A method and system for measuring the volume of excavated roadbed in highway engineering

Abstract

The present invention discloses a volume measurement method and system for an excavated roadbed of a highway project, and relates to the technical field of highway engineering. The volume measurement method comprises: step 1: fixing a No. 1 locator on a three-dimensional laser scanning device, and the three-dimensional laser scanning device performs a three-dimensional laser scan on the roadbed to obtain three-dimensional point data A1. The present invention can accurately determine the spatial position and shape information of the roadbed from multiple dimensions by fusing the three-dimensional point data set, the equipment position data set and the regional position data set. In the process of data fusion, the overlapping data is accurately calculated and processed to avoid data duplication and error accumulation, so that the final comprehensive three-dimensional data inside the roadbed more accurately reflects the actual situation of the roadbed, provides a reliable geometric model basis for subsequent volume calculations, and ensures the accuracy of subsequent volume measurement results.

Description

Technical Field

[0001] The invention relates to the technical field of highway engineering, and in particular to a volume measurement method and system for an excavated roadbed of a highway engineering. Background Art

[0002] In the early stages of highway design, it is necessary to accurately measure the volume of the excavated roadbed in order to rationally plan the scale of the project and determine the requirements for construction materials and human resources.

[0003] For example, the patent publication number is "CN116754039A" and the name is "Ground Pit Earthwork Detection Method". A three-dimensional laser scan is performed on the ground pit to obtain three-dimensional point cloud data of the ground pit, generate effective three-dimensional point cloud data, and use a three-dimensional laser scanning device to perform three-dimensional laser scanning measurement on the ground pit to obtain three-dimensional point cloud data of the ground pit, thereby achieving comprehensive measurement of the ground pit and accurately calibrating the three-dimensional shape and size of the ground pit; and based on the three-dimensional spatial model, the calculation range of the earthwork volume of the ground pit is determined to obtain the earthwork volume result of the ground pit, thereby reducing the cost of ground pit earthwork volume detection and improving the convenience and accuracy of detection.

[0004] When the above method performs three-dimensional laser scanning measurement on the ground pit, there are limitations on the measurement range of the measuring equipment, and the unevenness and curvature of the roadbed will further limit the measurement range of the measuring equipment. When measuring the volume of the excavated roadbed of a highway, multiple sections of measurement will be performed along the direction of the highway. Therefore, when measuring, there will be overlapping areas between each measurement area. The existence of overlapping areas will affect the establishment of the three-dimensional space model. At the same time, after the three-dimensional space model inside the pit is established, the unevenness of the transition surface will also affect the volume measurement results. For this reason, a volume measurement method and system for the excavated roadbed of a highway project are invented. Summary of the invention

[0005] The object of the present invention is to provide a method and system for measuring the volume of excavated roadbed in highway engineering, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a method for measuring the volume of a roadbed excavation in a highway project, the method comprising:

[0007] Step 1: Fix the No. 1 locator on the 3D laser scanning device, and the 3D laser scanning device performs 3D laser scanning on the roadbed to obtain 3D point data A1;

[0008] Step 2: at least three groups of No. 2 locators are set on the road surface, and the regional position data C1 of the No. 2 locator is obtained by receiving the signal of the No. 2 locator in real time through the position signal receiver. When the three-dimensional laser scanning device scans the roadbed, the device position data B1 of the No. 1 locator is obtained through the position signal receiver, the No. 1 locator and the No. 2 locator;

[0009] Step 3: along the roadbed direction, change the overall position of the No. 2 locator, move the 3D laser scanning device and the position signal receiver, and the 3D laser scanning device performs 3D laser scanning on the roadbed of the next area to obtain 3D point data A2. Based on the change in the overall position of the No. 2 locator and the change in the position of the No. 1 locator, obtain the equipment position data B2 and the area position data C2;

[0010] Step 4: Repeat step 3 until the entire roadbed area is scanned, and obtain a 3D point data set (A1, A2, A3...AN), a device location data set (B1, B2, B3...BN), and a regional location data set (C1, C2, C3...CN), where N represents the number of scans of the 3D laser scanning device;

[0011] Step 5: Process the 3D point data set (A1, A2, A3…AN), equipment location data set (B1, B2, B3…BN) and regional location data set (C1, C2, C3…CN) through a fusion method to obtain comprehensive 3D data inside the roadbed;

[0012] Step 6: Divide the comprehensive three-dimensional data into boundary surface data sets (D1, D2, D3...DM) and intermediate size data sets (E1, E2, E3...EM), where M represents the number of divisions. The internal volume set (R1, R2, R3...RM) is calculated through the boundary surface data sets and the intermediate size data sets. The volume of the roadbed = R1+R2+R3+...+RM.

