Tracking method and device for obtaining soil flow direction based on image recognition

Abstract

The invention relates to the technical field of engineering measurement, in particular to a tracking method and equipment for acquiring a soil flow direction based on image recognition. The construction site is measured through an unmanned aerial vehicle oblique photography method; determining an earthwork area in the earthwork operation area according to the measured image of the construction site and the check point data; based on the image of the earthwork area, determining a soil type related to the earthwork operation area; determining a potential earthwork area in the construction site range based on the color value corresponding to the soil type; based on the increment of the digital elevation model and the soil type, determining the excavation volume of each soil type included in the earthwork and the flow direction in the operation area; the earthwork area comprises an earthwork excavation area and an earthwork accumulation area; the area of the potential earthwork area is greater than an earthwork threshold. Therefore, the problems of large earth flow direction monitoring workload, low efficiency, large calculation error, high cost and the like in the earth excavation process are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering measurement, and in particular to a tracking method and device for obtaining soil flow direction based on image recognition. Background Art

[0002] Earthwork excavation is an essential part of engineering construction projects. In the current earthwork excavation process, the monitoring method of earthwork flow is mainly manual, which results in inaccurate earthflow results, large errors, low work efficiency and heavy workload. In addition, the process of earthflow cannot be monitored, and there is a huge gap in the tracing of earthflow results.

[0003] In response to the above problems, the present invention proposes a tracking method and device for obtaining soil flow direction based on image recognition, which can be used for automatic tracking and tracing of soil flow direction, solving the problems of low efficiency, large result errors and large workload in the prior art of soil flow tracking. Summary of the invention

[0004] 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.

[0005] According to a first aspect of the present invention, a method for tracking soil flow direction based on image recognition comprises:

[0006] Surveying the construction site through drone oblique photography;

[0007] Determine the earthwork area in the earthwork operation area based on the image and checkpoint data of the construction site obtained by measurement;

[0008] Determine the soil type involved in the earthwork area based on the image of the earthwork area;

[0009] Determine potential earthwork areas within the construction site based on the color values ​​corresponding to the soil types;

[0010] Based on the increments and soil types of the digital elevation model, determine the excavation volume of each soil type contained in the earthwork and its flow direction within the work area;

[0011] The earthwork area includes an earthwork excavation area and an earthwork accumulation area;

[0012] The area of ​​the potential earthwork area is greater than the earthwork threshold.

[0013] According to one embodiment of the present invention, determining the earthwork area in the earthwork operation area of ​​the construction site comprises the following steps:

[0014] Aligning the images of the construction site based on the checkpoint data, and determining, based on pixel comparison, several regions where the color value change of the pixels is greater than a first preset value and the area is greater than a second preset value as first working regions;

[0015] Matching the image in the first operation area based on the image of the preset soil type to obtain the earthwork area in the earthwork operation area;

[0016] The earthwork area matches an image of at least one predetermined soil type.

[0017] According to one embodiment of the present invention, determining the soil type involved in the earthwork area includes the following steps:

[0018] Based on the meteorological data when measuring the construction site, the historical meteorological data are sorted from high to low according to the similarity, wherein the meteorological data includes 24-hour precipitation, temperature and wind speed;

[0019] Acquire image data of soil samples tested and obtained under the meteorological data condition with the highest approximation as source soil image data;

[0020] Determine the soil type contained in the earthwork area according to the characteristic pixel value of the source soil image data and the image of the earthwork area;

[0021] The characteristic pixel value of the source soil data is the average of the pixel values ​​of all pixels in the source soil image;

[0022] The soil types contained in the determined earthwork area include:

[0023] The difference between the pixel point value and the characteristic pixel value contained in the image of the earthwork area is calculated point by point, and the average value of the difference between the image of the earthwork area and the characteristic pixel value is obtained as the pixel difference value;

[0024] When the pixel difference is lower than a third preset value, the soil in the earthwork area is of the source soil type;

[0025] The difference between the pixel point value and the characteristic pixel value is the Euclidean distance between the pixel color value and the color value of the characteristic pixel value when the color value of the pixel is represented by the three primary colors of RGB.

