CN111998838A - Three-dimensional laser scanning-based storage capacity curve measuring method - Google Patents
Three-dimensional laser scanning-based storage capacity curve measuring method Download PDFInfo
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- CN111998838A CN111998838A CN202010854488.XA CN202010854488A CN111998838A CN 111998838 A CN111998838 A CN 111998838A CN 202010854488 A CN202010854488 A CN 202010854488A CN 111998838 A CN111998838 A CN 111998838A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
Abstract
The invention discloses a three-dimensional laser scanning-based storage capacity curve measuring method, which comprises the following steps of: s1, carrying out field investigation; s2, designing a scanning route; s3, determining the number of the stations and the positions of the stations; s4, scanning and collecting field data; s5, splicing the data of the survey station; s6, data preprocessing: processing the point cloud data acquired by scanning, such as vegetation, noise point and the like, and filtering pretreatment; s7, data thinning: performing thinning on the point cloud data after splicing and denoising; s8, model construction: establishing a high-precision three-dimensional terrain model by using the point cloud data after rarefaction; s9, calculating a storage capacity curve: and calculating a storage capacity curve according to the established high-precision three-dimensional terrain model. According to the invention, data are acquired in a three-dimensional laser scanning mode, the scanning time of each station is shorter, the workload required by mapping the storage capacity curve is greatly reduced, and meanwhile, errors can be effectively reduced and a more accurate storage capacity curve can be obtained based on the storage capacity curve calculation method.
Description
Technical Field
The invention belongs to the field of mapping engineering, and particularly relates to a three-dimensional laser scanning-based method for measuring a storage capacity curve.
Background
In the design and construction process of the reservoir, the reservoir capacity and the water level are a group of very important parameters, the normal operation of the reservoir is influenced by the accuracy of the parameters, and in the design and construction process of the reservoir and the dam, a group of discrete data needs to be obtained according to calculation or measurement, and a mathematical model between the water level and the reservoir capacity is deduced and established. And solving corresponding storage capacity according to different areas of the reservoir at different elevations, and obtaining a corresponding storage capacity curve. The reservoir capacity curve is calculated and drawn by obtaining reservoir area data at different water levels through engineering measurement, and is an important basis for reservoir or hydropower station engineering design.
At present, the so-called trapezoidal formula and prismoid formula are still adopted for calculating the storage capacity according to the storage area at home and abroad. Theoretical research and computational practice have shown that trapezoidal equations are accurate or relatively accurate only for curves where the library area curves are straight or nearly straight. The pyramid formula is then accurate or relatively accurate only for library area curves that are the "sum squared", i.e., (ax + b)2 parabolas or curves that are close to such parabolas. Otherwise, they do not guarantee a high precision. Therefore, the current mainstream measurement and calculation methods have certain limitations.
The existing measurement calculation has the following defects: firstly, the workload is large: a large amount of surveying and mapping work needs to be done manually to make the terrain and contour lines, and the input labor cost is high; secondly, surveying and mapping terrain errors are large: the errors of drawing a topographic map by manual mapping photography, aerial photography mapping and space remote sensing mapping are relatively large, and the accuracy of subsequent storage capacity curve calculation is difficult to ensure. 3. The error of the calculation method is large: at present, the mainstream measurement and calculation methods have certain limitations and cannot ensure that the calculation result obtains higher precision. .
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a three-dimensional laser scanning-based storage capacity curve measuring method.
The purpose of the invention is realized by the following technical scheme: a three-dimensional laser scanning-based library capacity curve measuring method comprises the following steps:
s1, field investigation, namely comprehensively inspecting a scanned object and the surrounding environment and determining the distance between a scanning station and the scanned object and the precision requirement;
s2, designing a scanning route, namely setting the scanning route into a closed route around a scanning object, and reducing errors in a mutual adjustment mode by connecting the scanning route from head to tail;
s3, determining the number of the stations and the positions of the stations: setting the number and the distance of corresponding measuring stations according to the distance measurement and precision requirements of the three-dimensional laser scanner, selecting the arrangement points of the scanning measuring stations, and arranging the three-dimensional laser scanner at the selected arrangement points; wherein, the selected layout points of the scanning and measuring stations are positioned at the positions of stable terrain platform, wide periphery and good communication condition.
S4, field data scanning and collecting: scanning a scanning object by using a three-dimensional laser scanner with points distributed at each scanning and measuring station to obtain a corresponding three-dimensional scanning point cloud set;
s5, splicing of the data of the survey station: the point cloud data of different observation stations have different spatial positions, and the point cloud data of each point needs to be spliced into a whole to construct complete topographic data of the point cloud of the library area. The splicing method adopts an iterative closest point algorithm (ICP) and an ICP registration method to find a rotation parameter R and a translation parameter T between point cloud data to be registered and reference cloud data, so that the point cloud data meet the optimal matching, and the registration precision is controlled within 8 mm.
