CN115909091A - Earth volume calculation method based on unmanned aerial vehicle three-dimensional scanning live-action modeling - Google Patents
Earth volume calculation method based on unmanned aerial vehicle three-dimensional scanning live-action modeling Download PDFInfo
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Abstract
The invention relates to the technical field of earth volume calculation, and provides an earth volume calculation method based on unmanned aerial vehicle three-dimensional scanning live-action modeling, which comprises the following steps: an unmanned aerial vehicle is adopted to carry a three-dimensional scanning instrument to collect earth surface images, and image data and texture information of the top surface and side view of an earth surface fixed object are obtained; performing multi-view geometric image matching on the image data and the texture information to obtain sparse point cloud, encrypting to obtain dense point cloud, and performing meshing and texture mapping on the dense point cloud to obtain a three-dimensional model; giving a control point by the three-dimensional model through a data processing tool to generate a live-action three-dimensional model under a measurement coordinate system, and measuring and obtaining the DEM on the basis of the live-action three-dimensional model; generating elevation data for the original DEM before excavation and the DEM after excavation; and calculating the earth volume excavated and/or backfilled by the elevation data through a three-dimensional analysis tool. The method is simple and convenient to operate, the earthwork excavation volume can be rapidly and accurately calculated, and large deviation caused by manual calculation of unconventional parts is avoided.
Description
Technical Field
The invention relates to the technical field of earth volume calculation, in particular to an earth volume calculation method based on unmanned aerial vehicle three-dimensional scanning live-action modeling.
Background
The calculation of the earth volume relates to a plurality of fields, such as strip mining, land development and arrangement, engineering construction and the like. The accuracy of the earth volume calculation has a direct impact on the economic efficiency of the project. Generally, the earth volume is calculated layer by layer according to a square grid or according to the elevation of a drawing.
The traditional earth volume calculation comprises a square grid method, a triangular grid method and a section method.
The square grid method is generally used in planar engineering with little topographic relief change, and the calculation precision of the square grid method is greatly related to the density and quality of field sampling points and the size of the square grid. The triangulation network method is used in the surface engineering with large topographic relief change, and the calculation precision of the triangulation network method has a direct relation with the field sampling point quality. The section method is generally used for the earth volume calculation of linear engineering, and the calculation precision of the section method has great relation with the section measurement quality and the section spacing.
It can be seen that, in the above-mentioned inclination measurement method, in the calculation of the earth volume of different terrains and engineering projects, since the calculation result is greatly affected by the measurement method and the calculation method, the calculation accuracy is low, and the measurement operation process is complicated.
Disclosure of Invention
In view of this, the present invention aims to generate a complete terrain representation through three-dimensional scanning measurement of an unmanned aerial vehicle, improve the automation degree of operation, reduce the workload of operation, improve the measurement accuracy and reliability, and enable the measurement result to have a visualization effect.
In the earthwork, utilizing an unmanned aerial vehicle to carry out three-dimensional live-action scanning, generating a three-dimensional live-action model by combining software, carrying out the three-dimensional live-action scanning before the earthwork is excavated, carrying out the three-dimensional live-action scanning in the excavation process, and finally carrying out one-time three-dimensional live-action scanning after the excavation is finished to form an excavated model; finally, the whole excavated earth volume can be obtained by comparing and calculating the scanned real scene model before excavation and the topographic map of the real scene model after excavation.
Among them, the oblique photogrammetry method is one of three-dimensional live-action scanning methods, which is suitable for earth volume calculation of various terrains and engineering projects.
The invention provides an earth volume calculation method based on unmanned aerial vehicle three-dimensional scanning live-action modeling, which comprises the following steps:
s1, collecting a ground surface image by adopting an unmanned aerial vehicle carrying a three-dimensional scanning instrument, and acquiring image data and texture information of the top surface and side view of a ground surface fixed object;
preferably, the three-dimensional software for forming and viewing image data of terrain and texture information comprises: contextCapture Center Engine, contextCapture Center Master;
s2, performing multi-view geometric image matching on the image data and the texture information to obtain sparse point cloud, encrypting the sparse point cloud to obtain dense point cloud, and performing meshing and texture mapping on the dense point cloud to obtain a three-dimensional model;
s3, giving the three-dimensional model obtained in the step S2 to a control point through a data processing tool to generate a real three-dimensional model of real coordinates under a measurement coordinate system, and measuring and obtaining a digital elevation model DEM (digital elevation model) on the basis of the real three-dimensional model;
preferably, the data processing tool can be processed by using PhotoSacan software;
s4, generating elevation data from the original DEM before excavation and the DEM after excavation which are obtained through measurement;
the key of the earthwork calculation is the accurate expression of the original landform and the excavated landform;
preferably, the ARCGIS is adopted to calculate the earth volume, the digital elevation model DEM is used as a base to analyze terrain models before and after excavation through space analysis and superposition analysis functions, and a statistical analysis module carried by the ARCGIS software is used to calculate the volume of the filling and excavating area so as to obtain the final filling and excavating earth volume;
the ARCGIS software calculates the earth volume using the grid data. The raster data has simple structure, is very beneficial to computer operation and processing, and is a common space basic data format of the GIS. Spatial analysis based on raster data is the basis of GIS spatial analysis. An ArcGIS grid data space analysis module (Spatial analysis) provides an effective tool set, and the calculation problem of the earth volume is conveniently executed. Acquiring gridding data of the early-stage surface data and the later-stage surface data by an oblique photogrammetry method, and calculating the difference of the two grid data, wherein the difference is the filling (digging) height of the grid point;
and S5, calculating the excavated and/or backfilled earthwork amount of the elevation data through a three-dimensional analysis tool.
