Digital terrain reconstruction method
By acquiring and analyzing the location and attribute parameters of dredging equipment, and updating the intersection vertex coordinates of digital terrain in real time, the problems of terrain monitoring delay and deviation in the prior art are solved, and more accurate and real-time terrain data provision are achieved.
Patent Information
- Application Number
- CN202411532416.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2025-02-18
AI Technical Summary
In dredging projects, the prior art is used to monitor the changes in underwater terrain and there are large delays and deviations, which affects the working efficiency of dredged ships.
By obtaining the current position parameters of the dredging equipment, determining its current spatial structure, and obtaining the original coordinates by vertices intersecting with the digital terrain. According to the attribute parameters and construction parameters of the dredging equipment, the depth information is determined, the coordinates at the intersection vertices of the digital terrain are updated, and real-time terrain reconstruction is realized.
Real-time reconstruction of digital terrain is realized, more accurate and real-time terrain data is provided, and the work efficiency of dredged ships is improved.
Smart Images
Figure CN119478265A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of terrain reconstruction, and in particular to a digital terrain reconstruction method. Background Art
[0002] Dredging is one of the important tasks in the field of marine engineering, which aims to clean up waterways, ports and fairways to ensure the safe passage of dredging ships and the normal operation of ports. During dredging construction, dredging ships use their dredging equipment (such as rakes, cutters, etc.) to clean and excavate the bottom of the water.
[0003] During the excavation process, the terrain will change in real time. Therefore, by understanding the changes in underwater terrain in real time, dredging personnel can guide the work of dredging vessels more efficiently. However, in current dredging projects, the use of sonar detection and other methods to monitor terrain changes will result in large delays and deviations in the perception and monitoring of digital terrain due to the complexity of the terrain and the working environment of the dredging vessel. Summary of the invention
[0004] The present invention provides a digital terrain reconstruction method, which can reconstruct the digital terrain in real time and provide more accurate and real-time digital terrain data for subsequent construction operations.
[0005] According to one aspect of the present invention, a method for reconstructing digital terrain is provided, the method comprising:
[0006] Acquire the current position parameters of the dredging machine, and determine the current spatial structure of the dredging machine according to the current position parameters, wherein the current spatial structure is a regular structure external to the dredging machine;
[0007] Determine the intersection vertex of the digital terrain at the location of the dredging equipment and the current spatial structure, and obtain the original coordinates of the intersection vertex in the digital terrain;
[0008] Determine the depth information of the dredging equipment at the intersection vertex according to the first attribute parameter of the dredging equipment and the construction parameter of the dredging vessel carrying the dredging equipment;
[0009] According to the depth information and the original coordinates, the current coordinates of the intersection vertex in the digital terrain are determined, and the digital terrain is reconstructed according to the current coordinates.
[0010] The digital terrain reconstruction method provided by the embodiment of the present invention obtains the current position parameters of the dredging equipment, and determines the current spatial structure of the dredging equipment according to the current position parameters; determines the intersection vertex of the digital terrain at the location of the dredging equipment and the current spatial structure, and obtains the original coordinates of the intersection vertex in the digital terrain; determines the depth information of the dredging equipment at the intersection vertex according to the first attribute parameters of the dredging equipment and the construction parameters of the dredging ship carrying the dredging equipment; determines the current coordinates of the intersection vertex in the digital terrain according to the depth information and the original coordinates, and reconstructs the digital terrain according to the current coordinates. In the above technical scheme, on the one hand, the current spatial structure of the dredging equipment is determined according to the current position parameters, and the accurate spatial structure of the dredging equipment is constructed based on the current position of the dredging equipment, which provides data support for the subsequent accurate calculation of the terrain volume changed by the dredging equipment. At the same time, the irregularly shaped dredging equipment is represented by a regular shape, which can reduce the complexity of subsequent calculations and make the calculation process more efficient and accurate. On the other hand, determining the original coordinates of the intersection vertex can accurately determine the position of the terrain point that changes when the dredging equipment is operating at the current position, providing a basis for reconstructing the terrain coordinates of the point. On the other hand, determining the depth information of the dredging equipment at the intersection vertex can accurately determine the operating depth of the dredging equipment to the terrain based on the current working parameters of the dredging equipment, that is, determine the depth information at the intersection vertex. Finally, in the process of the dredging ship using the dredging equipment it carries, the depth information is determined in real time according to the attribute parameters of the dredging equipment, and the coordinates of the intersection vertex of the digital terrain are updated based on the original coordinates and the depth information. In addition, the digital terrain can be reconstructed in real time, providing more accurate and real-time digital terrain data for subsequent construction operations.
