Arc-shaped Shoreline Change Measurement and Supervision Method Based on Nearshore Earthwork Dumping Construction

Abstract

The present application provides a method for measuring and supervising the change of an arc-shaped shoreline based on near-shore earthwork dumping construction. The above method includes establishing a plane coordinate system, selecting navigation take-off and landing points, controlling a drone to fly between the starting point, the ending point, the foot point, the midpoint and the current vertex, obtaining corresponding distance data, and calculating the current arc length of the shoreline to be measured according to the distance data. This method can measure the current arc length of the shoreline to be measured more efficiently and safely. Moreover, the drone can be controlled to fly to measure the shoreline to be measured even in rainy days and cloudy days, and multiple measurements can be carried out in a timely manner without waiting for the update of high-definition satellite maps.

Description

Technical Field

[0001] The present invention relates to the technical field of measurement supervision methods, and particularly to a method for measuring and supervising the change of an arc-shaped shoreline based on near-shore earth dumping construction. Background Art

[0002] Generally, waterways are arranged in rivers. The change in the length of shorelines such as riverbank lines and shorelines will affect the stability of the side shoals of the waterway shoreline. Generally, the change in the length of the shoreline is used to judge whether the waterway shoreline is deformed and whether the river regime is stable. Therefore, the measurement and supervision of the change in the length of the shoreline are crucial. When there is construction operation near the arc-shaped shoreline, the construction team is allowed to evenly pour earth along the shoreline. If the construction team only dumps earth in a local area, the earth will accumulate in the local area, resulting in the exposure of the side shoal. The water flow conditions will change with the change of the river channel boundary, which will affect the navigation safety of the waterway. Therefore, during earth dumping construction, it is generally necessary to frequently measure the arc-shaped shoreline. For example, measure two or three times a day.

[0003] It can be understood that the length of the shoreline can be obtained through high-definition satellite maps, but high-definition satellite maps have the problem of slow update, and it is impossible to timely supervise the arc-shaped shoreline through high-definition satellite maps. In addition, the clarity of high-definition satellite maps will be affected by the weather. When it is rainy or cloudy, the shoreline is more likely to be blocked, and the complete arc-shaped shoreline cannot be observed through high-definition satellite maps. Therefore, it is impossible to effectively measure and supervise the arc-shaped shoreline through high-definition satellite maps.

[0004] In response to the above problems, when measuring the arc-shaped shoreline, surveyors use a GPS measuring instrument to measure along the waterline by pacing. However, this measurement method has low efficiency, and there are safety risks such as surveyors falling and drowning. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a method for measuring and supervising the change of an arc-shaped shoreline based on near-shore earth dumping construction with high measurement efficiency and high measurement safety.

[0006] The purpose of the present invention is achieved by the following technical solutions:

[0007] A method for measuring and supervising the change of an arc-shaped shoreline based on near-shore earth dumping construction includes:

[0008] Step S110: Establish a plane coordinate system according to the near-shore earth dumping construction area, and set calibration parameters of the shoreline to be measured in the plane coordinate system. The calibration parameters include: the starting point A of the shoreline to be measured, the ending point C of the shoreline to be measured, the calibration arc length S0 from the starting point A to the ending point C, and the calibration vertex E0 of the shoreline to be measured;

[0009] Step S120: Select a navigation takeoff and landing point H in the plane coordinate system;

[0010] Control the drone to fly straight from the navigation takeoff and landing point H to the starting point A, and collect the distance H from the starting point A to the navigation takeoff and landing point, defined as L1;

[0011] Control the drone to fly straight from the starting point A to the ending point C, and collect the distance from the ending point C to the navigation takeoff and landing point H, defined as L2;

[0012] Step S130: Collect the connection line from the starting point A to the ending point C in the plane coordinate system, defined as the connection line AC;

[0013] Collect the foot of the perpendicular from the navigation takeoff and landing point H to the connection line AC in the plane coordinate system, and define it as the foot of the perpendicular point B;

[0014] Collect the midpoint of the connection line AC in the plane coordinate system, and define it as the midpoint D;

[0015] Collect the image of the drone flying straight from the starting point A to the ending point C, and perform an image feature extraction operation. Normalize the image feature quantity with the plane coordinate system to obtain the current vertex E1 of the shoreline to be measured in the plane coordinate system;

[0016] Step S140: Control the drone to fly straight from the ending point C to the foot of the perpendicular point B, and collect the distance from the foot of the perpendicular point B to the navigation takeoff and landing point H, defined as L3;

[0017] Control the drone to fly straight from the foot of the perpendicular point B to the midpoint D, and collect the distance from the midpoint D to the navigation takeoff and landing point H, defined as L4;

[0018] Control the drone to fly straight from the midpoint D to the current vertex E1, and collect the distance from the midpoint E1 to the navigation takeoff and landing point H, defined as L5;

[0019] Step S150: According to the following functional relationship, obtain the current arc length of the shoreline to be measured, defined as

[0020]

[0021] where,

[0022] where,

[0023]

[0024] Step S160: Calculate the arc length difference SX = |S1 - S0|, when the arc length difference S X is greater than a preset alarm value, an alarm message is sent to the server.

