River dredging volume calculation method and system based on three-dimensional laser, electronic equipment and medium
By using 3D laser scanning technology and RTK device calibration, a 3D model of the river channel is generated, which solves the problem of time-consuming and labor-intensive traditional methods and achieves efficient and accurate earthwork volume calculation.
Patent Information
- Application Number
- CN202410550630.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-06
- Publication Date
- 2025-11-07
AI Technical Summary
Traditional methods for calculating the volume of dredged soil in urban waterways are time-consuming and labor-intensive, and can only measure silt at a single point, making it impossible to measure the entire volume.
Three-dimensional laser scanning technology was used to acquire three-dimensional point cloud data of the river channel. The coordinates and elevation information of the control points were corrected by RTK device to generate an overall three-dimensional model of the river channel. The elevation information of the silt was plotted using CAD and the volume of dredging earthwork was calculated.
It improved the efficiency and accuracy of dredging earthwork volume calculation, saved time and labor costs, ensured operational safety, and provided an accurate basis for dredging work.
Smart Images
Figure CN120907518A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of river dredging, and in particular to a river dredging quantity calculation method and system based on three-dimensional laser, an electronic device and a medium. BACKGROUND
[0002] With the process of urbanization and the increase of population, the amount of waste and pollutants in the river will increase due to the urban industrial, agricultural and population activities, and a large amount of soil and sand may enter the river due to urban land development and construction engineering activities. These wastes will eventually deposit at the bottom of the river, forming silt. The accumulation of river silt is not only harmful to the water ecosystem, but also may lead to increased flood risk, decreased water quality and reduced biodiversity. Therefore, it is crucial to reasonably manage and maintain the water quality and river bottom of urban rivers.
[0003] The work unit uses excavators to dredge the river, and the traditional method for calculating the dredging earthwork quantity is to have workers go into the river twice before and after cleaning, and use a total station to measure the silt at different places in the river in two periods. However, the traditional method for calculating the dredging earthwork quantity of urban rivers is time-consuming and labor-intensive, and can only measure single-point silt, which cannot be measured completely. In contrast, the three-dimensional laser scanning technology has significant advantages in river dredging work. By using a laser scanner to scan the entire river, the coordinates and elevation information of a large area of river silt can be quickly obtained. The point cloud data obtained after processing can generate a three-dimensional model of the river, accurately showing the silt distribution. This method not only improves efficiency and accuracy, but also saves time and labor costs, providing an important basis for the planning and operation of dredging work. SUMMARY
[0004] The first object of the present application is to provide a river dredging quantity calculation method based on three-dimensional laser in view of the limitations of the traditional method for calculating the dredging earthwork quantity of urban rivers.
[0005] To this end, the above object of the present application is achieved by the following technical solution:
[0006] A river dredging quantity calculation method based on three-dimensional laser, comprising the following processes:
[0007] S1, before dredging, the water in the river is pumped out, and a three-dimensional laser scanner is used to set up several stations around the river to obtain three-dimensional point cloud data of the river;
[0008] S2, splicing the point cloud data of each station to obtain a three-dimensional model of the whole river;
[0009] S3, selecting several obvious ground points (the selected ground points should be relatively obvious and easy to find in the collected three-dimensional point cloud of the river) as control points of the point cloud data, and measuring the coordinates and elevation information of the control points using an RTK device;
[0010] S4, based on the control point coordinates obtained by the RTK device, correcting the same point of the overall three-dimensional model of the river channel, at this time all point cloud data has correct coordinate and elevation information;
[0011] S5, after the point cloud data is thinned, the river silt point is drawn out by CAD to obtain the elevation information of each silt, and the silt elevation information after dredging is obtained by using the above method;
[0012] S6, according to the two period data, the cross section of the river silt is drawn, and the earthwork volume of dredging is calculated.
[0013] While the above technical solutions are used, the application can also use or combine the following technical solutions:
[0014] As a preferred technical solution of the application: in step S1, the three-dimensional laser scanner is mounted on a fixed platform, and should not shake during point cloud collection, so as to prevent the point cloud from being difficult to splice.
