Earthwork backfilling amount monitoring method and system based on unmanned aerial vehicle

Abstract

The invention provides an earthwork backfilling amount monitoring method and system based on an unmanned aerial vehicle. The method comprises the steps that image information collected by a backfilling area shot by the unmanned aerial vehicle is acquired; generating a live-action three-dimensional model according to the image information; obtaining a contour line of a structure in the backfill area, and removing the structure in the live-action three-dimensional model according to the contour line of the structure; according to the target elevation of the plurality of grids in the live-action three-dimensional model, calculating the volume of earthwork to be backfilled in the backfilling area; calculating the accumulated backfilled earthwork volume of the backfilled area according to the current actual elevation of the plurality of grids in the real scene three-dimensional model; and according to the earth volume to be backfilled, the backfilled earth volume is accumulated, and earth volume backfilling work is monitored. According to the method, the precision and efficiency of earthwork volume backfilling work are improved, the dynamic monitoring and risk management capability is enhanced, it is ensured that a project is completed on time with high quality, and the scientificity and controllability of management are remarkably improved.

Description

Technical Field

[0001] The present application belongs to the field of measurement technology, and specifically relates to a method and system for monitoring earth backfill volume based on an unmanned aerial vehicle. Background Art

[0002] For residential construction projects, as the main structure is completed, the site will soon enter the preparation stage for supporting pipelines and outdoor gardens. Prior to this, the backfilling of the basement top plate needs to be carried out in an orderly manner. At this stage, project managers need to accurately calculate the amount of earth to be backfilled, track the current progress of backfilling, and calculate the time to complete the remaining backfilling work. These data are crucial for the reasonable arrangement of construction plans and the effective management of engineering quantities. Based on these data, project managers can formulate detailed backfilling plans, adjust the construction progress in real time, optimize resource allocation, and discover and solve problems that may affect the progress in advance, which not only improves construction efficiency, but also ensures the controllability of engineering quality and progress, laying the foundation for the smooth progress of the entire project.

[0003] However, most of the current project managers still rely on extensive methods to manage earthwork backfilling, mainly based on empirical estimation and manual calculation. Empirical estimation is to estimate the amount of backfill earthwork based on past experience and on-site observations. Manual calculation is to use manual calculations and paper records to estimate and track the progress of backfilling. For example, the approximate data of the current terrain is obtained through traditional measuring equipment (such as a tape measure), and then the backfill area is divided into several sub-areas, and the amount of earthwork in each sub-area is estimated separately, and the total amount is accumulated. In addition, the project party A generally tracks the progress of the site based on the data estimated by the construction party and the supervisor, or observes on-site during the project walk-through. There is a lack of accurate and dynamic data support for the amount and progress of earthwork backfilling.

[0004] In summary, the existing earthwork backfill work has the following problems:

[0005] 1) Low efficiency and difficult to ensure accuracy; using tools such as tape measures to measure terrain and estimate backfill volume is cumbersome and has limited accuracy, making it difficult to meet the high-precision requirements of modern engineering.

[0006] 2) Irregular data management: Incomplete or untimely field data records lead to delayed data updates, making it difficult to conduct effective progress management and decision support. In addition, data sharing and collaboration between different departments and teams are not smooth, forming data islands and affecting the coordination and management of the overall project.

[0007] 3) Lack of real-time monitoring and adjustment capabilities: Due to the lack of real-time monitoring tools, it is difficult for the project to timely grasp the progress of on-site backfilling and construction conditions, resulting in the inability to quickly adjust the plan when problems arise, affecting the rapid discovery and resolution of problems. Summary of the invention

[0008] In view of the defects in the prior art, the present application provides a method and system for monitoring the backfill volume based on drones to improve the accuracy and efficiency of the backfill work.

