CN205940550U - Unmanned aerial vehicle measures equipment of side slope and foundation ditch excavation volume - Google Patents
Unmanned aerial vehicle measures equipment of side slope and foundation ditch excavation volume Download PDFInfo
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- CN205940550U CN205940550U CN201620468169.4U CN201620468169U CN205940550U CN 205940550 U CN205940550 U CN 205940550U CN 201620468169 U CN201620468169 U CN 201620468169U CN 205940550 U CN205940550 U CN 205940550U
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Abstract
The utility model relates to an unmanned aerial vehicle measures equipment of side slope and foundation ditch excavation volume, including flight control for maintain unmanned aerial vehicle stabilized flight, handle the received instruction and control unmanned aerial vehicle and accomplish related operations, record flight data, satellite positioning system for receive the satellite signal to flight control provides unmanned aerial vehicle position and azimuth information, flight data storae system for the flight data that storage unmanned aerial vehicle flight in -process produced, the unmanned aerial vehicle machine carries the camera for the execution is to measuring the regional task of taking a picture and saving and take pictures. The utility model discloses a flight control, satellite positioning system, flight data storae system and the machine that set up at unmanned aerial vehicle carry the reducible field process of camera volume, shorten measuring period, avoid artificial intervention measurement process and influence ultimate measuring result to multiunit three -dimensional model intercomparison and the measurement that certain time interval repeated measurement acquireed can calculate the engineering volume of the cubic metre of earth and stone, is favorable to an accuse project progress.
Description
Technical field
This utility model is related to a kind of computing system of slope excavating earth volume in earth and rock works, especially with unmanned
Machine aerial images are obtaining the computing system of side slope earth volume.
Background technology
Earth surface has high or low hillside fields and its side slope everywhere, in civil engineering project, is frequently encountered by cutting and opens
Dig, large-scale levelling of the land, slope treatment excavation of foundation pit etc. need to fill out the problem of earth excavation, this is accomplished by determining that side slope fills out earth excavation
Amount.The calculating of earth volume is one of engineering construction important step, it be engineering cost budgetary estimate and scheme preferably important because
Element, is also an important component part of engineering design, is directly connected to construction costs.
In current side slope Earthwork Calculation, conventional is the Traditional Man computational methods such as method of section, or based on soil
Square software for calculation is calculated.The result of calculation difference being obtained using different calculation methods is also larger, there is certain subjectivity,
Degree of accuracy cannot guarantee that.Using the method for earthwork computed in software, the optimization after all or to traditional method and packaging, behaviour
When making different, calculated earth volume also has difference.Generally topography variation is more complicated due to side slope, section not yet
Rule, when being calculated using existing method, its degree of accuracy is just more difficult to ensure that.In some real projects, because of earth volume
The accuracy that calculates and the dispute that produces also happens occasionally.Continuous development with unmanned air vehicle technique and application, by new technique
With a kind of new equipment reliability of research and development and objective side slope earth volume measurement system, make up the deficiency of aging method, be setting of engineering
It is very valuable that meter, construction, cost control etc. provide reference.
Utility model content
The technical problems to be solved in the utility model is, for the defect of prior art, provides a kind of unmanned plane measurement
Side slope and the equipment of excavation of foundation pit amount.
This utility model solves its technical problem and be employed technical scheme comprise that：Construct a kind of unmanned plane measurement side slope and base
The equipment of hole excavated volume, including：
Flight control system, for maintain unmanned plane stabilized flight, process receive instruct and control unmanned plane to complete
Associative operation, record flight data；
Global position system, provides unmanned plane position and side for receiving satellite-signal to described flight control system
Position information；
Flying quality storage system, for the flying quality producing during storing unmanned plane during flying；
Unmanned aerial vehicle onboard camera, it is unmanned aerial vehicle onboard equipment, and carry, on unmanned plane body, is used in flight course
The task store shooting photo of taking pictures to measured zone for the execution.
Measure in side slope and the equipment of excavation of foundation pit amount in a kind of unmanned plane described in the utility model, also include：
Camera shutter control system, it is connected with flight control system, when flight control system sends photographing instruction, phase
Machine shutter control system triggering unmanned aerial vehicle onboard camera is taken pictures action, and unmanned aerial vehicle onboard camera completes once photo taking；
Camera attitude stability augmentation system, for ensureing unmanned aerial vehicle onboard camera attitude stability and reducing vibration raising shooting photograph
The quality of piece.
