CN113074631A - Method for measuring rock-fill dam pit test volume through handheld three-dimensional laser scanning - Google Patents
Method for measuring rock-fill dam pit test volume through handheld three-dimensional laser scanning Download PDFInfo
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- 230000002262 irrigation Effects 0.000 description 21
- 238000003973 irrigation Methods 0.000 description 21
- 238000004364 calculation method Methods 0.000 description 15
- 238000009412 basement excavation Methods 0.000 description 11
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- 238000004458 analytical method Methods 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
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Abstract
The invention discloses a method for measuring rock-fill dam pit volume by handheld three-dimensional laser scanning, which comprises the steps of firstly leveling the dam material surface, placing a lantern ring and excavating a pit; then, according to the diameter and the depth of the test pit and the filling material, determining the dot spacing, the laser color and the scanning mode; then a hand-held color three-dimensional scanner is used for stretching into the pit, scanning is carried out according to the sequence of pit wall curvatures from small to large, and the obtained point cloud is processed: denoising, simplifying, packaging and filling, then selecting a circle of annular area at the top of the test pit model, and performing plane best fitting; finally, taking the fitting plane as an xoy plane, wherein the direction of the z axis is downward; and projecting the whole pit test model to the xoy plane, wherein the projection area is an integral interval S, calculating the volume of a small prism of the pit test model, and adding to obtain the volume of the whole pit test. The invention has flexible and simple operation, can quickly scan various types of test pits, acquire high-quality point cloud data, efficiently and quickly process the data and accurately calculate the volume of the test pits.
Description
Technical Field
The invention relates to the technical field of detection of construction quality of an earth-rock dam, in particular to a method for measuring the volume of a rock-fill dam test pit by handheld three-dimensional laser scanning.
Background
The construction quality of the earth-rock dam is directly related to the operation safety of the dam, and the key for ensuring the safety of the dam is to effectively control the filling and rolling quality of the dam body. The dam filling amount of the high rock-fill dam is large, the rolling quality of the dam filling material is of great importance, and a proper intelligent and mechanical compaction degree detection method is adopted to improve the detection speed and precision. At present, the pit digging and water filling method is still a common method for detecting the rolling quality of the earth-rock dam and mainly follows the regulation of the rolling earth-rock dam construction specification (DL/T5129-2001). In the method of digging and watering, the method of watering for measuring the volume of the test pit has the defects of time and labor waste, low efficiency, poor precision, easy influence of human factors and the like. The research on how to intelligently and mechanically realize the accurate and efficient measurement of the volume of the test pit is particularly urgent, so that a new volume measurement method needs to be found, and the speed and the accuracy of the volume detection of the test pit are improved.
When the rock-fill dam is filled and rolled, each layer of dam material needs to be compacted and then can be filled continuously after being qualified through sampling detection. In the compaction degree detection method, a pit digging and irrigation method is a commonly used method for detecting the rolling quality of an earth-rock dam, and the method for measuring the volume of a test pit by adopting the irrigation method has the following defects:
(1) the time and the labor are consumed, and the efficiency is low. The test pit for the transition materials and the rockfill materials has large volume, so that a water truck needs to be filled with water for water delivery due to large water filling amount during volume measurement; the progress of the irrigation process is slow; the overflow in the irrigation process needs to be operated again; the number of workers is large.
(2) Low precision and large error. The irrigation method does not consider the existence of gaps among the plastic film, the pit wall, the dam material surface and the lantern ring; water drops generated in the process of back-and-forth irrigation are scattered; the subjectivity is high by artificially judging whether the water surface is flush with the edge of the lantern ring.
(3) Is greatly influenced by human factors. When the irrigation method is used for measuring the volume of the test pit, errors are easy to occur in the steps of an irrigation quantity reading process, a manual recording process, a calculating process and the like, and the influence of human factors is large.
With the development of science and technology, the three-dimensional laser scanning technology has made a major breakthrough, in recent years, the three-dimensional laser scanning technology is continuously developed and matured day by day, the three-dimensional scanning equipment is gradually commercialized, and the three-dimensional laser scanner has the great advantages that the three-dimensional laser scanner can rapidly scan a measured object, can directly obtain high-precision scanning point cloud data without a reflecting prism, and can efficiently perform three-dimensional modeling and virtual reproduction on the real world. Based on its scanning speed is fast, can scan a large amount of data points fast in a second to can describe the profile of object, to this kind of irregular volume of test pit, introduce three-dimensional laser scanner and carry out the volume measurement, this has very big meaning to improving compactness detection accuracy and speed.