[0026] According to one embodiment of the present invention, the step of acquiring the potential earthwork area includes:

[0027] According to the soil type, source soil data corresponding to the soil type is obtained;

[0028] Identify potential earthwork areas within the construction site based on source soil data to obtain potential earthwork areas;

[0029] The potential earthwork area does not include an earthwork operation area, and the pixel difference between the potential earthwork area and at least one source soil data is less than a fourth preset value;

[0030] The pixel difference calculation process includes:

[0031] The difference between the pixel point value contained in the image of the earthwork area and the characteristic pixel value of the source soil data is calculated point by point, and the average value of the difference between the image of the earthwork area and the characteristic pixel value is obtained as the pixel difference value;

[0032] Sort the source soil data from high to low according to the pixel difference, and obtain the source soil type with the smallest pixel difference and lower than a fourth preset value as the soil type of the potential earthwork area;

[0033] The difference between the pixel point value and the characteristic pixel value is the Euclidean distance between the color value of the pixel and the characteristic pixel value.

[0034] According to one embodiment of the present invention, determining the excavation amount of each soil type contained in the earthwork and the flow direction in the working area includes:

[0035] The first elevation model is obtained according to the UAV oblique photography method;

[0036] The second elevation model obtained by the most recent UAV oblique photography method is obtained from the database;

[0037] obtaining a difference model according to the first elevation model and the second elevation model;

[0038] The earthwork excavation area is determined according to the elevation reduction area and relative elevation in the difference model, and the earthwork accumulation area is determined according to the elevation increase area and relative elevation in the difference model;

[0039] Determine the initial position and target location of soil flow according to the type of earthwork;

[0040] The relative elevation is calculated based on the elevation difference between the earthwork area and the adjacent area.

[0041] According to one embodiment of the present invention, the allocation amount of the excavated soil in the earthwork excavation area to the earthwork accumulation area is determined based on the reduction value of the earthwork amount in the earthwork excavation area and the increase of earthwork in the associated earthwork accumulation area, and the associated earthwork accumulation area and the earthwork excavation area have the same soil type.

[0042] According to an embodiment of the present invention, determining the target location of the soil flow direction and the target location of the soil flow direction according to the earthwork type includes:

[0043] Acquire the earthwork accumulation area with the same earthwork type as the earthwork excavation area;

[0044] When the number of earthwork accumulation areas is 1, the earthwork accumulation area is the destination of the earthwork excavation area;

[0045] When the number of earth accumulation areas is greater than 1, the allocation amount of the earth excavation area to the earth accumulation area is determined according to the distance between the earth accumulation area and the earth excavation area.

[0046] According to one embodiment of the present invention, the process of determining the distribution amount from the earth excavation area to the earth accumulation area includes:

[0047] Determine the initial distribution amount according to the transportation distance of the earthwork accumulation area, wherein the initial distribution amount is negatively correlated with the earthwork accumulation area;

[0048] Adjust the earthwork in each earthwork accumulation area in the order of transportation distance from the smallest to the largest;

[0049] The transportation distance is the distance from the earth excavation area to the earth accumulation area.

[0050] According to one embodiment of the present invention, the earthwork adjustment comprises the following steps:

[0051] Obtain the current earthwork accumulation area allocation and earthwork increment determined based on the difference model;

[0052] When the distribution amount in the earthwork accumulation area is greater than the earthwork increment, the difference value of the earthwork amount is obtained;

[0053] When the difference value of the earthwork volume is greater than the fifth threshold, the difference between the difference value of the earthwork volume and the fifth threshold is used as the earthwork to be allocated, and the earthwork to be allocated is allocated within the earthwork accumulation area sequence;

[0054] The transportation distance of the earthwork accumulation area included in the earthwork accumulation area sequence is greater than the transportation distance of the current earthwork accumulation area.

[0055] According to a second aspect of the present invention, an electronic device includes a processor and a memory; the memory is used to store a program; the processor executes the program to implement a tracking method for obtaining soil flow direction based on image recognition as described in any one of claims 1-9. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic flow chart of a tracking method for obtaining soil flow direction based on image recognition is shown. DETAILED DESCRIPTION

[0057] 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.

[0058] 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.

