CN115096266A - High-precision underground pipeline obvious point positioning and mapping device and method - Google Patents
High-precision underground pipeline obvious point positioning and mapping device and method Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
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- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The invention discloses a high-precision underground pipeline obvious point positioning and mapping device. The system comprises an image acquisition module, a GNSS positioning module, a master control module and an integrated mobile device; the image acquisition module, the GNSS positioning module and the master control module are all positioned on the integrated mobile device; the main control module comprises a power supply module, a synchronous control module and a data storage module; the power supply module is respectively connected with the image acquisition module and the GNSS positioning module; the data storage module is respectively connected with the image acquisition module and the GNSS positioning module; the integrated mobile device comprises a mobile mounting plate and a connecting support component; the image acquisition module is arranged at the lower end of the connecting and supporting component; the GNSS positioning module is mounted on the connection support member. The method has the advantages of simplicity, convenience and quickness, improvement on the efficiency of obvious point measurement, and reduction in cost and safety risk. The invention also discloses a positioning and surveying method of the high-precision underground pipeline obvious point positioning and surveying device.
Description
Technical Field
The invention relates to the technical field of underground pipeline measurement, in particular to a high-precision underground pipeline obvious point positioning and mapping device. The invention also relates to a positioning and surveying method of the high-precision underground pipeline obvious point positioning and surveying device.
Background
The urban underground pipeline is one of important components of urban infrastructure, carries various material flows, can be sourced and information flows, and is one of important material bases on which cities rely on survival and development. With the continuous enlargement of the urban scale, the urban construction problem is continuously shown. Problems such as urban comprehensive underground pipelines greatly affect the development and operation of cities and the quality of life of urban people. In the urban construction process, the underground pipelines are managed and detected according to the urban environment, so that the smooth running of the underground pipelines is guaranteed, and the normal running of the city and the safety of people are guaranteed. The method is used for detecting underground pipelines, establishing an underground pipe network information system, serving city planning, design, construction and management, meeting the urgent need of city modernization high-quality development and being an important basic condition for city sustainable and healthy development.
Trenchless pipeline inspection is performed prior to trenchless construction. The main task of the method is to find out whether underground pipelines (including various pipelines such as water supply and drainage, gas, heat, industry and the like and electric power and telecommunication cables) are laid in a construction site, find out the plane position, the trend, the buried depth, the specification, the property, the material and the like of the underground pipelines, and compile underground pipeline diagrams. The positioning measurement of pipeline points is an important ring for underground pipeline detection and drawing, and the positioning of obvious points such as ground maintenance wells and the like is the basis of pipeline positioning. At present, the method of total station field measurement is mainly adopted for positioning the obvious points of the underground pipelines, the method needs 3-4 persons for cooperation operation, needs no stop station, has complex operation, low working efficiency, and is easy to be influenced by busy traffic in cities under the conditions of rearview, field input of measuring point numbers and the like. In addition, the operation on the city street for a long time is high in operation safety risk. The prior patent CN102087753A discloses a method for rapid three-dimensional mapping and forming of ground and underground pipe network, but does not provide a specific method for establishing a high-precision three-dimensional real-scene model of ground surface. In the prior patent CN109341655A, ground three-dimensional laser scanning and mapping are adopted to obtain ground three-dimensional mapping, but the method has large data volume, complex data processing and lack of ground high-definition texture information.
Therefore, there is a need to develop a device and a method for locating and mapping the apparent points of the underground pipelines, which can improve the efficiency of the apparent point measurement and reduce the risk of operation safety.
Disclosure of Invention
The invention aims to provide a high-precision underground pipeline obvious point positioning and mapping device, which is ground ultra-high resolution image acquisition and positioning equipment, is simple, convenient and quick, improves the efficiency of obvious point measurement, and reduces the cost and the safety risk; the technical problem to be solved is to solve the problems of low efficiency, high safety risk and the like of the existing underground pipeline obvious point measurement.
The second purpose of the invention is to provide a positioning and mapping method of the high-precision underground pipeline obvious point positioning and mapping device.