[0009] In the first aspect, a method for monitoring earthwork backfill volume based on a drone includes:

[0010] Obtain image information collected by drones shooting backfill areas;

[0011] Generate a real-scene three-dimensional model based on image information;

[0012] Obtain the outline of the structure in the backfill area, and remove the structure in the real-scene 3D model according to the outline of the structure;

[0013] Calculate the amount of earthwork to be backfilled in the backfill area according to the target elevations of multiple grids in the real-life 3D model;

[0014] Calculate the accumulated backfill volume of the backfill area based on the current actual elevations of multiple grids in the real-life 3D model;

[0015] Monitor the earthwork backfilling work based on the amount of earthwork to be backfilled and the cumulative amount of earthwork already backfilled.

[0016] Furthermore, obtaining the image information collected by the drone to photograph the backfill area specifically includes:

[0017] Get the flight route of the drone;

[0018] The drone is controlled to photograph the backfill area from multiple oblique angles along the flight route to obtain image information including images and spatial positions.

[0019] Furthermore, generating a real-scene three-dimensional model according to the image information specifically includes:

[0020] Extracting features of images from image information;

[0021] Establish the relationship between images based on the features of each image and the corresponding spatial position;

[0022] Generate dense point clouds based on images and the relationships between images;

[0023] Perform surface reconstruction on dense point clouds to obtain a surface model;

[0024] The image is mapped onto the surface model to obtain a realistic three-dimensional model.

[0025] Furthermore, removing the structures according to the contour lines of the structures in the real-scene three-dimensional model specifically includes:

[0026] Mapping contour lines into the real-life 3D model;

[0027] Obtain the coordinate points that fall into the contour line in the real-scene 3D model;

[0028] Eliminate the elevation of the coordinate point.

[0029] Furthermore, the amount of earthwork to be backfilled in the backfill area is calculated according to the target elevations of the multiple grids in the real-life 3D model, specifically including:

[0030] Divide the real-life 3D model into several grids and obtain the target elevation H of each grid. 目标 , and the aerial surface elevation H before backfilling 回填前 ;

[0031] Calculate the backfill volume of each grid = (H 目标 -H 回填前 )*S, where S is the bottom area of ​​the grid;

[0032] The amount of earth to be backfilled of all grids is accumulated to obtain the amount of earth to be backfilled in the backfill area.

[0033] Furthermore, the cumulative backfill volume of the backfill area is calculated according to the current actual elevations of the multiple grids in the real-life 3D model, specifically including:

[0034] Get the aerial photography surface elevation H of each grid in this aerial photography 本次 ;

[0035] Calculate the backfill volume of each grid = (H 本次 -H 回填前 )*S;

[0036] The backfilled earthwork volumes of all grids are accumulated to obtain the accumulated backfilled earthwork volume of the backfill area.

[0037] Furthermore, after calculating the cumulative backfill volume of the backfill area, it also includes:

[0038] Get the aerial photography surface elevation H of each grid on the previous aerial photography 上一次 ;

[0039] Calculate the backfill volume of each grid = (H 本次 -H 上一次 )*S;

[0040] The backfilled earthwork volume of all grids is accumulated to obtain the backfilled earthwork volume of the backfill area.

[0041] Furthermore, according to the earthwork volume to be backfilled and the accumulated backfilled earthwork volume, the earthwork volume backfilling work specifically includes:

[0042] Get the planned backfill volume at different planning times;

[0043] With the planned time as the horizontal axis and the planned backfill volume as the vertical axis, a backfill planning curve of the volume is created;

[0044] With the aerial photography time as the horizontal axis and the accumulated backfill volume as the vertical axis, a backfill change curve of the volume is created;

[0045] Compare the backfill plan curve and the backfill change curve to determine whether the earthwork backfill work is delayed or advanced.

[0046] Furthermore, according to the earthwork volume to be backfilled and the accumulated backfilled earthwork volume, the earthwork volume backfilling work specifically includes:

[0047] Calculate the remaining backfill volume of the backfill area: the remaining backfill volume of the backfill area = the volume of backfill that should be backfilled in the backfill area - the accumulated backfill volume of the backfill area;

[0048] Calculate the earthwork backfill efficiency of this time: the earthwork backfill efficiency of this time = the amount of earthwork backfilled in the backfill area this time / (this aerial photography time - the last aerial photography time);

[0049] Calculate the estimated remaining backfill time: estimated remaining backfill time = remaining backfill volume in the backfill area / current backfill efficiency;

[0050] Calculate the estimated backfill completion time: estimated backfill completion time = this aerial photography time + estimated backfill time;

[0051] Get the planned backfill completion time;

[0052] Compare the estimated backfill completion time with the planned backfill completion time to determine whether the earthwork backfill work is delayed or advanced.

