CN113819891B - Three-dimensional measuring system and method for foundation pit live-action of oil and gas pipeline engineering - Google Patents
Three-dimensional measuring system and method for foundation pit live-action of oil and gas pipeline engineering Download PDFInfo
- Publication number
- CN113819891B CN113819891B CN202111002696.8A CN202111002696A CN113819891B CN 113819891 B CN113819891 B CN 113819891B CN 202111002696 A CN202111002696 A CN 202111002696A CN 113819891 B CN113819891 B CN 113819891B
- Authority
- CN
- China
- Prior art keywords
- control point
- foundation pit
- module
- base station
- automatic placement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 36
- 238000005259 measurement Methods 0.000 claims abstract description 31
- 238000012545 processing Methods 0.000 claims abstract description 23
- 238000000605 extraction Methods 0.000 claims description 30
- 230000010365 information processing Effects 0.000 claims description 12
- 238000007781 pre-processing Methods 0.000 claims description 11
- 238000013507 mapping Methods 0.000 claims description 4
- 239000002689 soil Substances 0.000 claims description 4
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 claims description 3
- 238000000691 measurement method Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 7
- 238000001914 filtration Methods 0.000 description 6
- 238000009412 basement excavation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
- G01C11/34—Aerial triangulation
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses a system and a method for three-dimensionally measuring the actual situation of a foundation pit of oil and gas pipeline engineering, wherein the system comprises the following components: a base station; the control point modules are provided with a plurality of control point modules and are respectively inserted and arranged at intervals at the periphery of the foundation pit; the control point module is in wireless communication with the base station and can transmit the position information of the control point module to the base station in real time; the automatic placement device is internally provided with a plurality of control point modules to be inserted, and can be used for inserting the control point modules to the periphery of the foundation pit at intervals after receiving a control instruction sent by the base station in the running process; the unmanned aerial vehicle flies above the foundation pit to shoot videos, performs real-time data exchange with the control point modules, can acquire image information of each control point module and can perform aerial triangulation operation, and measurement data related to the foundation pit are obtained. The invention provides convenience for later data processing and determination of the outline parameters of the edge position of the foundation pit, and has important significance and effect on improving the three-dimensional measurement accuracy and efficiency of the foundation pit live-action of oil and gas pipeline engineering.
Description
Technical Field
The invention relates to the technical field of pipeline engineering construction, in particular to a system and a method for three-dimensionally measuring the actual situation of a foundation pit of oil and gas pipeline engineering.
Background
The oil gas pipeline is taken as an important tool for energy transportation, and once leakage or explosion accidents occur, life and property safety of people are seriously threatened, so that the safety inspection and management of the pipeline is very important. National oil and gas pipeline protection laws specify: and (5) in the region range of five meters on both sides of the central line of the pipeline, the actions of planting deep root plants, excavating construction, illegal construction and the like are forbidden. However, the above-mentioned safety-compromising actions of the oil and gas pipelines occur sometimes, even with irreparable losses.
In the process of pipeline engineering construction supervision, whether the engineering implemented by a foundation pit construction unit meets the specifications, standards and quality of earlier design or not needs to be measured and evaluated rapidly, and if the problems exist, the correction needs to be informed in time. The traditional measuring method mainly relies on experienced personnel to carry out manual measurement, and has the problems of long measurement time consumption, high cost and the like. The real-scene three-dimensional mapping technology has been primarily popularized and applied in the aspects of house right determination, land measurement and the like, but the real-scene three-dimensional measurement technology is not well popularized and applied in the pipeline foundation pit measurement process because the bottom of the pipeline foundation pit is similar to the soil color of the side wall and because the foundation pit side line radian is large, the straightness is poor and the like in the excavator excavation process.