[0013] Furthermore, the effective scanning distance of the three-dimensional laser scanning device is obtained;

[0014] The fusion method comprises: obtaining a one-number correspondence relationship between a three-dimensional point data set, a device position data set and a regional position data set, comprehensively mapping the device position data set and the regional position data set in a computer, obtaining movement path data of a three-dimensional laser scanning device, fusing the interior of the three-dimensional point data set (A1, A2, A3...AN), movement path data and the one-number correspondence relationship, and obtaining comprehensive three-dimensional data of the interior of the roadbed;

[0015] Establish a second correspondence between the boundary surface data set and the intermediate size data set, calculate and obtain the internal volume R1 through the boundary surface data D1 and the intermediate size data E1 with a corresponding relationship, calculate and obtain the internal volume R2 through the boundary surface data D2 and the intermediate size data E2 with a corresponding relationship, and repeatedly calculate the internal volumes in the internal volume set to obtain the internal volume set (R1, R2, R3...RM);

[0016] Changing the overall position of the No. 2 positioner includes: moving and repositioning at least one group of the No. 2 positioners, the number of groups of the No. 2 positioners moved being less than the total number of groups of the No. 2 positioners;

[0017] The data fusion includes mapping the three-dimensional point data set (A1, A2, A3...AN) in a computer according to a one-number correspondence relationship and the moving path data, obtaining full coverage three-dimensional data for the roadbed, obtaining the overlapping area and corresponding overlapping data between adjacent three-dimensional point data based on the effective scanning distance and the three-dimensional point data, calculating the overlapping data set in the full coverage three-dimensional data by a calculation method, and combining the overlapping data set with the three-dimensional point data set to obtain comprehensive three-dimensional data inside the roadbed;

[0018] The calculation method includes: the overlapping data is regarded as a combination of three-dimensional point data a1 and three-dimensional point data a2, the three-dimensional point data a1 belongs to the three-dimensional point data A1, and the three-dimensional point data a2 belongs to the overlapping area three-dimensional point data A2, the overlapping area is divided into a plurality of small areas, and the three-dimensional point data a1 and the three-dimensional point data a2 are split according to the small areas to obtain the corresponding small area three-dimensional point data and , Indicates the number after the small area is divided, and obtains the distance data between the center point of the small area and the device location data B1 and the device location data B2 to obtain the distance data and , create overlapping data = , is the total number of small areas;

[0019] Based on the calculation method, overlapping data in all three-dimensional point data are obtained to obtain an overlapping data set.

[0020] Furthermore, the method for obtaining the internal volume R1 includes: based on the boundary surface data D1, obtaining the roughness data of the boundary surface, dividing the boundary surface in the boundary surface data D1 into a number of calculation interfaces, based on the several calculation interfaces and the roughness data, establishing an average roughness value in the corresponding calculation interface, based on the average roughness value and the size data of the calculation interface, obtaining the calculation interface volume, repeating the calculation on the several calculation interfaces to obtain a number of calculation interface volumes, calculating based on the intermediate size data E1 to obtain the intermediate volume, adding the several calculation interface volumes and the corresponding intermediate volumes to obtain the internal volume R1, and repeating the calculation to obtain the internal volume in the internal volume set (R1, R2, R3...RM).

[0021] Furthermore, the method for obtaining regional location data includes: the location signal receiver receives the signal transmitted back by the No. 2 locator, and based on the analysis signal, obtains the distance direction data between the No. 2 locator and the location signal receiver, obtains the distance direction data between the No. 2 locators through the distance direction data between the No. 2 locator and the location signal receiver, and combines the distance direction data between several No. 2 locators to obtain the regional location data.

[0022] Furthermore, the method for obtaining device location data includes: the location signal receiver receives the signals sent back by the No. 1 locator and the No. 2 locator, and based on the analysis of the signals, obtains the distance and direction data between the No. 1 locator and the location signal receiver and the distance and direction data between the No. 2 locator and the location signal receiver, obtains the distance and direction data between the No. 1 locator and the location signal receiver and the distance and direction data between the No. 2 locator and the location signal receiver, and obtains the device location data in combination with the regional location data.

[0023] Furthermore, the moving distance of the three-dimensional laser scanning equipment along the roadbed direction is limited by the effective scanning distance. The moving distance of the three-dimensional laser scanning equipment is greater than or equal to two-thirds of the effective scanning distance, and the moving distance of the three-dimensional laser scanning equipment is less than or equal to eight-fifths of the effective scanning distance.

[0024] Furthermore, each group of No. 2 positioners includes at least two No. 2 positioners, and at least one group of No. 2 positioners is moved and relocated, and the number of groups of No. 2 positioners moved is less than the total number of groups of No. 2 positioners;

[0025] The method for obtaining the number-one correspondence relationship includes: the number-one correspondence relationship is based on the order of obtaining the regional position data, the device position data and the three-dimensional point data, and the three-dimensional point data is spatially aligned according to the corresponding device position data and the regional position data, based on the spatial alignment and the order of obtaining.

[0026] A volume measurement system for a roadbed cut in a highway project, which adopts the above-mentioned volume measurement method for a roadbed cut in a highway project;

[0027] The volume measurement system comprises:

[0028] 3D point data acquisition module: perform 3D laser scanning on the roadbed through a 3D laser scanning device to obtain 3D point data A1, move the 3D laser scanning device along the roadbed direction, and perform 3D laser scanning on the next area of ​​the roadbed to obtain 3D point data A2, and repeatedly move the 3D laser scanning device until the 3D laser scanning device completes scanning of the entire roadbed area to obtain a 3D point data set (A1, A2, A3...AN);

[0029] Regional position data collection module: at least 3 groups of No. 2 locators are set on the road surface, and the regional position data C1 of the No. 2 locator is obtained according to the position signal receiver receiving the signal of the No. 2 locator in real time. When the position of the 3D laser scanning device changes along the roadbed direction, the overall position of the No. 2 locator is changed. Based on the change of the overall position of the No. 2 locator, the regional position data C2 is obtained. The overall position of the No. 2 locator is repeatedly changed according to the movement of the 3D laser scanning device to obtain the regional position data set (C1, C2, C3...CN);

[0030] Equipment position data collection module: Fix the No. 1 locator on the 3D laser scanning device. When the 3D laser scanning device scans the roadbed, the equipment position data B1 of the No. 1 locator is obtained through the position signal receiver, the No. 1 locator and the No. 2 locator. Along the roadbed direction, when the overall position of the No. 2 locator and the position of the 3D laser scanning device change, the equipment position data B2 is obtained based on the change in the overall position of the No. 2 locator and the change in the position of the No. 1 locator. According to the movement of the 3D laser scanning device and the change in the overall position of the No. 2 locator, the equipment position data is repeatedly obtained to obtain the equipment position data set (B1, B2, B3...BN).