[0025] In one embodiment, before the step S160, it further includes:

[0026] The current arc length S1 of the shoreline to be measured is processed according to a preset arc length correction coefficient to obtain the corrected current arc length S1 of the shoreline to be measured.

[0027] In one embodiment, the method for measuring and supervising the change of the arc-shaped shoreline based on near-shore earthwork dumping construction further includes a real-time monitoring step:

[0028] Used to repeatedly execute step S120 to step S160.

[0029] In one embodiment, in the step S130, before the operation of collecting the image of the UAV flying in a straight line from the starting point A to the ending point C, several reference points are also set in the near-shore earthwork dumping construction area.

[0030] In one embodiment, the image feature quantity is a planar feature.

[0031] In one embodiment, after the step S160, it further includes step S170:

[0032] Calculate the vertex deviation value E X = |E1 - E0|, when the vertex deviation value E X is greater than a preset alarm value, an alarm letter is sent to the server.

[0033] In one embodiment, in the step S170,

[0034] E X = |E1 - E1| × K

[0035] Wherein, K is a preset error correction coefficient, and the preset error correction coefficient is determined according to tidal data and / or rainfall data.

[0036] Compared with the prior art, the present invention has at least the following advantages:

[0037] 1. By controlling the UAV to fly in the near-shore earthwork dumping construction area, the distance data between the starting point A, the ending point C, the current vertex E1, the foot point B, and the midpoint D and the navigation takeoff and landing point H are obtained, and the current arc length of the shoreline to be measured is calculated according to each distance data, without the need for surveyors to measure along the waterline step by step, improving the efficiency and avoiding safety risks such as surveyors falling and drowning.

[0038] 2. It is still possible to control the drone to fly and obtain distance data on rainy or cloudy days, and the weather has little impact on the measurement of the arc-shaped shoreline.

[0039] 3. When it is necessary to measure the current arc length of the shoreline to be measured in a timely manner, the drone can be controlled to fly in the near-shore earth dumping construction area to measure the current arc length of the shoreline to be measured, without waiting for the high-definition satellite map to be updated before measuring the current arc length of the shoreline to be measured. Moreover, multiple measurements can be carried out in a day to measure and monitor the shoreline to be measured in a timely manner, avoiding the impact of changes in the shoreline length on the waterway and bringing potential safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 Schematic diagram of the control screen of the drone in one embodiment;

[0042] Figure 2 Another schematic diagram of the control screen of the drone in one embodiment;

[0043] Figure 3 Another schematic diagram of the control screen of the drone in one embodiment;

[0044] Figure 4 Schematic diagram of the structure of the electronic device in one embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] To facilitate the understanding of the present invention, the following will describe the present invention more comprehensively with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0046] It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs. The terms used in the description of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0048] To better understand the technical solutions and beneficial effects of this application, the following further elaborates on this application in detail with specific embodiments:

[0049] See Figure 1 and Figure 2 , a method for measuring and supervising the change of an arc-shaped shoreline based on near-shore earthwork dumping construction includes:

[0050] Step S110: Establish a plane coordinate system according to the near-shore earthwork dumping construction area, and set calibration parameters of the shoreline to be measured in the plane coordinate system. The calibration parameters include: the starting point A of the shoreline to be measured, the ending point C of the shoreline to be measured, the calibration arc length S0 from the starting point A to the ending point C, and the calibration vertex E0 of the shoreline to be measured.

[0051] In this embodiment, the shoreline to be measured is the shoreline corresponding to the construction area. There is a situation where the construction team dumps earthwork on the shoreline outside the construction area. To avoid missing measurements, the starting point A of the shoreline to be measured extends 10 to 20 meters outside the construction area, and the ending point C of the shoreline to be measured extends 10 to 20 meters outside the construction area.

[0052] Among them, the plane coordinate system can pre-take pictures and videos of the near-shore earthwork dumping construction area through a camera or video device to obtain regional image data within the near-shore earthwork dumping construction area, and establish a plane coordinate system according to the regional image data. In one embodiment, the plane coordinate system can be a pixel plane coordinate system, an image physical coordinate system, or a camera coordinate system. The starting point A and the ending point C are determined in the plane coordinate system according to the starting position of the shoreline to be measured actually required. In the plane coordinate system, the relative positions of the starting point A, the ending point C, the calibration vertex E0, and the calibration arc length S0 are fixed. In one embodiment, the calibration vertex E0 is the midpoint of the calibration arc length S0. Further, the calibration vertex E0 is determined according to the starting point A and the ending point C, that is, the coordinates of the calibration vertex E0 are calculated through the coordinates of the starting point A and the ending point C in the plane coordinate system.