Measure in side slope and the equipment of excavation of foundation pit amount in a kind of unmanned plane described in the utility model, also include controlling
Receiving system and control signal emission system, pass through control signal emission system to control signal reception system from manipulator
Transmitting sends unmanned aerial vehicle (UAV) control signal, and control signal reception system sends the control signal receiving to flight control system,
Flight control system controls unmanned plane to realize manipulator needs the action of unmanned plane execution.
Measure in side slope and the equipment of excavation of foundation pit amount in a kind of unmanned plane described in the utility model, also include airborne end
Data transmission system, ground surface end data transmission system and ground station control system, flight control system is passed by airborne end data
Defeated system sends unmanned plane current flight state, and ground surface end data transmission system receives airborne end data Transmission system and sends out
Flying quality after shown by ground station control system, unmanned plane manipulator can with ground station control system pass through ground
Face end data Transmission system sends flight control instruction to airborne end data Transmission system, and airborne end data Transmission system receives
Transfer the instructions to flight control system after flight control instruction, control unmanned plane to complete dependent instruction behaviour by flight control system
Make.
Measure in side slope and the equipment of excavation of foundation pit amount in a kind of unmanned plane described in the utility model, also include airborne
Penetrate end image delivering system, ground receiver end image delivering system and image display system, launched by airplane end image delivering system
Picture captured by unmanned aerial vehicle onboard camera lens is sent to ground receiver end image delivering system, image display system is by ground
The image that face receiving terminal image delivering system receives shows.
Measure in side slope and the equipment of excavation of foundation pit amount in a kind of unmanned plane described in the utility model, also include computer
System, the later stage obtaining data for unmanned plane is processed, by the flying quality in flying quality storage system and unmanned aerial vehicle onboard
Magazine data imports to computer system and carries out later stage process, the side slope three-dimensional information model required for obtaining；According to work
Journey design requirement, is made original side slope and is dug process through filling out using BIM (Building Information Modeling) technology
BIM afterwards, i.e. the threedimensional model of construction drawing；The original side slope three-dimensional information model that unmanned plane obtains with
Carry out calculating using the information model importing software that BIM technology is made and compare process, obtain the earth volume information of side slope.
Measure in side slope and the equipment of excavation of foundation pit amount in a kind of unmanned plane described in the utility model, also include：
Energy resource system, for providing the necessary energy for unmanned plane normal work；
Dynamical system, for providing necessary power for unmanned plane during flying.
Measure in side slope and the equipment of excavation of foundation pit amount in a kind of unmanned plane described in the utility model, described dynamical system
Including rotor, motor and motor driver.
Another technical problem to be solved in the utility model is, for the defect of prior art, provides a kind of unmanned plane
Measurement side slope and the equipment of excavation of foundation pit amount.
This utility model solves its another technical problem and be employed technical scheme comprise that：Construct a kind of unmanned plane measurement side slope
And the equipment of excavation of foundation pit amount, including flight control system, global position system, cloud platform control system, image acquisition and storage
System, image delivering system, remote control systems, data transmission system, ground station control system, wherein：
Described flight control system be used for maintain unmanned plane stabilized flight, process receive instruct and control unmanned plane complete
Become associative operation, record flight data；
Described global position system is used for receiving satellite-signal acquisition unmanned plane position information；
Described data transmission system is used for ensureing the data transfer between unmanned plane and ground station control platform, letter of realizing taking photo by plane
Breath and parameter show on ground station control platform.
Measure in side slope and the equipment of excavation of foundation pit amount in a kind of unmanned plane described in the utility model, also include unmanned plane
Airborne Camera control system, for executing the task store shooting of taking pictures to measured zone during ensureing unmanned plane during flying
Photo.
Implement the equipment that a kind of unmanned plane of the present utility model measures side slope and excavation of foundation pit amount, there is following beneficial effect
Really：
This utility model to obtain side slope initial land form data by using unmanned plane, decrease field process amount and
While work difficulty, also it is provided that more detailed terrain data, is that side slope Earthwork Calculation provides a great convenience.Root
According to the experiment in pilot region, the side slope topography that obtained using unmanned plane and nucleuses outdoor workers field survey, its
He has carried out checking checking at the mode of region laser radar data checking, and result shows, precision reaches 1:System surveyed by 500 topography will
Ask, can be used for the calculating of side slope earth volume.
