A method, device and storage medium for extracting the cross-sectional view of a tower base from point cloud data

Abstract

The present invention discloses a method for extracting the cross-sectional view of a tower base from point cloud data, comprising the following steps: S1. Select a line to determine the coordinates of the tower pole; S2. Extract and classify the ground point layer from the laser point cloud data collected by aerial survey; S3. Determine the measurement range and direction of the tower base according to requirements, automatically crop the point cloud ground layer, further generate a combined point cloud patch of the tower base, and then batch extract the point cloud coordinates on each direction line of each tower leg of each tower base from the point cloud ground layer at a specified point spacing; S4. Preset an optimization standard value, and optimize and select the point cloud coordinates according to the simplest optimization algorithm; S5. Batch draw the cross-sectional view of the tower base by using tower base cross-section drawing software; S6. Check the distance values and the number of tower legs in the tower leg direction for the drawn cross-sectional view of the tower base according to the preset measurement result standard. The present invention optimizes and selects the coordinates on each direction line of the tower leg by using the simplest optimization algorithm, which can reduce the subsequent data processing volume and improve the quality of the generated cross-sectional view.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering surveying and mapping, and particularly relates to a method, device and storage medium for extracting tower base cross-sectional diagrams from point cloud data. Background Art

[0002] A tower base cross-sectional diagram refers to the result of cross-sectional measurement radiating 8 to 25 meters in the directions of 4 legs or 8 directions (4 leg directions and 4 auxiliary directions) with the center pile of the iron tower as the center. The tower base cross-sectional diagram is important reference data for the structural specialty in designing tower base slope protection, configuring slopes, high and low legs, retaining walls, drainage ditches, etc.

[0003] When surveying and designing transmission lines above 35 kV at home and abroad, tower base cross-sectional measurement is required. In recent years, the common practice for tower base cross-sectional measurement is to use a GNSS receiver and a total station to field-measure the tower base in the wild, and then use relevant tower base software to generate a tower base data file, so as to conveniently generate a tower base cross-sectional diagram using drawing software such as CASS or ArcGIS.

[0004] Currently, the technologies for producing tower base cross-sectional diagrams are mainly divided into the following two types:

[0005] One is the method of producing tower base cross-sectional diagrams using DEM: mainly using DEM and DOM to generate a virtual 3D large scene for indoor route selection to determine the coordinates of the tower poles, then using the existing DEM to extract the coordinate points in the 4 or 8 directions of each tower base tower leg within the specified tower base range, and then using relevant tower base software to generate tower base coordinate files such as SCR, and using software such as CASS or ArcGIS to draw the diagram;

[0006] One is the method of full-field manual field measurement: mainly using designers to directly specify the tower base position in the field, and field surveyors use GNSS equipment, total stations and other equipment to conduct field measurement and collection of the tower base cross-section according to the tower pole coordinates or the specified tower base position, then generate a tower base coordinate file based on the collected tower base data file, and then use software such as CASS or ArcGIS to draw the diagram.

[0007] However, in the actual use process, the existing technologies for producing tower base cross-sectional diagrams have the following deficiencies:

[0008] (1) Transmission line iron towers are generally erected in hilly or mountainous areas. For the existing full-field manual field measurement method, technicians need to clear the miscellaneous trees and shrubs in the tower leg direction channels on the basis of fixed-point measurement, which is easy to consume a large amount of manpower and material resources, and the measurement efficiency is not high;

[0009] (2)When using the information extracted from the DEM produced by existing aerial triangulation results to draw cross-sections, since the problem of vegetation coverage cannot be solved, the DEM generated by aerial triangulation using aerial images is not a true DEM but a DSM modified manually. The bottom of the vegetation can never be seen in the image data, and all the elevation data of the DEM are estimated manually. Therefore, the tower base cross-section diagrams generated in this way in areas with dense vegetation cannot be used in practice.

[0010] (3)When using the UAV-borne lidar aerial survey technology to obtain DEM, although it is possible to generate a DEM with actual elevation data using the point cloud data collected by lidar, a large amount of terrain details and information such as steep banks will be lost during the process of generating the DEM by this method, which does not match the actual terrain and is likely to cause the construction unit to be unable to construct the tower base foundation according to the tower base designed in the tower base cross-section diagram.

