CN111256600A - Method for measuring volume of sand carrier in dynamic environment - Google Patents
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Abstract
The invention discloses a method for measuring the volume of a sand carrier in a dynamic environment, which comprises the following steps: s1, arranging image control points around the sand carrier to be measured, and measuring the image control points to obtain coordinate data of the image control points; planning a route of the unmanned aerial vehicle, and shooting image data before and after sand is loaded on a sand carrier; s2, calibrating a camera carried by the unmanned aerial vehicle to obtain calibration parameter data; processing the shot image data according to the calibration parameters and the coordinate data of the image control points to obtain DSM data before and after loading sand on the sand carrier; s3, setting grid intervals to interpolate DSM data to obtain grid data before and after sand loading, calculating to obtain the volume of a single grid, and accumulating the volume of all grids to obtain the volume of the shipborne sand of the sand carrier. The invention realizes simple, efficient and accurate measurement of the volume of the sand carrier, and provides accurate data base and favorable technical support for management of related engineering projects such as water conservancy, ports, oceans and the like.
Description
Technical Field
The invention relates to the technical field of volume measurement, in particular to a method for measuring the volume of a sand carrier in a dynamic environment.
Background
In water conservancy, port and ocean engineering construction, a large amount of sandstone is often needed as backfill and building materials. The sand and stone are mainly from inland and need to be transported to a construction site from a sand yard through a sand carrier, so that the measurement of the volume of the sand carrier is always the key point in engineering construction, and the work directly influences the construction plan, budget planning, engineering acceptance and the like of the engineering.
The sand carrier often moves between a sand field and a construction site, inevitably needs to sail in water area environments such as open rivers, oceans and the like, and is still influenced by water flow, wind waves and peripheral ships even if the sand carrier is berthed on the shore, so that the sand carrier is almost completely in a dynamic environment and is difficult to keep in a static state for a long time, which brings great obstruction to the measurement work of the square of the sand carrier. The earth measurement methods such as a total station method, an RTK method and the like which are commonly used on land are long in time consumption, and have large deviation when used for measuring the earth volume of a sand carrier; and the short three-dimensional laser scanning method that consumes time can satisfy the needs of fortune sand ship square measurement, but three-dimensional laser scanner is expensive, is difficult to use widely on a large scale, and on the fortune sand ship can supply operating space limited moreover, and the measurement operation can only be gone on in regions such as deck, and measurement process danger coefficient is higher, is unfavorable for the safety of guarantee instrument and operation personnel.
At the present stage, a common method for measuring the square quantity of the sand carrier is a manual measurement method, namely, the shape of the sand carried by the sand carrier is simplified into a frustum pyramid or a cone, and then a measuring tape and a level ruler are used for measuring. The method needs a plurality of persons for cooperation operation, is easily influenced by human factors, and has low measurement precision. Therefore, how to simply, efficiently and accurately complete the measurement of the volume of the sand carrier is a problem to be solved in the field.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for measuring the volume of the sand carrier in the dynamic environment aiming at the defects in the prior art, so as to improve the efficiency and the precision of the measurement of the volume of the sand carrier in the dynamic environment.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a method for measuring the volume of a sand carrier in a dynamic environment, which comprises the following steps:
s1, arranging image control points around the sand carrier to be measured, and measuring the image control points to obtain coordinate data of the image control points; planning a route of the unmanned aerial vehicle, and shooting image data before and after sand is loaded on a sand carrier;
s2, calibrating a camera carried by the unmanned aerial vehicle to obtain calibration parameter data; processing the shot image data according to the calibration parameters and the coordinate data of the image control points to obtain DSM data before and after loading sand on the sand carrier;
s3, setting grid intervals to interpolate DSM data to obtain grid data before and after sand loading, calculating to obtain the volume of a single grid, and accumulating the volume of all grids to obtain the volume of the shipborne sand of the sand carrier.