[0031] Processing and calculation module: The three-dimensional point data set (A1, A2, A3...AN), equipment position data set (B1, B2, B3...BN) and regional position data set (C1, C2, C3...CN) are processed by a fusion method to obtain comprehensive three-dimensional data inside the roadbed, and the comprehensive three-dimensional data is divided into a boundary surface data set (D1, D2, D3...DM) and an intermediate size data set (E1, E2, E3...EM), where M represents the number of divisions. The internal volume set (R1, R2, R3...RM) is calculated through the boundary surface data set and the intermediate size data set, and the volume of the roadbed = R1+R2+R3+...+RM.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The volume measurement method and system of the excavated roadbed of this highway project can accurately determine the spatial position and shape information of the roadbed from multiple dimensions by fusing the three-dimensional point data set, the equipment position data set and the regional position data set. In the process of data fusion, the overlapping data are accurately calculated and processed to avoid data duplication and error accumulation, so that the final comprehensive three-dimensional data of the roadbed interior more accurately reflects the actual situation of the roadbed, providing a reliable geometric model basis for subsequent volume calculations, and ensuring the accuracy of subsequent volume measurement results.

[0034] At the same time, based on the geometric model, the comprehensive three-dimensional data is divided into a boundary surface data set and an intermediate size data set, and the volume of each part is calculated separately. This method fully considers the detailed characteristics of each part of the roadbed and avoids the errors caused by simplifying the calculation model. Through the rough data processing of the boundary surface and the precise calculation of the intermediate size data, it can more realistically reflect the actual volume of the roadbed and ensure the accuracy of the volume measurement.

[0035] The arrangement and movement of the No. 2 locator are flexible and can be adjusted according to the actual shape and length of the roadbed. When faced with roadbeds of different shapes, lengths, and complex road conditions such as bends and undulations, the No. 2 locator is arranged and moved, and the three-dimensional laser scanning equipment and position signal receiver are moved accordingly to ensure comprehensive and accurate scanning and measurement of the entire roadbed area. This method can meet the roadbed volume measurement needs in different engineering scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of calculating the roadbed volume according to the present invention;

[0037] Figure 2 A schematic diagram of obtaining a three-dimensional point data set, a device location data set, and a regional location data set according to the present invention;

[0038] Figure 3 It is a schematic diagram of the movement of the second locator and the scanning device of the present invention;

[0039] Figure 4 A schematic diagram of full coverage scanning of the present invention;

[0040] Figure 5 It is a schematic diagram of the overlapping area of ​​the present invention;

[0041] Figure 6 A schematic diagram of a small area in the overlapping area of ​​the present invention;

[0042] Figure 7 Schematic diagram of the boundary surface and intermediate dimensions of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0044] like Figure 1 - Figure 7 As shown, the present invention provides a technical solution: a volume measurement method for a roadbed excavation in a highway project, the volume measurement method comprising:

[0045] Step 1: Fix the No. 1 locator on the 3D laser scanning device, and the 3D laser scanning device performs 3D laser scanning on the roadbed to obtain 3D point data A1;

[0046] Step 2: at least three groups of No. 2 locators are set on the road surface, and the regional position data C1 of the No. 2 locator is obtained by receiving the signal of the No. 2 locator in real time through the position signal receiver. When the three-dimensional laser scanning device scans the roadbed, the device position data B1 of the No. 1 locator is obtained through the position signal receiver, the No. 1 locator and the No. 2 locator;

[0047] Step 3: along the roadbed direction, change the overall position of the No. 2 locator, move the 3D laser scanning device and the position signal receiver, and the 3D laser scanning device performs 3D laser scanning on the roadbed of the next area to obtain 3D point data A2. Based on the change in the overall position of the No. 2 locator and the change in the position of the No. 1 locator, obtain the equipment position data B2 and the area position data C2;

[0048] Step 4: Repeat step 3 until the entire roadbed area is scanned, and obtain a 3D point data set (A1, A2, A3...AN), a device location data set (B1, B2, B3...BN), and a regional location data set (C1, C2, C3...CN), where N represents the number of scans of the 3D laser scanning device;

[0049] Step 5: Process the 3D point data set (A1, A2, A3…AN), equipment location data set (B1, B2, B3…BN) and regional location data set (C1, C2, C3…CN) through a fusion method to obtain comprehensive 3D data inside the roadbed;

[0050] Step 6: Divide the comprehensive three-dimensional data into boundary surface data sets (D1, D2, D3...DM) and intermediate size data sets (E1, E2, E3...EM), where M represents the number of divisions. The internal volume set (R1, R2, R3...RM) is calculated through the boundary surface data sets and the intermediate size data sets. The volume of the roadbed = R1+R2+R3+...+RM.