However, in the measurement of the volume of the test pit, there are still many problems in the method of measuring the volume of the test pit by using the stationary three-dimensional laser scanner. Fixed three-dimensional laser scanner settles and scans the test pit in the test pit outside, but transition material, rock-fill stock ground test pit wall unsmooth degree is serious, and the unsmooth department of large tracts of land pit wall can't scan during the test pit scanning, therefore need fill a large amount of holes during point cloud data processing, lead to the test pit model and the actual test pit great deviation to have appeared, can't satisfy detection accuracy and required precision. The method for calculating the volume of the test pit through two times of scanning is characterized in that the dam charge level is scanned once before excavation, the test pit is scanned once after excavation, scanning results before and after excavation are spliced by using the characteristic marks, and the test pit is closed to calculate the volume of the test pit.
Due to the defects, the pit digging and watering method cannot meet the requirements of mechanized and intelligent construction, and the method for measuring the volume of the test pit by adopting the fixed three-dimensional laser scanner has insufficient detection accuracy and precision due to the existence of a large number of scanning blind areas. The method comprises the following specific steps:
1. when the irrigation method is used for testing the pits of transition materials and rockfill materials, the measurement speed is slow due to large irrigation quantity; various human factors such as human reading of the water filling amount, data recording, data calculation and the like cause occasional acquisition of error data, and the accuracy degree is low.
2. Fixed three-dimensional laser scanner needs to erect many times or once erects many instruments in order to accomplish the scanning, still need carry out the data concatenation after the scanning and just can obtain complete examination hole model, not only wastes time but also difficultly.
3. Fixed three-dimensional laser scanner settles and scans the test pit in the test pit outside, but transition material and stockpiling stock ground test pit wall unsmooth degree is serious, appears a large amount of scanning blind areas when using fixed three-dimensional laser scanner scanning test pit, need fill a large amount of holes during point cloud data processing, lead to the test pit model to appear great deviation with actual test pit, seriously influence the volume precision.
4. The method for calculating the volume of the test pit by scanning twice before and after the test pit is excavated and splicing the scanning results before and after the excavation by using the characteristic marks theoretically increases the volume calculation precision, but the actual situation is that the splicing is difficult due to the fact that the dam material surface is damaged in the excavation process, and meanwhile, the subsequent data processing speed is slowed due to the increase of the point cloud data amount and the point cloud data processing steps, and the volume calculation efficiency is reduced.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a method for measuring the rock-fill dam pit volume by handheld three-dimensional laser scanning, which can automatically register a scanning object in the scanning process, can obtain three-dimensional data on the surface of a pit without laying marking points and greatly improves the working efficiency of measurement; the method is flexible and simple to operate, can quickly scan various types of test pits, obtains high-quality point cloud data, efficiently and quickly processes the data, and accurately calculates the volume of the test pits. The technical scheme is as follows:
a method for measuring rock-fill dam pit test volume by handheld three-dimensional laser scanning comprises the following steps:
step 1: leveling the dam material surface, placing a lantern ring, and excavating a test pit;
step 2: setting parameters: determining the dot spacing, the laser color and the scanning mode according to the diameter and the depth of the test pit and the filling material;
and step 3: scanning a test pit: extending a handheld color three-dimensional scanner into the test pit, scanning according to the sequence of pit wall curvatures from small to large, and storing point cloud data after scanning is finished;
and 4, step 4: point cloud processing: eliminating noise points by a cylindrical filtering method, and simplifying point clouds by a curvature method; converting all point clouds of the test pit into triangular grid planes by using a Delaunay grid algorithm to form a triangular gridded test pit model; filling a reduction test pit model by selecting curvature; selecting a circle of annular area at the top of the test pit model, and performing plane best fitting;
and 5: volume was calculated:
taking the fitting plane as an xoy plane, wherein the direction of the z axis is downward; projecting the whole pit testing model to an xoy plane, wherein a projection area is an integral interval S, and calculating the volume of a small prism of the pit testing model; the sum of all small prisms is the whole pit volume.
