Close-range photogrammetry-based slag field earth-rock volume measuring and calculating device and method

Abstract

The invention provides a slag field earth-rock volume measuring and calculating device and method based on close-range photogrammetry, and relates to the technical field of close-range photogrammetry. Comprising a photogrammetric device, the photogrammetric device is used for shooting image data of a slag field, the photogrammetric device comprises a digital camera, a tripod, a holder and a GPS and GNSS positioning system, and an image processing system is used for carrying out preprocessing, distortion correction, radiation correction and denoising processing on the shot image data. According to the technical scheme, by using the high-resolution camera and an advanced image processing algorithm, the device can more accurately capture details on the surface of the slag field, so that errors are reduced when a three-dimensional model is constructed, the high-precision three-dimensional model can more accurately reflect the actual shape and the volume of an earth-rock cube, and the accuracy of the three-dimensional model is improved. The calculation result of the earth-rock volume is more accurate, which is crucial for engineering management and resource planning because the method can reduce cost waste or resource shortage caused by inaccurate estimation.

Description

Technical Field

[0001] The invention relates to the technical field of close-range photogrammetry, and in particular to a device and method for measuring earthwork volume in a slag yard based on close-range photogrammetry. Background Art

[0002] Close-range photogrammetry refers to the photogrammetry of a stereoscopic image pair taken of a target object at a distance of no more than 300m. In order to improve production efficiency and product quality, measurement cameras are installed on the steel rolling production line to measure the size and shape of the processed object in real time and guide the equipment to process and handle the steel billet. Such a technology of taking a target image at a close distance (generally within 100 meters) and determining its size, shape and geometric position after processing is called close-range photogrammetry.

[0003] The cameras used in close-range photogrammetry can be roughly divided into two categories: cameras designed for measurement and cameras not used for measurement. Cameras used for measurement can be divided into single-use cameras and stereo cameras with a fixed-length baseline according to their structure. The distortion of their objective lenses is generally controlled within a few microns, and they can accurately record internal orientation elements. Some cameras are also equipped with external orientation equipment, synchronous photography equipment, and continuous photography equipment. Non-measurement cameras include ordinary cameras, movie cameras, and general high-speed cameras. This type of camera generally has low imaging quality, unknown internal orientation elements, and no external orientation equipment. When used to measure targets, orientation and positioning mainly rely on a large number of well-distributed control points, or necessary calibration in advance depending on the situation.

[0004] Slag yard earthwork refers to the general term for the soil and stone piled up in the slag yard. Slag yards are usually waste accumulation sites generated by mining, construction, and industrial production activities, including solid waste generated by mining, construction, and industrial production activities, waste rock after ore mining, construction waste, and industrial waste. They are mainly composed of rocks, soil, concrete fragments, and metal waste. Measuring the amount of slag yard earthwork can help evaluate its potential resource value. For example, some slag contains recyclable metals or other useful substances. Understanding the volume and composition of slag yard earthwork can help formulate effective environmental protection measures. For example, the slag yard is covered or stabilized to reduce its pollution to the environment.

[0005] However, the existing data processing methods rely on complex manual operations and long calculation processes, which are inefficient. The existing technology uses a low-resolution camera for image data acquisition, resulting in low image quality, which affects the construction of the three-dimensional model and the accuracy of earthwork measurement. Therefore, technicians in this field provide a device and method for measuring earthwork in a slag yard based on close-range photogrammetry to solve the problems raised in the above background technology. Summary of the invention

[0006] In view of the shortcomings of the existing technology, the existing data processing methods rely on complex manual operations and long calculation processes, and are inefficient. The existing technology uses lower-resolution cameras for image data collection, resulting in low image quality, which affects the accuracy of the construction of the three-dimensional model and the measurement of earthwork volume.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: The present invention provides a device and method for measuring the earthwork volume of a slag yard based on close-range photogrammetry, including a photogrammetry device, characterized in that: the photogrammetry device is used to shoot image data of the slag yard, including a digital camera, a tripod, a pan / tilt, and also includes a GPS and GNSS positioning system, the GPS and GNSS positioning system is used to obtain the geographic coordinates of the shooting location and time; it also includes an image processing system, the image processing system is used to pre-process the image data obtained by shooting, distortion correction, radiation correction and noise removal processing; it also includes a three-dimensional reconstruction system, the three-dimensional reconstruction system is used to reconstruct a three-dimensional model of the slag yard from the pre-processed image data; it also includes an earthwork volume calculation module, the earthwork volume calculation module is used to calculate the earthwork volume of the slag yard based on the three-dimensional model; it also includes a control unit, the control unit is used to coordinate the work of each module and output the calculation results.

