A method and system for measuring the volume of an excavated subgrade in a highway project

Abstract

The present invention discloses a method and system for measuring the volume of an excavated subgrade in highway engineering, which relates to the technical field of highway engineering. The volume measurement method includes: Step 1: Fix a first locator on a three-dimensional laser scanning device, and the three-dimensional laser scanning device performs three-dimensional laser scanning on the subgrade to obtain three-dimensional point data A1. By fusing the three-dimensional point data set, the device position data set, and the regional position data set, the present invention can accurately determine the spatial position and shape information of the subgrade from multiple dimensions. During the data fusion process, precise calculation and processing are performed on the overlapping data, avoiding data duplication and error accumulation, so that the finally formed comprehensive three-dimensional data inside the subgrade more accurately reflects the true situation of the subgrade, providing a reliable geometric model basis for subsequent volume calculation and ensuring the accuracy of subsequent volume measurement results.

Description

Technical Field

[0001] The present invention relates to the technical field of highway engineering, and particularly to a method and system for measuring the volume of an excavated subgrade in highway engineering. Background Technique

[0002] In the initial stage of highway design, it is necessary to accurately measure the volume of the excavated subgrade in order to reasonably plan the project scale and determine the requirements for construction materials and human resources.

[0003] For example, in the patent with the publication number "CN116754039A" and the name "Method for Detecting Earthwork Volume of Ground Pit", three-dimensional laser scanning is performed on the ground pit to obtain three-dimensional point cloud data of the ground pit, and effective three-dimensional point cloud data is generated. The three-dimensional laser scanning equipment is used to perform three-dimensional laser scanning measurement on the ground pit to obtain the three-dimensional point cloud data of the ground pit, realizing the comprehensive measurement of the ground pit, accurately calibrating the three-dimensional shape and size of the ground pit; and based on the three-dimensional space model, determining the calculation range of the earthwork volume of the ground pit, so as to obtain the earthwork volume result of the ground pit, reducing the cost of detecting the earthwork volume of the ground pit 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 measurement equipment, and the unevenness and bending of the subgrade will further limit the measurement range of the measurement equipment. When measuring the volume of the excavated subgrade of a highway, multi-section measurements will be carried out along the highway direction. Therefore, when performing measurements, 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 measurement result of the volume. For this reason, a method and system for measuring the volume of an excavated subgrade in highway engineering are invented. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and system for measuring the volume of an excavated subgrade in highway engineering to solve the problems raised in the above background technique.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A method for measuring the volume of an excavated subgrade in highway engineering, the volume measurement method includes:

[0007] Step 1: Fix a first locator on the three-dimensional laser scanning equipment, and the three-dimensional laser scanning equipment performs three-dimensional laser scanning on the subgrade to obtain three-dimensional point data A1;

[0008] Step 2: Set at least three groups of second locators on the road surface. Obtain the regional position data C1 of the second locators based on the signals of the second locators received by the position signal receiver in real time. When the three-dimensional laser scanning device scans the roadbed, obtain the device position data B1 of the first locator through the position signal receiver, the first locator, and the second locator;

[0009] Step 3: Along the direction of the roadbed, change the overall position of the second locator, move the three-dimensional laser scanning device and the position signal receiver. The three-dimensional laser scanning device performs three-dimensional laser scanning on the next regional roadbed to obtain three-dimensional point data A2. Based on the change in the overall position of the second locator and the change in the position of the first locator, obtain the device position data B2 and the regional position data C2;

[0010] Step 4: Repeat Step 3 until the scanning of the entire roadbed area is completed, obtaining a three-dimensional point data set (A1, A2, A3…AN), a device position data set (B1, B2, B3…BN), and a regional position data set (C1, C2, C3…CN), where N represents the number of scans of the three-dimensional laser scanning device;