[0011] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0013] Figure 1 A schematic flow chart of a digital terrain reconstruction method provided by an embodiment of the present invention;
[0014] Figure 2 An example diagram of digital terrain and current spatial structure provided by an embodiment of the present invention;
[0015] Figure 3 Another schematic flow chart of a digital terrain reconstruction method provided by an embodiment of the present invention. DETAILED DESCRIPTION
[0016] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.
[0017] It should be noted that the terms "original", "current", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0018] Figure 1 This is a flow chart of a method for reconstructing digital terrain provided by an embodiment of the present invention. This embodiment is applicable to situations where a dredging vessel needs to reconstruct terrain coordinates in real time when dredging underwater terrain. Figure 1 As shown, the method includes:
[0019] S101, obtaining current position parameters of the dredging machine, and determining the current spatial structure of the dredging machine according to the current position parameters.
[0020] Among them, the dredging machine is a machine mounted on a dredging vessel for cleaning and excavating the bottom sand and silt. The current position parameter is used to indicate the current underwater position of the dredging machine. The current spatial structure is a regular structure that is external to the dredging machine.
[0021] Specifically, the position of the dredging machine is detected in real time, and the current position parameters are obtained based on the position of the dredging machine. Since the structure of the dredging machine itself is an irregular shape, the structure of the dredging machine in the current space can be constructed based on the current position parameters of the dredging machine and the structure of the dredging machine itself.
[0022] Exemplarily, the three-dimensional structure of the dredging machine is constructed according to the structure of the dredging machine itself. After obtaining the current position parameters of the dredging machine, the current spatial structure of the dredging machine can be determined based on the current position parameters and the three-dimensional structure of the dredging machine. The current spatial structure of the dredging machine is a regular structure of the circumscribed three-dimensional structure of the dredging machine. For example, the current spatial structure can be a square.
[0023] In this embodiment, the current position parameters of the dredging equipment are obtained, and the current spatial structure of the dredging equipment is determined according to the current position parameters, so that the accurate spatial structure of the dredging equipment is constructed based on the current position of the dredging equipment, providing data support for the subsequent accurate calculation of the amount of terrain changed by the dredging equipment. At the same time, the irregular shaped dredging equipment is represented by a regular shape, which can reduce the complexity of subsequent calculations and make the calculation process more efficient and accurate.
[0024] S102, determining the intersection vertex between the digital terrain at the location of the dredging equipment and the current spatial structure, and obtaining the original coordinates of the intersection vertex in the digital terrain.
[0025] Among them, digital terrain, also known as digital terrain model, is a terrain that uses digital technology to accurately model the three-dimensional morphology of the terrain surface. For example, the digital terrain includes a data array composed of a series of ground point coordinates (x, y, z) and surface attributes (target category, features, etc.). The intersection vertex corresponds to the ground point in the digital terrain. For example, when the current spatial structure of the dredging equipment intersects with the digital terrain, the ground point of the digital terrain in the current spatial structure is the intersection vertex.
[0026] Specifically, the water depth and terrain structure of the location of the dredging equipment are obtained, and based on the water depth and terrain structure, a digital terrain composed of a large number of terrain points can be constructed. After the digital terrain is obtained, the intersection vertex can be determined according to the current spatial structure and the digital terrain, that is, whether the current spatial structure overlaps with the terrain points in the digital terrain.
[0027] In one implementation, the digital terrain is divided into terrain areas of appropriate size. For each terrain area, it is necessary to determine whether it intersects with the current spatial structure. If it exists in a terrain area that intersects with the current spatial structure, it is determined which ground points in the terrain area are also in the current spatial structure, and these ground points in the current spatial structure are used as intersection vertices. In another implementation, a terrain structure is established based on the digital terrain. The terrain structure is divided according to the number of different terrain vertices (i.e., ground points), and the terrain vertices in the current spatial structure are determined based on the divided terrain structure and the current spatial structure, and the terrain vertices in the current spatial structure are used as intersection vertices. After determining the intersection vertices, the original coordinates of the intersection vertices in the digital terrain can be determined.