[0008] Preferably, the photogrammetry equipment further comprises a drone for aerial photography to cover hard-to-reach areas.

[0009] Preferably, the image processing system further includes an automatic exposure control function to optimize shooting conditions, and the three-dimensional reconstruction system adopts multi-view stereo matching technology to improve the reconstruction accuracy of the three-dimensional model.

[0010] Preferably, the method comprises the following steps: S1. Equipment and technology selection: Choose a digital camera with high resolution and high dynamic range (HDR) to ensure image quality, use a stable tripod and gimbal to reduce shaking during shooting, and use a GPS or GNSS global navigation satellite system receiver to improve the accuracy of position measurement; S2. Shooting strategy optimization: Design a detailed shooting plan, including shooting paths, camera heights, shooting angles and overlaps, use drone oblique photography technology, combined with ground photography to ensure coverage of all complex terrains, and increase shooting frequency in key areas with steep slopes or uneven surfaces; S3. Image preprocessing: Use automatic image preprocessing software to perform image distortion correction, radiation correction and geometric correction, remove noise from the image, and improve the accuracy of subsequent 3D reconstruction; S4. Automated 3D reconstruction: Use advanced photogrammetry software Pix4D and Agisoft PhotoScan for automated 3D reconstruction, and use multi-view stereo matching technology to improve the density and accuracy of the reconstructed model; S5. Optimization of earthwork calculation model: Develop or use existing earthwork volume calculation software, adopt earthwork volume calculation methods based on digital surface model DSM and digital elevation model DEM, integrate machine learning algorithms, predict earthwork volume based on historical data, and improve the accuracy of estimation; S6.Quality Control and Verification: Perform quality checks on the reconstructed 3D models, including model integrity, surface smoothness, and accuracy assessments. Use calibration areas of known volumes to ensure the accuracy of the measurement results. Regularly calibrate the equipment to ensure data reliability. S7. Result analysis and reporting: Conduct a detailed analysis of the measurement results, including the distribution and changing trends of earthwork volume, and prepare a detailed measurement report, including measurement methods, data processing procedures, result charts and conclusions.

[0011] Preferably, in S3, automatic image preprocessing software is used to perform distortion correction, radiation correction and geometric correction of the image, and to perform noise removal on the image to improve the accuracy of subsequent three-dimensional reconstruction, and also includes automatic exposure and optimization of shooting conditions.

[0012] Preferably, S4 also includes reconstructing the three-dimensional model using a multi-view stereo matching technology.

[0013] Preferably, it also includes the use of automated scripts or software to automate the entire data processing and reconstruction process, reduce manual intervention, and integrate photogrammetry, data processing, earthwork volume calculation and quality control through an integrated platform to form a complete solution.

[0014] Preferably, the drone is used for aerial photography, especially for hard-to-reach areas, and meteorological sensors are used to monitor the climate conditions, light, wind speed and ensure the quality of photography during photography.

[0015] Preferably, advanced distortion correction and radiation correction algorithms are used to improve the geometric and radiation quality of the image and ensure the accuracy of three-dimensional reconstruction. Automatic matching algorithms are used to improve the efficiency and accuracy of matching of same-name points and reduce manual intervention.

[0016] Preferably, a more complex earthwork volume calculation algorithm is introduced to more accurately consider terrain and shape factors and improve the accuracy of the calculation results.

[0017] Preferably, visual output in the form of charts and reports is provided so that users can understand the measurement results more intuitively.

[0018] Preferably, a high-performance processor and an efficient data transmission protocol are used to improve the overall performance of the system and ensure fast data processing and output.

[0019] Preferably, through automation and optimized algorithms, labor costs are reduced and work efficiency is improved.

