CN116958469A - Construction method of three-dimensional urban geological model - Google Patents
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Abstract
The application discloses a construction method of a three-dimensional urban geological model in the field of model construction, which comprises the following steps: s1, presetting a flight path of an unmanned aerial vehicle based on a constant elevation; s2, the unmanned aerial vehicle flies along a flight path based on oblique photography, and surface image data, aeromagnetic data and gravity data are obtained; s3, constructing a three-dimensional city model; s4, constructing a three-dimensional geological model; and S5, coupling the three-dimensional city model and the three-dimensional geological model to obtain the three-dimensional city geological model. According to the scheme, the ground surface image data, the aeromagnetic data and the gravity data can be collected at one time when the unmanned aerial vehicle flies, the collection frequency is reduced, the three-dimensional city model and the three-dimensional geological model are respectively built through the collected data, and then the three-dimensional city model and the three-dimensional geological model are coupled, so that the problem that the built geological model is difficult to update in real time due to the fact that the influence of urban ground object updating is not considered in the existing geological model can be solved.
Description
Technical Field
The application belongs to the field of model construction, and particularly relates to a construction method of a three-dimensional urban geological model.
Background
The three-dimensional geological modeling is based on various original data, and a digital model capable of reflecting the geological structure morphology, the structure relation and the internal attribute change rule of the geological body is established. Such raw data includes boreholes, profiles, seismic data, isodepth maps, geologic maps, topography maps, geophysical data, chemical data, engineering survey data, hydrographic monitoring data, and the like. Through a proper visual mode, the digital model can display a virtual real geological environment, help users to intuitively understand the geological environment, and facilitate ideological communication among users of different layers. More importantly, based on numerical simulation and spatial analysis of the model, the system can assist a user in making scientific decisions and avoiding risks.
Patent publication number CN103886641B discloses a mountain urban area geological three-dimensional model construction integration method, comprising: step one, constructing a regional geological profile frame; drawing a geological section of the region; step three, constructing a regional geological three-dimensional model; and fourthly, integrating regional geologic model achievements. The method realizes the construction of the geological three-dimensional model of the mountain city region, combines the geological structure characteristics of the mountain city, and more accurately completes the construction of the geological three-dimensional model of the mountain city region by utilizing the method of constructing the geological model by utilizing the section according to the flow of constructing the section frame, drawing the section and constructing the geological model.
Although the method realizes the visual integrated simulation, the update of the urban ground object has a certain influence on stratum change, and the existing geological model does not consider the influence of the update of the urban ground object, and the constructed geological model is difficult to update in real time, so the method for constructing the three-dimensional urban geological model is provided.
Disclosure of Invention
The application aims to provide a construction method of a three-dimensional urban geological model, which aims to solve the problem that the existing geological model is difficult to update in real time because the influence of urban ground object updating is not considered.
In order to achieve the above object, the technical scheme of the present application is as follows: a construction method of a three-dimensional urban geological model comprises the following steps:
s1, presetting a flight path of an unmanned aerial vehicle based on a constant elevation;
s2, the unmanned aerial vehicle flies along a flight path based on oblique photography, and surface image data, aeromagnetic data and gravity data are obtained;
s3, constructing a three-dimensional city model:
s31, acquiring ground object point cloud data based on an image segmentation network and ground surface image data acquired by an unmanned aerial vehicle;
s32, extracting feature contour line features and optimizing the feature contour line features;
s33, constructing a three-dimensional city model based on the optimized ground feature contour line and combining ground feature point cloud data;
s4, constructing a three-dimensional geological model:
s41, acquiring historical geological data of a target area;
s42, constructing an initial geological model of the target area based on the historical geological data;
s43, introducing aeromagnetic data and gravity data acquired by the unmanned aerial vehicle to carry out gridding inversion to obtain a three-dimensional geological model;
and S5, coupling the three-dimensional city model and the three-dimensional geological model to obtain the three-dimensional city geological model.