In order to achieve the first object of the present invention, the technical solution of the present invention is: the utility model provides a high accuracy pipeline obvious point location mapping device which characterized in that: the system comprises an image acquisition module, a GNSS positioning module, a main control module and an integrated mobile device;
the image acquisition module, the GNSS positioning module and the main control module are all positioned on the integrated mobile device;
the main control module comprises a power module, a synchronous control module and a data storage module;
the power supply module is respectively connected with the image acquisition module and the GNSS positioning module; the power supply module supplies power to a first small holder, a second small holder and a high-definition camera of the image acquisition module and a GNSS receiving antenna of the GNSS positioning module;
the synchronous control module is respectively connected with the image acquisition module and the GNSS positioning module; the synchronous control module controls the camera to shoot through the instruction and simultaneously records the GNSS RTK data and the shooting timestamp. The GNSS RTK fixed solution can be directly used for calculating the position coordinates of the main image point during photographing, and when the GNSS RTK fixed solution is a non-fixed solution, the position of the main image point during photographing can be interpolated through a mobile station track and a photographing timestamp which are calculated through post differential processing;
the data storage module is respectively connected with the image acquisition module and the GNSS positioning module; the synchronous control module controls the camera to shoot through an instruction and simultaneously triggers and records instantaneous GNSS RTK data and a shooting time stamp, and synchronous information such as the shooting time stamp and the like is stored in the storage module;
the integrated mobile device comprises a mobile mounting plate and a connecting support component; the connecting and supporting component is arranged on the movable mounting plate;
the image acquisition module is arranged at the lower end of the connecting and supporting component; the GNSS positioning module is arranged at the upper end of the connecting and supporting part and is positioned right above the image acquisition module, and the measurement center of a GNSS receiving antenna of the GNSS positioning module and the center of the camera are arranged on the same plumb line;
the power module, the synchronous control module and the data storage module are all arranged on the connecting and supporting component.
In the technical scheme, the connecting and supporting component comprises a supporting vertical rod, a supporting L-shaped rod and a supporting cross rod; the supporting vertical rod is arranged on the movable mounting plate; the supporting cross rods are arranged on the supporting vertical rods through supporting L-shaped rods; the image acquisition module is arranged at the lower end of the supporting cross rod; the GNSS positioning module is arranged at the upper end of the supporting cross rod and is positioned right above the image acquisition module, and the measurement center of a GNSS receiving antenna of the GNSS positioning module and the center of the camera are arranged on the same plumb line;
the cross bar is fixedly installed by adopting an L-shaped rigid body support; the horizontal rod for supporting the L-shaped rod is vertically and fixedly connected with the middle part of the supporting cross rod; the first telescopic fixing buckle is arranged on a horizontal rod supporting the L-shaped rod; the horizontal rods can be extended and retracted to adjust the length, so that the installation requirements of different mobile platforms are met;
the vertical rod for supporting the L-shaped rod is connected with the supporting vertical rod and can be adjusted in height in a telescopic mode.
In the technical scheme, the two ends of the supporting cross rod are provided with the second telescopic fixing buckles;
two ends of the supporting cross rod are respectively movably connected with the second telescopic fixing buckles, and two ends of the supporting cross rod are telescopic through the second telescopic fixing buckles;
set up the scale mark on supporting the horizontal pole, the flexible length at support horizontal pole both ends can be through reading the scale on the horizontal pole and obtaining.
In the technical scheme, the two ends of the supporting cross rod are provided with the image acquisition modules; the distance between the image acquisition modules at the two ends is controlled by adjusting the length of the transverse rod;
the power module, the synchronous control module and the data storage module are all arranged at the upper end of the middle part of the supporting cross rod, so that the overall layout of the equipment is reasonable, balanced and attractive.