[0020] Beneficial Effects The present invention provides a device and method for measuring the volume of earth and stone in a slag yard based on close-range photogrammetry. It has the following beneficial effects: 1. In the present invention, compared with the prior art, the present technical solution uses a high-resolution camera and an advanced image processing algorithm, and the device can more accurately capture the details of the slag dump surface, thereby reducing errors when constructing a three-dimensional model. This high-precision three-dimensional model can more accurately reflect the actual shape and volume of the earth and stone body, making the measurement result of the earth and stone volume more accurate, which is crucial for engineering management and resource planning because it can reduce cost waste or resource shortages caused by inaccurate estimates.

[0021] 2. In the present invention, the automated data processing and calculation process significantly improves work efficiency. By reducing manual intervention and simplifying operating steps, the device can quickly complete the collection, processing and earthwork volume calculation of image data, which not only saves time but also reduces labor costs. In addition, the optimized system performance ensures the speed of data processing, making the entire measurement process more efficient, which is especially beneficial for projects that require frequent earthwork volume measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic flow chart of a method for measuring earthwork volume of a slag yard based on close-range photogrammetry of the present invention; Figure 2 It is a schematic diagram of the framework of a device for measuring the volume of earth and stone in a slag field based on close-range photogrammetry according to the present invention; Figure 3 It is a technical framework schematic diagram of a device and method for measuring earthwork volume in a slag yard based on close-range photogrammetry of the present invention; DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] Example 1: Reference Figure 1-Figure 2 ,The measurement of earthwork in slag yard is very important in engineering construction. The traditional measurement methods have the problems of low efficiency, poor accuracy and high cost. As an emerging measurement technology, close-range photogrammetry technology has the advantages of fast, high efficiency and low cost, and has broad application prospects in earthwork measurement.

[0025] The present invention provides a device for measuring the volume of earth and stone in a slag yard based on close-range photogrammetry, and its technical scheme is as follows: photogrammetry equipment: including a drone, a camera, and a GPS positioning device, which are used to obtain image data of the slag yard; data processing software: used for image preprocessing, three-dimensional reconstruction and volume calculation of earth and stone; an earth and stone volume measurement module: including an earth and stone volume calculation algorithm and a user interface, which are used to automatically calculate the volume of earth and stone in the slag yard; a control unit: responsible for the overall control of the system and data transmission. The present invention is described in detail below in conjunction with specific embodiments.

[0026] System composition: Photogrammetry equipment: select high-resolution cameras and GPS positioning equipment to ensure image quality and positioning accuracy; data processing software: adopt mature image preprocessing, 3D reconstruction and earthwork volume calculation algorithms to improve data processing efficiency; earthwork volume measurement module: adopts a user-friendly interface to facilitate users to operate and view measurement results; control unit: adopts high-performance processors and communication modules to ensure stable operation of the system.

[0027] Data processing flow: Image preprocessing: perform distortion correction, radiation correction and noise removal on the acquired images to improve image quality; 3D reconstruction: use the 3D reconstruction algorithm to generate a 3D model of the slag yard; Earthwork volume calculation: define the measurement area on the 3D model, apply the earthwork volume calculation algorithm, and automatically calculate the earthwork volume.

[0028] Photogrammetry equipment optimization: improve camera resolution, select high-precision GPS positioning equipment, data processing algorithm optimization: optimize image preprocessing, 3D reconstruction and earthwork calculation algorithms, improve data processing efficiency, control unit optimization: enhance the computing power of the control unit, and optimize the data transmission protocol.

[0029] The present invention achieves the following effects by optimizing photogrammetry technology and data processing flow: improving the accuracy of earthwork volume measurement in slag yards, shortening the measurement time, improving work efficiency, reducing the measurement cost, having good economic benefits, improving the automation level of the system, and facilitating user operation.

[0030] The present invention provides a device for measuring earthwork volume in a slag yard based on close-range photogrammetry, which has the advantages of high efficiency, high precision and low cost, and has broad application prospects in the field of measuring earthwork volume in slag yards.

[0031] Example 2: Reference Figure 1 The accurate measurement of earthwork volume in landfills is of great significance for engineering construction, resource management and environmental protection. Traditional earthwork volume measurement methods usually rely on manual measurement, which is not only inefficient, but also easily affected by environmental factors and difficult to ensure accuracy. As a non-contact measurement method, close-range photogrammetry technology is fast, efficient and low-cost, but its measurement accuracy and efficiency still have room for improvement.

