CN114187535A - Dangerous rock mass identification method and device, electronic equipment and storage medium - Google Patents
Dangerous rock mass identification method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application discloses a method, a device, equipment and a storage medium for identifying dangerous rock masses, wherein the method comprises the following steps: obtaining a first scale image of a dangerous rock mass investigation region; determining a development area of the dangerous rock mass according to the first scale image; determining a first image acquisition distance based on the geographic features of the developmental region; acquiring a second scale image corresponding to the development area based on the first image acquisition distance; the development area is interpreted according to the second scale image, the target area corresponding to the dangerous rock is determined, and the dangerous rock is identified.
Description
Technical Field
The application relates to the field of image recognition, in particular to a dangerous rock mass recognition method and device, electronic equipment and a storage medium.
Background
In the existing dangerous rock mass identification mode, aerial photography data acquisition is only carried out on one survey scale when an unmanned aerial vehicle is used for carrying out dangerous rock mass rockfall unfavorable geological survey, and meanwhile, the technical scheme of the aerial photography data acquisition generally refers to the aerial measurement precision, the air route planning and the aerial photography parameter setting of similar scale scales. When an unmanned aerial vehicle is used for carrying out dangerous rock falling stone poor geological survey, the flying height is reduced, a multi-lens imaging sensor is carried, and manual compensation shooting is carried out, so that the aim of simultaneously meeting the control of data acquisition quality precision and aerial shooting operation time is achieved, but the method can cause low aerial shooting operation efficiency due to data quality redundancy, the aerial shooting image quantity is increased rapidly, and more internal data processing time is consumed.
Disclosure of Invention
In view of the above, embodiments of the present application are intended to provide a method, an apparatus, an electronic device, and a computer-readable storage medium for identifying dangerous rock masses.
The technical embodiment of the present application is realized as follows:
the embodiment of the application provides a method for identifying dangerous rock mass, which comprises the following steps:
obtaining a first scale image of a dangerous rock mass investigation region;
determining a development area of the dangerous rock mass according to the first scale image;
determining a first image acquisition distance based on the geographic features of the developmental region;
acquiring a second scale image corresponding to the development area based on the first image acquisition distance;
and interpreting the development area according to the second scale image, determining a target area corresponding to the dangerous rock mass, and completing the identification of the dangerous rock mass.
In the above aspect, the method further includes: determining a second image acquisition distance based on the target area and the dangerous rock mass destruction deformation mode; acquiring a third scale image corresponding to the target area based on the second image acquisition distance; and carrying out quantitative processing on the third scale image to obtain the structural plane parameter information of the dangerous rock mass.
In the above scheme, the determining a development area of a dangerous rock mass according to the first scale image includes: and performing virtual reconnaissance on the dangerous rock mass investigation region according to the first scale image, and determining the development region of the dangerous rock mass.
In the above scheme, the determining a development area of a dangerous rock mass according to the first scale image includes: generating a corresponding first three-dimensional model according to the first scale image; and determining a development area of the dangerous rock mass according to the first scale image and the first three-dimensional model.
In the above solution, the interpreting the development area according to the second scale image to determine a target area corresponding to the dangerous rock mass includes: generating a corresponding second three-dimensional model according to the second scale image; and interpreting the development area according to the second scale image and the second three-dimensional model, and determining a target area corresponding to the dangerous rock mass.
In the above scheme, the obtaining a second scale image corresponding to the development area based on the first image acquisition distance includes: determining unmanned aerial vehicle navigation parameters according to the first image acquisition distance; and sending the unmanned aerial vehicle navigation parameters to an unmanned aerial vehicle so that the unmanned aerial vehicle carries out image acquisition on the development area based on the unmanned aerial vehicle navigation parameters to obtain a second scale image corresponding to the development area.
The embodiment of the application provides a dangerous rock mass's recognition device, the device includes:
the first obtaining module is used for obtaining a first scale image of the dangerous rock mass investigation region;
the first determining module is used for determining a development area of the dangerous rock mass according to the first scale image;
a second determination module for determining a first image acquisition distance based on a geographic feature of the development area;
the second obtaining module is used for obtaining a second scale image corresponding to the development area based on the first image acquisition distance;
and the interpretation module is used for interpreting the development area according to the second scale image, determining a target area corresponding to the dangerous rock mass and finishing the identification of the dangerous rock mass.
In the scheme, the device further comprises a quantification processing module, which is used for determining a second image acquisition distance based on the target area and the damage deformation mode of the dangerous rock mass; acquiring a third scale image corresponding to the target area based on the second image acquisition distance; and carrying out quantitative processing on the third scale image to obtain the structural plane parameter information of the dangerous rock mass.
In the above scheme, the first determining module is further configured to perform virtual reconnaissance on the dangerous rock mass survey area according to the first scale image, and determine a development area of the dangerous rock mass.