Disclosure of Invention
The invention aims to solve the technical problem of providing a system and a method for three-dimensionally measuring the actual situation of an oil and gas pipeline engineering foundation pit, which are used for solving the problems in the background technology, realizing automatic placement of control point modules and improving the three-dimensional measurement precision and efficiency of the actual situation of the oil and gas pipeline engineering foundation pit.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
Oil gas pipeline engineering foundation ditch outdoor scene three-dimensional measurement system includes:
a base station;
the control point modules are provided with a plurality of control point modules and are respectively inserted and arranged at intervals at the periphery of the foundation pit; the control point module is in wireless communication with the base station and can transmit the position information of the control point module to the base station in real time;
the automatic placement device is internally provided with a plurality of control point modules to be inserted, and can be used for inserting the control point modules to the periphery of the foundation pit at intervals after receiving a control instruction sent by the base station in the running process; the automatic placement device is in wireless communication with the base station and can transmit the position information of the automatic placement device to the base station in real time;
the unmanned aerial vehicle flies above the foundation pit to shoot videos, performs real-time data exchange with the control point modules, can acquire image information of each control point module and can perform aerial triangulation operation, and measurement data related to the foundation pit are obtained.
Further optimizing technical scheme, automatic placer includes:
the vehicle body is connected with a carriage for accommodating the control point module to be inserted;
the wheels are arranged at the bottom end of the vehicle body and move through a wheel driving mechanism;
the brackets are arranged on two sides of the vehicle body in a sliding manner and move along the side wall of the vehicle body through a first driving mechanism arranged on the vehicle body;
the grabbing device is slidably assembled on the bracket and moves along the direction perpendicular to the side wall of the vehicle body through a second driving mechanism arranged on the bracket; the bottom end of the grabbing device is provided with a gripper which can lift and grab a control point module to be inserted and placed in the carriage;
the vehicle-mounted wireless communication module is in wireless communication with the base station;
the vehicle-mounted positioning module is used for positioning the position of the automatic placement device;
the electronic control system module is used for receiving the position information transmitted by the vehicle-mounted positioning module and transmitting the position information to the base station through the vehicle-mounted wireless communication module; the controlled ends of the wheel driving mechanism, the first driving mechanism, the second driving mechanism and the grabbing device are respectively connected to the output end of the electronic control system module.
Further optimizing the technical scheme, the control point module comprises:
the bottom end of the shell is in a conical shape; a clamping groove is formed in the side part of the shell;
the positioning module is used for positioning the position of the control point module;
the wireless communication module is in wireless communication with the base station;
the singlechip module is used for receiving the position information transmitted by the positioning module and transmitting the position information to the base station through the wireless communication module;
and the battery module is used for supplying power to the control point module.
Further optimizing the technical scheme, the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a measurement system arranged in the unmanned aerial vehicle body; the measurement system includes:
the unmanned aerial vehicle video acquisition device shoots videos on the foundation pit at multiple angles above the foundation pit, and performs real-time data exchange with the control point module through a wireless communication module carried by the unmanned aerial vehicle;
the video processing device is used for carrying out frame extraction processing on the shot video, preprocessing the frame extraction image, carrying out modeling information processing, generating a three-dimensional model and generating foundation pit engineering parameters.
The three-dimensional measurement method for the oil and gas pipeline engineering foundation pit live-action is characterized by being carried out based on the three-dimensional measurement system for the oil and gas pipeline engineering foundation pit live-action and comprises the following steps:
s1, inputting a travelling path of an automatic placement device into an electric control system module of the automatic placement device according to parameter information of a foundation pit, and automatically placing a control point module on the measuring edge of the foundation pit and under the pit by the automatic placement device according to the travelling path;
s2, after the control point modules are placed, the control point modules feed back position information to the base station respectively, the unmanned aerial vehicle flies above the foundation pit and shoots videos on the foundation pit at multiple angles, the unmanned aerial vehicle exchanges real-time data with the control point modules, the shot videos are subjected to frame extraction processing, frame extraction images are preprocessed, modeling information processing is carried out, a three-dimensional model is generated, and foundation pit engineering parameters are generated.
In a further optimized technical scheme, in the step S1, the step of automatically placing the control point module by the automatic placement device is as follows:
s101, grabbing a control point module stored in a carriage through a grabbing device, and after grabbing the control point module, moving the grabbing device and the control point module to the side of the carriage under the drive of a second driving mechanism;
s102, when the automatic placement device receives an instruction for placing the control point module, the automatic placement device stops advancing, and a gripper in the gripping device moves downwards to drive the control point module to press down into the soil layer;
s103, resetting the automatic placement device, and continuing the next action of grabbing the control point module; and sequentially completing the insertion of the control point modules.