[0015] As a preferred technical solution of the application: in step S1, the three-dimensional laser scanner uses Leica RTC360 three-dimensional laser scanner.
[0016] As a preferred technical solution of the application: in step S1, the river channel is at a low water level, and the silt is leaked.
[0017] As a preferred technical solution of the application: in step S3, the obvious feature points include the corner points of the railings, the corners of the houses and the billboards.
[0018] As a preferred technical solution of the application: in step S3, the RTK device is fixed to a certain position, and the signal cannot float, and the signal should also be fixed.
[0019] The second object of the application is to provide a river dredging volume calculation system based on three-dimensional laser.
[0020] To this end, the above object of the application is achieved by the following technical solutions:
[0021] A river dredging volume calculation system based on three-dimensional laser, comprising the following modules:
[0022] - a three-dimensional point cloud data acquisition module, the three-dimensional point cloud data acquisition module is used to acquire three-dimensional point cloud data of the river channel according to three-dimensional laser scanners erected at a plurality of stations around the river channel;
[0023] - a point cloud data splicing module, the point cloud data splicing module is used to splice the point cloud data of each station to obtain an overall three-dimensional model of the river channel;
[0024] - a control point coordinate and elevation information acquisition module, configured to acquire coordinates and elevation information of the control points measured by the RTK device according to a plurality of selected obvious feature points around the river channel as control points of the point cloud data;
[0025] - a homonym point correction module, configured to correct the homonym points of the overall three-dimensional model of the river channel based on the coordinates of the control points acquired by the control point coordinate and elevation information acquisition module;
[0026] - a silt elevation information acquisition module, configured to thin the point cloud data, and draw the silt points of the river channel according to the CAD to obtain the elevation information of each silt, and further acquire the silt elevation information after dredging;
[0027] - a dredging earthwork volume calculation module, configured to draw the cross-sectional view of the silt of the river channel according to the two-period data, and calculate the dredging earthwork volume.
[0028] A third object of the present application is to provide an electronic device.
[0029] To this end, the above object of the present application is achieved by the following technical solutions:
[0030] An electronic device, comprising a memory and a processor,
[0031] the memory is configured to store a computer program capable of running on the processor;
[0032] characterized in that the processor is configured to execute the steps of the three-dimensional laser-based river channel dredging volume calculation method as described above when running the computer program.
[0033] A further object of the present application is to provide a storage medium.
[0034] To this end, the above object of the present application is achieved by the following technical solutions:
[0035] A storage medium, having a computer program stored thereon, characterized in that the computer program, when executed by at least one processor, implements the steps of the three-dimensional laser-based river channel dredging volume calculation method as described above.
[0036] The application provides a river channel dredging quantity calculation method and system based on three-dimensional laser, an electronic device and a medium. The entire river channel is scanned based on a three-dimensional laser scanner, and large-area river silt coordinates and elevation information can be quickly obtained. The obtained point cloud data can be processed to generate a three-dimensional model of the river channel, and the silt distribution can be accurately displayed. Compared with the traditional manual river collection of coordinates and elevations, the application not only improves the efficiency and accuracy, but also saves a large amount of manpower and material resources, ensures the operation safety, and the planar silt elevation data is more accurate than single silt measurement, and can quickly meet the needs of engineering. BRIEF DESCRIPTION OF DRAWINGS
[0037] Figure 1 It is a field diagram of the first measuring station and the sixth measuring station of the three-dimensional laser scanner in the embodiment of the application.
[0038] Figure 2 It is a splicing result diagram of the river channel point cloud in the embodiment of the application.
[0039] Figure 3 It is a river channel point cloud result diagram after coordinate correction in the embodiment of the application.
[0040] Figure 4 It is a river channel point cloud result diagram after denoising and thinning in the embodiment of the application.
[0041] Figure 5 It is a CAD drawing of two-period silt elevation in the embodiment of the application.
[0042] Figure 6 It is a result diagram of two-period sections calculated in the CAD in the embodiment of the application.