[0059] In a first aspect, according to an embodiment of the present invention, a method for tracking soil flow direction based on image recognition includes:

[0060] Surveying the construction site through drone oblique photography;

[0061] Determine the earthwork area in the earthwork operation area based on the image and checkpoint data of the construction site obtained by measurement;

[0062] Determine the soil type involved in the earthwork area based on the image of the earthwork area;

[0063] Determine potential earthwork areas within the construction site based on the color values ​​corresponding to the soil types;

[0064] Based on the increments and soil types of the digital elevation model, determine the excavation volume of each soil type contained in the earthwork and its flow direction within the work area;

[0065] The earthwork area includes an earthwork excavation area and an earthwork accumulation area;

[0066] The area of ​​the potential earthwork area is greater than the earthwork threshold.

[0067] In this embodiment, a tracking method for obtaining soil flow direction based on image recognition is proposed. First, the construction site is measured by using an oblique photography method through a drone, and the earthwork area in the earthwork operation area is determined by the image of the construction site obtained by photography and the checkpoint data; then, based on the image of the earthwork area, its soil type is determined, and based on the color value corresponding to the soil type, the potential earthwork area on the construction site is determined; finally, by building a digital elevation model, the earthwork increment and soil type of the excavation area and the accumulation area are obtained, and the excavation volume of the soil type contained in the earthwork and the flow direction of each type of soil on the construction site are confirmed.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] Specifically, the earthwork area in the earthwork operation area can be determined based on the measured images and checkpoint data of the construction site. For example, from the images, it can be clearly seen which locations have relatively regular earth pits and which locations around them have a large amount of earthwork piled up. Checkpoints can be set in the areas around the earthwork to confirm the earthwork area in the earthwork operation area.

[0072] Specifically, the soil type of the corresponding area can be confirmed through the image of the earthwork area in the image. There are many types of soil, and different types of soil present different visual characteristics, such as color differences, texture differences, and shape differences. Among them, most soil types can be distinguished by color differences, for example: black soil, loess, red soil, brown soil, white pulp soil, etc., can be distinguished directly by color, and some visually similar colors such as brown soil and gray-brown soil, loess and yellow-brown soil, etc. can be distinguished by soil color value.

[0073] Specifically, the potential earthwork area on the construction site can be determined by the different color values ​​of the soil. Normally, the earthwork accumulation area on the construction site is preset in advance, but in actual scenarios, there will still be some weather anomalies and human errors that cause the earthwork to accumulate in non-preset areas, that is, there are potential earthwork areas. Generally speaking, the soil type of the earthwork transported from each earthwork excavation area is certain, so through the difference in color values ​​corresponding to each soil type, the earthwork transported from the earthwork excavation area in the non-preset area can be found, that is, the potential earthwork area can be found.

[0074] Specifically, generally speaking, the accumulation of earthwork will occupy a large area in the accumulation area, so the potential earthwork area is greater than a threshold, which can be 10m 2 , or 60m 2 , or 200m 2 It needs to be determined based on the actual size of the construction site.

[0075] Specifically, knowing the soil types of the earthwork area and potential earthwork area, the flow direction of the earth excavated from the earthwork area can be traced according to the soil type, and the specific volume of the earthwork can also be calculated through the digital elevation model.

[0076] According to one embodiment of the present invention, determining the earthwork area in the earthwork operation area of ​​the construction site comprises the following steps:

[0077] Aligning the images of the construction site based on the checkpoint data, and determining, based on pixel comparison, several regions where the color value change of the pixels is greater than a first preset value and the area is greater than a second preset value as first working regions;

[0078] Matching the image in the first operation area based on the image of the preset soil type to obtain the earthwork area in the earthwork operation area;

[0079] The earthwork area matches an image of at least one predetermined soil type.

[0080] In this embodiment, a specific method for determining the earthwork area in the earthwork operation area of ​​the construction site is proposed. First, the images of the construction site are aligned based on the checkpoint data, and the color value changes of the pixels in the same area in different images are compared. The area where the change value of the compared pixels is greater than the first preset value and the area is greater than the second preset value is divided into the first operation area, and the area in the first operation area with the same soil type as the earthwork area is the earthwork area.

