Method and system for identifying and acquiring earth excavation volume based on oblique photography of unmanned aerial vehicle

Abstract

The invention relates to the technical field of engineering measurement, in particular to a method and a system for identifying and acquiring earth excavation volume based on oblique photography of an unmanned aerial vehicle. A construction site is measured through an unmanned aerial vehicle oblique photography method, and image information of the construction site, POS data during flight of an unmanned aerial vehicle and check point data are obtained; determining a first digital elevation model of the construction site based on the image of the construction site and POS data when the unmanned aerial vehicle flies; determining earthwork variation included in the first digital elevation model based on the check point data and the digital elevation model obtained by the last measurement, wherein the earthwork variation comprises earth surface variation and accumulated earthwork volume; determining corresponding pixel points based on the variable quantity contained in the first digital elevation model; determining a pixel point weight based on historical meteorological information; and determining the excavated volume of the earthwork based on the pixel point weight, the variable quantity contained in the first digital elevation model and the pixel points. Therefore, the problems of large workload, low efficiency, large calculation error, high cost and the like in earth excavation volume measurement and calculation are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering measurement, and in particular to a method and system for obtaining earth excavation volume based on unmanned aerial vehicle (UAV) oblique photography recognition. Background Art

[0002] The calculation of earthwork excavation volume is an essential part of engineering construction projects. Traditional earthwork excavation volume calculation is completed by manually measuring site data, which has problems such as large workload, low efficiency, and large errors in earthwork volume calculation. In addition, when the project schedule is tight or the site terrain is complex, the earthwork measurement is difficult and requires a lot of manpower. Therefore, a more efficient, reliable and accurate earthwork excavation volume calculation method is urgently needed. Summary of the invention

[0003] At least one aspect or advantage of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned by practice of the disclosed subject matter.

[0004] According to a first aspect of the present invention, a method for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition includes:

[0005] The construction site is measured by using the UAV oblique photography method to obtain the image information of the construction site, the POS data and the checkpoint data during the UAV flight;

[0006] Determine the first digital elevation model of the construction site based on the images of the construction site and the POS data of the drone during flight;

[0007] Determine the earthwork change amount contained in the first digital elevation model based on the checkpoint data and the digital elevation model obtained by the most recent measurement, wherein the earthwork change amount includes the surface change amount of the earthwork excavation area and the earthwork accumulation amount in the accumulation area;

[0008] Determining corresponding pixel points based on the variation included in the first digital elevation model;

[0009] Determine pixel weights based on historical meteorological information;

[0010] The amount of earth excavation is determined based on the pixel weights, the variation contained in the first digital elevation model, and the pixel points.

[0011] According to an embodiment of the present invention, the process of determining the earthwork change amount included in the first digital elevation model includes:

[0012] Aligning the first digital elevation model with the digital elevation model obtained by the most recent measurement based on the RTK ground point data, obtaining a difference model between the first digital elevation model and the digital elevation model obtained by the most recent measurement, and determining a first operating area having a height difference greater than a preset height value according to the difference model, wherein the first operating area includes a plurality of sub-operating areas;

[0013] Determine the area of ​​the sub-operation area within the first operation area;

[0014] Determine the construction plan based on the BIM model, and determine the second operation area that complies with the construction plan based on the construction plan and the first operation area;

[0015] The earthwork variation included in the first digital elevation model is determined based on the spatial coordinates of the second operating area and the difference model.

[0016] According to an embodiment of the present invention, adjacent sub-operation areas are planarized according to the height values ​​of the first digital elevation models of the sub-operation areas and the height difference of the difference model, and the planarization includes classification and merging of the sub-operation areas.

[0017] According to one embodiment of the present invention, planarization processing is performed on a plurality of sub-operation areas in a first operation area, and the planarization processing includes:

[0018] Obtain a first height change value of the sub-operation area in the difference model, and obtain a first average height difference between the sub-operation area and an adjacent sub-operation area in the first digital elevation model;

[0019] In response to the first height change value being within the first height interval, or the first average height difference being within the first height interval, the sub-operation area is removed from the first operation area.