[0053] Among them, the shoreline to be measured, the starting point of the shoreline to be measured, the ending point of the shoreline to be measured, and the calibration vertex of the shoreline to be measured are within the near-shore earthwork dumping construction area. The shoreline to be measured is arc-shaped and approximately circular arc-shaped.

[0054] Step S120: Select a navigation takeoff and landing point H in the plane coordinate system;

[0055] Control the drone to fly straight from the navigation takeoff and landing point H to the starting point A, and collect the distance H from the starting point A to the navigation takeoff and landing point, which is defined as L1;

[0056] Control the drone to fly straight from the starting point A to the ending point C, and collect the distance from the ending point C to the navigation takeoff and landing point H, which is defined as L2.

[0057] Among them, the drone is equipped with a positioning system, such as GPS (Global Positioning System) or Beidou system, which can record the position information of the drone in real time. The drone consists of a flight control system, a power system, a communication system, a vision system, etc. Among them, the navigation subsystem in the flight control system provides information such as the position, altitude, and speed of the drone, and cooperates with vision systems such as forward vision and downward vision to achieve precise hovering function. The video transmission subsystem in the communication system sends the images obtained by the camera carried by the drone to the driver control interface through the downlink of the communication system, and performs ranging using the uplink and downlink according to the transmission of the position positioning information of the navigation subsystem. The drone flight control has two interfaces: the camera mode and the map mode. The flight track line can be displayed on the map mode, as well as the straight line connection between the position of the drone and the return point. Before the drone takes off, the navigation subsystem records the position of the return point. When the drone flies to the target point and hovers at a fixed point, it can collect the distance data between the drone and the return point, and send the collected distance data to the processor. Moreover, the collected distance data is sent to the display of the control interface, so that the "distance between the drone and the return point" data is displayed in real time on the control interface. The above straight line connection and distance data will be updated in real time as the position of the drone changes. Using this function, the distance measurement between any target point and the return point can be realized.

[0058] When the drone flies to the navigation takeoff and landing point H, the starting point A, and the ending point C, it can respectively obtain the corresponding position information, and obtain the distances from the starting point A and the ending point C to the navigation takeoff and landing point H according to the position information, that is, L1 and L2.

[0059] In order to shorten the flight distance of the UAV, in one embodiment, the position of the navigation takeoff and landing point H is determined according to the positions of the starting point A and the ending point C. Further, the projection point of the navigation takeoff and landing point H on the straight line where the starting point A and the ending point C are located is located between the starting point A and the ending point C. In order to facilitate the docking of the UAV, in one embodiment, the navigation takeoff and landing point H is located on the opposite bank of the shoreline to be measured. In order to verify whether the UAV flies in a straight line, in one embodiment, the starting flight position data of the UAV flying from the starting point A to the ending point C is collected in real time, and the starting flight position data is compared with the preset starting straight line data to confirm whether the flight path of the UAV flying from the starting point A to the ending point C is a straight line. Among them, the preset starting straight line data is determined in advance according to the starting point A and the ending point C.

[0060] Step S130: Collect the connection line from the starting point A to the ending point C in the plane coordinate system, and define it as the connection line AC;

[0061] Collect the foot point of the navigation takeoff and landing point H to the connection line AC in the plane coordinate system, and define it as the foot point B;

[0062] Collect the midpoint of the connection line AC in the plane coordinate system, and define it as the midpoint D;

[0063] Collect the image of the UAV flying in a straight line from the starting point A to the ending point C, and perform image feature extraction operations. Normalize the image feature quantities with the plane coordinate system to obtain the current vertex E1 of the shoreline to be measured in the plane coordinate system.

[0064] See Figure 2 , according to the coordinate data of the starting point A and the ending point C, the line segment data where the starting point A and the ending point C are located can be determined, that is, the data of the connection line AC. In the plane coordinate system, according to the coordinate data of the navigation takeoff and landing point H and the data of the connection line AC, determine the coordinate data of the foot point B. According to the coordinate data of the starting point A and the data of the connection line AC, determine the coordinate data of the midpoint D; or, according to the coordinate data of the ending point C and the data of the connection line AC, determine the coordinate data of the midpoint D; or, according to the coordinate data of the starting point A and the coordinate data of the ending point C, determine the coordinate data of the midpoint D.

[0065] In order to collect images, in one embodiment, the UAV is equipped with a camera and / or a video recorder, and the images of the nearshore earthwork dumping construction area are collected through the camera and / or the video recorder. In one embodiment, the images are collected at preset time intervals; and / or, the images are collected at preset distances; and / or, the images are collected at preset collection points. In one embodiment, the collected images are stitched to obtain the stitched images so that the stitched images include the image information of the starting point A, the ending point C and the shoreline to be measured.