[0011] In addition, some detailed feature points will also be lost during the sampling process of generating the DEM from the point cloud data, resulting in a decrease in the accuracy of the DEM compared to the point cloud data, and the accuracy of the tower base cross-section diagram generated using the DEM will also be reduced accordingly.

[0012] Therefore, this application specifically proposes a method for extracting tower base cross-section diagrams from point cloud data to solve the above technical problems. Summary of the Invention

[0013] The main purpose of the present invention is to provide a method for extracting tower base cross-section diagrams from point cloud data, which replaces the manual field measurement on-site or the method of generating using DEM, greatly improves the operation efficiency, significantly reduces the field workload, reduces the survey cost, and improves the accuracy of the survey data, so as to solve the technical problems proposed in the background art.

[0014] The present invention adopts the following technical solutions to solve the above technical problems:

[0015] A method for extracting tower base cross-section diagrams from point cloud data includes the following steps:

[0016] S1. Select a line to determine the coordinates of the tower poles;

[0017] S2. Extract and classify the ground layer of the point cloud from the lidar point cloud data collected by aerial survey;

[0018] S3. Determine the tower base measurement range and tower base measurement direction according to requirements, and automatically crop the ground layer of the point cloud according to the selected tower base measurement range to generate a ground layer of the tower base point cloud with the coordinates of each tower pole as the center, the specified tower base measurement range, and the direction lines of each tower leg of the tower base as a combination of tower base point cloud patches. Then, according to the specified point spacing, batch extract the point cloud coordinates on each direction line of each tower leg of each tower base from the ground layer of the tower base point cloud;

[0019] S4. Preset an optimization standard value, and optimize and select the point cloud coordinates on each direction line of all tower bases and tower legs according to the simplest optimization algorithm to eliminate redundant point cloud coordinates including those with large elevation deviation values of the point cloud.

[0020] S5. According to the optimized tower base and tower leg coordinate file, use tower base section drawing software to batch draw tower base section diagrams.

[0021] S6. Check the distance values in the tower leg direction and the number of tower legs for the drawn tower base section diagrams according to the preset measurement result standard.

[0022] Preferably, the specific operation process of step S1 includes:

[0023] Utilize the digital orthophoto map DOM, digital elevation model DEM, digital surface model DSM, digital line drawing DLG and laser point cloud data to conduct three-dimensional route selection and pole arrangement of the transmission line according to the preset transmission line design specifications to determine the line path and the center point coordinates of each tower.

[0024] Preferably, the specific operation process of step S2 includes: According to the terrain features such as mountainous areas, plains, and urban areas and the vegetation density, and the geographical conditions such as gully areas, use laser point cloud data processing software to extract and classify the point cloud layers corresponding to the ground points from the original laser point cloud data collected by aerial survey and export them as the point cloud ground layer.

[0025] Preferably, the simplest optimization algorithm in step S3 includes:

[0026] L1. Extract the lowest point on each tower base and tower leg direction, and then connect multiple line segments from the tower base center pile to the lowest point and then to the last point.

[0027] L2. Calculate the elevation deviation values of the point clouds at the intermediate points of the multiple line segments, find the points with the largest elevation deviation from each multiple line segment, and connect the head and tail to form a new multiple line segment connection again.

[0028] L3. Iteratively execute step L2 until the elevation deviation value of the point cloud on each multiple line segment is less than 0.2 meters, and the iteration terminates.

[0029] L4. Retain each node on the multiple line segment as the useful point cloud coordinates in the tower leg direction, and eliminate other points.

[0030] On the other hand, the present invention also discloses a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the processor is caused to execute the steps of the above method.

[0031] In another aspect, the present invention also discloses a computer device, including a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor is caused to execute the steps of the above method.

[0032] As can be seen from the above technical solutions, the present invention provides a method for extracting the cross-sectional diagram of a tower base from point cloud data. Compared with the prior art, the present invention has the following advantages:

[0033] 1. The present invention automatically extracts the cross-sectional measurement points of the tower base based on radar point cloud data, replacing manual field measurement or extraction from DEM. The extraction from point cloud data has higher refinement, higher extraction accuracy, and higher data accuracy, and can save a large amount of field measurement costs.

[0034] 2. The present invention uses the simplest optimization algorithm to optimize and select the coordinates on each direction line of the tower legs. While retaining the information of key nodes, steep slopes, and cliffs, a large number of redundant points are removed, and the generated cross-sectional diagram of the tower base is more concise and accurate. It can not only reduce the data processing volume for subsequent cross-sectional diagram generation and automatic quality inspection of the cross-sectional diagram, improve the cross-sectional generation speed and automatic inspection speed, but also reduce a large data point cloud error and improve the quality of cross-sectional diagram generation.