Further, in S1, the preset flight path of the unmanned aerial vehicle based on the constant elevation specifically includes: acquiring remote sensing images, DEM data and longitudinal section views of a target area, planning pre-flight paths of a plurality of unmanned aerial vehicles according to the remote sensing images, extracting contour lines along the pre-flight paths according to the DEM data and the longitudinal section views, setting route points on the contour lines, and connecting the route points to obtain the flight paths of the unmanned aerial vehicles.
Further, in the step S2, the atomic magnetic sensor, the gravity sensor and the image acquisition device are arranged at the bottom of the unmanned aerial vehicle, the unmanned aerial vehicle flies along a flight path based on an oblique photography mode, and the earth surface image data, the aeromagnetic data and the gravity data of each route point are acquired.
Further, the step S31 specifically includes: firstly, inputting ground surface image data into Context Capture oblique photographing software, leading in route point coordinates to be associated with the ground surface image data, carrying out joint adjustment and space three operation through the Context Capture oblique photographing software to obtain DOM images, then constructing an image segmentation network, inputting the DOM images into the image segmentation network to carry out edge filling, then cutting into a plurality of image blocks with equal pixels, and recombining the image blocks into ground object point cloud data by combining the route point coordinates.
Further, the optimizing the feature profile in S32 includes: firstly, optimizing ground object objects based on mathematical morphology; then, extracting a ground object contour line based on an edge detection algorithm, and removing an ineffective contour line of the ground object; finally, optimizing the ground object contour line based on the Douglas-Peucker algorithm.
Further, constructing a three-dimensional city model in S33 includes: and extracting the ground object point cloud data of the route points, converting the coordinates of the ground object point cloud data into pixel coordinates, extracting a ground object contour line corresponding to the pixel coordinates, and coupling the ground object point cloud data of each route point and the ground object contour line based on the pixel coordinates to obtain the three-dimensional city model.
Further, the step S42 of constructing an initial geological model of the target region includes: firstly, constructing a three-dimensional space based on GOCAD software, importing DEM data of an unexplored earth surface in historical geological data, extracting a stratum boundary line in a geological plan view, importing the GOCAD in shp format, projecting the stratum boundary line onto the DEM data with the same coordinates, cutting the DEM data, and smoothing a curved surface of an adjacent cutting line by adopting a DSI interpolation method to obtain a stratum model; then, extracting fault lines from the exploration line profile in the historical geological data to form a fault skeleton network, merging the fault lines, generating a fault plane based on SMW, and introducing drilling data under the same coordinates to adjust the height of the fault plane to obtain a fault model; and finally, coupling the stratum model and the fault model to obtain an initial geological model.
Further, the step of S43 heavy magnetic inversion includes: dividing an initial geological model into a plurality of grid units, acquiring the density and the magnetic susceptibility of the grid units provided with drilling points according to drilling data in historical geological data, constructing a functional relation between stratum depth and the density and magnetic susceptibility, inputting aeromagnetic data and gravity data acquired by an unmanned aerial vehicle into the functional relation, acquiring the density and the magnetic susceptibility of each grid unit, and restraining based on coordinates of the aeropoints to obtain the three-dimensional geological model.
And further, in the step S5, the three-dimensional city model is embedded into the stratum surface of the three-dimensional geological model by taking the coordinates of the same route point as a reference, so as to obtain the three-dimensional city geological model.
After the scheme is adopted, the following beneficial effects are realized:
according to the scheme, the unmanned aerial vehicle is used as a carrier, the acquisition device is mounted on the unmanned aerial vehicle, a constant-altitude flying mode is adopted, so that the unmanned aerial vehicle can keep a constant altitude difference with the ground during flying, the situation that the unmanned aerial vehicle is large in altitude difference with the ground during constant Gao Chengfei is avoided, the resolution ratio difference of image data is large, and the accuracy of the city model is influenced. The method has the advantages that the ground surface image data, the aeromagnetic data and the gravity data can be collected at one time when the unmanned aerial vehicle flies, the collection frequency is reduced, the three-dimensional city model and the three-dimensional geological model are respectively built through the collected data, and then the three-dimensional city model and the three-dimensional geological model are coupled, so that the problem that the built geological model is difficult to update in real time due to the fact that the influence of updating of the city ground object is not considered in the existing geological model can be solved.
