CN116109692A - Method for calculating volume and surface deformation volume of tailing dam based on three-dimensional point cloud - Google Patents
Method for calculating volume and surface deformation volume of tailing dam based on three-dimensional point cloud Download PDFInfo
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Abstract
The invention relates to a method for calculating the volume and surface deformation volume of a tailing dam based on three-dimensional point cloud, which comprises the following steps: collecting three-dimensional point cloud data of the dam body surface of the tailing pond, and preprocessing the three-dimensional point cloud data; and carrying out grid division on the preprocessed three-dimensional point cloud data to obtain grid heights, and superposing the grid heights to obtain the volume and the surface deformation volume of the tailing dam. The invention collects the point cloud with three-dimensional coordinate information on the surface of the tailing pond dam body, and preprocesses the data through point cloud processing, wherein the preprocessing part comprises: performing point cloud cutting, namely reducing noise of the point cloud to obtain effective three-dimensional point cloud data of the surface of the tailing dam; and further analyzing and processing based on the three-dimensional point cloud data to obtain the tailing dam volume.
Description
Technical Field
The invention relates to the technical field of three-dimensional point cloud processing, in particular to a method for calculating the volume and the surface deformation volume of a tailing dam based on three-dimensional point cloud.
Background
At present, many of the calculation of the geological volume in the market needs three-dimensional scanning equipment with a GNSS positioning system to collect data, and the three-dimensional point cloud volume is calculated by analyzing the three-dimensional scanning equipment with real coordinate information to generate elevation interval re-fitting, so that the requirements on the equipment are higher, and the calculation error is larger.
The method has low data requirements, high automation degree, high precision and wide applicability.
Disclosure of Invention
The invention aims to provide a method for calculating the volume and the surface deformation volume of a tailing dam based on three-dimensional point cloud, which can effectively acquire the volume of the tailing dam.
In order to achieve the above object, the present invention provides the following solutions:
the method for calculating the volume and the surface deformation volume of the tailing dam based on the three-dimensional point cloud comprises the following steps:
collecting three-dimensional point cloud data of the dam body surface of the tailing pond, and preprocessing the three-dimensional point cloud data;
and carrying out grid division on the preprocessed three-dimensional point cloud data to obtain grid heights, and superposing the grid heights to obtain the volume and the surface deformation volume of the tailing dam.
Optionally, preprocessing the three-dimensional point cloud data includes:
and carrying out noise reduction processing on the three-dimensional point cloud data based on a method for analyzing the local characteristics of the point cloud, removing discrete points in the three-dimensional point cloud data by judging the discrete points, screening the three-dimensional point cloud data subjected to the noise reduction processing in a preset three-dimensional coordinate interval, and reserving the three-dimensional point cloud data in the preset three-dimensional coordinate interval.
Optionally, meshing the preprocessed three-dimensional point cloud data includes:
projecting the preprocessed three-dimensional point cloud data onto an XOY plane under the same coordinate system, acquiring coordinates of two-dimensional points, analyzing the coordinates of the two-dimensional points, and determining the size of a single divided grid.
Optionally, determining the size of the single grid to be divided includes:
extracting the maximum value and the minimum value of the X coordinate of the two-dimensional point and the maximum value and the minimum value of the Y coordinate of the two-dimensional point, and presetting a step length; subtracting the minimum value on the X coordinate from the maximum value on the X coordinate and dividing the minimum value by the preset step length to determine the X-axis width of the single divided grid; and subtracting the minimum value on the Y coordinate from the maximum value on the Y coordinate and dividing the minimum value on the Y coordinate by the preset step length to determine the Y-axis width of the single division grid.
Optionally, before acquiring the grid height, further includes:
and carrying out rationality analysis on the size of the single grid after division, and adjusting the single grid according to a rationality analysis result.
Optionally, performing a rationality analysis on the size of the single grid after division, and adjusting the single grid according to a result of the rationality analysis includes:
judging the proportion of the number of the single grids without any three-dimensional points to the total grids, and setting a duty ratio threshold; if the proportion is larger than the duty ratio threshold value, performing iterative processing by reducing the number of divided grids and increasing the size of the single grid until the size of the grid can pass the rationality analysis, and if the proportion is not larger than the duty ratio threshold value, not performing any processing.
Optionally, adjusting the single grid according to the rationality analysis result includes:
and interpolating the single grids with the empty size in the grid size meeting the rationality analysis condition through a Lagrange algorithm, and filling the empty value.
Optionally, before acquiring the grid height, further includes:
and analyzing the coordinates of the two-dimensional points projected onto the XOY plane, calculating a Delaunay triangle network, acquiring different external polygons according to the adjustment threshold, and acquiring the contours projected onto the two-dimensional points based on the different external polygons.