[0035] 3. According to the extracted cross-sectional point coordinates of the tower base, the present invention can automatically draw the cross-sectional diagram of the tower base in batches and perform quality inspection, which not only saves manpower but also improves the inspection efficiency.

[0036] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Of course, any product implementing the present invention does not necessarily need to achieve all the above advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The attached drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0038] Figure 1 is a schematic diagram of the overall process of the present invention;

[0039] Figure 2 is an example diagram of the point cloud display in the direction of a single tower base tower leg of the present invention;

[0040] Figure 3 is an example diagram of the automatic drawing of the tower base cross-section of the present invention;

[0041] Figure 4 is an example diagram of the inspection result of the tower base cross-sectional diagram of the present invention. Detailed implementation manners

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0043] In the embodiments, refer in detail to Figures 1 to 4 .

[0044] As Figure 1 shown, the method for extracting the tower base cross-section diagram from point cloud data proposed in the embodiment of the present invention includes the following steps:

[0045] S1. The designer selects the line to determine the coordinates of the tower poles;

[0046] The designer uses the digital orthophoto map DOM, digital elevation model DEM, digital surface model DSM, digital line drawing DLG or laser point cloud data, etc. to perform three-dimensional route selection and pole arrangement of the transmission line according to the transmission line design specifications, so as to determine the line path and the coordinates of the center points of each tower pole;

[0047] S2. Extract and classify the ground point layer from the laser point cloud data collected by aerial survey;

[0048] Use a specified laser point cloud data processing software (such as LiDAR360, TerraSolid, etc.) to extract and classify the point cloud layer of the ground points from the original laser point cloud data collected by aerial survey, and export it as the point cloud ground layer;

[0049] When classifying and extracting the ground points from the laser point cloud data, various appropriate corresponding point cloud extraction algorithms should be applied according to different terrain features such as mountains, plains, urban areas, etc., and the vegetation density, and situations such as gully areas to classify and extract the ground points;

[0050] It should be noted at this time that automatically extracting the tower base cross-section measurement points based on the radar point cloud data, instead of manual field measurement or extraction from the DEM, has higher fineness, higher extraction accuracy, and higher data accuracy when extracting from the point cloud data, and can also save a large amount of field measurement costs;

[0051] In addition, it should be supplemented that the point density of the point cloud measured by the mainstream lidar scanning in China at present is 36 - 100 points per square meter. Basically, one measuring point of the tower base section can be extracted every 0.1 - 0.2 meters or so. Generally, one measuring point is set every 3 - 5 meters during the manual field measurement, and one measuring point is set every 1 or 5 meters for the DEM with relatively high precision. Moreover, during the generation of the DEM, it is processed by triangulation smoothing, resulting in serious loss of data accuracy. All important data such as steep slopes or cliffs are also likely to be lost, which will have a significant impact on the accuracy of the tower base section. Therefore, the extraction accuracy of the measuring points of the tower base section automatically extracted from the lidar point cloud data is higher and more refined. At the same time, compared with the field measurement, it can save a large amount of field measurement costs.

[0052] S3. As Figure 2 shown, determine the tower base measurement range and the requirements for the tower base measurement direction according to the design requirements of the transmission line towers of different voltage levels, different tower types, and the rotation angles, etc. Then, automatically crop the ground layer of the point cloud according to each tower base measurement range to generate the ground layer of the tower base point cloud with the specified tower base measurement range centered on the coordinates of each tower pole and the tower leg direction lines of each tower base, which is used as the combination of the tower base point cloud patches within a certain distance range (such as a square with a size of 30 * 30 meters or 50 * 50 meters, etc.) centered on the tower position center point. Then, batch extract the point cloud coordinates on each direction line of each tower leg of each tower base from the ground layer of the tower base point cloud with high precision according to the specified point spacing (such as a point spacing of 0.2m);

[0053] It should be noted that the tower base measurement range is generally determined according to the voltage level of the transmission line. For the 35kV transmission line, it is generally 20 * 20 meters; for the 110kV - 220kV transmission line, it is generally 30 * 30 meters; for the 500kV line, it is generally 40 * 40 meters; for the 800kV and above 1000kV lines, it is generally 50 * 50 meters or larger;

