CN111288969A - Slope construction geological sketch method based on orthographic image of unmanned aerial vehicle - Google Patents
Slope construction geological sketch method based on orthographic image of unmanned aerial vehicle Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a slope construction geological sketch method based on an orthoimage of an unmanned aerial vehicle, which comprises the steps of obtaining a high-definition orthoimage of a slope, performing slope geological sketch based on the orthoimage of the unmanned aerial vehicle and calculating the occurrence of a sketch structural plane. According to the method, the small unmanned aerial vehicle is used for acquiring the high-definition orthographic images of the quasi-sketch slope, and after the images are registered, the high-definition images are used as the background to interpret geological information, so that the full-information acquisition of the slope construction geological sketch is realized, the safety risk of the traditional sketch work is avoided, and the method has the advantages of light equipment, simplicity in operation, high efficiency, low cost and the like. The constructed sketch coordinate system can realize the interconversion of the sketch coordinates and the three-dimensional geodetic coordinates only by plane rotation and coordinate origin translation. The invention changes the operation mode that the geological sketch in the traditional side slope construction needs to be dug and traced, takes the high-definition image of the side slope as the base map, solves the defect that the traditional sketch map only has geological lines and symbols, and improves the quality of the sketch result.
Description
Technical Field
The invention relates to a slope construction geological sketch method in the field of engineering geology, in particular to a slope construction geological sketch method based on an orthographic image of an unmanned aerial vehicle.
Background
Geological sketch is a basic geological work which takes field objective geological entities as objects and uses a sketch technique to describe the spatial form and the mutual relationship of the geological entities. The slope construction geological sketch is a construction geological work which takes an excavation slope as an object, depicts the spatial position and the form of a structural surface such as the lithology, a geological boundary, a fault joint and the like of a stratum exposed on the excavation slope, and measures and records the geological properties such as the occurrence, the width, the filling and the like of the construction geological work.
Traditional construction geology sketch mainly utilizes instruments such as drawing board, compass, tape measure, in side slope excavation work progress, arrives the job site by geology technical staff, carries out through modes such as naked eye observation, manual drawing, artifical measuration, has sketch work efficiency low, the error is big, the poor not enough of environment. Along with the continuous increase of engineering scale, the height of an excavation side slope is larger and larger, the height of the rock side slope of the hydraulic and hydroelectric engineering can reach hundreds of meters, a traditional excavation side sketch mode is adopted, a large amount of manpower and material resources are consumed, and a serious sketch safety risk exists.
In recent years, with the continuous development of technologies such as photogrammetry, unmanned aerial vehicles, three-dimensional laser scanning and the like, some new devices and methods are gradually applied to slope construction geological sketch. There are three main common methods: firstly, a side slope image is obtained through a digital camera, geological sketch is carried out by utilizing the image, the method is limited by the height of the side slope and the shooting position, and when the height of the side slope is higher and the shooting distance is farther, the sketch error is larger. And secondly, the geological sketch is carried out by constructing a three-dimensional oblique photography model by utilizing unmanned aerial vehicle oblique photography, and the method has the defects of large image data volume and complex post-processing. Thirdly, slope point cloud data are obtained by using three-dimensional laser scanning equipment, and geological objects are identified to carry out sketch work.