In the above scheme, the first determining module is further configured to generate a corresponding first three-dimensional model according to the first scale image; and determining a development area of the dangerous rock mass according to the first scale image and the first three-dimensional model.
In the above solution, the interpreting module is further configured to generate a corresponding second three-dimensional model according to the second scale image; and interpreting the development area according to the second scale image and the second three-dimensional model, and determining a target area corresponding to the dangerous rock mass.
In the above scheme, the second obtaining module is further configured to determine a navigation parameter of the unmanned aerial vehicle according to the first image acquisition distance; and sending the unmanned aerial vehicle navigation parameters to an unmanned aerial vehicle so that the unmanned aerial vehicle carries out image acquisition on the development area based on the unmanned aerial vehicle navigation parameters to obtain a second scale image corresponding to the development area.
According to the method and the device, a first scale image of a dangerous rock mass investigation region is obtained; determining a development area of the dangerous rock mass according to the first scale image; determining a first image acquisition distance based on the geographic features of the developmental region; acquiring a second scale image corresponding to the development area based on the first image acquisition distance; and interpreting the development area according to the second scale image, determining a target area corresponding to the dangerous rock mass, and completing the identification of the dangerous rock mass. By means of multi-scale image acquisition and identification, high-precision identification of the dangerous rock mass can be achieved simply and quickly.
Drawings
Fig. 1 is a schematic diagram of an alternative architecture of a dangerous rock mass identification system 100 provided in an embodiment of the present application;
fig. 2 is an alternative structural schematic diagram of an electronic device 200 provided in the embodiment of the present application;
fig. 3 is an alternative flow chart of the dangerous rock mass identification method provided by the embodiment of the application;
FIG. 4 is a schematic flow chart diagram illustrating an alternative process after step 305 provided by an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating an alternative detailed flow of step 305 provided by an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating an alternative detailed flow of step 304 provided by an embodiment of the present application;
fig. 7 is an alternative structural schematic diagram of an identification system for dangerous rock mass according to the embodiment of the present application;
fig. 8 is an alternative flow chart of the method for identifying dangerous rock mass according to the embodiment of the application;
fig. 9 is an explanatory diagram of rock falling of a dangerous rock body provided in the embodiment of the present application.
Detailed Description
In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the attached drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.
In the following description, references to the terms "first \ second \ third" are only to distinguish similar objects and do not denote a particular order, but rather the terms "first \ second \ third" are used to interchange specific orders or sequences, where appropriate, so as to enable the embodiments of the application described herein to be practiced in other than the order shown or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
Based on this, the embodiment of the application provides a dangerous rock mass identification method, a dangerous rock mass identification device, electronic equipment and a computer-readable storage medium, which can realize concise and rapid high-precision dangerous rock mass identification.
Firstly, a dangerous rock mass identification system provided in the embodiment of the present application is explained, referring to fig. 1, fig. 1 is an optional architecture schematic diagram of a dangerous rock mass identification system 100 provided in the embodiment of the present application, and a terminal 103 is connected to an unmanned aerial vehicle 101 through a network 102. In some embodiments, the terminal 103 may be, but is not limited to, a laptop, a tablet, a desktop computer, a smart phone, a dedicated messaging device, a portable gaming device, a smart speaker, a smart watch, and the like. The unmanned aerial vehicle 101 is provided with a camera. The network 102 may be a wide area network or a local area network, or a combination of both. The terminal 103 and the drone 101 may be connected in a wireless communication manner. In actual implementation, the unmanned aerial vehicle 101 shoots a dangerous rock investigation region, and sends the shot image to the terminal 103 for image processing so as to identify dangerous rocks.
Next, an electronic device for implementing the method for identifying dangerous rock mass according to the embodiment of the present application is described, referring to fig. 2, fig. 2 is an optional structural schematic diagram of the electronic device 200 according to the embodiment of the present application, and in practical applications, the electronic device 200 may be implemented as the terminal 103 in fig. 1. The following is a description of an electronic device for implementing the method for identifying dangerous rock masses according to the embodiment of the present application. The electronic device 200 shown in fig. 2 includes: at least one processor 201, memory 205, at least one network interface 202, and a user interface 203. The various components in the electronic device 200 are coupled together by a bus system 204. It is understood that the bus system 204 is used to enable communications among the components. The bus system 204 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 204 in fig. 2.
The Processor 201 may be an integrated circuit chip having Signal processing capabilities, such as a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like, wherein the general purpose Processor may be a microprocessor or any conventional Processor, or the like.
The user interface 203 includes one or more output devices 2031, including one or more speakers and/or one or more visual display screens, that enable the presentation of media content. The user interface 203 also includes one or more input devices 2032 including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.
