CN112685918A - River channel dredging method based on unmanned aerial vehicle inclination measurement technology - Google Patents
River channel dredging method based on unmanned aerial vehicle inclination measurement technology Download PDFInfo
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Abstract
The invention discloses a river channel dredging method based on an unmanned aerial vehicle oblique photogrammetry technology, which comprises the following steps: carrying out cofferdam division on a river channel to be desilted, and pumping water in the cofferdam; modeling the river channel with the drained water for the first time by adopting an unmanned aerial vehicle inclination measurement technology to obtain a first river channel three-dimensional model; removing sludge in the plurality of dredging sections, and dehydrating the sludge; carrying out secondary modeling on the desilted river channel by adopting an unmanned aerial vehicle inclination measurement technology to obtain a second river channel three-dimensional model; calculating the difference between the first river channel three-dimensional model and the second river channel three-dimensional model to obtain the dredging amount of the river channel, and outputting the dredging amount as a measurement result; and after the construction is finished, the cofferdam is dismantled, and the river water is injected into the river channel again. The unmanned aerial vehicle inclination measurement modeling is added in the river channel dredging process, and river channel models before and after dredging are respectively established, so that the river channel sedimentation condition is visually expressed, and when the sludge amount is calculated, only the difference between the two models is calculated, so that the method is rapid and accurate.
Description
Technical Field
The invention belongs to the technical field of river channel dredging construction, and particularly relates to a river channel dredging method based on an unmanned aerial vehicle inclination measurement technology.
Background
The river channel is an important component of the city and plays an important role in beautifying the city environment, preventing flood and waterlogging. However, some urban rivers (or urban river-protection rivers) can seriously affect the large environment due to human pollution, and river sediment is rich in humus, so that when the urban river-protection rivers are disturbed and piled on the ground, malodorous substances mainly comprising ammonia hydrogen sulfide, volatile hydrogen, volatile alcohol and aldehyde are released in an unorganized state, and the air quality of the surrounding environment is affected. For the river channel and the riverbed with slow slope drop and serious river channel siltation, the flood carrying capacity is reduced and flood disasters occur at two banks due to normalization if sludge treatment is not carried out; in addition, the two banks of the river channels are not provided with river banks for protecting bank slopes, most of the river channels are natural river banks, the river channels in individual areas penetrate through urban parks, the riverbed siltation of the river channels in the parks is serious, and flood disasters on the two banks of the river channels can be caused in each flood season. In addition, the life and property safety of local residents can be easily endangered by the fact that the two banks of the river channel relate to highway subgrades and civil foundations, and therefore the dredging work of the river channel plays an important role in the soundness of a city flood drainage system and the appearance of the city. Traditional river course desilting measurement work adopts artifical mode more, can't directly perceived the siltation condition in river course, and measuring result is also accurate enough.
Disclosure of Invention
In order to solve the problems, the invention provides a river channel dredging method based on an unmanned aerial vehicle inclination measurement technology, and aims to solve the problems that the existing river channel dredging method cannot visually reflect the river channel sedimentation condition, and the measurement result is inaccurate.
In order to achieve the aim, the invention provides a river channel dredging method based on an unmanned aerial vehicle inclination measurement technology, which comprises the following steps:
the method comprises the following steps: segmenting a river channel to be desilted to obtain a plurality of desilting segments;
step two: cofferdam closure is carried out on two ends of the plurality of dredging sections, and water in the cofferdam is pumped to be dry;
step three: modeling the river channel with the drained water for the first time by adopting an unmanned aerial vehicle inclination measurement technology to obtain a first river channel three-dimensional model;
step four: removing sludge in the plurality of dredging sections, and dehydrating the sludge;
step five: carrying out secondary modeling on the desilted river channel by adopting an unmanned aerial vehicle inclination measurement technology to obtain a second river channel three-dimensional model;
step six: calculating the difference between the first river channel three-dimensional model and the second river channel three-dimensional model to obtain the dredging amount of the river channel, and outputting the dredging amount as a measurement result;
step seven: and after the construction is finished, the cofferdam is dismantled, and the river water is injected into the river channel again.
According to a specific embodiment of the present invention, the first step of segmenting the river channel to be desilted into a plurality of desilting segments includes: and gradually dividing the river channel to be desilted according to the desilting construction sections with the length of 200m to obtain a plurality of desilting sections.