S6, data preprocessing: processing the point cloud data of the library area obtained in the step S5 such as vegetation and noise points and carrying out filtering pretreatment so as to improve the precision of the model;
s7, data thinning: performing thinning on the point cloud data after splicing and denoising;
s8, model construction: establishing a high-precision three-dimensional terrain model by using the point cloud data after rarefaction;
s9, calculating a storage capacity curve: and calculating a storage capacity curve according to the established high-precision three-dimensional terrain model.
The step S9 includes:
s901, establishing each corresponding elevation horizontal plane required by the storage capacity curve calculation, and establishing a horizontal plane for the storage capacity calculation every 0.1m from the lowest point of the elevation of the storage area;
s902, for any horizontal plane, the horizontal plane cuts a curved surface from the terrain of the reservoir area, and the volume of a closed model formed by the curved surface and the horizontal plane is calculated, wherein the volume calculation method comprises the following steps:
wherein f (x, y, z) is an integrand function, and the value of f (x, y, z) in volume calculation is 1; omega is an integral range and is a closed space formed by a curved surface and a horizontal plane; Ψ is the region of the calculated region projected on the x0y plane;
therefore, the method comprises the following steps:
since the distance from the horizontal plane to the x0y plane is a constant c, z1Is constant, the value is the product of the area of Ψ and c:
in order to simplify the calculation, the calculation area is divided into equal-length and equal-width cylinders, the length and the width are respectively delta x and delta y, and the volume is ViThe formula is as follows:
in the formula z1，z2Expressed as the value of the distance of a point on the surface function to the x0y plane:
zi1＝c
zi2＝fΨ(xi,yi)；
s903, calculating the volume of the terrain of the reservoir area intercepted by each horizontal plane according to the step S902;
and S904, connecting the data into a curve by taking the intercepted volume of the closed model as an x axis and the corresponding horizontal elevation as a y axis to obtain a high-precision storage curve.
The invention has the beneficial effects that: according to the invention, data are acquired in a three-dimensional laser scanning mode, the scanning time of each station is shorter, the workload required by mapping the storage capacity curve is greatly reduced, and meanwhile, errors can be effectively reduced and a more accurate storage capacity curve can be obtained based on the refined storage capacity curve calculation method.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic diagram of three-dimensional laser scanning and volume calculation in the embodiment.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1, a method for measuring a storage capacity curve based on three-dimensional laser scanning includes the following steps:
s1, field investigation, namely comprehensively inspecting a scanned object and the surrounding environment and determining the approximate distance between a scanning station and the scanned object and the precision requirement;
s2, designing a scanning route: if large-scale engineering needs to carry out reservoir terrain surveying and mapping, errors can be transmitted and accumulated, the scanning route is set to be a closed route around a scanning object, and the errors are reduced in a mutual adjustment mode through end-to-end connection;
s3, determining the number of the stations and the positions of the stations: setting corresponding measuring station spacing according to the distance measurement and precision requirements of the scanner, and selecting a place with a stable terrain platform, wide periphery and good visibility conditions as a scanning measuring station layout point; in the embodiment of the application, the terrain of the reservoir area is completely covered by setting 4 scanning stations;
s4, field data scanning and collecting: scanning a scanning object by using a three-dimensional laser scanner with points distributed at each scanning and measuring station to obtain a corresponding three-dimensional scanning point cloud set;
s5, splicing the point cloud data of the survey station: point cloud data of different stations have different spatial positions, and an ICP (inductively coupled plasma) registration method is adopted for splicing and calibrating to construct complete topographic data of the point cloud of the library area;
s6, data preprocessing: processing the point cloud data of the region obtained in the step S5 such as vegetation and noise points and carrying out filtering pretreatment so as to improve the precision of the model;
s7, data thinning: and (4) performing thinning on the point cloud data after splicing and denoising. The spliced point cloud data is often dense and huge, and if the splicing is not performed, the efficiency of subsequent processing is seriously influenced, so that the point cloud is simplified through an octree algorithm;
s8, model construction: and establishing a high-precision three-dimensional terrain model by using the point cloud data after rarefaction. And establishing a high-precision surface model for the simplified point cloud data by adopting a Delaunay triangular mesh algorithm, and establishing a triangular surface through three adjacent points in the point cloud data. After all the point cloud data are converted into triangular surfaces, a grid model of the triangular surfaces is obtained;
and S9, calculating a storage capacity curve, namely calculating the storage capacity curve in the established high-precision three-dimensional terrain model. The specific calculation steps are as follows:
s901, establishing each corresponding elevation horizontal plane required by the storage capacity curve calculation, and establishing a horizontal plane for the storage capacity calculation every 0.1m from the lowest point of the elevation of the storage area.
S902, a horizontal plane is used for obtaining a curved surface from the terrain of the reservoir area, and the volume of a closed model formed by the curved surface and the horizontal plane is calculated. The model is integrally divided into a plurality of small prisms, and the volume calculation method comprises the following steps:
wherein f (x, y, z) is an integrand function, and the value of f (x, y, z) is 1 in the volume calculation of the invention; omega is an integral range and is a closed space formed by a curved surface and a horizontal plane; Ψ is the region of the calculated region projected on the x0y plane.
