Earth-rock three-dimensional calculation model establishment method and earth-rock volume calculation method

Abstract

The invention relates to an earthwork three-dimensional calculation model establishment method and an earthwork volume calculation method, and belongs to the technical field of geological surveying and mapping, and the establishment method comprises the steps: thinning top surface point cloud data, and obtaining a plurality of initial three-dimensional coordinate points at equal intervals in the projection of a horizontal plane; determining a first projection point of the initial three-dimensional coordinate point on a horizontal plane; performing same-rectangle equal-area partitioning on the first projection point in a horizontal plane to generate a plurality of rectangular partitions; inserting a second projection point into the to-be-inserted area according to the elevation information of the initial three-dimensional coordinate point; determining three closest points in the to-be-detected project area as a group of projection point set; determining top surface three-dimensional coordinate points corresponding to each group of projection point sets in the top surface point cloud data, and determining bottom surface three-dimensional coordinate points corresponding to each group of projection point sets in the bottom surface point cloud data; and connecting each group of top surface three-dimensional coordinate points, connecting each group of bottom surface three-dimensional coordinate points, and connecting the top surface three-dimensional coordinate points and the bottom surface three-dimensional coordinate points with the same coordinates on the horizontal plane to establish an earthwork three-dimensional calculation model. According to the invention, the earth-rock calculation precision is improved.

Description

Technical Field

[0001] The present application relates to the technical field of geological surveying and mapping, and in particular to a method for establishing a three-dimensional calculation model of earthwork and a method for calculating the volume of earthwork. Background Art

[0002] In the process of mine geological environment governance and mine ecological restoration projects, a large amount of earthwork volume calculation is involved. The accuracy of the earthwork volume calculation results not only affects the investment budget and design optimization of the project, but also affects the settlement of the project and the implementation of the construction plan.

[0003] The current method for calculating the volume of earthwork and stone is to obtain the point cloud data of earthwork and stone through the low-altitude photogrammetry technology of unmanned aerial vehicles and establish a triangulated earthwork calculation model.

[0004] The point cloud data measured by drones are "irregular" data. After thinning, the point cloud data are evenly spaced, which can easily ignore the complex terrain covered by earth and stone, and easily lead to a large difference between the generated three-dimensional model of earth and stone and the actual situation, thus causing large calculation errors. Summary of the invention

[0005] In order to improve the calculation accuracy of earthwork, the present application provides a method for establishing a three-dimensional calculation model of earthwork and a method for calculating the volume of earthwork.

[0006] In the first aspect, the present application provides a method for establishing a three-dimensional calculation model of earthwork, which adopts the following technical solution: Obtain top surface point cloud data and bottom surface point cloud data of earth and stone in the project area to be tested; Thinning the top surface point cloud data to obtain a plurality of initial three-dimensional coordinate points with equal spacing in the projection on the horizontal plane; Determine a first projection point of the initial three-dimensional coordinate point on a horizontal plane; Divide the first projection point into rectangular equal-area partitions in a horizontal plane to generate a plurality of rectangular partitions, wherein each of the partitions includes at least four of the initial three-dimensional coordinate points; Inserting a second projection point into the area to be inserted according to the elevation information of the initial three-dimensional coordinate point, wherein the area to be inserted includes at least one of the interior of a partition, a partition boundary line, and a boundary line of the project area to be measured, and the boundary line of the project area to be measured is an external contour line formed by projecting earth and stone in the project area to be measured onto a horizontal plane; Determine the three second projection points and / or second projection points closest to each other in the project area to be tested as a group of projection point sets, wherein triangles generated by connecting lines of each group of projection point sets do not intersect each other; Determine the top surface three-dimensional coordinate points corresponding to each group of the projection point sets in the top surface point cloud data, and determine the bottom surface three-dimensional coordinate points corresponding to each group of the projection point sets in the bottom surface point cloud data; Each group of the top surface three-dimensional coordinate points is connected to form a top surface triangle, each group of the bottom surface three-dimensional coordinate points is connected to form a bottom surface triangle, and the top surface three-dimensional coordinate points with the bottom surface three-dimensional coordinate points with the same coordinates on the horizontal plane are connected to establish a three-dimensional calculation model for earthwork.

[0007] By adopting the above technical scheme, the projection points on the horizontal plane are first obtained according to the point cloud data, and then the project area to be measured is divided into zones, and the projection points in the thinned zones are encrypted in a targeted manner. The zones with large elevation differences may have more complex terrains, and the projection points in the corresponding zones are denser. The top and bottom surfaces of the triangular prisms are determined respectively by the projection points. In the generated three-dimensional earthwork calculation model, the earthwork model in the zones with complex terrains is more refined, and the corresponding truncated triangular prisms are denser, which is convenient for improving the calculation accuracy.

[0008] Further, the method inserts a second projection point into the area to be inserted according to the elevation information of the initial three-dimensional coordinate point, wherein the area to be inserted includes at least one of the interior of a partition, a partition boundary line, and a boundary line of the project area to be measured, and the boundary line of the project area to be measured is an external contour line formed by projecting earth and stone in the project area to be measured onto a horizontal plane, including: performing height difference analysis on the project area to be measured according to the elevation information of the initial three-dimensional coordinate point in the project area to be measured, obtaining a maximum height difference value of the project area to be measured, and performing height difference analysis on each partition according to the elevation information of the initial three-dimensional coordinate point in the partition, obtaining a maximum height difference value in the partition; According to the relationship between the maximum height difference of the project area and the maximum height difference in the partition, a second projection point is inserted in the partition; and the second projection point is inserted on the boundary line of the project area to be tested and the boundary line of the partition respectively.

[0009] By adopting the above technical solution, when inserting the second projection point, the maximum height difference in the project area to be tested is first analyzed, and then the maximum height difference in the partition is determined. By comparing the maximum height difference in the partition with the maximum height difference in the project area, the second projection point is inserted in the partition, and then the second projection point is inserted on the boundary of the project area to be tested and the boundary line of the partition, so that the projection points at each position of the project area to be tested are encrypted.

[0010] Furthermore, inserting a second projection point in the partition according to the relationship between the maximum height difference value of the project area and the maximum height difference value in the partition includes: If the maximum height difference value within the partition of the partition is greater than or equal to 30% of the maximum height difference value of the project area, insert two second projection points between two adjacent first projection points within the partition; If the maximum height difference value within the partition of the partition is greater than or equal to 20% of the maximum height difference value of the project area, insert a second projection point between two adjacent first projection points within the partition; If the maximum height difference value within the partition of the partition is less than 20% of the maximum height difference value of the project area, the second projection point is not inserted.