According to an embodiment of the invention, the step of cofferdam closure at two ends of a plurality of dredging sections and draining water in the cofferdam comprises the following steps: cofferdams are arranged at two ends of the plurality of dredging sections to cut off water flow, and then a sewage pump is used for pumping river water in the plurality of dredging sections to a downstream non-dredging section.
According to a specific embodiment of the invention, the third step of performing primary modeling on the river channel with the drained water by adopting an unmanned aerial vehicle inclination measurement technology to obtain a first river channel three-dimensional model comprises the following steps:
carrying out multi-angle aerial photography on the river channel with the drained water by adopting an unmanned aerial vehicle to obtain first image information data of the river channel;
performing multi-view image processing on the first image information data to generate a dense point cloud DSM model;
correcting the precision of the dense point cloud DSM model to generate a TIN model;
and performing texture generation and fine processing on the TIN model to obtain a first river channel three-dimensional model.
According to an embodiment of the invention, the first image information data is video image information data of a river channel before dredging, including height, length, area, angle and gradient of the river channel before dredging.
According to an embodiment of the present invention, the multi-view image processing of the first image information data to generate the dense point cloud DSM model includes:
the first image information data are stored in a classified mode according to the shooting angles of the cameras to obtain multi-angle first image information data, wherein the side direction overlapping degree of the multi-angle first image information data is larger than 50%, and the course overlapping degree of the multi-angle first image information data is larger than 80%;
carrying out image dense matching on the first image information data of multiple angles to obtain the homonymy point coordinates of the first image information data of multiple angles, and generating a dense point cloud DSM model according to the homonymy point coordinates.
According to an embodiment of the invention, the accuracy of the dense point cloud DSM model is corrected, and the generating of the TIN model includes:
and respectively carrying out pixel-by-pixel data matching and multi-angle redundant information data matching on image information data of the dense point cloud DSM model at different angles and first image information data, and carrying out multiple optimization and adjustment on the size and the resolution of the dense point cloud DSM model according to a matching result and the acquired curved surface change of the river channel image to obtain the TIN model.
According to an embodiment of the invention, the step four of removing the sludge in the plurality of dredging sections and dewatering the sludge comprises the following steps:
adopt high-pressure squirt to erode a plurality of desilting sections in the river course, make high-pressure rivers and silt form muddy water mixture, use soil pick-up pump, soil pick-up car again to inhale muddy water mixture to the processing point and carry out dehydration.
According to a specific embodiment of the invention, the step five of performing secondary modeling on the desilted river channel by adopting an unmanned aerial vehicle inclination measurement technology to obtain a second river channel three-dimensional model comprises the following steps:
carrying out multi-angle aerial photography on the desilted river channel by adopting an unmanned aerial vehicle to obtain second image information data of the river channel;
performing multi-view image processing on the second image information data to generate a dense point cloud DSM model;
correcting the precision of the dense point cloud DSM model to generate a TIN model;
and performing texture generation and fine processing on the TIN model to obtain a second river channel three-dimensional model.
According to an embodiment of the invention, the second image information data is video image information data of the desilted river channel, including height, length, area, angle and gradient of the desilted river channel.
Compared with the prior art, the river channel dredging method based on the unmanned aerial vehicle inclination measurement technology provided by the invention has the advantages that the unmanned aerial vehicle inclination measurement modeling is added in the river channel dredging process, the river channel models before and after dredging are respectively established, the river channel sedimentation condition is visually represented, and when the sludge amount is calculated, only the difference between the two models is needed to be calculated, so that the speed and the accuracy are high.
Drawings
Fig. 1 is a flowchart of a river dredging method based on an unmanned aerial vehicle inclination measurement technology according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for building a three-dimensional model of a first river channel according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for building a second three-dimensional river channel model according to an embodiment of the present invention.
Detailed Description
The present invention is described in detail below with reference to specific embodiments in order to make the concept and idea of the present invention more clearly understood by those skilled in the art. It is to be understood that the embodiments presented herein are only a few of all embodiments that the present invention may have. Those skilled in the art who review this disclosure will readily appreciate that many modifications, variations, or alterations to the described embodiments, either in whole or in part, are possible and within the scope of the invention as claimed.
