CN-121978657-A - Method and device for measuring earthwork based on laser radar, electronic equipment and medium

CN121978657ACN 121978657 ACN121978657 ACN 121978657ACN-121978657-A

Abstract

The embodiment of the disclosure discloses a method, a device, electronic equipment and a medium for measuring earthwork based on a laser radar. The method comprises the steps of acquiring data of a target area through a laser radar arranged on an unmanned aerial vehicle to obtain laser point cloud data, denoising the laser point cloud data to obtain denoised point cloud data, performing earth segmentation on the denoised point cloud data to obtain earth point cloud data, slicing the earth point cloud data to obtain earth slice point cloud sequences, and executing an earth volume measuring step of determining earth slice contours corresponding to the earth slice point clouds, determining earth slice areas corresponding to the earth slice contours according to the earth slice contours, generating earth slice point cloud volumes according to the earth slice areas, and determining the sum of the generated earth slice point cloud volumes as earth construction volume corresponding to the target area. This embodiment improves the accuracy of the earth volume measurement.

Inventors

LI CUNCHENG
WANG CHUNGUANG
YANG YINGBIN
CUI QIANG
HU CHENG
ZHU HEYAN
LI YU

Assignees

中建五局第四建设有限公司

Dates

Publication Date: 20260505
Application Date: 20260311

Claims (9)