[0053] In the second aspect, a soil backfill volume monitoring system based on a drone includes:

[0054] Drone: used to capture image information collected in the backfill area;

[0055] Model unit: used to generate a real-scene 3D model based on image information; obtain the contour lines of the structures in the backfill area, and remove the structures in the real-scene 3D model based on the contour lines of the structures;

[0056] Monitoring unit: used to calculate the amount of earth to be backfilled in the backfill area according to the target elevations of multiple grids in the real-life 3D model; calculate the cumulative amount of earth that has been backfilled in the backfill area according to the current actual elevations of multiple grids in the real-life 3D model; monitor the backfilling work based on the amount of earth to be backfilled and the cumulative amount of earth that has been backfilled.

[0057] It can be seen from the above technical solutions that the earthwork backfill volume monitoring method based on drones provided in this application introduces technologies such as drone route planning, oblique photography, real-scene three-dimensional modeling, and earthwork volume calculation, which significantly optimizes the earthwork backfill work and has the following effects:

[0058] 1) Accuracy is significantly improved. UAVs and oblique photography technology are used to obtain high-precision terrain data for accurate calculation of earthwork volume; the volume change of earthwork backfill is calculated using the elevation of densely collected points. The calculation results are more detailed and accurate, greatly reducing the error of traditional estimation methods.

[0059] 2) Efficiency is greatly improved. Drone aerial photography can quickly cover large backfill areas, significantly reducing the time and labor costs of traditional manual measurement; this method can also automatically generate models and data reports, allowing project personnel to obtain the required information more quickly and make timely decisions.

[0060] 3) Dynamic monitoring and management. After each drone aerial photo, this method can calculate the changes in backfill volume in real time, generate dynamic curves, and intuitively display the backfill progress. Through dynamic progress monitoring and risk warning prompts, project personnel can promptly identify potential problems and make quick adjustments to avoid construction delays and cost overruns.

[0061] 4) Optimal resource allocation. It can accurately calculate earthwork volume and monitor progress, making resource allocation more reasonable; project personnel can optimize the arrangement of machinery and manpower according to actual progress and needs, and improve the work efficiency and coordination of the construction site. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the prior art description. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0063] Figure 1 A flow chart of a method for monitoring earth backfill volume provided in an embodiment.

[0064] Figure 2 A flowchart of the image information acquisition method provided in an embodiment.

[0065] Figure 3 A flowchart of a method for generating a real-scene 3D model provided in an embodiment.

[0066] Figure 4 A flow chart of a structure removal method provided in an embodiment.

[0067] Figure 5A flow chart of a method for calculating the amount of earthwork to be backfilled provided in an embodiment.

[0068] Figure 6 A flowchart of a method for calculating the cumulative backfill volume provided in an embodiment.

[0069] Figure 7 A flow chart of a method for calculating the amount of backfilled earthwork provided in an embodiment.

[0070] Figure 8 A flow chart of a method for monitoring earthwork backfilling work is provided in an embodiment.

[0071] Fig. 9 A flow chart of another method for monitoring earthwork backfilling work provided in an embodiment.

[0072] Fig.10 A module block diagram of the earth backfill volume monitoring system provided in the embodiment. DETAILED DESCRIPTION

[0073] The following is a detailed description of the embodiments of the technical solution of the present application in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only used as examples and cannot be used to limit the scope of protection of the present application. It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should be the common meanings understood by technicians in the field to which the present application belongs.