The memory 205 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid state memory, hard disk drives, optical disk drives, and the like. Memory 205 may optionally include one or more storage devices physically located remote from processor 201.
The memory 205 includes either volatile memory or nonvolatile memory, and may also include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read Only Memory (ROM), and the volatile Memory may be a Random Access Memory (RAM). The memory 205 described in embodiments herein is intended to comprise any suitable type of memory.
In some embodiments, the memory 205 is capable of storing data, examples of which include programs, modules, and data structures, or a subset or superset thereof, to support various operations, in embodiments of the present application, the memory 205 having stored therein an operating system 2051, a network communication module 2052, a presentation module 2053, an input processing module 2054, and a dangerous rock identification device 2055;
an operating system 2051, which includes system programs for handling various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and for handling hardware-based tasks;
a network communication module 2052 for communicating to other computing devices via one or more (wired or wireless) network interfaces 202, exemplary network interfaces 202 including: bluetooth, wireless compatibility authentication (WiFi), and Universal Serial Bus (USB), etc.;
a presentation module 2053 for enabling presentation of information (e.g., user interfaces for operating peripherals and displaying content and information) via one or more output devices 2031 (e.g., display screens, speakers, etc.) associated with the user interface 203;
an input processing module 2054 for detecting one or more user inputs or interactions from one of the one or more input devices 2032 and for translating the detected inputs or interactions.
In some embodiments, the dangerous rock mass identification device provided in the embodiments of the present application may be implemented in a software manner, and fig. 2 shows a dangerous rock mass identification device 2055 stored in the memory 205, which may be software in the form of programs, plug-ins, and the like, and includes the following software modules: the first obtaining module 20551, the first determining module 20552, the second determining module 20553, the second obtaining module 20554, and the interpreting module 20555, which are logical and thus can be arbitrarily combined or further split depending on the functionality implemented. The functions of the respective modules will be explained below.
In other embodiments, the dangerous rock mass identification Device provided in the embodiments of the present Application may be implemented in hardware, and as an example, the dangerous rock mass identification Device provided in the embodiments of the present Application may be a processor in the form of a hardware decoding processor, which is programmed to execute the dangerous rock mass identification method provided in the embodiments of the present Application, for example, the processor in the form of the hardware decoding processor may employ one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), or other electronic components.
The method for identifying dangerous rock masses provided by the embodiment of the application is described below by combining the exemplary application and implementation of the terminal provided by the embodiment of the application.
Referring to fig. 3, fig. 3 is an alternative flow chart of the method for identifying dangerous rock mass according to the embodiment of the present application, which will be described with reference to the steps shown in fig. 3.
301, obtaining a first scale image of a dangerous rock mass investigation region;
and 305, interpreting the development area according to the second scale image, determining a target area corresponding to the dangerous rock mass, and completing identification of the dangerous rock mass.
In some embodiments, referring to fig. 4, fig. 4 is an optional flowchart after step 305 provided in the embodiments of the present application, and after step 305, the following steps may be further performed:
and 403, carrying out quantitative processing on the third scale image to obtain structural plane parameter information of the dangerous rock mass.
In some embodiments, step 302 may be implemented as follows: and performing virtual reconnaissance on the dangerous rock mass investigation region according to the first scale image, and determining the development region of the dangerous rock mass.
In some embodiments, step 302 may also be implemented by: generating a corresponding first three-dimensional model according to the first scale image; and determining a development area of the dangerous rock mass according to the first scale image and the first three-dimensional model.
In some embodiments, referring to fig. 5, fig. 5 is an optional detailed flowchart of step 305 provided in the embodiments of the present application, and step 305 may also be implemented by:
In some embodiments, referring to fig. 6, fig. 6 is an optional detailed flowchart of step 304 provided in the embodiments of the present application, and step 304 may also be implemented by:
601, determining unmanned aerial vehicle navigation parameters according to the first image acquisition distance;
According to the method and the device, a first scale image of a dangerous rock mass investigation region is obtained; determining a development area of the dangerous rock mass according to the first scale image; determining a first image acquisition distance based on the geographic features of the developmental region; acquiring a second scale image corresponding to the development area based on the first image acquisition distance; the development area is interpreted according to the second scale image, a target area corresponding to the dangerous rock mass is determined, the dangerous rock mass is identified, and high-precision identification of the dangerous rock mass can be simply and quickly achieved through multi-scale image acquisition and identification.
Next, an exemplary application of the embodiment of the present application in a practical application scenario will be described.
According to the identification method of the dangerous rock mass, according to different investigation space scales, investigation objects and topographic conditions, dangerous rock mass rockfall unfavorable geological investigation based on the unmanned aerial vehicle oblique photography technology comprises three stages of large-area pregnant disaster background environment investigation, dangerous rock mass rockfall boundary condition investigation, dangerous rock mass structural plane information investigation and the like. Referring to fig. 7, fig. 7 is an alternative structural schematic diagram of the identification system for dangerous rock mass according to the embodiment of the present application.