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

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

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

[0014] The fusion method includes: obtaining the first correspondence relationship among the three-dimensional point data set, the device position data set, and the regional position data set, performing a comprehensive mapping of the device position data set and the regional position data set in the computer to obtain the movement path data of the three-dimensional laser scanning device, and performing data fusion on the inside of the three-dimensional point data set (A1, A2, A3…AN), the movement path data, and the first correspondence relationship to obtain the comprehensive three-dimensional data inside the roadbed;

[0015] Establish the second correspondence relationship between the boundary surface data set and the intermediate dimension data set. Through the boundary surface data D1 and the corresponding intermediate dimension data E1, calculate and obtain the internal volume R1. Through the boundary surface data D2 and the corresponding intermediate dimension data E2, calculate and obtain the internal volume R2. 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 second locator includes: moving and repositioning at least one group of second locators, and the number of moving groups of the second locator is less than the total number of groups of the second locator;

[0017] The data fusion includes that the three-dimensional point data set (A1, A2, A3…AN) is mapped in the computer according to the first correspondence relationship and the moving path data to obtain the full-coverage three-dimensional data for the roadbed. Based on the effective scanning distance and the three-dimensional point data, obtain the overlapping area and the corresponding overlapping data between adjacent three-dimensional point data. Calculate the overlapping data set in the full-coverage three-dimensional data through a calculation method. The overlapping data set and the three-dimensional point data set are combined to obtain the comprehensive three-dimensional data inside the roadbed;

[0018] The calculation method includes: regarding the overlapping data as composed 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. Divide the overlapping area into several small areas, and split the three-dimensional point data a1 and the three-dimensional point data a2 according to the small areas to obtain the corresponding small-area three-dimensional point data and , represents the number after the small area division, and obtain the distance data between the center point of the small area and the device position data B1 and the device position data B2 to obtain the distance data and ,establish the overlapping data = , is the total number of small areas;

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

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

[0021] Furthermore, the method for obtaining the regional position data includes: the position signal receiver receives the signal transmitted back by the second locator, obtains the distance and direction data between the second locator and the position signal receiver based on the analysis of the signal, obtains the distance and direction data between the second locators through the distance and direction data between the second locator and the position signal receiver, and combines the distance and direction data between several second locators to obtain the regional position data.

[0022] Furthermore, the method for obtaining the device position data includes: the position signal receiver receives the signals transmitted back by the first locator and the second locator, obtains the distance and direction data between the first locator and the position signal receiver and the distance and direction data between the second locator and the position signal receiver based on the analysis of the signals, obtains the distance and direction data between the first locator and several second locators through the distance and direction data between the first locator and the position signal receiver and the distance and direction data between the second locator and the position signal receiver, and combines with the regional position data to obtain the device position data.

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

[0024] Furthermore, each group of second locators includes at least 2 second locators. Move and re-place at least one group of second locators, and the number of moving groups of the second locators is less than the total number of groups of the second locators;

[0025] The method for obtaining the first correspondence includes: the first correspondence, according to the acquisition sequence of the regional position data, the device position data, and the three-dimensional point data, spatially registers the three-dimensional point data according to the corresponding device position data and regional position data, based on the spatial registration and the acquisition sequence.

[0026] A volume measurement system for an excavated subgrade in a highway project adopts the above-mentioned volume measurement method for an excavated subgrade in a highway project;

[0027] The volume measurement system includes:

[0028] Three-dimensional point data acquisition module: Use a three-dimensional laser scanning device to perform three-dimensional laser scanning on the subgrade to obtain three-dimensional point data A1. Along the direction of the subgrade, move the three-dimensional laser scanning device, and the three-dimensional laser scanning device performs three-dimensional laser scanning on the subgrade of the next area to obtain three-dimensional point data A2. Repeat moving the three-dimensional laser scanning device until the three-dimensional laser scanning device completes scanning the entire subgrade area to obtain a three-dimensional point data set (A1, A2, A3…AN);