In the above technical solution, the image acquisition module is a pan-tilt camera module (i.e. a high-definition camera with a pan-tilt); the camera body of the holder camera module can be provided with a memory card and has an independent storage function;
the camera is connected with the holder, and the holder structure is a combined structure of a double-shaft holder and can rotate around two horizontal shafts of the camera, so that the stable posture of the camera during shooting is ensured;
the power module selects a lithium battery;
the synchronous control module selects a time synchronous control module;
the GNSS positioning module selects a GNSS receiving antenna; the sampling frequency of the GNSS receiving antenna is more than 20 Hz; this GNSS receiving antenna is light small-size integrated circuit board, possesses real-time dynamic differential measurement (RTK) and dynamic post processing differential measurement (PPK) function simultaneously, incessant record GNSS sampled data when can carry out RTK location in real time and gather, and above the sampling frequency Hz, guarantee can obtain the positioning data in real time when good with base station communication signal, when not good with base station communication signal, through carrying out the back differential processing with the base station and resolving equally and reach centimetre level positioning accuracy.
The synchronous control module can set timing or distance to automatically take a picture.
In the technical scheme, the two groups of holder camera modules are respectively fixed at the two ends of the supporting cross rod, and the distance between the holder camera modules at the two ends is controlled by adjusting the length of the supporting cross rod. GNSS receiving antennas are fixedly installed right above the pan-tilt camera modules at the two ends of the supporting cross rod, and the measuring center of the GNSS receiving antennas and the camera center of the pan-tilt camera module are located on the same plumb line.
In the technical scheme, the holder camera module comprises an arched connecting rod, a first small holder, a supporting frame, a second small holder and a high-definition camera; the first small-sized pan-tilt is fixed at the lower end of the support cross rod through an arched connecting rod;
the lower part of the arch connecting rod is connected with the camera supporting frame through a first small-sized pan-tilt; the high-definition camera is connected with the camera supporting frame through a second small holder.
In the above technical solution, the connection support part further comprises a first telescopic fixing buckle; the first telescopic fixing buckle is arranged on a horizontal rod supporting the L-shaped rod;
the movable mounting plate is provided with a plurality of fixed mounting holes. The lower end of the vertical rod can be connected with the horizontal mounting plate through a screw, and the periphery of the mounting plate is provided with a fixed mounting hole for fixedly mounting the integrated mobile device on the mobile platform. The integrated mobile device can be arranged on a mobile car or a bicycle through the fixed mounting hole or adopts a manual mobile shooting mode, and is flexibly selected according to different shooting scenes and conditions.
In order to achieve the second object of the present invention, the technical solution of the present invention is: the positioning and surveying method of the high-precision underground pipeline obvious point positioning and surveying device is characterized in that: comprises the following steps of (a) preparing a solution,
the method comprises the following steps: collecting an image;
the ground high-definition image acquisition equipment is utilized, and the images are acquired by moving along the ground along a snake-shaped route; ensuring the photos to be regularly overlapped;
step two: after the image acquisition is finished, arranging the images according to the shooting area, resolving the image principal point coordinates, and reconstructing a surface high-precision three-dimensional model based on the high-definition images and the image principal point coordinates;
and performing RTK and PPK fusion calculation by using the base station GNSS observation data and the mobile terminal GNSS sampling data, and calculating an accurate coordinate value of the image main point during shooting to serve as an initial value of image space-time-three calculation. Performing image matching, block adjustment and other processing according to partition building engineering, and performing processing such as dense point cloud matching, three-dimensional TIN grid construction, white three-dimensional model creation, automatic texture mapping, three-dimensional scene construction and the like based on the air-to-three calculation results; the processing is a step of obtaining a high-precision real-scene three-dimensional model of the earth surface by the production processing of the shot high-definition images, and is used for acquiring the coordinates and elevations of the obvious points of the pipe network in the next step;
step three: in a measuring area unit, 1 map root control point distributed in advance is selected in the middle of a model as a correction base point to correct the absolute positioning accuracy of the model; after correction, selecting the map root control points of other areas as inspection, and positioning the pipeline obvious points after the inspection precision meets the requirements of relevant specifications; and based on the corrected ground three-dimensional model, directly acquiring the three-dimensional coordinates of the ground mark of the pipeline point by adopting a three-dimensional mapping system, and thus obtaining the plane position and elevation of the ground mark of the pipeline point.