The method comprises the steps of carrying out virtual survey on a survey area by utilizing high-resolution satellite images, unmanned aerial vehicle digital orthographic images, three-dimensional live-action inclined models and digital elevation model data in large-area pregnant disaster background survey, and determining an area with dangerous rockfall development
And secondly, according to the critical rock falling rock boundary condition survey, different unmanned aerial vehicle route plans are selected according to the topographic features of the critical rock falling rock development area, the relative shooting distance is shortened, high-precision digital elevation images and refined three-dimensional live-action inclined models of the area are collected and generated, then refined interpretation is carried out, and the specific range of the critical rock falling rock required to be subjected to stability evaluation and protection is defined.
And thirdly, according to the dangerous rock body rockfall structural surface information survey, different unmanned aerial vehicle route planning schemes are selected according to the damage deformation mode of the dangerous rock body, the relative shooting distance is further shortened, a close-range photogrammetry technology is used, a high-precision three-dimensional live-action inclined model of the area is acquired and generated, and then quantitative interpretation is carried out on the dangerous rock body structural surface parameter information.
(1) And establishing a combination of aerial photography technical schemes for dangerous rock falling bad geological survey of the unmanned aerial vehicle under the same spatial scale aiming at dangerous rocks with different damage deformation modes. The dangerous rock falling rock destruction deformation mode comprises a sliding mode, a dumping mode and a falling mode. When dangerous rock bodies with different damage deformation modes are subjected to air route planning scheme design, the following technical scheme is referred to:
1. and (4) sliding. And combining a high-speed ground-imitating route planning scheme with a full-coverage route or five-course route planning scheme, calculating the cruising altitude of the unmanned aerial vehicle according to the data acquisition precision requirement, manufacturing a route planning scheme, and acquiring and manufacturing a three-dimensional live-action inclined model of the investigation region.
2. The pouring mode is adopted. And (3) adopting a surrounding route planning scheme to fly around the ground object, wherein the flying route needs to surround at least one circle, meanwhile, in order to avoid aerial photography loopholes and ensure constant image resolution, the flying height needs to be changed in the flying process to carry out surrounding shooting when necessary, and a three-dimensional live-action inclined model of the investigation region is acquired and manufactured.
3. Falling type. And adopting a vertical route planning scheme, and acquiring and manufacturing a three-dimensional live-action inclined model and a high-precision digital facade image of the investigation region according to the data acquisition precision requirement.
(2) A method for quantitatively interpreting critical rock structural surface parameter information. The content of the quantitative interpretation of the critical rock structure surface parameter information comprises critical rock mass size information, the quantity, the space position, the structure surface occurrence, the joint fracture occurrence, the extension direction, the length, the width, the probability falling direction and the like. The quantitative interpretation is preferably carried out by selecting the characteristic points and calculating the trace formed by the characteristic points, the triangular characteristic surface of the rock stratum and the like to obtain a result; when selecting the characteristic points, selecting at least 3 points for each section of line forming the trace, selecting at least 4 points for the triangular characteristic surface of the rock stratum, and carrying out tolerance calculation to remove the characteristic points with overlarge errors; at least three groups of traces representing the same type of parameter information and rock stratum triangular feature surfaces are required to be defined for adjustment statistical analysis, and the interpretation result with overlarge error is eliminated.
(3) The multi-rotor single-lens unmanned aerial vehicle is used for controlling the image data resolution to be uniform and stable, and the conditions of flower drawing, cavities or blurring and the like of the three-dimensional inclined live-action model caused by the lower edge area and the vertical concave area of the protruding part of the rock wall are avoided.
1. Many rotors list camera lens unmanned aerial vehicle possess more nimble shooting angle than the unmanned aerial vehicle aircraft that carries on many camera lenses sensor device, possess higher work efficiency and data acquisition precision when carrying out the image acquisition that becomes more meticulous to the monomer object.
2. The unmanned aerial vehicle inclination data acquisition precision (resolution) is judged through a formula 1:
when the shooting focal length of the camera is fixed, the data acquisition precision (resolution) R and the distance H between the aircraft and the shot object are in a direct proportion relation, namely the closer the aircraft is to the shot object, the higher the precision (resolution) is. When oblique photography is performed, the image covers a ground area with an approximate trapezoid shape (instead of a vertically photographed rectangle), the data acquisition accuracy (resolution) of each part of the image is different, and the data acquisition accuracy (resolution) is generally calculated in a rectangular area in order to omit the influence of the part for calculation convenience.