[0043] Figure 7 It is a result diagram of the calculated dredging earthwork in the embodiment of the application. DETAILED DESCRIPTION
[0044] The application is further described in detail with reference to the drawings and specific embodiments.
[0045] A three-dimensional laser river channel dredging quantity calculation method, and the specific process is as follows:
[0046] Before dredging, a three-dimensional laser scanner is used to set up several stations around the river to obtain three-dimensional point cloud data of the river; the point cloud data of each station is spliced to obtain a three-dimensional model of the entire river; several obvious ground points are selected around the river as control points of the point cloud data, and the coordinates and elevation information of the control points are measured by RTK. Based on the coordinates of the control points obtained by RTK, the same point correction is performed on the three-dimensional model of the entire river, at this time all the point cloud data has correct coordinates and elevation information. After thinning the point cloud data, the river silt point is plotted out by CAD to obtain the elevation information of each silt, and the above method is used to obtain the silt elevation information after dredging. Then, according to the two periods of data, the cross section of the river silt is drawn, and the dredging earthwork is calculated.
[0047] A Leica RTC360 three-dimensional laser scanner is used, and its main technical parameters are as follows:
[0048] (1) Data acquisition performance: under the resolution setting of 6mm@10m, the acquisition time of 360° scanning and HDR panoramic photo is <2 minutes.
[0049] (2) Scanning range: 0.5-130m.
[0050] (3) Scanning rate: 2000000 points / s.
[0051] (4) Point accuracy: error 1.9mm within 10m, error 2.9mm within 20m.
[0052] (5) A set of 2 batteries for up to 4 hours of power supply.
[0053] (6) Length, width and height: 120mm×240mm×230mm.
[0054] (7) Data storage and transmission: Leica MS256, 256GB, USB 3.0, plug-in industrial-grade flash drive, integrated wireless module WIAN.
[0055] The water level of the river should be as low as possible; the three-dimensional laser scanner should be mounted on a fixed platform; the selected ground points should be obvious; the RTK device and signal should be fixed.
[0056] Taking the connecting channel of Puxi flood detention area in the main urban area of Quanzhou City as an example, the above method is used to calculate the two-period dredging earthwork, and the cross section elements of the dredging engineering of the channel are shown in Table 1.
[0057] Table 1 Cross section elements of dredging engineering of connecting channel of Puxi flood detention area
[0058] Name of Ditch Length of Ditch (m) Average Width (m) Designed Silt Thickness (cm) Puxi Flood Detention Area Connecting Ditch 630 24-26 30-50
[0059] The Leica RTC360 is used to collect the point cloud data of the connecting channel of the Puxi flood detention area, and the control points collected by RTK are used to correct the point cloud data. According to the point accuracy of this software, the three-dimensional laser scanner is erected at a station every 20 m or so, and the field position map of the scanner erected station is shown in Figure 1 , wherein (a) is station 1, and (b) is station 6.
[0060] After the data collection is completed, the Cyclone software is used to splice the three-dimensional point cloud of each station, and the three-dimensional point cloud model of the connecting channel of the Puxi flood detention area after splicing is shown in Figure 2 . Randomly selecting a point cloud in the model, it can be seen that the position information and elevation information of the point cloud are (-152.254, 46.290, -5.551) m, which has not been corrected.
[0061] The control points collected by RTK are found in the above point cloud model and the coordinates are attached. Based on the six control points P1, P2, P3, P4, P5 and P6, the three-dimensional point cloud model of the river is corrected to the correct position. As shown in Figure 3 , it can be seen that the position and elevation information of the randomly selected point cloud this time are (359701.057, 2753627.100, 1.824) m, and the coordinates and elevation correction are completed.
[0062] The point cloud of the corrected model is denoised in the Cyclone software, and the denoising result is point cloud thinning. The silt point cloud finally needs to be plotted in CAD is shown in Figure 4 .