[0054] S4. Optimally select the point cloud coordinates on each direction line of all tower legs of each tower base according to the simplest optimization algorithm. While retaining the information of key nodes, steep slopes, and cliffs, a large number of redundant points are also removed, and the tower base section drawing can be generated simply and accurately;

[0055] Since the point cloud coordinates on each direction line of each tower leg of the tower base extracted from the ground layer of the tower base point cloud are generally relatively numerous, and it may reach more than 100 point cloud coordinates in the case of high point cloud density, it is necessary to perform optimal selection;

[0056] At this time, the simplest optimization algorithm is as follows: First, extract the lowest points in the direction of each tower base leg, then connect the center pile of the tower base to the lowest point and then to the last point to form a multi-segment line. Then, calculate the elevation and distance deviation values of the point cloud in the middle of the multi-segment line, find the points with the largest elevation deviation from each multi-segment line, connect the head and tail to form a new multi-segment line connection again, and continuously iterate and calculate until the elevation deviation value of the point cloud on each multi-segment line is less than 0.2 meters and the iteration terminates. Each node on the multi-segment line is reserved as the useful point cloud coordinate in the tower leg direction, and other points are removed;

[0057] At this time, optimizing the number of point clouds through the simplest optimization algorithm can not only reduce the data processing volume for subsequent end-face diagram generation and automatic quality inspection of cross-section diagrams, improve the cross-section generation speed and automatic inspection speed, but also reduce large data point cloud errors and improve the quality of cross-section diagram generation;

[0058] S5. Automatically draw the tower base cross-section diagram in batches;

[0059] According to the optimized tower base leg coordinate file, use tower base cross-section drawing software or CASS plug-ins, etc. to generate tower base cross-section files (such as SCR files), and then use software such as CASS or ArcGIS to automatically draw the tower base cross-section diagram. The drawn cross-section diagram can be referred to Figure 3 ;

[0060] S6. Automatically check the quality of the tower base cross-section diagram;

[0061] Use software to perform relevant quality inspections on the automatically drawn tower base cross-section diagram according to the measurement result standards. At this time, using software to automatically check the quality of the tower base cross-section diagram not only saves manpower but also improves the inspection efficiency;

[0062] Since the tower bases of transmission lines with a voltage level of 220 kV and above are generally measured and drawn according to 8 tower leg direction lines, and the tower bases of transmission lines with a voltage level of 35 kV to 110 kV are generally measured and drawn according to 4 tower leg direction lines, the main inspections are whether the distance values in the tower leg direction meet the design requirements and whether the number of tower legs is 4 or 8, etc. The result after the automatic inspection of the tower base is the final product. Those that do not pass need to be manually inspected and modified. The inspection results can be referred to Figure 4 。

[0063] In summary, based on the method of this application, the present invention also discloses a system for extracting tower base cross-section diagrams from point cloud data. The system internally stores corresponding logic modules and input modules, where:

[0064] The input module is used to input corresponding parameters and data to be processed;

[0065] The logic module is used to execute the method for extracting tower base cross-section diagrams from point cloud data based on preset parameters and data to be processed.

[0066] The system can determine 4 tower leg directions or 8 tower leg direction lines according to the selected tower type and rotation angle of the tower by the designer. After the designer selects the positions and coordinates of all the poles and towers, it can complete the extraction, drawing, and automatic inspection of the tower foundation cross-section diagrams of all the towers with one key, greatly improving the work efficiency of the survey and design of transmission lines.

[0067] In a specific embodiment, for 10 medium and large-scale transmission line projects that have completed the survey, the traditional measured tower foundation cross-section diagrams of these lines were collected. Then, the tower foundation cross-section diagrams were automatically generated from the radar point cloud data of these lines using this method. Finally, manual superposition elevation comparison inspection and inspection of the tower base point cloud extraction rate, tower base integrity, and compliance were carried out. The inspection results are shown in the following table:

[0068]

[0069] After manual verification and comparison, the elevation differences of 97% - 99% of the tower foundations in the tower foundation cross-section diagrams of the 10 transmission lines are between 0.1 - 0.3m. The accuracy of the data results meets the requirements of the survey specifications, and the accuracy rate > 97%. The tower foundation cross-section diagrams extracted and drawn by the software are accurate and reliable.