As used herein, the terms "first," "second," and the like are not intended to imply any order, quantity, or importance, but rather are used to distinguish one element from another. As used herein, the terms "a," "an," and other similar terms are not intended to mean that there is only one of the things, but rather that the pertinent description is directed to only one of the things, which may have one or more. As used herein, the terms "comprises," "comprising," and other similar words are intended to refer to logical interrelationships, and are not to be construed as referring to spatial structural relationships. For example, "a includes B" is intended to mean that logically B belongs to a, and not that spatially B is located inside a. Furthermore, the terms "comprising," "including," and other similar words are to be construed as open-ended, rather than closed-ended. For example, "a includes B" is intended to mean that B belongs to a, but B does not necessarily constitute all of a, and a may also include C, D, E and other elements.
The terms "embodiment," "present embodiment," "an embodiment," "one embodiment," and "one embodiment" herein do not mean that the pertinent description applies to only one particular embodiment, but rather that the description may apply to yet another embodiment or embodiments. Those skilled in the art will appreciate that any descriptions made in relation to one embodiment may be substituted, combined, or otherwise combined with the descriptions in relation to another embodiment or embodiments, and that the substitution, combination, or otherwise combination of the new embodiments as produced herein may occur to those skilled in the art and are intended to be within the scope of the present invention.
Example 1
Additional aspects and advantages of embodiments of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the invention. With reference to fig. 1 to fig. 3, a river dredging method based on an unmanned aerial vehicle inclination measurement technology provided by the embodiment of the present invention includes the following steps:
s1: segmenting a river channel to be desilted to obtain a plurality of desilting segments;
s2: cofferdam closure is carried out on two ends of the plurality of dredging sections, and water in the cofferdam is pumped to be dry;
s3: modeling the river channel with the drained water for the first time by adopting an unmanned aerial vehicle inclination measurement technology to obtain a first river channel three-dimensional model;
s4: removing sludge in the plurality of dredging sections, and dehydrating the sludge;
s5: carrying out secondary modeling on the desilted river channel by adopting an unmanned aerial vehicle inclination measurement technology to obtain a second river channel three-dimensional model;
s6: calculating the difference between the first river channel three-dimensional model and the second river channel three-dimensional model to obtain the dredging amount of the river channel, and outputting the dredging amount as a measurement result;
s7: and after the construction is finished, the cofferdam is dismantled, and the river water is injected into the river channel again.
Specifically, in the step S1, the river channel to be desilted is segmented to obtain a plurality of desilting sections, in the embodiment of the present invention, the river channel to be desilted is sequentially segmented according to the desilting construction sections with the length of 200m to obtain a plurality of desilting sections, which is convenient for quickly draining the river water in the river channel and reducing the construction period.
Specifically, step S2 is to perform cofferdam closure on both ends of the plurality of dredging sections and to drain water in the cofferdams, in the embodiment of the present invention, cofferdams are installed on both ends of the plurality of dredging sections to cut off water flow, and then a sewage pump is used to pump river water in the plurality of dredging sections to a downstream non-dredging section until a river bottom with accumulated silt is exposed on the surface of the dredging section of the river channel.
Specifically, step S3 adopts unmanned aerial vehicle inclination measurement technique to once model the river course of the pumped water, and obtaining the first river course three-dimensional model further includes:
s3-1: adopt unmanned aerial vehicle to carry out the multi-angle aerial photograph to the river course of taking out the dry water, obtain the first image information data in river course, wherein first image information data is the video image information data in river course before the desilting, including height, length, area, angle and the slope in river course before the desilting.
The unmanned aerial vehicle oblique photogrammetry technology is a high and new technology developed in the international surveying and mapping field in recent years, which overturns the limitation that the prior orthoimage can only be shot from a vertical angle, and introduces a user into a real visual world which accords with human vision by carrying a plurality of sensors on the same flight platform and acquiring images from five different angles of a vertical angle, four oblique angles and the like. According to the embodiment of the invention, an unmanned aerial vehicle inclination measurement modeling technology is introduced into a river channel dredging project, and an aerial remote sensing image of a measurement area is generated by using the technology, so that the river channel dredging condition is more clearly and visually expressed, and the measurement result is more accurate.
