CN110285792B - Fine grid earthwork metering method for unmanned aerial vehicle oblique photography - Google Patents
Fine grid earthwork metering method for unmanned aerial vehicle oblique photography Download PDFInfo
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Abstract
The utility model provides an unmanned aerial vehicle oblique photography fine grid earthwork measurement method, which comprises the steps of acquiring aerial survey data by aerial survey of an unmanned aerial vehicle, integrating and processing the data to obtain a live-action three-dimensional model; eliminating interferents such as trees, houses and the like in the live-action three-dimensional model by adopting a model repairing technology, fitting a curved surface by utilizing elevations around a hole left after the interferents are deleted, filling the hole by utilizing the curved surface, finally obtaining a repaired live-action three-dimensional model, and generating a real earth surface point cloud based on the repaired live-action three-dimensional model; an irregular triangular net model is built according to point cloud, then a regular grid model is built, and an earth volume calculation value is obtained through a fine grid earth measurement formula based on the regular grid model.
Description
Technical Field
The utility model belongs to the field of highway survey design and construction, and relates to an unmanned aerial vehicle oblique photography fine grid earthwork measurement method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The calculation of the earth volume is an important process flow in the field of highway design and construction, and at present, the calculation methods of the earth volume are many, including a section method, a grid method, a DTM method and the like. In recent years, the oblique photography technology of the unmanned aerial vehicle is gradually raised, and as a high and new technology developed in the international photogrammetry field in recent years, the oblique photography technology not only can truly reflect the situation of the ground features and acquire the texture information of the ground features with high precision, but also can generate a real three-dimensional scene model through advanced technologies such as positioning, fusion, modeling and the like.
The five-lens camera can constitute unmanned aerial vehicle oblique photography measurement system through carrying on oblique photography on many rotor unmanned aerial vehicle flight platform, and five-lens camera comprises a perpendicular to ground and four oblique cameras that are certain contained angle with ground, can follow different angles such as perpendicular, slope simultaneously and gather the image, acquire more comprehensive, accurate information of ground object. Choose many rotor unmanned aerial vehicle for use, have the flight stable, require lower, easy and simple to handle, the low price advantage to the place of taking off.
At present, according to the method for carrying out earth measurement by using a camera to collect information based on a multi-rotor unmanned aerial vehicle, influences of factors such as earth surface vegetation and houses on earth volume calculation can not be solved, so that errors exist in measurement results, and the problem is effectively solved through a model repairing technology.
Disclosure of Invention
The utility model provides a solve above-mentioned problem, provide an unmanned aerial vehicle oblique photography meticulous graticule mesh earthwork measurement method.
According to some embodiments, the following technical scheme is adopted in the disclosure:
an unmanned aerial vehicle oblique photography fine grid earthwork measuring method comprises the following steps:
acquiring aerial survey data by aerial survey of an unmanned aerial vehicle, and integrating and processing the data to obtain a live-action three-dimensional model;
removing interferents on the live-action three-dimensional model, utilizing an elevation fitting curved surface around a hole left on the model after the interferents are deleted, utilizing the curved surface to fill the hole, and generating a real earth surface point cloud based on the repaired live-action three-dimensional model;
and constructing an irregular triangular mesh model according to the point cloud, further constructing a regular mesh model, and obtaining a calculated value of the earth volume based on a fine mesh earth measurement method.
As a further limitation, before the initial aerial survey of the survey area, a survey area inventory should be performed.
As a further limitation, before the aerial survey of the unmanned aerial vehicle, the flight route of the unmanned aerial vehicle is comprehensively planned according to the aerial survey range, the survey area shape, the terrain variation and the endurance time.
As a further limitation, the aerial survey range is extended by a certain range with the earth measurement region as a boundary to record the texture outside the region boundary, and the extended range is determined by the angle of the oblique camera and the earth measurement range.