Further, the specific method of step S1 of the present invention is:
s11, distributing a plurality of image control points on the periphery of the cabin of the sand carrier, and painting color marks on the image control points; simultaneously, respectively measuring the three-dimensional coordinates of each image control point by a plurality of RTK measuring instruments under an independent coordinate system at the same time;
and S12, planning an aerial photography task according to the ship body range of the sand carrier and the performances of the unmanned aerial vehicle and the camera, wherein the aerial photography task comprises a ground sampling interval, an image course overlapping degree, an image side direction overlapping degree, a flying height and a flying speed, and shooting respectively to obtain image data before and after sand is loaded on the sand carrier.
Further, the specific method of step S2 of the present invention is:
s21, fixing and focusing the focal length of a camera carried by the unmanned aerial vehicle at infinity, shooting a plurality of template images from different angles, importing the template images into camera calibration software for processing, and acquiring calibration parameters including optical distortion of a camera lens, a camera principal distance and an image principal point coordinate;
s22, importing the image data, the image control point data and the calibration parameters of the sand carrier into data processing software, obtaining DSMs before and after the sand carrier loads sand through distortion correction, image matching and empty three-encryption processing, correcting various deviations of the images through the image control points, and unifying the DSMs before and after the sand carrier loads sand to the same coordinate system.
Further, the specific method in step S21 of the present invention is:
the resolving formula of the camera distortion parameter carried by the unmanned aerial vehicle is as follows:
in the formula, r2＝(x-x0)2+(y-y0)2，k1、k2For radial distortion, p1、p2Is the tangential distortion; the observed value error and the system error (Δ x, Δ y) are considered and corrected as:
the tight solution formula of camera parameters including camera distortion is realized by using the adjustment of a beam method as follows:
in the formula (f)x,fyThe focal lengths in the x and y directions are respectively, and the error equation is as follows:
further, the specific method in step S22 of the present invention is:
after obtaining the exterior orientation elements of each low-altitude image in the measurement area and the approximate coordinate values of the undetermined point, listing an error equation according to a collinearity equation:
in the formula (X)S,YS,ZS) Representing space coordinates of a photographic center, phi, omega and kappa respectively representing a pitch angle, a roll angle and a yaw angle, (X, Y and Z) representing three-dimensional coordinates of an object space point, (X and Y) representing coordinates of an image point, and lx＝x-(x),lyY- (y), and (x) and (y) are approximate values of the undetermined parameter initial value substituted into the collinearity equation; the formula is represented by a matrix:
in the formula:
V＝[vxvy]T
X＝[ΔX ΔY ΔZ]T
L＝[lxly]T
the normal equation is:
or
When the number of the object space point coordinates X is far larger than the number of the image exterior orientation elements t, eliminating the unknown number X in the formula, and solving the t as follows:
after the elements of the external orientation are solved through iterative operation, the coordinates of the object space point coordinates are solved by using a front intersection method, and then DSM is generated.
Further, the specific method of step S3 of the present invention is:
s31, setting grid intervals d, interpolating DSM data before and after sand is loaded by a sand carrier, and converting scattered DSM data into regular grid data;
and S32, for the regular grid data, calculating the volume of a single grid through elevation difference, and then accumulating the volumes of all grids to obtain the sand-carrying volume of the sand carrier.
Further, the formula for converting the scattered DSM into regular grid data in step S31 of the present invention is:
in the formula, hiIs the elevation of the point i, n is the number of sampling points in the window, siIs the distance from the i point to the grid point.
Further, in step S32 of the present invention, the formula for calculating the sand volume on the sand carrier is:
wherein V is the volume of the sand carrier and HijAnd hijElevation corresponding to grid data before and after sand is loaded on the sand carrier is respectively, and m and n are row and column numbers of the grid data respectively.
The invention has the following beneficial effects:
(1) the measurement precision is high
The measured data is visually presented in the form of images, and is spliced through a matching and fusion algorithm, so that the influence of the swinging of the sand carrier in a dynamic environment is avoided, and the square measurement precision can be effectively ensured. Tests show that the measurement precision of the method is better than 4%, and is greatly improved compared with the measurement precision of about 10% of the traditional manual measurement method.
(2) High working efficiency
The operating personnel can remotely control the unmanned aerial vehicle to rapidly acquire the images of the sand carrier in safety zones such as a river bank and the like, then the images are processed through data processing software to obtain a square result, the whole operation process consumes less time within 30min, and one person can complete the operation without cooperation of multiple persons.