In the technical scheme, in the first step, the image acquisition ensures that the image overlapping degree along the movement direction is greater than or equal to 80 percent, and the lateral overlapping degree between adjacent lines is greater than or equal to 60 percent; ensuring the reconstruction precision of the three-dimensional model of the earth surface;
according to the camera parameters and the photographing height, the photographing distance L along the movement direction can be calculated 1 And the distance L between the shooting lines 2 ；
In the above formula: mu is the Width of the pixel of the imaging element of the camera, H is the Height of the camera from the ground when shooting, f is the focal length of the camera, and Width and Height are the Width and Height of the pixel of the camera. According to the distance L 2 The length of the horizontal rod can be adjusted, and the lateral overlapping degree during photographing is guaranteed.
Compared with the conventional method, the method has the beneficial effects that:
(1) the efficiency of obvious pipeline point measurement is improved, the labor and high equipment cost of the traditional field measurement are reduced, and the safety risk of operators is reduced;
(2) the high-precision live-action three-dimensional model of the earth surface is obtained, the distribution and the condition of a pipe network can be checked at any time, and rechecking inspection is facilitated;
(3) the surface high-precision real-scene three-dimensional model can be incorporated into an underground three-dimensional pipe network information management system, and the invention can provide basic data for an overground and underground integrated three-dimensional information system.
The high-precision underground pipeline obvious point positioning surveying and mapping method adopts the high precision of the surface three-dimensional model to realize the high-precision underground pipeline obvious point positioning surveying and mapping, and the high precision of the surface three-dimensional model is mainly ensured by a ground mm-level high-resolution ordered high-definition image. The image acquisition has high definition and high resolution, and the coordinate precision of an image exposure point is high; finally, the coordinates and elevations of the pipe network obvious points measured by the method meet the requirements of relevant specifications; the method overcomes the defects that the prior conventional method mainly adopts a total station instrument to measure the coordinates of the pipeline points, a high-precision three-dimensional model of the earth surface cannot be generated, the positioning and surveying efficiency of the obvious points of the underground pipelines is low, the cost is high, the measurement result is single, and the like.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a schematic view of a pan-tilt camera module according to the present invention.
FIG. 3 is a block diagram of a three-dimensional model of a ground pipeline point in an embodiment of the present invention.
In fig. 1, 1-a movable mounting plate, 2-a fixed mounting hole, 3-a supporting vertical rod, 4-a supporting L-shaped rod, 5-a telescopic fixed buckle, 6 a supporting cross rod, 7-a power supply module, 8-a synchronous control module, 9-a storage module, 10-a telescopic fixed buckle, 11-a GNSS antenna, 12-a tripod head camera module, 13-an arch connecting rod, 14-a first small tripod head, 15-a supporting frame, 16-a second small tripod head and 17-a high definition camera.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the drawings, but the present invention is not limited to these embodiments, and is only exemplary. While the advantages of the invention will be clear and readily understood by the description.
The invention provides a high-precision method for positioning and measuring the obvious points of underground pipelines, which integrates a high-definition image acquisition device. The device is an integration of a high-precision underground pipeline obvious point positioning and mapping device; the method applies the mm-level high-definition image modeling to the surveying and mapping of the pipeline obvious points; the device is used for collecting mm-level ordered high-definition images on the earth surface, reconstructing and calibrating a high-precision real-scene three-dimensional model on the earth surface based on the collected images, and rapidly measuring management points based on the real-scene three-dimensional model; compared with the traditional single-point type measuring mode of the total station, the invention reduces the intensity of field measurement work and labor consumption, and improves the field data acquisition efficiency; the invention obtains the high-precision real-scene three-dimensional model of the earth surface, can check the distribution and the condition of a pipe network at any time, is convenient for rechecking and inspection, and has richer results compared with the traditional mode of obtaining a single coordinate.