[0028] For example, Figure 2 This is an example diagram of digital terrain and current spatial structure provided by an embodiment of the present invention. Figure 2 As shown, the digital terrain includes multiple ground points. By connecting multiple ground points, the entire digital terrain can be obtained. Also, a regular rectangle can be the current spatial structure. Determine the intersection vertex of the digital terrain where the dredging equipment is located and the current spatial structure, that is, determine which ground points in the digital terrain are included in the current spatial structure. Figure 2 As shown in , the current spatial structure includes three ground points, which are intersection vertices. Therefore, the original coordinates of the intersection vertices in the digital terrain can be obtained.
[0029] In this embodiment, the intersection vertex when the digital terrain intersects the current spatial structure is determined, and the original coordinates of the intersection vertex are determined, so as to accurately determine the position of the terrain point that changes when the dredging equipment operates at the current position, and provide a basis for subsequently reconstructing the terrain coordinates of the point.
[0030] S103: Determine depth information of the dredging equipment at the intersection vertex according to the first attribute parameter of the dredging equipment and the construction parameter of the dredging vessel carrying the dredging equipment.
[0031] Among them, the first attribute parameter is the structural attribute parameter of the dredging machine. For example, the first attribute parameter is the suction elbow length, the sluice pipe length and the rake head height of the dredging machine. The construction parameter is the working parameter of the dredging vessel during the construction process. For example, the construction parameter is the hull draft of the dredging vessel in the current operating waters. The depth information is used to indicate the terrain depth information after the dredging machine is operating.
[0032] Specifically, the current operating parameters of the dredging machine can be determined according to the first attribute parameters of the dredging machine, and the working depth of the dredging machine can be determined according to the construction parameters. The depth information of the dredging machine at the intersection vertex can be determined based on the current operating parameters of the dredging machine and the working depth of the dredging machine.
[0033] For example, the vertical height of the drag head of the dredging machine from the suction port of the dredging machine can be determined according to the first attribute parameter of the dredging machine. The working depth of the suction port of the dredging machine can be determined according to the construction parameter. The depth information of the dredging machine at the intersection vertex can be determined according to the vertical height of the suction port of the dredging machine and the working depth of the suction port of the dredging machine.
[0034] In this embodiment, the depth information of the dredging equipment at the intersection vertex is determined based on the first attribute parameters of the dredging equipment and the construction parameters of the dredging vessel carrying the dredging equipment. This can accurately determine the operating depth of the dredging equipment to the terrain based on the current actual working parameters of the dredging equipment, that is, determine the depth information at the intersection vertex.
[0035] S104: Determine the current coordinates of the intersection vertex in the digital terrain according to the depth information and the original coordinates, and reconstruct the digital terrain according to the current coordinates.
[0036] The current coordinates are the coordinate values of the digital terrain corresponding to the actual terrain after the dredging machine has operated.
[0037] Specifically, the depth value of the reconstructed intersection vertex of the digital terrain corresponding to the actual terrain after the dredging machine operates on the actual terrain can be determined based on the depth information. And the coordinate value of the intersection vertex of the digital terrain corresponding to the actual terrain before the dredging machine operates on the actual terrain can be determined based on the original coordinates. Therefore, the current coordinates of the intersection vertex after the dredging machine operates can be determined based on the depth information and the original coordinates, and the digital terrain can be reconstructed based on the current coordinates.
[0038] In this embodiment, the current coordinates of the intersection vertex in the digital terrain are determined based on the depth information and the original coordinates, and the digital terrain is reconstructed based on the current coordinates, so that in the process of the dredging vessel using the dredging equipment it carries, the depth information is determined in real time based on the attribute parameters of the dredging equipment, and the coordinates of the intersection vertex of the digital terrain are updated based on the original coordinates and the depth information. In addition, the digital terrain can be reconstructed in real time, providing more accurate and real-time digital terrain data for subsequent construction operations.