[0011] By adopting the above technical solution, the electronic equipment sets up three different echelons according to the relationship between the maximum height difference in the partition and the maximum height difference in the project area. The greater the difference, the more second projection points are inserted between two adjacent first projection points, which makes the subsequent generation of earth and stone oblique truncated triangular prisms more refined, thereby facilitating improved calculation accuracy.

[0012] Furthermore, the inserting of second projection points on the project area boundary line and the partition boundary line respectively comprises: Obtaining a minimum distance between two adjacent projection points in partitions on both sides of a partition boundary line, inserting a plurality of second projection points on the partition boundary line, wherein the distance between two adjacent second projection points is equal to the minimum distance; Inserting a second projection point at the inflection point of the boundary line of the item area to be tested; Take any partition where the boundary line of the project area to be tested is located as the current partition, and determine whether the distance between two adjacent second projection points on the boundary line of the project area to be tested in the current partition is greater than the distance between two adjacent projection points in the current partition; if so, insert a new second projection point between the two adjacent second projection points, so that the distance between the new second projection point and one of the second projection points or the previous new second projection point is equal to the distance between two adjacent projection points in the partition; The next partition where the boundary line of the project area to be tested is located is determined as the current partition, and the determination step is repeated until all the partitions where the boundary line of the project area to be tested is located are traversed.

[0013] By adopting the above technical solution, when the electronic device inserts the second projection point onto the partition boundary line, the spacing of the inserted points is set according to the spacing between two adjacent projection points in the partitions on both sides; when inserting the second projection point on the boundary line of the project area to be tested, the point is first inserted at the inflection point, and then the second projection point is inserted again on the interval on the boundary line that is greater than the spacing between points in the partition. Therefore, the density of points on the partition boundary line and the boundary line of the project area to be tested can be made the same as the density of points corresponding to the partitions, which facilitates a more refined combination of the projection points.

[0014] Further, determining the top surface three-dimensional coordinate points corresponding to each group of the projection point sets in the top surface point cloud data includes: Determine an initial three-dimensional coordinate point corresponding to the first projection point in the projection point set as the top surface three-dimensional coordinate point; Determine whether there is an original three-dimensional coordinate point corresponding to the second projection point in the projection point set in the top surface point cloud data, and the projection of the original three-dimensional coordinate point on the horizontal plane coincides with the second projection point in the projection point set; If it exists, determining the original three-dimensional coordinate point corresponding to the second projection point in the projection point set as the top surface three-dimensional coordinate point; If not present, include: Determine a second projection point in the projection point set that does not have a corresponding original three-dimensional coordinate point as a pending point; Determine a third projection point of the top surface point cloud data on a horizontal plane; Selecting a preset number of third projection points adjacent to the point to be determined as calculation points; Arrange the calculation points in ascending order according to the distance between each calculation point and the point to be determined; Assigning weights to each of the calculation points in sequence order; The elevation information of the original three-dimensional coordinate points corresponding to each of the calculated points is calculated as a weighted average according to the weights to obtain the elevation information of the undetermined point, and the top surface three-dimensional coordinate point is determined according to the plane coordinates and elevation information of the undetermined point.

[0015] By adopting the above technical solution, when determining the top surface three-dimensional coordinate point corresponding to the projection point set, the initial three-dimensional coordinate point is first included, and then the point consistent with the plane coordinates of the projection point set is searched in the top surface point cloud data. If the point consistent with the plane coordinates is not found, a weighted calculation is performed based on multiple adjacent points to estimate the elevation information, thereby making the top surface three-dimensional coordinate point more consistent with the corresponding position.

[0016] Further, three second projection points and / or second projection points that are closest to each other in the item area to be tested are determined as a set of projection points, including: Determine two adjacent second projection points on the boundary line of the item to be measured as basic points of a set of projection points; Determine the first projection point or the second projection point closest to the two base points as the third point of the projection point set; The third point and each of the base points are respectively used as the base points of a new set of projection points, and the step of determining the first projection point or the second projection point closest to the two base points as the third point of the projection point set is repeated to obtain a new set of projection points, until all points in the project area to be measured are divided into corresponding projection point sets, and each of the projection point sets includes three points.

[0017] By adopting the above technical solution, the electronic device first determines the basic point of the projection point set in a certain order, and then determines the third point by the nearest principle, and then replaces the basic point in the projection point set again, and repeats the process of finding the third point, so that every point is not missed, and each point is located in at least one projection point set, thereby achieving fast and accurate matching.

[0018] In a second aspect, the present application provides a method for calculating the volume of earthwork, characterized in that the three-dimensional earthwork calculation model established by the method for establishing a three-dimensional earthwork calculation model according to any one of the first aspects includes: Obtaining a truncated triangular prism composed of lines connecting the top triangles and the bottom triangles corresponding to the same set of projection points in the three-dimensional calculation model of earthwork; Determine the straight cross-sectional area of ​​the truncated triangular prism according to the three-dimensional coordinates of each vertex of the truncated triangular prism; Calculate the average lengths of the three side edges of the truncated triangular prism; Calculate the volume of the obliquely truncated triangular prism as the product of the straight cross-sectional area and the average length; The volumes of the truncated triangular prisms are added together to calculate the volume of earth and stone.

[0019] By adopting the above technical solution, a three-dimensional calculation model for earthwork is established, and the corresponding truncated triangular prisms in areas with complex terrain are more dense, which facilitates improving the accuracy of earthwork volume after calculating the volume of each truncated triangular prism.

[0020] In a third aspect, the present application provides a device for establishing a three-dimensional calculation model of earthwork, which adopts the following technical solutions: a point cloud data acquisition module, used to acquire top surface point cloud data and bottom surface point cloud data of earthwork in the project area to be measured; a thinning module, used to thin the top surface point cloud data to obtain a plurality of initial three-dimensional coordinate points with equal spacing in the projection on the horizontal plane; A first projection point determination module, used to determine a first projection point of the initial three-dimensional coordinate point on a horizontal plane; A partitioning module, used for partitioning the first projection point into rectangular equal-area partitions in a horizontal plane to generate a plurality of rectangular partitions, wherein each of the partitions includes at least four of the initial three-dimensional coordinate points; A second projection point insertion module is used to insert a second projection point into the area to be inserted according to the elevation information of the initial three-dimensional coordinate point, wherein the area to be inserted includes at least one of the interior of a partition, a partition boundary line, and a boundary line of the project area to be measured, and the boundary line of the project area to be measured is an external contour line formed by projecting the earth and stone in the project area to be measured onto a horizontal plane; A projection point set combination module, used for determining the three closest second projection points and / or second projection points in the project area to be tested as a group of projection point sets, wherein the triangles generated by the connecting lines of each group of the projection point sets do not intersect each other; A three-dimensional coordinate point determination module, used to determine the top surface three-dimensional coordinate points corresponding to each group of the projection point sets in the top surface point cloud data, and to determine the bottom surface three-dimensional coordinate points corresponding to each group of the projection point sets in the bottom surface point cloud data; The module for establishing a three-dimensional calculation model for earthwork is used to connect each group of the top surface three-dimensional coordinate points to form a top surface triangle, connect each group of the bottom surface three-dimensional coordinate points to form a bottom surface triangle, and connect the top surface three-dimensional coordinate points with the bottom surface three-dimensional coordinate points with the same coordinates on the horizontal plane to establish a three-dimensional calculation model for earthwork.

