CN115183716A - Earth measurement method and system based on intelligent navigation robot - Google Patents
Earth measurement method and system based on intelligent navigation robot Download PDFInfo
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Abstract
The invention relates to an earthwork measuring method based on an intelligent navigation robot, which comprises the following steps: determining a running route and a plurality of measuring point positions of the intelligent navigation robot according to the central line and the road boundary of the construction finished surface; traversing each measuring point location by using an intelligent navigation robot, and calculating and recording a three-dimensional absolute coordinate of each measuring point location; establishing a fitting surface model of the construction completion surface based on the three-dimensional absolute coordinates and the neural network of the plurality of measurement point positions; and respectively calculating the earth volume of the vertical bearing part, the earth volume of the slope part and the total earth volume according to the fitted surface model of the construction finished surface. According to the invention, through the combination of high-precision sample data measured by the intelligent navigation robot and the neural network, the automatic construction of the curved surface model of the construction finished surface is realized, and the high-efficiency and high-precision calculation of the earth volume based on the curved surface model is realized.
Description
Technical Field
The invention belongs to the technical field of road engineering and positioning measurement, and particularly relates to an earthwork measurement method and system based on an intelligent navigation robot.
Background
The earthwork construction is an important project in road construction projects, and the accurate measurement and calculation of the total amount of earthwork is crucial to the construction cost control and also influences the subsequent foundation construction and the field earthwork balance. At present, the measurement and calculation of the earthwork amount mainly depend on manual measurement, three-dimensional space coordinates of broken points of a construction completion surface are measured point by erecting measuring instruments such as a level gauge, a total station, a GPS RTK and the like, and finally, the earthwork amount is calculated by establishing a related earthwork calculation model. Due to the large earthwork amount, heavy labor and bad construction measurement environment, especially large road construction projects, the earthwork amount reaches over ten thousand even more than ten thousand cubic meters, the construction area reaches several square kilometers, only manual measurement is needed, the project construction progress and quality are greatly restricted, and higher labor cost is consumed. Therefore, in road engineering construction, the speed and the precision of earth measurement are improved, and the method has important practical significance.
At present, some automatic earthwork measuring technologies, such as an oblique photogrammetry technology and a three-dimensional laser scanning technology which utilize an unmanned aerial vehicle, can quickly implement three-dimensional data modeling and calculation of a road finishing surface, so that the earthwork measuring efficiency is improved. However, the problems that the measurement precision is not high, the process of earth measurement is complicated, and multiple persons are required to complete the measurement in a coordinated mode exist.
Disclosure of Invention
In order to improve the automation efficiency and the measurement precision of the earth measurement, the invention provides an earth measurement method based on an intelligent navigation robot in a first aspect, which comprises the following steps: determining a driving route and a plurality of measuring point positions of the intelligent navigation robot according to the central line and the road boundary of the construction finished surface; traversing each measuring point location by using an intelligent navigation robot, and calculating and recording a three-dimensional absolute coordinate of each measuring point location; establishing a fitting surface model of the construction completion surface based on the three-dimensional absolute coordinates and the neural network of the plurality of measurement point positions; and respectively calculating the earth volume of the vertical bearing part, the earth volume of the slope part and the total earth volume according to the fitted surface model of the construction finished surface.
In some embodiments of the present invention, the traversing each measurement point location by using the intelligent navigation robot, and the calculating and recording the three-dimensional absolute coordinates of each measurement point location includes: acquiring a three-dimensional absolute coordinate and an attitude angle of the intelligent navigation robot at each measuring point; acquiring coordinates of the tail end of measuring equipment of the intelligent navigation robot under a vehicle body coordinate system with a positioning point of the navigation robot as an origin; and calculating the three-dimensional absolute coordinate of the tail end of the measuring equipment according to the three-dimensional absolute coordinate and the attitude angle of the intelligent navigation robot at each measuring point and the coordinate of the tail end of the measuring equipment under a vehicle body coordinate system with the positioning point of the navigation robot as the origin, and calculating the three-dimensional absolute coordinate of each measuring point according to the three-dimensional absolute coordinate.