S3-2: the method comprises the following steps of carrying out multi-view image processing on first image information data to generate a dense point cloud DSM model:
the first image information data are stored in a classified mode according to the shooting angles of the cameras to obtain multi-angle first image information data, wherein the side direction overlapping degree of the multi-angle first image information data is larger than 50%, and the course overlapping degree of the multi-angle first image information data is larger than 80%;
carrying out image dense matching on the first image information data of multiple angles to obtain the homonymy point coordinates of the first image information data of multiple angles, and generating a dense point cloud DSM model according to the homonymy point coordinates.
A DSM (Digital Surface Model) is a ground elevation Model that includes the height of Surface buildings, bridges, trees, etc. The DSM represents that the ground fluctuation situation is expressed most really, for example, the DSM can be used for detecting the growth situation of a forest in a forest region, the DSM model generated by the embodiment of the invention is used for representing the actual situation of river channel dredging, the first image information data is firstly subjected to multi-view image processing before the DSM model is generated, and the first image information data is classified and stored according to a plurality of shooting angles of a camera, so that the accuracy of data detection is improved in the later detection process. In the process of processing and storing the data, the side direction overlapping degree of the multi-angle first image information data is kept above 50%, and the course direction overlapping degree is kept above 80%. The lateral overlapping is also called as transverse overlapping, and is that in aerial photography, adjacent photos shot along two adjacent routes have the same ground image part, and the overlapping between two adjacent routes is called as lateral overlapping. Due to different routes, although the overlapped parts are the same ground, the images are not completely the same. The ratio of the length of the side overlap to the length of the photograph, referred to as "side overlap," is expressed as a percentage. Course overlap, also known as longitudinal overlap, is the same ground image portion on adjacent photos along the same route in aerial photography. Because adjacent pictures are taken from different positions in the air, although the overlapped parts are on the same ground, the images are not completely the same. The ratio of the overlap along the course to the length of the shot, referred to as the "course overlap," is expressed in percent. For three-dimensional reconstruction, the side overlap degree is usually set to be more than 70%, the course overlap degree is set to be more than 80%, the side overlap degree is set to be more than 50% and the course overlap degree is set to be more than 80% in the embodiment of the invention, so that data redundancy is reduced and the calculation amount is reduced. After the first image information data are classified and stored, image dense matching needs to be carried out on the first image information data, a large amount of redundant information is generated in the dense matching process, the coordinate of the same-name point of the inclined image is accurately obtained, three-dimensional image information of a river channel is obtained, the coverage area of the inclined image of the river channel is larger, the resolution ratio is higher, and a high-density point cloud DSM model is obtained through dense matching.
S3-3: correcting the precision of the dense point cloud DSM model to generate a TIN model;
the method comprises the steps of respectively carrying out pixel-by-pixel data matching and multi-angle redundant information data matching on image information data of the dense point cloud DSM model at different angles and first image information data, avoiding and reducing influences caused by matching as much as possible in the matching process, improving the matching rate of homonymy coordinates in an algorithm, and then optimizing and adjusting the size and the resolution of the dense point cloud DSM model for many times according to matching results and the acquired curved surface change of a river channel image to obtain the TIN model.
TIN is an abbreviation for irregular triangulation, also known as a "surface data structure", a type of vector data commonly used for three-dimensional modeling and display of digital terrain. The area is divided into equal triangular surface networks according to a limited point set of the area, the shape and the size of the triangular surface depend on the positions and the density of measuring points which are distributed irregularly, data redundancy when the terrain is flat can be avoided, and digital elevation features can be represented according to terrain feature points. The method comprises the steps of constructing a TIN triangulation network based on a dense point cloud DSM model, further forming a high-resolution and high-precision digital surface model, after DSM data are obtained, carrying out correction processing on the DSM data, respectively carrying out pixel-by-pixel data matching and multi-angle redundant information data matching on image information data at different angles and first image information data, fusing different matching units to form a final digital surface TIN model, and fully expressing topographic and relief features of ground features.
S3-4: and performing texture generation and fine processing on the TIN model to obtain a first river channel three-dimensional model.