Drawings
Fig. 1 is a flow chart of a method for constructing a three-dimensional urban geological model according to an embodiment of the application.
Fig. 2 is an isometric view of a gravity sensor according to an embodiment of the present application.
Fig. 3 is a front view of a unmanned aerial vehicle with an image acquisition device according to an embodiment of the present application.
Fig. 4 is an isometric view of an image capturing module according to an embodiment of the present application.
Fig. 5 is a comparison diagram before and after feature contour optimization before feature ineffective contour removal in the embodiment of the application, wherein, the feature contour optimization is not performed in fig. 5 (a), the closing operation is performed under the structural elements of 15×15 in fig. 5 (b), and the closing operation is performed under the structural elements of 25×25 in fig. 5 (c).
Fig. 6 is a comparison diagram before and after feature contour optimization after feature ineffective contour removal in the embodiment of the application, fig. 6 (a) is a feature contour before optimization, and fig. 6 (b) is a feature contour after optimization.
Detailed Description
The following is a further detailed description of the embodiments:
reference numerals in the drawings of the specification include: the unmanned aerial vehicle 1, the atomic magnetic sensor 2, the gravity sensor 3, the table body 301, the first inertial component 302, the inertial navigation component 303, the fixed plate 4, the buffer component 5, the annular guide rail 6, the camera module 7, the first fixed table 701, the second fixed table 702, the rotating shaft 703, the driven shaft 704 and the transparent cover body 705.
An example is substantially as shown in figures 1 to 6 of the accompanying drawings:
the atomic magnetic sensor 2 is used for collecting aeromagnetic data of a target area along with the unmanned aerial vehicle 1 and comprises a protective shell, wherein a laser generating device, a photoelectric detector and an optical path guiding assembly are arranged in the protective shell;
the optical path guiding component comprises optical axes which are symmetrically arranged, the optical axes are connected with atomic absorption air chambers, a plane mirror is arranged between the two optical axes, the optical path guiding component is used for converting laser propagating in the direction perpendicular to the optical axes into circularly polarized light propagating in the direction of the optical axes, and the photoelectric detector is used for converging optical signals converged by three mutually-space perpendicular round-trip optical loops and the atomic air chambers in the third direction and converting the optical signals into electric signals.
The gravity sensor is used for collecting gravity data of a target area along with the unmanned aerial vehicle, and comprises:
the gravity sensor 3 is configured to collect gravity data of a target area along with the unmanned aerial vehicle 1, and includes:
the inertial stabilization platform is used for providing a horizontal reference and comprises a platform body 301, wherein two groups of mutually orthogonal first inertial components 302 are arranged on the platform body 301, the first inertial components 302 comprise first accelerometers and first gyroscopes, the sensitive axes of the first accelerometers and the first gyroscopes in each group of first inertial components 302 are parallel to one horizontal coordinate axis of a shaft system, and the sensitive axes of the first accelerometers and the first gyroscopes in each group are consistent in direction;
the inertial navigation component 303 is configured to perform gravity measurement under a horizontal reference provided by the inertial stabilized platform, and includes three groups of second inertial components that are orthogonal to each other, where the second inertial components include a second accelerometer and a second gyroscope, a sensitive axis of the second accelerometer and the second gyroscope in each group of second inertial components is parallel to one coordinate axis of the shafting, and sensitive axes of the second accelerometer and the second gyroscope in each group are in a direction consistent.