3. The distance D between the aircraft and the shot object can be inversely calculated according to the requirement of data acquisition precision (resolution), and the distance between the aircraft and the shot object is constant by controlling, so that the accuracy (resolution) of the acquired data can not be changed.
4. Relevant parameters influencing the unmanned aerial vehicle oblique photography data acquisition further include: a side lap rate, a heading lap rate, and a airspeed. The accuracy (resolution) of the final acquisition result can be directly influenced by the lateral overlapping rate and the course overlapping rate, and the motion blurring effect can be caused by the overlarge cruising speed of the aircraft, so that the imaging quality is influenced. The unmanned aerial vehicle oblique photography data acquisition precision of rock falling of dangerous rock masses can be improved by controlling the distance D between the aircraft and the shot object, the lateral overlapping rate, the course overlapping rate and the flying speed. Typically, the default course overlap and side-to-side overlap in all course plans need to be at least 70% and 80%, respectively.
The application aims at dangerous rock falling rock investigation work of work points such as traffic engineering line subgrade, bridge and tunnel exit, and provides a method for applying a single-lens mounted multi-rotor unmanned aerial vehicle oblique photography technology in multi-scale dangerous rock falling rock investigation in different investigation scenes. Specifically, the technical scheme of the application is as follows:
referring to fig. 8, fig. 8 is an alternative flow chart of the method for identifying dangerous rock mass according to the embodiment of the present application. The embodiment of the application provides a dangerous rock mass identification method, based on unmanned aerial vehicle oblique photography technique, includes following steps:
s1, according to the trend of a traffic engineering line scheme, working point positions such as roadbed, bridge and tunnel entrance and exit along the line and dangerous rock falling rock survey scale requirements, manufacturing a buffer area for enclosing a dangerous rock falling rock survey area, and acquiring high-resolution satellite images and digital elevation model data of the area;
s2, determining the type selection of the unmanned aerial vehicle and the aerial camera sensor equipment, and acquiring the maximum flying height H of the unmanned aerial vehiclemaxMaximum flying speed vmaxThe rotation angle Y of the tripod head, the CCD size delta of the aerial camera sensor, the focal length f and the allowable image shift value deltamax；
S3, acquiring and manufacturing a high-precision digital ortho-image and a three-dimensional live-action inclined model of the investigation region by using an unmanned aerial vehicle inclined photography technology according to the range of the dangerous rock falling rock investigation region defined in the step S1;
s4, virtually surveying the survey area by using the high-resolution satellite image, the high-precision digital ortho-image, the three-dimensional live-action tilt model and the digital elevation model data acquired in the steps S1 and S3, and determining the area where the dangerous rock falling rocks are developed;
s5, selecting different unmanned plane route planning schemes according to the topographic features of the dangerous rock falling rock development area determined in the step S4, shortening the relative shooting distance, and collecting and generating a high-precision digital facade image and a refined three-dimensional live-action inclined model of the area;
s6, carrying out fine interpretation on the development area of the dangerous rock falling rocks by using the high-precision digital facade image and the refined three-dimensional live-action inclined model acquired in the step S5, and defining the specific range of the dangerous rock falling rocks needing stability evaluation and protection;
s7, selecting different unmanned plane route planning schemes according to the specific range of the dangerous rock falling rocks defined in the step S6 and the damage deformation mode of the dangerous rock, further shortening the relative shooting distance, and acquiring and generating a high-precision three-dimensional live-action inclined model of the area by using a close-range photogrammetry technology;
and S8, carrying out quantitative interpretation on the critical rock structural plane parameter information by using the high-precision three-dimensional live-action inclined model obtained in the S7.
The step S1 of acquiring the high-resolution satellite images and the digital elevation model data of the survey area includes the following steps:
s11, obtaining a line scheme vector line file and work point vector point files such as roadbed, bridge and tunnel entrance and exit along the traffic engineering according to the traffic engineering design data, and making a buffer area by taking the line scheme vector line and the work point vector point as centers;
s12, acquiring high-resolution remote sensing satellite images in the investigation region, including network satellite images (including sky map images) of public data sources/or domestic high-resolution satellite images;
s13, acquiring digital elevation model data in the investigation region, wherein the digital elevation model data comprises a digital elevation model manufactured by airborne/satellite-borne laser radar point cloud, a digital elevation model manufactured based on a 1:10,000 or 1:2,000 topographic map, ALOS DEM data or SRTM data or ASTER GDEM data.
Preferably, in step S2, the drone and the aerial camera sensor device are configured to carry a single-lens camera for a multi-rotor drone, the camera lens pixels are not less than 2000 ten thousand, and the drone is equipped with a light-weight high-precision POS positioning and attitude determining system and a rtk positioning system.
