CN110390687A - A kind of dry river measurement method based on 3 D laser scanning - Google Patents
A kind of dry river measurement method based on 3 D laser scanning Download PDFInfo
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Abstract
The dry river measurement method based on 3 D laser scanning that the invention discloses a kind of, the following steps are included: S1. river topography measures: according to the geometry of measured zone, it determines that scanner sets up the horizontal layout of website and target, obtains the point cloud data that can satisfy the requirement of erosion and deposition deformation measurement and complete covering scanning area；S2. cloud data registration: carrying out first-phase multi-site point cloud registering, carries out preliminary registration by target, then reduce registration error by iterative closest point algorithm；Then, the point cloud registering for carrying out more periods is registrated second phase point cloud by iterative closest point algorithm using first phase point cloud coordinate system as engineering coordinate system, exports second phase point cloud；S3. dry river deformation is calculated and visualized: the height change value by comparing different times plane coordinates identical point obtains the Scour and Accretion amount in river.Present invention combination three-dimensional laser scanning technique realizes dry river measurement, has the advantages such as high-efficient, workload is small, the high and low risk of precision.
Description
Technical field
The present invention relates to dry river measurements, more particularly to a kind of dry river measurement side based on 3 D laser scanning
Method.
Background technique
During the mankind utilize river development, a large amount of hydraulic engineering is built in river, to change river
The flow and sediment of stream causes a series of river bed change in downstream.The Erosion and progradation in river may be to hydraulic structure safety, water
The library method of operation, maritime engineering etc. cause significant impact, therefore carry out research to the scour-silting rule in river and be of great importance,
In, carrying out directly measurement to river-bed deformation is to disclose a kind of effective means of evolution law of river course.Traditional river survey is logical
Cross the modes such as total station, Sounding Rod, sounding bob and carry out spot measurement, then it is interpolated obtain whole landform, by compare it is different when
Issue according to calculating the deflection in riverbed, the method there are working efficiencies it is low, operational hazards degree is high, error is big the disadvantages of.Shen
Please number for CN201610354918.5 patent " a kind of river erosion and deposition depth detection apparatus and detection method ", have cost compared with
Low, method is easy to operate, and the accurate meter of energy calculates the advantages such as the erosion and deposition deflection before and after flood.
But the device scope of application has limitation, needs outer tube squeezing into basement rock, it is deeper not to be suitable for coating
Situation can only measure the erosion and deposition deformation in sandy riverbed, not be suitable for ovum rock bed；The stability of device is not high, only considered
The strong influence of dynamic hydraulic pressure, device may be damaged by water float object or the block stone of passage；Observation scope is limited, can only obtain riverbed
Erosion and deposition deformation at single-point；Measurement accuracy is not high, when measurement measuring staff with manage in fine sand contact, will lead to fine sand volume compression in turn
Generate error.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of dry rivers based on 3 D laser scanning
Measurement method realizes dry river measurement in conjunction with three-dimensional laser scanning technique, with high-efficient, workload is small, the high and low wind of precision
The advantages such as danger.
The purpose of the present invention is achieved through the following technical solutions: a kind of dry river based on 3 D laser scanning
Measurement method, comprising the following steps:
S1. river topography measures: according to the geometry of measured zone, determining that scanner sets up the plane of website and target
Arrangement obtains the point cloud data that can satisfy the requirement of erosion and deposition deformation measurement and complete covering scanning area；
S2. cloud data registration: carrying out first-phase multi-site point cloud registering first, carries out preliminary registration by target,
Registration error is further decreased by iterative closest point algorithm again, point cloud is exported after the completion, is named with the date；Then, it carries out
The point cloud registering in more periods, using first phase point cloud coordinate system as engineering coordinate system, by iterative closest point algorithm to second phase point
Cloud is registrated, and is completed export second phase point cloud, is named with the date；
S3. dry river deformation is calculated and is visualized: the height change by comparing different times plane coordinates identical point
Value, obtains the Scour and Accretion amount in river: since same period point cloud plane coordinates is not overlapped, can not directly carry out difference calculating, first
First, the region point cloud other than original point cloud river is deleted, river point cloud boundary is extracted；Then, between generation etc.
Away from plane coordinates matrix, the point of opposite side out-of-bounds deleted, and a new matrix is obtained；Then, it is obtained by interpolation each
The corresponding height coordinate of point, is stored with a matrix type；Finally, the difference in height of corresponding points is calculated, with Aberration nephogram or contour
The form of figure shows knot.