[0021] By adopting the above technical scheme, the projection points on the horizontal plane are first obtained according to the point cloud data, and then the project area to be measured is divided into zones, and the projection points in the thinned zones are encrypted in a targeted manner. The zones with large elevation differences may have more complex terrains, and the projection points in the corresponding zones are denser. The top and bottom surfaces of the triangular prisms are determined respectively by the projection points. In the generated three-dimensional earthwork calculation model, the earthwork model in the zones with complex terrains is more refined, and the corresponding truncated triangular prisms are denser, which is convenient for improving the calculation accuracy.

[0022] In a fourth aspect, the present application provides an electronic device, which adopts the following technical solution: An electronic device, comprising: at least one processor; Memory; At least one computer program, wherein the at least one computer program is stored in the memory and configured to be executed by the at least one processor, the at least one computer program being configured to: execute the method as described in any one of the first aspects.

[0023] In a fifth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium stores a computer program that can be loaded by a processor and executes the method as described in any one of the first aspects.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. First, the projection points on the horizontal plane are obtained according to the point cloud data, and then the project area to be tested is partitioned, and the projection points in the thinned partitions are encrypted in a targeted manner. The partitions with large elevation differences may have more complex terrain, so the projection points in the corresponding partitions are denser, and the top and bottom surfaces of the triangular prisms are determined respectively by the projection points. In this way, in the generated three-dimensional earthwork calculation model, the earthwork model in the partitions with complex terrain is more refined, and the corresponding oblique truncated triangular prisms are denser, which is convenient for improving the calculation accuracy; 2. When inserting the second projection point, the points on the partition boundary line and the boundary line of the project area to be tested can be made to have the same density as the points corresponding to the partition, which is convenient for more precise combination of the projection points; 3. When determining the top surface three-dimensional coordinate point corresponding to the projection point set, search for points in the top surface point cloud data that are consistent with the plane coordinates of the projection point set. If no points with consistent plane coordinates are found, perform weighted calculation based on multiple adjacent points to estimate the elevation information, thereby making the top surface three-dimensional coordinate point more consistent with the corresponding position. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of the method for establishing a three-dimensional calculation model of earthwork in an embodiment of the present application.

[0026] Figure 2 It is a schematic diagram of the first projection point and the range line of the project area to be measured in the embodiment of the present application.

[0027] Figure 3 It is a schematic diagram of each partition in the embodiment of the present application.

[0028] Figure 4 It is a schematic diagram of inserting a second projection point into a partition in an embodiment of the present application.

[0029] Figure 5 It is a schematic diagram of inserting a second projection point onto a partition boundary line in an embodiment of the present application.

[0030] Figure 6 It is a schematic diagram of partition 1 in an embodiment of the present application.

[0031] Figure 7 It is a schematic diagram of each projection point set in the embodiment of the present application.

[0032] Figure 8 It is a schematic diagram of determining the top surface three-dimensional coordinate points and the bottom surface three-dimensional coordinate points according to the projection point set in the embodiment of the present application, and calling itself a truncated triangular prism.

[0033] Fig. 9 It is a flow chart of the method for calculating the volume of earth and stone in the embodiment of the present application.

[0034] Fig.10It is a structural block diagram of the earthwork three-dimensional calculation model establishment device in the embodiment of the present application.

[0035] Fig.11 It is a structural block diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0038] The present application embodiment discloses a method for establishing a three-dimensional calculation model of earthwork. Figure 1 , executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a desktop computer, etc., but is not limited thereto. It includes (steps S101 to S108): Step S101: obtaining top surface point cloud data and bottom surface point cloud data of earth and stone in the project area to be tested.

[0039] Specifically, the electronic device obtains point cloud data of the project area to be measured before the earth and stone are piled up, that is, the bottom surface point cloud data, through the drone, and obtains point cloud data again through the drone after the earth and stone are piled up, that is, the top surface point cloud data. During actual measurement, the bottom surface point cloud data and the top surface point cloud data include at least the data of the project area to be measured, and also include part of the data outside the project area to be measured.

[0040] Point cloud data includes multiple three-dimensional coordinate points and the elevation information of each three-dimensional coordinate point.

[0041] Step S102: thinning the top surface point cloud data to obtain a plurality of initial three-dimensional coordinate points with equal spacing in the projection on the horizontal plane.

[0042] Specifically, the electronic device imports the top surface point cloud data into processing software, such as Trimble RealWorks, PCL (Point Cloud Library), etc., and selects an equidistant thinning method. The thinned top surface point cloud data is the initial three-dimensional coordinate points, and the projections of the initial three-dimensional coordinate points in the horizontal plane are equidistantly distributed.

[0043] Step S103: Determine the first projection point of the initial three-dimensional coordinate point on the horizontal plane.

[0044] Reference Figure 2 , the black dot is the first projection point, and the red line is the boundary line of the project area to be tested. The boundary line of the project area to be tested is the outer contour line formed by projecting the earth and stone in the project area to be tested onto the horizontal plane.

[0045] Step S104: partitioning the first projection point into rectangular equal-area partitions in the horizontal plane to generate a plurality of rectangular partitions, wherein each of the partitions includes at least four of the initial three-dimensional coordinate points.

[0046] Specifically, the electronic device divides the first projection point into a plurality of rectangular partitions, and the partition boundary must be greater than twice the point spacing of adjacent first projection points to ensure that the projection points are effectively encrypted later. The partition covers the project area to be tested, and the boundary line of the project area to be tested is located within the partition.

[0047] Reference Figure 3 , the first projection point is divided into 25 partitions, which are divided according to four times the point spacing in the figure, and each partition includes 16 first projection points.