The image acquisition device is used for acquiring ground surface image data of a target area along with the unmanned aerial vehicle 1 and comprises a fixed plate 4 arranged at the bottom of the unmanned aerial vehicle 1, a buffer assembly 5 is arranged between the top of the fixed plate 4 and the bottom of the unmanned aerial vehicle 1, an annular guide rail 6 is arranged at the bottom of the fixed plate 4, and a camera module 7 is connected to the annular guide rail 6 in a sliding manner;
the camera shooting module 7 comprises a first fixed table 701 and a second fixed table 702, a rotating shaft 703 and a driven shaft 704 are rotatably connected between the first fixed table 701 and the second fixed table 702, a gear is sleeved on the rotating shaft 703, one end of the rotating shaft 703 penetrates through the first fixed table 701 and is coaxially and fixedly connected with a motor, the inner diameter side wall of the annular guide rail 6 is fixedly connected with a rack, the gear and the rack on the rotating shaft 703 are meshed, the driven shaft 704 is attached to the outer diameter side wall of the annular guide rail 6, a camera and a transparent cover body 705 are mounted at the bottom of the second fixed table 702, and the camera is completely wrapped by the transparent cover body 705.
The specific implementation process of the three-dimensional urban geological model is as follows:
s1, presetting a flight path of the unmanned aerial vehicle 1 based on a constant elevation: acquiring remote sensing images, DEM data and longitudinal section diagrams of a target area, planning pre-flight paths of a plurality of unmanned aerial vehicles 1 according to the remote sensing images, extracting contour lines along the pre-flight paths according to the DEM data and the longitudinal section diagrams, setting route points on the contour lines, connecting the route points to obtain flight paths of the unmanned aerial vehicles 1, adjusting the pre-flight paths according to the fall of the contour lines and constant elevation, enabling the planned flight paths to adapt to acquisition areas with larger topographic relief, enabling the unmanned aerial vehicles 1 to keep a relatively constant height difference with the ground during flight, and avoiding larger difference of resolution of images and influence on the precision of surface image data caused by larger difference of the height difference between the unmanned aerial vehicles 1 and the ground during constant Gao Chengfei in the existing shooting mode.
S2, installing an atomic magnetic sensor 2, a gravity sensor 3 and an image acquisition device at the bottom of the unmanned aerial vehicle 1, and acquiring surface image data, aeromagnetic data and gravity data by the unmanned aerial vehicle 1 based on oblique photography to fly along a flight path;
because the determination of flight path is related to the environment and the weather of the flight area, therefore unmanned aerial vehicle 1 generally flies according to the planned flight path, if the change of the flight path is easily influenced by the environment and the weather, there is the risk of damage of unmanned aerial vehicle 1, therefore, when unmanned aerial vehicle 1 flies along the established flight path, if the shooting area is shielded, and unmanned aerial vehicle 1 is inconvenient to adjust the flight angle or the path, based on the large-direction shooting angle of unmanned aerial vehicle 1, camera module 7 is driven to slide along annular guide rail 6, so as to acquire the image data of the shielding object area, and buffer component 5 installed at the bottom of unmanned aerial vehicle 1 can buffer the vibration generated by unmanned aerial vehicle 1 when unmanned aerial vehicle 1 changes Gao Chengfei, so as to avoid damage of camera module 7.