[0029] Regional position data collection module: Set at least 3 groups of second locators on the road surface, and obtain the regional position data C1 of the second locators according to the signals received by the position signal receivers in real time. Along the direction of the subgrade, when the position of the three-dimensional laser scanning device changes, change the overall position of the second locators. Based on the change of the overall position of the second locators, obtain regional position data C2. According to the movement of the three-dimensional laser scanning device, repeat changing the overall position of the second locators to obtain a regional position data set (C1, C2, C3…CN);

[0030] Device position data collection module: Fix the first locator on the three-dimensional laser scanning device. When the three-dimensional laser scanning device scans the subgrade, obtain the device position data B1 of the first locator through the position signal receiver, the first locator, and the second locator. Along the direction of the subgrade, when the overall position of the second locator and the position of the three-dimensional laser scanning device change, based on the change of the overall position of the second locator and the change of the position of the first locator, obtain device position data B2. According to the movement of the three-dimensional laser scanning device and the change of the overall position of the second locator, repeat obtaining device position data to obtain a device position data set (B1, B2, B3…BN).

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

[0032] Compared with the prior art, the beneficial effects of the present invention are:

[0033] The volume measurement method and system for the cut subgrade of this highway project can accurately determine the spatial position and shape information of the subgrade from multiple dimensions by fusing three-dimensional point data sets, equipment position data sets, and regional position data sets. During the data fusion process, precise calculations and processing are performed on overlapping data, avoiding data duplication and error accumulation, making the final comprehensive three-dimensional data inside the subgrade more accurately reflect the true situation of the subgrade, 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 basis, the comprehensive three-dimensional data is divided into boundary surface data sets and intermediate dimension data sets, and the volume of each part is calculated separately. This method fully considers the detailed characteristics of each part of the subgrade, avoiding errors caused by simplifying the calculation model. Through rough data processing of the boundary surface and precise calculation of the intermediate dimension data, it can more realistically reflect the actual volume situation of the subgrade and ensure the accuracy of volume measurement.

[0035] The layout and movement method of the second locator are flexible and can be adjusted according to the shape and length of the actual subgrade. When facing subgrades with different shapes, different lengths, and complex road conditions such as bending and undulation, by arranging and moving the second locator, and correspondingly moving the three-dimensional laser scanning device and position signal receiver, it ensures comprehensive and accurate scanning and measurement of the entire subgrade area. This method can meet the subgrade volume measurement requirements in different engineering scenarios. Brief Description of the Drawings

[0036] Figure 1 Schematic diagram for calculating the volume of the subgrade of the present invention;

[0037] Figure 2 Schematic diagram for obtaining the three-dimensional point data set, equipment position data set, and regional position data set of the present invention;

[0038] Figure 3 Schematic diagram for the movement of the second locator and the scanning device of the present invention;

[0039] Figure 4 Schematic diagram for full-coverage scanning of the present invention;

[0040] Figure 5 Schematic diagram for the overlapping area of the present invention;

[0041] Figure 6 Schematic diagram for a small area in the overlapping area of the present invention;

[0042] Figure 7 Schematic diagram for the boundary surface and intermediate dimensions of the present invention. Detailed Embodiment

[0043] Next, in combination with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] As Figure 1 - Figure 7 shown, the present invention provides a technical solution: a method for measuring the volume of an excavated subgrade in a highway project. The volume measurement method includes:

[0045] Step 1: Fix a first locator on the three-dimensional laser scanning device. The three-dimensional laser scanning device performs three-dimensional laser scanning on the subgrade to obtain three-dimensional point data A1.

[0046] Step 2: Set at least 3 groups of second locators on the road surface. According to the position signal receiver that receives the signals of the second locators in real time, obtain the regional position data C1 of the second locators. When the three-dimensional laser scanning device scans the subgrade, obtain the device position data B1 of the first locator through the position signal receiver, the first locator, and the second locators.

[0047] Step 3: Along the direction of the subgrade, change the overall position of the second locators, move the three-dimensional laser scanning device and the position signal receiver. The three-dimensional laser scanning device performs three-dimensional laser scanning on the next regional subgrade to obtain three-dimensional point data A2. Based on the change in the overall position of the second locators and the change in the position of the first locator, obtain the device position data B2 and the regional position data C2.