Examples
The invention is explained in detail by taking the pipeline point ground mark measurement of the invention for an urban underground pipeline project as an embodiment, and has the guiding function for obvious point positioning and mapping of other urban underground pipeline projects.
The measuring area is an urban main road, the pipe network is complex in connection and distribution and multiple in pipeline point location, a traditional total station measuring mode is adopted, the operation complexity is high, more field workers are invested, the measuring efficiency is low, only a single pipeline point coordinate can be obtained, the actual scene of the current situation of the pipeline point location cannot be checked, and data rechecking and checking are inconvenient.
In the embodiment, the pipeline point ground mark, the simple, convenient and quick high-precision underground pipeline obvious point positioning and mapping device provided by the invention is particularly a ground ultra-high resolution image acquisition and positioning device, which comprises an image acquisition module, a GNSS positioning module, a time synchronization control module, a data storage module, a power supply module and an integrated mobile device.
The mobile integrated device is composed of a mobile mounting plate 1, four fixed mounting holes 2 on the mobile mounting plate 1 and a connecting and supporting component. The support vertical rod 3 is fixedly arranged in the middle of the movable mounting plate 1 through a connecting screw and is made of a high-strength carbon fiber material. Support L type pole 4 by the violence that is the L type, erect two parts and constitute, vertical part lower extreme is connected with support montant 3, but telescopic going altitude mixture control, set up flexible regulation fixed buckle 5 in the horizontal part, can carry out the adjustment and the fixing of horizontal flexible distance, the upper end is right angle rigid connection with supporting in the middle of the horizontal pole 6, set up host system directly over supporting the horizontal pole 6 centre, host system includes power module 7, synchronous control module 8 and storage module 9. The power module 7 selects a lithium battery, mainly supplies power to the camera, the cradle head, the GNSS and the synchronous control module 8, the synchronous control module 8 controls the camera to shoot through an instruction and simultaneously triggers and records the instantaneous GNSS RTK data and the shooting timestamp, and the shooting timestamp and the like are stored in the storage module 9. Support 6 both ends of horizontal pole and have the flexible regulation buckle 10 of second, can carry out the regulation and the fixing of both ends distance that stretches out and draws back, set up the length scale on the support horizontal pole 6, can directly read out the horizontal distance of the flexible arm of the side of controlling of supporting horizontal pole 6 apart from the central point through the flexible regulation buckle 10 position of second. Support 6 both ends upper portion fixed mounting of horizontal pole and have GNSS receiving antenna 11, GNSS receiving antenna is light small-size integrated circuit board, possess real-time dynamic differential survey (RTK) and dynamic postprocessing differential survey (PPK) function simultaneously, incessant record GNSS sampled data when can carry out RTK location in real time and gather, sampling frequency more than 20Hz, guarantee can obtain the positioning data in real time when good with basic station communication signal, when not good with basic station communication signal, carry out the postdifferentiation through mobile station GNSS sampled data and basic station data and handle and solve and reach centimetre level positioning accuracy equally. The lower parts of the two ends of the supporting cross rod 6 are fixedly provided with image acquisition modules 12 which are high-definition cameras with cloud platforms. The pan-tilt camera is connected with the support cross bar 6 through an arched connecting rod 13. The lower part of the arch connecting rod 13 is connected with a camera supporting frame 15 through a first small-sized pan-tilt 14, and the supporting frame 15 can rotate around a horizontal shaft through the adjustment of the first small-sized pan-tilt 14. High definition camera 17 passes through the small-size cloud platform 16 of second and is connected with camera braced frame 15, and through the adjustment of the small-size cloud platform 16 of second, high definition camera 17 can be around the rotatory adjustment downward looking shooting angle of cross axle. The high-definition camera 17 is a high-definition light small-sized lens, and the pixels are better than 2000 ten thousand. High definition camera 17 fuselage mountable memory card possesses independent memory function, the image of direct storage shooting, and the center of the camera is located same plumb line with GNSS receiving antenna's measurement center.