[0020] According to one embodiment of the present invention, planarization processing is performed on a plurality of sub-operation areas in a first operation area, and the planarization processing includes:

[0021] Obtain a second height change value of the sub-operation area in the difference model, and obtain the area of ​​the sub-operation area;

[0022] Adjusting the sub-operation area within the first operation area according to a preset target recognition rule;

[0023] The target recognition rule includes a height rule and an area rule associated with the height rule. When the second height change value of the sub-operation area satisfies the height rule and the area of ​​the sub-operation area satisfies the area rule corresponding to the height rule, the sub-operation area is removed from the first operation area.

[0024] According to one embodiment of the present invention, the process of determining pixel weights includes:

[0025] Obtain historical temperature and historical rainfall information based on historical meteorological information;

[0026] The first weight is determined based on historical temperature, and the second weight is obtained based on historical rainfall information;

[0027] The pixel weight is obtained according to the first weight and the second weight.

[0028] According to one embodiment of the present invention, the excavation volume of earthwork is calculated as follows:

[0029] Determine the surface change amount increase value and the accumulated earthwork amount increase value based on the pixel weight, the change amount and the resolution contained in the first digital elevation model corresponding to the pixel;

[0030] Determine the change in the existing earthwork volume based on the increase in the accumulated earthwork volume and the actual earthwork volume transferred;

[0031] The amount of earth excavation is determined based on the change in the existing earthwork volume and the increase in the excavation volume.

[0032] According to a second aspect of the present invention, a system for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition includes:

[0033] A first digital elevation model acquisition unit is used to determine a first digital elevation model of the construction site according to an image of the construction site and POS data of the drone during flight, wherein the image information of the construction site, the POS data of the drone during flight, and the checkpoint data are obtained according to a drone oblique photography method;

[0034] An earthwork change amount acquisition unit determines the earthwork change amount contained in the first digital elevation model based on the checkpoint data and the digital elevation model obtained by the most recent measurement, wherein the earthwork change amount includes the surface change amount of the earthwork excavation area and the accumulated earthwork amount in the accumulation area;

[0035] The earth excavation volume acquisition unit is used to determine the pixel point weights based on the pixel points corresponding to the change amount contained in the first digital elevation model and based on historical meteorological information, and to determine the earth excavation volume based on the pixel point weights, the change amount contained in the first digital elevation model and the pixel points.

[0036] According to a third aspect of the present invention, an electronic device includes a processor and a memory; the memory is used to store programs; the processor executes the program to implement the method for obtaining earth excavation volume based on drone oblique photography recognition as described in the first aspect.

[0037] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, characterized in that the storage medium stores a program, and the program is executed by a processor to implement the method for obtaining earth excavation volume based on drone oblique photography recognition as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flow chart of a method for obtaining earth excavation volume based on UAV oblique photography recognition is shown. DETAILED DESCRIPTION

[0039] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0040] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0041] In a first aspect, the present invention provides a method for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition, comprising:

[0042] The construction site is measured by using the UAV oblique photography method to obtain the image information of the construction site, the POS data and the checkpoint data during the UAV flight;

[0043] Determine the first digital elevation model of the construction site based on the images of the construction site and the POS data of the drone during flight;

[0044] Determine the earthwork change amount contained in the first digital elevation model based on the checkpoint data and the digital elevation model obtained by the most recent measurement, wherein the earthwork change amount includes the surface change amount of the earthwork excavation area and the earthwork accumulation amount in the accumulation area;

[0045] Based on the pixel points corresponding to the variation included in the first digital elevation model;

[0046] Determine pixel weights based on historical meteorological information;

[0047] The amount of earth excavation is determined based on the pixel weights, the variation contained in the first digital elevation model, and the pixel points.

[0048] In this embodiment, a method for obtaining earthwork excavation volume based on drone oblique photography recognition is proposed. The construction site where the earthwork excavation volume needs to be measured is measured by drone oblique photography to obtain the image information of the construction site, the POS data of the drone during flight, and the checkpoint data; then, the first digital elevation model of the construction site is established based on the image of the construction site and the POS data of the drone during flight, and then the earthwork change in the first digital elevation model is determined based on the checkpoint data and the digital elevation model obtained by the most recent measurement, wherein the digital elevation model obtained by the most recent measurement refers to the digital elevation model established during the last drone measurement in the database, which is used for data comparison with the first digital elevation model; the corresponding pixel points are determined based on the earthwork change in the first digital elevation model, the pixel point weights are determined based on the historical meteorological information, and finally the earthwork excavation volume is determined based on the earthwork change, the pixel points, and the pixel point weights.