[0048] Step S105: inserting a second projection point into the area to be inserted according to the elevation information of the initial three-dimensional coordinate point, wherein the area to be inserted includes at least one of the interior of a partition, a partition boundary line, and a boundary line of the project area to be tested, and the boundary line of the project area to be tested is an external contour line formed by projecting earth and stone in the project area to be tested onto a horizontal plane, including (steps S1051 to S1053): Step S1051: Perform height difference analysis on the project area to be tested according to the elevation information of the initial three-dimensional coordinate points in the project area to be tested to obtain the maximum height difference value of the project area to be tested, and perform height difference analysis on each partition according to the elevation information of the initial three-dimensional coordinate points in the partition to obtain the maximum height difference value in the partition.

[0049] Specifically, the maximum height difference of the project area to be tested is the difference between the maximum value and the minimum value of the elevation information in the project area to be tested, and the maximum height difference in the partition is the difference between the maximum value and the minimum value of the elevation information in each partition.

[0050] Step S1052: inserting a second projection point in the partition according to the relationship between the maximum height difference value of the project area and the maximum height difference value in the partition.

[0051] A: If the maximum height difference within the partition of the partition is greater than or equal to 30% of the maximum height difference of the project area, two second projection points are inserted between two adjacent first projection points in the partition.

[0052] Reference Figure 4 In the partition 3, if the maximum height difference in the partition is greater than or equal to 30% of the maximum height difference in the project area, the elevation difference of the initial three-dimensional coordinate points in the current partition is relatively large, and the actual earthwork situation in the current partition is relatively complicated, then the projection points in the current partition can be encrypted to facilitate the detailed analysis of the current partition. Therefore, two second projection points are inserted between the two adjacent first projection points in the horizontal, vertical and oblique directions, so that the new point spacing in the partition is 1 / 2 of the original point spacing.

[0053] B: If the maximum height difference within the partition of the partition is greater than or equal to 20% of the maximum height difference of the project area, insert a second projection point between two adjacent first projection points within the partition.

[0054] Reference Figure 4 In the partition 2, if the maximum height difference in the partition is greater than or equal to 20% of the maximum height difference in the project area, the elevation difference of the initial three-dimensional coordinate points in the current partition is smaller than that in case A, but still higher than the average value of the project area to be measured. The actual complexity of the earthwork is medium. Then insert a second projection point between the two first projection points so that the new spacing in the partition is 1 / 2 of the origin spacing.

[0055] C: If the maximum height difference within the partition of the partition is less than 20% of the maximum height difference of the project area, the second projection point is not inserted.

[0056] Reference Figure 4 In partition 1, if the maximum height difference in the partition is less than 20% of the maximum height difference in the project area, the elevation difference of the initial three-dimensional coordinate point in the current partition is small, and the possibility of complex conditions in the earthwork is small, so the second projection point is not inserted.

[0057] Step S1053: inserting a second projection point on the boundary line of the project area to be tested and the boundary line of the partition, respectively, including (steps S10531 to S10533): Step S10531: obtaining the minimum distance between two adjacent projection points in the partitions on both sides of the partition boundary line, inserting multiple second projection points on the partition boundary line, and the distance between two adjacent second projection points is equal to the minimum distance.

[0058] Reference Figure 5, the purple point on the partition boundary line is the second projection point. For example, in partition 1 and partition 2, the distance between two adjacent projection points in partition 2 is the smallest, and the distance between two adjacent second projection points on the partition boundary line between partition 1 and partition 2 is equal to the distance between two adjacent projection points in partition 2.

[0059] Step S10532: inserting a second projection point at the inflection point of the boundary line of the item area to be tested.

[0060] Specifically, there is no projection point on the boundary line of the item area to be tested, and the boundary line of the item area to be tested is an irregular line, so the second projection point is firstly inserted at the inflection point.

[0061] Step S10533: taking any partition where the boundary line of the tested item area is located as the current partition, and determining whether the distance between two adjacent second projection points on the boundary line of the tested item area in the current partition is greater than the distance between two adjacent projection points in the current partition.

[0062] Specifically, when the project area to be tested is divided into multiple partitions, a partition in one corner can be used as the current partition, for example Figure 5 and Figure 6 First, partition 1 is used as the current partition. The blue point is the second projection point. Points a, b, and c are all corner points.

[0063] Then, it is determined whether the distance between two inflection points on the boundary line of the item to be tested in partition 1 is greater than the distance between two adjacent black projection points in partition 1.

[0064] If so, execute step S10533: insert a new second projection point between two adjacent second projection points, so that the distance between the new second projection point and one of the second projection points or the previous new second projection point is equal to the distance between two adjacent projection points in the partition; otherwise, execute step S10534: do not insert the second projection point.

[0065] As can be seen from the figure, the distance between point a and point b is greater than the distance between points in the partition, so a second projection point is inserted until the distance between any two adjacent second projection points between point a and point b is less than or equal to the distance between points in the partition, that is, point d is the inserted second projection point.

[0066] If the distance between point b and point c is smaller than the distance between points in the partition, the second projection point is not inserted.

[0067] Step S10535: determine that the next partition where the boundary line of the project area to be tested is located is the current partition, and repeat the determination step until all partitions where the boundary line of the project area to be tested is located are traversed.

[0068] Specifically, the electronic device may determine the next partition horizontally or vertically, and repeatedly execute step S10533, thereby inserting the second projection point onto the boundary line of the item area to be tested in each partition.

[0069] Step S106: Determine the three second projection points and / or second projection points closest to each other in the project area to be tested as a group of projection point sets, wherein the triangles generated by connecting lines of each group of projection point sets do not intersect each other, including (steps S1061 to S1063): Step S1061: determine two adjacent second projection points on the boundary line of the item to be measured as basic points of a set of projection points.

[0070] Specifically, the electronic device starts from any two adjacent second projection points on the item area to be tested and determines the base points of a set of projection points, for example, referring to Figure 6 and Figure 7 In partition 1, any two adjacent points on the project area to be tested are the basic points of a set of projection points, such as point e and point a, point a and point d, point d and point b, point b and point c are each the basic points of a set of projection points.

[0071] Step S1062: Determine the first projection point or the second projection point closest to the two base points as the third point of the projection point set.

[0072] Reference Figure 6 and Figure 7 , the first projection point or the second projection point closest to point e and point a is point f, point f is the third point of the projection point set, that is, point aef is a set of projection point sets.

[0073] Similarly, point adg, point dbh, and point bch are each a set of projection points.