Optionally, obtaining the grid height includes:
and (3) indexing the Z-axis height of each two-dimensional point in each grid by analyzing the two-dimensional points projected onto the XOY plane, and taking the average value of the Z-axis heights of all the two-dimensional points as the grid height.
Optionally, stacking the grid heights, and obtaining the tailing dam volume and the surface deformation volume includes:
multiplying the height of each grid by the area of the grid, multiplying the width of the X axis of the grid by the width of the Y axis of the grid, and accumulating the grid and the X axis to obtain the volume of the tailing dam;
performing differential statistics on the difference between the heights of the front grid and the rear grid of the same grid to obtain the surface deformation volume;
and setting an area region according to the maximum value of the projection of the three-dimensional point cloud on the X axis and the Y axis, setting the size of each grid, and acquiring the grid area based on the area region and the size of each grid.
The beneficial effects of the invention are as follows:
the invention collects the point cloud with three-dimensional coordinate information on the surface of the tailing pond dam body, and preprocesses the data through point cloud processing, wherein the preprocessing part comprises: and (5) cutting point clouds, and reducing noise of the point clouds. Obtaining effective three-dimensional point cloud data of the surface of the tailing dam; further analyzing and processing based on the three-dimensional point cloud data to obtain a tailing dam volume; the method has low data requirements, high automation degree, high precision and wide applicability.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for calculating the volume and surface deformation volume of a tailing dam based on three-dimensional point cloud according to an embodiment of the present invention;
fig. 2 is a diagram showing effects before and after noise reduction and cutting processing of a three-dimensional point cloud according to an embodiment of the present invention;
FIG. 3 is a point cloud meshing visualization interface in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of three-dimensional point cloud and meshing according to an embodiment of the present invention;
fig. 5 is a schematic diagram of three-dimensional point cloud projection areas, contours and grid division according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The method for calculating the volume and the surface deformation volume of the tailing dam based on the three-dimensional point cloud comprises the following steps: three-dimensional point cloud data of the dam body surface of the tailing pond are collected, and pretreatment is carried out on the three-dimensional point cloud data; and carrying out grid division on the preprocessed three-dimensional point cloud data to obtain grid heights, and superposing the grid heights to obtain the volume and the surface deformation volume of the tailing dam.
Preprocessing the three-dimensional point cloud data comprises the following steps: noise reduction processing is carried out on the three-dimensional point cloud data based on a method for analyzing the local characteristics of the point cloud, discrete points in the three-dimensional point cloud data are removed through judgment, a three-dimensional coordinate interval is preset, the three-dimensional point cloud data after the noise reduction processing are screened, and the three-dimensional point cloud data in the preset three-dimensional coordinate interval are reserved.
The step of meshing the preprocessed three-dimensional point cloud data comprises the following steps: projecting the preprocessed three-dimensional point cloud data onto an XOY plane under the same coordinate system, acquiring coordinates of two-dimensional points, analyzing the coordinates of the two-dimensional points, and determining the size of a single divided grid.
Determining the size of a single grid to be partitioned includes: extracting maximum and minimum values on X coordinates of the two-dimensional points and maximum and minimum values on Y coordinates of the two-dimensional points, and presetting step sizes; subtracting the minimum value on the X coordinate from the maximum value on the X coordinate and dividing the minimum value by a preset step length to determine the X-axis width of a single dividing grid; subtracting the minimum value on the Y coordinate from the maximum value on the Y coordinate and dividing by a preset step length to determine the Y-axis width of the single divided grid.
The method further comprises the following steps of: and carrying out rationality analysis on the size of the single grid after division, and adjusting the single grid according to the rationality analysis result.
Performing rationality analysis on the size of the single divided grid, and adjusting the single grid according to the rationality analysis result comprises the following steps: judging the proportion of the number of single grids without any three-dimensional points to the total grids, and setting a duty ratio threshold; if the proportion is larger than the duty ratio threshold value, performing iterative processing in a mode of reducing the number of divided grids and increasing the size of a single grid until the size of the grid can pass through rationality analysis, and if the proportion is not larger than the duty ratio threshold value, performing no processing.
Adjusting the single grid according to the rationality analysis result includes: and interpolating a single empty grid in the grid size meeting the rationality analysis condition through a Lagrange algorithm, and filling up the empty value.
The method further comprises the following steps of: the coordinates of the two-dimensional points projected onto the XOY plane are analyzed, a Delaunay triangle network is calculated, different external polygons are obtained according to the adjustment threshold, and the outline projected onto the two-dimensional points is obtained based on the different external polygons.
The step of obtaining the grid height comprises the following steps: the Z-axis height of each two-dimensional point in each grid is indexed by analyzing the two-dimensional points projected onto the XOY plane, and the average value of the Z-axis heights of all the two-dimensional points is taken as the grid height.