[0081] Specifically, in the earthwork area of ​​the construction site, in the image before earthwork excavation, since the soil surface is covered, the soil color in the photo may be relatively single, and it is not easy to see the layers and color changes of the soil itself; in the image after digging for a period of time, since the soil is directly exposed to the outside, the image will clearly show the true color of the soil. In some special cases, such as encountering special soils such as five-color soil, the photos after excavation will show richer colors, so there will be changes in color value. In addition, the light and weather conditions during shooting will also affect the color of the photo. For example, on sunny days, the color of the soil under direct sunlight may be brighter; on cloudy or rainy days, the soil color may appear darker. Therefore, when the color value of the soil changes significantly, that is, when the color value change value of the soil is greater than the first preset value, it can be determined that the area is an earthwork area. For example, before excavation, the RGB mean values ​​of the soil colors are 227, 177, and 45. After excavation, because the soil contains water, the corresponding colors may change to 128, 64, and 64. In this way, the difference in RGB changes can be used to calculate whether it is an operation area. Specifically, dr^2+dg^2+db^2=(227-128)^2+(177-64)^2+(45-64)^2 is used for calculation. If this value is greater than the preset value, it means that an operation has occurred. If there is no change or the change is small, the possibility of an operation is small. If it is raining, then changing the baseline soil color change value to the color of ordinary soil after rain can effectively overcome this defect.

[0082] Specifically, the first preset value needs to be determined according to the actual soil conditions of the construction site. In some earthwork areas, the soil color is brighter, such as loess, black soil, etc., so a relatively large first preset value can be taken. In some earthwork areas, the soil color is darker, and the color value change presented in the picture is relatively small, so a relatively small first preset value can be taken.

[0083] Specifically, the area of ​​the region needs to be greater than the second preset value because the earthwork area is generally relatively large in area. Therefore, by setting a region area threshold, the interference in color value changes caused by other smaller objects can be eliminated.

[0084] According to one embodiment of the present invention, determining the soil type involved in the earthwork area includes the following steps:

[0085] Based on the meteorological data when measuring the construction site, the historical meteorological data are sorted from high to low according to the similarity, wherein the meteorological data includes 24-hour precipitation, temperature and wind speed;

[0086] Acquire image data of soil samples tested and obtained under the meteorological data condition with the highest approximation as source soil image data;

[0087] Determine the soil type contained in the earthwork area according to the characteristic pixel value of the source soil image data and the image of the earthwork area;

[0088] The characteristic pixel value of the source soil data is the average of the pixel values ​​of all pixels in the source soil image;

[0089] The soil types contained in the determined earthwork area include:

[0090] The difference between the pixel point value and the characteristic pixel value contained in the image of the earthwork area is calculated point by point, and the average value of the difference between the image of the earthwork area and the characteristic pixel value is obtained as the pixel difference value;

[0091] When the pixel difference is lower than a third preset value, the soil in the soil area is of the source soil type;

[0092] The difference between the pixel point value and the characteristic pixel value is the Euclidean distance between the pixel color value and the color value of the characteristic pixel value when the color value of the pixel is represented by the three primary colors of RGB.

[0093] In this embodiment, a step of determining the soil type involved in the earthwork operation area is proposed. First, considering the weather factor, based on the meteorological data at the time of measurement, including 24-hour precipitation, temperature, wind speed and other data, the soil sample data measured under the meteorological data conditions with the highest approximation in the historical meteorological data is obtained as the source soil image data, and then the earthwork area is determined according to the characteristic pixel values ​​of the image in the source soil image data and the image of the earthwork area to determine the soil type contained in the earthwork area.

[0094] Specifically, the characteristic pixel value is the average of the pixel values ​​of all pixels in the source soil image. Specifically, the method for determining the soil type contained in the earthwork area is: calculating the difference between the value of the pixel point in the earthwork area and the characteristic pixel value point by point, taking the average as the pixel difference, and when the pixel difference is lower than the third threshold, the soil type in the earthwork area is the soil type of the corresponding area in the source soil image.

[0095] Specifically, when taking photos, the image data obtained under different meteorological conditions will be significantly different, so it is necessary to select the image of soil sample data under the closest meteorological conditions in the database as the source soil image data. For example, if the meteorological conditions during this measurement are sunny, 33 degrees Celsius, and southeast wind level 7.5, then search for image data with the most similar meteorological conditions in the historical measurement data as the source soil data.

[0096] Specifically, when the pixel difference is smaller, it indicates that the image of the earthwork area measured this time is closer to the source soil image data, and when the pixel difference is greater than the third threshold, it is considered that the image of the earthwork area measured this time is not comparable to the source soil image data, and the soil type of the corresponding area in the source soil image data cannot be used as the soil type of the earthwork area. Therefore, the third threshold is a sufficiently small value. The smaller the third threshold, the more accurate the final result. However, considering the different soil types in different places, the third threshold needs to be determined according to different actual conditions.