[0051] Obtain the effective scanning distance of the 3D laser scanning device;

[0052] The fusion method includes: obtaining a one-number correspondence between a three-dimensional point data set, a device location data set, and a regional location data set, comprehensively mapping the device location data set and the regional location data set in a computer, obtaining the moving path data of the three-dimensional laser scanning device, fusing the internal part of the three-dimensional point data set (A1, A2, A3...AN), the moving path data, and the one-number correspondence, and obtaining comprehensive three-dimensional data inside the roadbed;

[0053] Establish a second correspondence between the boundary surface data set and the intermediate size data set, calculate and obtain the internal volume R1 through the boundary surface data D1 and the intermediate size data E1 with a corresponding relationship, calculate and obtain the internal volume R2 through the boundary surface data D2 and the intermediate size data E2 with a corresponding relationship, and repeatedly calculate the internal volumes in the internal volume set to obtain the internal volume set (R1, R2, R3...RM);

[0054] Changing the overall position of the No. 2 positioner includes: moving and repositioning at least one group of the No. 2 positioners, the number of groups of the No. 2 positioners moved being less than the total number of groups of the No. 2 positioners;

[0055] Data fusion includes mapping the 3D point data set (A1, A2, A3...AN) in the computer according to the one-number correspondence relationship and the moving path data, obtaining the full coverage 3D data for the roadbed, obtaining the overlapping area and corresponding overlapping data between adjacent 3D point data based on the effective scanning distance and the 3D point data, calculating the overlapping data set in the full coverage 3D data by calculation method, and combining the overlapping data set with the 3D point data set to obtain the comprehensive 3D data inside the roadbed;

[0056] The calculation method includes: the overlapping data is regarded as a combination of the three-dimensional point data a1 and the three-dimensional point data a2, the three-dimensional point data a1 belongs to the three-dimensional point data A1, and the three-dimensional point data a2 belongs to the three-dimensional point data A2 in the overlapping area, the overlapping area is divided into a plurality of small areas, and the three-dimensional point data a1 and the three-dimensional point data a2 are split according to the small areas to obtain the corresponding small area three-dimensional point data and , Indicates the number after the small area is divided, and obtains the distance data between the center point of the small area and the device location data B1 and the device location data B2 to obtain the distance data and , create overlapping data = , is the total number of small areas;

[0057] Based on the calculation method, overlapping data in all three-dimensional point data are obtained to obtain an overlapping data set.

[0058] The method for obtaining the internal volume R1 includes: obtaining roughness data of the boundary surface based on the boundary surface data D1, dividing the boundary surface in the boundary surface data D1 into a number of calculation interfaces, establishing an average roughness value in the corresponding calculation interface based on the several calculation interfaces and the roughness data, obtaining the calculation interface volume based on the average roughness value and the size data of the calculation interface, repeating the calculation on the several calculation interfaces to obtain a number of calculation interface volumes, calculating based on the intermediate size data E1 to obtain the intermediate volume, adding a number of calculation interface volumes and the corresponding intermediate volumes to obtain the internal volume R1, and repeating the calculation to obtain the internal volume in the internal volume set (R1, R2, R3...RM).

[0059] The method for obtaining regional location data includes: a location signal receiver receives a signal sent back by a No. 2 locator, obtains distance and direction data between the No. 2 locator and the location signal receiver based on the analysis signal, obtains distance and direction data between the No. 2 locators through the distance and direction data between the No. 2 locators and the location signal receiver, and combines the distance and direction data between several No. 2 locators to obtain regional location data.

[0060] The method for obtaining device location data includes: a location signal receiver receives signals sent back by a No. 1 locator and a No. 2 locator, obtains distance and direction data between the No. 1 locator and the location signal receiver and distance and direction data between the No. 2 locator and the location signal receiver based on analysis of the signals, obtains distance and direction data between the No. 1 locator and the location signal receiver and distance and direction data between the No. 2 locator and the location signal receiver through the distance and direction data between the No. 1 locator and the location signal receiver and the distance and direction data between the No. 2 locator and the location signal receiver, and obtains device location data in combination with regional location data.

[0061] The moving distance of the three-dimensional laser scanning equipment along the roadbed direction is limited by the effective scanning distance. The moving distance of the three-dimensional laser scanning equipment is greater than or equal to two-thirds of the effective scanning distance, and the moving distance of the three-dimensional laser scanning equipment is less than or equal to eight-fifths of the effective scanning distance.

[0062] Each group of No. 2 positioners includes at least 2 No. 2 positioners, and at least one group of No. 2 positioners is moved and relocated, and the number of groups of No. 2 positioners moved is less than the total number of groups of No. 2 positioners;

[0063] The method for obtaining the number-one correspondence relationship includes: the number-one correspondence relationship is based on the order of obtaining the regional position data, the device position data and the three-dimensional point data, and the three-dimensional point data is spatially aligned according to the corresponding device position data and the regional position data, based on the spatial alignment and the order of obtaining.