Further, the method for acquiring image data and texture information of the top surface and the side view of the earth surface fixed object in the step S1 comprises:
synchronously acquiring earth surface images from a plurality of different visual angles through a three-dimensional scanner carried by an unmanned aerial vehicle;
preferably, the plurality of different viewing angles are 1 vertical direction and 4 oblique directions.
Further, the method for encrypting the sparse point cloud to obtain the dense point cloud in the step S2 includes:
and encrypting the sparse point cloud through an interpolation algorithm to obtain a dense point cloud.
Further, the method for generating elevation data of the step S4 includes:
and checking the consistency of coordinate systems of the data before and after excavation, so that the data before and after excavation have the same coordinate system and elevation system.
Further, the coordinate system is a gaussian projection plane coordinate.
Further, the method of calculating the excavated and/or backfilled earth volume of the S5 step includes:
and extracting the generated elevation data in the excavation and/or backfill range, and counting the earth volume of the filling and excavation.
Further, after the step S5, the method further includes:
the three-dimensional visualization of the earth volume calculation is realized, the elevation data is utilized to carry out three-dimensional display, the position of the filling and digging square is directly reflected, and the visual change effect is provided.
Further, the method for three-dimensional display comprises the following steps:
superposing the ortho-image data and the elevation data by adopting a three-dimensional visualization tool to obtain a three-dimensional earth surface model DSM, and inquiring topographic information such as coordinates, elevation, gradient and slope of any point in the DSM;
preferably, the three-dimensional visualization tool employs ArcScene;
preferably, the ortho image data is generated by a photogrammetric tool PIX 4D.
Compared with the prior art, the invention has the beneficial effects that:
the method for calculating the earthwork calculation amount is simple and convenient to operate, can quickly and accurately calculate the earthwork excavation amount, and avoids large deviation caused by manual calculation of unconventional parts.
Drawings
Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
In the drawings:
FIG. 1 is a flow chart of a method for calculating earth volume based on unmanned aerial vehicle three-dimensional scanning live-action modeling of the present invention;
FIG. 2 is a diagram illustrating the effect of forming an original landform in the three-dimensional scanning live-action modeling according to an embodiment of the present invention;
FIG. 3 is an effect diagram of a topographical feature of a foundation pit in a three-dimensional scanning live-action modeling process according to an embodiment of the present invention;
fig. 4 is an effect diagram of completed foundation pit topography in the three-dimensional scanning live-action modeling according to the embodiment of the invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of devices and products consistent with certain aspects of the disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if," as used herein, may be interpreted as "at \8230; \8230when" or "when 8230; \823030when" or "in response to a determination," depending on the context.
The embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
In the embodiment of the invention, in the early stage of earthwork excavation and transportation, a professional unmanned aerial vehicle is used for collecting topographic data, a foundation pit area original model is established through PIX4D, and a process oblique photography model is established in the flight process, so that the construction application in the process can be assisted, the reasonable arrangement of vehicle transportation and earthwork quantity comparison is facilitated, and the field construction efficiency is improved; after the earthwork excavation and transportation are finished, topographic data acquisition is carried out on the finished earthwork excavation and transportation again, and the original landform and the finished earthwork excavation and transportation are overlapped to obtain the finished earthwork amount.
The oblique photogrammetry adopted by the embodiment of the invention can obtain a digital surface model DSM with high precision and high resolution, fully express the relief characteristics of terrain and ground objects, simultaneously output positive photographic image data with spatial position information, and measure the image data. The unmanned aerial vehicle has the characteristics of mobility, flexibility, rapidness, economy and the like, and can rapidly and efficiently acquire high-quality and high-resolution images by taking the unmanned aerial vehicle as an aerial photography platform. Oblique photogrammetry techniques typically include image preprocessing, area network joint adjustment, multi-view image matching, DSM generation, real beam correction, three-dimensional modeling, and other key content.