1. The method for measuring the earth volume based on the laser radar is characterized by comprising the following steps of: Acquiring data of a target area through a laser radar arranged on the unmanned aerial vehicle to obtain laser point cloud data, wherein the target area is an area needing earth construction; Denoising the laser point cloud data to obtain denoised point cloud data; Performing earth division processing on the denoising point cloud data to obtain earth point cloud data; slicing the earth point cloud data to obtain an earth slicing point cloud sequence; for each earth slice point cloud in the earth slice point cloud sequence, performing the following earth volume measurement steps: determining an earthwork slice contour corresponding to the earthwork slice point cloud; Determining an earthwork slice area corresponding to the earthwork slice contour according to the earthwork slice contour; Generating an earthwork slicing point cloud volume corresponding to the earthwork slicing point cloud according to the earthwork slicing area; and determining the sum of the volumes of the generated earth section point clouds as the earth construction quantity corresponding to the target area.
2. The method of claim 1, wherein prior to performing the earth segmentation process on the de-noised point cloud data to obtain earth point cloud data, the method further comprises: performing downsampling processing on the denoising point cloud data to obtain downsampled point cloud data; registering the down-sampling point cloud data to obtain registration point cloud data; And determining the alignment point cloud data as denoising point cloud data so as to update the denoising point cloud data.
3. The method of claim 1, wherein performing an earth segmentation process on the denoised point cloud data to obtain earth point cloud data comprises: Determining a target denoising point group set based on the denoising point cloud data, wherein the target denoising point group in the target denoising point group set comprises three denoising points selected from the denoising point cloud data; for each target denoising point group in the target denoising point group set, performing the following segmentation steps: determining a plane equation corresponding to the target denoising point group according to the target denoising point group; determining all denoising points except the target denoising point group in the denoising point cloud data as point cloud data to be segmented; determining a distance set according to the point cloud data to be segmented and the plane equation; Determining plane point cloud data according to a preset distance threshold value and the distance set; determining the number of the plane points included in the plane point cloud data as plane point number information; the plane point number information with the largest corresponding plane point number value in the determined plane point number information is determined as target plane point number information; Determining plane point cloud data corresponding to the target plane point quantity information as target plane point cloud data; and determining earth point cloud data according to the target plane point cloud data.
4. A method according to claim 3, wherein said determining earth point cloud data from said target planar point cloud data comprises: Updating a plane equation corresponding to the target plane point cloud data by using a preset segmentation algorithm to generate an updated plane equation; according to the updated plane equation, extracting earthwork points from the denoising point cloud data to obtain earthwork point cloud serving as target earthwork point cloud data; For each target earth point in the target earth point cloud data, performing the following processing steps: determining a neighboring earth point set corresponding to the target earth point; determining a neighboring earthwork distance set according to the target earthwork point and the neighboring earthwork point set; Determining the average value information of the earthwork distances according to the neighboring earthwork distance set; determining the determined average value information of each earthwork distance as an average value information set of the earthwork distances; according to the earthwork distance mean value information set, mean value information and variance information corresponding to the target earthwork point cloud data are determined; Generating a distance threshold according to the mean value information, the variance information and a preset coefficient; Determining the average value information of all the earthwork distances smaller than the distance threshold value in the average value information set of the earthwork distances as a denoising average value information set of the earthwork distances; and determining point clouds formed by all target earthwork points corresponding to the denoising earthwork distance mean value information set in the target earthwork point cloud data as earthwork point cloud data.
5. The method of claim 1, wherein the determining an earthmoving slice contour corresponding to the earthmoving slice point cloud comprises: Projecting the earth section point cloud to a preset coordinate plane to obtain a projected earth section point cloud; For each projected earthwork slicing point in the projected earthwork slicing point cloud, performing the earthwork contour point determining step of: determining an earthwork field point set corresponding to the projected earthwork slicing point according to a preset radius; For each earth sector point in the earth sector point set, performing the steps of: determining an earthwork circle center set which passes through the projection earthwork slicing point and the earthwork field point and has a corresponding radius of the preset radius, wherein the earthwork circle center set comprises a first earthwork circle center and a second earthwork circle center; Determining each earthwork field point except the earthwork field point in the earthwork field point set as a target earthwork field point set; Determining the distance between each target earth field point included in the target earth field point set and the center of the first earth as a first earth distance set; determining the distance between each target earth field point included in the target earth field point set and the center of the second earth as a second earth distance set; in response to determining that each first earth distance included in the first earth distance set is greater than the preset radius and each second earth distance included in the second earth distance set is greater than the preset radius, determining the projected earth slicing point as an earth slicing profile point; and determining the determined outline composed of all the earthwork slice outline points as the earthwork slice outline corresponding to the projected earthwork slice point cloud.
6. The method of claim 5, wherein determining an earthmoving slice area corresponding to the earthmoving slice contour from the earthmoving slice contour comprises: generating an earthwork slice contour point sequence according to all earthwork slice contour points included by the earthwork slice contour; Generating an earthwork slice contour point group sequence according to the earthwork slice contour point sequence, wherein an earthwork slice contour point group in the earthwork slice contour point group sequence comprises a first earthwork slice contour point and a second earthwork slice contour point; for each earth slice contour point group in the earth slice contour point group sequence, performing the following area generation step: determining a difference value between an abscissa of a second earth section contour point included in the earth section contour point group and an abscissa of a first earth section contour point as an abscissa earth square difference value; determining a difference value between an ordinate of a second earth section contour point included in the earth section contour point group and an ordinate of a first earth section contour point as an ordinate earth square difference value; Determining the product of the abscissa and the ordinate earthwork difference value of the first earthwork slice contour point as first earthwork area information; determining the product of the ordinate of the first earthwork slice contour point and the abscissa earthwork difference value as second earthwork area information; Determining a difference value between the first and second earth area information as third earth area information; and determining one half of the sum of the determined third soil area information as the soil slicing area corresponding to the soil slicing contour.
7. An earth volume measuring device based on laser radar, characterized by comprising: The system comprises a data acquisition unit, a control unit and a control unit, wherein the data acquisition unit is configured to acquire data of a target area through a laser radar arranged on an unmanned aerial vehicle to obtain laser point cloud data, and the target area is an area needing earth construction; The denoising unit is configured to denoise the laser point cloud data to obtain denoised point cloud data; the earthwork segmentation unit is configured to perform earthwork segmentation processing on the denoising point cloud data to obtain earthwork point cloud data; the slicing unit is configured to slice the earth point cloud data to obtain an earth slicing point cloud sequence; An earthwork measurement unit configured to perform, for each earthwork slice point cloud in the sequence of earthwork slice point clouds, an earthwork slice contour corresponding to the earthwork slice point cloud; determining an earthwork slice area corresponding to the earthwork slice contour according to the earthwork slice contour, and generating an earthwork slice point cloud volume corresponding to the earthwork slice point cloud according to the earthwork slice area; And a determining unit configured to determine the sum of the generated respective earth section point cloud volumes as an earth construction amount corresponding to the target area.
8. An electronic device, comprising: One or more processors; A storage device having one or more programs stored thereon; when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1 to 6.
9. A computer readable medium, characterized in that a computer program is stored thereon, wherein the computer program, when executed by a processor, implements the method according to any of claims 1 to 6.