According to the technical scheme, the method for performing frame extraction processing on the shot video is characterized in that a frame extraction mode of a variable frame distance is used, and the frame extraction mode is different from the frame extraction mode of the rest positions at specific positions according to the position information of the acquired image.
Further optimizing the technical scheme, the method for carrying out modeling information processing on the preprocessed image comprises the following steps:
s201, extracting key points and automatically matching connection points;
s202, performing region integral adjustment, bundling adjustment and multi-view image dense matching by combining pos information three-dimensional processing through computer graphic calculation to generate point clouds, wherein the point clouds form a three-dimensional TIN grid, and the grid is combined with pictures to generate a white three-dimensional model;
s203, autonomous texture mapping, texture map packaging, detail level generation and outputting a three-dimensional model endowed with textures.
Further optimizing the technical scheme, the foundation pit engineering parameters comprise the section size of the foundation pit, the depth of the foundation pit and the gradient parameters of the foundation pit.
By adopting the technical scheme, the invention has the following technical progress.
The invention can automatically insert the control point module according to the advancing track through the automatic placement device, and the position information of the control point module can be fed back to the base station in real time, so that the problem of difficulty in placing the automatic placement control point is solved compared with the prior art, and meanwhile, convenience is provided for later data processing, determination of the outline parameters of the edge position of the foundation pit and the like, and the invention has important significance and efficiency for improving the real-time three-dimensional measurement precision and efficiency of the foundation pit of the oil and gas pipeline engineering.
The invention adopts the control point module with the positioning function to mark the position in the foundation pit, can carry out information interaction with the base station, very accurately determines the position of the foundation pit, can improve the efficiency of acquiring parameter information, improve the precision of positioning information and improve the degree of automation of the measuring system.
Drawings
FIG. 1 is a schematic view of an automatic placement device according to the present invention;
FIG. 2 is a schematic view of the structure of the automatic placement device according to the present invention when the automatic placement device grabs the control point module;
FIG. 3 is a schematic view of the structure of the automatic placement device of the present invention when the control point module is moved;
FIG. 4 is a schematic view of the structure of the automatic placement device of the present invention when the control point module is lowered;
FIG. 5 is a schematic diagram of a control point module according to the present invention;
FIG. 6 is a diagram of an electrical control system of the control point module of the present invention;
fig. 7 is a diagram of the architecture of the unmanned aerial vehicle measurement system of the present invention.
Wherein: 1. the vehicle comprises a vehicle body, 2, wheels, 3, a sliding guide rail, 4, a bracket, 5, a gripping device, 6, a control point module, 61, a shell, 62, a clamping groove, 63, a wireless communication module, 64, an antenna module, 7, a first lead screw, 8, a first motor, 9, a second lead screw, 10 and a second motor.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific embodiments.
The three-dimensional measuring system for the oil and gas pipeline engineering foundation pit live-action is shown in combination with fig. 1 to 5, and comprises a base station, a control point module, an automatic placement device and an unmanned aerial vehicle.
The control point modules are arranged in a plurality and are respectively arranged at the periphery of the foundation pit in an interval inserting mode. The control point module is in wireless communication with the base station and can transmit the self-position information to the base station in real time. The control point module with the positioning function can improve the efficiency of parameter information acquisition, the precision of positioning information and the degree of automation of the measurement system.
The control point module comprises a shell 61, a positioning module, a wireless communication module, a singlechip module and a battery module, and the connection relation among the modules is shown in fig. 6.
The bottom end of the housing 61 is provided in a pointed cone shape; the side of the housing 61 is provided with a clamping groove 62.
The positioning module is used for positioning the position of the control point module, and is a Beidou positioning module.
The wireless communication module 63 performs wireless communication with a base station. The antenna module 64 is connected to the wireless communication module 63.
And the singlechip module is used for receiving the position information transmitted by the positioning module and transmitting the position information to the base station through the wireless communication module.
The battery module is used for supplying power to the control point module.
The automatic placement device is internally provided with a plurality of control point modules to be inserted, and can be inserted to the periphery of a foundation pit at intervals after receiving a control instruction sent by a base station in the running process. The automatic placement device is in wireless communication with the base station and can transmit the self-position information to the base station in real time.
The automatic placement device comprises a vehicle body 1, wheels 2, a wheel driving mechanism, a bracket 4, a first driving mechanism, a grabbing device 5, a second driving mechanism, a vehicle-mounted wireless communication module, a vehicle-mounted positioning module and an electric control system module.