[0049] Specifically, the UAV oblique photography method is a technology that uses a drone equipped with oblique photography equipment to collect images of the ground from an oblique perspective, and then reconstructs a three-dimensional model through image processing technology. It changes the limitation that aerial survey and remote sensing images can only be taken from a vertical direction. Oblique photogrammetry technology collects data from different angles through multiple sensors, quickly and efficiently obtains rich data information, and truly reflects the objective situation on the ground.

[0050] Specifically, POS data (full name: Positioning and Orientation System Data) is positioning and orientation system data, which is data collected in real time by the drone through its built-in sensors during flight, such as GPS, IMU, etc., including the drone's longitude, latitude, altitude, heading angle, pitch angle, roll angle and other data.

[0051] Specifically, checkpoint data refers to the checkpoints and related information set at specific locations to verify the accuracy of flight path, altitude, speed, coordinates, etc. when the drone is performing a flight mission. By setting checkpoints properly, it can be ensured that the drone can fully cover the flight area and verify the accuracy of the flight path when taking photos, thereby ensuring the quality of the drone's shooting data.

[0052] Specifically, Digital Elevation Model (DEM) is a technology that uses limited terrain elevation data to achieve digital simulation of ground terrain, which can provide important geographic information support for site planning and construction, helping engineers and planners to better understand and respond to the environment and conditions of the site, thereby improving engineering efficiency and safety. In this application, the first digital elevation model of the site is established by using images and POS data of the site collected by drones.

[0053] Specifically, by comparing the data of the first digital elevation model with the digital elevation model obtained from the most recent measurement, the change in earthwork at the construction site during the period can be obtained. For example, the first digital elevation model was obtained by measuring the construction site on Friday, and the most recent measurement was on Monday of this week. The digital elevation model obtained on Monday is the digital elevation model obtained from the most recent measurement. By comparing the earthwork volumes contained in the two models, the change in earthwork during the period can be obtained.

[0054] Specifically, the pixel points corresponding to the changed earthwork are obtained through the first digital elevation model, and the weights of each pixel point are determined using historical meteorological information to eliminate the impact of the weather on the measurement, and finally the earthwork excavation volume of the construction site is obtained. For the earthwork that has changed in the first digital elevation model, it is calculated pixel by pixel in the earthwork picture. Due to the influence of meteorological factors, a weight is added to each pixel point for calculation to obtain a more accurate earthwork excavation volume result. Generally speaking, on an open-air construction site, the impact of weather on earthwork is relatively large. For example, when the rainfall is large, the earthwork will be washed away by rainwater, and the volume of the earthwork will shrink, resulting in changes in the height and area of ​​the earthwork, thereby affecting the accuracy of the calculated earthwork excavation volume. Therefore, when calculating the earthwork excavation volume affected by meteorological reasons, it is necessary to add a weight to the affected earthwork change amount and correct the calculation to make the final earthwork excavation volume result more accurate.

[0055] According to an embodiment of the present invention, the process of determining the earthwork change amount included in the first digital elevation model includes:

[0056] Aligning the first digital elevation model with the digital elevation model obtained by the most recent measurement based on the RTK ground point data, obtaining a difference model between the first digital elevation model and the digital elevation model obtained by the most recent measurement, and determining a first operating area having a height difference greater than a preset height value according to the difference model, wherein the first operating area includes a plurality of sub-operating areas;

[0057] Determine the area of ​​the sub-operation area within the first operation area;

[0058] Determine the construction plan based on the BIM model, and determine the second operation area that complies with the construction plan based on the construction plan and the first operation area;

[0059] The earthwork variation included in the first digital elevation model is determined based on the spatial coordinates of the second operating area and the difference model.