[0039] The digital terrain reconstruction method provided by the embodiment of the present invention obtains the current position parameters of the dredging equipment, and determines the current spatial structure of the dredging equipment according to the current position parameters; determines the intersection vertex of the digital terrain at the location of the dredging equipment and the current spatial structure, and obtains the original coordinates of the intersection vertex in the digital terrain; determines the depth information of the dredging equipment at the intersection vertex according to the first attribute parameters of the dredging equipment and the construction parameters of the dredging ship carrying the dredging equipment; determines the current coordinates of the intersection vertex in the digital terrain according to the depth information and the original coordinates, and reconstructs the digital terrain according to the current coordinates. In the above technical scheme, on the one hand, the current spatial structure of the dredging equipment is determined according to the current position parameters, and the accurate spatial structure of the dredging equipment is constructed based on the current position of the dredging equipment, which provides data support for the subsequent accurate calculation of the terrain volume changed by the dredging equipment. At the same time, the irregularly shaped dredging equipment is represented by a regular shape, which can reduce the complexity of subsequent calculations and make the calculation process more efficient and accurate. On the other hand, determining the original coordinates of the intersection vertex can accurately determine the position of the terrain point that changes when the dredging equipment is operating at the current position, providing a basis for reconstructing the terrain coordinates of the point. On the other hand, determining the depth information of the dredging equipment at the intersection vertex can accurately determine the operating depth of the dredging equipment to the terrain based on the current working parameters of the dredging equipment, that is, determine the depth information at the intersection vertex. Finally, in the process of the dredging ship using the dredging equipment it carries, the depth information is determined in real time according to the attribute parameters of the dredging equipment, and the coordinates of the intersection vertex of the digital terrain are updated based on the original coordinates and the depth information. In addition, the digital terrain can be reconstructed in real time, providing more accurate and real-time digital terrain data for subsequent construction operations.
[0040] Figure 3 Another flowchart of the digital terrain reconstruction method provided by the embodiment of the present invention, based on the above embodiment and other examples, this embodiment describes in detail the steps of "obtaining the current position parameters of the dredging equipment, and determining the current spatial structure of the dredging equipment based on the current position parameters", "determining the intersection vertex of the digital terrain at the location of the dredging equipment and the current spatial structure", "determining the depth information of the dredging equipment at the intersection vertex based on the first attribute parameters of the dredging equipment and the construction parameters of the dredging vessel carrying the dredging equipment", and "determining the current coordinates of the intersection vertex in the digital terrain based on the depth information and the original coordinates". Figure 3 As shown, the method includes:
[0041] S301, obtaining current position parameters of the dredging equipment.
[0042] Specifically, the current position parameters of the dredging machine can be determined by a detection device installed at the dredging machine. For example, the specific position of the dredging machine at the construction water area can be determined by positioning the detection device, and the specific position of the dredging machine at the construction water area can be used as the current position parameter.
[0043] S302: Obtain the last position parameters of the dredging equipment.
[0044] If the current position parameter is expressed as the parameter of the current position of the dredging equipment, then the previous position parameter is the parameter of the previous position of the dredging equipment before the current one.
[0045] Specifically, the position parameters of the dredging equipment can be obtained at a scheduled time or in real time. For example, the position parameters of the dredging equipment are obtained according to a preset period. The preset period can be determined by the user. After the position parameters of the dredging equipment are obtained according to the preset period, the position parameters of the dredging equipment can be stored each time.
[0046] Therefore, in this embodiment, after the current position parameters of the dredging equipment are obtained, the last position parameters of the dredging equipment recorded last time can be obtained from the storage location that stores the position parameters of the dredging equipment obtained each time.
[0047] S303, determine whether the previous position parameter is the same as the current position parameter; if so, return to execute S301; if not, continue to execute S304.
[0048] Specifically, after obtaining the current position parameter and the previous position parameter, determine whether the current position parameter is the same as the previous position parameter. If so, it means that the dredging vessel carrying the dredging equipment has not started the operation yet, or the operation at the current position has not been completed. Therefore, you can return to the step of obtaining the current position parameter of the dredging equipment and continue to determine the current position parameter of the dredging equipment in real time. If not, it means that the dredging vessel carrying the dredging equipment needs to reconstruct the current terrain during the operation. Therefore, you can continue to execute the step of determining the current spatial structure of the dredging equipment according to the current position parameter.