Brief description
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing：
Fig. 1 is this utility model embodiment 1 by unmanned plane system schematic.
Fig. 2 is the side slope Earthwork Calculation system schematic of this utility model embodiment 1.
Fig. 3 is the side slope Earthwork Calculation flow chart of this utility model embodiment 2.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only in order to explain
This utility model, is not used to limit this utility model.
Embodiment 1
Fig. 1 shows that unmanned plane of the present utility model measures the structural representation of the equipment of side slope and excavation of foundation pit amount, institute
State unmanned plane measurement side slope and the equipment of excavation of foundation pit amount includes flight control system, for maintaining unmanned plane stabilized flight, place
What reason received instructs and controls unmanned plane to complete associative operation, record flight data；
Global position system, provides unmanned plane position and side for receiving satellite-signal to described flight control system
Position information；
Flying quality storage system, for the flying quality producing during storing unmanned plane during flying；
Unmanned aerial vehicle onboard camera, it is unmanned aerial vehicle onboard equipment, and carry, on unmanned plane body, is used in flight course
The task store shooting photo of taking pictures to measured zone for the execution；
Camera shutter control system, it is connected with flight control system, when flight control system sends photographing instruction, phase
Machine shutter control system triggering unmanned aerial vehicle onboard camera is taken pictures action, and unmanned aerial vehicle onboard camera completes once photo taking.
Specifically, also include camera attitude stability augmentation system, for ensureing unmanned aerial vehicle onboard camera attitude stability and reducing
Vibration improves the quality shooting photo.
Specifically, also include control signal reception system and control signal emission system, control signal is passed through by manipulator
Emission system is launched to control signal reception system and is sent unmanned aerial vehicle (UAV) control signal, and control signal reception system is by the control receiving
Signal processed sends flight control system to, and flight control system controls unmanned plane to realize manipulator needs the dynamic of unmanned plane execution
Make.
Specifically, airborne end data Transmission system, ground surface end data transmission system and ground station control system are also included, its
It is applied in combination, flight control system sends unmanned plane current flight state, ground end data by airborne end data Transmission system
Transmission system is shown by ground station control system after receiving the flying quality that airborne end data Transmission system sends out,
Unmanned plane manipulator can be sent out to airborne end data Transmission system by ground surface end data transmission system with ground station control system
Send flight control instruction, airborne end data Transmission system transfers the instructions to flight and controls system after receiving flight control instruction
System, controls unmanned plane to complete dependent instruction by flight control system and operates.
Specifically, also include launched by airplane end image delivering system, ground receiver end image delivering system and image to show
System, a combination thereof uses, and the picture captured by unmanned aerial vehicle onboard camera lens is sent to by launched by airplane end image delivering system
Ground receiver end image delivering system, the image that ground receiver end image delivering system receives is shown by image display system
Come.
Specifically, also include computer system, the later stage obtaining data for unmanned plane is processed, and flying quality is stored system
Flying quality in system and the magazine data of unmanned aerial vehicle onboard import to computer system and carry out later stage process, required for obtaining
Result.
Specifically, also include：For providing the energy resource system of the necessary energy for unmanned plane normal work and being used for as no
Man-machine flight provides the dynamical system of necessary power.Described dynamical system includes rotor, motor and motor driver.
In the present embodiment, flight control system, energy resource system, dynamical system, global position system, flying quality storage
System, control signal reception system, airborne end data Transmission system, unmanned aerial vehicle onboard camera, camera shutter control system, camera
Attitude stability augmentation system, launched by airplane end image delivering system are contained in unmanned plane body, ground surface end data transmission system, earth station's control
System processed, ground receiver end image delivering system, image display system, control signal emission system are ground control terminal, calculate
Machine system is used for later data and processes；Wherein, airborne end data Transmission system, ground surface end data transmission system, ground station control
System is a set of wireless control apparatus, and control signal reception system, control signal emission system are a set of wireless control apparatus,
In the system, two sets of control devices at least need to exist a set of, camera shutter control system and launched by airplane end image transmitting system
System, ground receiver end image delivering system, image display system are optional equipment.