As a further limitation, before aerial survey, image control points and check points should be arranged in a survey area, the image control points should be uniformly arranged in the whole survey area, the image control points should be arranged at a certain distance from the edge of the survey area, the check points should be uniformly arranged, and the check points should be arranged in a region of major concern.
And as further limitation, performing data integration on the acquired aerial photo, GPS data and image control point data, realizing integral adjustment of the area network by using a light beam method taking a collinear equation as a basic mathematical model, creating a stereopair pair through image dense matching, and obtaining a live-action three-dimensional model with surface and side textures through texture mapping.
As a further limitation, in order to realize the precision control of the calculation result, the precision of the live-action three-dimensional model needs to be detected, if the precision meets the requirement, the next calculation is carried out, otherwise, the reason is searched until the precision of the live-action three-dimensional model meets the requirement.
As a further limitation, in order to eliminate the influence of tree, vegetation, house and other factors which are not completely cleaned in a measuring area on an earthwork measuring result, a live-action three-dimensional model is used as a reference three-dimensional model, interferents to be eliminated are judged on the reference three-dimensional model through visual interpretation, the interferents are selected and eliminated, a curved surface is jointly fitted to the deleted and left pores through the elevations around the pores, the pores are filled with the curved surface, a model surface triangulation network is reconstructed, the reference three-dimensional model is enabled to have a new geometric structure, the elimination of all interferents and the repair of the left pores are sequentially completed, and the reference three-dimensional model with the new geometric structure is formed; taking the reference three-dimensional model with the new geometric structure as a three-dimensional modification model to complete model surface texture mapping, and obtaining a repaired real-scene three-dimensional model which can be used for accurate earthwork measurement; and constructing surface precision point cloud data capable of recording surface three-dimensional information according to the repaired real-scene three-dimensional model.
As a further limitation, an irregular triangulation network model is constructed by using the acquired three-dimensional point cloud data through a Delaunay triangulation method; and further generating a regular grid model based on the constructed irregular triangular net model, and accurately cutting out the boundary range of the regular grid model by utilizing the design boundary.
As a further limitation, the total earthwork filling and digging amount is the sum of the filling and digging amounts of all the grids, and the filling and digging amount of the grids is the product of the area of each grid and the corresponding elevation difference, wherein the elevation difference is the difference between the elevation of the corresponding in-situ meter in each grid and the elevation of the designed surface.
The filling and excavating square amount in the construction process is the sum of the filling and excavating square amounts of all grids in the construction process, the filling and excavating square amount of the grids is the product of the area of each grid and the corresponding elevation difference, and the elevation difference is the difference value of the elevation before the corresponding staged construction and the elevation after the staged construction in each grid.
A computer readable storage medium having stored therein a plurality of instructions adapted to be loaded and executed by a processor of a terminal device, said fine grid earthwork method.
A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; a computer readable storage medium stores a plurality of instructions adapted to be loaded by a processor and to perform the fine grid earthworking method.
Compared with the prior art, the beneficial effect of this disclosure is:
(1) the utility model discloses an utilize unmanned aerial vehicle oblique photography technique to fill out and dig calculation to the earthwork of highway design and construction field, compare with traditional measurement method, can divide into meticulous graticule mesh with the region of whole earthwork measurement, realize filling out and digging the calculation volume with the meticulous graticule mesh as the basis, improved the earthwork measurement accuracy.
(2) The unmanned aerial vehicle aerial survey can be used for replacing heavy field work of measuring personnel, the field work intensity is reduced, high-density and full-coverage measurement of an earth measurement area is achieved, surface and side texture information of the area can be completely acquired, the operation efficiency is improved, manual measurement of dangerous areas is avoided, and the unmanned aerial vehicle aerial survey has the advantages of being safe in operation, saving labor and time cost. Meanwhile, the three-dimensional geographic coordinate information of the engineering area can be acquired and the construction progress can be recorded in a three-dimensional mode by using the acquired real-scene three-dimensional model.