[0074] Step S1063: Use the third point and each of the basic points as the basic points of a new set of projection points, repeat step S1062 to obtain a new set of projection points, until all points in the project area to be tested are divided into corresponding projection point sets, and each of the projection point sets includes three points.

[0075] For example, the electronic device uses point f and point a, point f and point e, point g and point a, point g and point d, point h and point d, point h and point b, point h and point c as the basic points of the new projection point set, and then repeatedly determines the third point closest to the basic point, that is, points gaf, hdg, chi are obtained as a new set of projection point sets, until all points in the project area to be tested are divided into the corresponding projection point sets, that is, Figure 7 There are multiple projection point sets shown, and each projection point set includes three points.

[0076] Step S107: determining the top surface three-dimensional coordinate points corresponding to each group of the projection point sets in the top surface point cloud data, and determining the bottom surface three-dimensional coordinate points corresponding to each group of the projection point sets in the bottom surface point cloud data.

[0077] An example is given for explaining the electronic device determining the top surface three-dimensional coordinate points corresponding to each set of projection points in the top surface point cloud data (steps S11 to S19): Step S11: determining an initial three-dimensional coordinate point corresponding to the first projection point in the projection point set as a top surface three-dimensional coordinate point.

[0078] Specifically, since the projection of the initial three-dimensional coordinate point on the horizontal plane, ie, the first projection point, is included in the projection point set, the initial three-dimensional coordinate point is used as the top surface three-dimensional coordinate point.

[0079] Step S12: Determine whether there is an original three-dimensional coordinate point corresponding to the second projection point in the projection point set in the top surface point cloud data, and the projection of the original three-dimensional coordinate point on the horizontal plane coincides with the second projection point in the projection point set; If it exists, then step S13: determine the original three-dimensional coordinate point corresponding to the second projection point in the projection point set as the top surface three-dimensional coordinate point.

[0080] Specifically, the electronic device first determines the x and y coordinates of each second projection point in the projection point set, and then searches the top surface point cloud data for whether there is an original three-dimensional coordinate point with consistent x and y coordinates; if so, the corresponding original three-dimensional point is determined as the top surface three-dimensional coordinate point.

[0081] If not present, include: Step S14: determining a second projection point for which there is no corresponding original three-dimensional coordinate point in the projection point set as a pending point.

[0082] Step S15: Determine a third projection point of the top surface point cloud data on the horizontal plane.

[0083] Specifically, the electronic device may determine the x and y coordinates of the top surface point cloud data as the third projection point on the horizontal plane.

[0084] Step S16: selecting a preset number of third projection points adjacent to the point to be determined as calculation points.

[0085] Step S17: Arrange the calculation points in ascending order according to the distance between each calculation point and the point to be determined.

[0086] Step S18: assigning weights to each of the calculation points in sequence order.

[0087] Step S19: Calculate the weighted average of the elevation information of the original three-dimensional coordinate points corresponding to each of the calculated points according to the weights to obtain the elevation information of the undetermined point, and determine the top surface three-dimensional coordinate point according to the plane coordinates and elevation information of the undetermined point.

[0088] Specifically, since the second projection point is a point inserted later, there may be no corresponding original three-dimensional coordinate point in the top surface point cloud data, and the elevation information of the second projection point may be similar to the elevation information of the points adjacent to the position.

[0089] For example, the preset number of calculation points can be selected according to actual needs. The calculation points are located around the unknown point. In order to estimate the unknown point based on the calculation points, the calculation points closer to the unknown point have larger corresponding weights, and the sum of the weights of each calculation point is 1.

[0090] The electronic device multiplies the elevation information of the original three-dimensional coordinate point corresponding to each calculation point with the corresponding weight, and then adds the values ​​obtained by each multiplication, and determines the summed value as the elevation information of the point to be determined. Therefore, the elevation information is used as the z-axis coordinate, combined with the x and y coordinates of the point to be determined, the top three-dimensional coordinate point of the point to be determined can be determined.

[0091] The electronic device adopts the same principle to determine the ground three-dimensional coordinate points corresponding to each group of projection point sets in the bottom surface point cloud data. First, it is determined whether there are original three-dimensional coordinate points corresponding to the points in the projection point set in the bottom surface point cloud data. If so, the original three-dimensional coordinate points corresponding to the points in the projection point set are determined as the bottom surface three-dimensional coordinate points; if not, the points in the projection point set that do not have corresponding original three-dimensional coordinate points are determined as the undetermined points, and the third projection point of the bottom surface point cloud data on the horizontal plane is determined. A preset number of third projection points adjacent to the undetermined point are selected as calculation points. The calculation points are arranged in ascending order according to the distance from each calculation point to the undetermined point, and weight values ​​are assigned to each calculation point in sequence order. The elevation information of the original three-dimensional coordinate points corresponding to each calculation point is calculated according to the weights to obtain the weighted average value, and the elevation information of the undetermined point is obtained. The bottom surface three-dimensional coordinate point is determined according to the plane coordinates and elevation information of the undetermined point.

[0092] Step S108: Connect each group of the top surface three-dimensional coordinate points to form a top surface triangle, connect each group of the bottom surface three-dimensional coordinate points to form a bottom surface triangle, and connect the top surface three-dimensional coordinate points with the bottom surface three-dimensional coordinate points with the same coordinates on the horizontal plane to establish a three-dimensional calculation model for earthwork.

[0093] Reference Figure 8, points a1, d1, and g1 are the top three-dimensional coordinate points corresponding to the projection point set adg, and points a2, d2, and g2 are the bottom three-dimensional coordinate points corresponding to the projection point set adg. Then the electronic device connects points a1, d1, and g1 to obtain a top triangle in three-dimensional space, connects points a2, d2, and g2 to obtain a bottom triangle in three-dimensional space, and then connects the top three-dimensional coordinate points with the bottom three-dimensional coordinate points with the same coordinates on the horizontal plane, that is, a1 is connected to a2, d1 is connected to d2, and g1 is connected to g2 to obtain a truncated triangular prism. Thus, the electronic device connects each group of three-dimensional top coordinate points with the corresponding bottom three-dimensional coordinate points to obtain a three-dimensional earthwork calculation model composed of multiple truncated triangular prisms.

[0094] Therefore, the present application can first obtain the projection points on the horizontal plane according to the point cloud data, and then partition the project area to be measured, and carry out targeted encryption of the projection points in the thinned partitions. The partitions with large elevation differences may have more complex terrain, and the projection points in the corresponding partitions are denser. The top and bottom surfaces of the triangular prism are determined respectively by the projection points. In the three-dimensional calculation model of earthwork generated in this way, the earthwork model in the partitions with complex terrain is more refined, and the corresponding truncated triangular prisms are denser, which is convenient for improving the calculation accuracy.