[0064] A volume measurement system for a roadbed cut in a highway project, which adopts the above-mentioned volume measurement method for a roadbed cut in a highway project;

[0065] The volume measurement system includes:

[0066] 3D point data acquisition module: perform 3D laser scanning on the roadbed through a 3D laser scanning device to obtain 3D point data A1, move the 3D laser scanning device along the roadbed direction, and perform 3D laser scanning on the next area of ​​the roadbed to obtain 3D point data A2, and repeatedly move the 3D laser scanning device until the 3D laser scanning device completes scanning of the entire roadbed area to obtain a 3D point data set (A1, A2, A3...AN);

[0067] Regional position data collection module: at least 3 groups of No. 2 locators are set on the road surface, and the regional position data C1 of the No. 2 locator is obtained according to the position signal receiver receiving the signal of the No. 2 locator in real time. When the position of the 3D laser scanning device changes along the roadbed direction, the overall position of the No. 2 locator is changed. Based on the change of the overall position of the No. 2 locator, the regional position data C2 is obtained. The overall position of the No. 2 locator is repeatedly changed according to the movement of the 3D laser scanning device to obtain the regional position data set (C1, C2, C3...CN);

[0068] Equipment position data collection module: Fix the No. 1 locator on the 3D laser scanning device. When the 3D laser scanning device scans the roadbed, the equipment position data B1 of the No. 1 locator is obtained through the position signal receiver, the No. 1 locator and the No. 2 locator. Along the roadbed direction, when the overall position of the No. 2 locator and the position of the 3D laser scanning device change, the equipment position data B2 is obtained based on the change in the overall position of the No. 2 locator and the change in the position of the No. 1 locator. According to the movement of the 3D laser scanning device and the change in the overall position of the No. 2 locator, the equipment position data is repeatedly obtained to obtain the equipment position data set (B1, B2, B3...BN).

[0069] Processing and calculation module: The three-dimensional point data set (A1, A2, A3...AN), equipment location data set (B1, B2, B3...BN) and regional location data set (C1, C2, C3...CN) are processed by the fusion method to obtain comprehensive three-dimensional data inside the roadbed, and the comprehensive three-dimensional data is divided into boundary surface data sets (D1, D2, D3...DM) and intermediate size data sets (E1, E2, E3...EM), M represents the number of divisions, and the internal volume set (R1, R2, R3...RM) is calculated by the boundary surface data set and the intermediate size data set. The volume of the roadbed = R1+R2+R3+...+RM.

[0070] Due to the length of the road and its curvature and height changes, combined with the effective scanning distance of the 3D laser scanning equipment, the accuracy of the collected data can be ensured within the effective scanning distance. Therefore, it is necessary to measure the roadbed multiple times along the roadbed direction to achieve full coverage of the internal volume of the roadbed.

[0071] After the three-dimensional point data, regional location data and equipment location data are acquired, data preprocessing is required. Data preprocessing includes removing noise points and abnormal points in the data to ensure the accuracy of the data, converting the three-dimensional point data, regional location data and equipment location data into a unified coordinate system and format to facilitate subsequent processing and analysis. At the same time, it is converted into a unified coordinate system for subsequent data fusion. The installation of the No. 1 locator provides a key reference for the subsequent determination of the position of the three-dimensional laser scanning equipment. The three-dimensional point data A1 obtained by scanning is a detailed spatial information record of the initial area of ​​the roadbed. These data contain the three-dimensional coordinates of each point on the roadbed surface, which provides basic original data for subsequent data processing and analysis, and can reflect the shape, undulations and other characteristics of the roadbed.

[0072] At least three groups of No. 2 locators are set up, and No. 1 locator is set on the three-dimensional laser scanning device. The position signal receiver can receive the position data of the No. 2 locator and the position data of the No. 1 locator. The position direction data between the No. 2 locators and the position direction data between the No. 1 locator and the No. 2 locator can be obtained through the position data of the No. 2 locator and the position direction data of the No. 1 locator. The position data of the position signal receiver will not be referenced. During the movement of the No. 2 locator, there will be at least one group of No. 2 locators in a state of unchanged position. After the remaining moving No. 2 locators move, the position of the moving No. 2 locator can be obtained through the No. 2 locator with unchanged position. Although the position signal receiver is moving, when receiving the position direction data of the No. 2 locator, the position direction data of the No. 2 locator is processed to obtain the distance and direction data between the No. 2 locators. Similarly, the position direction data of the No. 1 locator and the position direction data of the No. 2 locator are processed to obtain the distance and direction data between the No. 1 locator and the No. 2 locator.

[0073] The No. 2 locator performs cyclic operations through position fixing and position movement. The No. 2 locator with a fixed position obtains the position of the No. 2 locator after position movement, thereby realizing cyclic mutual positioning within the No. 2 locator group. At the same time, when obtaining the distance and direction data between the No. 1 locator and the No. 2 locator, it is ensured that the No. 1 locator can be within the range surrounded by the No. 2 locator. The existence of multiple No. 2 locators can avoid the movement of a single No. 2 locator due to external factors, which may cause errors in the distance and direction data between the No. 1 locator and the No. 2 locator.