The method for positioning and mapping according to the present invention includes the following steps:
the method comprises the following steps: the mobile integrated device is installed on a mobile car or a bicycle or adopts a manual mobile shooting mode, and is flexibly selected according to different shooting scenes and conditions. If the data acquisition is mainly carried out on the auxiliary road, a mode of moving a bicycle or directly carrying out manual shooting is preferentially adopted. Before operation, a GNSS base station is erected at a known point near a measurement area, the base station continuously emits signals, the base station is set to synchronously acquire static GNSS data, and the sampling interval is set to be 1 second. Before shooting, according to the measurementAnd (4) combining the area condition with the equipment characteristics, calculating photographing parameters, setting an image acquisition strategy and designing a photographing route. By utilizing the mobile integrated equipment, the images are collected by adopting a snake-shaped route along the ground, and the image collection ensures that the image overlapping degree along the movement direction is 80 percent and the side overlapping degree between adjacent routes is 60 percent. According to the camera parameters and the photographing height, the photographing interval L along the movement direction can be calculated 1 And the distance L between adjacent photographing lines 2 。
In the above formula: mu is the pixel Width of the camera imaging element, H is the Height of the camera from the ground when shooting, f is the camera focal length, alpha is the camera side view angle (0 vertically downwards), and Width and Height are the camera pixel Width and Height. According to the distance L 2 The length of the horizontal rod can be adjusted, and the lateral overlapping degree during photographing is guaranteed. For example, in this embodiment, the width of the pixel of the camera imaging element is 0.0024mm, the designed shooting height is 3m, the focal length of the camera is 8mm, the side view angle of the camera is set to 30 °, and the width and height of the camera pixel are 4000 and 6000, respectively. Accordingly, the photographing interval L along the moving direction can be calculated 1 1.2m, the distance L between adjacent photographing lines 2 Is 1.7 m. Utilize management APP to set up the camera and shoot according to the distance, shoot interval 1.2m, when moving according to the shooting route, the camera is shot according to the interval is automatic, after having shot a circuit, to the side removal about 1.7m, carry out the shooting of next circuit, cover all areas that will measure until the shooting scope.
Step two: after image acquisition is finished, images are arranged according to shooting areas, and image principal point coordinates are calculated. And performing RTK and PPK fusion calculation by using base station GNSS observation data and mobile terminal GNSS sampling data, and calculating an accurate coordinate value of the image main point during shooting to serve as an initial value of image space-time-three calculation. And performing image matching, block adjustment and other processing according to partition building engineering, and performing processing such as dense point cloud matching, three-dimensional TIN grid construction, white body three-dimensional model creation, automatic texture mapping, three-dimensional scene construction and the like based on the air-three calculation result to obtain the ground high-resolution live-action three-dimensional model of the pipeline measurement area.
Step three: in a measuring area unit, 1 map root control point distributed in advance is selected in the middle of the model as a correction base point to correct the absolute positioning accuracy of the model. After correction, selecting the map root control points of other areas in the measuring area as inspection, and positioning the obvious pipeline points after the inspection precision meets the requirements of relevant specifications. And based on the corrected ground three-dimensional model, directly acquiring the three-dimensional coordinates of the ground marks of the pipeline points by adopting a three-dimensional mapping system, and thus obtaining the plane position and elevation of the pipeline points.
In this embodiment, the average ground image resolution GSD may be calculated by the following formula:
as can be seen from the above formula, the average resolution of the image is 1.1mm, achieving a relatively high resolution. The error in the matching of the existing image matching algorithm can easily reach the sub-pixel precision, and according to the statistical empirical value of three-dimensional modeling, the relative precision of a general three-dimensional model is about three times of the image resolution, namely in the embodiment, the relative precision of the three-dimensional model is about 3.3mm, and after the absolute precision correction of a known map root point in a measurement area, the positioning precision of a three-dimensional model point can completely meet the precision requirement of the error in the measurement of a pipeline characteristic point (the measurement precision of an underground pipeline point, namely the error in a plane position relative to an adjacent control point is not more than +/-5 cm, and the error in elevation measurement relative to the adjacent control point is not more than +/-3 cm).