[0032] The present invention provides a method for measuring the volume of earth and stone in a slag yard based on close-range photogrammetry, and its technical scheme is as follows: S1. Equipment and technology selection: select a digital camera with high resolution and high dynamic range HDR to ensure image quality, use a stable tripod and gimbal to reduce jitter during shooting, and use a GPS or GNSS global navigation satellite system receiver to improve the accuracy of position measurement.

[0033] S2. Shooting strategy optimization: Design a detailed shooting plan, including shooting paths, camera heights, shooting angles and overlaps, use drone oblique photography technology, combined with ground photography to ensure coverage of all complex terrains, and increase shooting frequency in key areas with steep slopes or uneven surfaces; S3. Image preprocessing: Use automatic image preprocessing software to perform image distortion correction, radiation correction and geometric correction, remove noise from the image, and improve the accuracy of subsequent 3D reconstruction; S4. Automated 3D reconstruction: Use advanced photogrammetry software Pix4D and Agisoft PhotoScan for automated 3D reconstruction, and use multi-view stereo matching technology to improve the density and accuracy of the reconstructed model; S5. Optimization of earthwork calculation model: Develop or use existing earthwork volume calculation software, adopt earthwork volume calculation methods based on digital surface model DSM and digital elevation model DEM, integrate machine learning algorithms, predict earthwork volume based on historical data, and improve the accuracy of estimation; S6.Quality Control and Verification: Perform quality checks on the reconstructed 3D models, including model integrity, surface smoothness, and accuracy assessments. Use calibration areas of known volumes to ensure the accuracy of the measurement results. Regularly calibrate the equipment to ensure data reliability. S7. Result analysis and reporting: Conduct a detailed analysis of the measurement results, including the distribution and changing trends of earthwork volume, and prepare a detailed measurement report, including measurement methods, data processing procedures, result charts and conclusions.

[0034] Image data acquisition: Use drones or ground photography equipment to photograph the slag yard to obtain high-resolution, high-precision image data. Image preprocessing: Perform distortion correction, radiation correction and noise removal preprocessing operations on the collected image data to improve image quality. Three-dimensional model construction: Use close-range photogrammetry software to reconstruct the preprocessed image data in three dimensions to generate a three-dimensional model of the slag yard. Define the measurement area on the three-dimensional model, combine terrain data and earthwork calculation algorithm to automatically calculate the earthwork volume of the slag yard. Result output: The calculated earthwork volume data is output in the form of charts or reports for user reference.

[0035] Select appropriate drones or ground photography equipment to ensure that the equipment performance meets the measurement requirements. Plan the photography path and shooting parameters according to the slag dump terrain and measurement range, and perform photography operations to ensure that the entire slag dump area is covered. Use professional software to correct the distortion of the image data to eliminate the impact of camera distortion on the image.

[0036] Perform radiation correction, adjust the image brightness to make it consistent with the real scene, apply denoising algorithms to remove noise from the image and improve image quality, select appropriate close-range photogrammetry software, PhotoScan, ContextCapture, import pre-processed image data, perform automatic matching and 3D reconstruction, optimize the reconstructed model, smooth and remove error points, improve model accuracy, define the measurement area on the 3D model, including earthwork bodies of different heights and shapes, use the earthwork volume calculation module to calculate the earthwork volume according to the terrain data and the measurement area, output the calculation results, including the overall earthwork volume and the layered earthwork volume, improve the resolution and accuracy of the photographic equipment to obtain higher quality image data, optimize the data processing algorithm, improve the efficiency and accuracy of 3D reconstruction, optimize the earthwork volume calculation algorithm, improve the calculation speed and accuracy, optimize the user interface, and improve the convenience of operation.

[0037] Example 3: Reference Figure 3 , combined with the device in the above-mentioned embodiment 1 and the method in the embodiment 2 for application, photogrammetry equipment module: high-resolution digital camera: used to capture high-quality images of the slag yard, providing sufficient details for accurate three-dimensional reconstruction, tripod and gimbal: ensure the stability of the camera during shooting, reduce image jitter, and improve image quality, GPS or GNSS receiver: provide high-precision geographic location information for subsequent image positioning and three-dimensional reconstruction.