[0074] Through the coordinated movement of multiple groups of dynamic locators, the problems of equipment position drift and data splicing in long-distance roadbed scanning are solved. The number of locator groups is greater than or equal to 3, which ensures the stable establishment of the three-dimensional spatial coordinate system and avoids data faults caused by signal loss. The scanning equipment and part of the No. 2 locators are moved along the roadbed direction, while at least one group of No. 2 locators is kept fixed to achieve the position reference transfer during continuous scanning. The position of the No. 1 locator is determined by the No. 2 locator. Each group of No. 2 locators contains at least 2, and the number of mobile groups is less than the total number of groups. The fixed group provides the benchmark, the mobile group expands the coverage range, and the benchmark is transferred to ensure the position accuracy of the scanning equipment during scanning. The position data of the scanning equipment is guaranteed, so that the acquired 3D point data can be based on the accuracy of the position data in the subsequent data fusion process, reducing the error in data fusion. By adopting 3D laser scanning Scanning equipment and multiple groups of locators can accurately obtain the three-dimensional point data of the roadbed and the position data of the corresponding three-dimensional laser scanning equipment, thereby improving the accuracy of volume measurement, and effectively solving the measurement error problem caused by the limited measurement range of the equipment and the uneven roadbed in the traditional measurement method. At the same time, combined with data fusion technology, it can achieve full coverage of the internal scanning of the roadbed, eliminate overlapping areas, and obtain comprehensive three-dimensional data inside the roadbed, which is convenient for subsequent volume calculation. The arrangement and movement of the No. 2 locator are flexible and can be adjusted according to the actual shape and length of the roadbed. When facing roadbeds with different shapes, different lengths, and complex road conditions such as bends and undulations, the No. 2 locator is reasonably arranged and moved, and the three-dimensional laser scanning equipment and position signal receiver are moved accordingly to ensure that the entire roadbed area is comprehensively and accurately scanned and measured. This method can meet the roadbed volume measurement needs in different engineering scenarios.

[0075] The moving distance of the 3D laser scanning device is limited by its effective scanning distance. In order to ensure the accuracy and efficiency of the measurement, it is necessary to clearly define the moving distance range of the 3D laser scanning device, and stipulate that the moving distance of the scanning device is two-thirds to eight-fifths of the effective scanning distance, to ensure that adjacent scanning areas have sufficient overlap to eliminate blind spots and avoid excessive repetition that leads to reduced efficiency. For sections with large turning angles, the moving distance of the scanning device can be further reduced to ensure that there is a certain overlapping area between adjacent sections to ensure the continuity of the measurement, so that the scanning device can achieve full coverage of the curved section. By moving the scanning device and the locator along the roadbed direction and keeping some locators fixed, the position reference transfer during continuous scanning is achieved to ensure The overlap between adjacent scanning areas is eliminated, thereby ensuring the continuity of measurement and avoiding data faults and measurement blind spots. For long-distance, curved, and high-low changing roadbeds, the position of the scanning equipment and the locator is dynamically adjusted, as well as the data is preprocessed and fused to meet the volume measurement needs under various complex road conditions. By fusing the 3D point data set, the equipment position data set, and the regional position data set, the spatial position and shape information of the roadbed can be accurately determined from multiple dimensions. In the process of data fusion, the overlapping data is accurately calculated and processed to avoid data duplication and error accumulation, so that the final comprehensive 3D data of the roadbed interior more accurately reflects the actual situation of the roadbed, providing a reliable geometric model foundation for subsequent volume calculations.

[0076] The number one correspondence can be obtained based on the order of regional location data, device location data and 3D point data. The 3D point data is spatially registered based on the corresponding device location data and regional location data. The 3D point data (A1, A2, A3...AN) is acquired in a certain order as the scanning process progresses. This order corresponds to the moving path of the scanning device and the changes in the regional location data. The temporal continuity of the sequential scanning process provides a time series basis for matching the 3D point data with the corresponding device location data and regional location data. Spatial registration is to unify the 3D point data acquired at different times and different spatial locations into the same spatial coordinate system. In the following process, the device position data and the regional position data are used as constraints to calculate the accurate position and posture of the 3D point data in space, so as to realize the spatial alignment between different batches of 3D point data. After completing the spatial registration of the 3D point data, the 3D point data of each batch (A1, A2, A3...AN) is associated and matched with the corresponding device position data (B1, B2, B3...BN) and regional position data (C1, C2, C3...CN) according to the order of acquisition of the 3D point data. Since the spatial registration has determined the accurate position of the 3D point data in space, and the order of acquisition has clarified their relationship in the time series, a one-to-one correspondence is obtained.

[0077] In the calculation method, the distance data can be obtained by the distance data between the small area in the overlapping area and the adjacent device location data B1 and the device location data B2. and , establish overlapping data, where Indicates the number and number of corresponding small areas, based on distance data and Set the weighting coefficient. Since the distance between the device and the small area will affect the scanning accuracy of the 3D scanning device, the closer the distance between the small area and the scanning device, the higher the scanning data accuracy of the small area will be, so the corresponding weighting coefficient will be higher.

[0078] Each calculation interface is combined with its corresponding roughness data to establish an average roughness value in the corresponding calculation interface. The average roughness value can reflect the average unevenness of the calculation interface at the micro level and is an important parameter for calculating the interface volume. The method for establishing the average roughness value can adopt statistical analysis methods, such as calculating the average value of the roughness data and selecting appropriate statistics according to actual needs and data characteristics. For example, if the roughness data is relatively evenly distributed, the average value can be used as the average roughness value. The average roughness value plays a key role in the calculation of the boundary surface volume. It can convert the microscopic unevenness characteristics of the boundary surface into a quantitative indicator, so that the influence of these microscopic characteristics on the volume can be considered when calculating the interface volume.

