阅读说明：本技术 一种高塔塔顶未知点三维坐标获取方法及其系统 (Method and system for acquiring three-dimensional coordinates of unknown point at top of high tower ) 是由 李施展 程建华 方俊 杜操 韩国卿 蒋思君 祝贤洲 赵荣 张彦武 王光富 吴桐 于 2019-09-10 设计创作，主要内容包括：本发明涉及一种高塔塔顶未知点三维坐标获取方法及系统,涉及工程测量领域。该方法包括测量位于高塔塔顶的相控点的三维坐标；对塔顶进行倾斜摄影,并对拍摄的照片中具有相控点的照片进行数字标记,数字标记用于标识照片上的相控点；将所有相控点的三维坐标和拍摄的所有照片传输至云计算平台；云计算平台根据拍摄的所有照片和所有相控点的三维坐标生成高塔顶的局部实景三维模型,且局部实景三维模型中具有所有位置点的三维坐标,测量人员通过移动终端即可获取任意点的三维坐标。本发明避免了在高塔施工测量中投入了多组人员、仪器作业,同时克服了全站仪从地面观测高塔塔顶通视条件困难的问题。(The invention relates to a method and a system for acquiring three-dimensional coordinates of an unknown point at the top of a high tower, and relates to the field of engineering measurement. The method comprises the steps of measuring three-dimensional coordinates of a phase control point positioned at the top of a high tower; carrying out oblique photography on the tower top, and carrying out digital marking on a photo with a phase control point in the photographed photo, wherein the digital marking is used for marking the phase control point on the photo; transmitting the three-dimensional coordinates of all the phase control points and all the shot pictures to a cloud computing platform; the cloud computing platform generates a local live-action three-dimensional model of the high tower top according to the shot pictures and the three-dimensional coordinates of all the phase control points, the local live-action three-dimensional model has the three-dimensional coordinates of all the position points, and measuring personnel can obtain the three-dimensional coordinates of any point through the mobile terminal. The invention avoids the operation of a plurality of groups of personnel and instruments in the construction measurement of the high tower, and simultaneously solves the problem that the total station is difficult to observe the visibility condition of the top of the high tower from the ground.)

1. A method for acquiring three-dimensional coordinates of unknown points at the top of a high tower is characterized by comprising the following steps:

measuring three-dimensional coordinates of at least three targets positioned at the top of the high tower;

taking a target as a phase control point to perform oblique photography on the tower top, and digitally marking a picture with the phase control point in the shot picture, wherein the digital mark is used for identifying the phase control point on the picture;

transmitting the three-dimensional coordinates of all the phase control points and all the shot pictures to a cloud computing platform;

the cloud computing platform generates a local live-action three-dimensional model of the high tower top according to the shot pictures and the three-dimensional coordinates of all the phase control points, the local live-action three-dimensional model has the three-dimensional coordinates of all the position points, and the cloud computing platform transmits the local live-action three-dimensional model and the three-dimensional coordinates of all the position points to the mobile terminal;

the mobile terminal is used for displaying the three-dimensional model of the local real scene and the three-dimensional coordinates of all the position points.

2. The method for acquiring the three-dimensional coordinates of the unknown point at the top of the high tower as claimed in claim 1, wherein: and measuring the three-dimensional coordinates of all targets by using a total station erected on the ground.

3. The method for acquiring the three-dimensional coordinates of the unknown point at the top of the high tower as claimed in claim 1, wherein: at least three targets in the targets are positioned at a high tower corner point or a high tower template corner point, and the three targets positioned at the corner points are used as phase control points.

4. The method for acquiring the three-dimensional coordinates of the unknown point at the top of the high tower as claimed in claim 1, wherein: the shooting distance of the oblique photography is within 10 meters around the tower.

5. The method for acquiring the three-dimensional coordinates of the unknown point at the top of the high tower as claimed in claim 1, wherein: and a certain image overlapping degree exists between any two adjacent pictures shot by oblique photography.

6. The method for acquiring the three-dimensional coordinates of the unknown point at the top of the high tower as claimed in claim 1, wherein: oblique photography adopts the unmanned aerial vehicle that has the camera to shoot, unmanned aerial vehicle gathers aerial image data according to predetermineeing the airline.

7. The method for acquiring the three-dimensional coordinates of the unknown point at the top of the high tower as claimed in claim 1, wherein: the digital mark is a manual pricking point mark target point or a target automatic identification mode.

8. The method for acquiring the three-dimensional coordinates of the unknown point at the top of the high tower as claimed in claim 1, wherein: the mobile terminal acquires and displays the local real-scene three-dimensional model as claimed in claim 1, position information of a clicked unknown point on the local real-scene three-dimensional model is transmitted to the cloud computing platform, the cloud computing platform analyzes a three-dimensional coordinate of the unknown point, the three-dimensional coordinate information is transmitted to the mobile terminal, and the mobile terminal displays the three-dimensional coordinate of the clicked position.