The car body 1 is connected with a carriage for accommodating the control point module to be inserted. The bottom end of the vehicle body 1 is provided with a vehicle chassis. The wheels 2 are provided at the bottom end of the vehicle body 1 and are moved by a wheel drive mechanism. Specifically, the wheels are provided on the vehicle chassis. The wheel driving mechanism includes a driving motor for driving the wheels to rotate.
The brackets 4 are slidably fitted on both sides of the vehicle body 1 and are moved along the vehicle body side walls by a first driving mechanism provided on the vehicle body 1. The first driving mechanism comprises a sliding guide rail 3, a sliding block, a first lead screw 7 and a first motor 8. The two sides of the car body 1 are respectively provided with a sliding guide rail 3, and a bracket 4 is provided with a sliding block which is in sliding fit with the sliding guide rails 3. The inside of sliding guide 3 is provided with first lead screw 7, and the slider is assembled with the lead screw thread, and the one end of first lead screw 7 stretches out the automobile body and is provided with first motor 8 in the connection. The first motor 8 drives the first screw rod 7 to rotate, and then drives the bracket 4 and the grabbing device 5 to move along the car body.
The gripping device 5 is slidably fitted to the bracket 4 and is moved in a direction perpendicular to the vehicle body side wall by a second driving mechanism provided on the bracket 4.
The gripping device 5 comprises a sliding plate, a lifting mechanism and a gripper. The side wall of the bracket 4 is provided with a second sliding groove, and the sliding plate is slidably arranged in the second sliding groove.
The second driving mechanism comprises a second lead screw 9 rotatably arranged on the bracket 4, the second lead screw 9 is assembled with the sliding plate in a threaded manner, and one end of the second lead screw 9 extends out of the bracket to be connected with a second motor 10. The second motor 10 drives the second screw rod 9 to rotate, and then the sliding plate and the gripper can be driven to move transversely.
The bottom of grabbing device 5 is provided with the tongs, and the tongs can go up and down and snatch the control point module of waiting the cartridge of placing in the carriage. The gripper is a hydraulic driving gripper which is driven by the hydraulic cylinder to open and close.
The lifting mechanism is a hydraulic cylinder or an air cylinder, and the piston rod end of the hydraulic cylinder or the air cylinder is connected with the top end of the gripper.
The vehicle-mounted wireless communication module is in wireless communication with the base station, and is a 5G communication module.
The vehicle-mounted positioning module is used for positioning the position of the automatic placement device and is a Beidou positioning module.
The electronic control system module receives the position information transmitted by the vehicle-mounted positioning module and transmits the position information to the base station through the vehicle-mounted wireless communication module. The controlled ends of the wheel driving mechanism, the first driving mechanism, the second driving mechanism and the grabbing device 5 are respectively connected to the output end of the electronic control system module.
The automatic placement device adopts electric drive, and internally mounted has big dipper positioning module and 5G communication module, can carry out information interaction in real time with the base station, confirm automatic placement device's setting position, guarantee the installation location requirement of control point module.
The unmanned aerial vehicle flies above the foundation pit to shoot videos, performs real-time data exchange with the control point modules, can acquire image information of each control point module and can perform aerial triangulation operation, and measurement data related to the foundation pit are obtained.
Unmanned aerial vehicle includes unmanned aerial vehicle body and sets up the measurement system in unmanned aerial vehicle body. The measurement system comprises an unmanned aerial vehicle video acquisition device and a video processing device, and is shown in combination with fig. 7.
The unmanned aerial vehicle video acquisition device shoots videos on the foundation pit at multiple angles above the foundation pit, and performs real-time data exchange with the control point module through a wireless communication module carried by the unmanned aerial vehicle. The unmanned aerial vehicle video acquisition device comprises a camera unit, a positioning unit and an image filtering preprocessing unit.
And the camera unit is used for shooting the foundation pit.
The image filtering preprocessing unit is used for preprocessing the extracted image, cutting and filtering the image outside the 500 pixel unit outside the control point to obtain foundation pit image data, reducing the data size, reducing the later data processing operation amount and improving the data processing efficiency.