[0060] In this embodiment, the process of determining the amount of earthwork change in the first digital elevation model is described. Based on the characteristic data of the ground points obtained by RTK technology, the first digital elevation model is aligned with the digital elevation model obtained by the most recent measurement. Since it is aligned based on the ground point data, a difference model about the height difference between the two can be obtained. The first operation area where the height difference between the two is above the preset height value is determined by the difference model. The first operation area is an area where earthwork excavation may have been carried out. The first operation area also contains several sub-operation areas, and the area of ​​the sub-operation area in the first operation area is determined; then the construction plan of the project is determined according to the BIM model, and then the second operation area is determined according to the construction plan and the first operation area. The second operation area is an area where earthwork excavation has been carried out; finally, the amount of earthwork change contained in the first digital elevation model is determined according to the spatial coordinates of the second operation area and the difference model.

[0061] Specifically, RTK (Real-Time Kinematic) measurement technology is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. It can be used to measure the boundaries, area, elevation, etc. of plots of land and provide accurate surveying and mapping data. Based on RTK measurement technology to obtain ground point data, the first digital elevation model and the digital elevation model obtained by the most recent measurement can be aligned with higher accuracy, making the obtained difference model more reliable.

[0062] Specifically, in the difference model, the area greater than the preset height value is divided into the first working area. Since the first digital elevation model and the digital elevation model obtained by the most recent measurement are aligned based on ground point data, a height difference model can be obtained, and the area with a height difference and a height difference greater than the preset height value may be an area that has undergone earthwork construction, but the height difference caused by other reasons is still not ruled out. For the preset height value of earthwork, since the height of the earthwork is affected by the construction progress, that is, the height difference of the area where the earthwork is completed will be large, but the height difference of the area where the earthwork has just started will be small, so when setting the threshold of the preset height value, it is usually set smaller. For example: set the preset height value to 0.5m, that is, as long as the height difference obtained by comparing the two digital elevation models is greater than 0.5m, it is considered that this area may have undergone earthwork.

[0063] Specifically, the BIM (Building Information Modeling) model is a general term for the process and results of designing, constructing, and operating a construction project or facility by digitally expressing its physical and functional characteristics throughout its life cycle. During the construction phase, the BIM model can help plan the construction schedule, coordinate the construction process, and optimize the construction plan. Through collision inspection, safety analysis, and conflict resolution, BIM technology can reduce construction risks and improve construction efficiency. Therefore, the construction plan of the project is determined based on the BIM model, and then the second operation area where earthwork excavation may have been carried out can be determined based on the first operation area where earthwork excavation may have been carried out and the construction plan.

[0064] Specifically, after confirming the second working area where earth excavation has been carried out, the spatial coordinates of the second working area are obtained, and the ground area of ​​the second working area can be obtained. Then, the height corresponding to the second working area is determined according to the difference model, and the earthwork change contained in the first digital elevation model can be obtained.

[0065] According to an embodiment of the present invention, adjacent sub-operation areas are planarized according to the height values ​​of the first digital elevation models of the sub-operation areas and the height difference of the difference model, and the planarization includes classification and merging of the sub-operation areas.

[0066] According to one embodiment of the present invention, planarization processing is performed on a plurality of sub-operation areas in a first operation area, and the planarization processing includes:

[0067] Obtain a first height change value of the sub-operation area in the difference model, and obtain a first average height difference between the sub-operation area and an adjacent sub-operation area in the first digital elevation model;

[0068] In response to the first height change value being within the first height interval, or the first average height difference being within the first height interval, the sub-operation area is removed from the first operation area.

[0069] In this embodiment, the adjacent sub-operation areas of the first operation area are planarized to remove interference caused by personnel or mechanical equipment.

[0070] Specifically, the sub-operation areas are classified and merged according to the height values ​​of the sub-operation areas in the first data elevation model and the height difference data of the adjacent sub-operation areas in the difference model. The adjacent sub-operation areas with similar height values ​​in the first data elevation model and the adjacent sub-operation areas with similar height differences in the difference model are merged, and the sub-operation areas with large differences are classified to exclude the sub-operation areas with interference factors. For example, the adjacent sub-operation areas with a height value of 3.5±0.5m in the first data elevation model are merged, and the sub-operation areas of 2.9m and 4.1m are classified; for another example: the adjacent sub-operation areas with a difference value between -0.5m and +0.5m in the difference model are merged, and those outside this range are classified.