S3, constructing a three-dimensional city model:
firstly, inputting ground surface image data into Context Capture oblique photographing software, importing route point coordinates to be associated with the ground surface image data, and carrying out joint adjustment and space three operations through the Context Capture oblique photographing software to obtain DOM images;
then, an image segmentation network is constructed, DOM images are input into the image segmentation network for edge filling, then cut into a plurality of image blocks with equal pixels, and combined with route point coordinates to be recombined into ground object point cloud data;
s32, optimizing the feature of the ground object contour line comprises the following steps:
firstly, based on mathematical morphology optimization of ground object, setting the pixel size of a structural element to be 15 x 15 for closed operation, as shown in fig. 5, performing closed operation under the structural element of which the pixel size is 15 x 15 in fig. 5 (a), performing closed operation under the structural element of which the pixel size is 15 x 15 in fig. 5 (b), performing closed operation under the structural element of which the pixel size is 25 x 25 in fig. 5 (c), performing closed operation under the structural element of which the pixel size is 15 x 15 according to image comparison of fig. 5 (a) -5 (c), and smoothing the edge of the ground object well to reduce non-ground object point sets;
then, extracting ground object contour lines based on an edge detection algorithm: firstly, denoising point cloud data, in the embodiment, denoising by adopting Gaussian filtering, then calculating gradient strength and direction of the point cloud data on the route points, and respectively calculating convolution templates S in the horizontal direction x And a convolution template S in the vertical direction y Wherein S is x And S is y The expressions of (2) are respectively:
then the gradient G in the horizontal direction x And a gradient G in the vertical direction y The method comprises the following steps:
the gradient G of the waypoint is:
wherein G is x Is a sobel operator;
removing the ground object invalid contour lines based on the OpenCV function, wherein the ground object contour lines before and after removing are shown in FIG. 6;
finally, optimizing the ground object contour line based on a Douglas-Peucker algorithm, connecting the endpoints of the contour line to obtain the strings of the contour line, calculating the distance D from the nearest point of the contour line to the strings, setting a distance threshold K, comparing K with D, and if D is smaller than K, sequentially processing the contour line to obtain a plurality of strings if D is smaller than K, and connecting the strings to obtain the optimized ground object contour line;
s33, extracting feature point cloud data of the route points, converting coordinates of the feature point cloud data into pixel coordinates, extracting feature contour lines corresponding to the pixel coordinates, and coupling the feature point cloud data of each route point and the feature contour lines based on the pixel coordinates to obtain a three-dimensional city model
S4, constructing a three-dimensional geological model:
s41, acquiring historical geological data of a target area;
s42, constructing an initial geological model of the target area based on the historical geological data: firstly, constructing a three-dimensional space based on GOCAD software, importing DEM data of an unexplored earth surface in historical geological data, extracting a stratum boundary line in a geological plan view, importing the GOCAD in shp format, projecting the stratum boundary line onto the DEM data with the same coordinates, cutting the DEM data, and smoothing a curved surface of an adjacent cutting line by adopting a DSI interpolation method to obtain a stratum model; then, extracting fault lines from the exploration line profile in the historical geological data to form a fault skeleton network, merging the fault lines, generating a fault plane based on SMW, and introducing drilling data under the same coordinates to adjust the height of the fault plane to obtain a fault model; finally, coupling the stratum model and the fault model to obtain an initial geological model;
s43, constructing a three-dimensional geological model: dividing an initial geological model into a plurality of grid units, acquiring the density and the magnetic susceptibility of the grid units provided with drilling points according to drilling data in historical geological data, constructing a functional relation between stratum depth and the density and the magnetic susceptibility, inputting aeromagnetic data and gravity data acquired by an unmanned aerial vehicle into the functional relation, acquiring the density and the magnetic susceptibility of each grid unit, and restraining based on coordinates of the aeropoints to obtain a three-dimensional geological model;
and S5, embedding the three-dimensional urban model into the stratum surface of the three-dimensional geological model by taking the coordinates of the same route point as a reference, so as to obtain the three-dimensional urban geological model.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing is merely an embodiment of the present application, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application date or before the priority date, can know all the prior art in the field, and has the capability of applying the conventional experimental means before the date, and a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (8)
1. A construction method of a three-dimensional urban geological model is characterized by comprising the following steps: the method comprises the following steps:
s1, presetting a flight path of an unmanned aerial vehicle based on a constant elevation;
s2, the unmanned aerial vehicle flies along a flight path based on oblique photography, and surface image data, aeromagnetic data and gravity data are obtained;
s3, constructing a three-dimensional city model:
s31, acquiring ground object point cloud data based on an image segmentation network and ground surface image data acquired by an unmanned aerial vehicle;
s32, extracting feature contour line features and optimizing the feature contour line features;
s33, constructing a three-dimensional city model based on the optimized ground feature contour line and combining ground feature point cloud data;
s4, constructing a three-dimensional geological model:
s41, acquiring historical geological data of a target area;
s42, constructing an initial geological model of the target area based on the historical geological data;
s43, introducing aeromagnetic data and gravity data acquired by the unmanned aerial vehicle to carry out gridding inversion to obtain a three-dimensional geological model;
and S5, coupling the three-dimensional city model and the three-dimensional geological model to obtain the three-dimensional city geological model.