[0095] The present application also provides a method for calculating the volume of earthwork, wherein the three-dimensional earthwork calculation model established by the above-mentioned method for establishing the three-dimensional earthwork calculation model is referred to as Fig. 9 , including (step S201 to step S205): Step S201: Obtain a truncated triangular prism composed of lines connecting top triangles and bottom triangles corresponding to the same set of projection points in the three-dimensional calculation model of earthwork.

[0096] Step S202: Determine the straight cross-sectional area of ​​the truncated triangular prism according to the three-dimensional coordinates of each vertex of the truncated triangular prism.

[0097] Step S203: Calculate the average lengths of the three side edges of the truncated triangular prism.

[0098] Step S204: Calculate the volume of the truncated triangular prism as the product of the straight cross-sectional area and the average length.

[0099] Step S205: Add the volumes of the truncated triangular prisms to calculate the volume of earth and stone.

[0100] Specifically, the straight section of the oblique truncated triangular prism can be regarded as the projection of the bottom surface in the plane perpendicular to the side edge. The electronic device obtains the coordinates of the corner points of the straight section according to the three-dimensional coordinates of each vertex, and then directly calculates the area of ​​the straight section through the side length. The volume of the oblique truncated triangular prism is the product of the straight section area and the average length of the three side edges. Therefore, the electronic device calculates the volume of each oblique truncated triangular prism through the formula, and then adds the volumes of each oblique truncated triangular prism to calculate the volume of earth and stone.

[0101] In order to better implement the above method, the present application also provides a device for establishing a three-dimensional calculation model of earthwork, referring to Fig.10 The earthwork three-dimensional calculation model building device 300 includes: The point cloud data acquisition module 301 is used to acquire the top surface point cloud data and the bottom surface point cloud data of the earth and stone in the project area to be tested; the thinning module 302 is used to thin the top surface point cloud data to obtain a plurality of initial three-dimensional coordinate points with equal spacing in the projection on the horizontal plane; A first projection point determination module 303 is used to determine a first projection point of the initial three-dimensional coordinate point on a horizontal plane; A partitioning module 304 is used to partition the first projection point into rectangular equal-area partitions in a horizontal plane to generate a plurality of rectangular partitions, wherein each of the partitions includes at least four of the initial three-dimensional coordinate points; A second projection point insertion module 305 is used to insert a second projection point into the area to be inserted according to the elevation information of the initial three-dimensional coordinate point, wherein the area to be inserted includes at least one of the interior of a partition, a partition boundary line and a boundary line of the project area to be tested, and the boundary line of the project area to be tested is an external contour line formed by projecting the earth and stone in the project area to be tested onto a horizontal plane; a projection point set combination module 306 is used to determine the three second projection points and / or second projection points closest to each other in the project area to be tested as a group of projection point sets, wherein the triangles generated by connecting lines of each group of projection point sets do not intersect each other; The three-dimensional coordinate point determination module 307 is used to determine the top surface three-dimensional coordinate points corresponding to each group of the projection point sets in the top surface point cloud data, and determine the bottom surface three-dimensional coordinate points corresponding to each group of the projection point sets in the bottom surface point cloud data; the earthwork three-dimensional calculation model establishment module 308 is used to connect each group of the top surface three-dimensional coordinate points to form a top surface triangle, connect each group of the bottom surface three-dimensional coordinate points to form a bottom surface triangle, and connect the top surface three-dimensional coordinate points with the bottom surface three-dimensional coordinate points with the same coordinates on the horizontal plane to establish a three-dimensional calculation model for earthwork.

[0102] Further, the second projection point insertion module 305 is specifically used for: Perform height difference analysis on the project area to be measured according to the elevation information of the initial three-dimensional coordinate points in the project area to be measured, and obtain the maximum height difference value of the project area to be measured; perform height difference analysis on each partition according to the elevation information of the initial three-dimensional coordinate points in the partition, and obtain the maximum height difference value in the partition; According to the relationship between the maximum height difference of the project area and the maximum height difference in the partition, a second projection point is inserted in the partition; and the second projection point is inserted on the boundary line of the project area to be tested and the boundary line of the partition respectively.

[0103] Furthermore, the second projection point insertion module 305 inserts a second projection point in the partition according to the relationship between the maximum height difference value of the project area and the maximum height difference value in the partition, specifically for: If the maximum height difference value within the partition of the partition is greater than or equal to 30% of the maximum height difference value of the project area, insert two second projection points between two adjacent first projection points within the partition; If the maximum height difference value within the partition of the partition is greater than or equal to 20% of the maximum height difference value of the project area, insert a second projection point between two adjacent first projection points within the partition; If the maximum height difference value within the partition of the partition is less than 20% of the maximum height difference value of the project area, the second projection point is not inserted.

[0104] Furthermore, the second projection point insertion module 305 inserts second projection points on the project area boundary line and the partition boundary line respectively, specifically for: Insert a plurality of second projection points on the partition boundary line, wherein the distance between two adjacent second projection points is equal to the distance between two adjacent projection points in the partition; Inserting a second projection point at the inflection point of the boundary line of the item area to be tested; Take any partition where the boundary line of the project area to be tested is located as the current partition, and determine whether the distance between two adjacent second projection points on the boundary line of the project area to be tested in the current partition is greater than the distance between two adjacent projection points in the current partition; if so, insert a new second projection point between the two adjacent second projection points, so that the distance between the new second projection point and one of the second projection points or the previous new second projection point is equal to the distance between two adjacent projection points in the partition; The next partition where the boundary line of the project area to be tested is located is determined as the current partition, and the determination step is repeated until all the partitions where the boundary line of the project area to be tested is located are traversed.

[0105] Furthermore, the three-dimensional coordinate point determination module 307 determines the top surface three-dimensional coordinate points corresponding to each group of the projection point sets in the top surface point cloud data, specifically for: Determine an initial three-dimensional coordinate point corresponding to the first projection point in the projection point set as the top surface three-dimensional coordinate point; Determine whether there is an original three-dimensional coordinate point corresponding to the second projection point in the projection point set in the top surface point cloud data, and the projection of the original three-dimensional coordinate point on the horizontal plane coincides with the second projection point in the projection point set; If it exists, determining the original three-dimensional coordinate point corresponding to the second projection point in the projection point set as the top surface three-dimensional coordinate point; If not present, include: Determine a second projection point in the projection point set that does not have a corresponding original three-dimensional coordinate point as a pending point; Determine a third projection point of the top surface point cloud data on a horizontal plane; Selecting a preset number of third projection points adjacent to the point to be determined as calculation points; Arrange the calculation points in ascending order according to the distance between each calculation point and the point to be determined; Assigning weights to each of the calculation points in sequence order; The elevation information of the original three-dimensional coordinate points corresponding to each of the calculated points is calculated as a weighted average according to the weights to obtain the elevation information of the undetermined point, and the top surface three-dimensional coordinate point is determined according to the plane coordinates and elevation information of the undetermined point.