Step S3 is that the acquisition of the high-precision orthoimage and the three-dimensional live-action inclined model of the investigation region by the unmanned aerial vehicle inclined photography technology comprises the following steps:
s31, substituting the size delta and the focal length f of the CCD of the aerial camera sensor acquired in the step S2 into a formula 1 in the key technology description according to the precision requirements of critical rock mass, rockfall and pregnancy disaster background influence factors such as landform and landform, hydrological environment distribution, vegetation development condition, human engineering activities and the like, and calculating the relative flying height D of the unmanned aerial vehicle from the ground surface;
s32, calculating the terrain relative undulation height of the investigation area by taking the lowest elevation point as an origin according to the digital elevation model data of the investigation area acquired in the step S1, adopting a full-coverage route planning scheme (as shown in figure 1) for the area with the terrain relative undulation height smaller than D/2, and acquiring and investigating a high-precision digital ortho-image of the area; and adopting a five-course planning scheme (as shown in figure 2) for the area with the terrain relative relief height larger than D/2, and acquiring and manufacturing a three-dimensional live-action inclined model of the investigation area.
Step S5, according to different landform conditions of the area where the dangerous rock falling rocks are developed, selecting different unmanned aerial vehicle route planning schemes, and acquiring and generating a high-precision digital facade image and a refined three-dimensional live-action inclined model of the area comprises the following steps:
s51, substituting the dimension delta and the focal length f of the CCD of the aerial camera acquired in the step S2 into a formula 1 in the key technical explanation according to the interpretation precision requirements on the micro geomorphic environment around the dangerous rock falling rocks, the specific distribution position, the size, the shape and the number of the dangerous rock falling rocks, and calculating the relative object-taking distance D by combining the dimension delta and the focal length f of the CCD of the aerial camera acquired in the step S2;
s52, when the dangerous rock falling rock development area belongs to a high and steep single-side slope or a V-shaped canyon, combining a contour line ground-imitating route planning scheme with a full-coverage route or five-course route planning scheme (as shown in figure 3), combining the digital elevation model data of the investigation area and the relative shooting distance D acquired in the step S1, calculating the cruising altitude of the unmanned aerial vehicle, making a route planning scheme, and acquiring and making a three-dimensional live-action inclined model of the investigation area;
and S53, when the dangerous rock falling rock development area belongs to an isolated peak or slope, adopting a surrounding route planning scheme (as shown in figure 4). And setting the relative shooting distance D calculated by the unmanned aerial vehicle according to the step S51 as a flying radius to fly around the ground object. The flight route needs to surround at least one circle, meanwhile, in order to avoid aerial photography holes and ensure constant image resolution, the flight height needs to be changed in the flight process to carry out surrounding shooting when necessary, and a three-dimensional live-action inclined model of the investigation region is collected and manufactured;
s54, when the dangerous rock falling rock development area belongs to a near-vertical rock wall, estimating the rock wall elevation through the digital elevation model data of the investigation area acquired in the step S1, and calculating the number n of vertical routes by combining the lateral overlapping rate; and calculating the swing angle gamma of the lens of the unmanned aerial vehicle each time according to the swing angle Y of the holder acquired in the step S2, avoiding visual blind areas generated by a lower edge area of a protruding part of the rock wall and a vertical concave area, setting the distance between the aircraft and the rock wall as a relative shooting distance D by adopting a vertical route planning scheme, and acquiring and manufacturing a three-dimensional live-action inclined model and a high-precision digital facade image of the investigation region.
The step S6 of delineating the specific range of the dangerous rock falling rocks needing stability evaluation and protection through fine interpretation comprises the following steps:
and S61, analyzing according to the three-dimensional live-action inclined model and the high-precision digital facade image generated in the step S5, wherein the analysis factors comprise: the slope direction of the development area of the dangerous rock falling body, the lithology, the specific distribution position, the size, the shape and the quantity of the dangerous rock falling body, the micro-geomorphologic environment around the dangerous rock falling body, the existence conditions of joints, cleavages, lamellages, bedding, unloading cracks, weathering cracks and the like;
and S62, superposing the vector line files of the route scheme acquired by the traffic engineering design data, the vector point files of the work points such as roadbed, bridge and tunnel entrance and exit along the traffic engineering and the fine interpretation result acquired in the step S61, comprehensively considering factors such as gradient and slope direction, and delineating the dangerous rock falling range which has influence on the route scheme and the work points on the three-dimensional real-scene inclined model and the high-precision digital elevation image.