2. The method for constructing a three-dimensional urban geological model according to claim 1, characterized in that: in the step S1, the flight path of the unmanned aerial vehicle is preset based on a constant elevation, specifically: acquiring remote sensing images, DEM data and longitudinal section views of a target area, planning pre-flight paths of a plurality of unmanned aerial vehicles according to the remote sensing images, extracting contour lines along the pre-flight paths according to the DEM data and the longitudinal section views, setting route points on the contour lines, and connecting the route points to obtain the flight paths of the unmanned aerial vehicles.
3. The method for constructing a three-dimensional urban geological model according to claim 1, characterized in that: and S2, the atomic magnetic sensor, the gravity sensor and the image acquisition device are arranged at the bottom of the unmanned aerial vehicle, the unmanned aerial vehicle flies along a flight path based on an oblique photography mode, and the earth surface image data, the aeromagnetic data and the gravity data of each route point are acquired.
4. The method for constructing a three-dimensional urban geological model according to claim 1, characterized in that: the step S31 specifically includes: firstly, inputting ground surface image data into ContextCapture oblique photographing software, importing route point coordinates to be associated with the ground surface image data, carrying out joint adjustment and space three operation through the ContextCapture oblique photographing software to obtain DOM images, then constructing an image segmentation network, inputting the DOM images into the image segmentation network to carry out edge filling, then cutting into a plurality of image blocks with equal pixels, and recombining the image blocks into ground object point cloud data by combining the route point coordinates.
5. The method for constructing a three-dimensional urban geological model according to claim 1, characterized in that: the optimizing the feature of the ground object contour line in S32 includes: firstly, optimizing ground object objects based on mathematical morphology; then, extracting a ground object contour line based on an edge detection algorithm, and removing an ineffective contour line of the ground object; finally, optimizing the ground object contour line based on the Douglas-Peucker algorithm.
6. The method for constructing a three-dimensional urban geological model according to claim 1, characterized in that: the constructing a three-dimensional city model in S33 includes: and extracting the ground object point cloud data of the route points, converting the coordinates of the ground object point cloud data into pixel coordinates, extracting a ground object contour line corresponding to the pixel coordinates, and coupling the ground object point cloud data of each route point and the ground object contour line based on the pixel coordinates to obtain the three-dimensional city model.
7. The method for constructing a three-dimensional urban geological model according to claim 1, characterized in that: the step S42 of constructing an initial geological model of the target area comprises the following steps: firstly, constructing a three-dimensional space based on GOCAD software, importing DEM data of an unexplored earth surface in historical geological data, extracting a stratum boundary line in a geological plan view, importing the GOCAD in shp format, projecting the stratum boundary line onto the DEM data with the same coordinates, cutting the DEM data, and smoothing a curved surface of an adjacent cutting line by adopting a DSI interpolation method to obtain a stratum model; then, extracting fault lines from the exploration line profile in the historical geological data to form a fault skeleton network, merging the fault lines, generating a fault plane based on SMW, and introducing drilling data under the same coordinates to adjust the height of the fault plane to obtain a fault model; and finally, coupling the stratum model and the fault model to obtain an initial geological model.
8. The method for constructing a three-dimensional urban geological model according to claim 1, characterized in that: the step of S43 heavy magnetic inversion comprises the following steps: dividing an initial geological model into a plurality of grid units, acquiring the density and the magnetic susceptibility of the grid units provided with drilling points according to drilling data in historical geological data, constructing a functional relation between stratum depth and the density and magnetic susceptibility, inputting aeromagnetic data and gravity data acquired by an unmanned aerial vehicle into the functional relation, acquiring the density and the magnetic susceptibility of each grid unit, and restraining based on coordinates of the aeropoints to obtain the three-dimensional geological model.
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| CN117824660B (en) * | 2024-02-29 | 2024-05-10 | 山东捷瑞数字科技股份有限公司 | Mine route planning method, device, equipment and medium based on digital twinning |
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