[0074] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0075] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0076] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0077] Example:

[0078] A method for monitoring earthwork backfill volume based on drones, see Figure 1 ,include:

[0079] S1: Obtain image information collected by the drone shooting the backfill area;

[0080] S2: Generate a real-scene 3D model based on image information;

[0081] S3: Obtain the outline of the structure in the backfill area, and remove the structure in the real-scene 3D model according to the outline of the structure;

[0082] S4: Calculate the amount of earthwork to be backfilled in the backfill area according to the target elevations of multiple grids in the real-life 3D model;

[0083] S5: Calculate the accumulated backfill volume of the backfill area according to the current actual elevations of multiple grids in the real-life 3D model;

[0084] S6: Monitor the backfilling work based on the amount of earth to be backfilled and the cumulative amount of earth that has been backfilled.

[0085] In this embodiment, the method uses a drone to collect image information of the backfill area, generates a real-life three-dimensional model based on the image information, and eliminates structures in the real-life three-dimensional model. The amount of earth to be backfilled and the cumulative amount of earth that has been backfilled in the backfill area are calculated based on the target elevations and current actual elevations of multiple grids in the real-life three-dimensional model, thereby monitoring the backfilling work, for example, determining whether the backfilling work is delayed or advanced.

[0086] This method introduces technologies such as drone route planning, oblique photography, real-scene 3D modeling, and earthwork quantity calculation, which significantly optimizes the earthwork backfilling work and has the following effects:

[0087] 1) Accuracy is significantly improved. UAVs and oblique photography technology are used to obtain high-precision terrain data for accurate calculation of earthwork volume; the volume change of earthwork backfill is calculated using the elevation of densely collected points. The calculation results are more detailed and accurate, greatly reducing the error of traditional estimation methods.

[0088] 2) Efficiency is greatly improved. Drone aerial photography can quickly cover large backfill areas, significantly reducing the time and labor costs of traditional manual measurement; this method can also automatically generate models and data reports, allowing project personnel to obtain the required information more quickly and make timely decisions.

[0089] 3) Dynamic monitoring and management. After each drone aerial photo, this method can calculate the changes in backfill volume in real time, generate dynamic curves, and intuitively display the backfill progress. Through dynamic progress monitoring and risk warning prompts, project personnel can promptly identify potential problems and make quick adjustments to avoid construction delays and cost overruns.

[0090] 4) Optimal resource allocation. It can accurately calculate earthwork volume and monitor progress, making resource allocation more reasonable; project personnel can optimize the arrangement of machinery and manpower according to actual progress and needs, and improve the work efficiency and coordination of the construction site.

[0091] Further, in some embodiments, see Figure 2 , the image information collected by the drone to shoot the backfill area includes:

[0092] S11: Get the flight route of the drone;

[0093] S12: Control the UAV to photograph the backfill area from multiple oblique angles along the flight route to obtain image information including images and spatial positions.

[0094] In this embodiment, the method can pre-plan the flight route of the drone, for example, on the drone remote control map, circle the scope of the backfill area, and generate a flight route for oblique photography. The drone automatically flies and photographs the entire backfill area according to the flight route to ensure the comprehensiveness and accuracy of data collection. For example, the drone can be equipped with RTK and a high-resolution camera, so that ground objects can be photographed from multiple oblique angles along the flight route to obtain images of the backfill area and the spatial position of each image.

[0095] Further, in some embodiments, see Figure 3 , generating a real-scene 3D model based on image information specifically includes:

[0096] S21: extracting features of the image in the image information;

[0097] S22: establishing a relationship between the images according to the features of each image and the corresponding spatial position;

[0098] S23: Generate a dense point cloud based on the images and the relationship between the images;

[0099] S24: reconstructing the surface of the dense point cloud to obtain a surface model;

[0100] S25: Map the image to the surface model to obtain a real-scene three-dimensional model.

[0101] In this embodiment, when generating a real-life three-dimensional model, the method first extracts the features of the image in the image information and finds the significant feature points in the image. For example, the features of the image can be extracted by SIFT (Scale-Invariant Feature Transform) or SURF (Speeded Up Robust Features). Then the method matches the features in different images, and establishes the relationship between the images in combination with the spatial position of each image, such as completing the matching of features by a matching algorithm based on a feature descriptor. Then the method generates a dense point cloud based on the image and the relationship between the images, for example, determining the three-dimensional coordinates of the features based on the matching results, and combining the calculated three-dimensional coordinates to generate a dense point cloud. Finally, the dense point cloud is surface reconstructed to obtain a surface model, such as Poisson reconstruction, Delaunay triangulation, etc.; the image is mapped to the surface model to obtain a real-life three-dimensional model, thereby forming a high-precision, high-quality real-life three-dimensional model.