Step S7 is to collect and generate a high-precision three-dimensional live-action inclined model of the region using close-range photogrammetry technology according to the range defined in step S6 and different dangerous rock destruction deformation modes, and includes the following steps:
s71, substituting the size delta and the focal length f of the CCD of the aerial camera sensor acquired in the step S2 into a formula 1 in the key technical explanation according to the accuracy requirements on the occurrence of the dangerous stone structural surface, the main control structural surface and the combination, and calculating the relative shooting object distance D;
s72, dividing the dangerous rock falling rock range defined in the step S6 into the following steps according to different dangerous rock destruction deformation modes: sliding type, dumping type and falling type. When dangerous rock masses with different damage deformation modes are subjected to the design of a course planning scheme, the sliding dangerous rock mass reference step S52, the dumping dangerous rock mass reference step S53 and the falling dangerous rock mass reference step S54;
s73, when step S72 is completed by using close-range photogrammetry technology, firstly, performing primary inclined image acquisition on a shot object within a safe flight range larger than the relative shot object distance D obtained in step S71, establishing a digital earth model with lower precision, then performing flight correction by taking the digital earth model obtained by primary flight as a reference and matching with an unmanned aerial vehicle rtk module, reducing the relative shot object distance to a value D, performing secondary inclined image acquisition on the shot object, and obtaining a high-resolution image and high-precision POS data;
s74, carrying out supplementary shooting on the areas such as the concave area, the lower edge part of the protruding part, the unloading joint crack and the like by adopting a manual control unmanned aerial vehicle hovering fixed-point shooting mode to obtain a high-resolution image and high-precision POS data;
and S75, generating a high-precision three-dimensional live-action inclined model of the dangerous rock falling rocks through the high-resolution image and the high-precision POS data.
Referring to fig. 9, fig. 9 is an explanatory diagram of the dangerous rock falling rocks provided in the embodiment of the present application. The step S8 of quantitatively interpreting the critical rock structural plane parameter information comprises the following steps:
s81, carrying out quantitative interpretation on the size information, the number, the spatial position, the structural plane attitude, the joint crack attitude, the extension direction, the length, the width, the probability falling direction and other information of the dangerous rock mass according to the high-precision three-dimensional live-action inclined model obtained in the step S7;
s82, in step S81, the quantitative interpretation is preferably carried out by selecting feature points and calculating a trace formed by the feature points, a rock stratum triangle feature surface and the like to obtain a result;
s83, when selecting the characteristic points in the step S82, selecting at least 3 points for each segment of line forming the trace, selecting at least 4 points for the rock stratum triangle characteristic surface, and performing tolerance calculation to remove the characteristic points with overlarge errors;
s84, at least three groups of traces representing the same type of parameter information and the triangular feature surface of the rock stratum in the step S82 need to be defined for adjustment statistical analysis, and the interpretation result with overlarge error is eliminated.
The dangerous rock mass rockfall adverse geological survey method and device based on the unmanned aerial vehicle oblique photography technology is used for developing dangerous rock mass rockfall adverse geological survey based on the unmanned aerial vehicle oblique photography technology in a three-level mode aiming at different dangerous rock mass rockfall survey scenes, solves the problem that aerial data acquisition requirements and traditional dangerous rock mass rockfall adverse geological survey requirements cannot be combined in existing unmanned aerial vehicle dangerous rock mass rockfall adverse geological survey, ensures that disaster-pregnant backgrounds, boundary conditions and structural plane parameters of dangerous rock masses can be efficiently, stably and accurately and rapidly acquired under different survey scales, survey requirements and topographic conditions, and has strong practical application value and wide application prospects. This application still designs unmanned aerial vehicle aerial photography data acquisition technical scheme according to different dangerous rock mass destruction deformation modes, can accomplish different dangerous rock mass high accuracy three-dimensional live-action models fast and construct, is convenient for carry out the quantification to dangerous rock mass structural plane parameter and draws. This application utilizes characteristics such as nimble flexible motor-driven shooting angle of many rotors single-lens unmanned aerial vehicle, to different dangerous rock rockfall investigation scenes, adopts different unmanned aerial vehicle data acquisition technical scheme that takes photo by plane, guarantees to gather image data resolution's even stability, avoids because the lower edge region of cliff salient position leads to the condition such as three-dimensional slope outdoor scene model emergence flower-drawing, cavity or fuzzy with perpendicular indent region, effectively promotes work efficiency and data acquisition precision when carrying out the image acquisition that becomes more meticulous to the monomer object. This application adopts unmanned aerial vehicle low latitude photogrammetry technological means to develop the unfavorable geological survey of dangerous rock rockfall, and the technique is advanced, and low in labor strength has reduced the work load of dangerous rock rockfall field investigation by a wide margin, has promoted operating efficiency and security, gives scientific basis for follow-up dangerous rock rockfall stability evaluation and protection improvement.