[0097] Specifically, the difference between the pixel value and the characteristic pixel value is the Euclidean distance between the color value of the pixel and the color value of the characteristic pixel value when the color value of the pixel is represented by the three primary colors of RGB. That is, when calculating the difference between the pixel value and the characteristic pixel value, the Euclidean distance of the three color channels of r, g, and b needs to be calculated separately.

[0098] According to one embodiment of the present invention, the step of acquiring the potential earthwork area includes:

[0099] According to the soil type, source soil data corresponding to the soil type is obtained;

[0100] Identify potential earthwork areas within the construction site based on source soil data to obtain potential earthwork areas;

[0101] The potential earthwork area does not include an earthwork operation area, and the pixel difference between the potential earthwork area and at least one source soil data is less than a fourth preset value;

[0102] The pixel difference calculation process includes:

[0103] The difference between the pixel point value contained in the image of the earthwork area and the characteristic pixel value of the source soil data is calculated point by point, and the average value of the difference between the image of the earthwork area and the characteristic pixel value is obtained as the pixel difference value;

[0104] Sort the source soil data from high to low according to the pixel difference, and obtain the source soil type with the smallest pixel difference and lower than a fourth preset value as the soil type of the potential earthwork area;

[0105] The difference between the pixel point value and the characteristic pixel value is the Euclidean distance between the color value of the pixel and the characteristic pixel value.

[0106] In this embodiment, a specific method for obtaining potential earthwork areas is proposed: the corresponding source soil data of the soil is obtained according to the soil type, and then in the non-earthwork operation area, the area whose pixel difference with the source soil data is less than a fourth preset value is the potential earthwork area.

[0107] Specifically, when calculating the pixel difference, the difference between the value of all pixel points contained in the image of the earthwork area and the characteristic pixel value of the source soil data is calculated point by point, and the average value of the difference between the characteristic pixel value of the image of the earthwork area and the source soil data is obtained as the pixel difference. Then, the source soil data is sorted from high to low according to the pixel difference, and the source soil type with the smallest pixel difference and below the fourth threshold is taken as the soil type of the potential earthwork area.

[0108] Specifically, since it is necessary to determine the potential earthwork area, and the soil in the potential earthwork area is transported from the earthwork area, the source soil data corresponding to these soil types are obtained based on all the soil types involved in the earthwork area, and the area identified within the construction site with characteristics similar to the source soil data may be the potential earthwork area.

[0109] Specifically, since the soil type of the potential earthwork area is consistent with that of the earthwork excavation area, the pixel difference with the characteristic pixel value of one of all the source soil data is close, that is, the pixel difference needs to be less than the fourth preset value. If it is greater than the fourth preset value, it is considered not to be a potential earthwork area.

[0110] Specifically, the difference between the pixel value and the feature pixel value is the Euclidean distance between the color value of the pixel and the feature pixel value.

[0111] Specifically, for example: there are six areas a, b, c, d, e, and f in the construction site, where a, b, and c are earth excavation areas, d and e are preset earth accumulation areas, and all soil types in areas a, b, and c are four types: m, n, j, and k. The source soil data corresponding to the four soil types m, n, j, and k are obtained, and then the earthwork within the construction site is identified. If the mean value of the pixel point in area f and the characteristic pixel value of any source soil data in the four source soil data are less than the fourth preset value, then area f is considered to be a potential earthwork area. According to one embodiment of the present invention, determining the excavation amount of each soil type contained in the earthwork and the flow direction in the working area includes:

[0112] The first elevation model is obtained according to the UAV oblique photography method;

[0113] The second elevation model obtained by the most recent UAV oblique photography method is obtained from the database;

[0114] obtaining a difference model according to the first elevation model and the second elevation model;

[0115] The earthwork excavation area is determined according to the elevation reduction area and relative elevation in the difference model, and the earthwork accumulation area is determined according to the elevation increase area and relative elevation in the difference model;

[0116] Determine the initial position and target location of soil flow according to the type of earthwork;

[0117] The relative elevation is calculated based on the elevation difference between the earthwork area and the adjacent area.