[0049] In this embodiment, the current position parameters of the dredging equipment are obtained, and the previous position parameters of the dredging equipment are obtained to determine whether the current position parameters are the same as the previous position parameters. If they are the same, it is realized that there is no need to reconstruct the terrain temporarily, and the current position parameters of the dredging equipment are determined in real time to ensure that it can be determined in real time whether the position of the dredging equipment has changed, and it is realized to quickly and accurately judge whether the current terrain has changed due to the change in the position of the dredging equipment, which provides a basis for subsequent reconstruction of the terrain.
[0050] S304: Determine the current spatial structure of the dredging equipment according to the current position parameters.
[0051] Specifically, since dredging equipment generally includes a rake head and a reamer, in actual situations, the structure of the dredging equipment is irregular in shape. Since the terrain is also irregular in shape, in order to facilitate subsequent calculations, the regular current spatial structure of the dredging equipment can be determined according to the current position parameters of the dredging equipment.
[0052] Exemplarily, in one implementation, a regular square structure circumscribed to the three-dimensional modeling structure of the dredging machinery is constructed directly based on the three-dimensional modeling structure of the dredging machinery. This square structure is used as the current spatial structure. In another implementation, the vertex data of the dredging machinery is determined according to the current position parameters, and the geometric center position of the dredging machinery is calculated based on the vertex data. According to the operating direction of the dredging machinery in the current position parameters, the distribution direction of the dredging machinery can also be determined. Based on the geometric center position and the distribution direction, a square bounding box structure of the dredging machinery can be constructed, and the square bounding box structure is the current spatial structure.
[0053] In this embodiment, based on the current position parameters of the irregular dredging equipment, the current spatial structure of the regular dredging equipment is constructed to provide data support for the subsequent accurate calculation of the amount of terrain changed by the dredging equipment. At the same time, the irregular dredging equipment is represented by a regular shape, which can reduce the complexity of subsequent calculations and make the calculation process more efficient and accurate.
[0054] S305: Determine a terrain structure corresponding to the digital terrain, and divide the terrain structure according to different numbers of terrain vertices to form a structure tree with the terrain structure as a root node.
[0055] Among them, the structure tree is the terrain structure divided according to the tree structure.
[0056] Specifically, since the size of the underwater terrain is very large compared to the dredging equipment in the dredging project, in order to accurately determine the relative position relationship between the dredging equipment and the underwater terrain, it is necessary to divide the digital terrain corresponding to the underwater terrain according to the number of different terrain vertices. First, the three-dimensional scanning information of the location of the dredging equipment (i.e., the underwater terrain in the operating waters where the dredging vessel is located) can be obtained first. For example, a multi-beam detection system or other sensors are used to scan the underwater terrain to obtain three-dimensional scanning information. Secondly, according to the three-dimensional scanning information, a digital terrain is constructed, and the minimum external structure of the digital terrain is used as the terrain structure. For example, the three-dimensional scanning information is filtered and fused, and a terrain bounding box is constructed based on the processed three-dimensional scanning information, and the terrain bounding box is used as the terrain structure. Afterwards, after the terrain structure is determined, the terrain structure is divided according to the number of different terrain vertices, and a structure tree with the terrain structure as the root node is formed.
[0057] For example, suppose that there are 1000 terrain vertices in the terrain structure. Then, the first division can be based on 1000 terrain vertices as the division basis to divide the terrain structure, that is, the first division is a complete terrain structure. The terrain structure can be used as the root node of the structure tree. The second division can be based on 500 terrain vertices as the division basis to divide the terrain structure, that is, the second division is to divide a complete terrain structure into two regional terrain structures of the same size. The terrain structure can be used as a child node of the root node in the structure tree. The third division can be based on 250 terrain vertices as the division basis to divide the terrain structure, that is, the third division is to divide a complete terrain structure into four regional terrain structures of the same size. The terrain structure can be used as the next layer of child nodes in the structure tree. The above example is used as the division until the number of terrain vertices in the division basis is less than or equal to the preset number. For example, the preset number is 10. That is, the last division is to divide the terrain structure based on more than 10 terrain vertices as the division basis. Moreover, the terrain structure containing 100 regional terrain structures formed after the last division is a leaf node in the structure tree, that is, a terminal node. At this time, the terrain structures divided based on different numbers of terrain vertices can form a structure tree with the terrain structure as the root node.
[0058] S306: Determine the leaf nodes that intersect with the current spatial structure.