Continuing with the exemplary structure of the dangerous rock mass identification device 255 provided in the embodiment of the present application implemented as a software module, in some embodiments, as shown in fig. 2, the software module stored in the dangerous rock mass identification device 255 of the memory 250 may include:
a first obtaining module 2551, configured to obtain a first scale image of the dangerous rock mass investigation region;
a first determining module 2552, configured to determine a development area of the dangerous rock mass according to the first scale image;
a second determining module 2553, configured to determine a first image acquisition distance based on the geographic features of the development area;
a second obtaining module 2554, configured to obtain a second scale image corresponding to the development area based on the first image acquisition distance;
and the interpretation module 2555 is configured to interpret the development area according to the second scale image, determine a target area corresponding to the dangerous rock mass, and complete identification of the dangerous rock mass.
Embodiments of the present application provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method of the embodiment of the present application.
Embodiments of the present application provide a computer-readable storage medium storing executable instructions, which when executed by a processor, cause the processor to perform the method provided by embodiments of the present application.
In some embodiments, the computer-readable storage medium may be memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash, magnetic surface memory, optical disk, or CD-ROM; or may be various devices including one or any combination of the above memories.
In some embodiments, executable instructions may be written in any form of programming language (including compiled or interpreted languages), in the form of programs, software modules, scripts or code, and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.
By way of example, executable instructions may correspond, but do not necessarily have to correspond, to files in a file system, and may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
By way of example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
In conclusion, the dangerous rock mass can be simply and quickly identified with high precision through the embodiment of the application.
The above description is only an example of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, and improvement made within the spirit and scope of the present application are included in the protection scope of the present application.
Claims (10)
1. A method of identifying a dangerous rock mass, the method comprising:
obtaining a first scale image of a dangerous rock mass investigation region;
determining a development area of the dangerous rock mass according to the first scale image;
determining a first image acquisition distance based on the geographic features of the developmental region;
acquiring a second scale image corresponding to the development area based on the first image acquisition distance;
and interpreting the development area according to the second scale image, determining a target area corresponding to the dangerous rock mass, and completing the identification of the dangerous rock mass.
2. The method of claim 1, further comprising:
determining a second image acquisition distance based on the target area and the dangerous rock mass destruction deformation mode;
acquiring a third scale image corresponding to the target area based on the second image acquisition distance;
and carrying out quantitative processing on the third scale image to obtain the structural plane parameter information of the dangerous rock mass.
3. The method according to claim 1, wherein the determining the development area of the dangerous rock mass according to the first scale image comprises:
and performing virtual reconnaissance on the dangerous rock mass investigation region according to the first scale image, and determining the development region of the dangerous rock mass.
4. The method according to claim 1, wherein the determining the development area of the dangerous rock mass according to the first scale image comprises:
generating a corresponding first three-dimensional model according to the first scale image;
and determining a development area of the dangerous rock mass according to the first scale image and the first three-dimensional model.
5. The method of claim 1, wherein interpreting the developmental region from the second scale image to determine a target region corresponding to the dangerous rock mass comprises:
generating a corresponding second three-dimensional model according to the second scale image;
and interpreting the development area according to the second scale image and the second three-dimensional model, and determining a target area corresponding to the dangerous rock mass.
6. The method of claim 1, wherein obtaining a second scale image corresponding to the developmental region based on the first image acquisition distance comprises:
determining unmanned aerial vehicle navigation parameters according to the first image acquisition distance;
and sending the unmanned aerial vehicle navigation parameters to an unmanned aerial vehicle so that the unmanned aerial vehicle carries out image acquisition on the development area based on the unmanned aerial vehicle navigation parameters to obtain a second scale image corresponding to the development area.
7. An apparatus for identifying a dangerous rock mass, the apparatus comprising:
the first obtaining module is used for obtaining a first scale image of the dangerous rock mass investigation region;
the first determining module is used for determining a development area of the dangerous rock mass according to the first scale image;
a second determination module for determining a first image acquisition distance based on a geographic feature of the development area;
the second obtaining module is used for obtaining a second scale image corresponding to the development area based on the first image acquisition distance;
and the interpretation module is used for interpreting the development area according to the second scale image, determining a target area corresponding to the dangerous rock mass and finishing the identification of the dangerous rock mass.
8. The method of claim 1, wherein the apparatus further comprises:
the dangerous rock mass parameter obtaining module is used for determining a second image acquisition distance based on the target area and the dangerous rock mass damage deformation mode; acquiring a third scale image corresponding to the target area based on the second image acquisition distance; and carrying out quantitative processing on the third scale image to obtain the structural plane parameter information of the dangerous rock mass.
9. An electronic device comprising a memory and a processor, the memory storing a program executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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| CN114858213A (en) * | 2022-04-22 | 2022-08-05 | 清华大学 | Method, device and system for measuring rock mass structural plane and computer equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114858213A (en) * | 2022-04-22 | 2022-08-05 | 清华大学 | Method, device and system for measuring rock mass structural plane and computer equipment |
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