[0118] In this embodiment, a method for determining the excavation amount of each soil type included in the earthwork and the flow direction in the working area is proposed. First, a first elevation model is obtained based on the measurement data, and then a second elevation model obtained from the most recent measurement is obtained from the database. A difference model is obtained based on the two models, and the earthwork excavation area is determined based on the elevation reduction area and the relative elevation in the difference model, and the earthwork accumulation area is determined based on the elevation increase area and the relative elevation in the difference model. Finally, the initial position of the soil flow direction is determined based on the soil type of the earthwork excavation area, and the target location of the soil flow direction is determined based on the soil types of the earthwork excavation area and the earthwork accumulation area.

[0119] Specifically, the earth excavation area is determined based on the elevation reduction area and relative elevation in the difference model. It refers to the area where the altitude is reduced and is relatively higher than the surrounding altitude, and is an excavation area. If the altitude is relatively higher than the surrounding altitude, it does not belong to the excavation area even if the altitude is reduced.

[0120] Specifically, for example, the soil type of the earth excavation area obtained by the difference model is a, and the soil type of the preset earth accumulation area should also be a. The initial position of the soil flow direction is the earth excavation area, and the target location of the soil flow direction is the earth accumulation area.

[0121] According to one embodiment of the present invention, the allocation amount of the excavated soil in the earthwork excavation area to the earthwork accumulation area is determined based on the reduction value of the earthwork amount in the earthwork excavation area and the increase of earthwork in the associated earthwork accumulation area, and the associated earthwork accumulation area and the earthwork excavation area have the same soil type.

[0122] In this embodiment, the allocation amount from the earth excavation area to the earth accumulation area is determined according to the reduction amount of earth in the earth excavation area and the increase amount of earth in the corresponding earth accumulation area.

[0123] Specifically, the associated earthwork accumulation area refers to an earthwork accumulation area having the same soil type as the earthwork excavation area.

[0124] According to an embodiment of the present invention, determining the initial position of the soil flow direction and the target location of the soil flow direction according to the earthwork type includes:

[0125] Acquire the earthwork accumulation area with the same earthwork type as the earthwork excavation area;

[0126] When the number of earthwork accumulation areas is 1, the earthwork accumulation area is the destination of the earthwork excavation area;

[0127] When the number of earth accumulation areas is greater than 1, the allocation amount of the earth excavation area to the earth accumulation area is determined according to the distance between the earth accumulation area and the earth excavation area.

[0128] According to one embodiment of the present invention, the process of determining the distribution amount from the earth excavation area to the earth accumulation area includes:

[0129] Determine the initial distribution amount according to the transportation distance of the earthwork accumulation area, wherein the initial distribution amount is negatively correlated with the distance of the earthwork accumulation area;

[0130] Adjust the earthwork in each earthwork accumulation area in the order of transportation distance from the smallest to the largest;

[0131] The transportation distance is the distance from the earth excavation area to the earth accumulation area.

[0132] According to one embodiment of the present invention, the earthwork adjustment comprises the following steps:

[0133] Obtain the current earthwork accumulation area allocation and earthwork increment determined based on the difference model;

[0134] When the distribution amount in the earthwork accumulation area is greater than the earthwork increment, the difference value of the earthwork amount is obtained;

[0135] When the difference value of the earthwork volume is greater than the fifth threshold, the difference between the difference value of the earthwork volume and the fifth threshold is used as the earthwork to be allocated, and the earthwork to be allocated is allocated within the earthwork accumulation area sequence;

[0136] The transportation distance of the earthwork accumulation area included in the earthwork accumulation area sequence is greater than the transportation distance of the current earthwork accumulation area.

[0137] In this embodiment, a step of determining the initial position and target location of the soil flow direction according to the soil type is proposed. First, an earthwork accumulation area with the same soil type as the earthwork excavation area is obtained. If the number of earthwork accumulation areas is 1, then the earthwork accumulation area is the destination of the earthwork excavation area. If the number of earthwork accumulation areas is greater than 1, the allocation amount is determined according to the distance between each earthwork accumulation area and the earthwork excavation area.

[0138] Specifically, the process of determining the allocation amount from the earthwork excavation area to the earthwork accumulation area is as follows: according to the transportation distance of the earthwork accumulation area, that is, the distance between the earthwork accumulation area and the earthwork excavation area, the initial allocation amount is determined, and the longer the distance, the lower the allocation amount. The earthwork of each earthwork accumulation area is adjusted according to the transportation distance of the earthwork accumulation area.