[0066] In order to make the image feature quantity correspond to the plane coordinate system, in one embodiment, according to the starting point A and the ending point C, a data mapping is established between the image feature quantity and the plane coordinate system to correspond the image feature quantity and the plane coordinate system. For example, the data of the starting point A in the image feature quantity corresponds to the data of the starting point A in the plane coordinate system. In one embodiment, according to the data mapping, the data of the current vertex E1 in the image feature quantity is mapped to the plane coordinate system, so as to determine the current vertex E1 in the plane coordinate system and obtain the coordinate data of the current vertex E1 in the plane coordinate system. Among them, since the relative positions of the starting point A and the ending point C are fixed, the starting point A in the image feature quantity can be corresponded to the starting point A in the plane coordinate system, and the ending point C in the image feature quantity can be corresponded to the ending point C in the plane coordinate system, so as to establish a data mapping. In order to improve the mapping accuracy, in one embodiment, the unmanned aerial vehicle is controlled to collect the starting image and the starting position information at the starting point A simultaneously, and / or the unmanned aerial vehicle is controlled to collect the ending image and the ending position information at the ending point C simultaneously. Among them, the starting image is collected by the unmanned aerial vehicle through the camera and / or the video recording device at the starting point A, and the starting position information is the position information of the starting point A collected by the positioning system of the unmanned aerial vehicle. The ending image is collected by the unmanned aerial vehicle through the camera and / or the video recording device at the ending point C, and the ending position information is the position information of the ending point C collected by the positioning system of the unmanned aerial vehicle.

[0067] Since there are errors in the fused image, in order to improve the accuracy of the data mapping, in one embodiment, after the data mapping is established, according to the position information of the starting point A and the ending point C collected by the positioning system, the relative image position information between the starting point A and the ending point C in the image feature quantity is calculated; according to the coordinate data of the starting point A and the ending point C in the plane coordinate system, the relative plane position information between the starting point A and the ending point C in the plane coordinate system is calculated; the relative image position information and the relative plane position information are compared to obtain the relative position error; when the relative position error is less than or equal to the position error threshold, the current data mapping is confirmed as the final data mapping; when the relative position error is greater than the position error threshold, a new data mapping is established. In one embodiment, the relative image position information and the relative plane position information can be the distance information of the line segment AC and / or the slope information of the line segment AC.

[0068] In one embodiment, re - establishing the data mapping may be re - collecting the images of the UAV flying in a straight line from the starting point A to the ending point C, performing an image feature extraction operation on the re - collected images to obtain image feature quantities again, and establishing a data mapping between the re - obtained image feature quantities and the plane coordinate system. In one embodiment, re - establishing the data mapping may be, among the collected several images, traversing a preset number of images for image feature extraction to obtain several image feature quantities, establishing a data mapping between each image feature quantity and the plane coordinate system respectively, calculating the relative position errors corresponding to each data mapping, and determining the final data mapping according to each relative position error. Specifically, the data mapping corresponding to the smallest relative position error is selected as the final data mapping.

[0069] To facilitate the establishment and normalization processing of the data mapping between the image feature quantities and the plane coordinate system, in one embodiment, the image feature quantity is a planar feature. In one embodiment, the planar feature includes an image coordinate system established according to the image, the coordinate data of the starting point A in the image coordinate system, the coordinate data of the ending point C in the image coordinate system, and the current vertex E1 in the image coordinate system.

[0070] To enable the UAV to fly in a straight line between the starting point A and the ending point C, in one embodiment, the ground station sends start - and - end flight data to the UAV to control the UAV to fly straight from the starting point A to the ending point C. In one embodiment, the flight data includes a preset flight direction, enabling the UAV to fly in a straight line according to the preset flight direction. Further, the flight direction is determined according to the direction of the ending point C relative to the starting point A. In one embodiment, the flight data includes a point set of the path from the starting point A to the ending point C, and each position point in the point set has positioning information. The UAV flies over the corresponding positions in the near - shore earthwork dumping construction area corresponding to the point set in sequence. Among them, the UAV can obtain the current flight direction through a gyroscope, obtain the magnetic field strength and direction where the UAV is located through a magnetometer, and determine the azimuth of the UAV according to the magnetic field strength and direction. In one embodiment, in the step S130, before the operation of collecting the images of the UAV flying in a straight line from the starting point A to the ending point C, several reference points are also set in the near - shore earthwork dumping construction area. Among them, the reference points can be several reference flags inserted along the line segment between the starting point A and the ending point C, and the UAV is controlled to fly along the reference flags.