Further, the three-dimensional absolute coordinates of the measuring device tip are calculated by:
wherein the content of the first and second substances, (ii) (X i ,Y i ,Z i ) Three-dimensional absolute coordinates representing a positioning point of the intelligent navigation robot: (a,b,c) Representing the coordinates of the tail end of the measuring equipment in a vehicle body coordinate system with the positioning point of the intelligent navigation robot as the origin point (b)roll i 、pitch i 、yaw i ) Indicating attitude angle, subscript, of the intelligent navigation robotiA number indicating a measurement point location; three-dimensional absolute coordinates of sample points:
wherein the content of the first and second substances,H i the measuring device measures the distance of the end of the measuring device to the ground.
In some embodiments of the present invention, the calculating the vertical bearing part earthwork amount, the slope part earthwork amount, and the total earthwork amount according to the fitted curved surface model of the construction completion surface includes: calculating the earth volume of the vertical bearing part by a grid method according to the fitted surface model; according to the fitted surface model, the earth volume of the slope part is approximately calculated; and calculating the total amount of earth according to the earth volume of the vertical bearing part and the earth volume of the slope part.
Further, the calculating the earth volume of the vertical bearing part by the grid method according to the fitted surface model includes:
whereinV 1 Represents the amount of earth in the vertical bearing part,kthe number of the squares is shown as,Mrepresenting the number of the squares;f 1 andf 2 respectively representing a first complete surface fitting surface model and a second complete surface fitting surface model (c) ((c))m k ,n k ) Is shown askThe coordinates of the center point of each square grid,
the side length of the square is shown,Srepresenting the horizontal plane projection area of the vertical bearing section.
In the foregoing embodiment, the building a fitted surface model of a construction completion surface based on the three-dimensional absolute coordinates of the plurality of measurement point locations and the neural network includes: dividing a construction finished surface into a plurality of subareas containing the same sample measuring point location according to the extending direction of a road, wherein at least one common measuring point location is contained between every two adjacent subareas; the method comprises the steps of obtaining a three-dimensional absolute coordinate of each measuring point position of each partition, obtaining a fitting surface model of a construction finished surface, taking the three-dimensional absolute coordinate of each measuring point position of each partition as a sample, taking a corresponding determined fitting surface model function of the construction finished surface as a label, training a neural network until the error of the neural network is lower than a threshold value and tends to be stable, obtaining the trained neural network, and inputting a plurality of two-dimensional coordinates into the trained neural network to obtain the fitting surface model of the construction finished surface.
In a second aspect of the present invention, an earth measuring system based on an intelligent navigation robot is provided, which includes: the first calculation module is used for determining a driving route and a plurality of measurement points of the intelligent navigation robot according to the central line and the road boundary of the construction finished surface; traversing each measuring point location by using an intelligent navigation robot, and calculating and recording a three-dimensional absolute coordinate of each measuring point location; the building module is used for building a fitting surface model of the construction completion surface based on the three-dimensional absolute coordinates and the neural network of the plurality of measurement point positions; and the second calculation module is used for respectively calculating the earth volume of the vertical bearing part, the earth volume of the slope part and the total earth volume according to the fitted surface model of the construction finished surface.
In a third aspect of the present invention, there is provided an electronic device comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, causing the one or more processors to implement the intelligent navigation robot-based earth measuring method provided by the invention in the first aspect.
In a fourth aspect of the present invention, a computer readable medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the intelligent navigation robot-based earth measuring method provided in the first aspect of the present invention.
The invention has the beneficial effects that:
the invention discloses an earthwork measuring and calculating method based on an intelligent navigation robot, which utilizes the intelligent navigation robot to implement rapid measurement of three-dimensional real data of a road finish surface, solves the problem of low manual measurement efficiency, accurately calculates the earthwork amount by establishing a fitting curved surface model of a construction finish surface, and solves the problem of low measurement precision of a conventional method. By the method, the problems of low efficiency, large measurement error and the like commonly existing in earthwork measurement in traditional road construction can be solved, a plurality of defects existing in the prior art are overcome, and the efficiency and the quality of construction measurement are greatly improved.