[0102] Further, in some embodiments, see Figure 4 In the real-life 3D model, structures are removed according to their outlines, including:

[0103] S31: mapping the contour line to the real-scene three-dimensional model;

[0104] S32: Obtaining coordinate points falling into the contour line in the real-scene three-dimensional model;

[0105] S33: Eliminate the elevation of the coordinate point.

[0106] In this embodiment, the area where the structure is located in the real-life 3D model does not need to be backfilled, so the method needs to automatically remove the area where the structure is located in the real-life 3D model. The method can extract the contour line of the structure from the design drawing and map the contour line to the real-life 3D model. Then, it is determined which coordinate points in the real-life 3D model fall within the contour line of the structure, and the elevations of the coordinate points that fall within the contour line are removed, so that the elevations of the coordinate points within the contour line do not participate in subsequent calculations, thereby improving the accuracy of the backfill area volume change calculation and avoiding interference caused by the structure in the backfill area volume change calculation.

[0107] Further, in some embodiments, see Figure 5 , the amount of earthwork to be backfilled in the backfill area is calculated based on the target elevations of multiple grids in the real-life 3D model, including:

[0108] S41: Divide the real-scene 3D model into several grids, and obtain the target elevation H of each grid. 目标 , and the aerial surface elevation H before backfilling 回填前 ;

[0109] S42: Calculate the backfill volume of each grid = (H 目标 -H 回填前 )*S, where S is the bottom area of ​​the grid;

[0110] S43: Accumulate the earthwork volume to be backfilled of all grids to obtain the earthwork volume to be backfilled of the backfill area.

[0111] In this embodiment, the method can divide the backfill area into several sub-areas according to the actual needs of the site, and obtain the target elevation of each sub-area, which represents the elevation that should be backfilled in the end. Then the method further divides the sub-area into multiple small grids (for example, the grid spacing is 0.3m×0.3m, 0.1m×0.1m or smaller), and obtains the target elevation H of each grid respectively. 目标 , and the aerial surface elevation H before backfilling 回填前 The target height H of each grid 目标 Subtract the aerial surface elevation H 回填前 , and then multiply it by the bottom area S of the grid to get the amount of earthwork to be backfilled in each grid, that is, the amount of earthwork that needs to be backfilled in each grid. The amount of earthwork to be backfilled in each small grid is summed up to get the amount of earthwork to be backfilled in the sub-area. The amount of earthwork to be backfilled in each sub-area is summed up to get the amount of earthwork to be backfilled in the backfill area. This method uses the elevation of densely collected points to calculate the volume change of earthwork backfill, and the calculation result is more detailed and accurate.

[0112] Further, in some embodiments, see Figure 6 , the cumulative backfill volume of the backfill area is calculated based on the current actual elevations of multiple grids in the real-life 3D model, including:

[0113] S51: Get the aerial photography surface elevation H of each grid in this aerial photography 本次 ;

[0114] S52: Calculate the backfill volume of each grid = (H 本次 -H 回填前 )*S;

[0115] S53: Accumulate the backfilled earthwork volume of all grids to obtain the accumulated backfilled earthwork volume of the backfill area.

[0116] In this embodiment, the method obtains the aerial surface elevation H of each grid in this aerial photography. 本次 , and the aerial surface elevation H before backfilling 回填前 The aerial surface elevation H of each grid 本次 Subtract the aerial surface elevation H 回填前, and then multiply it by the bottom area S of the grid to get the backfilled earthwork volume of each grid, that is, the backfilled earthwork volume of each grid. The backfilled earthwork volume of each grid is summed up to get the backfilled earthwork volume of the sub-area, and the backfilled earthwork volume of each sub-area is summed up to get the backfilled earthwork volume of the backfill area.