Disclosure of Invention
The invention aims to provide a slope construction geological sketch method based on an orthographic image of an unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a slope construction geological sketch method based on an orthoimage of an unmanned aerial vehicle, which comprises the steps of obtaining a high-definition orthoimage of a slope, performing slope geological sketch based on the orthoimage of the unmanned aerial vehicle and calculating the attitude of a sketch structural plane, and comprises the following steps:
s1, selecting three points which are not on the same straight line as control points on a slope excavation surface to be sketched, marking the positions of the three control points, and measuring three-dimensional geodetic coordinates of the three control points;
s2, setting the lens angle of the pan-tilt camera of the unmanned aerial vehicle to be 0 degree, operating the unmanned aerial vehicle to fly to the center of the slope to be sketch and hover, ensuring that the distance from the hover position to the slope surface is 0.6-0.8 times of the length of the slope, ensuring that the image covers the slope to be sketch, and operating the pan-tilt camera to enable the lens to face to be perpendicular to the direction of the slope;
s3, operating the unmanned aerial vehicle pan-tilt camera to photograph the quasi-sketch slope, and acquiring a single high-definition ortho-image of the quasi-sketch slope;
s4, establishing a coordinate origin of the left lower corner of the side slope and a slope trendX'The axis is the inward direction of the vertical slope as the Y' axis and the elevation as the elevationZ'Axis of a sketch coordinate system of said sketch coordinate systemX'Z'The plane is a sketch plane of the side slope, and geological objects in a sketch coordinate system are located in the sketch planeX'Z'The projection of the plane is a geological sketch map of the excavation slope;
s5, the three-dimensional geodetic coordinate system takes the east-ward direction asXAxis, in the north directionYAxis, in elevationZOf axes, three-dimensional geodetic and sketch coordinate systemsZThe axes are identical, so that the coordinate transformation of the three-dimensional geodetic coordinate system and the sketch coordinate system is onlyXYRotation of the plane and translation of the origin of coordinates, the coordinate transformation formula is as follows:
in the formula:X、Y、Zis the coordinate of a three-dimensional geodetic coordinate system,X'、Y'、Z'is the coordinate of the sketch coordinate system, and is a coordinate system,
、
、
the amount of translation for the origin of coordinates,
the rotation angle is counterclockwise of the sketch coordinate system,
the trend of excavating the side slope is realized;
s6, calculating the coordinates of the three control points on the side slope excavation surface in the sketch coordinate system through the coordinate conversion formula, and utilizing the coordinates of the three control points in the sketch coordinate systemX'、Z'Coordinate, carrying out coordinate registration on the side slope orthographic image;
s7, carrying out interpretation sketch work on exposed geological conditions of the slope by using the high-definition orthographic image of the slope after coordinate registration, drawing a geological sketch map and marking related geological attributes, wherein the contents comprise formation lithology, formation boundary lines, structural boundary lines, faults, joints, structural surface fillers and structural surface width;
s8, in order to obtain the structural surface occurrence of the stratum, the fault and the joint, selecting three structural surface exposure points which are not on the same straight line from the side slope high-definition orthographic image after coordinate registration to obtain the structural surface occurrence in the sketch planeX'、Z'Coordinates, calculating the exposure point of each structural surface in a sketch coordinate system by utilizing the slope design excavation slope ratioY'Coordinates, the calculation formula is as follows:
in the formula:
designing an excavation slope ratio for the side slope;
s9, calculating to obtain three-dimensional geodetic coordinates of the exposed point of the structural surface through a coordinate conversion formula according to the sketch coordinate system coordinates of the exposed point of each structural surface, and further calculating to obtain the tendency and the inclination angle of the attitude of the structural surface by using the three-dimensional geodetic coordinates of the exposed point of the structural surface;
and S10, forming a side slope geological sketch map through geological sketch map arrangement, geological attribute table drawing and sketch frame adding work, and finishing the side slope construction geological sketch work.
In S1, the side slope to be sketched is a multi-step excavation side slope, and three points which are not on the same straight line are respectively selected as control points on the slope surface of each step of excavation side slope; and S2, when the single-step length of the side slope is greater than 2 times of the height of the side slope or the height of the side slope is greater than 20m, performing sectional sketch.
According to the method, the small unmanned aerial vehicle is used for acquiring the high-definition orthographic images of the quasi-sketch slope, and after the images are registered, the high-definition images are used as the background to interpret geological information, so that the full-information acquisition of the slope construction geological sketch is realized, the safety risk of the traditional sketch work is avoided, and the method has the advantages of light equipment, simplicity in operation, high efficiency, low cost and the like. The constructed sketch coordinate system can realize the interconversion of the sketch coordinates and the three-dimensional geodetic coordinates only by plane rotation and coordinate origin translation; based on coordinate conversion and excavation slope ratio, image coordinate registration and structural plane attitude calculation can be rapidly realized. The invention changes the operation mode that the geological sketch in the traditional side slope construction needs to be dug and traced, takes the high-definition image of the side slope as the base map, solves the defect that the traditional sketch map only has geological lines and symbols, and improves the quality of the sketch result.