[0038] Data processing and reconstruction module: Image preprocessing software: perform image distortion correction, radiation correction, and noise removal to improve image quality.

[0039] 3D reconstruction software: Utilizes multi-view stereo matching technology to automatically reconstruct the 3D model of the slag dump from images.

[0040] Earthwork volume calculation module: Earthwork volume calculation software: Integrate digital surface model DSM or digital elevation model DEM to calculate earthwork volume and provide accurate volume measurement.

[0041] Quality control and verification module: Model quality checking tools: used to evaluate the integrity, surface smoothness, and accuracy of 3D models.

[0042] Calibration area: used to verify the accuracy of measurement results and ensure the reliability of the system.

[0043] Automation and integration modules: Automation scripts or software: used to automate the entire data processing and reconstruction process and reduce manual intervention.

[0044] Integrated platform: Integrates photogrammetry, data processing, earthwork quantity calculation and quality control modules into a complete solution.

[0045] Data analysis and report generation module: Data analysis tools: used to analyze measurement results, distribution and change trends of earthwork volume.

[0046] Report generation software: Automatically generate detailed measurement reports, including methods, processes, charts and conclusions.

[0047] Environmental Control Module: Drones: Used for aerial photography, especially for hard-to-reach areas.

[0048] Weather sensor: monitors weather conditions, light, and wind speed during shooting to ensure image quality.

[0049] Working principle: The working principle of the device and method for measuring the volume of earth and stone in the slag yard based on close-range photogrammetry mainly includes the following steps: Use drones or ground photography equipment to take high-resolution and high-precision photos of the slag dump. These devices are usually equipped with multiple cameras that can take images from different angles and heights to ensure coverage of the entire slag dump area. During the photography process, the equipment will record the shooting time, location and direction information of each photo, which is crucial for subsequent data processing. The collected image data is pre-processed, including distortion correction, radiation correction and noise removal. Distortion correction aims to correct the distortion of the camera lens to ensure the accuracy of the geometric shape of the image. Radiation correction adjusts the brightness, contrast and color balance of the image to make it closer to the real scene. Noise removal is used to reduce random noise in the image and improve the accuracy of subsequent processing.

[0050] The close-range photogrammetry software, PhotoScan and ContextCapture, are used to automatically match and reconstruct the preprocessed image data. The software constructs a three-dimensional point cloud by analyzing the same-name points in the image, that is, the corresponding points of the same feature in different images. After the three-dimensional reconstruction is completed, the software will optimize the point cloud, smooth it, and remove erroneous points to obtain a more accurate three-dimensional model. On the constructed three-dimensional model, the measurement area is defined. These areas can be earth and stone bodies of different heights and shapes. The earth and stone volume calculation module automatically calculates the earth and stone volume based on the terrain data and the measurement area using the volume calculation formula. During the calculation process, the software will take into account the terrain undulations, the shape and size of the earth and stone body to ensure the accuracy of the calculation results.

[0051] The calculated earthwork volume data is output in the form of charts or reports for user reference. Users can further analyze and process the results as needed.

[0052] Optimization of photographic equipment: Select high-resolution and high-precision cameras, as well as GPS positioning equipment that can provide accurate location information; Optimization of data processing algorithms: Use advanced image matching, 3D reconstruction and earthwork volume calculation algorithms to improve data processing efficiency and accuracy; Design an intuitive and easy-to-use user interface to simplify the operating process and improve user experience; Use high-performance processors and efficient data transmission protocols to ensure stable system operation.

[0053] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention. Finally, it should be noted that the foregoing are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it will be still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to substitute some of the technical features therein. Any modifications, substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of the present invention as defined by the appended claims and their equivalents.