In the present embodiment, calculate the flow process of side slope earth volume using unmanned plane, detailed implementation is as follows：
1st, aerial mission planning and equipment are chosen, and choose suitable unmanned plane according to region area to be measured and orographic condition
And camera, the landing place that takes off of design and planning unmanned plane during flying, unmanned plane during flying height and course line, UAV flight is set
The trigger condition of camera, finally imports to flight plan in 2 UAV Flight Control System；
2nd, execution aerial mission obtains data, controls unmanned plane to take off and execute airline operation task in selection area, no
In man-machine flight course, 2 flight controllers control 9 unmanned aerial vehicle onboard cameras to execute the behaviour that takes pictures by 10 camera shutter control systems
Make, shooting photo guarantees to be not less than 66% degree of overlapping along course direction, to the degree of overlapping being not less than 50% by course line, unmanned
The machine attitude of the current unmanned plane of 2 flight control system records and geographic coordinate information be stored in 6 and fly while execution is taken pictures
Row data-storage system, course line task and tasks carrying of taking pictures control unmanned plane to land in appointed place after finishing；
3rd, original side slope three-dimensional information model is set up according to image data and geographic coordinate information, get in unmanned plane and treat
By data respectively from 9 unmanned aerial vehicle onboard cameras and 6 flying qualities storage system after measured zone image data and geographic coordinate information
System imports in 18 computer systems, imports the corresponding geographic coordinate information of every pictures, and to photo and corresponding geographical coordinate
Data is matched, and deletes the image data of error, extracts feature by the set constraint region adjustment method automatically controlling a little
Point, component measured zone earth's surface three-dimensional point cloud model, encrypt to set up earth's surface threedimensional model by triangle；
4th, side slope is set up according to design requirement or design drawing and fill out the three-dimensional information model after digging, according to design requirement or
There is design drawing can set up the BIM model of side slope after construction；
5th, Earthwork Calculation, using the original side slope three-dimensional information model through process acquisition and BIM modeling software after taking photo by plane
Side slope BIM threedimensional model after the construction obtaining, processes through computed in software and obtains side slope earth volume.
Embodiment 2
Fig. 3 shows main composition and the operation principle of UAS.This utility model use unmanned machine host be
Four rotor SUAVs, UAS is mainly made up of following sections：Energy resource system, dynamical system, satellite fix system
System, flight control system, flying quality storage system, signal transmitting and reception system, Airborne Camera control system, ground control
Platform etc..In flight, flight control system be used for maintain unmanned plane stabilized flight, process receive instruct and control unmanned plane
Complete associative operation, record flight data；Energy resource system provides the necessary energy for unmanned plane normal work；Dynamical system includes
Rotor, motor and motor driver, for providing necessary power for unmanned plane during flying；Global position system is used for receiving satellite
Signal acquisition unmanned plane position information；The flight that flying quality storage system produces during being used for storing unmanned plane during flying
Data；Control signal receives and emission system is used for realizing the signal exchange between unmanned plane and ground control cabinet, and manipulator is led to
Cross control signal emission system and send flight control signal to unmanned plane control, unmanned plane simultaneously earthward control station feedback signal；
Data transmission system is used for the data transfer ensureing between unmanned plane and ground station control platform, and realize taking photo by plane information and parameter are on ground
Show on the station control desk of face；Unmanned aerial vehicle onboard camera control system executes to measurement during being used for ensureing unmanned plane during flying
The task store shooting photo of taking pictures in region.