Drawings
FIG. 1 is a block flow diagram of the method of the present invention.
Fig. 2 is a fourth-order slope high-definition orthographic view in an application example of the invention.
Fig. 3 is a fourth-order slope image and control point diagram after registration in an application example of the present invention.
Fig. 4 is a geological sketch map of the fourth-order slope construction in the application example of the invention.
Fig. 5 is a geological sketch map of a fourth-order slope construction in the application example of the invention.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the drawings, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are provided, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, the slope construction geological sketch method based on the orthoimage of the unmanned aerial vehicle of the invention comprises the steps of obtaining a high-definition orthoimage of a slope, performing slope geological sketch based on the orthoimage of the unmanned aerial vehicle, and calculating the occurrence of a sketch structural plane, and specifically comprises the following steps:
s1, selecting a group of three points which are not on the same straight line on the side slope excavation surface to be sketched as control points, marking the positions of the three control points in each group, and measuring the three-dimensional geodetic coordinates of the three control points in each group; then, respectively carrying out S1-S10 steps on each step of side slope excavation surface;
s2, setting the lens angle of the pan-tilt camera of the unmanned aerial vehicle to be 0 degree, operating the unmanned aerial vehicle to fly to the center of the side slope to be sketch and hover, ensuring that the distance from the hovering position to the slope surface is 0.6-0.8 times of the length of the side slope, ensuring that the image covers the side slope to be sketch, and operating the pan-tilt camera to enable the lens to face to be perpendicular to the direction of the side slope to be sketch;
s3, operating the unmanned aerial vehicle pan-tilt camera to photograph the quasi-sketch slope, and acquiring a single high-definition ortho-image of the quasi-sketch slope;
s4, establishing a coordinate origin of the left lower corner of the side slope and a slope trendX'The axis is the inward direction of the vertical slope as the Y' axis and the elevation as the elevationZ'Axis of a sketch coordinate system of said sketch coordinate systemX'Z'The plane is a sketch plane of the side slope, and geological objects in a sketch coordinate system are located in the sketch planeX'Z'The projection of the plane is a geological sketch map of the excavation slope;
s5, the three-dimensional geodetic coordinate system takes the east-ward direction asXAxis, in the north directionYAxis, in elevationZOf axes, three-dimensional geodetic and sketch coordinate systemsZThe axes are identical, so that the coordinate transformation of the three-dimensional geodetic coordinate system and the sketch coordinate system is onlyXYRotation of the plane and translation of the origin of coordinates, the coordinate transformation formula is as follows:
in the formula:X、Y、Zis the coordinate of a three-dimensional geodetic coordinate system,X'、Y'、Z'is the coordinate of the sketch coordinate system, and is a coordinate system,
、
、
the amount of translation for the origin of coordinates,
the rotation angle is counterclockwise of the sketch coordinate system,
the trend of excavating the side slope is realized;
s6, calculating the coordinates of the three control points on the side slope excavation surface in the sketch coordinate system through the coordinate conversion formula, and utilizing the coordinates of the three control points in the sketch coordinate systemX'、Z'Coordinate, carrying out coordinate registration on the side slope orthographic image;
s7, carrying out interpretation sketch work on exposed geological conditions of the slope by using the high-definition orthographic image of the slope after coordinate registration, drawing a geological sketch map and marking related geological attributes, wherein the contents comprise formation lithology, formation boundary lines, structural boundary lines, faults, joints, structural surface fillers and structural surface width;
s8, in order to obtain the structural surface occurrence of the stratum, the fault and the joint, selecting three structural surface exposure points which are not on the same straight line from the side slope high-definition orthographic image after coordinate registration to obtain the structural surface occurrence in the sketch planeX'、Z'Coordinates, calculating the exposure point of each structural surface in a sketch coordinate system by utilizing the slope design excavation slope ratioY'Coordinates, the calculation formula is as follows:
in the formula:
designing an excavation slope ratio for the side slope;
s9, calculating to obtain three-dimensional geodetic coordinates of the exposed point of the structural surface through a coordinate conversion formula according to the sketch coordinate system coordinates of the exposed point of each structural surface, and further calculating to obtain the tendency and the inclination angle of the attitude of the structural surface by using the three-dimensional geodetic coordinates of the exposed point of the structural surface;
and S10, forming a side slope geological sketch map through geological sketch map arrangement, geological attribute table drawing and sketch frame adding work, and finishing the side slope construction geological sketch work.