Drawings
FIG. 1 is a schematic basic flow diagram of a smart navigation robot based earth moving survey method in some embodiments of the present invention;
FIG. 2 is a geometric schematic of the relationship between the travel route and the measured point location of the intelligent navigation robot in some embodiments of the present invention;
FIG. 3 is a geometric schematic of a smart navigation robot to ground height measurement in some embodiments of the present invention;
FIG. 4 is a geometric schematic of position and pose information for an intelligent navigation robot in some embodiments of the invention;
FIG. 5 is a schematic representation of the geometric relationship of the two-dimensional coordinates of the measurement point locations to the three-dimensional absolute coordinates of the sample points in some embodiments of the present invention;
FIG. 6 is a schematic illustration of the geometrical relationship of a construction completion surface partition in some embodiments of the invention;
FIG. 7 is a schematic representation of the geometry of a fitted surface of a construction finish with a horizontal plane in some embodiments of the invention;
FIG. 8 is a schematic diagram illustrating the effect of minute squares divided by the horizontal projection area of the vertical bearing portion in some embodiments of the present invention;
FIG. 9 is a schematic illustration of the approximate calculation of slope section earthwork volume in some embodiments of the present invention;
FIG. 10 is a schematic structural diagram of an intelligent navigation robot based earth moving measurement system in some embodiments of the present invention;
fig. 11 is a schematic structural diagram of an electronic device in some embodiments of the invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, in a first aspect of the present invention, there is provided an earth moving surveying method based on an intelligent navigation robot, including: s100, determining a driving route and a plurality of measuring points of the intelligent navigation robot according to the central line and the road boundary of the construction finished surface; traversing each measuring point location by using an intelligent navigation robot, and calculating and recording a three-dimensional absolute coordinate of each measuring point location; s200, establishing a fitting surface model of the construction completion surface based on three-dimensional absolute coordinates and a neural network of a plurality of measurement point positions; s300, respectively calculating the earth volume of the vertical bearing part, the earth volume of the slope part and the total earth volume according to the fitted surface model of the construction finished surface. It should be noted that the intelligent navigation robot in the present disclosure is an intelligent robot that has an autonomous navigation function and can measure self pose information according to a predetermined track.
Referring to fig. 2, in step S100 of some embodiments of the present invention, determining a driving route and a plurality of measurement points of the intelligent navigation robot according to a center line of a construction completion surface and a road boundary includes: planning a series of driving routes for the intelligent navigation robot according to the central line and the road boundary of the construction finished surface, wherein the driving routes are all parallel to the central line, and the distances between adjacent driving routes are allD(ii) a At a fixed distancedAnd drawing a perpendicular line of the central line, and intersecting the central line with each planned driving route to obtain all measurement points, wherein the measurement points are intersection points of the central line perpendicular line and the planned driving route. The coordinates of all measurement points are (X i ， Y i )，i=1, 2, 3, ……, N。NTo measure the number of point locations.
In step S100 of some embodiments of the present invention, the traversing each measurement point location by using the intelligent navigation robot, and calculating and recording the three-dimensional absolute coordinates of each measurement point location includes: s101, acquiring a three-dimensional absolute coordinate and an attitude angle of the intelligent navigation robot at each measuring point; s102, obtaining coordinates of the tail end of the measuring equipment of the intelligent navigation robot under a vehicle body coordinate system with a positioning point of the navigation robot as an original point; s103, calculating the three-dimensional absolute coordinates of the tail end of the measuring equipment according to the three-dimensional absolute coordinates and the attitude angle of the intelligent navigation robot at each measuring point and the coordinates of the tail end of the measuring equipment under the vehicle body coordinate system with the positioning point of the navigation robot as the origin, and calculating the three-dimensional absolute coordinates of each measuring point according to the three-dimensional absolute coordinates.