Calculate the flow process of side slope earth volume using unmanned plane, detailed implementation is as follows：
1st, flight preparation, need to make an on-the-spot survey to region to be measured in the preparatory stage, according to the practical situation planning in region to be measured
Flight track, height and operation hand position, also should pay close attention to weather condition before flight, select fair weather flight, boat as far as possible
Before bat, unmanned plane to be guaranteed and controller are in normal operating conditions and battery electric quantity abundance；
2nd, execution is flown and is taken photo by plane, and the execution flight on suitable height and flight path of execute-in-place unmanned aerial vehicle is being taken photo by plane simultaneously
Complete image, geographical location information, the record of UAV Attitude information and storage, shoot during photo it is ensured that along course direction
It is not less than 60% degree of overlapping, to the degree of overlapping being not less than 50% by course line；
3rd, set up earth surface of side slope three-dimensional information model, the data of acquisition of taking photo by plane and image information imported in computer,
Import the corresponding geographic coordinate information of every pictures, and photo and corresponding geographic coordinate data are matched, delete error
Image data, characteristic point is extracted by the set constraint region adjustment method automatically controlling a little, component measured zone earth's surface is three-dimensional
Point cloud model, encrypts by triangle to set up earth surface of side slope three-dimensional information model；
4th, generate original side slope topography, the original earth surface of side slope three-dimensional information model obtaining is imported mapping software, warp
The topography of original side slope is obtained after process；
5th, side slope Earthwork Calculation, according to the original side slope topography obtaining, in conjunction with design drawing or side slope BIM
(Building Information Modeling) model, to calculate soil according to the suitable Method of Earthwok Calculation such as method of section
Fang Liang.
This utility model to obtain side slope initial land form data by using unmanned plane, decrease field process amount and
While work difficulty, also it is provided that more detailed terrain data, is that side slope Earthwork Calculation provides a great convenience.Root
According to the experiment in pilot region, the side slope topography that obtained using unmanned plane and nucleuses outdoor workers field survey, its
He has carried out checking checking at the mode of region laser radar data checking, and result shows, precision reaches 1:System surveyed by 500 topography will
Ask, can be used for the calculating of side slope earth volume.
Although being disclosed to this utility model by above example, protection domain of the present utility model not office
It is limited to this, under conditions of conceiving without departing from this utility model, the deformation that each component is done above, replacement etc. all will be fallen into this
In the right of utility model.
Claims (5)
1. a kind of unmanned plane measures the equipment of side slope and excavation of foundation pit amount it is characterised in that including：
Flight control system, for maintain unmanned plane stabilized flight, process receive instruct and control unmanned plane to complete correlation
Operation, record flight data；
Global position system, provides unmanned plane position and orientation letter for receiving satellite-signal to described flight control system
Breath；
Flying quality storage system, for the flying quality producing during storing unmanned plane during flying；
Unmanned aerial vehicle onboard camera, it is unmanned aerial vehicle onboard equipment, and carry, on unmanned plane body, is used for executing in flight course
The task store shooting photo of taking pictures to measured zone；
Also include：Camera shutter control system, it is connected with flight control system, when flight control system sends photographing instruction
When, camera shutter control system triggering unmanned aerial vehicle onboard camera is taken pictures action, and unmanned aerial vehicle onboard camera completes once photo taking；
Camera attitude stability augmentation system, for ensureing unmanned aerial vehicle onboard camera attitude stability and reducing vibration raising shooting photo
Quality；
Also include control signal reception system and control signal emission system, control signal emission system is passed through to control from manipulator
Receiving system transmitting processed sends unmanned aerial vehicle (UAV) control signal, and the control signal receiving is sent to by control signal reception system
Flight control system, flight control system controls unmanned plane to realize manipulator needs the action of unmanned plane execution；
Also include airborne end data Transmission system, ground surface end data transmission system and ground station control system, flight control system
Unmanned plane current flight state is sent by airborne end data Transmission system, ground surface end data transmission system receives airborne end
Shown by ground station control system after the flying quality that data transmission system sends out, unmanned plane manipulator can be with land used
Face station control system passes through ground surface end data transmission system and sends flight control instruction, airborne end to airborne end data Transmission system
Data transmission system transfers the instructions to flight control system after receiving flight control instruction, is controlled no by flight control system
The man-machine dependent instruction that completes operates；
Also include launched by airplane end image delivering system, ground receiver end image delivering system and image display system, airborne
Penetrate end image delivering system and the picture captured by unmanned aerial vehicle onboard camera lens be sent to ground receiver end image delivering system,
The image that ground receiver end image delivering system receives is shown by image display system；
Also include computer system, the later stage obtaining data for unmanned plane is processed, by the flight in flying quality storage system
Data and the magazine data of unmanned aerial vehicle onboard import to computer system and carry out later stage process, the result required for obtaining.
2. the equipment of unmanned plane measurement side slope as claimed in claim 1 and excavation of foundation pit amount is it is characterised in that also include：
Energy resource system, for providing the necessary energy for unmanned plane normal work；
Dynamical system, for providing necessary power for unmanned plane during flying.