(3) Simple operation and high safety factor
During field data acquisition, by virtue of the advantage of the unmanned aerial vehicle moving platform, an operator can remotely control the unmanned aerial vehicle in safety zones such as a river bank and the like to complete image data acquisition work of a plurality of nearby sand carriers without boarding, so that the safety of the operator is effectively ensured while the operation efficiency is improved; when the internal data is processed, the data processing software has high automation degree, and the operation is simple and easy to learn.
(4) Low equipment cost and easy popularization
The unmanned aerial vehicle carries a common digital camera, the price is low, the acquired digital image can be used for high-precision measurement after distortion variation correction, and the requirement of measuring the volume of the sand carrier is met.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic flow chart of a method for measuring the volume of a sand carrier in a dynamic environment according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the layout of image control points according to an embodiment of the present invention;
FIG. 3 is a DSM before a sand carrier is loaded with sand in an embodiment of the invention;
FIG. 4 is a DSM after sand has been loaded by a sand carrier in an embodiment of the invention;
fig. 5 is a schematic diagram of the calculation of the sand carrier volume in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the method for measuring the volume of the sand carrier in the dynamic environment according to the embodiment of the present invention includes the following steps:
s1, arranging image control points around the sand carrier to be measured, and measuring the image control points to obtain coordinate data of the image control points; planning a route of the unmanned aerial vehicle, and shooting image data before and after sand is loaded on a sand carrier;
s2, calibrating a camera carried by the unmanned aerial vehicle to obtain calibration parameter data; processing the shot image data according to the calibration parameters and the coordinate data of the image control points to obtain DSM data before and after loading sand on the sand carrier;
s3, setting grid intervals to interpolate DSM data to obtain grid data before and after sand loading, calculating to obtain the volume of a single grid, and accumulating the volume of all grids to obtain the volume of the shipborne sand of the sand carrier.
In step S1, the method includes acquiring image data of the sand carrier before and after loading sand by using a general digital camera carried by the unmanned aerial vehicle in a low altitude photography mode, and specifically includes:
s11, 6 image control points are arranged on the periphery of the cabin of the sand carrier, as shown in figure 2, and are marked by paint. And simultaneously, the three-dimensional coordinates of the 6 image control points are determined at the same time by 6 RTKs under an independent coordinate system, so that the measurement deviation caused by the shaking of the sand carrier in a dynamic environment is reduced as much as possible, and the measurement precision is ensured.
S12, designing and planning the aerial photography task by comprehensively considering factors such as the range of the sand carrier ship body, the performances of the unmanned aerial vehicle and the camera, and the like, wherein the aerial photography task comprises a ground sampling interval, an image course overlapping degree, an image side overlapping degree, a flying height, a flying speed and the like, and the unmanned aerial vehicle can be ensured to complete the aerial photography task safely and efficiently. After aerial photography task planning is completed, the unmanned aerial vehicle is checked before taking off, after the unmanned aerial vehicle and meteorological conditions are confirmed to meet aerial photography requirements, the unmanned aerial vehicle is controlled to take off and shoot according to a preset shooting mode control camera, image data of the sand carrier before and after loading sand stones are acquired respectively, and image quality is checked.
The image control points are distributed around the cabin of the sand carrier and are marked by paint.
The three-dimensional coordinates of the image control points are simultaneously measured by a plurality of RTK stations (the number of the image control points is consistent) under an independent coordinate system so as to ensure the measurement accuracy.
The camera carried by the unmanned aerial vehicle is a common digital camera with pixels larger than 2000 ten thousand.
When the image data of the sand carrier is obtained, the operator can remotely control the unmanned aerial vehicle to obtain the image of the sand carrier in safety zones such as a river bank and the like without boarding.
In step S2, the method includes processing the images of the sand carrier acquired by the unmanned aerial vehicle to obtain DSM before and after loading sand on the sand carrier, and specifically includes:
s21, fixing the focal length of a common digital camera carried by the unmanned aerial vehicle and focusing on infinity, so that the distortion of the orientation elements and the lens in the camera is relatively stable and can be regarded as a fixed value, then shooting a plurality of template images from different angles, and importing camera calibration software to process so as to obtain calibration parameters such as the optical distortion of the camera lens, the camera principal distance, the image principal point coordinates and the like.