The step of superposing the heights of the grids to obtain the volume and the surface deformation volume of the tailing dam comprises the following steps: multiplying the height of each grid by the area of the grid, multiplying the width of the X axis of the grid by the width of the Y axis of the grid, and accumulating the grid and the X axis to obtain the volume of the tailing dam; performing differential statistics on the difference between the heights of the front grid and the rear grid of the same grid to obtain a surface deformation volume; and setting an area region according to the maximum value of the projection of the three-dimensional point cloud on the X axis and the Y axis, setting the size of each grid, and acquiring the grid area based on the area region and the size of each grid.
As shown in fig. 1, the present invention provides a method for calculating a tailing dam volume and a surface deformation volume based on three-dimensional point cloud, comprising:
collecting three-dimensional point cloud data of the surface of a tailing pond dam body, and preprocessing the three-dimensional point cloud data to obtain effective three-dimensional point cloud data of the tailing pond; and then the three-dimensional point cloud data are projected onto an XOY two-dimensional plane to divide uniform grids, then the Z coordinate size of three-dimensional points contained in each grid is calculated to be averaged to serve as the grid height of each single grid, and the grid heights are overlapped through the differential idea to obtain the volume of the tailing dam. Aiming at the mesh step length selection problem and the empty mesh problem encountered in the mesh division, the volume of the tailing dam can be effectively calculated by optimizing an automatic traversal and Lagrange interpolation method, and further, after the three-dimensional point cloud of the tailing dam on different time sequences is subjected to the same pretreatment, the mesh height in the old mesh is subtracted from the coordinates in the new mesh, so that the deformation volume of the point cloud can be calculated, wherein the deformation volume is specifically as follows:
(1) As shown in fig. 2, the discrete points are determined by a method of analyzing the local characteristics of the point cloud, and the discrete points are removed to achieve the effect of reducing noise of the point cloud, and three-dimensional point cloud data to be processed is screened by giving a specified three-dimensional coordinate interval, so that only three-dimensional points in the given interval are left.
(2) Three-dimensional point cloud data in the file are read through an open source library Nmupy in Python and projected to an XOY plane under the same coordinate system, and are only represented by a standard of X, Y two coordinates.
(3) As shown in fig. 3 to 4, the X-axis width of the single divided grid is determined by analyzing the coordinates of the two-dimensional points projected onto the XOY plane, extracting the maximum and minimum values on the X-coordinate and the maximum and minimum values on the Y-coordinate, subtracting the X-minimum value from the X-maximum value according to the designated step length and using the step length, and the same operation is performed on the Y-maximum and minimum values to obtain the Y-axis width of the single divided grid, so that the size of the single grid to be divided is determined.
(4) As shown in fig. 5, by analyzing the coordinates of the two-dimensional points projected onto the XOY plane, the Delaunay triangle network is calculated, and by adjusting the threshold value, different circumscribed polygons are obtained, so that the outline projected onto the two-dimensional point cloud is obtained as the display of the visual effect, and the area of the whole point cloud projected onto a single plane.
(5) By analyzing the two-dimensional points projected onto the XOY plane, the Z-axis height of each point within each grid is indexed and the average of the Z-axis heights of all points is taken as the grid height.
(6) Through the idea of differentiation, the height of each grid is multiplied by the area of the grid (the width of the X axis of the grid is equal to the width of the Y axis of the grid), and the grid is added up, so that the volume of the whole tailing dam can be obtained.
(7) The choice of the meshing size provides a reliability parameter-duty cycle. That is, the proportion of the grids which do not contain any three-dimensional points in all the divided grids to the total grids is judged, and the proportion is reasonable to be below 10%.
(8) When the condition is not satisfied after the meshing is completed and rationality analysis is performed, the number of meshing grids is reduced to increase the size of a single grid if the duty ratio is more than 10%, so that more points fall into the grids to reduce the duty ratio. Automatic iteration of meshing is done according to this principle until the size of the mesh can be analyzed by rationality.
(9) If the deformation volume of the tailing dam needs to be calculated, the same point cloud grid division rule can be used for carrying out differential statistics (back grid height-front grid height) on the difference between the front grid height and the back grid height of grids at the same coordinate position, and the grid area is calculated, so that the specific deformation volume is calculated.
The method comprises the steps of setting a region according to the maximum value projected by the three-dimensional point cloud on an X axis and a Y axis, and setting the size of each grid according to the selected precision, so that the grid area is obtained.
(10) And for empty grids still existing after the grid rationality rule is met, interpolation is carried out through a Lagrange algorithm, so that empty values are filled, and errors are reduced.
The above embodiments are merely illustrative of the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but various modifications and improvements made by those skilled in the art to which the present invention pertains are made without departing from the spirit of the present invention, and all modifications and improvements fall within the scope of the present invention as defined in the appended claims.
Claims (10)
1. The method for calculating the volume and the surface deformation volume of the tailing dam based on the three-dimensional point cloud is characterized by comprising the following steps of:
collecting three-dimensional point cloud data of the dam body surface of the tailing pond, and preprocessing the three-dimensional point cloud data;
and carrying out grid division on the preprocessed three-dimensional point cloud data to obtain grid heights, and superposing the grid heights to obtain the volume and the surface deformation volume of the tailing dam.
2. The method of calculating a tailings dam volume and a surface deformation volume based on a three-dimensional point cloud of claim 1 wherein preprocessing the three-dimensional point cloud data comprises:
and carrying out noise reduction processing on the three-dimensional point cloud data based on a method for analyzing the local characteristics of the point cloud, removing discrete points in the three-dimensional point cloud data by judging the discrete points, screening the three-dimensional point cloud data subjected to the noise reduction processing in a preset three-dimensional coordinate interval, and reserving the three-dimensional point cloud data in the preset three-dimensional coordinate interval.
3. The method for calculating a tailings dam volume and a surface deformation volume based on a three-dimensional point cloud as claimed in claim 1, wherein the mesh division of the preprocessed three-dimensional point cloud data comprises:
projecting the preprocessed three-dimensional point cloud data onto an XOY plane under the same coordinate system, acquiring coordinates of two-dimensional points, analyzing the coordinates of the two-dimensional points, and determining the size of a single divided grid.
4. A method of calculating a tailings dam volume and surface deformation volume based on a three-dimensional point cloud as claimed in claim 3 wherein determining the size of the single mesh to be partitioned comprises:
extracting the maximum value and the minimum value of the X coordinate of the two-dimensional point and the maximum value and the minimum value of the Y coordinate of the two-dimensional point, and presetting a step length; subtracting the minimum value on the X coordinate from the maximum value on the X coordinate and dividing the minimum value by the preset step length to determine the X-axis width of the single divided grid; and subtracting the minimum value on the Y coordinate from the maximum value on the Y coordinate and dividing the minimum value on the Y coordinate by the preset step length to determine the Y-axis width of the single division grid.
5. A method of calculating a tailings dam volume and surface deformation volume based on a three-dimensional point cloud as claimed in claim 3, further comprising, prior to obtaining the mesh height:
and carrying out rationality analysis on the size of the single grid after division, and adjusting the single grid according to a rationality analysis result.
6. The method for calculating a volume and a surface deformation volume of a tailings dam based on a three-dimensional point cloud as claimed in claim 5, wherein the rationality analysis of the size of the single grid after division, and the adjustment of the single grid according to the rationality analysis result comprises:
judging the proportion of the number of the single grids without any three-dimensional points to the total grids, and setting a duty ratio threshold; if the proportion is larger than the duty ratio threshold value, performing iterative processing by reducing the number of divided grids and increasing the size of the single grid until the size of the grid can pass the rationality analysis, and if the proportion is not larger than the duty ratio threshold value, not performing any processing.
7. The method of calculating a tailings dam volume and surface deformation volume based on a three-dimensional point cloud of claim 6 wherein adjusting the single mesh in accordance with the rationality analysis comprises:
and interpolating the single grids with the empty size in the grid size meeting the rationality analysis condition through a Lagrange algorithm, and filling the empty value.
8. A method of calculating a tailings dam volume and surface deformation volume based on a three-dimensional point cloud as claimed in claim 3, further comprising, prior to obtaining the mesh height:
and analyzing the coordinates of the two-dimensional points projected onto the XOY plane, calculating a Delaunay triangle network, acquiring different external polygons according to the adjustment threshold, and acquiring the contours projected onto the two-dimensional points based on the different external polygons.
9. The method of calculating a tailings dam volume and surface deformation volume based on a three-dimensional point cloud of claim 8 wherein the mesh height comprises:
and (3) indexing the Z-axis height of each two-dimensional point in each grid by analyzing the two-dimensional points projected onto the XOY plane, and taking the average value of the Z-axis heights of all the two-dimensional points as the grid height.
10. The method of calculating a tailings dam volume and a surface deformation volume based on a three-dimensional point cloud of claim 9 wherein superimposing the mesh heights comprises:
multiplying the height of each grid by the area of the grid, multiplying the width of the X axis of the grid by the width of the Y axis of the grid, and accumulating the grid and the X axis to obtain the volume of the tailing dam;
performing differential statistics on the difference between the heights of the front grid and the rear grid of the same grid to obtain the surface deformation volume;
and setting an area region according to the maximum value of the projection of the three-dimensional point cloud on the X axis and the Y axis, setting the size of each grid, and acquiring the grid area based on the area region and the size of each grid.
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