The method for oblique photogrammetry is suitable for various terrain and engineering projects, the basic calculation principle is the same as that of a triangulation network method, the calculation precision is reliable, and the calculation result is slightly influenced by a measurement method and a calculation method.
The embodiment of the invention provides an earth volume calculation method based on unmanned aerial vehicle three-dimensional scanning live-action modeling, which comprises the following steps as shown in figure 1:
s1, carrying a three-dimensional scanning instrument by using an unmanned aerial vehicle to collect earth surface images, and acquiring image data and texture information of the top surface, side view and side view of an earth surface fixed object;
the method for acquiring the image data and the texture information of the top surface and the side view of the earth surface fixed object comprises the following steps:
synchronously acquiring earth surface images from a plurality of different visual angles through a three-dimensional scanner carried by an unmanned aerial vehicle;
in this embodiment, the plurality of different viewing angles are 1 vertical direction and 4 oblique directions;
preferably, the three-dimensional software for forming and viewing image data of terrain and texture information comprises: contextCapture Center Engine, contextCapture Center Master;
s2, performing multi-view geometric image matching on the image data and the texture information to obtain sparse point cloud, encrypting the sparse point cloud to obtain dense point cloud, and performing meshing and texture mapping on the dense point cloud to obtain a three-dimensional model;
the method for encrypting the sparse point cloud to obtain the dense point cloud comprises the following steps:
and encrypting the sparse point cloud through an interpolation algorithm to obtain a dense point cloud.
S3, the three-dimensional model obtained in the step S2 is given to a control point through a data processing tool to generate a real three-dimensional model of real coordinates under a measurement coordinate system, and a digital elevation model DEM is obtained through measurement on the basis of the real three-dimensional model;
preferably, the data processing tool can be processed by using PhotoSacan software;
s4, generating elevation data of the original DEM before excavation and the DEM after excavation which are obtained through measurement;
the method for generating elevation data comprises the following steps:
and checking the consistency of coordinate systems of the data before and after excavation, so that the data before and after excavation have the same coordinate system and elevation system.
Preferably, the coordinate system is a gaussian projection plane coordinate;
the key of the earthwork calculation is the accurate expression of the original landform and the excavated landform;
in the embodiment, the ARCGIS is adopted to calculate the earth volume, the digital elevation model DEM is used as a base to analyze terrain models before and after excavation through space analysis and superposition analysis functions, and a statistical analysis module carried by the ARCGIS software is used to calculate the volume of an excavation filling area, so that the final excavation earth volume is obtained;
the ARCGIS software calculates the earth volume using the grid data. The raster data has simple structure, is very beneficial to computer operation and processing, and is a common space basic data format of the GIS. Spatial analysis based on grid data is the basis of GIS spatial analysis. An ArcGIS grid data space analysis module (Spatial analysis) provides an effective tool set, and the calculation problem of earth volume is conveniently executed. Acquiring gridding data of the early-stage earth surface data and the later-stage earth surface data by an oblique photogrammetry method, and calculating the difference of the two grid data, wherein the difference is the filling (digging) height of the grid point;
and S5, calculating the excavated and/or backfilled earthwork amount of the elevation data through a three-dimensional analysis tool.
The method for calculating the earth volume excavated and/or backfilled comprises the following steps:
and extracting the generated elevation data in the excavation and/or backfill range, and counting the filled and excavated earth volume.
After the step S5, the method further includes:
three-dimensional visualization of earth volume calculation is realized, three-dimensional display is performed by utilizing elevation data, and the position of a filling and excavating square is directly reflected, so that a visual change effect is provided; fig. 2 is a diagram showing an effect of forming an original landform in the three-dimensional scanning live-action modeling according to the embodiment; fig. 3 is an effect diagram of the ground pit topography in the process of three-dimensional scanning live-action modeling according to the embodiment; FIG. 4 is an effect diagram of the completed landform of the foundation pit in the three-dimensional scanning live-action modeling of the embodiment;
the three-dimensional display method comprises the following steps:
superposing the ortho-image data and the elevation data by adopting a three-dimensional visualization tool to obtain a three-dimensional earth surface model DSM, and inquiring topographic information such as coordinates, elevation, gradient and slope of any point in the DSM;
preferably, the three-dimensional visualization tool employs ArcScene;
in this embodiment, the ortho-image data is generated by a photogrammetric tool PIX 4D.
In the embodiment of the invention, the rule for calculating the earthwork engineering quantity is as follows:
foundation earth excavation calculation
1. Calculation rules for excavated earth
(1) Inventory rules: the excavated foundation earthwork is calculated by multiplying the bottom area of the foundation bed course by the excavated depth according to the size of the design diagram.