[0059] The leaf node refers to a node with a degree of 0, also known as a terminal node. In this embodiment, the leaf node is a plurality of regional terrain structures obtained by dividing according to a preset number of terrain vertices.
[0060] Specifically, starting from the root node, determine whether the root node intersects with the current spatial structure. If not, it can be determined that the dredging equipment has not changed the current terrain structure. Therefore, the step of obtaining the current position parameters of the dredging equipment can be directly returned. If intersected, determine whether each child node under the root node intersects with the current spatial structure. For example, the next layer of the root node has three child nodes A, B and C, then determine whether A, B and C intersect with the current spatial structure respectively. If it is determined that it intersects with B and C, it is possible to continue to determine the child nodes of all child nodes of the next layer of B that intersect with the current spatial structure, and determine the child nodes of all child nodes of the next layer of C that intersect with the current spatial structure. According to the above method, only the nodes that intersect with the current spatial structure in each layer are determined until the leaf nodes that intersect with the current spatial structure are determined.
[0061] For example, in one implementation, if the terrain structure is a digital terrain model, a polygon intersection algorithm, a fast repulsion and vector straddle algorithm, or a parametric equation method can be used to determine whether the digital terrain model intersects with the current spatial structure. In another implementation, if the terrain structure is a terrain bounding box, and the current spatial structure is a square bounding box of a dredging tool, an axis-aligned bounding box intersection test method, an oriented bounding box intersection test method, or an intersection test method extended to three-dimensional space can be used to directly determine whether the terrain structure intersects with the current spatial structure.
[0062] S307: Taking the terrain vertices corresponding to the leaf nodes intersecting with the current spatial structure as intersection vertices, and obtaining the original coordinates of the intersection vertices in the digital terrain.
[0063] Specifically, after the leaf node intersecting with the current spatial structure is determined, the terrain vertex corresponding to the leaf node in the regional terrain structure can be used as the intersection vertex, and the original coordinates of the intersection vertex in the digital terrain are determined.
[0064] In this embodiment, the terrain structure is divided according to different numbers of terrain vertices to form a structure tree with the terrain structure as the root node, and starting from the root node of the structure tree, the nodes intersecting with the current spatial structure are determined until the leaf nodes intersecting with the current spatial structure are determined, so that the terrain structure with a large number of terrain vertices is divided layer by layer, that is, the terrain is divided into several smaller regional terrain structures, so as to quickly determine the regional terrain structure intersecting with the current spatial structure of the dredging equipment. At the same time, the terrain vertices corresponding to the leaf nodes intersecting with the current spatial structure are used as the intersection vertices, which reduces the repeated detection of the regional terrain structures that do not intersect with the current spatial structure in the terrain intersection detection, speeds up the process of detecting the intersection between the dredging equipment and the terrain, and obtains the terrain vertices of the intersection area more quickly.
[0065] S308. Determine the operating vertical height of the dredging equipment according to the first attribute parameter.
[0066] Specifically, when determining the operating vertical height of the dredging machine, it is necessary to first obtain the current working angle of the dredging machine. And, after determining the current working angle of the dredging machine, the vertical height of the drag head from the suction port of the dredging machine during operation can be determined according to the working angle and attribute parameters of the dredging machine during operation.
[0067] Exemplarily, the current working angle of the dredging machine is obtained; based on the current working angle and the first attribute parameter, the vertical height of the operation can be calculated as follows: a rake arm angle sensor is installed at the dredging machine, and the rake arm angle sensor can detect the current working angle of the rake arm of the dredging machine in real time. After obtaining the current working angle collected by the rake arm angle sensor, the vertical height of the operation can be calculated based on the current working angle and the first attribute parameter.
[0068] For example, the operating vertical height of the dredging equipment can be calculated according to the following formula:
[0069] H v =L 0 ·sin B 1 / cos A 1 +L 1 ·sin B 1 +L 2 ·sin B 2 +H·cos B 2 ;
[0070] Among them, H V L is the vertical height between the dredging head and the suction port during operation. 0 L is the length of the suction elbow, 1 is the length of the upper rake tube, L 2 is the length of the lower rake tube, and H is the height of the rake head. The former are both first attribute parameters. And, A 1 is the horizontal angle of the upper rake, A 2 is the horizontal angle of the lower rake, B 1 is the vertical angle of the upper rake, B 2 These are the current working angles.