Specifically, as shown in fig. 3, the intelligent navigation robot (hereinafter, referred to as a navigation robot) selects the next measurement point as the target measurement point according to the current driving route. According to the position coordinates of the vehicle and the coordinates of the target measurement point, the vehicle automatically drives to the target measurement point through the navigation control function of the vehicle and stops; by means of self-carried measuring devices, measuring the distance to the groundH i 。
Further, referring to fig. 4, the three-dimensional absolute coordinates of the tip of the measuring device are calculated by the following steps:
wherein the content of the first and second substances, (ii) (X i ,Y i ,Z i ) Three-dimensional absolute coordinates representing a positioning point of the intelligent navigation robot: (a)a,b,c) Representing the coordinates of the tail end of the measuring equipment in a vehicle body coordinate system with the positioning point of the intelligent navigation robot as the origin point (b)roll i 、pitch i 、yaw i ) Indicating attitude angle, subscript, of the intelligent navigation robotiIndicating the number of measurement points.
Specifically, three-dimensional absolute coordinates of positioning point of intelligent navigation robot are obtained (X i ,Y i ,Z i ) Acquiring a vehicle body coordinate system of the tail end of the measuring equipment by taking the positioning point of the navigation robot as an originO-X body Y body Z body Coordinates of (A), (B) and (C)a,b,c) Acquiring the attitude angle of the navigation robot (roll i 、pitch i 、yaw i ) And calculating the three-dimensional absolute coordinate of the tail end of the measuring equipment, and further calculating the three-dimensional coordinate of the current sample point. Measuring deviceThe formula for calculating the three-dimensional absolute coordinates of the tail end and the current sample point comprises the following steps:
three-dimensional absolute coordinates of the measuring device tip:
is at present the firstiThree-dimensional absolute coordinates of each sample point:
referring to fig. 5, after the intelligent navigation robot completes the calculation of the current sample point, the next measurement point location measurement is performed until all measurement point locations are traversed, and the three-dimensional absolute coordinates of all sample points are obtained through calculation, where the three-dimensional absolute coordinates of all sample points are: (x i , y i , z i ), i=1, 2, 3, ……, N。
Referring to fig. 6, in step S200 of the embodiment of the present disclosure, the building a fitted surface model of the construction completion surface based on the three-dimensional absolute coordinates of the plurality of measurement point locations and the neural network includes: s201, dividing a construction finished surface into a plurality of subareas containing the same sample measuring point location according to the extending direction of a road, wherein at least one common measuring point location is contained between every two adjacent subareas; s202, taking the three-dimensional absolute coordinates of each measuring point of each partition as a sample, taking a corresponding determined fitting surface model function of the construction finished surface as a label, training a neural network until the error of the neural network is lower than a threshold value and tends to be stable, obtaining the trained neural network, and inputting a plurality of two-dimensional coordinates into the trained neural network, so as to obtain the fitting surface model of the construction finished surface. As can be appreciated, the first and second, when the two-dimensional coordinates (x,y) In three-dimensional absolute coordinates corresponding to measurement pointsx、yAnd obtaining a fitting surface model of the construction finished surface when the components on the dimensionality are obtained.
Specifically, the longitudinal direction is the direction in which the road extends forward,the direction perpendicular to the longitudinal direction is the transverse direction. Set the longitudinal partition toL 1 The rows, transversely partitioned intoL 2 Is listed to obtainL 1 Book of changesL 2 The column is partitioned, and sample data points within the partitions are determined. At the same time, a common sample data point is guaranteed in adjacent partitions. Then, the fitted surface model of the partition can be established by any one of the following two methods:
(1) The fitting surface model of the subarea can be established by utilizing a neural network training method. The fitted surface model is assumed to be established asz=f NN (x,y) Wherein, in the step (A),x、y、zrepresenting the three-dimensional absolute coordinates of any point on the fitted surface,f NN representing a fitted model function obtained by training with a neural network.
(2) The least square method can also be used for establishing a partitioned fitting surface model. The fitted surface model is assumed to be established asz=f LSM (x,y) Wherein, in the step (A),x、y、zrepresenting the three-dimensional absolute coordinates of any point on the fitted surface,f LSM a fitting model function obtained by the least square method is shown.
For ease of description, regardless of which method is used, the fitted surface model is written collectively as:z=f(x,y). Wherein the content of the first and second substances,x、y、zrepresenting the three-dimensional absolute coordinates of any point on the fitted surface.
