacking object obtained in the step three, and determining the lower surface boundary of the stacking object; transversely and vertically arranging measuring lines along the surface of the stacking waste body, and dividing the stacking waste body into grids with different sizes; measuring the depth of the stacking body at different measuring points by adopting a ground penetrating radar, calculating the depth values of the different measuring points of the stacking body through the electromagnetic wave double-travel time t 'and the electromagnetic wave velocity v' obtained by calculation in the second step, and obtaining the lower surface elevation data of the stacking body by combining the upper surface elevation data in the third step;
step five: inputting the elevation value of the upper surface of the stacking body obtained in the third step and the elevation value of the lower surface of the stacking body obtained in the fourth step into ArcGIS software, constructing a complete three-dimensional model of the stacking body through a 3D analysis tool, and calculating the stacking body amount.
2. The method of measuring the amount of engineering jetty in combination with a drone and a ground penetrating radar according to claim 1, characterized in that: the positioning instrument used in the third step is a Zhonghaida Qmini A5/A7GPS positioning instrument.
3. The method of measuring the amount of engineering jetty in combination with a drone and a ground penetrating radar according to claim 1, characterized in that: the three-dimensional modeling software used in the third step was the Agisoft Photoscan Professional software.
4. The method of measuring the amount of engineering jetty in combination with a drone and a ground penetrating radar according to claim 1, characterized in that: the ground penetrating radar is fixed on the ground penetrating radar cart and can move the ground penetrating radar as required.
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