And S2, when the single-step length of the side slope is greater than 2 times of the height of the side slope or the height of the side slope is greater than 20m, performing sectional sketch.
Application example:
the construction geological sketch work is carried out on the fourth-order excavation surface of the side slope of the dam abutment of the left bank by adopting the method of the invention by taking a certain hydro-junction project under construction as an example. The height of a fourth-order side slope is 20m, the distribution elevation is 526-546 m, the sketch range is about 40m, the direction of the side slope is 250 degrees, the excavation slope ratio is designed to be 1:0.4, and three control points P1, P2 and P3 are distributed on the excavation surface.
The side slope image acquisition is carried out by adopting a small-sized four-rotor unmanned aerial vehicle with 4pro of Xinjiang genius, the unmanned aerial vehicle carries a 1-inch 2000-ten-thousand-pixel image sensor, and the dimension of a phase element is 2.53 mu m. The angle of the lens is set to be 0 degree, the orientation of the lens is 160 degrees, the unmanned aerial vehicle is operated to hover to the center of the fourth-order excavation slope, the horizontal distance from the hovering position to the slope surface is about 24m, and the excavation surface is photographed to obtain a slope high-definition orthographic image, as shown in fig. 2.
And (3) constructing a slope sketch coordinate system, and calculating the sketch coordinate system coordinates of the control points P1, P2 and P3 through a three-dimensional geodetic coordinate system and sketch coordinate conversion formula, as shown in Table 1.
Table 1 side slope control point coordinate conversion table
Using three control points in the sketch coordinate systemX'、Z'And (3) coordinate registration is carried out on the side slope ortho-image to obtain the accurate position of the ortho-image in the sketch plane, as shown in fig. 3.
And (3) interpreting sketch by using the registered side slope orthographic images in combination with dam abutment side slope engineering geological conditions, wherein the sketch contents mainly comprise stratum lithology, fault exposure lines, joint exposure lines, structural surface fillers, width and the like, and drawing a side slope construction geological sketch map as shown in fig. 4.
Selecting three structural surfaces which are not on a straight line from the slope image of the sketch plane, and measuring to obtain the exposure pointsX'、Z'Coordinates, design of excavation slope ratio by side slope
Is calculated to obtainY'And calculating the three-dimensional geodetic coordinates of the exposed point of the structural surface by a coordinate conversion formula. And calculating the inclination and the dip angle of the structural surface by using the three-dimensional geodetic coordinates of the exposed point of the structural surface. The attributes of the sketch structural surface are counted, as shown in table 2:
TABLE 2 sketch structural surface Attribute Table
And finishing to obtain a side slope construction geological sketch map as shown in figure 5.