[0071] In one embodiment, the specific steps to obtain the current vertex E1 of the shoreline to be measured in the plane coordinate system are as follows: According to the coordinate data of the midpoint D and the data of the connection line AC, obtain the data of the perpendicular connection line DF of the connection line AC. Determine the current vertex E1 according to the data of the connection line DF and the data of the shoreline to be measured. Among them, the data of the shoreline to be measured is obtained by extracting image features from the image of flying straight from the starting point A to the ending point C, and the obtained image feature quantities are normalized or data-mapped with the plane coordinate system. That is, extract the contour data of the shoreline to be measured from the image into the plane coordinate system to obtain the data of the shoreline to be measured in the plane coordinate system, and the data of the shoreline to be measured is the contour data of the shoreline to be measured.

[0072] Step S140: Control the drone to fly straight from the ending point C to the foot of the perpendicular point B, and collect the distance from the foot of the perpendicular point B to the navigation take-off and landing point H, defined as L3;

[0073] Control the drone to fly straight from the foot of the perpendicular point B to the midpoint D, and collect the distance from the midpoint D to the navigation take-off and landing point H, defined as L4;

[0074] Control the drone to fly straight from the midpoint D to the current vertex E1, and collect the distance from the midpoint E1 to the navigation take-off and landing point H, defined as L5.

[0075] Among them, in order to confirm that the drone flies from the ending point C to the foot of the perpendicular point B, as Figure 3 shown, it can be confirmed whether the drone accurately flies to the foot of the perpendicular point B through a right-angled object on the flight display screen of the drone. For example, attach one right-angled side of a triangular ruler to the straight line where the navigation take-off and landing point H and the foot of the perpendicular point B are located, and the other right-angled side to the straight line where the ending point C and the foot of the perpendicular point B are located.

[0076] In order to collect data more accurately, in one embodiment, the flight speed corresponding to the flight data from the ending point C to the foot of the perpendicular point B is less than the flight speed corresponding to the flight data from the starting point A to the ending point C. Further, the flight speed corresponding to the flight data from the ending point C to the foot of the perpendicular point B gradually decreases, and / or the flight speed corresponding to the flight data from the foot of the perpendicular point B to the midpoint D gradually decreases; and / or the flight speed corresponding to the flight data from the midpoint D to the current vertex E1 gradually decreases.

[0077] In order to fly to the midpoint D more accurately, in one embodiment, when the drone flies to the midpoint D, check whether the midpoint D is correct according to the starting point A and the ending point C. Specifically, calculate the reference midpoint data between the starting point A and the ending point C through the coordinate data of the starting point A and the coordinate data of the ending point C, and compare the coordinate data of the midpoint D with the reference midpoint data to check whether the current position of the drone is the midpoint of the starting point A and the ending point C.

[0078] In order to fly more accurately to the vertex of the shoreline to be measured, in one embodiment, before the step of controlling the UAV to fly linearly from the midpoint D to the current vertex E1, the current midpoint direction data of the UAV is obtained, and based on the coordinate data of the starting point A, the coordinate data of the ending point C, and the current midpoint direction data, it is checked whether the UAV is flying from the midpoint D to the current vertex E1 along a direction perpendicular to the connection line AC. When the UAV is located at the midpoint D, the current midpoint direction data is obtained, and based on the slope information of the connection line AC and the current midpoint direction data, it is judged whether the direction of the UAV at the midpoint D is perpendicular to the connection line AC.

[0079] In order to enable the UAV to fly linearly between the midpoint D and the current vertex E more accurately, in one embodiment, based on the coordinate data of the starting point A and the coordinate data of the ending point C, the data of the connection line DE is determined, so that the UAV flies according to the data of the connection line DE. The data of the connection line AC is determined through the coordinate data of the starting point A and the coordinate data of the ending point C; the data of the connection line DE is determined based on the data of the connection line AC. It should be understood that the straight line where the connection line DE is located is the perpendicular bisector of the connection line AC.

[0080] In order to check whether the UAV has flown accurately to the current vertex E1, in one embodiment, when the UAV flies to the shoreline to be measured, the current shoreline vertex data is obtained; based on the coordinate data of the midpoint D and the current shoreline vertex data, the inspection vertex line data is determined; based on the inspection vertex line data and the coordinate data of the navigation takeoff and landing point H, the inspection intersection point F is determined, where the connection line HF between the navigation takeoff and landing point H and the inspection intersection point F is parallel to the connection line AC; based on the inspection intersection point F and the midpoint D, the DF inspection distance corresponding to the connection line DF is determined; the DF inspection distance is compared with L3 to judge whether the current position of the UAV is the position of the current vertex E1. Among them, L3 is the distance corresponding to the connection line HB. Further, when the difference between the DF inspection distance and L3 is less than the preset inspection distance error, it is confirmed that the current position is the position of the current vertex E1. When the difference between the DF inspection distance and L3 is greater than or equal to the preset inspection distance error, based on the difference between the DF inspection distance and L3, the vertex adjustment flight data is obtained, so as to control the UAV to fly to the current vertex E1 according to the vertex adjustment flight data.