[0139] Specifically, the earthwork adjustment includes the following steps: obtaining the allocation amount of the current earthwork accumulation area and the earthwork increment determined based on the difference model; when the allocation amount is greater than the earthwork increment, obtaining the difference between the allocation amount and the earthwork increment; when the difference is greater than the fifth threshold, using the difference between the earthwork amount and the fifth threshold as the earthwork to be allocated, and allocating the earthwork to be allocated to other preset earthwork accumulation areas whose transportation distance is greater than the transportation distance of the current earthwork.

[0140] Specifically, the allocation is a reference value of earthwork volume determined by distance, indicating the approximate earthwork volume of an earthwork accumulation area. Correspondingly, the farther away from the earthwork excavation area, the lower the allocation. For example: the earthwork volume of the earthwork excavation area is 1000m 3 , the excavated earth needs to be piled up in three earthwork accumulation areas A, B, and C. The distances from the earthwork excavation area to A, B, and C are 3:1:1, so the allocation amount for the earthwork accumulation area A should be 600m 3 , the allocation for the earthwork accumulation areas B and C should be 200m 3 .

[0141] Specifically, in the increment of the earthwork accumulation area obtained by the difference model, there is a certain difference between the increment and the distribution amount due to external factors such as thermal expansion and contraction, wind and rain.

[0142] Specifically, the difference value is the ratio of the earthwork increment to the allocated amount. When the difference value is greater than the increment, and the ratio of the difference value to the increment is less than the fifth threshold, the soil in the earthwork excavation area may be transported to other areas, and a field investigation is required to prevent affecting the construction progress.

[0143] Specifically, when the difference value is greater than the fifth threshold, the difference between the difference value and the fifth threshold is used as the earthwork to be allocated, and the earthwork to be allocated is transported to an earthwork accumulation area whose transportation distance is greater than the transportation distance of the current earthwork accumulation area.

[0144] Specifically, the fifth threshold is determined according to the actual situation of the construction site, and is preferably 1 / 2.

[0145] In a second aspect, the present invention proposes 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 tracking method for obtaining soil flow direction based on image recognition as described in the first aspect.

[0146] The beneficial effect of the present invention is that through the soil flow direction tracking method of the present invention, the soil flow direction during earth excavation can be effectively and automatically monitored, which greatly reduces the workload of manual monitoring and improves the accuracy and efficiency of the monitoring results.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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 tracking soil flow direction based on image recognition, characterized in that: include: Surveying the construction site through drone oblique photography; Determine the earthwork area in the earthwork operation area based on the image and checkpoint data of the construction site obtained by measurement; Determine the soil type involved in the earthwork area based on the image of the earthwork area; Determine potential earthwork areas within the construction site based on the color values ​​corresponding to the soil types; Based on the increments and soil types of the digital elevation model, determine the excavation volume of each soil type contained in the earthwork and its flow direction within the work area; The earthwork area includes an earthwork excavation area and an earthwork accumulation area; The area of ​​the potential earthwork area is greater than the earthwork threshold.

2. The method for tracking soil flow direction based on image recognition according to claim 1, characterized in that: Determining the earthwork area in the earthwork operation area of ​​the construction site comprises the following steps: Aligning the images of the construction site based on the checkpoint data, and determining, based on pixel comparison, several regions where the color value change of the pixels is greater than a first preset value and the area is greater than a second preset value as first working regions; Matching the image in the first operation area based on the image of the preset soil type to obtain the earthwork area in the earthwork operation area; The earthwork area matches an image of at least one predetermined soil type.

3. The method for tracking soil flow direction based on image recognition as claimed in claim 2, characterized in that: Determining the soil type involved in the earthwork area includes the following steps: Based on the meteorological data when measuring the construction site, the historical meteorological data are sorted from high to low according to the similarity, wherein the meteorological data includes 24-hour precipitation, temperature and wind speed; Acquire image data of soil samples tested and obtained under the meteorological data condition with the highest approximation as source soil image data; Determine the soil type contained in the earthwork area according to the characteristic pixel value of the source soil image data and the image of the earthwork area; The characteristic pixel value of the source soil data is the average of the pixel values ​​of all pixels in the source soil image; The soil types contained in the determined earthwork area include: The difference between the pixel point value and the characteristic pixel value contained in the image of the earthwork area is calculated point by point, and the average value of the difference between the image of the earthwork area and the characteristic pixel value is obtained as the pixel difference value; When the pixel difference is lower than a third preset value, the soil in the earthwork area is of the source soil type; The difference between the pixel point value and the characteristic pixel value is the Euclidean distance between the pixel color value and the color value of the characteristic pixel value when the color value of the pixel is represented by the three primary colors of RGB.