Further, the method for calculating the small prism volume and the whole pit volume in the step 5 specifically includes:
(1) base area Deltax of the small prismi*△yiCorresponding to a z coordinate z1Volume V of small prismiComprises the following steps:
Vi＝△xi*△yi*z1
(2) base area Deltax of the small prismi*△yiCorresponding to two z coordinates z1，z2Volume V of small prismiComprises the following steps:
Vi＝△xi*△yi*(z2-z1)
(3) base area Deltax of the small prismi*△yiCorresponding to three z coordinates z1，z2，z3Volume V of small prismiComprises the following steps:
Vi＝△xi*△yi*(z3-z2+z1)
(4) base area Deltax of the small prismi*△yiCorresponding to m z coordinates z1，z2，z3……zmVolume V of small prismiComprises the following steps:
Vi＝△xi*△yi*(zm-zm-1+zm-2+…+(-1)m+1z1)
a) when m is odd, the volume of the small prism is as follows:
all microprism volumes add:
corresponding to an integration region of SMagic cardAnd then:
b) when m is an even number, the volume of the small prism is:
all microprism volumes add:
corresponding integration region is SDollAnd then:
the total pit volume is then:
V＝Vmagic card+VDoll
Wherein z isj＝fj(x,y)；△xi，△yiThe side length of the bottom surface of the small prism in the x-axis direction and the side length in the y-axis direction, zmThe coordinates of the small prism on the z-axis.
Furthermore, in the step 2, when the filling material is a rockfill material, the diameter of a test pit is larger than 160cm, the dot spacing is set at 2mm, and infrared light is used for rapid scanning; when the filling material is a transition material, the diameter of a test pit is larger than 90cm, the dot spacing is set at 1mm, and infrared light is used for rapid scanning; when the packing material is gravel soil and a filter material, the dot pitch is set at 0.5mm, and fine scanning is performed with blue light.
Furthermore, in the step 3, the scanning distance is kept between 350mm and 650 mm; in the scanning process, whether the point cloud data is well acquired or not is judged by observing the scanning software RealViewer in real time, and the point cloud data is scanned back and forth to acquire sufficiently accurate data at a place where the point cloud data is sparse; and scanning back and forth for multiple times by changing the scanning distance and angle at the concave-convex position of the pit wall to obtain complete pit testing point cloud data.
Furthermore, the removing noise by the cylindrical filtering method specifically comprises: in geographic wrap data processing software, generating a coordinate system above a pit test data point, wherein a coordinate origin is positioned above the center of a pit test model, selecting a point at the center of the pit test model, and taking a straight line formed by connecting the point and the coordinate origin as an axis of a cylinder; and then setting the radius of the cylinder, if the cylinder deviates from the test pit, re-selecting a point at the center of the test pit according to the deviation condition until the cylinder is consistent with the test pit model, ensuring that the cylinder contains all point cloud data of the test pit, wherein the point cloud outside the cylinder is a noise point, and deleting the noise point outside the cylinder.
Further, the simplifying the point cloud by the curvature method specifically includes: and calculating the curvature of each sampling point on the pit test model, and reserving point cloud data according to the curvature, wherein the larger the curvature is, the more point cloud data is reserved.
Furthermore, the plane best fitting is repeated for three times, and the average value of the test pit volume obtained by calculating three groups of fitting planes is taken as the final test pit volume.
The invention has the beneficial effects that:
1) compared with a method for measuring the volume of a test pit by using a fixed three-dimensional laser scanner, the method adopts the handheld three-dimensional laser scanner to automatically register a scanning object in the scanning process, can measure complete point cloud data without erecting instruments for many times or erecting a plurality of instruments for measurement once, and has the advantages of flexible and simple operation, time saving and labor saving; the handheld three-dimensional laser scanner is placed in the test pit to adapt to different test pit shapes, so that the applicability to the test pit shapes is strong, the acquisition quality of point cloud data is high, and the filling of holes is less; the method for calculating the volume of the test pit by using one-time scanning and replacing the actual dam charge level with the best fit plane has the advantages of high point cloud data processing speed, short processing flow and high volume calculation result precision.