[0081] Among them, the current shoreline vertex data is the position data when the UAV flies from the midpoint D to the shoreline to be measured. The inspection vertex line data is the connection line data between the midpoint D and the position point when the UAV is at the shoreline to be measured. When the UAV flies from the midpoint D to the position point on the shoreline to be measured along a direction perpendicular to the connection line AC, the connection line DF is parallel to the connection line HB, and the distance corresponding to the connection line DF is equal to the distance corresponding to the connection line HB.

[0082] Step S150: According to the following functional relationship, obtain the current arc length of the shoreline to be measured, defined as

[0083]

[0084] Among them,

[0085] Among them,

[0086]

[0087] Among them, The required angle is in radians. It is the angle of the central angle AOD, It is the angle of the central angle AOC, that is, the central angle corresponding to the shoreline to be measured. L OA It is the radius of the circle corresponding to the shoreline to be measured. L AD It is 0.5 times the length of the chord AC. L DE It is from the midpoint of the chord AC to the midpoint of the arc AC.

[0088] See Figure 2 , for example, in a measurement, it is measured that L1 is 817 meters, L2 is 496 meters, L3 is 443 meters, L4 is 500 meters, L5 is 416 meters, and it is calculated that L AD is 454.8 meters and L DE is 97.5 meters, and further calculated that L OA is 1109.5 meters, and the central angle AOC is 48 degrees.

[0089] Among them, in another embodiment, the method for calculating the current arc length S1 can also be:

[0090] First, calculate the distance corresponding to the connection AD. Based on the Pythagorean theorem, according to the connection CH and the connection BH, calculate the distance corresponding to the connection BC. According to the connection AH and the connection BH, calculate the distance corresponding to the connection AB; sum the distance corresponding to the connection AB and the distance corresponding to the connection BC to obtain the distance corresponding to the connection AC, and the distance corresponding to the connection AD, and the distance corresponding to the connection AD is 0.5 times the distance corresponding to the connection AC.

[0091] Then calculate the distance corresponding to the connection DE. The distance corresponding to the connection CD is equal to the distance corresponding to the connection AD. The difference between the distance corresponding to the connection CD and the distance corresponding to the connection BC is the distance from the navigation takeoff and landing point H to the connection DE, that is, the distance corresponding to the connection HF when the connection DF and the connection HF are perpendicular. According to the connection HE and the connection HF, calculate the distance corresponding to the connection EF. Subtract the distance corresponding to the connection EF from the distance corresponding to the connection HB to obtain the distance of the connection DE.

[0092] Next, calculate the distance of the connection OD. According to Calculate the distance corresponding to the connection OD, that is

[0093] Next, sum the distance corresponding to the connection OD and the distance corresponding to the connection DE to obtain the distance corresponding to the connection OA.

[0094] Next, according to the distance corresponding to the connection OA and the distance corresponding to the connection AD, calculate the angle of the central angle AOD, and then obtain the angle of the central angle AOC.

[0095] Finally, according to the arc length calculation formula of the sector, l = αr, where l is the arc length of the sector, α is the angle in radian system of the sector, and r is the radius of the sector, calculate the current arc length S1 of the shoreline to be measured. The angle corresponding to the shoreline to be measured is the angle of the central angle AOC, and the radius is the distance corresponding to the connection OA.

[0096] Step S160: Calculate the arc length difference S X = |S1 - S0|. When the arc length difference S X is greater than the preset alarm value, an arc length alarm message is sent to the server.

[0097] S0 is the calibrated arc length of the shoreline to be measured. S0 can be the length of the shoreline to be measured in the previous measurement, or the length of the shoreline to be measured determined according to the waterway plan, or the average value of the shorelines to be measured in several previous measurements. Due to rainfall and tide reasons, the shoreline to be measured changes accordingly. In one embodiment, S0 is determined according to a preset reference arc length function, where the preset reference arc length is the corresponding relationship between the calibrated arc length and time, different times correspond to different calibrated arc lengths, and the arc lengths corresponding to different times are determined according to the influence of rainfall and tide on the length of the shoreline to be measured.

[0098] In order to reduce the influence of environmental reasons on the measurement, in one embodiment, before the step S160, it further includes: processing the current arc length S1 of the shoreline to be measured according to a preset arc length correction coefficient to obtain the corrected current arc length S1 of the shoreline to be measured. Since the shoreline to be measured is affected by tides every day, in one embodiment, the arc length of the shoreline to be measured is measured at preset time intervals within multiple preset dates, the average value of the arc length of the shoreline to be measured is calculated, the tide ratio of the arc length of the shoreline to be measured at different times to the average value is calculated, and the tide ratio is used as the correction coefficient. For example, preset dates are determined every three days in a month, the arc length of the shoreline to be measured is measured every three hours within the preset dates to obtain multiple arc length data, the total average value of the arc lengths is calculated according to all the arc lengths, the average value of the arc lengths at the same time point within different preset dates is calculated, the average value of the arc lengths at the same time point is defined as the time point average value, and the time point average value is compared with the total average value to obtain the tide ratio corresponding to the time point. Among them, the preset time points selected at preset time intervals within the preset dates are the same, that is, the shoreline to be measured is measured at the same time point every day within the preset dates.