[0117] Further, in some embodiments, see Figure 7 , after calculating the cumulative backfill volume of the backfill area, it also includes:

[0118] S61: Get the aerial photography surface elevation H of each grid at the last aerial photography 上一次 ;

[0119] S62: Calculate the backfill volume of each grid = (H 本次 -H 上一次 )*S;

[0120] S63: The backfilled earthwork volume of all grids is accumulated to obtain the backfilled earthwork volume of the backfill area.

[0121] In this embodiment, the method obtains the aerial surface elevation H of each grid in this aerial photography. 本次 and the aerial surface elevation H of the last aerial photography 上一次 The aerial surface elevation H of each grid 本次 Subtract the aerial surface elevation H 上一次 , and then multiply it by the bottom area S of the grid to get the amount of backfilled earthwork of each grid since the last aerial photography, that is, the amount of backfilled earthwork of each grid this time. Sum the amount of backfilled earthwork of each grid this time to get the amount of backfilled earthwork of the sub-area this time, and sum the amount of backfilled earthwork of each sub-area this time to get the amount of backfilled earthwork of the backfill area this time.

[0122] Further, in some embodiments, see Figure 8 , based on the amount of earthwork to be backfilled and the cumulative amount of earthwork that has been backfilled, the earthwork backfilling work specifically includes:

[0123] S71: Obtaining the planned backfill earthwork volume at different planned times;

[0124] S72: Create a backfill planning curve of earthwork volume with the planned time as the horizontal axis and the planned backfill volume as the vertical axis;

[0125] S73: Using the aerial photography time as the horizontal axis and the accumulated backfilled earthwork volume as the vertical axis, a backfill change curve of the earthwork volume is created;

[0126] S74: Compare the backfill plan curve and the backfill change curve to determine whether the earthwork backfill work is delayed or advanced.

[0127] In this embodiment, the method can also monitor the earthwork backfill work by means of a chart to determine whether the earthwork backfill work is delayed or advanced. Specifically, first, with the planned time as the horizontal axis and the planned backfill earthwork volume as the vertical axis, a backfill plan curve of the earthwork volume is created, wherein the planned time and the planned backfill earthwork volume can be extracted from the backfill plan. Then, with the aerial photography time as the horizontal axis and the cumulative backfill earthwork volume as the vertical axis, a backfill change curve of the earthwork volume is created, and a dynamic change curve of the backfill volume of the earthwork can be obtained to intuitively display the progress of the backfill work. Finally, the backfill plan curve and the backfill change curve are compared to determine whether the earthwork backfill work is delayed or advanced. For example, when the planned backfill earthwork volume of the backfill plan curve is greater than the cumulative backfill earthwork volume of the backfill change curve at the same time, it means that the earthwork backfill work has not reached the plan and the backfill work is delayed. When the planned backfill earthwork volume of the backfill plan curve is less than the cumulative backfill earthwork volume of the backfill change curve at the same time, it means that the earthwork backfill work has already reached the plan and the backfill work is advanced.

[0128] This method can calculate the changes in backfill volume in real time after each drone aerial photo, generate a dynamic curve, and intuitively display the backfill progress. Through dynamic progress monitoring and risk warning prompts, project personnel can promptly identify potential problems and make rapid adjustments to avoid construction delays and cost overruns.

[0129] Further, in some embodiments, see Fig. 9 , based on the amount of earthwork to be backfilled and the cumulative amount of earthwork that has been backfilled, the earthwork backfilling work specifically includes:

[0130] S81: Calculate the remaining backfill volume of the backfill area: the remaining backfill volume of the backfill area = the required backfill volume of the backfill area - the accumulated backfill volume of the backfill area;

[0131] S82: Calculate the earthwork backfill efficiency of this time: the earthwork backfill efficiency of this time = the earthwork volume backfilled in the backfill area this time / (this aerial photography time-the last aerial photography time);

[0132] S83: Calculate the estimated remaining backfill time: estimated remaining backfill time = remaining backfill volume of the backfill area / current backfill efficiency;

[0133] S84: Calculate the estimated backfill completion time: estimated backfill completion time = current aerial photography time + estimated backfill time remaining;

[0134] S85: Get the planned backfill completion time;

[0135] S86: Compare the estimated backfill completion time with the planned backfill completion time to determine whether the earthwork backfill work is delayed or advanced.