(3) The method can eliminate interference factors influencing the earthwork measurement, such as trees, houses, construction machinery and the like on project sites, and realize the acquisition of real surface data, thereby improving the accuracy and precision of the earthwork measurement.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a flow chart of the present disclosure;
FIG. 2 is a schematic diagram of a method for determining the aerial survey range of an unmanned aerial vehicle;
fig. 3(a) and fig. 3(b) are schematic diagrams of different image control point arrangement methods;
FIG. 4(a) is an in-place representation live-action three-dimensional model effect diagram;
FIG. 4(b) is the effect diagram of the real three-dimensional model after staged construction;
FIGS. 5(a) - (c) are graphs comparing pre-and post-repair effects of a live-action three-dimensional model according to one or more embodiments;
FIG. 6 is precision point cloud data acquired in accordance with one or more embodiments;
FIG. 7(a) is the acquired in-place table TIN data;
FIG. 7(b) is the acquired TIN data after the staged construction;
FIG. 7(c) is Grid data of the obtained in-place table;
FIG. 7(d) is the acquired Grid data after the staged construction;
FIG. 8 is a graph of a calculation of obtaining earth fill according to one or more embodiments.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
According to the characteristics of the earthwork calculated amount condition and the unmanned aerial vehicle oblique photography technology in the road design and construction process, the embodiment provides the unmanned aerial vehicle oblique photography fine grid earthwork measuring method which comprises 3 core methods of obtaining an original real-scene three-dimensional model, generating real earth surface point clouds and accurately calculating earthwork.
The method for acquiring the original live-action three-dimensional model is the basis of the embodiment, the acquired live-action three-dimensional model is basic data for the accurate measurement of earthwork, and the method comprises the steps of measuring area table cleaning; planning an unmanned aerial vehicle route; laying image control points and check points; unmanned aerial vehicle field aerial survey; real scene three-dimensional modeling; the model precision detection is composed of 6 key parts.
The survey area surface cleaning treatment refers to the removal of objects on the surface of the earth in the survey area, and mainly removes trees, weeds, houses and the like which shield the original surface of the earth, so that a camera can acquire image data of the surface of the earth.
The unmanned aerial vehicle route planning refers to reasonably planning the flight route of the unmanned aerial vehicle for aerial survey by combining conditions such as the terrain and the range of a project area, the cruising ability of the unmanned aerial vehicle and the like. In order to record the texture outside the boundary of the earth measurement area, the actual aerial measurement range of the unmanned aerial vehicle should be extended by S distance with the earth measurement area as the boundary.
Wherein: and S is the flying height tan alpha, wherein alpha is the included angle between the oblique camera and the vertical direction. Because unmanned aerial vehicle battery duration restriction, when survey the district scope great, a set of battery can't accomplish the aerial survey in whole survey district, needs to carry out the block processing to the survey district according to factors such as survey district shape, relief change, battery duration.
During course planning, parameters such as flight altitude, main course image overlapping degree, main inter-course image overlapping degree, camera exposure time interval and the like need to be set.
The image control point and check point layout means that a large number of image control points need to be laid in a measuring area in order to realize the overall adjustment of the area and the matching of the model and a real geographic coordinate and control the precision of the model, and a plurality of check points need to be laid in the measuring area in order to verify the data precision of the final live-action three-dimensional model.
The image control points are uniformly distributed in the whole measuring area range, and need to be away from the edge of the measuring area by a certain distance when being distributed. The image control points are usually arranged at intervals of 150m to realize the integral control of the model precision, the image control points are arranged in areas with flat terrain, wide visual field, no tree shielding and obvious marks, white or red paint is adopted to be sprayed on the ground to make an capital letter L-shaped mark, the inner angular point of the capital letter L-shaped mark is taken as a measuring point, and the position of the image control point is recorded in the modes of photographing, character recording and the like.