[0071] Specifically, when classifying and merging sub-operation areas, the first height change value of the divided sub-operation area in the difference model and the first average height difference between the sub-operation area and its adjacent sub-operation area in the first elevation digital model are obtained, wherein the first height change value refers to the change value of the height of the sub-operation area in the difference model, and the first average height difference refers to the average value of the height difference between the sub-operation area and the surrounding sub-operation areas. If the first height change value or the first average height difference of the sub-operation area is within the first height range, the sub-operation area is removed from the first operation area.

[0072] Specifically, the first height interval can be the range of the height of the staff. For example, 1.65m to 1.95m. Since there will be staff entering and exiting the first operation area during earth excavation, and the data obtained by the drone shooting may include the presence of staff and the absence of staff, the first height interval can be set to 1.65m to 1.95m. If the first average height difference or the first height change value of the sub-operation area is within the range of 1.65m to 1.95m, it may be caused by the entry and exit of staff. Such sub-operation areas divided due to the entry and exit of staff are removed from the first operation area to eliminate interference caused by staff.

[0073] Specifically, the first height interval may be the height range of operating machinery or engineering vehicles. For example, 1.7m to 2.9m. Since there are excavators, graders, bulldozers, scrapers and other machinery or engineering vehicles during earth excavation, the drone's shooting results may show data with and without operating machinery or engineering vehicles. The sub-operation area composed of such data needs to be removed from the first operation area to eliminate the interference caused by the operating machinery or engineering vehicles.

[0074] Specifically, the interference caused by people and machinery can also be classified into the same first height interval to eliminate the interference caused by people and machinery. For example, the first height interval is set to 1.65m to 2.9m.

[0075] According to one embodiment of the present invention, planarization processing is performed on a plurality of sub-operation areas in a first operation area, and the planarization processing includes:

[0076] Obtain a second height change value of the sub-operation area in the difference model, and obtain the area of ​​the sub-operation area;

[0077] Adjusting the sub-operation area within the first operation area according to a preset target recognition rule;

[0078] The target recognition rule includes a height rule and an area rule associated with the height rule. When the second height change value of the sub-operation area satisfies the height rule and the area of ​​the sub-operation area satisfies the area rule corresponding to the height rule, the sub-operation area is removed from the first operation area.

[0079] In this embodiment, another method of planarizing a plurality of sub-operation areas in the first operation area is described to remove interference caused by objects with a smaller area or a shorter height.

[0080] Specifically, during earth excavation, in addition to workers and operating machinery, there will be some other things on the construction site, such as abandoned safety helmets, shovels, spades, buckets and other small or short items. The sub-operation areas divided by these items will also cause interference and need to be removed.

[0081] Specifically, the second height change value and area in the sub-operation area are obtained through the difference model, and the sub-operation area is removed according to the preset target recognition rule. The target recognition rule includes a height rule and an area rule associated with the height rule. If the second height change value of the sub-operation area satisfies the height rule and the area satisfies the area rule associated with the height rule, the sub-operation area is removed from the first operation area.

[0082] Specifically, since the earthwork change caused by earthwork excavation is usually large, it is necessary to remove the interference caused by objects with smaller volume, that is, smaller area or smaller height. Therefore, the height rule and the area rule associated with it can be flexibly set according to the actual situation. For example, the height rule can be that the second height change value is less than 1m, and its corresponding area rule can be that when the height is less than 1m, its area is less than 0.8m 2 The height rule can be that the second height change value is less than 2.5m, and the corresponding area rule can be that when the height is less than 2.5m, the area is less than 0.4m 2 .

[0083] According to one embodiment of the present invention, the process of determining pixel weights includes:

[0084] Obtain historical temperature and historical rainfall information based on historical meteorological information;

[0085] The first weight is determined based on historical temperature, and the second weight is obtained based on historical rainfall information;

[0086] The pixel weight is obtained according to the first weight and the second weight.

[0087] In this embodiment, a method for confirming pixel weights is described. In actual application scenarios, since the time interval between obtaining the first digital elevation model and obtaining the digital elevation model obtained by the most recent measurement is uncertain, there may be situations in which high temperature causes soil expansion or rain washes away earthwork and the volume of earthwork shrinks. Therefore, it is necessary to add the weight determined by historical temperature and historical rainfall to the height change corresponding to each pixel in the image, that is, add the first weight determined by temperature and / or the second weight obtained by historical rainfall information to obtain the pixel weight, which is used to correct or compensate for the change corresponding to the pixel.