2) Compared with an irrigation method for measuring the volume of the test pit, the novel measuring method can finish volume calculation by one person after the test pit is excavated, and is low in labor consumption; the time consumption is short, the efficiency is high, nearly 1/2 is saved compared with the measurement time of an irrigation method by the novel measurement method when the volume of the transition material test pit is measured, and the measurement efficiency of the rock-fill material test pit volume is higher; the method avoids errors possibly caused by manual reading judgment and calculation, and has high reliability and stability.
Drawings
FIG. 1 is a schematic diagram of denoising processing in the method for measuring rock-fill dam pit volume.
FIG. 2 is a schematic diagram of the encapsulation process in the method for measuring the rock-fill dam pit test volume
FIG. 3 is a schematic view of filling treatment in the method for measuring rock-fill dam test pit volume according to the present invention
FIG. 4 is a schematic diagram of cubic plane fitting processing in the method for measuring rock-fill dam test pit volume of the present invention
Fig. 5 is a schematic diagram of the calculation of the volume of the test pit according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments. The invention provides a method for measuring the volume of a test pit based on a handheld three-dimensional laser scanner, which has an automatic positioning function, can automatically register a scanned object in the scanning process, can obtain three-dimensional data on the surface of the test pit without laying marking points, and greatly improves the working efficiency of measurement. The handheld three-dimensional laser scanner stretches into the interior of the test pit to scan, can effectively solve the serious problem of the concave-convex degree of the test pit wall of the transition material and the rockfill stock yard, obtains accurate point cloud data, and improves the quality of the point cloud data. The method for calculating the volume of the test pit by adopting the method of calculating the volume to the fitting plane after the dam charge level is fitted through one-time scanning simplifies complicated data processing steps and a large amount of point cloud data caused by secondary scanning, and improves the volume calculation precision and the calculation efficiency. The method for measuring the volume of the test pit by adopting the handheld three-dimensional laser scanner effectively solves the problems of low efficiency and large error of a pit digging and watering method, and the method for measuring the volume of the test pit by adopting the fixed three-dimensional laser scanner cannot solve the problem of uneven pit wall of the test pit. The specific process is as follows:
step 1: the dam material surface is smooth.
Before pit testing excavation, the dam material surface is leveled, the lantern ring is placed, the bottom surface of the lantern ring needs to be tightly attached to the dam material surface so as to ensure that the dam material surface is leveled, and the lantern ring is fixed by the dam material.
Step 2: and (5) digging a test pit.
The depth of the test pits of different dam materials is basically consistent with the thickness of the paved soil, the diameter of the rockfill material test pit is 2-3 times of the maximum grain size, and the diameters of other test pits are more than 3 times of the maximum grain size. The thickness of the rockfill material paving soil is 100cm, the maximum grain size is not more than 800mm, the excavation depth of the rockfill material test pit is about 100cm, and the diameter of the test pit is 160cm-240 cm; similarly, the excavation depths of the transition material, the gravel soil material and the filter material test pit are about 50cm, 30cm and 30cm respectively, and the diameters of the test pits are larger than 90cm, 30cm and 24cm respectively. And (3) excavating the test pit after the diameter and the depth of the test pit are determined, excavating the dam material in the pit, putting the dam material into a soil-residue device, and weighing the mass of the sample so as to calculate the density of the compacted dam material in the following step. And (3) excavating the test pit without damaging the surface of the dam material in the lantern ring as much as possible, so that the fitting effect of the plane fitting in the step (4) is optimal.
And step 3: and setting parameters.
Appropriate scan patterns and dot spacings are set in the scanning software RealViewer parameter settings according to the determined test pit diameter and depth. When the rockfill material is used for pit testing, the pit testing diameter is larger than 160cm, the dot spacing is set to be about 2mm, and infrared light is used for rapid scanning; when the transition material is used for pit test, the diameter of the pit test is larger than 90cm, the dot spacing is set to be about 1mm, and infrared light is used for rapid scanning; when the pit is used for testing gravel soil materials and filter materials, the diameter of the pit is small, the dot spacing is set to be about 0.5mm, and blue light is used for fine scanning. The method aims to ensure the scanning precision and ensure that the data volume of the point cloud of the whole pit is moderate after the scanning is finished, and avoid the phenomenon that the data volume of the point cloud is too large and the processing speed of the point cloud data is sharply slowed down.
And 4, step 4: and (5) pit scanning.