The video processing device is used for carrying out frame extraction processing on the shot video, preprocessing the frame extraction image, carrying out modeling information processing, generating a three-dimensional model and generating foundation pit engineering parameters. The video processing device comprises a frame extraction module, a modeling information processing module, a modeling module and an engineering parameter generation module.
And the frame extraction module is used for carrying out frame extraction processing on the preprocessed video.
The modeling information processing module comprises a key point identification extraction unit, a control point position information comparison unit and a point cloud generation unit.
The modeling module comprises an aerial triangulation calculation unit, a model reconstruction unit and a model rendering unit.
The method is based on an oil and gas pipeline engineering foundation pit live-action three-dimensional measurement system and comprises the following steps:
s1, inputting the running track of the automatic placement device into an electric control system module of the automatic placement device according to parameter information of the foundation pit, and automatically placing a control point module with a GPS positioning function on the measuring edge of the foundation pit and on and under the pit by the automatic placement device according to the running track.
Before the oil and gas pipeline foundation pit is constructed and excavated, the excavation position coordinate information of the foundation pit is known according to materials such as project task books, so that the travelling track of the automatic placement device can interact with the base station through a wireless communication module carried by the automatic placement device, and the travelling track of the automatic placement device is input into an electric control system of the automatic placement device in advance according to the position coordinate information of the foundation pit and parameter information such as the excavation width required by the foundation pit, so that the automatic travelling purpose of the automatic placement device is achieved.
In step S1, the step of automatically placing the control point module by the automatic placement device includes:
s101, the control point module 6 stored in the carriage is grabbed by the grabbing device 5, and after the control point module 6 is grabbed, the grabbing device 5 and the control point module 6 are driven by the second driving mechanism to move to the side of the carriage.
Specifically, the process of the gripping device 5 gripping the control point module 6 is: the lifting mechanism drives the grab to descend, the control point module in the carriage is clamped by the grab controlled by the electronic control system module, and then the lifting mechanism drives the grab to ascend, so that grabbing of the control point module 6 is realized.
And S102, when the automatic placement device receives an instruction for placing the control point module 6, the automatic placement device stops advancing, the gripping device 5 is driven by the first driving mechanism to move to the inserting position, and the grippers in the gripping device 5 move downwards to drive the control point module 6 to be pressed down into the soil layer, so that the aim of placing the control point module is fulfilled.
S103, resetting the automatic placement device, and continuing the next action of grabbing the control point module 6. The insertion of each control point module 6 is completed in turn.
S2, after the control point modules are placed, the control point modules feed back position information to the base station respectively, an unmanned aerial vehicle with a GPS positioning unit, a camera unit and an image preprocessing unit flies above a foundation pit and shoots videos on the foundation pit at multiple angles, the camera unit is connected with the image filtering preprocessing unit and the frame extraction module, the shot videos are subjected to frame extraction processing, the frame extraction images are preprocessed, modeling information processing is performed, a three-dimensional model is generated, and foundation pit engineering parameters are generated.
And the wireless communication module and the control point module carried by the unmanned aerial vehicle exchange data in real time, so that the position information and the inclination angle parameter information of the picture output by the frame drawing module can be obtained when the unmanned aerial vehicle flies through the control point module, and the obtained parameter information is input into the modeling module to carry out aerial triangulation operation.
The frame extraction processing method for the shot video is to use a frame extraction mode with a variable frame distance, and the frame extraction mode is different from the frame extraction mode for the other positions at a specific position according to the position information of the acquired image. 1 frame of picture is extracted at intervals of 5 frames at positions of 0 meter, 500 meters and 1000 meters in a sequence analogized manner, 1 frame of picture is extracted at intervals of 30 frames at the rest positions, the extracted picture is preprocessed on the unmanned aerial vehicle through an image filtering preprocessing unit, and the image filtering preprocessing unit cuts and filters an image outside 500 pixel units outside a control point to obtain foundation pit image data, so that the size of data volume is reduced, the operation amount of later data processing is reduced, and the data processing efficiency is improved.
The picture after frame extraction and image preprocessing is imported into a modeling information processing module, and the method for modeling information processing of the preprocessed image comprises the following steps:
s201, extracting key points and automatically matching connection points.