[0136] In this embodiment, the method can also monitor the earthwork backfilling work in another way: calculate and compare the estimated completion time of the earthwork backfilling work with the planned completion time to determine whether the earthwork backfilling work is delayed or advanced. Specifically, the amount of earthwork to be backfilled in the backfill area is subtracted from the accumulated amount of earthwork that has been backfilled to obtain the remaining amount of earthwork backfilling in the backfilling area; the amount of earthwork backfilled in the backfilling area this time is divided by the time difference between the two aerial photography dates (i.e., the time difference between the current aerial photography time and the previous aerial photography time) to obtain the efficiency of this earthwork backfilling; the remaining amount of earthwork backfilling in the backfilling area is divided by the efficiency of this earthwork backfilling to obtain the estimated remaining backfilling time, which can be expressed in days, that is, the estimated completion time of the earthwork backfilling work. The planned backfilling completion time is obtained from the backfilling plan, and the estimated backfilling completion time is compared with the planned backfilling completion time to determine whether the earthwork backfilling work is delayed or advanced. For example, when the estimated backfilling completion time is greater than the planned backfilling completion time, it means that the earthwork backfilling work has not met the plan and the backfilling work is delayed. For example, when the estimated backfill completion time is less than the planned backfill completion time, it means that the earthwork backfill work has already reached the plan and the backfill work is ahead of schedule.

[0137] A UAV-based earthwork backfill volume monitoring system, see Fig.10 ,include:

[0138] Drone: used to capture image information collected in the backfill area;

[0139] Model unit: used to generate a real-scene 3D model based on image information; obtain the contour lines of the structures in the backfill area, and remove the structures in the real-scene 3D model based on the contour lines of the structures;

[0140] Monitoring unit: used to calculate the amount of earth to be backfilled in the backfill area according to the target elevations of multiple grids in the real-life 3D model; calculate the cumulative amount of earth that has been backfilled in the backfill area according to the current actual elevations of multiple grids in the real-life 3D model; monitor the backfilling work based on the amount of earth to be backfilled and the cumulative amount of earth that has been backfilled.

[0141] The system provided in the embodiments of the present application is briefly described. For matters not mentioned in the embodiments, reference may be made to the corresponding contents in the aforementioned embodiments.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application.

Claims

1. A method for monitoring earthwork backfill volume based on drone, characterized in that: include: Obtain image information collected by drones shooting backfill areas; Generate a real-scene three-dimensional model according to the image information; Acquire the outline of the structure in the backfill area, and remove the structure in the real-scene three-dimensional model according to the outline of the structure; Calculating the amount of earthwork to be backfilled in the backfill area according to the target elevations of multiple grids in the real-life three-dimensional model; Calculating the accumulated backfill volume of the backfill area according to the current actual elevations of the plurality of grids in the real-life three-dimensional model; Monitor the earthwork backfilling work based on the amount of earthwork to be backfilled and the cumulative amount of earthwork already backfilled.

2. The method for monitoring earthwork backfill volume based on a drone according to claim 1, characterized in that: The acquisition of image information collected by the drone shooting the backfill area specifically includes: Get the flight route of the drone; The drone is controlled to photograph the backfill area from multiple oblique angles along the flight route to obtain the image information including the image and the spatial position.

3. The method for monitoring earthwork backfill volume based on an unmanned aerial vehicle according to claim 2, characterized in that: Generating a real-scene three-dimensional model according to the image information specifically includes: Extracting features of the image in the image information; Establishing a relationship between the images based on the features of each image and the corresponding spatial position; generating a dense point cloud based on the images and the relationships between the images; Performing surface reconstruction on the dense point cloud to obtain a surface model; The image is mapped into the surface model to obtain the real-scene three-dimensional model.

4. The method for monitoring earthwork backfill volume based on a drone according to claim 1, characterized in that: The step of removing the structure according to the outline of the structure in the real-scene three-dimensional model specifically includes: Mapping the contour line into the real-scene three-dimensional model; Obtaining coordinate points in the real-scene three-dimensional model that fall within the contour line; Eliminate the elevation of the coordinate point.