Description

Method and device for measuring earthwork based on laser radar, electronic equipment and medium Technical Field The embodiment of the disclosure relates to the technical field of civil engineering informatization, in particular to a method, a device, electronic equipment and a medium for measuring earthwork based on a laser radar. Background With the improvement of engineering informatization technology, engineering mapping technology is rapidly developed, and great convenience is provided for development of engineering works such as building construction, road construction, mining, land arrangement and the like. In particular, the accurate measurement of the earth volume of a construction area is of great importance to the development of the later construction work volume. At present, when the earth volume is measured, the earth volume is measured by an unmanned aerial vehicle oblique photography technology, an earth region model is constructed, or by a laser radar technology (three-dimensional point cloud data is acquired through a three-dimensional scanning device, and earth volume calculation is performed through a regular Grid Method, a section Method, an contour Method and the like). However, when the above manner is adopted, there are often the following technical problems: 1) Unmanned aerial vehicle photographic technique is higher to natural condition (for example windless, the illumination is good) requirement, especially in the no texture district such as highlight, shadow, surface of water, bare soil easily appears the elevation drift, and the earthwork area of shooting is sheltered from seriously by the vegetation simultaneously, and data is easy distorted, leads to measuring earthwork volume precision lower. 2) The regular grid method is to divide a region into regular grids, obtain the elevation of each grid through interpolation, and then calculate the volume of each grid column and sum. The method has good effect in a flat area, but in a complex terrain area, errors are introduced in interpolation Gao Chenghui, and the measurement accuracy is affected by grid size selection, so that the measured earth volume accuracy is low. 3) The fracture surface method is to make fracture surfaces in a certain interval, and then calculate the volume between adjacent fracture surfaces. This method is suitable for banded terrain (e.g. roads, channels), but for irregular areas the choice and spacing of the cross-sectional directions can affect the accuracy. Resulting in lower accuracy of the measured earth volume. 4) The contour method calculates the volume according to the contour, but the contour is obtained by interpolation, and the contour is assumed to be linearly changed when the volume is calculated, so that the error is larger when the height difference is larger, and the measured earth volume is lower in precision. Disclosure of Invention The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Some embodiments of the present disclosure propose a lidar-based earth volume measurement method, apparatus, electronic device, and computer-readable medium to solve the technical problems mentioned in the background section above. According to the method, a laser radar is arranged on an unmanned aerial vehicle to acquire data of a target area, laser point cloud data are acquired, the target area is an area where earth works are required, denoising processing is conducted on the laser point cloud data to acquire denoising point cloud data, earth segmentation processing is conducted on the denoising point cloud data to acquire earth point cloud data, slicing processing is conducted on the earth point cloud data to acquire earth slice point cloud sequences, and for each earth slice point cloud in the earth slice point cloud sequences, earth measurement steps are executed to determine earth slice contours corresponding to the earth slice point clouds, determine earth slice areas corresponding to the earth slice contours, generate earth slice point cloud volumes corresponding to the earth slice clouds according to the earth slice areas, and determine the earth slice volumes corresponding to the earth slice clouds and the generated earth slice volumes as target areas. In a second aspect, some embodiments of the present disclosure provide an earth volume measurement device based on a laser radar, where the device includes a data acquisition unit configured to acquire laser point cloud data from a target area by the laser radar provided on an unmanned aerial vehicle, where the target area is an area where earth construction is required, a denoising unit configured to denoise the laser point cloud data to obtain denoised point cloud data, an earth s