[0063] According to the centerline drawn in the river center of the river topographic map, a horizontal line is drawn every 10 m based on the centerline, and the silt point cloud is plotted in CAD. The silt elevations before and after dredging are shown in Figure 5 , wherein the red font is the silt elevation before dredging, and the blue font is the silt elevation after dredging.
[0064] The elevation sections of the two periods of dredging are plotted by CAD, as shown in Figure 6 . The earthwork volume of the connecting channel of the Puxi flood detention area cleaned this time is calculated, as shown in Figure 7 .
[0065] The above specific embodiments are used to explain and illustrate the present application, and are only preferred embodiments of the present application, but not limit the present application. Any modification, equivalent replacement, improvement, etc. made to the present application falls within the protection scope of the present application.
Claims
1. A three-dimensional laser-based method for calculating the volume of river dredging, characterized in that: The method comprises the following processes: S1, before dredging, the river water body is pumped away, and a three-dimensional laser scanner is erected at a plurality of stations around the river channel to obtain three-dimensional point cloud data of the river channel; S2, splicing the point cloud data of each station to obtain a three-dimensional model of the whole river channel; S3, selecting a plurality of obvious ground points around the river channel as control points of the point cloud data, and measuring the coordinates and elevation information of the control points by using an RTK device; S4, based on the coordinates of the control points obtained by the RTK device, correcting the same-name points of the three-dimensional model of the whole river channel, at this time all the point cloud data has correct coordinates and elevation information; S5, after thinning the point cloud data, using CAD to plot the silt point of the river channel to obtain the elevation information of each silt, and using the above method to obtain the silt elevation information after dredging; S6, according to the position and elevation information of the silt before and after dredging, calculating the cross section and the amount of earthwork in CAD.
2. The method for calculating the river dredging volume based on three-dimensional laser according to claim 1, characterized in that: In step S1, the three-dimensional laser scanner is mounted on a fixed platform.
3. The method according to claim 1 or 2, characterized in that: In step S1, the three-dimensional laser scanner uses Leica RTC360 three-dimensional laser scanner.
4. The method for calculating the river dredging volume based on three-dimensional laser according to claim 1, characterized in that: In step S1, the river channel is at a low water level, and the silt is leaked out.
5. The method for calculating the river dredging volume based on three-dimensional laser according to claim 1, characterized in that: In step S3, the obvious ground points include the inflection points of the railings, the corners of the houses, and the billboards.
6. The method for calculating the river dredging volume based on three-dimensional laser according to claim 1, characterized in that: In step S3, the RTK device is fixed to a certain position.
7. A three-dimensional laser-based river channel dredging volume calculation system, characterized by: The system comprises the following modules: a three-dimensional point cloud data acquisition module, which is used to acquire three-dimensional point cloud data of a river channel according to a three-dimensional laser scanner erected at a plurality of stations around the river channel; a point cloud data splicing module, which is used to splice the point cloud data of each station to obtain a three-dimensional model of the whole river channel; a control point coordinate and elevation information acquisition module, which is used to acquire the coordinates and elevation information of control points measured by an RTK device according to a plurality of obvious ground points selected around the river channel as control points of the point cloud data; a same-name point correction module, which is used to correct the same-name points of the three-dimensional model of the whole river channel based on the coordinates of the control points acquired by the control point coordinate and elevation information acquisition module; a silt elevation information acquisition module, which is used to thin the point cloud data, and plot the silt point of the river channel according to CAD to obtain the elevation information of each silt, and further acquire the silt elevation information after dredging; a dredging earthwork amount calculation module, which is used to calculate the cross section and the amount of earthwork in CAD according to the position and elevation information of the silt before and after dredging.
8. An electronic device comprising a memory and a processor, a memory for storing a computer program capable of running on the processor; characterized in that the processor is used to execute the three-dimensional laser-based river channel dredging amount calculation method steps as claimed in any one of claims 1-6 when running the computer program.
9. A storage medium having stored thereon a computer program, characterized in that The computer program is executed by at least one processor to implement the three-dimensional laser-based river channel dredging amount calculation method steps as claimed in any one of claims 1-6.