[0088] According to one embodiment of the present invention, the excavation volume of earthwork is calculated as follows:

[0089] Determine the surface change amount increase value and the accumulated earthwork amount increase value based on the pixel weight, the change amount and the resolution contained in the first digital elevation model corresponding to the pixel;

[0090] Determine the change in the existing earthwork volume based on the increase in the accumulated earthwork volume and the actual earthwork volume transferred;

[0091] The amount of earth excavation is determined based on the change in the existing earthwork volume and the increase in the excavation volume.

[0092] In this embodiment, the calculation method of earthwork excavation volume is described. First, the surface change amount increase value and the accumulated earthwork amount increase value are determined according to the change amount contained in the first digital elevation model corresponding to the pixel point, the weight corresponding to the pixel point and the resolution, wherein the pixel point weight can be set to the mean value, that is, it is considered that the influence of temperature and rainfall are of equal weight; then the increase value of the accumulated earthwork volume is subtracted from the actual dedicated earthwork volume to determine the change value of the displayed earthwork volume; finally, the earthwork excavation volume is determined according to the sum of the change value of the existing earthwork volume and the increase value of the excavation earthwork volume, wherein the increase value of the excavation earthwork volume is equal to the sum of the increase value of the surface change amount and the increase value of the accumulated earthwork volume.

[0093] In a second aspect, the present invention provides a system for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition, comprising:

[0094] A first digital elevation model acquisition unit is used to determine a first digital elevation model of the construction site according to an image of the construction site and POS data of the drone during flight, wherein the image information of the construction site, the POS data of the drone during flight, and the checkpoint data are obtained according to a drone oblique photography method;

[0095] An earthwork change amount acquisition unit determines the earthwork change amount contained in the first digital elevation model based on the checkpoint data and the digital elevation model obtained by the most recent measurement, wherein the earthwork change amount includes the surface change amount of the earthwork excavation area and the accumulated earthwork amount in the accumulation area;

[0096] The earth excavation volume acquisition unit is used to determine the pixel point weights based on the pixel points corresponding to the change amount contained in the first digital elevation model and based on historical meteorological information, and to determine the earth excavation volume based on the pixel point weights, the change amount contained in the first digital elevation model and the pixel points.

[0097] In a third aspect, the present invention provides an electronic device comprising a processor and a memory; the memory is used to store a program; the processor executes the program to implement the method for obtaining earth excavation volume based on unmanned aerial vehicle oblique photography recognition as described in the first aspect.

[0098] In a fourth aspect, the present invention provides a computer-readable storage medium storing a program, wherein the program is executed by a processor to implement the method for obtaining earth excavation volume based on unmanned aerial vehicle oblique photography recognition as described in the first aspect.

[0099] The beneficial effects of the present invention are as follows: through the method for obtaining the earth excavation volume proposed in the present invention, the efficiency of obtaining the earth excavation volume can be effectively improved, the error in obtaining the earth excavation volume can be reduced, and the cost of obtaining the earth excavation volume can be reduced; in addition, the earth excavation volume can be obtained without being affected by meteorological reasons and other factors on site.

[0100] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0101] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0102] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0103] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0104] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0105] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the energy-saving signal sending / receiving method of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0106] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0107] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A method for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition, characterized in that: include: The construction site is measured by using the UAV oblique photography method to obtain the image information of the construction site, the POS data and the checkpoint data during the UAV flight; Determine the first digital elevation model of the construction site based on the images of the construction site and the POS data of the drone during flight; Determine the earthwork change amount contained in the first digital elevation model based on the checkpoint data and the digital elevation model obtained by the most recent measurement, wherein the earthwork change amount includes the surface change amount of the earthwork excavation area and the earthwork accumulation amount in the accumulation area; Determining corresponding pixel points based on the variation included in the first digital elevation model; Determine pixel weights based on historical meteorological information; The amount of earth excavation is determined based on the pixel weights, the variation contained in the first digital elevation model, and the pixel points.