[0070] On the other hand, the present invention also discloses a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is caused to execute the steps of the above method.

[0071] On yet another aspect, the present invention also discloses a computer device including a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor is caused to execute the steps of the above method.

[0072] In another embodiment provided by the present application, a computer program product including instructions is also provided. When it runs on a computer, the computer is caused to execute the method for extracting the tower foundation cross-section diagram from point cloud data in any of the above embodiments.

[0073] It can be understood that the system provided by the embodiments of the present invention corresponds to the method provided by the embodiments of the present invention. The explanations, examples, and beneficial effects of the relevant content can refer to the corresponding parts in the above method.

[0074] The embodiments of the present application also provide an electronic device including a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus.

[0075] The memory is used to store a computer program.

[0076] A processor, when executing a program stored in a memory, implements the method for extracting the sectional view of the tower base from the point cloud data as described above.

[0077] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc.

[0078] The communication interface is used for communication between the above electronic device and other devices.

[0079] The memory can include a Random Access Memory (RAM), or can also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located far from the aforementioned processor.

[0080] The above-mentioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0081] It should also be noted that the electronic device further includes a terminal device, which can also be referred to as a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), etc. The terminal device can be a mobile phone, smart TV, wearable device, tablet computer (Pad), computer with wireless transceiver function, virtual reality (VR) terminal device, augmented reality (AR) terminal device, wireless terminal in industrial control, wireless terminal in self-driving, wireless terminal in remote medical surgery, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, and so on. The specific technologies and device forms adopted by the terminal device in the embodiments of the present application are not limited.

[0082] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium, or a semiconductor medium (such as a solid state disk (SSD)).

[0083] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

[0084] In addition, it should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, then these directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If this specific posture changes, then the directional indications will also change accordingly.

[0085] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, then these descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, in the embodiments of the present invention, "a plurality" means two or more. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

Claims

1. A method for extracting the cross-sectional view of a tower base from point cloud data, characterized in that, It includes the following steps: S1. Select a line to determine the coordinates of the pole tower; S2. Collect, extract, and classify the ground layer of the point cloud; S3. Determine the measurement range and direction of the tower base, crop the ground layer of the point cloud, generate a combined patch of the tower base point cloud, and then batch extract the point cloud coordinates on each direction line of each tower leg of the tower base from the ground layer of the tower base point cloud at a specified point spacing; S4. Optimally select the point cloud coordinates on each direction line of all tower legs of the tower base according to the simplest optimization algorithm to eliminate redundant point cloud coordinates; The simplest optimization algorithm in the S4 step includes: L1. Extract the lowest point on each direction of the tower leg of each tower base, and then connect the center pile of the tower base to the lowest point and then to the last point to form a polyline; L2. Calculate the elevation deviation value of the point cloud in the middle of the polyline, find the points with the largest elevation deviation from each polyline, and connect the head and tail to form a new polyline connection again; L3. Iteratively execute step L2 until the elevation deviation value of the point cloud on each polyline is less than 0.2 meters, and the iteration terminates; L4. Retain each node on the polyline as the useful point cloud coordinates in the tower leg direction, and eliminate other points; S5. Batch draw the tower base cross-section diagram using tower base cross-section drawing software; S6. Check the distance value and the number of tower legs in the tower leg direction.

2. The method for extracting the cross-sectional view of the tower base from point cloud data according to claim 1, wherein The specific operation process of the S1 step includes: Using the digital orthophoto map DOM, digital elevation model DEM, digital surface model DSM, digital line drawing DLG, and laser point cloud data, perform three-dimensional line selection and pole arrangement of the transmission line according to the preset transmission line design specifications to determine the line path and the coordinates of the center points of each pole tower.

3. The method for extracting the cross-sectional view of the tower base from point cloud data according to claim 1, wherein, The specific operation process of the S2 step includes: According to the terrain features such as mountains, plains, and urban areas and the vegetation density, and the geographical conditions such as gully areas, use laser point cloud data processing software to extract and classify the point cloud layer corresponding to the ground points from the original laser point cloud data collected by aerial survey, and export it as the ground layer of the point cloud.

4. A computer-readable storage medium, characterized in that, There is a computer program stored, and when the computer program is executed by a processor, the processor is caused to execute the steps of the method according to any one of claims 1 to 3.

5. A computer device, characterized in that, It includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to execute the steps of the method according to any one of claims 1 to 3.

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