[0048] Step 4: Repeat Step 3 until the scanning of the entire subgrade area is completed, obtaining a three-dimensional point data set (A1, A2, A3... AN), a device position data set (B1, B2, B3... BN), and a regional position data set (C1, C2, C3... CN), where N represents the number of scans of the three-dimensional laser scanning device.

[0049] Step 5: Process the three-dimensional point data set (A1, A2, A3... AN), the device position data set (B1, B2, B3... BN), and the regional position data set (C1, C2, C3... CN) through a fusion method to obtain comprehensive three-dimensional data inside the subgrade.

[0050] Step 6: Divide the comprehensive three-dimensional data into boundary surface data sets (D1, D2, D3…DM) and intermediate dimension data sets (E1, E2, E3…EM), where M represents the number of divisions. Calculate the internal volume sets (R1, R2, R3…RM) from the boundary surface data sets and the intermediate dimension 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 the first correspondence relationship among the three-dimensional point data set, the device position data set, and the regional position data set, performing a comprehensive mapping of the device position data set and the regional position data set in the computer to obtain the movement path data of the 3D laser scanning device, and performing data fusion on the inside of the three-dimensional point data set (A1, A2, A3…AN), the movement path data, and the first correspondence relationship to obtain the comprehensive three-dimensional data inside the roadbed;

[0053] Establish the second correspondence relationship between the boundary surface data set and the intermediate dimension data set. Calculate and obtain the internal volume R1 through the boundary surface data D1 and the corresponding intermediate dimension data E1, and calculate and obtain the internal volume R2 through the boundary surface data D2 and the corresponding intermediate dimension data E2. 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 second locator includes: moving and repositioning at least one group of second locators, and the number of moving groups of the second locators is less than the total number of groups of the second locators;

[0055] Data fusion includes mapping the three-dimensional point data set (A1, A2, A3…AN) in the computer according to the first correspondence relationship and the movement path data to obtain the full-coverage three-dimensional data for the roadbed. Based on the effective scanning distance and the three-dimensional point data, obtain the overlapping area and the corresponding overlapping data between adjacent three-dimensional point data, calculate the overlapping data set in the full-coverage three-dimensional data through a calculation method, and combine the overlapping data set and the three-dimensional point data set to obtain the comprehensive three-dimensional data inside the roadbed;

[0056] The calculation method includes: regarding the overlapping data as composed 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. Divide the overlapping area into several small areas, and split the three-dimensional point data a1 and the three-dimensional point data a2 according to the small areas to obtain the corresponding small-area three-dimensional point data and , Represent the numbers after small area division, and obtain the distance data between the center point of the small area and the device position data B1 and the device position data B2, and obtain the distance data and , establish the overlapping data = , is the total number of small areas;

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

[0058] The method for obtaining the internal volume R1 includes: based on the boundary surface data D1, obtain the rough data of the boundary surface, divide the boundary surface in the boundary surface data D1 into several calculation interfaces, based on the several calculation interfaces and the rough data, establish the average roughness value in the corresponding calculation interface, based on the average roughness value and the size data of the calculation interface, obtain the volume of the calculation interface, repeat the calculation for several calculation interfaces, obtain the volumes of several calculation interfaces, calculate the intermediate volume based on the intermediate size data E1, add the volumes of several calculation interfaces and the corresponding intermediate volumes to obtain the internal volume R1, and repeat the calculation to obtain the internal volumes in the internal volume set (R1, R2, R3... RM).

[0059] The method for obtaining the regional position data includes: the position signal receiver receives the signal transmitted back by the second locator, based on the analysis of the signal, obtain the distance direction data between the second locator and the position signal receiver, through the distance direction data between the second locator and the position signal receiver, obtain the distance direction data between the second locators, and combine the distance direction data between several second locators to obtain the regional position data.