[0106] Furthermore, the projection point set combination module 306 determines the three closest second projection points and / or second projection points in the item area to be tested as a group of projection point sets, which is specifically used for: Determine two adjacent second projection points on the boundary line of the item to be measured as basic points of a set of projection points; Determine the first projection point or the second projection point closest to the two base points as the third point of the projection point set; The third point and each of the base points are respectively used as the base points of a new set of projection points, and the step of determining the first projection point or the second projection point closest to the two base points as the third point of the projection point set is repeated to obtain a new set of projection points, until all points in the project area to be measured are divided into corresponding projection point sets, and each of the projection point sets includes three points.

[0107] The various variations and specific examples of the methods in the aforementioned embodiments are also applicable to the three-dimensional calculation model establishment device for earthwork in this embodiment. Through the aforementioned detailed description of the three-dimensional calculation model establishment method for earthwork, technical personnel in this field can clearly know the implementation method of the three-dimensional calculation model establishment device for earthwork in this embodiment, so for the sake of brevity of the specification, it will not be described in detail here.

[0108] In order to better implement the above method, the present application embodiment provides an electronic device, referring to Fig.11 , the electronic device 400 includes: a processor 401, a memory 403 and a display screen 405. Among them, the memory 403 and the display screen 405 are connected to the processor 401, such as through a bus 402. Optionally, the electronic device 400 may also include a transceiver 404. It should be noted that in actual applications, the transceiver 404 is not limited to one, and the structure of the electronic device 400 does not constitute a limitation on the embodiments of the present application.

[0109] Processor 401 may be a CPU (Central Processing Unit), a general purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 401 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0110] The bus 402 may include a path to transmit information between the above components. The bus 402 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 402 may be divided into an address bus, a data bus, a control bus, etc.

[0111] The memory 403 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0112] The memory 403 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 401. The processor 401 is used to execute the application code stored in the memory 403 to implement the contents shown in the above method embodiment.

[0113] Fig.11 The electronic device 400 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0114] The embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, the method for establishing a three-dimensional calculation model of earthwork and the method for calculating the volume of earthwork provided in the above-mentioned embodiment are implemented. The projection points on the horizontal plane are first obtained according to the point cloud data, and then the project area to be measured is partitioned. The projection points in the partitions after thinning are encrypted in a targeted manner. The partitions with large elevation differences may have more complex terrain, so the projection points in the corresponding partitions are denser, and the top and bottom surfaces of the triangular prisms are respectively determined by the projection points. In the three-dimensional calculation model of earthwork generated in this way, the earthwork model in the partitions with complex terrain is more refined, and the corresponding truncated triangular prisms are denser, which is convenient for improving the calculation accuracy.

[0115] In this embodiment, the computer-readable storage medium may be a tangible device that holds and stores instructions used by the instruction execution device. The computer-readable storage medium may be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof. Specifically, the computer-readable storage medium may be a portable computer disk, a hard disk, a USB flash drive, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a podium random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, an optical disk, a magnetic disk, a mechanical encoding device, and any combination thereof.

[0116] The computer program in this embodiment includes program codes for executing all the aforementioned methods, and the program codes may include instructions corresponding to the steps of the methods provided in the above embodiments. The computer program can be downloaded from a computer-readable storage medium to various computing / processing devices, or downloaded to an external computer or external storage device via a network (e.g., the Internet, a local area network, a wide area network, and / or a wireless network). The computer program can be executed entirely on a user's computer or as an independent software package.

[0117] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

[0118] In addition, it is to be understood that relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprises," "comprising," or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or elements that are inherent to such process, method, article, or device.

Claims

1. A method for establishing a three-dimensional calculation model of earthwork, characterized in that: include: Obtain top surface point cloud data and bottom surface point cloud data of earth and stone in the project area to be tested; Thinning the top surface point cloud data to obtain a plurality of initial three-dimensional coordinate points with equal spacing in the projection on the horizontal plane; Determine a first projection point of the initial three-dimensional coordinate point on a horizontal plane; Divide the first projection point into rectangular equal-area partitions in a horizontal plane to generate a plurality of rectangular partitions, wherein each of the partitions includes at least four of the initial three-dimensional coordinate points; Inserting a second projection point into the area to be inserted according to the elevation information of the initial three-dimensional coordinate point, wherein the area to be inserted includes at least one of the interior of a partition, a partition boundary line, and a boundary line of the project area to be measured, and the boundary line of the project area to be measured is an external contour line formed by projecting earth and stone in the project area to be measured onto a horizontal plane; Determine the three second projection points and / or second projection points closest to each other in the project area to be tested as a group of projection point sets, wherein triangles generated by connecting lines of each group of projection point sets do not intersect each other; Determine the top surface three-dimensional coordinate points corresponding to each group of the projection point sets in the top surface point cloud data, and determine the bottom surface three-dimensional coordinate points corresponding to each group of the projection point sets in the bottom surface point cloud data; Each group of the top surface three-dimensional coordinate points is connected to form a top surface triangle, each group of the bottom surface three-dimensional coordinate points is connected to form a bottom surface triangle, and the top surface three-dimensional coordinate points with the bottom surface three-dimensional coordinate points with the same coordinates on the horizontal plane are connected to establish a three-dimensional calculation model for earthwork.

2. The method according to claim 1, characterized in that The method inserts a second projection point into the area to be inserted according to the elevation information of the initial three-dimensional coordinate point, wherein the area to be inserted includes at least one of the interior of a partition, a partition boundary line, and a boundary line of the project area to be measured, and the boundary line of the project area to be measured is an external contour line formed by projecting earth and stone in the project area to be measured onto a horizontal plane, including: Perform height difference analysis on the project area to be measured according to the elevation information of the initial three-dimensional coordinate points in the project area to be measured, and obtain the maximum height difference value of the project area to be measured; perform height difference analysis on each partition according to the elevation information of the initial three-dimensional coordinate points in the partition, and obtain the maximum height difference value in the partition; Inserting a second projection point in the partition according to the relationship between the maximum height difference value of the project area and the maximum height difference value in the partition; A second projection point is inserted respectively on the boundary line of the item area to be tested and the boundary line of the partition.