S202, performing region integral adjustment, bundling adjustment and multi-view image dense matching by combining pos information three-dimensional processing through computer graphic calculation to generate point clouds, wherein the point clouds form a three-dimensional TIN grid, and the grid is combined with a picture to generate a white body three-dimensional model.
S203, autonomous texture mapping, texture map packaging, detail level generation and outputting a three-dimensional model endowed with textures.
And inputting the three-dimensional model of the foundation pit into an engineering parameter generation module, and obtaining measurement data comprising parameters such as the section size of the foundation pit, the depth of the foundation pit, the gradient of the foundation pit and the like. The purpose of rapidly measuring and evaluating whether the foundation pit construction progress meets the specifications, standards and quality of earlier design in the oil and gas pipeline foundation pit construction supervision process is achieved.
Claims (7)
1. Oil gas pipeline engineering foundation ditch outdoor scene three-dimensional measurement system, its characterized in that includes:
a base station;
the control point modules are provided with a plurality of control point modules and are respectively inserted and arranged at intervals at the periphery of the foundation pit; the control point module is in wireless communication with the base station and can transmit the position information of the control point module to the base station in real time;
the automatic placement device is internally provided with a plurality of control point modules to be inserted, and can be used for inserting the control point modules to the periphery of the foundation pit at intervals after receiving a control instruction sent by the base station in the running process; the automatic placement device is in wireless communication with the base station and can transmit the position information of the automatic placement device to the base station in real time;
the unmanned aerial vehicle flies above the foundation pit to shoot a video, performs real-time data exchange with the control point modules, can acquire the image information of each control point module and can perform aerial triangulation operation to acquire measurement data related to the foundation pit;
the automatic placement device includes:
the vehicle body (1), the vehicle body (1) connects and is provided with the carriage used for carrying on the control point module to be inserted;
the wheels (2) are arranged at the bottom end of the vehicle body (1) and move through a wheel driving mechanism;
the brackets (4) are arranged on two sides of the vehicle body (1) in a sliding manner and move along the side wall of the vehicle body through a first driving mechanism arranged on the vehicle body (1);
the grabbing device (5) is slidably arranged on the bracket (4) and moves along the direction perpendicular to the side wall of the vehicle body through a second driving mechanism arranged on the bracket (4); the bottom end of the grabbing device (5) is provided with a gripper which can lift and grab a control point module to be inserted and placed in a carriage;
the vehicle-mounted wireless communication module is in wireless communication with the base station;
the vehicle-mounted positioning module is used for positioning the position of the automatic placement device;
the electronic control system module is used for receiving the position information transmitted by the vehicle-mounted positioning module and transmitting the position information to the base station through the vehicle-mounted wireless communication module; the controlled ends of the wheel driving mechanism, the first driving mechanism, the second driving mechanism and the grabbing device (5) are respectively connected with the output end of the electronic control system module;
the control point module includes:
a housing (61) having a conical bottom end; a clamping groove (62) is formed in the side part of the shell (61);
the positioning module is used for positioning the position of the control point module;
the wireless communication module is in wireless communication with the base station;
the singlechip module is used for receiving the position information transmitted by the positioning module and transmitting the position information to the base station through the wireless communication module;
and the battery module is used for supplying power to the control point module.
2. The oil and gas pipeline engineering foundation pit live-action three-dimensional measurement system of claim 1, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a measurement system arranged in the unmanned aerial vehicle body; the measurement system includes:
the unmanned aerial vehicle video acquisition device shoots videos on the foundation pit at multiple angles above the foundation pit, and performs real-time data exchange with the control point module through a wireless communication module carried by the unmanned aerial vehicle;
the video processing device is used for carrying out frame extraction processing on the shot video, preprocessing the frame extraction image, carrying out modeling information processing, generating a three-dimensional model and generating foundation pit engineering parameters.
3. The three-dimensional measurement method for the foundation pit live-action of the oil and gas pipeline engineering is characterized by being based on the three-dimensional measurement system for the foundation pit live-action of the oil and gas pipeline engineering according to any one of claims 1 to 2 and comprises the following steps:
s1, inputting a travelling path of an automatic placement device into an electric control system module of the automatic placement device according to parameter information of a foundation pit, and automatically placing a control point module on the measuring edge of the foundation pit and under the pit by the automatic placement device according to the travelling path;
s2, after the control point modules are placed, the control point modules feed back position information to the base station respectively, the unmanned aerial vehicle flies above the foundation pit and shoots videos on the foundation pit at multiple angles, the unmanned aerial vehicle exchanges real-time data with the control point modules, the shot videos are subjected to frame extraction processing, frame extraction images are preprocessed, modeling information processing is carried out, a three-dimensional model is generated, and foundation pit engineering parameters are generated.