[0079] Since the boundary surface is divided into several calculation interfaces, the above volume calculation process needs to be performed on each calculation interface. Through repeated calculations, several calculation interface volumes can be obtained, and these volume values ​​correspond to the volume contributions of different parts of the boundary surface. This method can fully take into account the differences between the various parts of the boundary surface, avoid errors caused by overall calculations, and improve the accuracy and reliability of volume calculations. The intermediate size data E1 is relatively complete due to no boundary interference, so it can be directly calculated. Several calculation interface volumes and intermediate volumes are added to obtain the internal volume R1. Repeat the calculation of the internal volume values ​​in the internal volume set (R1, R2, R3...RM). Several calculation interface volumes and the intermediate volumes with corresponding relationships are added to obtain the internal volume R1. The intermediate volume of the corresponding relationship is determined by the No. 2 corresponding relationship. The No. 2 corresponding relationship is used when the comprehensive three-dimensional data is divided into comprehensive edges. Interface data and comprehensive intermediate size data. When dividing, the roadbed is first segmented, and then the segmented roadbed is divided into boundary surface data and intermediate size data. There is a natural correspondence between the two, and the second correspondence can be obtained. Based on the geometric model, the comprehensive three-dimensional data is divided into boundary surface data sets and intermediate size data sets, and the volume of each part is calculated separately. This method fully considers the detailed characteristics of each part of the roadbed and avoids the errors caused by simplifying the calculation model. Through the rough data processing of the boundary surface and the precise calculation of the intermediate size data, it can more truly reflect the actual volume of the roadbed and improve the accuracy of volume measurement.

[0080] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. A method for measuring the volume of a roadbed excavation in a highway project, characterized in that: The volume measurement method comprises: Step 1: Fix the No. 1 locator on the 3D laser scanning device, and the 3D laser scanning device performs 3D laser scanning on the roadbed to obtain 3D point data A1; Step 2: at least three groups of No. 2 locators are set on the road surface, and the regional position data C1 of the No. 2 locator is obtained by receiving the signal of the No. 2 locator in real time through the position signal receiver. When the three-dimensional laser scanning device scans the roadbed, the device position data B1 of the No. 1 locator is obtained through the position signal receiver, the No. 1 locator and the No. 2 locator; Step 3: along the roadbed direction, change the overall position of the No. 2 locator, move the 3D laser scanning device and the position signal receiver, and the 3D laser scanning device performs 3D laser scanning on the roadbed of the next area to obtain 3D point data A2. Based on the change in the overall position of the No. 2 locator and the change in the position of the No. 1 locator, obtain the equipment position data B2 and the area position data C2; Step 4: Repeat step 3 until the entire roadbed area is scanned, and obtain a 3D point data set (A1, A2, A3...AN), a device location data set (B1, B2, B3...BN), and a regional location data set (C1, C2, C3...CN), where N represents the number of scans of the 3D laser scanning device; Step 5: Process the 3D point data set (A1, A2, A3…AN), equipment location data set (B1, B2, B3…BN) and regional location data set (C1, C2, C3…CN) through a fusion method to obtain comprehensive 3D data inside the roadbed; Step 6: Divide the comprehensive three-dimensional data into boundary surface data sets (D1, D2, D3...DM) and intermediate size data sets (E1, E2, E3...EM), where M represents the number of divisions. The internal volume set (R1, R2, R3...RM) is calculated through the boundary surface data sets and the intermediate size data sets. The volume of the roadbed = R1+R2+R3+...+RM.

2. The method for measuring the volume of a roadbed excavation in a highway engineering project according to claim 1, characterized in that: Obtain the effective scanning distance of the 3D laser scanning device; The fusion method comprises: obtaining a one-number correspondence relationship between a three-dimensional point data set, a device position data set and a regional position data set, comprehensively mapping the device position data set and the regional position data set in a computer, obtaining movement path data of a three-dimensional laser scanning device, fusing the interior of the three-dimensional point data set (A1, A2, A3...AN), movement path data and the one-number correspondence relationship, and obtaining comprehensive three-dimensional data of the interior of the roadbed; Establish a second correspondence between the boundary surface data set and the intermediate size data set, calculate and obtain the internal volume R1 through the boundary surface data D1 and the intermediate size data E1 with a corresponding relationship, calculate and obtain the internal volume R2 through the boundary surface data D2 and the intermediate size data E2 with a corresponding relationship, and repeatedly calculate the internal volumes in the internal volume set to obtain the internal volume set (R1, R2, R3...RM); Changing the overall position of the No. 2 positioner includes: moving and repositioning at least one group of the No. 2 positioners, the number of groups of the No. 2 positioners moved being less than the total number of groups of the No. 2 positioners; The data fusion includes mapping the three-dimensional point data set (A1, A2, A3...AN) in a computer according to a one-number correspondence relationship and the moving path data, obtaining full coverage three-dimensional data for the roadbed, obtaining the overlapping area and corresponding overlapping data between adjacent three-dimensional point data based on the effective scanning distance and the three-dimensional point data, calculating the overlapping data set in the full coverage three-dimensional data by a calculation method, and combining the overlapping data set with the three-dimensional point data set to obtain comprehensive three-dimensional data inside the roadbed; The calculation method includes: the overlapping data is regarded as a combination of three-dimensional point data a1 and three-dimensional point data a2, the three-dimensional point data a1 belongs to the three-dimensional point data A1, and the three-dimensional point data a2 belongs to the overlapping area three-dimensional point data A2, the overlapping area is divided into a plurality of small areas, and the three-dimensional point data a1 and the three-dimensional point data a2 are split according to the small areas to obtain the corresponding small area three-dimensional point data and , Indicates the number after the small area is divided, and obtains the distance data between the center point of the small area and the device location data B1 and the device location data B2 to obtain the distance data and , create overlapping data = , is the total number of small areas; Based on the calculation method, overlapping data in all three-dimensional point data are obtained to obtain an overlapping data set.