5. The method for monitoring earthwork backfill volume based on a drone according to claim 1, characterized in that: The calculating of the amount of earthwork to be backfilled in the backfill area according to the target elevations of the plurality of grids in the real-scene three-dimensional model specifically includes: The real-scene 3D model is divided into several grids, and the target elevation H of each grid is obtained. 目标 , and the aerial surface elevation H before backfilling 回填前 ; Calculate the backfill volume of each grid = (H 目标 -H 回填前 )*S, where S is the bottom area of ​​the grid; The amount of earthwork to be backfilled of all grids is accumulated to obtain the amount of earthwork to be backfilled of the backfill area.

6. The method for monitoring earthwork backfill volume based on an unmanned aerial vehicle according to claim 5, characterized in that: The step of calculating the accumulated backfill volume of the backfill area according to the current actual elevations of the plurality of grids in the real-scene three-dimensional model specifically includes: Get the aerial surface elevation H of each grid in this aerial photography 本次 ; Calculate the backfill volume of each grid = (H 本次 -H 回填前 )*S; The backfilled earthwork volumes of all grids are accumulated to obtain the accumulated backfilled earthwork volume of the backfill area.

7. The method for monitoring earthwork backfill volume based on an unmanned aerial vehicle according to claim 6, characterized in that: After calculating the cumulative backfill volume of the backfill area, it also includes: Get the aerial surface elevation H of each grid at the last aerial photography. 上一次 ; Calculate the backfill volume of each grid = (H 本次 -H 上一次 )*S; The backfilled earthwork volume of all grids is accumulated to obtain the backfilled earthwork volume of the backfill area.

8. The method for monitoring earthwork backfill volume based on a drone according to claim 7 is characterized in that: The backfilling work based on the amount of earthwork to be backfilled and the accumulated amount of earthwork backfilled specifically includes: Get the planned backfill volume at different planning times; With the planned time as the horizontal axis and the planned backfill earthwork volume as the vertical axis, a backfill planning curve of the earthwork volume is created; With the aerial photography time as the horizontal axis and the accumulated backfilled earthwork volume as the vertical axis, a backfill change curve of the earthwork volume is created; By comparing the backfill plan curve and the backfill variation curve, it is determined whether the earthwork backfill work is delayed or advanced.

9. The method for monitoring earthwork backfill volume based on drone according to claim 7, characterized in that: The backfilling work based on the amount of earthwork to be backfilled and the accumulated amount of earthwork backfilled specifically includes: Calculate the remaining backfill volume of the backfill area: the remaining backfill volume of the backfill area = the volume of backfill that should be backfilled in the backfill area - the accumulated backfill volume of the backfill area; Calculate the earthwork backfill efficiency of this time: the earthwork backfill efficiency of this time = the amount of earthwork backfilled in the backfill area this time / (this aerial photography time - the last aerial photography time); Calculate the estimated remaining backfill time: estimated remaining backfill time = remaining backfill volume in the backfill area / backfill efficiency of this time; Calculate the estimated backfill completion time: estimated backfill completion time = this aerial photography time + estimated backfill time; Get the planned backfill completion time; Compare the estimated backfill completion time with the planned backfill completion time to determine whether the earthwork backfill work is delayed or advanced.

10. A soil backfill volume monitoring system based on drone, characterized in that: include: Drone: used to capture image information collected in the backfill area; Model unit: used to generate a real-scene three-dimensional model according to the image information; obtain the contour lines of the structures in the backfill area, and remove the structures in the real-scene three-dimensional model according to the contour lines of the structures; Monitoring unit: used for calculating the amount of earthwork to be backfilled in the backfill area according to the target elevations of multiple grids in the real-scene three-dimensional model; Calculating the accumulated backfill volume of the backfill area according to the current actual elevations of the plurality of grids in the real-life three-dimensional model; Monitor the earthwork backfilling work based on the amount of earthwork to be backfilled and the cumulative amount of earthwork already backfilled.

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