In the construction process of the TIN model, the model is constructed from different angles, so after the TIN model is obtained, the surface of the TIN model is further optimized according to the image obtained by the unmanned aerial vehicle and the surface characteristics of uninterrupted landform and landform, surface textures are generated and refined, the size of the interior of the TIN model and the original image are correspondingly adjusted through the optimization of the TIN triangulation network, the resolution is adjusted at the same time, and the vector architecture of the TIN model is finally obtained through continuous optimization and adjustment of the change of the curved surface, namely the first three-dimensional river channel model is obtained.
Specifically, the step S4 of removing the sludge in the plurality of dredging sections and dewatering the sludge includes:
adopt high-pressure squirt to erode a plurality of desilting sections in the river course, make high-pressure rivers and silt form muddy water mixture, use soil pick-up pump, soil pick-up car again to inhale muddy water mixture to the processing point and carry out dehydration.
Specifically, step S5 adopts unmanned aerial vehicle inclination measurement technique to carry out secondary modeling on the desilted river channel, and obtaining the second river channel three-dimensional model further includes:
s5-1: adopt unmanned aerial vehicle to carry out the multi-angle aerial photograph to the river course after the desilting, obtain the second image information data in river course, wherein the second image information data is the video image information data in the river course after the desilting, including height, length, area, angle and the slope in the river course after the desilting.
S5-2: performing multi-view image processing on the second image information data to generate a dense point cloud DSM model;
the second image information data are stored in a classified mode according to the shooting angles of the cameras to obtain multi-angle second image information data, wherein the side direction overlapping degree of the multi-angle second image information data is larger than 50%, and the course overlapping degree of the multi-angle second image information data is larger than 80%;
and carrying out image dense matching on the second image information data of multiple angles to obtain the homonymy point coordinates of the second image information data of multiple angles, and generating a dense point cloud DSM model according to the homonymy point coordinates.
S5-3: correcting the precision of the dense point cloud DSM model to generate a TIN model;
and respectively carrying out pixel-by-pixel data matching and multi-angle redundant information data matching on the image information data of the dense point cloud DSM model at different angles and the second image information data, and carrying out multiple optimization and adjustment on the size and the resolution of the dense point cloud DSM model according to the matching result and the acquired curved surface change of the river channel image to obtain the TIN model.
S5-4: and performing texture generation and fine processing on the TIN model to obtain a second river channel three-dimensional model.
Specifically, step S6 calculates a difference between the first three-dimensional river channel model and the second three-dimensional river channel model to obtain the dredging amount of the river channel, and outputs the dredging amount as a measurement result. By comparing the difference of the two models, the clear sludge amount can be quickly and accurately calculated and used as a measurement result for subsequent research. And step S7, removing the cofferdam after the construction is finished, and re-injecting river water into the river channel.
In summary, the unmanned aerial vehicle inclination measurement modeling is added in the river channel dredging process, and the river channel models before and after dredging are respectively established, so that the river channel sedimentation condition is visually represented, and when the silt amount is calculated, only the difference between the two models is needed to be calculated, so that the river channel sedimentation method based on the unmanned aerial vehicle inclination measurement technology is rapid and accurate.
The concepts, principles and concepts of the invention have been described above in detail in connection with specific embodiments (including examples and illustrations). It will be appreciated by persons skilled in the art that embodiments of the invention are not limited to the specific forms disclosed above, and that many modifications, alterations and equivalents of the steps, methods, apparatus and components described in the above embodiments may be made by those skilled in the art after reading this specification, and that such modifications, alterations and equivalents are to be considered as falling within the scope of the invention. The scope of the invention is only limited by the claims.
Claims (10)
1. A river channel dredging method based on an unmanned aerial vehicle inclination measurement technology is characterized by comprising the following steps:
the method comprises the following steps: segmenting a river channel to be desilted to obtain a plurality of desilting segments;
step two: cofferdam closure is carried out on two ends of the plurality of dredging sections, and water in the cofferdam is pumped to be dry;
step three: modeling the river channel with the drained water for the first time by adopting an unmanned aerial vehicle inclination measurement technology to obtain a first river channel three-dimensional model;
step four: removing sludge in the plurality of dredging sections, and dehydrating the sludge;
step five: carrying out secondary modeling on the desilted river channel by adopting an unmanned aerial vehicle inclination measurement technology to obtain a second river channel three-dimensional model;
step six: calculating the difference between the first river channel three-dimensional model and the second river channel three-dimensional model to obtain the dredging amount of the river channel, and outputting the dredging amount as a measurement result;
step seven: and after the construction is finished, the cofferdam is dismantled, and the river water is injected into the river channel again.