The distortion parameters of the camera carried by the unmanned aerial vehicle are solved as follows:
in the formula, r2＝(x-x0)2+(y-y0)2，k1、k2For radial distortion, p1、p2Is the tangential distortion; the observed value error and the system error (Δ x, Δ y) are considered and corrected as:
the tight solution formula of camera parameters including camera distortion is realized by using the adjustment of a beam method as follows:
in the formula (f)x,fyThe focal lengths in the x and y directions are respectively, and the error equation is as follows:
and S22, importing the image data, the image control point data and the calibration parameters of the sand carrier into data processing software, and carrying out distortion correction, image matching, space-three encryption and other processing to obtain DSMs before and after sand carrier loading, as shown in figures 3 and 4. The image control points are used for correcting various deviations of images and unifying DSMs before and after sand is loaded on the sand carrier to be under the same coordinate system.
After obtaining the exterior orientation elements of each low-altitude image in the measurement area and the approximate coordinate values of the undetermined point, listing an error equation according to a collinearity equation:
in the formula (X)S,YS,ZS) Representing space coordinates of a photographic center, phi, omega and kappa respectively representing a pitch angle, a roll angle and a yaw angle, (X, Y and Z) representing three-dimensional coordinates of an object space point, (X and Y) representing coordinates of an image point, and lx＝x-(x),lyY- (y), and (x) and (y) are approximate values of the undetermined parameter initial value substituted into the collinearity equation; the formula is represented by a matrix:
in the formula:
V＝[vxvy]T
X＝[ΔX ΔY ΔZ]T
L＝[lxly]T
the normal equation is:
or
When the number of the object space point coordinates X is far larger than the number of the image exterior orientation elements t, eliminating the unknown number X in the formula, and solving the t as follows:
after the elements of the external orientation are solved through iterative operation, the coordinates of the object space point coordinates are solved by using a front intersection method, and then DSM is generated.
In step S3, DSM before and after sand is loaded on the sand carrier is processed to obtain the square amount of sand loaded on the sand carrier, and the method specifically includes:
s31, interpolating DSM before and after sand loading by the sand carrier at proper grid spacing d, and converting the scattered DSM into regular grid data, namely:
in the formula, hiIs the elevation of the point i, n is the number of sampling points in the window, siIs the distance from the i point to the grid point.
S32, as shown in fig. 5, for the regular grid data, the volume of a single grid is calculated by the elevation difference, and then the volumes of all grids are accumulated to obtain the sand carrier-borne sand volume, that is:
wherein V is the volume of the sand carrier and HijAnd hijElevation corresponding to grid data before and after sand is loaded on the sand carrier is respectively, and m and n are row and column numbers of the grid data respectively.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (8)
1. A method for measuring the volume of a sand carrier in a dynamic environment is characterized by comprising the following steps:
s1, arranging image control points around the sand carrier to be measured, and measuring the image control points to obtain coordinate data of the image control points; planning a route of the unmanned aerial vehicle, and shooting image data before and after sand is loaded on a sand carrier;
s2, calibrating a camera carried by the unmanned aerial vehicle to obtain calibration parameter data; processing the shot image data according to the calibration parameters and the coordinate data of the image control points to obtain DSM data before and after loading sand on the sand carrier;
s3, setting grid intervals to interpolate DSM data to obtain grid data before and after sand loading, calculating to obtain the volume of a single grid, and accumulating the volume of all grids to obtain the volume of the shipborne sand of the sand carrier.
2. The method for measuring the volume of the sand carrier under the dynamic environment according to claim 1, wherein the specific method in step S1 is as follows:
s11, distributing a plurality of image control points on the periphery of the cabin of the sand carrier, and painting color marks on the image control points; simultaneously, respectively measuring the three-dimensional coordinates of each image control point by a plurality of RTK measuring instruments under an independent coordinate system at the same time;
and S12, planning an aerial photography task according to the ship body range of the sand carrier and the performances of the unmanned aerial vehicle and the camera, wherein the aerial photography task comprises a ground sampling interval, an image course overlapping degree, an image side direction overlapping degree, a flying height and a flying speed, and shooting respectively to obtain image data before and after sand is loaded on the sand carrier.