The check points are uniformly distributed in the whole measuring region and are emphatically distributed in the important concerned region, the check points are different from the image control points and do not need to be distributed every 150m, but other distribution requirements and recording modes are consistent with the image control points.
The image control point and the check point acquire a plane and an elevation coordinate through RTK, and a CORS network saving mode or a base station erecting mode can be adopted.
The unmanned aerial vehicle field aerial survey refers to selecting a proper take-off and landing point on an aerial survey field, realizing autonomous flight of the unmanned aerial vehicle according to a planned flight route, and finishing the field collection of aerial survey data. The take-off and landing points are selected on a hardened pavement which is flat in terrain, wide in visual field, free of tree shielding and free of power transmission lines in the area. When no proper take-off and landing point exists in the region, the region with proper periphery can be selected, but the region cannot be too far away from the region to be measured.
The live-action three-dimensional modeling means that data integration is carried out on the acquired aerial photo, GPS data, image control point data and the like, the integral adjustment of the area network is realized by utilizing a light beam method taking a collinear equation as a basic mathematical model, a stereopair is created through image dense matching, and finally, a live-action three-dimensional model with real and clear surface and side texture is obtained through texture mapping.
The model precision detection means that the model precision is further verified by acquiring the coordinates of the check point on the live-action three-dimensional model and comparing the coordinates with a field measured value. When the accuracy meets the requirement, the next step of calculation and processing can be carried out, and when the accuracy does not meet the requirement, each link needs to be checked, the cause of the problem needs to be analyzed, and finally the purpose that the accuracy of the model meets the requirement is achieved.
The real earth surface point cloud generating method comprises model repairing and earth surface precision point cloud generating 2 core parts.
The model repairing refers to repairing the acquired real three-dimensional model. Although the surface cleaning processing is already performed on the earth measurement area before the aerial survey, the factors affecting the earth measurement, such as trees, vegetation, houses and the like which are not completely cleaned, exist on the site, and meanwhile, the factors affecting vehicles, construction machinery and the like often exist on the site in the aerial survey after each stage of construction, so in the embodiment, the uncleaned trees, vegetation, houses and the like are cleaned by using the live-action three-dimensional model repairing technology. The concrete points are as follows: 1. deriving the generated precision-detected live-action three-dimensional model as a reference three-dimensional model, the reference three-dimensional model comprising an overlapping region between the tiles. 2. The method comprises the steps of judging interferents such as trees, houses and the like needing to be removed on a reference three-dimensional model through visual interpretation, selecting and deleting the interferents, fitting a curved surface to a hole left after deletion through elevations around the hole, filling the hole with the curved surface, reconstructing a model surface triangular net to enable the reference three-dimensional model to have a new geometric structure, sequentially completing removal of all the interferents and repair of the left hole, and storing the model as the reference three-dimensional model which is named as the original reference three-dimensional model and has the new geometric structure. 3. And (3) taking the reference three-dimensional model with the new geometric structure as a three-dimensional modification model to complete the surface texture mapping of the model, and finally obtaining the real-scene three-dimensional model for the accurate measurement of the earthwork.
The generation of the precise point cloud on the earth surface is that the precise point cloud data on the earth surface is constructed by utilizing the newly acquired and repaired real scene three-dimensional model, the point cloud data can accurately record the three-dimensional information on the earth surface and is the original data for constructing the curved surface of the real earth surface.
The earthwork accurate calculation method consists of 3 core parts for constructing an irregular triangular mesh model (TIN), a regular Grid model (Grid) and earthwork calculation.
When the total earthwork excavation and filling amount is calculated, in-situ surface point cloud data and design surface data after primary surface cleaning are required to be acquired; when the earthwork filling and digging condition in the construction process is calculated, the earth surface point cloud data before the staged construction and the earth surface point cloud data after the construction need to be acquired.
The step of constructing the irregular triangulation network model (TIN) is to construct the irregular triangulation network model (TIN) by a Delaunay triangulation method by using the acquired three-dimensional point cloud data.