Fig. 3 is a high-precision real-scene three-dimensional model intercepting map of a ground pipeline point obtained by positioning and surveying according to the method of the present invention, whereas the existing conventional method mainly uses a total station to measure the coordinates of the pipeline point and cannot generate a high-precision three-dimensional model of the earth's surface. As can be seen from fig. 3: the invention can obtain the high-precision real-scene three-dimensional model of the ground pipeline point and measure the model; the method of the invention is adopted to carry out positioning and mapping, the resolution ratio of the model is high, and the mark of the pipeline point is clear and distinguishable. In this embodiment, the device and the method of the present invention are used to collect high-definition images of the ground surface, so that 1 person can complete the high-definition image collection of an urban road with a length of about 1 km in 1 day, and a traditional total station measurement method needs about 4 persons to complete the pipeline point field data collection of the road in 2 days. The method greatly reduces the complexity and the intensity of field work, improves the efficiency of data acquisition, and reduces the cost of field equipment and personnel and the safety risk.
While the invention has been described in detail with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes in the form and details of the embodiments may be made without departing from the spirit and scope of the invention.
Other parts not described belong to the prior art.
Claims (10)
1. The utility model provides a high accuracy pipeline obvious point location mapping device which characterized in that: the system comprises an image acquisition module, a GNSS positioning module, a main control module and an integrated mobile device;
the image acquisition module, the GNSS positioning module and the main control module are all positioned on the integrated mobile device;
the main control module comprises a power supply module (7), a synchronous control module (8) and a data storage module (9);
the power supply module (7) is respectively connected with the image acquisition module and the GNSS positioning module;
the synchronous control module (8) is respectively connected with the image acquisition module and the GNSS positioning module;
the data storage module (9) is respectively connected with the image acquisition module and the GNSS positioning module;
the integrated mobile device comprises a mobile mounting plate (1) and a connecting and supporting component; the connecting and supporting component is arranged on the movable mounting plate (1);
the image acquisition module is arranged at the lower end of the connecting and supporting component; the GNSS positioning module is arranged at the upper end of the connecting and supporting part and is positioned right above the image acquisition module;
the power module (7), the synchronous control module (8) and the data storage module (9) are all arranged on the connecting and supporting component.
2. The high-precision underground pipeline obvious point positioning and mapping device according to claim 1, characterized in that: the connecting and supporting component comprises a supporting vertical rod (3), a supporting L-shaped rod (4) and a supporting cross rod (6); the supporting vertical rod (3) is arranged on the movable mounting plate (1); the supporting cross rod (6) is arranged on the supporting vertical rod (3) through the supporting L-shaped rod (4); the image acquisition module is arranged at the lower end of the support cross rod (6); the GNSS positioning module is arranged at the upper end of the supporting cross rod (6) and is positioned right above the image acquisition module;
the horizontal rod for supporting the L-shaped rod (4) is vertically and fixedly connected with the middle part of the supporting cross rod (6);
the vertical rod for supporting the L-shaped rod (4) is connected with the supporting vertical rod (3).
3. The high-precision underground pipeline obvious point positioning and mapping device according to claim 1 or 2, wherein: two ends of the supporting cross rod (6) are respectively provided with a second telescopic fixing buckle (10);
two ends of the supporting cross rod (6) are respectively movably connected with a second telescopic fixing buckle (10);
the support cross rod (6) is provided with scale marks.
4. The high-precision underground pipeline obvious point positioning and surveying device according to claim 3, wherein: the two ends of the supporting cross rod (6) are provided with image acquisition modules;
the power module (7), the synchronous control module (8) and the data storage module (9) are all arranged at the upper end of the middle part of the supporting cross rod (6).