(2) Rating rules: the volume of the manual or mechanical earth mover should be calculated as the area of the bottom of the trench multiplied by the depth of the earth. The bottom area of the groove is obtained by multiplying the length of the bottom of the groove by the width of the bottom of the groove, the length and the width of the bottom of the groove refer to the base bottom width and a working surface, when the slope is required to be set, the earth volume of the slope is combined in the total earth volume,
2. calculation rules for excavated earth
(1) Inventory calculates volume of earth excavation: earthwork volume = bottom area of excavated earthwork × excavation depth.
(2) Rating rules: excavating a foundation trench: v = (A +2C + K + H) H.
In the formula: v, the earth volume of the foundation trench; a-the width of the groove bottom; c, the width of the working face; h-base groove depth; l is the length of the basic groove. The length of the outer wall base groove is calculated by the center line of the outer wall, the length of the inner wall base groove is calculated by the net length of the inner wall, and the joint superposition position is not deducted.
Excavation of a foundation pit: v =1/6H 2 [ A + B + a + B + (A + a) + (B + B) ].
In the formula: v, the volume of the foundation pit; a, the length of an upper opening of a foundation pit; b, the width of an upper opening of the foundation pit; a, the length of the bottom surface of the foundation pit; b, the width of the bottom surface of the foundation pit.
Earth excavation work is almost always involved. The accuracy of the earth-rock mass measurement is directly determined by the landform expression quality.
The method for calculating the earthwork calculation amount is simple and convenient to operate, can quickly and accurately calculate the earthwork excavation amount, and avoids large deviation caused by manual calculation of unconventional parts.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An earth volume calculation method based on unmanned aerial vehicle three-dimensional scanning live-action modeling is characterized by comprising the following steps:
s1, collecting a ground surface image by adopting an unmanned aerial vehicle carrying a three-dimensional scanning instrument, and acquiring image data and texture information of the top surface and side view of a ground surface fixed object;
s2, performing multi-view geometric image matching on the image data and the texture information to obtain sparse point cloud, encrypting the sparse point cloud to obtain dense point cloud, and performing meshing and texture mapping on the dense point cloud to obtain a three-dimensional model;
s3, giving the three-dimensional model obtained in the step S2 to a control point through a data processing tool to generate a real three-dimensional model of real coordinates under a measurement coordinate system, and measuring and obtaining a digital elevation model DEM (digital elevation model) on the basis of the real three-dimensional model;
s4, generating elevation data from the original DEM before excavation and the DEM after excavation which are obtained through measurement;
and S5, calculating the excavated and/or backfilled earthwork amount of the elevation data through a three-dimensional analysis tool.
2. The method for calculating the earth volume based on the unmanned aerial vehicle three-dimensional scanning live-action modeling according to claim 1, wherein the method for acquiring the image data and the texture information of the top surface and the side view of the earth surface fixed object in the step S1 comprises:
the three-dimensional scanner carried by the unmanned aerial vehicle synchronously acquires earth surface images from a plurality of different visual angles.
3. The method for calculating the earth volume based on the unmanned aerial vehicle three-dimensional scanning live-action modeling according to claim 1, wherein the method for encrypting the sparse point cloud to obtain the dense point cloud in the step S2 comprises:
and encrypting the sparse point cloud through an interpolation algorithm to obtain a dense point cloud.
4. The method for calculating the amount of earth based on the unmanned aerial vehicle three-dimensional scanning live-action modeling according to claim 1, wherein the method for generating the elevation data in the step S4 comprises:
and checking the consistency of coordinate systems of the data before and after excavation, so that the data before and after excavation have the same coordinate system and elevation system.
5. The method of calculating the amount of earth based on three-dimensional scanning live-action modeling of unmanned aerial vehicle of claim 4, wherein the coordinate system is Gaussian projection plane coordinates.
6. The method for calculating the earth volume based on unmanned aerial vehicle three-dimensional scanning live-action modeling according to claim 1, wherein the method for calculating the excavated and/or backfilled earth volume in the step S5 comprises:
and extracting the generated elevation data in the excavation and/or backfill range, and counting the filled and excavated earth volume.
7. The method for calculating the earth volume based on the unmanned aerial vehicle three-dimensional scanning live-action modeling according to claim 1, wherein the step S5 is followed by further comprising:
the three-dimensional visualization of the earth volume calculation is realized, the elevation data is utilized to carry out three-dimensional display, the position of the filling and digging part is directly reflected, and the visual change effect is provided.
8. The method for calculating the earth volume based on the unmanned aerial vehicle three-dimensional scanning live-action modeling according to claim 7, wherein the method for three-dimensionally displaying comprises the following steps:
and superposing the orthographic image data and the elevation data in a three-dimensional visualization tool to obtain a three-dimensional surface model DSM, and inquiring the coordinate, elevation and slope topographic information of any point in the DSM.
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