And the step of constructing a regular Grid model (Grid) is to further generate the regular Grid model (Grid) on the basis of the constructed TIN and accurately cut out the boundary range of the Grid by utilizing a design boundary.
The earth volume calculation means that the volume variation in each Grid range is accurately calculated by using Grid data accurately cut out from a design boundary, and the smaller the Grid division is, the more accurate the calculated volume is.
The proposed fine grid earthwork measurement formula is as follows:
(1) and (3) calculating the total filling and digging amount:
wherein: i is an integer, and S is the area of the grid; when Δ h <0, V is accumulated separately; when Δ h >0, V is accumulated separately; when Δ h is 0, V is accumulated separately, h is the grid elevation, and n is the total number of grids.
(2) Fill and dig volume calculation in construction process
Wherein: i is an integer, and S is the area of the grid; when Δ h <0, V is accumulated separately; when Δ h >0, V is accumulated separately; when Δ h is 0, V is accumulated separately, h is the grid elevation, and n is the total number of grids.
The fill volume of the earth can be calculated by the above formula respectively, and represents the volume of the excavation when V is greater than 0 and represents the volume of the fill when V is less than 0.
The method is applied by taking the calculation of the earth volume of a newly-built service area of a certain highway in China as an example, the original earth surface of the service area is mostly crops and trees, and the earth filling and digging condition of the service area in the construction stage is accurately calculated by using the method.
In order to calculate the earthwork filling and digging condition in the construction stage, aerial surveying is carried out by using an unmanned aerial vehicle oblique photography technology after the table clearing of a service area is finished and the periodic construction is finished, and live-action three-dimensional modeling is carried out, wherein the two aerial surveying is separated by about 3 months.
The survey area surface cleaning treatment means that the surface of a service area is cleaned before the first aerial survey, but trees, weeds, houses and the like which are not completely cleaned exist.
The unmanned aerial vehicle route planning means that a flight route is planned according to the area of a service area and the terrain, because an inclined camera of an adopted five-lens oblique photogrammetry camera forms an angle of 45 degrees with the vertical direction, an actual aerial survey range is extended by taking an earth measurement area as a boundary so as to record textures outside the area boundary, please refer to fig. 2, finally the flight height of the unmanned aerial vehicle is set to be 80m, the flight speed is set to be 8.0m/s, the image overlapping rate of a main route is set to be 80%, the image overlapping rate among the routes is set to be 70%, and as the area of a field is not large, the aerial survey task can be completed only by one frame at each time. In the figure: s-flying height tan α, where α is the angle of the tilt camera from the vertical.
The image control point and check point layout means that a large number of image control points and check points are laid in a service area field, a coordinate system adopted is consistent with a construction coordinate system, white or red paint is sprayed on the ground to be drawn into an capital letter L shape, point numbers are drawn around the image control points or check points, inner corner points of the image control points or check points are taken as the image control points or check points, point position coordinates are obtained by RTK, and the image control point positions are recorded by means of photographing, character recording and the like, please refer to fig. 3(a) and fig. 3 (b).
The unmanned aerial vehicle field aerial survey means that the unmanned aerial vehicle is controlled to fly through ground station software according to a planned flight route and a take-off and landing point, and multiple pieces of high-definition aerial photo data of a service area field are obtained.
The live-action three-dimensional modeling is to perform data integration on the acquired aerial photos, GPS data, image control point data, and the like, obtain a live-action three-dimensional model of the service area field through key technologies such as air-triple encryption measurement, image dense matching, texture mapping, and the like, and refer to fig. 4(a) and (b) for the live-action three-dimensional model obtained through two aerial surveys.
The model precision detection means that the model precision is further verified by selecting a check point coordinate on the live-action three-dimensional model and comparing the check point coordinate with a field measured value. The precision analysis of the live-action three-dimensional model obtained by two aerial surveys is shown in table 1.