[0071] S309: Determine the draft depth of the dredging equipment according to the first attribute parameter and the second attribute parameter.
[0072] The construction parameters include the second attribute parameters of the dredging vessel and water level information. The second attribute parameters are the attribute parameters of the dredging vessel.
[0073] Specifically, the draft of the dredging equipment can be determined according to the suction port installation position in the first attribute parameter and the draft of the dredging vessel in the second attribute parameter. For example, it can be calculated according to the following formula:
[0074] D 机具 =D 船 -h;
[0075] Among them, D 机具 D is the draft depth at the suction port of the dredging equipment. 船 is the draft of the dredging vessel and h is the suction installation position.
[0076] S310, determining depth information according to the operation vertical height, draft and water level information.
[0077] The water level information is the water level information of the water area where the dredging vessel is operating. In this embodiment, the water level information is the tide level.
[0078] Specifically, the depth information can be determined based on the vertical height of the operation, the draft of the dredging equipment and the water level information. For example, it can be calculated according to the following formula:
[0079] Z′=H v +D 机具 -T i ;
[0080] Among them, Z′ is the depth information of the rake head, T i It is the water level information, i.e. the tide level.
[0081] In this embodiment, the first attribute parameters of the dredging equipment and the construction parameters of the dredging vessel are used to determine the operating depth information of the dredging equipment during operation, so as to accurately determine the actual depth of the dredging equipment when operating at the current position, and provide accurate depth data for subsequent reconstruction of terrain coordinates.
[0082] S311 . Use the depth information to replace the value of the Z-axis coordinate in the original coordinate.
[0083] The original coordinates are three-dimensional coordinate data, that is, in this embodiment, the original coordinates of the terrain vertices are expressed in the form of (X, Y, Z).
[0084] Specifically, after the depth information is determined, it can be known that after the dredging equipment at the current position has passed through, the depth information of the terrain changes to Z', so the Z value in the original coordinates can be directly replaced with Z'. Finally, the original coordinates can be obtained as (X, Y, Z').
[0085] S312: Use the replaced original coordinates as the current coordinates of the intersection vertex in the digital terrain, and reconstruct the digital terrain according to the current coordinates.
[0086] Specifically, the replaced original coordinates are used as the current coordinates of the intersection vertex in the digital terrain, so that the reconstruction of the current position coordinates in the digital terrain can be achieved.
[0087] Exemplarily, after completing the reconstruction of the current position coordinates in the digital terrain, the step of S301 can be continued to be returned to determine whether the current position parameters of the dredging equipment have changed, thereby realizing the real-time reconstruction of the digital terrain. Alternatively, when it is determined that the current position parameters of the dredging equipment have changed, the current spatial structure of the dredging equipment can be directly updated using the changed current position parameters, and S306 can be directly executed. Among them, after the first execution of S305, the structure tree obtained by S305 can be stored. After each subsequent update of the current position parameters of the dredging equipment, the leaf nodes intersecting with the current spatial structure are directly determined based on the structure tree, without the need to repeatedly establish the structure tree. And, after each reconstruction of the digital terrain according to the current coordinates, the original coordinates corresponding to the terrain vertices of the digital terrain should be updated to the corresponding reconstructed current coordinates.