4. The method for three-dimensional measurement of foundation pit reality for oil and gas pipeline engineering according to claim 3, wherein in the step S1, the step of automatically placing the control point module by the automatic placement device is:
s101, grabbing a control point module (6) stored in a carriage through a grabbing device (5), and after grabbing the control point module (6), moving the grabbing device (5) and the control point module (6) to the side of the carriage under the drive of a second driving mechanism;
s102, when the automatic placement device receives an instruction for placing the control point module (6), the automatic placement device stops advancing, and a gripper in the grabbing device (5) moves downwards to drive the control point module (6) to press down into the soil layer;
s103, resetting the automatic placement device, and continuing to grasp the action of the control point module (6) next time; and (5) sequentially completing the insertion of each control point module (6).
5. The method for three-dimensional measurement of foundation pit live-action of oil and gas pipeline engineering according to claim 3, wherein the method for frame extraction processing of the shot video is a frame extraction mode with a variable frame distance, and the frame extraction mode is different from the frame extraction mode at a specific position and the rest positions according to the position information of the acquired image.
6. The method for three-dimensional measurement of oil and gas pipeline engineering foundation pit reality according to claim 3, characterized in that the method for modeling information processing of the preprocessed image comprises the following steps:
s201, extracting key points and automatically matching connection points;
s202, performing region integral adjustment, bundling adjustment and multi-view image dense matching by combining pos information three-dimensional processing through computer graphic calculation to generate point clouds, wherein the point clouds form a three-dimensional TIN grid, and the grid is combined with pictures to generate a white three-dimensional model;
s203, autonomous texture mapping, texture map packaging, detail level generation and outputting a three-dimensional model endowed with textures.
7. A method for three-dimensional measurement of the physical form of a foundation pit in oil and gas pipeline engineering according to claim 3, wherein the foundation pit engineering parameters comprise the section size of the foundation pit, the depth of the foundation pit and the gradient parameters of the foundation pit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111002696.8A CN113819891B (en) | 2021-08-30 | 2021-08-30 | Three-dimensional measuring system and method for foundation pit live-action of oil and gas pipeline engineering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111002696.8A CN113819891B (en) | 2021-08-30 | 2021-08-30 | Three-dimensional measuring system and method for foundation pit live-action of oil and gas pipeline engineering |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113819891A CN113819891A (en) | 2021-12-21 |
| CN113819891B true CN113819891B (en) | 2023-12-08 |
Family
ID=78923377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111002696.8A Active CN113819891B (en) | 2021-08-30 | 2021-08-30 | Three-dimensional measuring system and method for foundation pit live-action of oil and gas pipeline engineering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113819891B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7000710B1 (en) * | 2002-04-01 | 2006-02-21 | The Charles Machine Works, Inc. | Automatic path generation and correction system |
| CN104034319A (en) * | 2014-05-28 | 2014-09-10 | 同济大学 | High-rise building measurement control point projection positioning auxiliary device and using method thereof |
| CN107356230A (en) * | 2017-07-12 | 2017-11-17 | 深圳市武测空间信息有限公司 | A kind of digital mapping method and system based on outdoor scene threedimensional model |
| CN108279023A (en) * | 2017-01-05 | 2018-07-13 | 北京四维图新科技股份有限公司 | Field data collecting device precision check method and device, collecting vehicle and field data acquisition system |
| CN111678503A (en) * | 2020-06-15 | 2020-09-18 | 西安航空职业技术学院 | Unmanned aerial vehicle aerial survey control point arrangement and identification method and system |
| CN211655024U (en) * | 2020-04-11 | 2020-10-09 | 潘文忠 | Subway station foundation pit contact measurement GPS support |