TABLE 1 live-action three-dimensional model accuracy analysis
Calculating and analyzing to obtain that the error in the plane position of the in-situ surface real scene three-dimensional model is +/-1.34 cm, and the error in the elevation is +/-1.33 cm; after the staged construction, the error of the real-scene three-dimensional model in the plane position is +/-2.21 cm, the error of the elevation is +/-0.73 cm, the errors are within an allowable range, and the next calculation can be carried out.
The model restoration means that although the service area field is subjected to the surface cleaning treatment, a small number of factors affecting the earthwork calculation, such as uncleaned vegetation and trees, still exist on the site, and in order to improve the accuracy of the earthwork calculation, the model restoration technology is adopted in the embodiment to eliminate the factors affecting the vegetation, trees, vehicles and the like in the original real-scene three-dimensional model. The concrete expression is as follows: 1. and deriving the generated original real scene three-dimensional model subjected to precision detection into a reference three-dimensional model in the format of the obj, wherein the reference three-dimensional model comprises an overlapping region between the tiles. 2. And trimming the reference three-dimensional model in the obj format. Firstly, the interferents such as trees, houses, vehicles and the like needing to be removed are judged on a reference three-dimensional model through visual interpretation, the interferents are selected and deleted, a curved surface is jointly fitted to the left hole after deletion through the elevation around the hole to fill the left hole, a model surface triangulation network is reconstructed, the reference three-dimensional model is enabled to have a new geometric structure, the removal of all the interferents and the repair of the left hole are sequentially completed, and the names of the interferents and the repair of the left hole are the same as those of the original reference three-dimensional model. 3. And (3) taking the newly generated reference three-dimensional model in the format of the obj as a three-dimensional modification model, and completing model surface texture mapping by using the new geometric structure of the three-dimensional modification model to finally obtain a real three-dimensional model for accurate calculation of the earthwork, wherein the three groups of comparison graphs before and after model repair are shown in fig. 5(a) - (c).
The generation of the precise point cloud on the earth surface refers to that the precise point cloud data on the earth surface of the original place of the service area and the real earth surface after the periodic construction is finished are obtained through the repaired real-scene three-dimensional model, the density of point cloud sampling points is 20cm, and please refer to the attached figure 6.
Constructing an irregular triangulation network (TIN) model means that two-stage TIN data are respectively constructed by using the acquired precise point cloud data as basic earth surface data for earth excavation calculation through a Delaunay triangulation method, and please refer to fig. 7(a) - (b).
Constructing a regular Grid model (Grid) refers to further generating Grid data of two stages based on the constructed TIN, please refer to FIGS. 7(c) - (d). And the Grid resolution of the obtained Grid data is 20cm, a design drawing is used for being matched with the Grid data to determine a calculation region, the boundary range of the Grid is accurately cut out by using the boundary of the design region, and the accurate calculation of earthwork filling and excavating based on the fine Grid is achieved by using a 20 cm-20 cm Grid as a calculation unit.
The calculation of the earth volume means that the earth filling and digging result in the service area is calculated by the formula 2 described in this embodiment based on the Grid data obtained above, please refer to fig. 8. The fill volume of the fill region in the figure is 63786.71m3The excavation volume of the excavation area is 294706.42m3。
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. The utility model provides an unmanned aerial vehicle oblique photography meticulous graticule mesh earthwork measurement method which characterized by: the method comprises the following steps:
acquiring aerial survey data by aerial survey of an unmanned aerial vehicle, and integrating and processing the data to obtain a live-action three-dimensional model;
removing interferents on the live-action three-dimensional model, utilizing an elevation fitting curved surface around a hole left on the model after the interferents are deleted, utilizing the curved surface to fill the hole, and generating a real earth surface point cloud based on the repaired live-action three-dimensional model;
and constructing an irregular triangular mesh model according to the point cloud, further constructing a regular mesh model, and obtaining a calculated value of the earth volume based on a fine mesh earth calculation method.