9. A three-dimensional coordinate acquisition system for unknown points on the top of a high tower is characterized by comprising the following components:

the total station is used for measuring three-dimensional coordinates of at least three targets positioned at the top of the high tower;

a photographing apparatus for performing oblique photographing on the tower top;

the mobile terminal is used for carrying out digital marking on a photo with a phase control point in the taken photo, and the digital marking is used for identifying the phase control point on the photo;

the cloud computing platform generates a local live-action three-dimensional model of the tower top of the high tower according to the shot pictures and the three-dimensional coordinates of all the phase control points, and the local live-action three-dimensional model has the three-dimensional coordinates of all the position points;

the mobile terminal is also used for displaying the three-dimensional model of the local real scene and the three-dimensional coordinates of all the position points.

10. The system according to claim 9, wherein the system comprises: the photography equipment is arranged on the unmanned aerial vehicle.

Technical Field

The invention relates to the technical field of engineering measurement, in particular to a method and a system for acquiring three-dimensional coordinates of an unknown point at the top of a high tower.

Background

When a large-span bridge is constructed, high towers are usually arranged at the sides of a water area (such as a river, a lake and a sea), at the two sides of a mountain stream and at the two sides of a cross-line region (such as a cross-railway line and a highway), and in order to meet the design requirement of the large-span bridge, the precision positioning of the high towers is very important.

Due to the blockage of a construction platform on the tower top, the through-vision condition is poor, the total station can only directly observe the characteristic points on the same side of the high tower, and the measurement work of all the characteristic points can be completed only by erecting the total station on two sides simultaneously. In the construction of a large-span bridge, the distance between the opposite bank and the local bank is far, the measurement precision is not high due to the influence of the far distance on the observation of the opposite bank erection total station, the observation of the local bank high tower by the opposite bank erection total station is generally not considered, the total station is generally considered to be erected on two sides of the local bank high tower to observe three-dimensional coordinates of all characteristic points, two groups of personnel and the total station are required to be invested in the method to complete the measurement work of the tower top characteristic points, and the manpower and material resources are greatly invested.

In order to solve the personnel problem, in the prior art, a measuring reference point is firstly guided to a high tower, then a total station is fixed at the top of the tower, the measuring reference point is guided to the rear view, and then the measuring work of all characteristic points at the top of the tower is completed. The method has the limitations that a total station is erected on the ground to guide a reference point, then the total station is moved to the tower top, meanwhile, due to the fact that a tower top construction platform is slightly unstable, the total station cannot be directly erected on the tower top construction platform to measure, generally, the total station is fixed on a stable steel bar on the tower top, a special auxiliary tool is needed to fix the total station, and the method is complex in operation and long in time consumption.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a method for acquiring the three-dimensional coordinates of the unknown point at the top of the high tower, which is simple and quick, and can complete the measurement by only one group of people without moving a total station to the top of the tower.

The technical scheme adopted by the invention is as follows:

a method for acquiring three-dimensional coordinates of unknown points at the top of a high tower comprises the following steps:

measuring three-dimensional coordinates of at least three targets positioned at the top of the high tower;

taking the target as a phase control point to perform oblique photography on the tower top, and digitally marking a picture with the phase control point in the shot picture, wherein the digital mark is used for marking the phase control point on the picture;

transmitting the three-dimensional coordinates of all the phase control points and all the shot pictures to a cloud computing platform;

the cloud computing platform generates a local live-action three-dimensional model of the high tower top according to the shot pictures and the three-dimensional coordinates of all the phase control points, the local live-action three-dimensional model has the three-dimensional coordinates of all the position points, and the cloud computing platform transmits the local live-action three-dimensional model to the mobile terminal;

the mobile terminal is used for displaying the three-dimensional model of the local real scene and the three-dimensional coordinates of all the position points.

On the basis of the technical scheme, the three-dimensional coordinates of all targets are measured by using a total station erected on the ground.

On the basis of the technical scheme, at least three targets are positioned at the corner point of the high tower or the corner point of the high tower template, and the three targets positioned at the corner points are used as phase control points.

Based on the technical scheme, the shooting distance of oblique photography is within 10 meters around the tower.

On the basis of the technical scheme, a certain image overlapping degree exists between any two adjacent pictures shot by oblique photography.

Oblique photography adopts the unmanned aerial vehicle that has the camera to shoot, and unmanned aerial vehicle gathers aerial image data according to predetermineeing the airline.

The digital mark is a manual pricking point mark target point or a target automatic identification mode.

The mobile terminal acquires and displays the local live-action three-dimensional model, the position information of the clicked unknown point on the local live-action three-dimensional model is transmitted to the cloud computing platform, the cloud computing platform analyzes the three-dimensional coordinates of the unknown point, the three-dimensional coordinate information is transmitted to the mobile terminal, and the mobile terminal displays the three-dimensional coordinates of the clicked position.