2. The river channel dredging method based on the unmanned aerial vehicle inclination measurement technology according to claim 1, wherein the step one of segmenting the river channel to be dredged into a plurality of dredging sections comprises the following steps: and gradually dividing the river channel to be desilted according to the desilting construction sections with the length of 200m to obtain a plurality of desilting sections.
3. The river channel dredging method based on unmanned aerial vehicle inclination measurement technology according to claim 1, wherein the step of cofferdam closure of two ends of the plurality of dredging sections and draining water in the cofferdam comprises: cofferdams are arranged at two ends of the plurality of dredging sections to cut off water flow, and then a sewage pump is used for pumping river water in the plurality of dredging sections to a downstream non-dredging section.
4. The river channel dredging method based on the unmanned aerial vehicle inclination measurement technology according to claim 1, wherein the third step of modeling the river channel with the drained water by adopting the unmanned aerial vehicle inclination measurement technology for one time to obtain the first river channel three-dimensional model comprises the following steps of:
carrying out multi-angle aerial photography on the riverway with the drained water by adopting an unmanned aerial vehicle to obtain first image information data of the riverway;
performing multi-view image processing on the first image information data to generate a dense point cloud DSM model;
correcting the precision of the dense point cloud DSM model to generate a TIN model;
and performing texture generation and fine processing on the TIN model to obtain a first river channel three-dimensional model.
5. The river channel dredging method based on the unmanned aerial vehicle inclination measurement technology according to claim 4, wherein the first image information data is video image information data of a river channel before dredging, and comprises height, length, area, angle and gradient of the river channel before dredging.
6. The river channel dredging method based on unmanned aerial vehicle inclination measurement technology according to claim 4, wherein the performing multi-view image processing on the first image information data and generating a dense point cloud DSM model comprises:
storing the first image information data in a classified manner according to the shooting angles of the camera to obtain multi-angle first image information data, wherein the side direction overlapping degree of the multi-angle first image information data is more than 50%, and the course overlapping degree is more than 80%;
and carrying out image dense matching on the multi-angle first image information data to obtain the homonymy point coordinates of the multi-angle first image information data, and generating a dense point cloud DSM model according to the homonymy point coordinates.
7. The river channel dredging method based on unmanned aerial vehicle inclination measurement technology according to claim 4, wherein the accuracy of the dense point cloud DSM model is corrected, and the generation of the TIN model comprises the following steps:
and respectively carrying out pixel-by-pixel data matching and multi-angle redundant information data matching on the image information data of the dense point cloud DSM model at different angles and the first image information data, and carrying out multiple optimization and adjustment on the size and the resolution of the dense point cloud DSM model according to the matching result and the acquired curved surface change of the river channel image to obtain the TIN model.
8. The river dredging method based on unmanned aerial vehicle inclination measurement technology according to claim 1, wherein the step four of removing the sludge in the plurality of dredging sections and dewatering the sludge comprises the following steps:
adopt high-pressure squirt to a plurality of in the river course the desilting section erodees, makes high-pressure rivers and silt form muddy water mixture, uses sewage suction pump, soil pick-up car again will muddy water mixture inhales to the point of handling and carries out dehydration treatment.
9. The river channel dredging method based on the unmanned aerial vehicle inclination measurement technology according to claim 1, wherein the step five of performing secondary modeling on the dredged river channel by adopting the unmanned aerial vehicle inclination measurement technology to obtain the second river channel three-dimensional model comprises the following steps of:
carrying out multi-angle aerial photography on the desilted river channel by adopting an unmanned aerial vehicle to obtain second image information data of the river channel;
performing multi-view image processing on the second image information data to generate a dense point cloud DSM model;
correcting the precision of the dense point cloud DSM model to generate a TIN model;
and performing texture generation and fine processing on the TIN model to obtain a second river channel three-dimensional model.
10. The unmanned aerial vehicle inclination measurement technology-based river channel dredging method according to claim 9, wherein the second image information data is video image information data of the dredged river channel, and comprises height, length, area, angle and gradient of the dredged river channel.
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