2. The fine grid earth metering method of unmanned aerial vehicle oblique photography of claim 1, characterized by: before the unmanned aerial vehicle aerial survey is carried out, the survey area is cleared;
and comprehensively planning the flight route of the unmanned aerial vehicle according to the aerial survey range, the survey area shape, the terrain change and the endurance time.
3. The fine grid earth metering method of unmanned aerial vehicle oblique photography of claim 1, characterized by: and the aerial survey range is expanded by taking the earth measurement area as a boundary to realize the recording of textures outside the area boundary, and the expanded range is determined by the angle of the inclined camera and the earth measurement range.
4. The fine grid earth metering method of unmanned aerial vehicle oblique photography of claim 1, characterized by: before aerial survey, image control points and check points are arranged in a survey area, the image control points are uniformly arranged in the whole survey area, the image control points need to be away from the edge of the survey area by a certain distance during arrangement, the check points are also uniformly arranged, and the check points are arranged in a key concerned area.
5. The fine grid earth metering method of unmanned aerial vehicle oblique photography of claim 1, characterized by: integrating the acquired aerial photo, GPS data and image control point data, realizing integral adjustment of a regional network by using a light beam method taking a collinear equation as a basic mathematical model, creating a stereopair through image dense matching, and obtaining a live-action three-dimensional model with surface and side textures through texture mapping;
and detecting the precision of the live-action three-dimensional model, if the precision meets the requirement, performing the next calculation, and if not, searching the reason until the precision of the live-action three-dimensional model meets the requirement.
6. The fine grid earth metering method of unmanned aerial vehicle oblique photography of claim 1, characterized by: taking the live-action three-dimensional model as a reference three-dimensional model, judging interferents to be eliminated on the reference three-dimensional model through visual interpretation, selecting and deleting the interferents, fitting a curved surface for the deleted left pores through elevations around the pores, filling the pores with the curved surface, reconstructing a model surface triangulation network to ensure that the reference three-dimensional model has a new geometric structure, and finishing the elimination of all interferents and the repair of the left pores in sequence to form the reference three-dimensional model with the new geometric structure;
taking the reference three-dimensional model with the new geometric structure as a three-dimensional modification model to complete model surface texture mapping, and obtaining a repaired real-scene three-dimensional model which can be used for accurate earthwork measurement;
and constructing surface precision point cloud data capable of recording surface three-dimensional information according to the repaired three-dimensional model.
7. The fine grid earth metering method of unmanned aerial vehicle oblique photography of claim 1, characterized by: constructing an irregular triangulation network model by using the acquired three-dimensional point cloud data through a Delaunay triangulation method; and further generating a regular grid model based on the constructed irregular triangular net model, and accurately cutting out the boundary range of the regular grid model by utilizing the design boundary.
8. The fine grid earth metering method of unmanned aerial vehicle oblique photography of claim 1, characterized by: the total filling and digging amount of the earthwork is the sum of the filling and digging amounts of all grids, the filling and digging amount of the grids is the product of the area of each grid and the corresponding elevation difference, wherein the elevation difference is the difference value of the corresponding original surface elevation and the design surface elevation in each grid;
the filling and excavating square amount in the construction process is the sum of the filling and excavating square amount in the construction process, the filling and excavating square amount of the grids is the product of the area of each grid and the corresponding elevation difference, and the elevation difference is the difference value between the elevation before the corresponding staged construction and the elevation after the staged construction in each grid.
9. A computer-readable storage medium characterized by: a plurality of instructions stored therein, the instructions adapted to be loaded by a processor of a terminal device and to perform the fine grid earthwork method of any one of claims 1-8.
10. A terminal device is characterized in that: the system comprises a processor and a computer readable storage medium, wherein the processor is used for realizing instructions; a computer-readable storage medium for storing a plurality of instructions adapted to be loaded by a processor and to perform the fine mesh earthwork method of any one of claims 1-8.
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