2. The method for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition as claimed in claim 1, characterized in that: The process of determining the earthwork change amount included in the first digital elevation model includes: Aligning the first digital elevation model with the digital elevation model obtained by the most recent measurement based on the RTK ground point data, obtaining a difference model between the first digital elevation model and the digital elevation model obtained by the most recent measurement, and determining a first operating area having a height difference greater than a preset height value according to the difference model, wherein the first operating area includes a plurality of sub-operating areas; Determine the area of ​​the sub-operation area within the first operation area; Determine the construction plan based on the BIM model, and determine the second operation area that complies with the construction plan based on the construction plan and the first operation area; The earthwork variation included in the first digital elevation model is determined based on the spatial coordinates of the second operating area and the difference model.

3. The method for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition as claimed in claim 2, characterized in that: Adjacent sub-operation areas are planarized according to the height values ​​of the first digital elevation models of the sub-operation areas and the height difference of the difference model, wherein the planarization includes classification and merging of the sub-operation areas.

4. The method for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition as claimed in claim 3, characterized in that: A planarization process is performed on a plurality of sub-operation areas in the first operation area, wherein the planarization process comprises: Obtain a first height change value of the sub-operation area in the difference model, and obtain a first average height difference between the sub-operation area and an adjacent sub-operation area in the first digital elevation model; In response to the first height change value being within the first height interval, or the first average height difference being within the first height interval, the sub-operation area is removed from the first operation area.

5. The method for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition as claimed in claim 3, characterized in that: A planarization process is performed on a plurality of sub-operation areas in the first operation area, wherein the planarization process comprises: Obtain a second height change value of the sub-operation area in the difference model, and obtain the area of ​​the sub-operation area; Adjusting the sub-operation area within the first operation area according to a preset target recognition rule; The target recognition rule includes a height rule and an area rule associated with the height rule. When the second height change value of the sub-operation area satisfies the height rule and the area of ​​the sub-operation area satisfies the area rule corresponding to the height rule, the sub-operation area is removed from the first operation area.

6. The method for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition as claimed in claim 1, characterized in that: The process of determining pixel weights includes: Obtain historical temperature and historical rainfall information based on historical meteorological information; The first weight is determined based on historical temperature, and the second weight is obtained based on historical rainfall information; The pixel weight is obtained according to the first weight and the second weight.

7. The method for obtaining earthwork excavation volume based on unmanned aerial vehicle oblique photography recognition as claimed in claim 1, characterized in that: The amount of earth excavation is calculated as follows: Determine the surface change amount increase value and the accumulated earthwork amount increase value based on the pixel weight, the change amount and the resolution contained in the first digital elevation model corresponding to the pixel; Determine the change in the existing earthwork volume based on the increase in the accumulated earthwork volume and the actual earthwork volume transferred; The amount of earth excavation is determined based on the change in the existing earthwork volume and the increase in the excavation volume.

8. A system for obtaining earthwork excavation volume based on drone oblique photography recognition, characterized by ,, characterized in that it includes: A first digital elevation model acquisition unit is used to determine a first digital elevation model of the construction site according to an image of the construction site and POS data of the drone during flight, wherein the image information of the construction site, the POS data of the drone during flight, and the checkpoint data are obtained according to a drone oblique photography method; An earthwork change amount acquisition unit determines the earthwork change amount contained in the first digital elevation model based on the checkpoint data and the digital elevation model obtained by the most recent measurement, wherein the earthwork change amount includes the surface change amount of the earthwork excavation area and the accumulated earthwork amount in the accumulation area; The earth excavation volume acquisition unit is used to determine the pixel point weights based on the pixel points corresponding to the change amount contained in the first digital elevation model and based on historical meteorological information, and to determine the earth excavation volume based on the pixel point weights, the change amount contained in the first digital elevation model and the pixel points.

9. An electronic device, characterized in that: It includes a processor and a memory; the memory is used to store a program; the processor executes the program to implement the method for obtaining earth excavation volume through unmanned aerial vehicle oblique photography recognition as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a program, and the program is executed by a processor to implement the method for obtaining earth excavation volume based on unmanned aerial vehicle oblique photography recognition as described in any one of claims 1 to 7.

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