[0088] The digital terrain reconstruction method provided by the embodiment of the present invention, on the one hand, obtains the current position parameters of the dredging equipment, and obtains the previous position parameters of the dredging equipment, and determines whether the current position parameters are the same as the previous position parameters. When they are the same, it is realized that there is no need to reconstruct the terrain temporarily, and the current position parameters of the dredging equipment are determined in real time to ensure that it can be determined in real time whether the position of the dredging equipment has changed, and it is realized to quickly and accurately judge whether the current terrain has changed due to the change in the position of the dredging equipment, which provides a basis for the subsequent reconstruction of the terrain. On the other hand, based on the current position parameters of the irregular dredging equipment, the current spatial structure of the regular dredging equipment is constructed to provide data support for the subsequent accurate calculation of the amount of terrain changed by the dredging equipment. At the same time, the irregular shaped dredging equipment is represented by a regular shape, which can reduce the complexity of subsequent calculations and make the calculation process more efficient and accurate. On the other hand, the terrain structure is divided according to the number of different terrain vertices to form a structure tree with the terrain structure as the root node, and starting from the root node of the structure tree, the nodes intersecting with the current spatial structure are determined until the leaf nodes intersecting with the current spatial structure are determined, so that the terrain structure with a large number of terrain vertices is divided layer by layer, that is, the terrain is divided into several smaller regional terrain structures, so as to quickly determine the regional terrain structure intersecting with the current spatial structure of the dredging machine. At the same time, the terrain vertices corresponding to the leaf nodes intersecting with the current spatial structure are used as intersection vertices, which reduces the repeated detection of regional terrain structures that do not intersect with the current spatial structure in the terrain intersection detection, speeds up the process of intersection detection between the dredging machine and the terrain, and obtains the terrain vertices of the intersection area more quickly. Finally, the first attribute parameters of the dredging machine and the construction parameters of the dredging ship are used to determine the operating depth information when the dredging machine is operating, so that the actual depth of the dredging machine when operating at the current position can be accurately determined, and accurate depth data can be provided for the subsequent reconstruction of the terrain coordinates.
[0089] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.
[0090] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims
1. A method for reconstructing digital terrain, characterized in that: The method comprises: Acquiring current position parameters of the dredging machine, and determining the current spatial structure of the dredging machine according to the current position parameters, wherein the current spatial structure is a regular structure external to the dredging machine; Determine the intersection vertex of the digital terrain at the location of the dredging tool and the current spatial structure, and obtain the original coordinates of the intersection vertex in the digital terrain; Determining depth information of the dredging machine at the intersection vertex according to a first attribute parameter of the dredging machine and a construction parameter of a dredging vessel carrying the dredging machine; The current coordinates of the intersection vertex in the digital terrain are determined according to the depth information and the original coordinates, and the digital terrain is reconstructed according to the current coordinates.
2. The digital terrain reconstruction method according to claim 1, characterized in that: The step of determining the intersection vertex of the digital terrain at the location of the dredging equipment and the current spatial structure includes: Determine a terrain structure corresponding to the digital terrain, and divide the terrain structure according to different numbers of terrain vertices to form a structure tree with the terrain structure as a root node, wherein the structure tree includes at least a root node and leaf nodes; Determine a leaf node that intersects with the current spatial structure; The terrain vertex corresponding to the leaf node intersecting with the current spatial structure is used as the intersection vertex.
3. The digital terrain reconstruction method according to claim 2, characterized in that: Determining the terrain structure corresponding to the digital terrain includes: Obtaining three-dimensional scanning information of the location of the dredging equipment; The digital terrain is constructed according to the three-dimensional scanning information, and the minimum circumscribed structure of the digital terrain is used as the terrain structure.
4. The digital terrain reconstruction method according to claim 1, characterized in that: The construction parameters include the second attribute parameter of the dredging vessel and water level information; The step of determining the depth information of the dredging equipment at the intersection vertex according to the first attribute parameter of the dredging equipment and the construction parameter of the dredging vessel carrying the dredging equipment comprises: Determining the operating vertical height of the dredging machine according to the first attribute parameter; Determining the draft of the dredging machine according to the first attribute parameter and the second attribute parameter; The depth information is determined according to the operating vertical height, the draft and the water level information.
5. The digital terrain reconstruction method according to claim 3, characterized in that: Determining the operating vertical height of the dredging machine according to the first attribute parameter includes: Obtaining the current working angle of the dredging machine; The working vertical height is calculated based on the current working angle and the first attribute parameter.
6. The digital terrain reconstruction method according to claim 1, characterized in that: Determining the current coordinates of the intersecting vertex in the digital terrain according to the depth information and the original coordinates includes: Replacing the value of the Z-axis coordinate in the original coordinate with the depth information; The replaced original coordinates are used as the current coordinates of the intersection vertex in the digital terrain.
7. The digital terrain reconstruction method according to claim 1, characterized in that: After obtaining the current position parameters of the dredging machine, the method further includes: Obtaining the last position parameters of the dredging equipment; If the previous position parameter is the same as the current position parameter, returning to the step of obtaining the current position parameter of the dredging machine; If the previous position parameter is different from the current position parameter, the step of determining the current spatial structure of the dredging machine according to the current position parameter is continued.