4. The method for tracking soil flow direction based on image recognition as claimed in claim 2, characterized in that: The steps of obtaining the potential earthwork area include: According to the soil type, source soil data corresponding to the soil type is obtained; Identify potential earthwork areas within the construction site based on source soil data to obtain potential earthwork areas; The potential earthwork area does not include an earthwork operation area, and the pixel difference between the potential earthwork area and at least one source soil data is less than a fourth preset value; The pixel difference calculation process includes: The difference between the pixel point value contained in the image of the earthwork area and the characteristic pixel value of the source soil data is calculated point by point, and the average value of the difference between the image of the earthwork area and the characteristic pixel value is obtained as the pixel difference value; Sort the source soil data from high to low according to the pixel difference, and obtain the source soil type with the smallest pixel difference and lower than a fourth preset value as the soil type of the potential earthwork area; The difference between the pixel point value and the characteristic pixel value is the Euclidean distance between the color value of the pixel and the characteristic pixel value.

5. The method for tracking soil flow direction based on image recognition according to claim 1, characterized in that: The determination of the excavation volume of each soil type contained in the earthwork and the flow direction in the working area includes: The first elevation model is obtained according to the UAV oblique photography method; The second elevation model obtained by the most recent UAV oblique photography method is obtained from the database; obtaining a difference model according to the first elevation model and the second elevation model; The earthwork excavation area is determined according to the elevation reduction area and relative elevation in the difference model, and the earthwork accumulation area is determined according to the elevation increase area and relative elevation in the difference model; Determine the initial position and target location of soil flow according to the type of earthwork; The relative elevation is calculated based on the elevation difference between the earthwork area and the adjacent area.

6. The method for tracking soil flow direction based on image recognition as claimed in claim 5, characterized in that: The distribution amount of the excavated soil in the earthwork excavation area to the earthwork accumulation area is determined according to the reduction value of the earthwork amount in the earthwork excavation area and the increase of the earthwork in the associated earthwork accumulation area, wherein the associated earthwork accumulation area and the earthwork excavation area have the same soil type.

7. The method for tracking soil flow direction based on image recognition as claimed in claim 5, characterized in that: The target place for determining the direction of soil flow according to the type of earthwork and the target place for the direction of soil flow include: Acquire the earthwork accumulation area with the same earthwork type as the earthwork excavation area; When the number of earthwork accumulation areas is 1, the earthwork accumulation area is the destination of the earthwork excavation area; When the number of earth accumulation areas is greater than 1, the allocation amount of the earth excavation area to the earth accumulation area is determined according to the distance between the earth accumulation area and the earth excavation area.

8. The method for tracking soil flow direction based on image recognition as claimed in claim 7, characterized in that: The process of determining the distribution amount from the earthwork excavation area to the earthwork accumulation area includes: Determine the initial distribution amount according to the transportation distance of the earthwork accumulation area, wherein the initial distribution amount is negatively correlated with the earthwork accumulation area; Adjust the earthwork in each earthwork accumulation area in the order of transportation distance from the smallest to the largest; The transportation distance is the distance from the earth excavation area to the earth accumulation area.

9. The method for tracking soil flow direction based on image recognition as claimed in claim 8, characterized in that: The earthwork adjustment comprises the following steps: Obtain the current earthwork accumulation area allocation and earthwork increment determined based on the difference model; When the distribution amount in the earthwork accumulation area is greater than the earthwork increment, the difference value of the earthwork amount is obtained; When the difference value of the earthwork volume is greater than the fifth threshold, the difference between the difference value of the earthwork volume and the fifth threshold is used as the earthwork to be allocated, and the earthwork to be allocated is allocated within the earthwork accumulation area sequence; The transportation distance of the earthwork accumulation area included in the earthwork accumulation area sequence is greater than the transportation distance of the current earthwork accumulation area.

10. 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 tracking method for obtaining soil flow direction based on image recognition as described in any one of claims 1-9.

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