Wherein, the step S1 includes following sub-step:
S101. determine that scanner effectively measures distance ρ according to the following formula:
N=1/ (ρ × h × ((tan (θ+d θ)-tan θ) × d α)；
Wherein, θ=arccos (h/ ρ), N are smallest point cloud density, and h is height of the centre away from riverbed, and ρ is instrument
Effectively measurement distance, d α, d θ are respectively the scanner horizontal resolution and vertical resolution ratio being arranged；
S102. the geometry that surveyed section is obtained using satellite image, measures section width, length data, and calculating is swept
Retouch the maximum spacing L at instrument frame stationmax；
Wherein, d is the 1/2 of section width；
Frame station arrangement is carried out on the image according to frame station maximum spacing, and website is alternately laid in two sides, swept to avoid instrument
Retouch blind area；
S103. instrument is set up on each preset site location, arranges minimum 3 targets between different two survey stations；Then
It is scanned in different websites, the measurement until completing whole region, acquisition meets the requirement of erosion and deposition deformation measurement and complete covering
The point cloud data of scanning area.
Wherein, the step S2 includes following sub-step:
S201. first phase point cloud data is imported, carries out a cloud denoising, the removal of vegetation；It is sat with the scanner of first stop
Mark system is engineering coordinate system, and the target co-ordinates in first stop are engineering coordinate, firstly, by solving following formula coordinates computed conversion ginseng
Number:
A=RA'+ Δ T
In formula:
R include three independent parameter α, β,Respectively around x, y, the rotation angle of z-axis；
Δ X, Δ Y, Δ Z are three translation parameters；
For the engineering coordinate of target；
For the scanner coordinate of target；
Simultaneous solution obtain six parameter alphas, β,Δ X, Δ Y, Δ Z, the first registration of completion second station to engineering coordinate system,
Then registration error is reduced using iterative closest point algorithm, realizes final registration；And repeat matching for the station the 3rd, 4 ..., n
It is quasi-；
S202. second phase point cloud is imported, denoising is carried out and goes vegetation, the point that the importing first phase has been registrated in same engineering
Cloud leaves out the point cloud in river, retains the not changed point of landform outside river；Then, using iterative closest point algorithm, benefit
The river perimeter being overlapped with two phase point clouds, the first site cloud of the second phase is registrated to first phase point cloud；According to same
Method complete the registration of the second phase remaining point cloud；
S203. by two phase point clouds after registration, leave out river exterior domain point cloud, and left point cloud is pressed into Convex Polygon Domain
Retain, exports some cloud coordinate informations respectively with txt format, named with the date.
The beneficial effects of the present invention are: present invention combination three-dimensional laser scanning technique realizes dry river measurement, there is number
According to obtaining, fast, measurement accuracy is high, easy to operate, the small advantage of workload.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention.
Certain Downstream of Sluice dry river Aberration nephogram in Fig. 2 embodiment；
Certain Downstream of Sluice dry river deforms isogram in Fig. 3 embodiment；
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
The present invention obtains river point cloud information using three-dimensional laser scanner.Measurement object is exposed riverbed and bank slope.
It is reflected due to launching laser in the water surface, the return signal intensity that instrument receives is very weak, it is difficult to measure the water surface belowly
Shape, therefore suggest measuring in dry season or when riverbed bare area is larger in specific implementation process.