Before formal scanning, preview scanning is carried out, and the scanning distance and speed are familiar. And in formal scanning, a handheld color three-dimensional scanner IREAL 2S is used for scanning from a position with small pit wall curvature and slowly moving, and the scanning distance is kept between 350mm and 650mm, so that the best scanning effect is ensured. The scanning software RealViewer is observed in real time in the scanning process, whether the point cloud data is well acquired or not is judged by observing a scanning interface of the RealViewer, the point cloud data is scanned back and forth in a sparse place to acquire sufficiently accurate data, the point cloud data is scanned back and forth for multiple times by changing the scanning distance and the angle in a place with serious pit wall concave-convex degree to acquire complete pit testing point cloud data, and the data is stored after the scanning is finished.
The handheld three-dimensional laser scanner is placed into the test pit for scanning, so that various irregular shapes in the test pit can be effectively responded, scanning blind areas are reduced, and a large amount of filling is avoided.
And 5: and (4) point cloud processing.
(1) Denoising:
the scanning process inevitably scans the outer area of the test pit, and the point clouds irrelevant to the main body of the test pit are noise points. The test pit noise points are relatively scattered and far away from the main point cloud, and the test pit noise points can be kicked away by a cylindrical filtering method due to the characteristic that the test pit is similar to a cylinder in shape, as shown in the denoising of fig. 1.
Specifically, the method comprises the following steps: the method for eliminating the noise points by using the cylindrical filtering method specifically comprises the following steps: in geographic wrap data processing software, generating a coordinate system above a pit test data point, wherein a coordinate origin is positioned above the center of a pit test model, selecting a point at the center of the pit test model, and taking a straight line formed by connecting the point and the coordinate origin as an axis of a cylinder; and then setting the radius of the cylinder, if the cylinder deviates from the test pit, re-selecting a point at the center of the test pit according to the deviation condition until the cylinder is consistent with the test pit model, ensuring that the cylinder contains all point cloud data of the test pit, wherein the point cloud outside the cylinder is a noise point, and deleting the noise point outside the cylinder. The process is shown in figure 1.
(2) The method is simple:
transition materials and rockfill materials have large pit test volumes, and the point cloud data obtained by pit test scanning is large in amount, so that the subsequent point cloud data processing speed is reduced rapidly. When the amount of point cloud data reaches millions or even tens of millions, the time for point cloud encapsulation and hole filling is long, and therefore point cloud simplification is required. The method comprises the steps of simplifying point cloud by adopting a curvature method, reserving more point cloud data at places with larger curvature and reserving less point cloud data at places with smaller curvature by calculating the curvature of each sampling point of a pit testing model, simplifying the point cloud data on the basis of reserving the surface characteristics of a pit testing, setting the sampling percentage, keeping the quantity of the simplified point cloud data below 100 ten thousand points, and greatly shortening the point cloud packaging and hole filling time under the quantity of the data.
(3) Packaging:
the Delaunay mesh algorithm converts all point clouds in the test pit into triangular mesh planes, namely any triangle in the generated triangular mesh cannot contain the vertexes of other triangles, all the triangular mesh planes jointly form a high-precision test pit model, and the packaged test pit model is shown in fig. 2. The purpose of encapsulation is to close all point cloud data points into a triangular mesh plane in order to calculate the test pit volume.
(4) Filling:
the handheld color three-dimensional scanner IREAL 2S is placed in a test pit for scanning, although high-quality point cloud data can be obtained, a small amount of point cloud data are still missing in the uneven scanning process of the pit wall, so that a small amount of holes appear in a packaged test pit model, and volume calculation results are influenced if the holes are not filled and closed. In order to restore the original characteristics of the test pit as much as possible, the test pit model is filled by selecting a curvature filling, that is, filling is performed based on the calculation result of the curvature around the hole, and the filling result is shown in fig. 3.
(5) And (6) plane fitting.
And selecting a circle of annular area at the top of the test pit model to perform plane optimal fitting in order to obtain a fitting plane which is basically consistent with the plane of the dam material before the test pit excavation. Meanwhile, in order to eliminate accidental errors possibly caused by plane fitting, plane fitting is repeated three times, as shown in fig. 4, the average value of the test pit volume obtained by calculating the three groups of fitting planes is taken as the final test pit volume during volume calculation, and the specific volume calculation method is shown in step 6.
Step 6: and (4) calculating the volume.