3. The method according to claim 2, characterized in that The inserting a second projection point in the partition according to the relationship between the maximum height difference value of the project area and the maximum height difference value in the partition comprises: If the maximum height difference within the partition of the partition is greater than or equal to 30% of the maximum height difference of the project area, two second projection points are inserted between two adjacent first projection points within the partition; If the maximum height difference within the partition of the partition is greater than or equal to 20% of the maximum height difference of the project area, insert a second projection point between two adjacent first projection points within the partition; If the maximum height difference within the partition of the partition is less than 20% of the maximum height difference of the project area, the second projection point is not inserted.

4. The method according to claim 2, characterized in that: The inserting of the second projection point on the project area boundary line and the partition boundary line respectively comprises: Obtaining a minimum distance between two adjacent projection points in partitions on both sides of a partition boundary line, inserting a plurality of second projection points on the partition boundary line, wherein the distance between two adjacent second projection points is equal to the minimum distance; Inserting a second projection point at the inflection point of the boundary line of the item area to be tested; Take any partition where the boundary line of the project area to be tested is located as the current partition, and determine whether the distance between two adjacent second projection points on the boundary line of the project area to be tested in the current partition is greater than the distance between two adjacent projection points in the current partition; if so, insert a new second projection point between the two adjacent second projection points, so that the distance between the new second projection point and one of the second projection points or the previous new second projection point is equal to the distance between two adjacent projection points in the partition; The next partition where the boundary line of the project area to be tested is located is determined as the current partition, and the determination step is repeated until all the partitions where the boundary line of the project area to be tested is located are traversed.

5. The method according to claim 1, characterized in that The step of determining the top surface three-dimensional coordinate points corresponding to each group of the projection point sets in the top surface point cloud data comprises: Determine the initial three-dimensional coordinate point corresponding to the first projection point in the projection point set as the top surface three-dimensional coordinate point; Determine whether there is an original three-dimensional coordinate point corresponding to the second projection point in the projection point set in the top surface point cloud data, and the projection of the original three-dimensional coordinate point on the horizontal plane coincides with the second projection point in the projection point set; If it exists, determining the original three-dimensional coordinate point corresponding to the second projection point in the projection point set as the top surface three-dimensional coordinate point; If not present, include: Determine a second projection point in the projection point set that does not have a corresponding original three-dimensional coordinate point as a pending point; Determine a third projection point of the top surface point cloud data on a horizontal plane; Selecting a preset number of third projection points adjacent to the point to be determined as calculation points; Arrange the calculation points in ascending order according to the distance between each calculation point and the point to be determined; Assigning weights to each of the calculation points in sequence order; The elevation information of the original three-dimensional coordinate points corresponding to each of the calculated points is calculated as a weighted average according to the weights to obtain the elevation information of the undetermined point, and the top surface three-dimensional coordinate point is determined according to the plane coordinates and elevation information of the undetermined point.

6. The method according to claim 1, characterized in that Determining the three second projection points and / or the second projection points that are closest to each other in the item area to be tested as a set of projection points includes: Determine two adjacent second projection points on the boundary line of the item to be measured as basic points of a set of projection points; Determine the first projection point or the second projection point closest to the two base points as the third point of the projection point set; The third point and each of the base points are respectively used as the base points of a new set of projection points, and the step of determining the first projection point or the second projection point closest to the two base points as the third point of the projection point set is repeated to obtain a new set of projection points, until all points in the project area to be measured are divided into corresponding projection point sets, and each of the projection point sets includes three points.

7. A method for calculating the volume of earthwork, characterized in that: The three-dimensional earthwork calculation model established by the method for establishing a three-dimensional earthwork calculation model according to any one of claims 1 to 6 comprises: Obtain an oblique truncated triangular prism composed of the top triangle and the bottom triangle connecting lines corresponding to the same set of projection points in the earthwork three-dimensional calculation model; Determine the straight cross-sectional area of ​​the truncated triangular prism according to the three-dimensional coordinates of each vertex of the truncated triangular prism; Calculate the average lengths of the three side edges of the truncated triangular prism; Calculate the volume of the obliquely truncated triangular prism as the product of the straight cross-sectional area and the average length; The volumes of the truncated triangular prisms are added together to calculate the volume of earth and stone.

8. A device for establishing a three-dimensional calculation model of earthwork, characterized in that: include: A point cloud data acquisition module is used to acquire top surface point cloud data and bottom surface point cloud data of earth and stone in the project area to be tested; A thinning module, used for thinning the top surface point cloud data to obtain a plurality of initial three-dimensional coordinate points with equal spacing in the projection on the horizontal plane; A first projection point determination module, used to determine a first projection point of the initial three-dimensional coordinate point on a horizontal plane; A partitioning module, used for partitioning the first projection point into rectangular equal-area partitions in a horizontal plane to generate a plurality of rectangular partitions, wherein each of the partitions includes at least four of the initial three-dimensional coordinate points; A second projection point insertion module is used to insert a second projection point into the area to be inserted according to the elevation information of the initial three-dimensional coordinate point, wherein the area to be inserted includes at least one of the interior of a partition, a partition boundary line, and a boundary line of the project area to be measured, and the boundary line of the project area to be measured is an external contour line formed by projecting the earth and stone in the project area to be measured onto a horizontal plane; A projection point set combination module, used for determining the three closest second projection points and / or second projection points in the project area to be tested as a group of projection point sets, wherein the triangles generated by the connecting lines of each group of the projection point sets do not intersect each other; A three-dimensional coordinate point determination module, used to determine the top surface three-dimensional coordinate points corresponding to each group of the projection point sets in the top surface point cloud data, and to determine the bottom surface three-dimensional coordinate points corresponding to each group of the projection point sets in the bottom surface point cloud data; The module for establishing a three-dimensional calculation model for earthwork is used to connect each group of the top surface three-dimensional coordinate points to form a top surface triangle, connect each group of the bottom surface three-dimensional coordinate points to form a bottom surface triangle, and connect the top surface three-dimensional coordinate points with the bottom surface three-dimensional coordinate points with the same coordinates on the horizontal plane to establish a three-dimensional calculation model for earthwork.

9. An electronic device, characterized in that: include: at least one processor; Memory; At least one computer program, wherein the at least one computer program is stored in the memory and configured to be executed by the at least one processor, the at least one computer program being configured to: execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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