As shown in Figure 1, a kind of dry river measurement method based on 3 D laser scanning, comprising the following steps:
S1. river topography measures: according to the geometry of measured zone, determining that scanner sets up the plane of website and target
Arrangement obtains the point cloud data that can satisfy the requirement of erosion and deposition deformation measurement and complete covering scanning area: in the implementation of the application
In example, measured zone is chosen to be certain water gate engineering downstream river course, and downstream river course is straight.Measuring instrument is swashed using auspicious lattice VZ-2000i
Photoscanner, ranging farthest reach 2000m, test the speed and reach 30,000,000 points/minute, and maximum horizontal angular resolution is 0.0007 °, most
Big vertical 0.0015 ° of angular resolution；
The step S1 includes following sub-step:
S101. in view of remoter with the relative distance of scanner, point cloud density is smaller, therefore should be seen before measuring according to deformation
Smallest point cloud density needed for surveying determines that scanner effectively measures distance.River biggish for surface undulation can be chosen larger
Point Yun Midu, the relatively flat river in surface can choose lesser point Yun Midu, determine that scanner effectively measures according to the following formula
Distance ρ:
N=1/ (ρ × h × ((tan (θ+d θ)-tan θ) × d α)；
Wherein, θ=arccos (h/ ρ), N are smallest point cloud density, and h is height of the centre away from riverbed, and ρ is instrument
Effectively measurement distance, d α, d θ are respectively the scanner horizontal resolution and vertical resolution ratio being arranged；
In the above-described embodiments, the smallest point cloud density for observing needs is 1000 points/m2.Height of the centre to riverbed face
Spending h is that bank height adds tripod height, about 20m.Scanner horizontal direction resolution ratio is set as 0.004 °, be vertically disposed for
0.002°.Calculate effectively measurement apart from when angle is scaled radian；For convenience of solution, assumes initially that a ρ value, obtain one
Point cloud density N, if will assume approximation of the value ρ as effective observed range close to the smallest point cloud density of setting.It is false herein
If ρ be 200m, calculate N is about 1100 points/m2.Therefore taking effectively measurement distance is 200m；
S102. the geometry that surveyed section is obtained using satellite image, measures section width, length data, and calculating is swept
Retouch the maximum spacing L at instrument frame stationmax；
Wherein, d is the 1/2 of section width；
Frame station arrangement is carried out on the image according to frame station maximum spacing, and website is alternately laid in two sides, swept to avoid instrument
Retouch blind area；
In the above-described embodiments, section width is measured from satellite image is about 300m, and length is about 650m etc., is calculated
Lmax is 132m, arranges 12 stations, each 6 station of left bank right bank in two sides with equidistant 130m；
S103. instrument is set up on each preset site location, arranges minimum 3 targets between different two survey stations；Then
It is scanned in different websites, the measurement until completing whole region, acquisition meets the requirement of erosion and deposition deformation measurement and complete covering
The point cloud data of scanning area.
In the above-described embodiments, 3 targets are arranged between different two survey stations.Such as when second station is scanned, one, two
3 targets are respectively arranged between standing and between two, three stations.After the completion of scanning, if discovery has the region lost, benefit survey is carried out immediately.
Similarly, second phase scanning work is completed in identical site location.
S2. cloud data registration: carrying out first-phase multi-site point cloud registering first, carries out preliminary registration by target,
Registration error is further decreased by closest approach iteration (ICP) algorithm again, point cloud is exported after the completion, is named with the date；Then,
The point cloud registering for carrying out more periods, using first phase point cloud coordinate system as engineering coordinate system, by iterative closest point algorithm to second
Phase point cloud is registrated, and is completed export second phase point cloud, is named with the date:
Specifically, in embodiments herein, the step S2 includes following sub-step:
S201. the new construction in points cloud processing software, contemporaneity point cloud data is imported, and is carried out a cloud denoising, is planted
The removal of quilt.Using the scanner coordinate system of first stop as engineering coordinate system, the target co-ordinates in first stop are engineering coordinate, first
First, by solving following formula coordinates computed conversion parameter:
A=RA'+ Δ T
In formula:
R include three independent parameter α, β,Respectively around x, y, the rotation angle of z-axis；
Δ X, Δ Y, Δ Z are three translation parameters；
For the engineering coordinate of target；
For the scanner coordinate of target；
Simultaneous solution obtain six parameter alphas, β,Δ X, Δ Y, Δ Z, the first registration of completion second station to engineering coordinate system,
Then registration error is reduced using iterative closest point algorithm, realizes final registration；And repeat matching for the station the 3rd, 4 ..., n
It is quasi-；N=12 in the above-described embodiments.
S202. new construction imports second phase point cloud, carries out denoising and goes vegetation, imports the first phase in same engineering
The point cloud being registrated leaves out the point cloud in river, retains the not changed point of landform outside river；Then, using closest approach
Iteration (ICP) algorithm, using two phase point clouds be overlapped river perimeter, by the first site cloud of the second phase to first phase point cloud into
Row registration；The registration of the second phase remaining point cloud is completed after the same method；
S203. by two phase point clouds after registration, leave out river exterior domain point cloud, and left point cloud is pressed into Convex Polygon Domain
Retain, exports some cloud coordinate informations respectively with txt format, named with the date.
S3. dry river deformation is calculated and is visualized: the height change by comparing different times plane coordinates identical point
Value, obtains the Scour and Accretion amount in river: since same period point cloud plane coordinates is not overlapped, can not directly carry out difference calculating, first
First, the region point cloud other than original point cloud river is deleted, river point cloud boundary is extracted；Then, between generation etc.