Claims (2)
1. A slope construction geological sketch method based on an orthoimage of an unmanned aerial vehicle is characterized by comprising the following steps: the method comprises the steps of obtaining a high-definition orthographic image of a side slope, calculating the occurrence of a side slope geological sketch and a sketch structural plane based on the orthographic image of an unmanned aerial vehicle, and the steps are as follows:
s1, selecting three points which are not on the same straight line as control points on a slope excavation surface to be sketched, marking the positions of the three control points, and measuring three-dimensional geodetic coordinates of the three control points;
s2, setting the lens angle of the pan-tilt camera of the unmanned aerial vehicle to be 0 degree, operating the unmanned aerial vehicle to fly to the center of the slope to be sketch and hover, ensuring that the distance from the hover position to the slope surface is 0.6-0.8 times of the length of the slope, ensuring that the image covers the slope to be sketch, and operating the pan-tilt camera to enable the lens to face to be perpendicular to the direction of the slope;
s3, operating the unmanned aerial vehicle pan-tilt camera to photograph the quasi-sketch slope, and acquiring a single high-definition ortho-image of the quasi-sketch slope;
s4, establishing a coordinate origin of the left lower corner of the side slope and a slope trendX'The axis is the inward direction of the vertical slope as the Y' axis and the elevation as the elevationZ'Axis of a sketch coordinate system of said sketch coordinate systemX'Z'The plane is a sketch plane of the side slope, and geological objects in a sketch coordinate system are located in the sketch planeX'Z'The projection of the plane is a geological sketch map of the excavation slope;
s5, the three-dimensional geodetic coordinate system takes the east-ward direction asXAxis, in the north directionYAxis, in elevationZOf axes, three-dimensional geodetic and sketch coordinate systemsZThe axes are identical, so that the coordinate transformation of the three-dimensional geodetic coordinate system and the sketch coordinate system is onlyXYRotation of the plane and translation of the origin of coordinates, the coordinate transformation formula is as follows:
in the formula:X、Y、Zis the coordinate of a three-dimensional geodetic coordinate system,X'、Y'、Z'is the coordinate of the sketch coordinate system, and is a coordinate system,
、
the amount of translation for the origin of coordinates,
the rotation angle is counterclockwise of the sketch coordinate system,
the trend of excavating the side slope is realized;
s6, calculating the coordinates of the three control points on the side slope excavation surface in the sketch coordinate system through the coordinate conversion formula, and utilizing the coordinates of the three control points in the sketch coordinate systemX'、Z'Coordinate, carrying out coordinate registration on the side slope orthographic image;
s7, carrying out interpretation sketch work on exposed geological conditions of the slope by using the high-definition orthographic image of the slope after coordinate registration, drawing a geological sketch map and marking related geological attributes, wherein the contents comprise formation lithology, formation boundary lines, structural boundary lines, faults, joints, structural surface fillers and structural surface width;
s8, in order to obtain the structural surface occurrence of the stratum, the fault and the joint, selecting three structural surface exposure points which are not on the same straight line from the side slope high-definition orthographic image after coordinate registration to obtain the structural surface occurrence in the sketch planeX'、Z'Coordinates, calculating the exposure point of each structural surface in a sketch coordinate system by utilizing the slope design excavation slope ratioY'Coordinates, the calculation formula is as follows:
in the formula:
designing an excavation slope ratio for the side slope;
s9, calculating to obtain three-dimensional geodetic coordinates of the exposed point of the structural surface through a coordinate conversion formula according to the sketch coordinate system coordinates of the exposed point of each structural surface, and further calculating to obtain the tendency and the inclination angle of the attitude of the structural surface by using the three-dimensional geodetic coordinates of the exposed point of the structural surface;
and S10, forming a side slope geological sketch map through geological sketch map arrangement, geological attribute table drawing and sketch frame adding work, and finishing the side slope construction geological sketch work.
2. The slope construction geological sketch method based on the unmanned aerial vehicle orthographic image as claimed in claim 1, wherein the slope construction geological sketch method comprises the following steps: in S1, the side slope to be sketched is a multi-step excavation side slope, and three points which are not on the same straight line are respectively selected as control points on the slope surface of each step of excavation side slope; and S2, when the single-step length of the side slope is greater than 2 times of the height of the side slope or the height of the side slope is greater than 20m, performing sectional sketch.
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