Claims

1. A device for measuring earthwork volume in a slag field based on close-range photogrammetry, comprising a photogrammetry device, characterized in that: The photogrammetry equipment is used to capture image data of the slag yard, and includes a digital camera, a tripod, a gimbal, and a GPS and GNSS positioning system, wherein the GPS and GNSS positioning system are used to obtain the geographic coordinates of the shooting location and time; an image processing system is also included, wherein the image processing system is used to pre-process the image data obtained by the shooting, perform distortion correction, radiation correction and noise removal processing; a three-dimensional reconstruction system is also included, wherein the three-dimensional reconstruction system is used to reconstruct a three-dimensional model of the slag yard from the pre-processed image data; an earthwork volume calculation module is also included, wherein the earthwork volume calculation module is used to calculate the earthwork volume of the slag yard based on the three-dimensional model; and a control unit is also included, wherein the control unit is used to coordinate the work of each module and output the calculation result.

2. The device for measuring earthwork volume in a slag field based on close-range photogrammetry according to claim 1 is characterized in that: The photogrammetry equipment also includes drones for aerial photography to cover hard-to-reach areas.

3. The device for measuring earthwork volume in a slag field based on close-range photogrammetry according to claim 1 is characterized in that: The image processing system also includes an automatic exposure control function to optimize shooting conditions, and the three-dimensional reconstruction system uses multi-view stereo matching technology to improve the reconstruction accuracy of the three-dimensional model.

4. A method for measuring the volume of earth and stone in a slag yard based on close-range photogrammetry, characterized in that: The method for measuring earthwork in a slag yard based on close-range photogrammetry according to any one of claims 1 to 3 comprises the following steps: S1. Equipment and technology selection: Choose a digital camera with high resolution and high dynamic range (HDR) to ensure image quality, use a stable tripod and gimbal to reduce shaking during shooting, and use a GPS or GNSS global navigation satellite system receiver to improve the accuracy of position measurement; S2. Shooting strategy optimization: Design a detailed shooting plan, including shooting paths, camera heights, shooting angles and overlaps, use drone oblique photography technology, combined with ground photography to ensure coverage of all complex terrains, and increase shooting frequency in key areas with steep slopes or uneven surfaces; S3. Image preprocessing: Use automatic image preprocessing software to perform image distortion correction, radiation correction and geometric correction, remove noise from the image, and improve the accuracy of subsequent 3D reconstruction; S4. Automated 3D reconstruction: Use advanced photogrammetry software Pix4D and Agisoft PhotoScan for automated 3D reconstruction, and use multi-view stereo matching technology to improve the density and accuracy of the reconstructed model; S5. Optimization of earthwork calculation model: Develop or use existing earthwork calculation software, adopt earthwork calculation methods based on digital surface model DSM and digital elevation model DEM, integrate machine learning algorithms, predict earthwork based on historical data, and improve the accuracy of estimates; S6.Quality Control and Verification: Perform quality checks on the reconstructed 3D models, including model integrity, surface smoothness, and accuracy assessments. Use calibration areas of known volumes to ensure the accuracy of the measurement results. Regularly calibrate the equipment to ensure data reliability. S7. Result analysis and reporting: Conduct a detailed analysis of the measurement results, including the distribution and changing trends of earthwork volume, and prepare a detailed measurement report, including measurement methods, data processing procedures, result charts and conclusions.

5. The method for calculating the volume of earth and stone in a slag field based on close-range photogrammetry according to claim 4 is characterized by: In the S3, automatic image preprocessing software is used to perform distortion correction, radiation correction and geometric correction of the image, and to perform noise removal on the image to improve the accuracy of subsequent three-dimensional reconstruction, and also includes automatic exposure and optimization of shooting conditions.

6. The method for calculating the volume of earth and stone in a slag yard based on close-range photogrammetry according to claim 4 is characterized by: The S4 also includes reconstructing the three-dimensional model using multi-view stereo matching technology.

7. The method for calculating the volume of earth and stone in a slag yard based on close-range photogrammetry according to claim 4 is characterized by: It also includes the use of automated scripts or software to automate the entire data processing and reconstruction process, reduce manual intervention, and integrate photogrammetry, data processing, earthwork quantity calculation and quality control through an integrated platform to form a complete solution.

8. The method for calculating the volume of earth and stone in a slag yard based on close-range photogrammetry according to claim 4 is characterized by: The drone is used for aerial photography, especially for hard-to-reach areas, and uses meteorological sensors to monitor climate conditions, light, wind speed, and ensure photography quality during photography.

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