3. unmanned plane as claimed in claim 2 measures the equipment of side slope and excavation of foundation pit amount it is characterised in that described dynamical system
System includes rotor, motor and motor driver.
4. a kind of unmanned plane measures the equipment of side slope and excavation of foundation pit amount it is characterised in that including flight control system, satellite
Position system, cloud platform control system, image acquisition and storage system, image delivering system, remote control systems, data transmission system, ground
Face station control system, wherein：
Described flight control system be used for maintain unmanned plane stabilized flight, process receive instruct and control unmanned plane to complete phase
Close operation, record flight data；
Described global position system is used for receiving satellite-signal acquisition unmanned plane position information；
Described data transmission system is used for the data transfer ensureing between unmanned plane and ground station control platform, realize taking photo by plane information and
Parameter shows on ground station control platform；
Also include computer system, the later stage obtaining data for unmanned plane is processed, by the flight in flying quality storage system
Data and the magazine data of unmanned aerial vehicle onboard import to computer system and carry out later stage process, the result required for obtaining.
5. unmanned plane as claimed in claim 4 measures the equipment of side slope and excavation of foundation pit amount it is characterised in that also including unmanned
Machine Airborne Camera control system, for executing the task store shooting of taking pictures to measured zone during ensureing unmanned plane during flying
Photo.
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| CN201620468169.4U CN205940550U (en) | 2016-05-20 | 2016-05-20 | Unmanned aerial vehicle measures equipment of side slope and foundation ditch excavation volume |
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| CN201620468169.4U CN205940550U (en) | 2016-05-20 | 2016-05-20 | Unmanned aerial vehicle measures equipment of side slope and foundation ditch excavation volume |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105867404A (en) * | 2016-05-20 | 2016-08-17 | 张爱军 | Equipment and method for measuring earthwork through unmanned aerial vehicle |
| CN107613248A (en) * | 2017-09-07 | 2018-01-19 | 湖南茂劲信息科技有限公司 | Monitoring unmanned system and method based on BIM |
| CN107907110A (en) * | 2017-11-09 | 2018-04-13 | 长江三峡勘测研究院有限公司（武汉） | A kind of multi-angle recognition methods of structural plane occurrence and character based on unmanned plane |
| CN110287560A (en) * | 2019-06-13 | 2019-09-27 | 水电水利规划设计总院 | A kind of complexity form earth material field excavated volume calculation method |
| CN112862965A (en) * | 2021-02-19 | 2021-05-28 | 武汉理工大学 | Intelligent monitoring method and system for slope excavation |
| CN113596326A (en) * | 2021-07-19 | 2021-11-02 | 李建华 | Unmanned aerial vehicle aerial image processing method |
-
2016
- 2016-05-20 CN CN201620468169.4U patent/CN205940550U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105867404A (en) * | 2016-05-20 | 2016-08-17 | 张爱军 | Equipment and method for measuring earthwork through unmanned aerial vehicle |
| CN107613248A (en) * | 2017-09-07 | 2018-01-19 | 湖南茂劲信息科技有限公司 | Monitoring unmanned system and method based on BIM |
| CN107907110A (en) * | 2017-11-09 | 2018-04-13 | 长江三峡勘测研究院有限公司（武汉） | A kind of multi-angle recognition methods of structural plane occurrence and character based on unmanned plane |
| CN107907110B (en) * | 2017-11-09 | 2020-09-01 | 长江三峡勘测研究院有限公司（武汉） | Multi-angle identification method for structural plane occurrence and properties based on unmanned aerial vehicle |
| CN110287560A (en) * | 2019-06-13 | 2019-09-27 | 水电水利规划设计总院 | A kind of complexity form earth material field excavated volume calculation method |
| CN112862965A (en) * | 2021-02-19 | 2021-05-28 | 武汉理工大学 | Intelligent monitoring method and system for slope excavation |
| CN112862965B (en) * | 2021-02-19 | 2023-03-24 | 武汉理工大学 | Intelligent monitoring method and system for slope excavation |
| CN113596326A (en) * | 2021-07-19 | 2021-11-02 | 李建华 | Unmanned aerial vehicle aerial image processing method |
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