3. The method for measuring the volume of a roadbed excavation in a highway engineering project according to claim 2, characterized in that: The method for obtaining the internal volume R1 includes: obtaining roughness data of the boundary surface based on the boundary surface data D1, dividing the boundary surface in the boundary surface data D1 into a number of calculation interfaces, establishing an average roughness value in the corresponding calculation interface based on the several calculation interfaces and the roughness data, obtaining the calculation interface volume based on the average roughness value and the size data of the calculation interface, repeating the calculation on the several calculation interfaces to obtain a number of calculation interface volumes, calculating based on the intermediate size data E1 to obtain the intermediate volume, adding a number of calculation interface volumes and the corresponding intermediate volumes to obtain the internal volume R1, and repeating the calculation to obtain the internal volume in the internal volume set (R1, R2, R3...RM).

4. The method for measuring the volume of a roadbed excavation in a highway engineering project according to claim 1, characterized in that: The method for obtaining regional location data includes: a location signal receiver receives a signal sent back by a No. 2 locator, obtains distance and direction data between the No. 2 locator and the location signal receiver based on the analysis signal, obtains distance and direction data between the No. 2 locators through the distance and direction data between the No. 2 locators and the location signal receiver, and combines the distance and direction data between several No. 2 locators to obtain regional location data.

5. The method for measuring the volume of a roadbed excavation in a highway engineering according to claim 1, characterized in that: The method for obtaining device location data includes: a location signal receiver receives signals sent back by a No. 1 locator and a No. 2 locator, obtains distance and direction data between the No. 1 locator and the location signal receiver and distance and direction data between the No. 2 locator and the location signal receiver based on analysis of the signals, obtains distance and direction data between the No. 1 locator and the location signal receiver and distance and direction data between the No. 2 locator and the location signal receiver through the distance and direction data between the No. 1 locator and the location signal receiver and the distance and direction data between the No. 2 locator and the location signal receiver, and obtains device location data in combination with regional location data.

6. The method for measuring the volume of a roadbed excavation in a highway engineering according to claim 2, characterized in that: The moving distance of the three-dimensional laser scanning equipment along the roadbed direction is limited by the effective scanning distance. The moving distance of the three-dimensional laser scanning equipment is greater than or equal to two-thirds of the effective scanning distance, and the moving distance of the three-dimensional laser scanning equipment is less than or equal to eight-fifths of the effective scanning distance.

7. The method for measuring the volume of a roadbed excavation in a highway engineering according to claim 2, characterized in that: Each group of No. 2 positioners includes at least 2 No. 2 positioners, and at least one group of No. 2 positioners is moved and relocated, and the number of groups of No. 2 positioners moved is less than the total number of groups of No. 2 positioners; The method for obtaining the number-one correspondence relationship includes: the number-one correspondence relationship is based on the order of obtaining the regional position data, the device position data and the three-dimensional point data, and the three-dimensional point data is spatially aligned according to the corresponding device position data and the regional position data, based on the spatial alignment and the order of obtaining.

8. A volume measurement system for excavated roadbed in highway engineering, characterized in that: A method for measuring the volume of a roadbed excavation in a highway project as described in any one of claims 1 to 7 is adopted; The volume measurement system comprises: 3D point data acquisition module: perform 3D laser scanning on the roadbed through a 3D laser scanning device to obtain 3D point data A1, move the 3D laser scanning device along the roadbed direction, and perform 3D laser scanning on the next area of ​​the roadbed to obtain 3D point data A2, and repeatedly move the 3D laser scanning device until the 3D laser scanning device completes scanning of the entire roadbed area to obtain a 3D point data set (A1, A2, A3...AN); Regional position data collection module: at least 3 groups of No. 2 locators are set on the road surface, and the regional position data C1 of the No. 2 locator is obtained according to the position signal receiver receiving the signal of the No. 2 locator in real time. When the position of the 3D laser scanning device changes along the roadbed direction, the overall position of the No. 2 locator is changed. Based on the change of the overall position of the No. 2 locator, the regional position data C2 is obtained. The overall position of the No. 2 locator is repeatedly changed according to the movement of the 3D laser scanning device to obtain the regional position data set (C1, C2, C3...CN); Equipment location data collection module: Fix the No. 1 locator on the 3D laser scanning device. When the 3D laser scanning device scans the roadbed, the equipment location data B1 of the No. 1 locator is obtained through the position signal receiver, the No. 1 locator and the No. 2 locator. When the overall position of the No. 2 locator and the position of the 3D laser scanning device change along the roadbed direction, the equipment location data B2 is obtained based on the change of the overall position of the No. 2 locator and the change of the position of the No. 1 locator. According to the movement of the 3D laser scanning device and the change of the overall position of the No. 2 locator, the equipment location data is repeatedly obtained to obtain the equipment location data set (B1, B2, B3...BN); Processing and calculation module: The three-dimensional point data set (A1, A2, A3...AN), equipment position data set (B1, B2, B3...BN) and regional position data set (C1, C2, C3...CN) are processed by a fusion method to obtain comprehensive three-dimensional data inside the roadbed, and the comprehensive three-dimensional data is divided into a boundary surface data set (D1, D2, D3...DM) and an intermediate size data set (E1, E2, E3...EM), where M represents the number of divisions. The internal volume set (R1, R2, R3...RM) is calculated through the boundary surface data set and the intermediate size data set, and the volume of the roadbed = R1+R2+R3+...+RM.

Images