[0099] In order to timely maintain the safety of the waterway, in one embodiment, the method for measuring and supervising the change of the arc-shaped shoreline based on the near-shore earthwork dumping construction further includes a real-time monitoring step: used to repeatedly execute step S120 to step S160. In one embodiment, steps S120 to S160 are repeatedly executed every preset monitoring time. Further, the frequency of repeated execution is determined according to the change of the arc length of the shoreline to be measured, and the frequency of repeated execution is positively correlated with the change speed of the arc length.

[0100] Since the current vertex E1 needs to be at the midpoint of the shoreline to be measured, that is, the midpoint of arc AC, in order to improve the measurement accuracy, in one embodiment, after step S160, it further includes step S170: calculating the vertex deviation value E X =|E1 - E0|, when the vertex deviation value E X is greater than the preset alarm value, a vertex alarm message is sent to the server. Among them, the calibration vertex E0 is determined in advance before the measurement, and the coordinate data of the calibration vertex E0 can be determined through high-definition satellite maps in advance.

[0101] Since tides and rainfall will cause changes in the shoreline to be measured, in order to reduce the influence of tides and rainfall on the current vertex E1, in one embodiment, in step S170,

[0102] E X =|E1 - E0|×K.

[0103] Among them, K is a preset error correction coefficient, and the preset error correction coefficient is determined according to tide data and / or rainfall data. When the tide changes greatly, the position of the current vertex E1 changes greatly. When the rainfall changes greatly, the change of the current vertex E1 is large. Among them, the tide data can be the tide height and tide speed, and the rainfall data is the rainfall amount. The preset error correction coefficient is determined according to the corresponding relationship between the position change amount of the midpoint of arc AC and the tide data, and / or, the preset error correction coefficient is determined according to the corresponding relationship between the position change amount of the midpoint of arc AC and the rainfall data. In order to simultaneously consider the influence of tide data and rainfall data on the position of the midpoint of arc AC, in one embodiment, a function of the position change amount of the midpoint of arc AC is determined through multivariate statistical analysis, where the independent variables are tide data and rainfall data. When there are multiple indicators corresponding to the tide data and rainfall data, in order to determine the indicators that have a significant impact on the position change amount of the midpoint of arc AC, further, a function of the position change amount of the midpoint of arc AC is determined through principal component analysis.

[0104] In one embodiment, the preset error correction coefficient is negatively correlated with the position change amount of the midpoint of arc AC, where the position change amount of the midpoint of arc AC is determined in advance according to the function of the position change amount of the midpoint of arc AC. Further, the preset error correction coefficient is less than 1.

[0105] Figure 4 It is a schematic structural diagram of an electronic device shown in an embodiment of the present application.

[0106] Refer to Figure 4 , the electronic device 400 includes a memory 410 and a processor 420.

[0107] The processor 420 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0108] The memory 410 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, the ROM may store static data or instructions required by the processor 420 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even when the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, flash memory) as the permanent storage device. In other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory. The system memory may store some or all of the instructions and data required by the processor during operation. In addition, the memory 410 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and / or optical disks may also be used. In some embodiments, the memory 410 may include a removable storage device that is readable and / or writable, such as a compact disc (CD), read-only digital versatile disc (such as DVD-ROM, dual-layer DVD-ROM), read-only Blu-ray disc, ultra density disc, flash memory card (such as SD card, min SD card, Micro-SD card, etc.), magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and instantaneous electronic signals transmitted wirelessly or wired.

[0109] Executable code is stored on the memory 410, and when the executable code is processed by the processor 420, it can cause the processor 420 to execute some or all of the methods described above.

[0110] In addition, the method according to the present application can also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0111] Alternatively, the present application can also be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium), on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or an electronic device, a server, etc.), it causes the processor to execute some or all of the steps of the above method according to the present application.

[0112] Compared with the prior art, the present invention has at least the following advantages:

[0113] 1. By controlling the UAV to fly in the nearshore earthwork dumping construction area, distance data of the starting point A, the ending point C, the current vertex E1, the foot point B, and the midpoint D from the navigation takeoff and landing point H are obtained respectively. According to the distance data, the current arc length of the shoreline to be measured is calculated, without the need for surveyors to measure along the waterline step by step, improving the efficiency and avoiding safety risks such as surveyors falling and drowning.

[0114] 2. The UAV can still be controlled to fly to obtain distance data on rainy days or cloudy days, and the weather has little impact on the measurement of the arc-shaped shoreline.