5. The high-precision underground pipeline obvious point positioning and surveying device according to claim 4, wherein: the image acquisition module selects a pan-tilt camera module (12); a camera body of the holder camera module (12) is provided with a memory card and has an independent storage function;
the camera is connected with the holder;
the power module (7) selects a lithium battery;
the synchronous control module (8) selects a time synchronous control module;
the GNSS positioning module selects a GNSS receiving antenna (11); the sampling frequency of the GNSS receiving antenna (11) is more than 20 Hz;
the synchronous control module (8) sets timing or fixed-distance automatic photographing.
6. The high-precision underground pipeline obvious point positioning and mapping device according to claim 5, wherein: two groups of holder camera modules (12) are respectively fixed at two ends of the supporting cross rod (6), a GNSS receiving antenna (11) is fixedly installed right above the holder camera modules (12), and the GNSS measuring center of the GNSS receiving antenna (11) and the camera center of the holder camera modules (12) are located on the same plumb line.
7. The high-precision underground pipeline obvious point positioning and mapping device according to claim 6, wherein: the pan-tilt camera module (12) comprises an arched connecting rod (13), a first small pan-tilt (14), a supporting frame (15), a second small pan-tilt (16) and a high-definition camera (17); the first small-sized pan-tilt (14) is fixed at the lower end of the support cross rod (6) through an arched connecting rod (13);
the lower part of the arch connecting rod (13) is connected with a camera supporting frame (15) through a first small-sized pan-tilt (14); the high-definition camera (17) is connected with the camera supporting frame (15) through a second small-sized tripod head (16).
8. The high-precision underground pipeline obvious point positioning and mapping device according to claim 7, wherein: the connecting and supporting component also comprises a first telescopic fixing buckle (5); the first telescopic fixing buckle (5) is arranged on a horizontal rod supporting the L-shaped rod (4);
the movable mounting plate (1) is provided with a plurality of fixed mounting holes (2).
9. The method according to any one of claims 1 to 8, wherein: comprises the following steps of (a) carrying out,
the method comprises the following steps: collecting an image;
the ground high-definition image acquisition equipment is utilized, and the images are acquired by moving along the ground along a snake-shaped route;
step two: arranging images according to the shooting area, resolving the coordinates of image principal points, and reconstructing a high-precision three-dimensional model of the earth surface;
and performing RTK and PPK fusion calculation by using base station GNSS observation data and mobile terminal GNSS sampling data, and calculating an accurate coordinate value of the image main point during shooting to serve as an initial value of image space-time-three calculation. Performing image matching, adjustment of a regional network and other processing according to partition building engineering, and performing processing such as dense point cloud matching, three-dimensional TIN grid construction, white body three-dimensional model creation, automatic texture mapping, three-dimensional scene construction and the like based on the air-three calculation result;
step three: carrying out absolute calibration of the three-dimensional model and measurement of coordinates and elevations of pipeline points;
in a measuring area unit, 1 map root control point which is arranged in advance is selected in the middle of a model to serve as a correction base point, and the absolute positioning accuracy of the model is corrected; after correction, selecting the control points of the picture roots in other areas as check points, and positioning the apparent points of the pipeline after the check accuracy meets the requirements of relevant specifications; and based on the corrected ground three-dimensional model, directly acquiring the three-dimensional coordinates of the ground mark of the pipeline point by adopting a three-dimensional mapping system to obtain the plane position and elevation of the ground mark of the pipeline point.
10. The positioning and surveying method of the high-precision underground pipeline obvious point positioning and surveying device according to claim 9, wherein: in the first step, image acquisition ensures that the image overlapping degree along the movement direction is more than or equal to 80 percent, and the side direction overlapping degree between adjacent lines is more than or equal to 60 percent;
according to the parameters and the photographing height of the high-definition camera (17), the photographing interval L along the movement direction can be calculated 1 And the distance L between the shooting lines 2 ；
In the above formula: mu is the Width of the pixel of the imaging element of the camera, H is the Height of the camera from the ground when shooting, f is the focal length of the camera, and Width and Height are the Width and Height of the pixel of the camera.
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