Referring to fig. 7, the road is an approximately trapezoidal column, and is divided into a vertical bearing portion and a slope portion. The vertical bearing part refers to a rectangular section part in the middle of a road, and the slope part refers to triangular section parts on two sides of the road. The volume of the trapezoidal cylinder depends on the lower and upper surfaces of the road, considering two requirements:
(1) When earthwork measurement is carried out, the lower surface and the upper surface of the trapezoidal cylinder are both a fitting curved surface of the lower surface and a fitting curved surface of the upper surface, which are obtained by acquiring sample points through an intelligent navigation robot and adopting a fitting method; the fitting method comprises the method for fitting the surface model by using the neural network or the method for fitting the surface model by using the least square method;
(2) When earth budget is carried out, sample points of the lower surface of the trapezoidal cylinder can be obtained only through the intelligent navigation robot, the fitting curved surface of the lower surface is obtained through a fitting method, the upper surface of the trapezoidal cylinder is a theoretical design curved surface, and the current road surface is not built, so that the sample points cannot be obtained through the navigation robot, but the theoretical design curved surface is known, namely any point on the theoretical design curved surface can be obtained through surveying design data calculation. At the moment, a fitting curved surface of the upper surface is not required to be established through a neural network, and the fitting curved surface is obtained directly according to preset parameters.
For convenience of description, both the lower and upper surfaces of the trapezoidal cylinder are available, whether for earth measurement or earth budget. The lower surface of the trapezoidal cylinder is called a first fitting curved surface, and the upper surface of the trapezoidal cylinder is called a second fitting curved surface.
In S300 of some embodiments of the present invention, the calculating the vertical load bearing portion earthwork, the slope portion earthwork, and the total amount of earthwork, respectively, according to the fitted surface model of the construction completion surface includes: s301, calculating the earth volume of the vertical bearing part by a grid method according to the fitted surface model;
referring to FIG. 8, specifically, a first complete surface-fitting surface model is first obtainedz=f 1 (x, y) And a second surface fitting surface modelz=f 2 (x, y) Obtaining the range of the horizontal plane projection area of the vertical bearing partS. The horizontal projection area of the vertical bearing part is then divided into side lengths of
As shown in fig. 8. In particular, in order to secure the measurement accuracy, it is preferable
If =0.01 m, thenkThe coordinate of the central point of each grid is (m k , n k )，k=1, 2, 3, …, M. Wherein, the first and the second end of the pipe are connected with each other,Mindicating the number of tiny squares. And finally, calculating the earth volume of the vertical bearing part, wherein the measurement formula is as follows:
s302, approximately calculating the earth volume of the slope part based on the fitted surface model; referring to FIG. 9, specifically, for the left half of the slope, the second finished surface horizontal projection left boundary is acquired, and the left boundary is equally spaced by Δl left Sampling to obtain discrete coordinate points (l x1 , l y1 )、(l x2 , l y2 )、(l x3 , l y3 )、…、(l xp , l yp )、…、(l xP , l yP )，pIs shown aspA number of sample points are sampled at the time of sampling,Pis the number of samples. Then calculating the amount of earthwork of the left half part of the slope, wherein the calculation formula is as follows:
wherein the content of the first and second substances,I left is the slope coefficient of the left half part of the slope.
For the right half part of the slope, acquiring the horizontal plane projection right boundary of the second finished surface, and performing equal-spacing delta on the right boundaryl right Sampling to obtain discrete coordinate points (r x1 , r y1 )、(r x2 , r y2 )、(r x3 , r y3 )、…、(r xq , r yq )、…、(r xQ , r yQ )，qIs shown asqA number of sample points are sampled at the time of sampling,Qis the number of samples. Then calculating the right half part of the earth volume of the slope, wherein the calculation formula is as follows:
wherein the content of the first and second substances,I right is the slope coefficient of the right half part of the slope.