[0060] The method for obtaining the device position data includes: the position signal receiver receives the signals transmitted back by the first locator and the second locator, based on the analysis of the signals, obtain the distance direction data between the first locator and the position signal receiver and the distance direction data between the second locator and the position signal receiver, through the distance direction data between the first locator and the position signal receiver and the distance direction data between the second locator and the position signal receiver, obtain the distance direction data between the first locator and several second locators, and combine the regional position data to obtain the device position data.

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

[0062] Each set of second locators includes at least 2 second locators. Move and reposition at least one set of second locators, where the number of moved sets of second locators is less than the total number of sets of second locators.

[0063] The method for obtaining the first correspondence relationship includes: According to the acquisition order of the regional position data, the device position data, and the three-dimensional point data, the three-dimensional point data is spatially registered according to the corresponding device position data and regional position data, based on the spatial registration and the acquisition order.

[0064] A volume measurement system for an excavated subgrade of a highway project adopts the above-mentioned volume measurement method for an excavated subgrade of a highway project.

[0065] The volume measurement system includes:

[0066] Three-dimensional point data acquisition module: Use a three-dimensional laser scanning device to perform three-dimensional laser scanning on the subgrade to obtain three-dimensional point data A1. Along the subgrade direction, move the three-dimensional laser scanning device, and the three-dimensional laser scanning device performs three-dimensional laser scanning on the next area of the subgrade to obtain three-dimensional point data A2. Repeat moving the three-dimensional laser scanning device until the three-dimensional laser scanning device completes scanning the entire subgrade area, obtaining a three-dimensional point data set (A1, A2, A3... AN).

[0067] Regional position data collection module: Set at least 3 groups of second locators on the road surface. Obtain the regional position data C1 of the second locators according to the signals received by the position signal receivers in real time. Along the subgrade direction, when the position of the three-dimensional laser scanning device changes, change the overall position of the second locators. Based on the change in the overall position of the second locators, obtain regional position data C2. Repeat changing the overall position of the second locators according to the movement of the three-dimensional laser scanning device to obtain a regional position data set (C1, C2, C3... CN).

[0068] Device position data collection module: Fix a first locator on the three-dimensional laser scanning device. When the three-dimensional laser scanning device scans the subgrade, obtain the device position data B1 of the first locator through the position signal receiver, the first locator, and the second locators. Along the subgrade direction, when the overall position of the second locators and the position of the three-dimensional laser scanning device change, based on the change in the overall position of the second locators and the change in the position of the first locator, obtain device position data B2. Repeat obtaining the device position data according to the movement of the three-dimensional laser scanning device and the change in the overall position of the second locators to obtain a device position data set (B1, B2, B3... BN).

[0069] Processing and calculation module: Process the three-dimensional point data set (A1, A2, A3…AN), device location data set (B1, B2, B3…BN) and regional location data set (C1, C2, C3…CN) through a fusion method to obtain comprehensive three-dimensional data inside the roadbed. Divide the comprehensive three-dimensional data into a boundary surface data set (D1, D2, D3…DM) and an intermediate dimension data set (E1, E2, E3…EM), where M represents the number of divisions. Calculate the internal volume set (R1, R2, R3…RM) through the boundary surface data set and the intermediate dimension data set. The volume of the roadbed = R1 + R2 + R3 + … + RM.

[0070] Due to the length of the road, its curvature and elevation changes, and considering the effective scanning distance of the three-dimensional laser scanning device, within the effective scanning distance, the accuracy of the collected data can be ensured. Therefore, it is necessary to measure the roadbed multiple times along the direction of the roadbed to achieve a full-coverage measurement of the internal volume of the roadbed.

[0071] After obtaining the three-dimensional point data, regional location data and device location data, data preprocessing is required. Data preprocessing includes removing noise points and abnormal points in the data to ensure data accuracy, converting the three-dimensional point data, regional location data and device location data into a unified coordinate system and format for subsequent processing and analysis, and at the same time converting them into a unified coordinate system for subsequent data fusion. The installation of the first locator provides a key reference for determining the position of the three-dimensional laser scanning device in the future. The three-dimensional point data A1 obtained through scanning is a detailed record of the spatial information of the initial area of the roadbed. These data contain the three-dimensional coordinates of each point on the roadbed surface, providing basic raw data for subsequent data processing and analysis, and can reflect the shape, undulation and other characteristics of the roadbed.