And 4, selecting a calculation volume to be a plane by the method for calculating the volume of the test pit model, wherein the plane is the three groups of best fitting planes fitted in the step 4, and the average value of the three groups of best fitting planes is used as the final test pit volume.
The volume calculation method comprises the following steps: the fitting plane is taken as the xoy plane with the z-axis oriented downward. Projecting the whole pit model to the xoy plane, wherein the projection area is the integral interval S, and calculating the volume of a small prism of the pit model, as shown in FIG. 5.
(1) Base area Deltax of the small prismi*△yiCorresponding to a z coordinate z1Volume V of small prismiComprises the following steps:
Vi＝△xi*△yi*z1
(2) base area Deltax of the small prismi*△yiCorresponding to two z coordinates z1，z2Volume V of small prismiComprises the following steps:
Vi＝△xi*△yi*(z2-z1)
(3) base area Deltax of the small prismi*△yiCorresponding to three z coordinates z1，z2，z3Volume V of small prismiComprises the following steps:
Vi＝△xi*△yi*(z3-z2+z1)
(4) base area Deltax of the small prismi*△yiCorresponding to m z coordinates z1，z2，z3……zmVolume V of small prismiComprises the following steps:
Vi＝△xi*△yi*(zm-zm-1+zm-2+…+(-1)m+1z1)
a) when m is odd, the volume of the small prism is as follows:
all microprism volumes add:
corresponding to an integration region of SMagic cardAnd then:
b) when m is an even number, the volume of the small prism is:
all microprism volumes add:
corresponding integration region is SDollAnd then:
the total pit volume is then:
V＝Vmagic card+VDoll
Wherein z isj＝fj(x,y)；△xi，△yiThe side length of the bottom surface of the small prism in the x-axis direction and the side length in the y-axis direction, zmThe coordinates of the small prism on the z-axis.
The following is a comparative analysis of volumetric data from the specific examples.
The embodiment operates on the basis of an irrigation method, and after pit excavation is finished, the handheld three-dimensional laser scanner scans and obtains the point cloud data of the whole pit before irrigation. The pit volumes tested by both methods are shown in the following table:
table 1 different dam stock ground pit test volumes under different measuring methods
TABLE 2 pit volume tested by cubic plane fitting before water filling
Through the analysis of the table 1, the actual volume of the test pit is larger than the volume measured by the irrigation method because the irrigation method does not consider the existence of gaps among the plastic film, the pit wall, the dam material surface and the lantern ring during irrigation, and the volume of the test pit measured by the handheld three-dimensional laser scanning measurement method before irrigation is also larger than the volume of the test pit measured by the irrigation method, so that the error of the volume of the test pit measured by the measurement method disclosed by the invention to the actual volume of the test pit is smaller. The more flat the dam material surface before pit test excavation, the smaller the volume error measured by the measuring method and the irrigation method, when the dam material surface is flat enough, the maximum error of the reversed filter material surface and the transition material surface is only 3.07%, and when the dam material surface is slightly uneven, the maximum error of the gravel soil surface is only 4.68%, which are both within the allowable error range.
Through analysis in Table 2, the relative average deviation of the volume of the test pit is respectively calculated to be within 0.5% by the measuring method before and after irrigation through three times of plane fitting, which shows that the result of the plane fitting method in the measuring method is stable and reliable, and the relative average deviation is only 0.364% at most even on a small amount of rugged gravel soil.
Claims (7)
1. A method for measuring rock-fill dam pit test volume by handheld three-dimensional laser scanning is characterized by comprising the following steps:
step 1: leveling the dam material surface, placing a lantern ring, and excavating a test pit;
step 2: setting parameters: determining the dot spacing, the laser color and the scanning mode according to the diameter and the depth of the test pit and the filling material;
and step 3: scanning a test pit: extending a handheld color three-dimensional scanner into the test pit, scanning according to the sequence of pit wall curvatures from small to large, and storing point cloud data after scanning is finished;
and 4, step 4: point cloud processing: eliminating noise points by a cylindrical filtering method, and simplifying point clouds by a curvature method; converting all point clouds of the test pit into triangular grid planes by using a Delaunay grid algorithm to form a triangular gridded test pit model; filling a reduction test pit model by selecting curvature; selecting a circle of annular area at the top of the test pit model, and performing plane best fitting;
and 5: volume was calculated: taking the fitting plane as an xoy plane, wherein the direction of the z axis is downward; projecting the whole pit testing model to an xoy plane, wherein a projection area is an integral interval S, and calculating the volume of a small prism of the pit testing model; the sum of all small prisms is the whole pit volume.