Therefore, the method comprises the following steps:
since the distance from the horizontal plane to the x0y plane is a constant c, z1Can be written as a constant, the value is the product of the area of Ψ and c:
in order to simplify the calculation, the calculation area is divided into equal-length and equal-width cylinders, the length and the width are respectively delta x and delta y, and the volume is ViThe formula can be written as:
in the formula z1，z2Expressed as the value of the distance of a point on the surface function (horizontal plane, library area terrain surface) to the x0y plane:
zi1＝c
zi2＝fΨ(xi,yi)
in the embodiment of the present application, the calculation diagram is shown in fig. 2:
and S903, calculating the volume of the terrain of the reservoir area intercepted by each horizontal plane.
And S904, connecting the data into a curve by taking the intercepted volume of the closed model as an x axis and the corresponding horizontal elevation as a y axis to obtain a high-precision storage curve.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (3)
1. A three-dimensional laser scanning-based library capacity curve measuring method is characterized by comprising the following steps: the method comprises the following steps:
s1, field investigation, namely comprehensively inspecting a scanned object and the surrounding environment and determining the distance between a scanning station and the scanned object and the precision requirement;
s2, designing a scanning route, namely setting the scanning route into a closed route around a scanning object, and reducing errors in a mutual adjustment mode by connecting the scanning route from head to tail;
s3, determining the number of the stations and the positions of the stations: setting corresponding measuring station spacing according to the distance measurement and precision requirements of the three-dimensional laser scanner, selecting scanning measuring station layout points, and laying the three-dimensional laser scanner at the selected layout points;
s4, field data scanning and collecting: scanning a scanning object by using a three-dimensional laser scanner with points distributed at each scanning and measuring station to obtain a corresponding three-dimensional scanning point cloud set;
s5, splicing the point cloud data of the survey station: the point cloud data of different observation stations have different spatial positions, and splicing calibration is carried out to construct complete topographic data of the point cloud of the library area;
s6, data preprocessing: processing the point cloud data of the library area obtained in the step S5 such as vegetation and noise points and carrying out filtering pretreatment so as to improve the precision of the model;
s7, data thinning: performing thinning on the point cloud data after splicing and denoising;
s8, model construction: establishing a high-precision three-dimensional terrain model by using the point cloud data after rarefaction;
s9, calculating a storage capacity curve: and calculating a storage capacity curve according to the established high-precision three-dimensional terrain model.
2. The method for measuring the library capacity curve based on the three-dimensional laser scanning as claimed in claim 1, wherein: the scanning survey station layout point selected in the step S3 is located at a position where the terrain platform is stable, the periphery is wide, and the visibility condition is good.
3. The method for measuring the library capacity curve based on the three-dimensional laser scanning as claimed in claim 1, wherein: the step S9 includes:
s901, establishing each corresponding elevation horizontal plane required by the storage capacity curve calculation, and establishing a horizontal plane for the storage capacity calculation every 0.1m from the lowest point of the elevation of the storage area;
s902, for any horizontal plane, the horizontal plane cuts a curved surface from the terrain of the reservoir area, and the volume of a closed model formed by the curved surface and the horizontal plane is calculated, wherein the volume calculation method comprises the following steps:
wherein f (x, y, z) is an integrand function, and the value of f (x, y, z) in volume calculation is 1; omega is an integral range and is a closed space formed by a curved surface and a horizontal plane; Ψ is the region of the calculated region projected on the x0y plane;
therefore, the method comprises the following steps:
since the distance from the horizontal plane to the x0y plane is a constant c, z1Is constant, the value is the product of the area of Ψ and c:
in order to simplify the calculation, the calculation area is divided into equal-length and equal-width cylinders, the length and the width are respectively delta x and delta y, and the volume is ViThe formula is as follows:
in the formula z1，z2Expressed as the value of the distance of a point on the surface function to the x0y plane:
zi1＝c
zi2＝fΨ(xi,yi)；
s903, calculating the volume of the terrain of the reservoir area intercepted by each horizontal plane according to the step S902;
and S904, connecting the data into a curve by taking the intercepted volume of the closed model as an x axis and the corresponding horizontal elevation as a y axis to obtain a high-precision storage curve.
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Cited By (2)
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| CN114994702A (en) * | 2022-06-15 | 2022-09-02 | 江苏省水利科学研究院 | Reservoir capacity measuring and calculating method based on airborne laser radar |
| CN115660229A (en) * | 2022-12-15 | 2023-01-31 | 广东广宇科技发展有限公司 | Dynamic reservoir management method and system for urban water affair regulation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114994702A (en) * | 2022-06-15 | 2022-09-02 | 江苏省水利科学研究院 | Reservoir capacity measuring and calculating method based on airborne laser radar |
| CN115660229A (en) * | 2022-12-15 | 2023-01-31 | 广东广宇科技发展有限公司 | Dynamic reservoir management method and system for urban water affair regulation |
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Application publication date: 20201127 |