[0072] At least three groups of second locators are set, and a first locator is set on the three-dimensional laser scanning device. The position signal receiver can receive the position data of the second locators and the position data of the first locator. The position direction data between the second locators and the position direction data between the first locator and the second locators can be obtained through the position data of the second locators and the position data of the first locator. The position data of the position signal receiver is not referred to. During the movement of the second locators, there will be at least one group of second locators in a state of unchanged position. After the other moving second locators move, the position of the moving second locators can be obtained through the second locators with unchanged position. Although the position signal receiver is moving, when receiving the position direction data of the second locators, by processing the position direction data of the second locators, the distance and direction data between the second locators can be obtained. Similarly, by processing the position direction data of the first locator and the position direction data of the second locators, the distance and direction data between the first locator and the second locators can be obtained.

[0073] The second locators perform cyclic operations through position fixation and position movement. The second locators with fixed positions obtain the positions of the second locators after position movement, realizing the internal cyclic mutual positioning between the groups of second locators. At the same time, when obtaining the distance and direction data between the first locator and the second locators, it is ensured that the first locator can be within the range surrounded by the second locators. The existence of multiple second locators can avoid errors in the distance and direction data between the first locator and the second locators caused by the movement of a single second locator due to external factors.

[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, distance data can be obtained through the distance data between the small areas in the overlapping area and the adjacent device position data B1 and the device position data B2, and the distance data and are used to establish overlapping data, where represents the quantity and number of corresponding small areas. Based on the distance data and weighting coefficients are set. 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 scanning device for the small area, and thus the higher the corresponding weighting coefficient.

[0078] Each calculation interface combines its corresponding rough data to establish the average roughness value in the corresponding calculation interface. The average roughness value can reflect the average unevenness degree of the calculation interface at the microscopic 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 rough data, and selecting appropriate statistical quantities according to actual requirements and data characteristics. For example, if the rough 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 uneven characteristics of the boundary surface into a quantitative index, enabling the influence of these microscopic characteristics on the volume to be considered when calculating the interface volume.

[0079] Since the boundary surface is divided into several computational interfaces, the above-mentioned volume calculation process needs to be carried out for each computational interface. Through repeated calculations, the volumes of several computational interfaces can be obtained, and these volume values respectively correspond to the volume contributions of different parts of the boundary surface. This method can fully consider the differences of each part of the boundary surface, avoid the errors caused by overall calculation, and improve the accuracy and reliability of volume calculation. The intermediate dimension data E1 is relatively complete without boundary interference and can be directly calculated. The internal volume R1 is obtained by adding the volumes of several computational interfaces and the intermediate volume. The internal volume values in the set of internal volumes (R1, R2, R3... RM) are repeatedly calculated. The internal volume R1 is obtained by adding the volumes of several computational interfaces and the corresponding intermediate volume. The corresponding intermediate volume is determined by the second correspondence. The second correspondence is obtained by dividing the comprehensive three-dimensional data into comprehensive boundary surface data and comprehensive intermediate dimension data. When dividing, the roadbed is first segmented, and then the segmented roadbed is divided into boundary surface data and intermediate dimension data, and there is a natural correspondence between them, so the second correspondence can be obtained. Based on the geometric model, the comprehensive three-dimensional data is divided into a boundary surface data set and an intermediate dimension data set, and the volume of each part is calculated separately. This method fully considers the detailed characteristics of each part of the roadbed, avoids the errors caused by simplifying the calculation model, and can more realistically reflect the actual volume situation of the roadbed through rough data processing of the boundary surface and accurate calculation of the intermediate dimension data, improving the accuracy of volume measurement.

[0080] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended 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.

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