Away from plane coordinates matrix, the point of opposite side out-of-bounds deleted, and a new matrix is obtained；Then, it is obtained by interpolation each
The corresponding height coordinate of point, is stored with a matrix type；Finally, the difference in height of corresponding points is calculated, with Aberration nephogram or contour
The form of figure shows knot.
Specifically, in embodiments herein, the step S3 includes:
S301: reading txt format point cloud in matlab software, puts cloud with one 4 matrix arranged storage, is named as
Pointcloud_1 and pointcloud_2, first is classified as serial number a little, and two, three, four be x a little, y, z coordinate.Then it uses
Delaunay algorithm generates the triangulation network on the basis of first phase point cloud, and opposite side and triangular facet are numbered respectively.All Bian Yiyi
The matrix line_1 storage of a 3 column, first is classified as the serial number on side, and two, three are classified as the serial number for two points that side includes.All triangles
Face is with the one 4 matrix tri_1 arranged storage, and first is classified as the number of triangular facet, and two, three, four be three sides of each triangular facet
Serial number.The number on the side in the matrix of storage triangular facet information is counted, it is triangulation network inside that serial number, which occurs 2 times,
Side, occurring 1 time is the borderline side of the triangulation network.The point cloud coordinate for extracting the point on composition outer boundary side, saves as matrix
Bound_1, to dot sequency therein by rearrangement counterclockwise.
S302: grid coordinates matrix x_coord, y_coord are generated first with meshgrid function, stores grid respectively
The x of point is to coordinate and y to coordinate, increment of coordinate 0.03.Then use griddata function, in cloud pointcloud_1 and
Interpolation is carried out to the ordinate of grid point on the basis of pointcloud_2, interpolation method can be bilinear interpolation, three times sample
Interpolation method, bi-cubic interpolation method etc..Z after obtaining interpolation subtracts the former to coordinates matrix z1_coord, z2_coord, the latter
Subtract each other to obtain z to changes in coordinates value matrix delz_coord.
S303: then x_coord, y_coord, delz_coord are straightened as column vector, merging with reshape function
And storing is matrix gridcoord.Then with inpolygon function to the position of point and boundary bound_1 in gridcoord
It sets and is differentiated, the point of border inner is stored in matrix in_gridcoord.
S304: the coordinate in in_gridcoord is exported as into txt file, then draws erosion and deposition change by importing mapping software
Shape cloud atlas or isogram, as shown in Figures 2 and 3.
The sort method of the S032 connects the following steps are included: firstly, according to boundary point plane coordinates calculating barycentric coodinates
Generate center of gravity arrive all boundary points vector, calculating institute's directed quantity and the direction x angle, finally from small to large according to angle
Sequence sorts to boundary point.
The present invention is based on 3 D laser scannings, improve data acquisition speed；Measurement accuracy is high, reduces contact measurement production
Raw error, the precision of laser scanning can reach mm grades；Compared to traditional spot measurement, river plane any point can be obtained
Deformation values；Easy to operate, workload is small, and the point cloud registering function and simple matlab sentence carried using software can be real
It is existing；The visualization that result can be realized by software drawing function, visually shows the erosion and deposition deformed region distribution situation in river
With deflection size.
The above is a preferred embodiment of the present invention, it should be understood that the present invention is not limited to shape described herein
Formula should not be viewed as excluding other embodiments, and can be used for other combinations, modification and environment, and can be in this paper institute
It states in contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And what those skilled in the art were carried out
Modifications and changes do not depart from the spirit and scope of the present invention, then all should be within the scope of protection of the appended claims of the present invention.