[0115] 3. When it is necessary to measure the current arc length of the shoreline to be measured in a timely manner, the UAV can be controlled to fly in the nearshore earthwork dumping construction area to measure the current arc length of the shoreline to be measured, without waiting for the high-definition satellite map to be updated before measuring the current arc length of the shoreline to be measured. Moreover, multiple measurements can be carried out in a day to measure and monitor the shoreline to be measured in a timely manner, avoiding the impact of the change in the shoreline length on the waterway and bringing potential safety hazards.

[0116] The above-described embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. An arc shoreline change measurement and supervision method based on nearshore earthwork dumping construction, characterized in that Including: Step S110: Establish a plane coordinate system according to the nearshore earthwork dumping construction area, and set calibration parameters of the shoreline to be measured in the plane coordinate system. The calibration parameters include: the starting point A of the shoreline to be measured, the ending point C of the shoreline to be measured, the calibration arc length S0 from the starting point A to the ending point C, and the calibration vertex E0 of the shoreline to be measured. Among them, the relative positions of the starting point A, the ending point C, the calibration vertex E0, and the calibration arc length S0 are fixed, and the calibration vertex E0 is the midpoint of the calibration arc length S0; Among them, the shoreline to be measured is arc-shaped; Step S120: Select a navigation take-off and landing point H in the plane coordinate system; Control the drone to fly straight from the navigation take-off and landing point H to the starting point A, and collect the distance H from the starting point A to the navigation take-off and landing point, defined as L1; Control the drone to fly straight from the starting point A to the ending point C, and collect the distance from the ending point C to the navigation take-off and landing point H, defined as L2; Step S130: Collect the connection line from the starting point A to the ending point C in the plane coordinate system, defined as connection line AC; Collect the foot point of the navigation take-off and landing point H to the connection line AC in the plane coordinate system, and define it as foot point B; Collect the midpoint of the connection line AC in the plane coordinate system, and define it as midpoint D; Collect the image of the drone flying straight from the starting point A to the ending point C, and perform image feature extraction operations. Normalize the image feature quantities with the plane coordinate system to obtain the current vertex E1 of the shoreline to be measured in the plane coordinate system; Step S140: Control the drone to fly straight from the ending point C to the foot point B, and collect the distance from the foot point B to the navigation take-off and landing point H, defined as L3; Control the drone to fly straight from the foot point B to the midpoint D, and collect the distance from the midpoint D to the navigation take-off and landing point H, defined as L4; Control the drone to fly straight from the midpoint D to the current vertex E1, and collect the distance from the midpoint E1 to the navigation take-off and landing point H, defined as L5; Step S150: Obtain the current arc length of the shoreline to be measured according to the following functional relationship, defined as Among them, Among them, Among them, L OA is the radius of the circle corresponding to the shoreline to be measured, and L DE is the distance between the midpoint of the chord AC and the midpoint of the arc AC; Step S160: Calculate the arc length difference S X = |S1 - S0|. When the arc length difference S X is greater than the preset alarm value, an arc length alarm message is sent to the server.

2. The method for measuring and supervising the change of an arc-shaped shoreline based on near-shore earthwork dumping construction according to claim 1, wherein, Before the step S160, it further includes: Process the current arc length S1 of the shoreline to be measured according to a preset arc length correction coefficient to obtain the corrected current arc length S1 of the shoreline to be measured.

3. The method for measuring and supervising the change of an arc-shaped shoreline based on near-shore earthwork dumping construction according to claim 1, wherein It further includes a real-time monitoring step: Used to repeatedly execute steps S120 to S160.

4. The method for measuring and supervising the change of an arc-shaped shoreline based on near-shore earthwork dumping construction according to claim 1, wherein, In the step S130, before the operation of collecting the image of the drone flying straight from the starting point A to the ending point C, several reference points are also set in the nearshore earthwork dumping construction area.

5. The method for measuring and supervising the change of an arc-shaped shoreline based on nearshore earthwork dumping construction according to claim 1, characterized in that The image feature quantities are plane features.

6. The method for measuring and supervising the change of an arc-shaped shoreline based on nearshore earthwork dumping construction according to claim 1, characterized in that, After the step S160, it further includes step S170: Calculate the vertex deviation value E X = |E1 - E0|, when the vertex deviation value E X is greater than the preset alarm value, send vertex alarm information to the server.

7. The method for measuring and supervising the change of an arc-shaped shoreline based on near-shore earthwork dumping construction according to claim 6, wherein In the step S170, E X = |E1 - E0| × K, K is a preset error correction coefficient, and the preset error correction coefficient is determined according to tide data and / or rainfall data.

8. An electronic device, characterized in that, Including: Processor; And A memory storing executable code which, when executed by the processor, causes the processor to perform the method recited in claim 1.

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