And S303, calculating the total amount of the earthwork according to the earthwork of the vertical bearing part and the earthwork of the slope part. Specifically, the formula for calculating the earthwork amount is as follows:V=V 1 +V left +V right 。
example 2
Referring to fig. 10, in a second aspect of the invention, there is provided an earth measuring system 1 based on an intelligent navigation robot, comprising: the first calculation module 11 is used for determining a driving route and a plurality of measurement points of the intelligent navigation robot according to the central line and the road boundary of the construction completion surface; traversing each measuring point location by using an intelligent navigation robot, and calculating and recording a three-dimensional absolute coordinate of each measuring point location; the building module 12 is used for building a fitting surface model of the construction completion surface based on the three-dimensional absolute coordinates and the neural network of the plurality of measurement point positions; and the second calculating module 13 is configured to calculate the amount of earth in the vertical bearing part, the amount of earth in the slope part, and the total amount of earth according to the fitted surface model of the construction finished surface.
Further, the first calculation module 11: the first acquisition unit is used for acquiring three-dimensional absolute coordinates and attitude angles of the intelligent navigation robot at each measurement point; the second acquisition unit is used for acquiring the coordinates of the tail end of the measurement equipment of the intelligent navigation robot under a vehicle body coordinate system with the positioning point of the navigation robot as the origin; and the calculating unit is used for calculating the three-dimensional absolute coordinates of the tail end of the measuring equipment according to the three-dimensional absolute coordinates and the attitude angle of the intelligent navigation robot at each measuring point and the coordinates of the tail end of the measuring equipment under a vehicle body coordinate system with the positioning point of the navigation robot as the origin, and calculating the three-dimensional absolute coordinates of each measuring point according to the three-dimensional absolute coordinates.
Example 3
Referring to fig. 11, in a third aspect of the invention, there is provided an electronic device comprising: one or more processors; storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method of the invention in the first aspect.
The electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following devices may be connected to the I/O interface 505 in general: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 507 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; a storage device 508 including, for example, a hard disk; and a communication device 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 11 illustrates an electronic device 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may be alternatively implemented or provided. Each block in fig. 11 may represent one device or a plurality of devices as desired.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program, when executed by the processing device 501, performs the above-described functions defined in the methods of embodiments of the present disclosure. It should be noted that the computer readable medium described in the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In embodiments of the present disclosure, however, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more computer programs which, when executed by the electronic device, cause the electronic device to:
computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, python, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An earth measurement method based on an intelligent navigation robot is characterized by comprising the following steps:
determining a running route and a plurality of measuring point positions of the intelligent navigation robot according to the central line and the road boundary of the construction finished surface; traversing each measuring point location by using an intelligent navigation robot, and calculating and recording a three-dimensional absolute coordinate of each measuring point location;
establishing a fitting surface model of the construction completion surface based on the three-dimensional absolute coordinates and the neural network of the plurality of measurement point positions;
and respectively calculating the earth volume of the vertical bearing part, the earth volume of the slope part and the total earth volume according to the fitted surface model of the construction finished surface.
2. The intelligent navigation robot-based earth moving measurement method according to claim 1, wherein traversing each measurement point location by using the intelligent navigation robot, and calculating and recording three-dimensional absolute coordinates of each measurement point location comprises:
acquiring a three-dimensional absolute coordinate and an attitude angle of the intelligent navigation robot at each measuring point;
acquiring coordinates of the tail end of measuring equipment of the intelligent navigation robot under a vehicle body coordinate system with a positioning point of the navigation robot as an origin;
and calculating the three-dimensional absolute coordinate of the tail end of the measuring equipment according to the three-dimensional absolute coordinate and the attitude angle of the intelligent navigation robot at each measuring point and the coordinate of the tail end of the measuring equipment under a vehicle body coordinate system with the positioning point of the navigation robot as the origin, and calculating the three-dimensional absolute coordinate of each measuring point according to the three-dimensional absolute coordinate.