| CN111968241A (en) * | 2020-09-11 | 2020-11-20 | 中国石油集团西南管道有限公司 | Foundation pit measuring system and method for pipeline engineering construction |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7283005B2 (en) * | 2019-03-28 | 2023-05-30 | 株式会社トプコン | Point cloud data processing method and point cloud data processing device |
-
2021
- 2021-08-30 CN CN202111002696.8A patent/CN113819891B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7000710B1 (en) * | 2002-04-01 | 2006-02-21 | The Charles Machine Works, Inc. | Automatic path generation and correction system |
| CN104034319A (en) * | 2014-05-28 | 2014-09-10 | 同济大学 | High-rise building measurement control point projection positioning auxiliary device and using method thereof |
| CN108279023A (en) * | 2017-01-05 | 2018-07-13 | 北京四维图新科技股份有限公司 | Field data collecting device precision check method and device, collecting vehicle and field data acquisition system |
| CN107356230A (en) * | 2017-07-12 | 2017-11-17 | 深圳市武测空间信息有限公司 | A kind of digital mapping method and system based on outdoor scene threedimensional model |
| CN211655024U (en) * | 2020-04-11 | 2020-10-09 | 潘文忠 | Subway station foundation pit contact measurement GPS support |
| CN111678503A (en) * | 2020-06-15 | 2020-09-18 | 西安航空职业技术学院 | Unmanned aerial vehicle aerial survey control point arrangement and identification method and system |
| CN111968241A (en) * | 2020-09-11 | 2020-11-20 | 中国石油集团西南管道有限公司 | Foundation pit measuring system and method for pipeline engineering construction |
Non-Patent Citations (1)
| Title |
|---|
| 低空无人机在滩涂面积测绘中的应用;龚武明;蔡勇圣;王国琪;唐立军;;上海水务(第02期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113819891A (en) | 2021-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104777845B (en) | The underwater body apparatus and automatic obstacle avoiding method of underwater robot | |
| CN106331684B (en) | A kind of 3-dimensional image acquisition methods based on small drone video recording in engineering geological survey | |
| CN100575873C (en) | Dual container localization method based on machine vision | |
| CN110487816A (en) | A kind of tunnel inspection image collecting device and tunnel cruising inspection system | |
| CN103913116A (en) | Large-scale piled material volume two-side parallel measuring device and method | |
| CN112307552B (en) | Green mine construction planning method based on live-action three-dimensional modeling | |
| CN112342908B (en) | Primary-secondary type infrastructure disease detection and repair system and method | |
| CN107860374B (en) | A kind of tunnel tunnel face excavation line intelligent positioning measurement method | |
| CN104482922A (en) | Structural plane measuring method based on three-dimensional laser scanning technique | |
| CN114352300A (en) | Digital drilling and blasting excavation system and excavation method | |
| CN106570877B (en) | Based on coal-winning machine virtual prototype the coal-winning machine pose alignment system and method registering with true picture | |
| CN104369742A (en) | Image-processing-based fast intelligent detection vehicle for tunnel surface cracks | |
| CN113819891B (en) | Three-dimensional measuring system and method for foundation pit live-action of oil and gas pipeline engineering | |
| CN101408534B (en) | Indoor rail fixing follow-scene measuring system | |
| CN114113118A (en) | Rapid detection device and detection method for water leakage disease of subway tunnel lining cracks | |
| CN107390699A (en) | The route planning system and its route planning method of a kind of sugarcane planting machine | |
| CN104793265A (en) | Fine detection device and method of horizontal rock-salt cavity | |
| CN114187414A (en) | Three-dimensional roaming inspection method and system for roadway | |
| CN204165529U (en) | A kind of device of Real-Time Monitoring push bench head off normal | |
| CN112288712B (en) | Gold mine drop shaft feeding visual detection method based on live-action modeling | |
| CN202534980U (en) | Imaging apparatus used for electric line patrol unmanned helicopter | |
| CN110706333B (en) | Reconstruction method based on manual calibration of pipeline position and leakage point thereof | |
| CN105809627A (en) | Geological logging method for water-power engineering underground cavern | |
| CN105184324A (en) | Automatic counting method and system for tamping during forced tamping construction process | |
| CN105187716A (en) | Automatic staff system and method for deep-sea image pick-up |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Xiaobin Inventor after: Dai bingtao Inventor after: Wang Xing Inventor after: Li Yuze Inventor after: Sun Liwei Inventor before: Wang Xiaobin |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |