CN116465370A - Method and system for calculating soil and stone quantity of dense vegetation area - Google Patents
Method and system for calculating soil and stone quantity of dense vegetation area Download PDFInfo
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- 239000004575 stone Substances 0.000 title claims abstract description 38
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- 239000002689 soil Substances 0.000 title description 2
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- 238000011065 in-situ storage Methods 0.000 claims description 9
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- 238000004140 cleaning Methods 0.000 claims description 5
- 238000009412 basement excavation Methods 0.000 claims description 3
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The invention discloses a method and a system for calculating the earth and stone quantity of a dense vegetation area based on an unmanned aerial vehicle inclined projection model, which are characterized in that an original topographic image is obtained by utilizing an unmanned aerial vehicle, and an acquired aerial survey photo is stored in an aerial photographing data acquisition platform; performing post-processing on aerial survey photos stored by the aerial photographing data acquisition platform by using a three-dimensional modeling technology, so as to realize dense matching of multiple visual images; arranging image control points at preset intervals, measuring the coordinate quantity of the image control points, marking corresponding puncture point positions on the post-processed aerial survey photo, and forming oblique photography true three-dimensional data; optimizing the layout and measurement of the image control points, generating a high-density point cloud, and re-matching all the positions of the image control points; and after the spatial geographic coordinates and the elevation of the post-processed aerial survey photo are constrained by adopting the re-matched image control points, the model is refined. The invention reduces the investment of manpower and material resources and saves the cost; the construction efficiency and accuracy are improved, and the construction cost is reduced.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle aerial survey, and particularly discloses a method and a system for calculating the earth and stone quantity of a dense vegetation area based on an unmanned aerial vehicle inclined projection model.
Background
Along with the continuous improvement of the measurement technology in China, people have higher requirements on the precision and the planning cost of the current period planning of expressway items; at present, the in-situ measurement of the expressway generally adopts a GPS (Global Positioning System ) and RTK (Real-time kinematic) field measurement method, and the method has the defects of consuming a great deal of manpower to perform the original topography measurement, along with low efficiency, long period and high cost, and is not ideal from the aspects of measurement results and cost.
Therefore, the existing expressway in-situ feature measurement method is time-consuming, labor-consuming, low in efficiency, long in period and high in cost, and is a technical problem to be solved urgently.
Disclosure of Invention
The invention provides a method and a system for calculating the earth and stone quantity of a dense vegetation area based on an unmanned aerial vehicle inclined projection model, and aims to solve the technical problems of time and labor consumption, low efficiency, long period and high cost in the existing expressway in-situ aspect measurement method.
One aspect of the invention relates to a method for calculating the earth and stone quantity of a dense vegetation area, comprising the following steps:
planning a project area and an unmanned aerial vehicle route, acquiring an original terrain image by using the unmanned aerial vehicle, and storing the acquired aerial survey photo to an aerial photographing data acquisition platform;
performing post-processing on aerial survey photos stored by the aerial photographing data acquisition platform by using a three-dimensional modeling technology, so as to realize dense matching of multiple visual images;
arranging image control points at preset intervals, measuring the sitting quantity of the image control points, and marking corresponding puncture point positions on the post-processed aerial survey photo by using a software processing point cloud model to form oblique photography true three-dimensional data;
optimizing the layout and measurement of the image control points, generating a high-density point cloud, and re-matching all the positions of the image control points;
after constraining the space geographic coordinates and the elevation of the post-processed aerial survey photo by adopting the re-matched image control points, further carrying out model refinement treatment;
completing the three-dimensional digital model processing of the complete elements and outputting a live-action three-dimensional digital model;
converting a geodetic coordinate system acquired by the unmanned aerial vehicle into an engineering coordinate system, so that the plane position and the elevation of the post-processed aerial survey photo correspond to the re-matched image control points;
loading a three-dimensional digital model into the post-processed aerial survey photo, extracting elevation points, collecting the plane position and elevation information of the post-processed aerial survey photo as the elevation points, drawing a triangular network, and drawing a corresponding contour map through the triangular network;
and generating a topographic curved surface through the contour map, and performing site appearance clear table calculation, earthwork allocation, filling and digging balance and earthwork quantity calculation.
Further, planning project areas and unmanned aerial vehicle routes, acquiring original terrain images by using the unmanned aerial vehicle, storing acquired aerial survey photos into an aerial photographing data acquisition platform,
and acquiring an original terrain image in a planned project area according to the unmanned aerial vehicle route by utilizing the five lenses carried by the multi-rotor unmanned aerial vehicle.
Further, arranging image control points at preset intervals, measuring the sitting quantity of the image control points, marking corresponding puncture point positions on the post-processed aerial survey photo by a point cloud model through software processing, and forming oblique photography true three-dimensional data,
image control points with preset intervals of 100-150 m are distributed in the field, the coordinate quantity is measured by adopting an RTK measuring instrument or a GPS instrument, and corresponding puncture point positions are marked on aerial photographs after a point cloud model is processed by software, so that oblique photography true three-dimensional data are formed.
Further, the steps of generating a topographic curved surface through a contour map, performing in-situ profile cleaning calculation, earthwork allocation, filling balance and earthwork amount calculation include:
generating a point cloud model through unmanned aerial vehicle aerial photography, extracting ground points of the point cloud model, generating DEM data with original landform elevation information, comparing the obtained measurement area DEM data with the designed original ground elevation data, and calculating earth and stone filling and excavating amount on the original ground.
Further, the steps of generating a topographic curved surface through a contour map, performing in-situ profile cleaning calculation, earthwork allocation, filling balance and earthwork amount calculation include:
and calculating the earthwork quantity of each section by using Civil3d software according to the generated contour, and further carrying out earthwork allocation and filling balance.
Another aspect of the invention relates to a system for calculating the amount of earth and stone in a dense vegetation area, comprising:
the acquisition module is used for planning project areas and unmanned aerial vehicle airlines, acquiring original terrain images by using the unmanned aerial vehicle, and storing acquired aerial survey photos to the aerial photographing data acquisition platform;
the processing module is used for performing post-processing on the aerial survey photo stored by the aerial photographing data acquisition platform by utilizing a three-dimensional modeling technology, so as to realize dense matching of multiple visual images;
the forming module is used for arranging image control points at preset intervals, measuring the sitting quantity of the image control points, and marking corresponding puncture point positions on the post-processed aerial survey photo by the point cloud model through software processing to form oblique photography true three-dimensional data;
the generation module is used for optimizing the layout and measurement of the image control points, generating a high-density point cloud and re-matching all the image control point positions;
the constraint module is used for constraining the space geographic coordinates and the elevation of the post-processed aerial survey photo by adopting the re-matched image control points and then further carrying out model refinement treatment;
the output module is used for completing the three-dimensional digital model processing of the whole element and outputting a live-action three-dimensional digital model;
the conversion module is used for converting the geodetic coordinate system acquired by the unmanned aerial vehicle into an engineering coordinate system, so that the plane position and the elevation of the post-processed aerial survey photo correspond to the re-matched image control point;
the extraction module is used for loading the three-dimensional digital model into the post-processed aerial survey photo, extracting elevation points, collecting the plane position and the elevation information of the post-processed aerial survey photo as the elevation points, drawing a triangular network, and drawing a corresponding contour map through the triangular network;
the calculation module is used for generating a topographic curved surface through the contour map, and carrying out in-situ profile clear table calculation, earthwork allocation, filling balance and earthwork quantity calculation.
Further, the acquisition module is specifically configured to acquire an original topographic image in a planned project area according to an unmanned aerial vehicle route by using five lenses carried by the multi-rotor unmanned aerial vehicle.
Further, the forming module is specifically used for laying image control points with preset intervals of 100-150 m in the field, measuring the coordinate quantity by adopting an RTK measuring instrument or a GPS instrument, processing a point cloud model by software, and marking corresponding stab point positions on aerial photos to form oblique photography true three-dimensional data.
Further, the computing module includes:
the first calculation unit is used for generating a point cloud model through unmanned aerial vehicle aerial photography, extracting ground points of the point cloud model, generating DEM data with original landform elevation information, comparing the obtained measurement area DEM data with the designed original ground elevation data, and calculating earth and stone filling and excavating amount on the original ground.
Further, the computing module includes:
and the second calculation unit is used for calculating the earthwork quantity of each section by using Civil3d software according to the generated contour line, and further carrying out earthwork allocation and filling balance.
The beneficial effects obtained by the invention are as follows:
the invention provides a method and a system for calculating the earth and stone quantity of a dense vegetation area based on an unmanned aerial vehicle inclined projection model, wherein an original terrain image is acquired by an unmanned aerial vehicle through planning a project area and an unmanned aerial vehicle route, and acquired aerial survey photos are stored in an aerial photographing data acquisition platform; performing post-processing on aerial survey photos stored by the aerial photographing data acquisition platform by using a three-dimensional modeling technology, so as to realize dense matching of multiple visual images; arranging image control points at preset intervals, measuring the sitting quantity of the image control points, and marking corresponding puncture point positions on the post-processed aerial survey photo by using a software processing point cloud model to form oblique photography true three-dimensional data; optimizing the layout and measurement of the image control points, generating a high-density point cloud, and re-matching all the positions of the image control points; after constraining the space geographic coordinates and the elevation of the post-processed aerial survey photo by adopting the re-matched image control points, further carrying out model refinement treatment; completing the three-dimensional digital model processing of the complete elements and outputting a live-action three-dimensional digital model; converting a geodetic coordinate system acquired by the unmanned aerial vehicle into an engineering coordinate system, so that the plane position and the elevation of the post-processed aerial survey photo correspond to the re-matched image control points; loading a three-dimensional digital model into the post-processed aerial survey photo, extracting elevation points, collecting the plane position and elevation information of the post-processed aerial survey photo as the elevation points, drawing a triangular network, and drawing a corresponding contour map through the triangular network; and generating a topographic curved surface through the contour map, and performing site appearance clear table calculation, earthwork allocation, filling and digging balance and earthwork quantity calculation. According to the method and the system for calculating the earth and stone quantity of the dense vegetation area based on the unmanned aerial vehicle inclined projection model, the automatic planning of the route and the automatic flight acquisition of the unmanned aerial vehicle are adopted, the three-dimensional point cloud model and the inclined photographic model are generated through a large number of photos, the coordinate system is converted by related software, the coordinate system is converted into an engineering coordinate system from a geodetic coordinate system, the calibrated elevation points are extracted from the engineering coordinate system, the contour line is generated, and the technical problem that construction projects such as highways and railways are difficult in the prior original section retest is solved; the intelligent level of the advanced planning of the expressway on site is improved, the efficiency of manual retesting and automatic obstacle ranging is improved, the investment of manpower and material resources is reduced, the cost is saved, the conflict pre-judgment between the line and the structure and the reasonable planning of the temporary construction site are realized, the section measurement of the current period and the land and stone deployment construction efficiency and accuracy are improved, and the construction cost is reduced.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a method for calculating the amount of earth and stone in a dense vegetation area according to the present invention;
FIG. 2 is a schematic illustration of route planning and shooting in accordance with the present invention;
FIG. 3 is a schematic diagram of the generation of an empty three model of the present invention;
FIG. 4 is a schematic diagram of the coordinate transformation according to the present invention;
FIG. 5 is a schematic diagram of the tilt model generation of the present invention;
FIG. 6 is a schematic view of the extracted elevation points of the present invention;
FIG. 7 is a schematic diagram of a triangulation network according to the present invention;
FIG. 8 is a schematic drawing of a contour plot of the present invention;
FIG. 9 is a schematic view of the invention for generating contours and calculating the amount of earth and stone from a design section;
FIG. 10 is a flowchart of a second embodiment of a method for calculating the amount of earth and stone in a dense vegetation area according to the present invention;
FIG. 11 is a functional block diagram of an embodiment of a system for calculating the amount of earth and stone in a dense vegetation area according to the present invention;
FIG. 12 is a functional block diagram of an embodiment of the computing module shown in FIG. 11.
Reference numerals illustrate:
10. an acquisition module; 20. a processing module; 30. forming a module; 40. a generating module; 50. a constraint module; 60. an output module; 70. a conversion module; 80. an extraction module; 90. a computing module; 91. a first calculation unit; 92. and a second calculation unit.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 10, an embodiment of the present invention provides a method for calculating the amount of earth and stone in a dense vegetation area, which includes the following steps:
and step S100, planning a project area and an unmanned aerial vehicle route, acquiring an original terrain image by using the unmanned aerial vehicle, and storing the acquired aerial survey photo to an aerial photographing data acquisition platform.
Please see fig. 2, five lenses are carried by the multi-rotor unmanned aerial vehicle, and an original topographic image is obtained in a planned project area according to the unmanned aerial vehicle route. And reasonably planning a photo acquisition area and a flight route according to the length and the width of the line, so as to ensure the optimal completion of the task. The adopted Sier five-lens shooting is that the pixels are not lower than 2000W, and the five-lens shooting can complete the oblique shooting task by only one route. The course overlapping rate of the unmanned aerial vehicle is not lower than 80%, the side overlapping rate is not lower than 70%, the flight height of the unmanned aerial vehicle is not higher than 120m from the ground, and the ground resolution is ensured to be 0.012m.
And step 200, performing post-processing on aerial photographs stored by the aerial data acquisition platform by utilizing a three-dimensional modeling technology, so as to realize dense matching of multiple visual images.
And performing post-processing on aerial photographs stored by the aerial data acquisition platform by utilizing a three-dimensional modeling technology of third-party graphic processing software to realize dense matching of multiple visual images, wherein the dense matching of the visual images is a process of searching for connection point networking, and simultaneously eliminating redundant information in the multiple visual image data.
And step S300, arranging image control points at preset intervals, measuring the sitting quantity of the image control points, and marking corresponding puncture point positions on the post-processed aerial survey photo by using a software processing point cloud model to form oblique photography true three-dimensional data.
Referring to fig. 3, image control points with preset intervals of 100-150 m are distributed in the field, coordinate values are measured by an RTK measuring instrument or a GPS instrument, corresponding stab point positions are marked on aerial photographs after a point cloud model is processed through software, and oblique photography true three-dimensional data are formed. And arranging image control points according to the grid distance of 100-150 m, so as to ensure the accuracy of acquired data.
And step S400, optimizing the layout and measurement of the image control points, generating a high-density point cloud, and re-matching all the image control point positions.
And optimizing the layout and measurement of the image control points through software again, generating a high-density point cloud, and re-matching all the image control point positions.
And S500, restraining the space geographic coordinates and the elevation of the post-processed aerial survey photo by adopting the re-matched image control points, and further carrying out model refinement treatment.
And after the image control points are adopted to restrict the space geographic coordinates and the elevation of the photo, further carrying out model refinement treatment. And performing definition inspection on the image data in the unmanned aerial vehicle aerial photographing operation, and if the image data of the unmanned aerial vehicle aerial photographing operation accords with a preset definition threshold value, further processing the aerial survey photo.
And S600, completing the processing of the three-dimensional digital model of the whole element, and outputting a live-action three-dimensional digital model.
And (3) completing the three-dimensional digital model processing of the complete elements and outputting a live-action three-dimensional digital model. The three-dimensional digital model contains longitude, latitude, and altitude values at which the three-dimensional digital model is located.
And S700, converting the geodetic coordinate system acquired by the unmanned aerial vehicle into an engineering coordinate system, and enabling the plane position and the elevation of the post-processed aerial survey photo to correspond to the re-matched image control point.
Please refer to fig. 4, the coordinate system is converted by adopting related software, and the geodetic coordinate system collected by the unmanned aerial vehicle is converted into an engineering coordinate system, so that the plane position and the elevation of the engineering coordinate system correspond to the image control point. The aerial survey photo processing comprises seven-parameter calculation, photo introduction and image control point introduction, wherein the seven-parameter calculation is used for converting a coordinate system, and then the three parts of seven-parameter calculation, photo introduction and image control point introduction are subjected to space three encryption processing.
And step S800, loading a three-dimensional digital model into the post-processed aerial survey photo, extracting elevation points, collecting the plane position and the elevation information of the post-processed aerial survey photo as the elevation points, drawing a triangular network, and drawing a corresponding contour map through the triangular network.
Please refer to fig. 5 to fig. 8, after the three-dimensional digital model is loaded into the software by the third party software, the elevation points are extracted, the plane position and the elevation information are collected as the elevation points, the triangle network is drawn by the software, and the corresponding contour map is drawn by the triangle network.
And step S900, generating a topographic curved surface through a contour map, and performing in-situ profile cleaning calculation, earthwork allocation, filling balance and earthwork amount calculation.
Referring to fig. 9, a point cloud model is generated through unmanned aerial vehicle aerial photography, ground points of the point cloud model are extracted, DEM (Digital Elevation Model ) data with original landform elevation information are generated, the obtained measurement area DEM data are compared with design original ground elevation data, the height Cheng Dian of the obtained measurement area DEM data is compared with corresponding elevation points in the design original ground elevation data, the height difference of the corresponding elevation points is obtained, and earth and stone filling and excavation amount on the original ground is calculated according to the obtained height difference of the corresponding elevation points.
And calculating the earthwork quantity of each section by using Civil3d software according to the generated contour, and further carrying out earthwork allocation and filling balance. The earth balance allocation is an important content of the earth leveling planning design, and aims to determine the allocation direction and quantity of earthwork in a filling and digging area under the condition that the earth transportation quantity or the earth transportation cost is the lowest, so that the aims of shortening the construction period and improving the economic benefit are fulfilled. The earthwork balance and allocation must be carried out by comprehensively considering the engineering and site conditions, the progress requirement and the earthwork construction machinery, and the earthwork stacking and allocation problems of the staged batch construction engineering. After comprehensive research, the principle of balancing and blending is determined, the earthwork balancing and blending work can be started. If the earthwork allocation area is divided, calculating the average distance of transportation of earthwork and the transportation price of unit earthwork, and determining the optimal allocation scheme of earthwork.
Compared with the prior art, the method for calculating the earth and stone quantity of the dense vegetation area based on the unmanned aerial vehicle inclined projection model has the advantages that through planning project areas and unmanned aerial vehicle routes, an original terrain image is obtained through the unmanned aerial vehicle, and the collected aerial survey photos are stored in an aerial photographing data collection platform; performing post-processing on aerial survey photos stored by the aerial photographing data acquisition platform by using a three-dimensional modeling technology, so as to realize dense matching of multiple visual images; arranging image control points at preset intervals, measuring the sitting quantity of the image control points, and marking corresponding puncture point positions on the post-processed aerial survey photo by using a software processing point cloud model to form oblique photography true three-dimensional data; optimizing the layout and measurement of the image control points, generating a high-density point cloud, and re-matching all the positions of the image control points; after constraining the space geographic coordinates and the elevation of the post-processed aerial survey photo by adopting the re-matched image control points, further carrying out model refinement treatment; completing the three-dimensional digital model processing of the complete elements and outputting a live-action three-dimensional digital model; converting a geodetic coordinate system acquired by the unmanned aerial vehicle into an engineering coordinate system, so that the plane position and the elevation of the post-processed aerial survey photo correspond to the re-matched image control points; loading a three-dimensional digital model into the post-processed aerial survey photo, extracting elevation points, collecting the plane position and elevation information of the post-processed aerial survey photo as the elevation points, drawing a triangular network, and drawing a corresponding contour map through the triangular network; and generating a topographic curved surface through the contour map, and performing site appearance clear table calculation, earthwork allocation, filling and digging balance and earthwork quantity calculation. According to the method for calculating the earth and stone quantity of the dense vegetation area based on the unmanned plane inclined projection model, which is provided by the embodiment, the intelligent level of the original land feature retest of the early planning of the expressway is improved, the efficiency of manual retest and automatic obstacle ranging is improved, the investment of manpower and material resources is reduced, the cost is saved, the conflict prejudgment between lines and structures and the reasonable planning of the temporary construction site are also realized, the section measurement and earth and stone deployment construction efficiency and accuracy of the current section of the expressway are improved, and the construction cost is reduced.
As shown in fig. 11, fig. 11 is a functional block diagram of an embodiment of a system for calculating the earth and stone quantity of a dense vegetation area, where in this embodiment, the system for calculating the earth and stone quantity of a dense vegetation area includes an acquisition module 10, a processing module 20, a forming module 30, a generating module 40, a constraint module 50, an output module 60, a conversion module 70, an extraction module 80 and a calculation module 90, where the acquisition module 10 is used for planning a project area and an unmanned aerial vehicle, acquiring an original topographic image by using the unmanned vehicle, and saving an acquired aerial survey photo to an aerial photographing data acquisition platform; the processing module 20 is used for performing post-processing on aerial photographs stored by the aerial data acquisition platform by utilizing a three-dimensional modeling technology, so as to realize dense matching of multiple visual images; the forming module 30 is configured to arrange image control points at predetermined intervals, measure a sitting amount of the image control points, and mark corresponding puncture point positions on the post-processed aerial survey photo by using the software processing point cloud model to form oblique photography true three-dimensional data; the generating module 40 is configured to optimize the layout and measurement of the image control points, generate a high-density point cloud, and re-match all the positions of the image control points; the constraint module 50 is used for further carrying out model refinement treatment after constraining the space geographic coordinates and the elevation of the post-treated aerial survey photo by adopting the re-matched image control points; the output module 60 is used for completing the three-dimensional digital model processing of the full elements and outputting a live three-dimensional digital model; the conversion module 70 is configured to convert the geodetic coordinate system acquired by the unmanned aerial vehicle into an engineering coordinate system, so that the planar position and the elevation of the post-processed aerial survey photo correspond to the re-matched image control point; the extraction module 80 is used for loading the three-dimensional digital model into the post-processed aerial survey photo, extracting elevation points, collecting the plane position and the elevation information of the post-processed aerial survey photo as the elevation points, drawing a triangle network, and drawing a corresponding contour map through the triangle network; the calculation module 90 is used for generating a topographic curved surface through a contour map, and performing in-situ profile cleaning calculation, earthwork allocation, filling balance and earthwork amount calculation.
The acquisition module 10 utilizes a multi-rotor unmanned aerial vehicle to carry five lenses, and acquires original topographic images in a planned project area according to the unmanned aerial vehicle route. And reasonably planning a photo acquisition area and a flight route according to the length and the width of the line, so as to ensure the optimal completion of the task. The adopted Sier five-lens shooting is that the pixels are not lower than 2000W, and the five-lens shooting can complete the oblique shooting task by only one route. The course overlapping rate of the unmanned aerial vehicle is not lower than 80%, the side overlapping rate is not lower than 70%, the flight height of the unmanned aerial vehicle is not higher than 120m from the ground, and the ground resolution is ensured to be 0.012m.
The processing module 20 performs post-processing on aerial photographs stored by the aerial data acquisition platform by using a three-dimensional modeling technology of third-party graphic processing software to realize dense matching of multiple video images, wherein the dense matching of the video images is a process of searching for connection points to form a network, and meanwhile, redundant information in the multiple video image data is eliminated.
The forming module 30 lays image control points with preset intervals of 100-150 m in the field, and measures the coordinate quantity by adopting an RTK measuring instrument or a GPS instrument, and marks corresponding stab point positions on aerial survey photos after processing a point cloud model by software to form oblique photography true three-dimensional data. And arranging image control points according to the grid distance of 100-150 m, so as to ensure the accuracy of acquired data.
The generating module 40 optimizes the layout and measurement of the image control points again through software, generates a high-density point cloud, and re-matches all the image control point positions.
The constraint module 50 adopts the image control points to constrain the space geographic coordinates and the elevation of the photo, and then further refines the model. And performing definition inspection on the image data in the unmanned aerial vehicle aerial photographing operation, and if the image data of the unmanned aerial vehicle aerial photographing operation accords with a preset definition threshold value, further processing the aerial survey photo.
The output module 60 completes the processing of the three-dimensional digital model of the full element and outputs the live three-dimensional digital model. The three-dimensional digital model contains longitude, latitude, and altitude values at which the three-dimensional digital model is located.
The conversion module 70 adopts related software to perform coordinate system conversion, and converts the geodetic coordinate system acquired by the unmanned aerial vehicle into an engineering coordinate system, so that the plane position and the elevation of the engineering coordinate system correspond to the image control point. The aerial survey photo processing comprises seven-parameter calculation, photo introduction and image control point introduction, wherein the seven-parameter calculation is used for converting a coordinate system, and then the three parts of seven-parameter calculation, photo introduction and image control point introduction are subjected to space three encryption processing.
The extraction module 80 loads the three-dimensional digital model into the software through third-party software, extracts elevation points, collects plane position and elevation information of the three-dimensional digital model as the elevation points, performs triangle network drawing through the software, and draws a corresponding contour map through the triangle network.
Please refer to fig. 12, the calculation module 90 includes a first calculation unit 91 and a second calculation unit 92, wherein the first calculation unit 91 is configured to generate a point cloud model through unmanned aerial vehicle aerial photography, extract ground points of the point cloud model, generate DEM data with original landform elevation information, compare the obtained DEM data of the measurement area with the design original ground elevation data, compare the height Cheng Dian of the obtained DEM data of the measurement area with corresponding elevation points in the design original ground elevation data, obtain height differences of the corresponding elevation points, and calculate earth and stone filling and excavation amounts on the original ground according to the obtained height differences of the corresponding elevation points.
And a second calculation unit 92, configured to calculate the earthwork amount of each section according to the generated contour line by using the Civil3d software, and further perform earthwork deployment and filling balance.
Compared with the prior art, the system for calculating the earth and stone quantity of the dense vegetation area based on the unmanned aerial vehicle inclined projection model provided by the embodiment adopts the acquisition module 10, the processing module 20, the forming module 30, the generating module 40, the constraint module 50, the output module 60, the conversion module 70, the extraction module 80 and the calculation module 90, and acquires original topographic images by planning project areas and unmanned aerial vehicle airlines and using the unmanned aerial vehicle, and saves acquired aerial survey photos to an aerial photographing data acquisition platform; performing post-processing on aerial survey photos stored by the aerial photographing data acquisition platform by using a three-dimensional modeling technology, so as to realize dense matching of multiple visual images; arranging image control points at preset intervals, measuring the sitting quantity of the image control points, and marking corresponding puncture point positions on the post-processed aerial survey photo by using a software processing point cloud model to form oblique photography true three-dimensional data; optimizing the layout and measurement of the image control points, generating a high-density point cloud, and re-matching all the positions of the image control points; after constraining the space geographic coordinates and the elevation of the post-processed aerial survey photo by adopting the re-matched image control points, further carrying out model refinement treatment; completing the three-dimensional digital model processing of the complete elements and outputting a live-action three-dimensional digital model; converting a geodetic coordinate system acquired by the unmanned aerial vehicle into an engineering coordinate system, so that the plane position and the elevation of the post-processed aerial survey photo correspond to the re-matched image control points; loading a three-dimensional digital model into the post-processed aerial survey photo, extracting elevation points, collecting the plane position and elevation information of the post-processed aerial survey photo as the elevation points, drawing a triangular network, and drawing a corresponding contour map through the triangular network; and generating a topographic curved surface through the contour map, and performing site appearance clear table calculation, earthwork allocation, filling and digging balance and earthwork quantity calculation. The system for calculating the earth and stone quantity of the vegetation dense area based on the unmanned plane inclined projection model improves the intelligentized level of the advanced planning of the original landform retest of the expressway, improves the efficiency of manual retest and automatic ranging of obstacles, reduces the investment of manpower and material resources, saves the cost, realizes the conflict prejudgment between lines and structures and the reasonable planning of the temporary construction sites, improves the section measurement and earth and stone deployment construction efficiency and accuracy rate of the current period of the project, and reduces the construction cost; according to the method, the three-dimensional mapping efficiency of an actual project is improved in a mode of combining RTK mobile measurement with unmanned aerial vehicle aerial survey, the time for acquiring original terrain elevation data is shortened, and the method is improved by more than 40% compared with a traditional method; and meanwhile, the original topography and the relief are reflected in a three-dimensional modeling form, and the rationality of the planning of the later-stage construction scheme is more intuitively reflected.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method for calculating the amount of earth and stone in a dense vegetation area, comprising the steps of:
planning a project area and an unmanned aerial vehicle route, acquiring an original terrain image by using the unmanned aerial vehicle, and storing the acquired aerial survey photo to an aerial photographing data acquisition platform;
performing post-processing on the aerial survey photo stored by the aerial photographing data acquisition platform by utilizing a three-dimensional modeling technology, so as to realize dense matching of multiple visual images;
arranging image control points at preset intervals, measuring the sitting quantity of the image control points, and marking corresponding puncture point positions on a post-processed aerial survey photo by a point cloud model through software processing to form oblique photography true three-dimensional data;
optimizing the layout and measurement of the image control points, generating a high-density point cloud, and re-matching all the image control point positions;
after constraining the space geographic coordinates and the elevation of the post-processed aerial survey photo by adopting the re-matched image control points, further carrying out model refinement treatment;
completing the three-dimensional digital model processing of the complete elements and outputting a live-action three-dimensional digital model;
converting a geodetic coordinate system acquired by the unmanned aerial vehicle into an engineering coordinate system, so that the plane position and the elevation of the post-processed aerial survey photo correspond to the re-matched image control points;
loading a three-dimensional digital model into the post-processed aerial survey photo, extracting elevation points, collecting the plane position and elevation information of the post-processed aerial survey photo as the elevation points, drawing a triangular network, and drawing a corresponding contour map through the triangular network;
and generating a topographic curved surface through the contour map, and performing site appearance clear table calculation, earthwork allocation, filling and digging balance and earthwork quantity calculation.
2. The method for calculating the earth and stone quantity of a dense vegetation area according to claim 1, wherein the planning project area and the unmanned aerial vehicle route are obtained by using the unmanned aerial vehicle to obtain an original terrain image, the obtained aerial survey photo is stored in an aerial photographing data acquisition platform,
and carrying five lenses by using the multi-rotor unmanned aerial vehicle, and acquiring original topographic images in a planned project area according to the unmanned aerial vehicle route.
3. The method according to claim 1, wherein the image control points are arranged at predetermined intervals, the sitting amount of the image control points is measured, the corresponding stab point positions are marked on the post-processed aerial survey photo by the software processing point cloud model, and the step of forming oblique photography true three-dimensional data,
image control points with preset intervals of 100-150 m are distributed in the field, the coordinate quantity is measured by adopting an RTK measuring instrument or a GPS instrument, and corresponding puncture point positions are marked on aerial photographs after a point cloud model is processed by software, so that oblique photography true three-dimensional data are formed.
4. The method for calculating the earth and stone quantity of a dense vegetation area according to claim 1, wherein the step of generating a topographic surface through a contour map, performing in-situ profile calculation, earth deployment, earth fill balance and earth quantity calculation comprises:
generating a point cloud model through unmanned aerial vehicle aerial photography, extracting ground points of the point cloud model, generating DEM data with original landform elevation information, comparing the obtained measurement area DEM data with the design original ground elevation data, and calculating earth and stone filling and excavating amount on the original ground.
5. The method for calculating the earth and stone quantity in a dense vegetation area according to claim 4, wherein the step of generating a topographic surface through a contour map, performing in-situ profile calculation, earth deployment, earth fill balance and earth quantity calculation comprises:
and calculating the earthwork quantity of each section by using Civil3d software according to the generated contour, and further carrying out earthwork allocation and filling balance.
6. A system for calculating the amount of earth and stone in a dense vegetation area, comprising:
the acquisition module (10) is used for planning project areas and unmanned aerial vehicle airlines, acquiring original terrain images by using the unmanned aerial vehicle, and storing acquired aerial survey photos to the aerial photographing data acquisition platform;
the processing module (20) is used for performing post-processing on the aerial survey photo stored by the aerial photographing data acquisition platform by utilizing a three-dimensional modeling technology so as to realize dense matching of multiple visual images;
the forming module (30) is used for arranging image control points at preset intervals, measuring the sitting quantity of the image control points, and marking corresponding puncture point positions on the post-processed aerial survey photo through the software processing point cloud model to form oblique photography true three-dimensional data;
the generation module (40) is used for optimizing the arrangement and measurement of the image control points, generating a high-density point cloud and re-matching all the image control point positions;
the constraint module (50) is used for further carrying out model refinement treatment after constraining the space geographic coordinates and the elevation of the post-treated aerial survey photo by adopting the re-matched image control points;
the output module (60) is used for completing the three-dimensional digital model processing of the full elements and outputting a live three-dimensional digital model;
the conversion module (70) is used for converting the geodetic coordinate system acquired by the unmanned aerial vehicle into an engineering coordinate system, so that the plane position and the elevation of the post-processed aerial survey photo correspond to the re-matched image control point;
the extraction module (80) is used for loading the three-dimensional digital model into the post-processed aerial survey photo, extracting elevation points, collecting the plane position and the elevation information of the post-processed aerial survey photo as the elevation points, drawing a triangular network, and drawing a corresponding contour map through the triangular network;
and the calculation module (90) is used for generating a topographic curved surface through the contour map, and carrying out site appearance cleaning calculation, earthwork allocation, filling balance and earthwork quantity calculation.
7. The system for calculating the earth and stone quantity in a dense vegetation area according to claim 6, wherein the acquisition module (10) is specifically configured to use a multi-rotor unmanned aerial vehicle to carry five lenses, and acquire an original topographic image in a planned project area according to the unmanned aerial vehicle route.
8. The system for calculating the earth and stone quantity in a dense vegetation area according to claim 6, wherein the forming module (30) is specifically configured to lay image control points with preset intervals of 100-150 m in the field, measure the coordinate quantity by using an RTK measuring instrument or a GPS instrument, process a point cloud model by software, and mark corresponding stab positions on aerial photographs to form oblique photography true three-dimensional data.
9. The system for calculating the amount of earth and stone in a dense vegetation area of claim 6 wherein the calculating module (90) comprises:
and the first calculation unit (91) is used for generating a point cloud model through unmanned aerial vehicle aerial photography, extracting ground points of the point cloud model, generating DEM data with original landform elevation information, comparing the obtained measurement area DEM data with the design original ground elevation data, and calculating earth and stone filling and excavation amount on the original ground.
10. The system for calculating the amount of earth and stone in a dense vegetation area of claim 9 wherein the calculating module (90) comprises:
and the second calculation unit (92) is used for calculating the earthwork quantity of each section by using the Civil3d software according to the generated contour line so as to perform earthwork allocation and filling balance.
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