3. The method for measuring the volume of the sand carrier under the dynamic environment according to claim 1, wherein the specific method in step S2 is as follows:
s21, fixing and focusing the focal length of a camera carried by the unmanned aerial vehicle at infinity, shooting a plurality of template images from different angles, importing the template images into camera calibration software for processing, and acquiring calibration parameters including optical distortion of a camera lens, a camera principal distance and an image principal point coordinate;
s22, importing the image data, the image control point data and the calibration parameters of the sand carrier into data processing software, obtaining DSMs before and after the sand carrier loads sand through distortion correction, image matching and empty three-encryption processing, correcting various deviations of the images through the image control points, and unifying the DSMs before and after the sand carrier loads sand to the same coordinate system.
4. The method for measuring the volume of the sand carrier under the dynamic environment according to claim 3, wherein the specific method in step S21 is as follows:
the resolving formula of the camera distortion parameter carried by the unmanned aerial vehicle is as follows:
in the formula, r2＝(x-x0)2+(y-y0)2，k1、k2For radial distortion, p1、p2Is the tangential distortion; the observed value error and the system error (Δ x, Δ y) are considered and corrected as:
the tight solution formula of camera parameters including camera distortion is realized by using the adjustment of a beam method as follows:
in the formula (f)x,fyThe focal lengths in the x and y directions are respectively, and the error equation is as follows:
5. the method for measuring the volume of the sand carrier under the dynamic environment according to claim 4, wherein the specific method in step S22 is as follows:
after obtaining the exterior orientation elements of each low-altitude image in the measurement area and the approximate coordinate values of the undetermined point, listing an error equation according to a collinearity equation:
in the formula (X)S,YS,ZS) Representing space coordinates of a photographic center, phi, omega and kappa respectively representing a pitch angle, a roll angle and a yaw angle, (X, Y and Z) representing three-dimensional coordinates of an object space point, (X and Y) representing coordinates of an image point, and lx＝x-(x),lyY- (y), and (x) and (y) are approximate values of the undetermined parameter initial value substituted into the collinearity equation; the formula is represented by a matrix:
in the formula:
V＝[vxvy]T
X＝[ΔX ΔY ΔZ]T
L＝[lxly]T
the normal equation is:
or
When the number of the object space point coordinates X is far larger than the number of the image exterior orientation elements t, eliminating the unknown number X in the formula, and solving the t as follows:
in the formula (I), the compound is shown in the specification,
after the elements of the external orientation are solved through iterative operation, the coordinates of the object space point coordinates are solved by using a front intersection method, and then DSM is generated.
6. The method for measuring the volume of the sand carrier under the dynamic environment according to claim 1, wherein the specific method in step S3 is as follows:
s31, setting grid intervals d, interpolating DSM data before and after sand is loaded by a sand carrier, and converting scattered DSM data into regular grid data;
and S32, for the regular grid data, calculating the volume of a single grid through elevation difference, and then accumulating the volumes of all grids to obtain the sand-carrying volume of the sand carrier.
7. The method of claim 6, wherein the formula for transforming the scattered DSM into regular grid data in step S31 is:
in the formula, hiIs the elevation of the point i, n is the number of sampling points in the window, siIs the distance from the i point to the grid point.
8. The method for measuring the sand carrier volume in the dynamic environment according to claim 7, wherein the formula for calculating the sand carrier volume in step S32 is as follows:
wherein V is the volume of the sand carrier and HijAnd hijElevation corresponding to grid data before and after sand is loaded on the sand carrier is respectively, and m and n are row and column numbers of the grid data respectively.
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| CN116384168A (en) * | 2023-06-07 | 2023-07-04 | 江西省水投江河信息技术有限公司 | Sand transporting amount calculating method, system, computer and storage medium of sand transporting ship |
| CN116384168B (en) * | 2023-06-07 | 2023-08-18 | 江西省水投江河信息技术有限公司 | Sand transporting amount calculating method, system, computer and storage medium of sand transporting ship |
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