3. The intelligent navigation robot-based earth moving measurement method according to claim 2, wherein the three-dimensional absolute coordinates of the measuring device tip and the three-dimensional absolute coordinates of the current sample point are calculated by the following steps:
three-dimensional absolute coordinates of the measuring device tip:
wherein the content of the first and second substances, (ii) (X i ,Y i ,Z i ) Three-dimensional absolute coordinates representing a positioning point of the intelligent navigation robot: (a,b,c) Coordinates of the tail end of the measuring equipment in a vehicle body coordinate system with the positioning point of the intelligent navigation robot as the origin point are represented (a)roll i 、pitch i 、yaw i ) Indicating attitude angle, subscript, of the intelligent navigation robotiA number indicating a measurement point location;
three-dimensional absolute coordinates of sample points:
wherein the content of the first and second substances,H i the measuring device measures the distance of the end of the measuring device to the ground.
4. The intelligent navigation robot-based earthwork measuring method according to claim 1, wherein the calculating of the vertical bearing portion earthwork amount, the slope portion earthwork amount and the total amount of earthwork, respectively, according to the fitted surface model of the construction completion surface comprises:
calculating the earth volume of the vertical bearing part by a grid method according to the fitted surface model;
according to the fitted surface model, the earth volume of the slope part is approximately calculated;
and calculating the total amount of earth according to the earth volume of the vertical bearing part and the earth volume of the slope part.
5. The intelligent navigation robot-based earth volume measuring method according to claim 4, wherein the calculating the vertical bearing part earth volume through a grid method according to the fitted surface model comprises:
whereinV 1 Represents the amount of earth in the vertical bearing part,kthe number of the squares is shown as,Mrepresenting the number of the squares;f 1 andf 2 respectively showing the first and second finished surface fitting surface models (c), (d)m k ,n k ) Is shown askThe coordinates of the center point of each square grid,
the side length of the square is shown,Srepresenting the horizontal plane projection area of the vertical bearing section.
6. The intelligent navigation robot-based earth moving measurement method according to any one of claims 1 to 5, wherein the building of the fitted surface model of the construction completion surface based on the three-dimensional absolute coordinates of the plurality of measurement point positions and the neural network comprises:
dividing a construction finished surface into a plurality of subareas containing the same measuring point location according to the extending direction of a road, wherein at least one common measuring point location is contained between every two adjacent subareas;
taking the three-dimensional absolute coordinates of each measuring point location of each partition as a sample, taking a corresponding determined fitting surface model function of the construction completion surface as a label, and training a neural network until the error of the neural network is lower than a threshold value and tends to be stable, so as to obtain the trained neural network;
and inputting the plurality of two-dimensional coordinates into the trained neural network to obtain a fitting surface model of the construction finished surface.
7. An earth moving measurement system based on an intelligent navigation robot, comprising:
the first calculation module is used for determining a driving route and a plurality of measurement points of the intelligent navigation robot according to the central line and the road boundary of the construction finished surface; traversing each measuring point location by using an intelligent navigation robot, and calculating and recording a three-dimensional absolute coordinate of each measuring point location;
the building module is used for building a fitting surface model of the construction completion surface based on the three-dimensional absolute coordinates and the neural network of the plurality of measurement point positions;
and the second calculation module is used for respectively calculating the earth volume of the vertical bearing part, the earth volume of the slope part and the total earth volume according to the fitted surface model of the construction finished surface.
8. The intelligent navigation robot-based earth moving measurement system of claim 7, wherein the first calculation module comprises:
the first acquisition unit is used for acquiring three-dimensional absolute coordinates and attitude angles of the intelligent navigation robot at each measurement point;
the second acquisition unit is used for acquiring the coordinates of the tail end of the measurement equipment of the intelligent navigation robot under a vehicle body coordinate system with the positioning point of the navigation robot as the origin;
and the calculating unit is used for calculating the three-dimensional absolute coordinates of the tail end of the measuring equipment according to the three-dimensional absolute coordinates and the attitude angle of the intelligent navigation robot at each measuring point and the coordinates of the tail end of the measuring equipment under a vehicle body coordinate system with the positioning point of the navigation robot as the origin, and calculating the three-dimensional absolute coordinates of each measuring point according to the three-dimensional absolute coordinates.
9. An electronic device, comprising: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the intelligent navigation robot-based earth measuring method of any one of claims 1 to 6.
10. A computer-readable medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the intelligent navigation robot-based earth measurement method of any one of claims 1 to 6.
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