2. The method for measuring rock-fill dam pit volume by handheld three-dimensional laser scanning according to claim 1, wherein the method for calculating the small prism volume and the whole pit volume in step 5 specifically comprises:
(1) base area Deltax of the small prismi*△yiCorresponding to a z coordinate z1Volume V of small prismiComprises the following steps:
Vi＝△xi*△yi*z1
(2) base area Deltax of the small prismi*△yiCorresponding to two z coordinates z1，z2Volume V of small prismiComprises the following steps:
Vi＝△xi*△yi*(z2-z1)
(3) base area Deltax of the small prismi*△yiCorresponding to three z coordinates z1，z2，z3Volume V of small prismiComprises the following steps:
Vi＝△xi*△yi*(z3-z2+z1)
(4) base area Deltax of the small prismi*△yiCorresponding to m z coordinates z1，z2，z3……zmVolume V of small prismiComprises the following steps:
Vi＝△xi*△yi*(zm-zm-1+zm-2+…+(-1)m+1z1)
a) when m is odd, the volume of the small prism is as follows:
all microprism volumes add:
corresponding to an integration region of SMagic cardAnd then:
b) when m is an even number, the volume of the small prism is:
all microprism volumes add:
corresponding integration region is SDollAnd then:
the total pit volume is then:
V＝Vmagic card+VDoll
Wherein z isj＝fj(x,y)；△xi，△yiThe side length of the bottom surface of the small prism in the x-axis direction and the side length in the y-axis direction, zmIs a small prismThe coordinates of the body in the z-axis.
3. The method for measuring the rock-fill dam pit volume by handheld three-dimensional laser scanning as claimed in claim 1, wherein in the step 2, when the rock-fill material is rock-fill material, the pit diameter is larger than 160cm, the point spacing is set at 2mm, and the rapid scanning is carried out by infrared light; when the filling material is a transition material, the diameter of a test pit is larger than 90cm, the dot spacing is set at 1mm, and infrared light is used for rapid scanning; when the packing material is gravel soil and a filter material, the dot pitch is set at 0.5mm, and fine scanning is performed with blue light.
4. The method for measuring rock-fill dam pit volume by handheld three-dimensional laser scanning according to claim 1, wherein in the step 3, the scanning distance is kept between 350mm and 650 mm; in the scanning process, whether the point cloud data is well acquired or not is judged by observing the scanning software RealViewer in real time, and the point cloud data is scanned back and forth to acquire sufficiently accurate data at a place where the point cloud data is sparse; and scanning back and forth for multiple times by changing the scanning distance and angle at the concave-convex position of the pit wall to obtain complete pit testing point cloud data.
5. The method for measuring the rock-fill dam pit test volume through handheld three-dimensional laser scanning according to claim 1, wherein the noise point elimination through a cylindrical filtering method specifically comprises the following steps: in geographic wrap data processing software, generating a coordinate system above a pit test data point, wherein a coordinate origin is positioned above the center of a pit test model, selecting a point at the center of the pit test model, and taking a straight line formed by connecting the point and the coordinate origin as an axis of a cylinder; and then setting the radius of the cylinder, if the cylinder deviates from the test pit, re-selecting a point at the center of the test pit according to the deviation condition until the cylinder is consistent with the test pit model, ensuring that the cylinder contains all point cloud data of the test pit, wherein the point cloud outside the cylinder is a noise point, and deleting the noise point outside the cylinder.
6. The method for measuring rock-fill dam pit test volume through handheld three-dimensional laser scanning according to claim 1, wherein the point cloud is reduced through a curvature method, and specifically: and calculating the curvature of each sampling point on the pit test model, and reserving point cloud data according to the curvature, wherein the larger the curvature is, the more point cloud data is reserved.
7. The method for measuring the rock-fill dam test pit volume by handheld three-dimensional laser scanning as recited in claim 1, wherein the plane best fit is repeated three times, and the average value of the test pit volume calculated by taking three groups of fitting planes is taken as the final test pit volume.
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