A three-dimensional coordinate acquisition system for unknown points on the top of a high tower comprises the following components:

the total station is used for measuring three-dimensional coordinates of at least three targets positioned at the top of the high tower;

a photographing apparatus for performing oblique photographing on the tower top;

the mobile terminal is used for carrying out digital marking on a photo with a phase control point in the taken photo, and the digital marking is used for identifying the phase control point on the photo;

the cloud computing platform generates a local live-action three-dimensional model of the tower top of the high tower according to the shot pictures and the three-dimensional coordinates of all the phase control points, and the local live-action three-dimensional model has the three-dimensional coordinates of all the position points;

the mobile terminal is also used for displaying the three-dimensional model of the local real scene and the three-dimensional coordinates of all the position points.

On the basis of the technical scheme, the photographic equipment is arranged on the unmanned aerial vehicle.

Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following advantages:

(1) the invention only sets up a total station on the ground to measure the three-dimensional coordinate of the phase control point once, thus avoiding the investment of a plurality of groups of personnel and instrument operation in the construction measurement of the high tower.

(2) The invention utilizes the oblique photography method to overcome the problem that the total station is difficult to observe the visibility condition of the top of the high tower from the ground, and has low equipment investment cost and convenient operation.

(2) The phase control points are marked through the mobile terminal, image information and coordinate information required by three-dimensional live-action oblique photography modeling are transmitted to the cloud computing platform, the cloud computing platform generates a local live-action three-dimensional model of the high tower top, the mobile terminal can receive and display the local live-action three-dimensional model of the tower top, and a measurer can know the three-dimensional coordinates of the local live-action three-dimensional model by clicking any point in the three-dimensional model.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic diagram of measuring a three-dimensional coordinate of a target by using a total station according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of oblique photography with a digital camera according to an embodiment of the present invention.

FIG. 3 is a flow chart of the measurement performed at the top of the tower according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

The invention provides a method for acquiring three-dimensional coordinates of unknown points at the top of a high tower, which comprises the following steps:

measuring three-dimensional coordinates of at least three targets positioned at the top of the high tower;

taking the target as a phase control point to perform oblique photography on the tower top, and digitally marking a picture with the phase control point in the shot picture, wherein the digital mark is used for marking the phase control point on the picture;

transmitting the three-dimensional coordinates of all the phase control points and all the shot pictures to a cloud computing platform;

the cloud computing platform generates a local live-action three-dimensional model of the high tower top according to the shot pictures and the three-dimensional coordinates of all the phase control points, the local live-action three-dimensional model has the three-dimensional coordinates of all the position points, and the cloud computing platform transmits the local live-action three-dimensional model to the mobile terminal;

the mobile terminal is used for displaying the three-dimensional model of the local real scene and the three-dimensional coordinates of all the position points.

On the basis of the technical scheme, the three-dimensional coordinates of all targets are measured by using a total station erected on the ground.

On the basis of the technical scheme, at least three targets are positioned at the corner point of the high tower or the corner point of the high tower template, and the three targets positioned at the corner points are used as phase control points.

Based on the technical scheme, the shooting distance of oblique photography is within 10 meters around the tower.

On the basis of the technical scheme, a certain image overlapping degree exists between any two adjacent pictures shot by oblique photography.

Oblique photography adopts the unmanned aerial vehicle that has the camera to shoot, and unmanned aerial vehicle gathers aerial image data according to predetermineeing the airline.

The digital mark is a manual pricking point mark target point or a target automatic identification mode.

The mobile terminal acquires and displays the local live-action three-dimensional model, the position information of the clicked unknown point on the local live-action three-dimensional model is transmitted to the cloud computing platform, the cloud computing platform analyzes the three-dimensional coordinates of the unknown point, the three-dimensional coordinate information is transmitted to the mobile terminal, and the mobile terminal displays the three-dimensional coordinates of the clicked position.

A three-dimensional coordinate acquisition system for unknown points on the top of a high tower comprises the following components:

the total station is used for measuring three-dimensional coordinates of at least three targets positioned at the top of the high tower;

a photographing apparatus for performing oblique photographing on the tower top;

the mobile terminal is used for carrying out digital marking on a photo with a phase control point in the taken photo, and the digital marking is used for identifying the phase control point on the photo;

the cloud computing platform generates a local live-action three-dimensional model of the tower top of the high tower according to the shot pictures and the three-dimensional coordinates of all the phase control points, and the local live-action three-dimensional model has the three-dimensional coordinates of all the position points;

the mobile terminal is also used for displaying the three-dimensional model of the local real scene and the three-dimensional coordinates of all the position points.

On the basis of the technical scheme, the photographic equipment is arranged on the unmanned aerial vehicle.