Claims (3)
1. a kind of dry river measurement method based on 3 D laser scanning, it is characterised in that: the following steps are included:
S1. river topography measures: according to the geometry of measured zone, determining that scanner sets up the planar cloth of website and target
It sets, obtains the point cloud data that can satisfy the requirement of erosion and deposition deformation measurement and complete covering scanning area；
S2. cloud data registration: carrying out first-phase multi-site point cloud registering first, carries out preliminary registration by target, then lead to
It crosses iterative closest point algorithm and further decreases registration error, point cloud is exported after the completion, is named with the date；Then, when carrying out more
The point cloud registering of phase, using first phase point cloud coordinate system as engineering coordinate system, by iterative closest point algorithm to second phase point cloud into
Row registration is completed export second phase point cloud, is named with the date；
S3. dry river deformation is calculated and visualized: the height change value by comparing different times plane coordinates identical point obtains
To the Scour and Accretion amount in river: since same period point cloud plane coordinates is not overlapped, difference calculating can not be directly carried out, firstly, right
Region point cloud other than original point cloud river is deleted, and is extracted to river point cloud boundary；Then, it generates flat at equal intervals
Areal coordinate matrix, the point of opposite side out-of-bounds are deleted, and a new matrix is obtained；Then, every bit is obtained by interpolation to correspond to
Height coordinate, store with a matrix type；Finally, the difference in height of corresponding points is calculated, with the shape of Aberration nephogram or contour map
Formula shows knot.
2. a kind of dry river measurement method based on 3 D laser scanning according to claim 1, it is characterised in that: institute
Stating step S1 includes following sub-step:
S101. determine that scanner effectively measures distance ρ according to the following formula:
N=1/ (ρ × h × ((tan (θ+d θ)-tan θ) × d α)；
Wherein, θ=arccos (h/ ρ), N are smallest point cloud density, and h is height of the centre away from riverbed, and ρ is the effective of instrument
Distance is measured, d α, d θ is respectively the scanner horizontal resolution and vertical resolution ratio being arranged；
S102. the geometry that surveyed section is obtained using satellite image, measures section width, length data, calculates scanner
The maximum spacing L at frame stationmax；
Wherein, d is the 1/2 of section width；
Frame station arrangement is carried out on the image according to frame station maximum spacing, and website is alternately laid in two sides, is scanned to avoid instrument blind
Area；
S103. instrument is set up on each preset site location, arranges minimum 3 targets between different two survey stations；Then not
It is scanned with website, the measurement until completing whole region, acquisition meets the requirement of erosion and deposition deformation measurement and complete covering scanning
The point cloud data in region.
3. a kind of dry river measurement method based on 3 D laser scanning according to claim 1, it is characterised in that: institute
Stating step S2 includes following sub-step:
S201. first phase point cloud data is imported, carries out a cloud denoising, the removal of vegetation；With the scanner coordinate system of first stop
For engineering coordinate system, the target co-ordinates in first stop are engineering coordinate, firstly, by solving following formula coordinates computed conversion parameter:
A=RA'+ Δ T
In formula:
R include three independent parameter α, β,Respectively around x, y, the rotation angle of z-axis；
Δ X, Δ Y, Δ Z are three translation parameters；
For the engineering coordinate of target；
For the scanner coordinate of target；
Simultaneous solution obtain six parameter alphas, β,Δ X, Δ Y, Δ Z complete second station to the first registration of engineering coordinate system, then adopt
Reduce registration error with iterative closest point algorithm, realizes final registration；And repeat the registration at the station the 3rd, 4 ..., n；
S202. second phase point cloud is imported, denoising is carried out and goes vegetation, the point cloud that the importing first phase has been registrated in same engineering,
Leave out the point cloud in river, retains the not changed point of landform outside river；Then, it using iterative closest point algorithm, utilizes
The river perimeter that two phase point clouds are overlapped, the first site cloud of the second phase is registrated to first phase point cloud；According to same
Method completes the registration of the second phase remaining point cloud；
S203. by two phase point clouds after registration, leave out river exterior domain point cloud, and left point cloud is protected by Convex Polygon Domain
It stays, exports some cloud coordinate informations respectively with txt format, named with the date.
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| CN111833401A (en) * | 2020-06-12 | 2020-10-27 | 华中科技大学 | Rapid ranging method and system based on double-sided point cloud information |
| CN112461496A (en) * | 2020-09-09 | 2021-03-09 | 福建省水利水电勘测设计研究院 | Visual processing method for erosion and deposition test results of hydraulic and river model |
| CN112685918A (en) * | 2021-02-04 | 2021-04-20 | 中建一局华江建设有限公司 | River channel dredging method based on unmanned aerial vehicle inclination measurement technology |
| CN112762904A (en) * | 2020-12-25 | 2021-05-07 | 长沙理工大学 | Equipment and method for rapidly measuring erosion and deposition evolution of shoreline in beach restoration test |
| CN112880582A (en) * | 2021-01-19 | 2021-06-01 | 河海大学 | A monitoring devices that is used for intertidal zone tidal flat bed local erosion and deposition to warp |
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