CN117760388A - Bridge BIM measurement and construction planning method integrating laser scanning and unmanned aerial vehicle oblique photography - Google Patents
Bridge BIM measurement and construction planning method integrating laser scanning and unmanned aerial vehicle oblique photography Download PDFInfo
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Abstract
A bridge BIM measurement and construction planning method integrating laser scanning and unmanned aerial vehicle oblique photography is characterized in that oblique photographing three-dimensional model data are provided with shape and space dimension data of the upper part and the side part of a bridge in a overlook state, meanwhile, laser point cloud three-dimensional model data are provided with shape and space dimension data of the lower part and the side part of the bridge in a look-up state, the two data are fused through computer software, the defects of respective data are overcome, the advantages of two data acquisition means are combined, the fused three-dimensional model data are imported into BIM software to establish a BIM model of a bridge to be dismantled and peripheral objects thereof, the BIM model covers the multiple dimension data in the relevant space region, BIM measurement of the bridge and the peripheral objects thereof is achieved, verification simulation and verification can be carried out in the three-dimensional space through the laser point cloud three-dimensional model data, the scheme planning process which can be verified in real time on a computer is achieved, the predictability and the realizability of the scheme planning can be improved, and the construction efficiency is improved during site construction planning can be avoided.
Description
Technical Field
The invention relates to the technical field of bridge old and new construction, in particular to a bridge BIM measurement and construction planning method integrating laser scanning and unmanned aerial vehicle oblique photography.
Background
With the rapid development of society, some urban bridges are gradually not adapted in traffic capacity and bearing capacity. The bridge construction site space measurement method is characterized in that the bridge construction site space measurement method comprises the steps of dismantling and newly constructing, wherein auxiliary roads, ramp roads, under-bridge sidewalks, lamp poles, line poles, under-bridge buildings, trees and other non-bridge self objects are formed around the bridge due to the accumulation of municipal construction for many years, the under-bridge space is directly occupied by the objects, in the dismantling and newly constructing construction processes, some objects are removed, how to plan and reduce the removal amount, damage to the existing objects or compensation cost and construction planning of the specific dismantling process are reduced, and a more optimal dismantling construction scheme can be provided only after accurate measurement is carried out on the site three-dimensional space, and the newly constructed construction scheme is arranged.
Because urban bridges mainly take overpasses, the related curves, ramps and nearby buildings are more, the shapes of the bridges are various, the occupied space forms are not consistent, if the site plan is drawn after being simply measured by a site ruler or a common mapping tool, the site plan cannot accurately reflect the occupied space, and satellite pictures or aerial pictures can only give out top views and the site situation of a three-dimensional space. It is necessary to propose a new measuring method to solve this problem and to make the relevant construction planning based on the measurement result.
Disclosure of Invention
In order to solve the problems, the invention provides a bridge BIM measurement and construction planning method integrating laser scanning and unmanned aerial vehicle oblique photography.
The technical scheme of the invention is as follows: 1. a bridge BIM measurement and construction planning method integrating laser scanning and unmanned aerial vehicle oblique photography comprises the following steps:
1) The unmanned aerial vehicle with the satellite positioning module flies above the bridge and the peripheral objects to be dismantled according to a planned route, the pictures of the oblique photography are obtained, the pictures are imported into a computer, and the oblique photographing three-dimensional model data of the bridge and the peripheral objects are established through software;
2) Carrying out three-dimensional laser scanning on the lower part and the periphery of the bridge to be dismantled by adopting a three-dimensional laser scanner, and obtaining laser point cloud model data of the lower part and the periphery of the bridge;
3) Fusing the oblique shooting three-dimensional model data obtained in the step 1 with the laser point cloud model data obtained in the step 2 in computer software, and establishing fused three-dimensional model data;
4) Importing the fused three-dimensional model data obtained in the step 3 into BIM software to establish a BIM model of the bridge and the peripheral objects thereof to be dismantled, wherein the BIM model covers the multi-dimensional data in the relevant space region, and BIM measurement of the bridge and the peripheral objects thereof is realized;
5) Planning and simulation verification of the demolishing construction process are carried out in the BIM model, and the demolishing construction scheme is gradually determined;
6) Deleting the removed object from the BIM model according to the removal progress in the removal process,
7) Inserting the designed BIM model of the newly built bridge into the BIM model obtained after the dismantling in the step 6, fusing the two BIM models, and planning the construction scheme of the newly built bridge;
the steps 1) and 2) are not sequential.
Preferably, step 1 comprises the following sub-steps
1.1 Estimating the coverage area of the construction operation space of the newly-built bridge according to the drawing, and planning the flight coverage area of the unmanned aerial vehicle;
1.2 According to the flight coverage area of the unmanned aerial vehicle, combining the parameters of the inclined camera carried by the unmanned aerial vehicle, the flight height and speed of the unmanned aerial vehicle, the image resolution and the aerial photo overlapping degree to plan the flight route,
1.3 Arrangement of image control points
Manually surveying the scene, taking the position which can be clearly identified after photographing and has obvious shape and color distinguishability as an image control point, simultaneously, measuring the geographic coordinates of the image control point conveniently, measuring and numbering the geographic coordinates of a plurality of image control points after determining the image control points, and recording;
1.4 Erecting a satellite positioning reference station in a shooting area, measuring and recording geographic coordinates of the reference station, and establishing communication between the reference station and the unmanned aerial vehicle;
1.5 After the steps 1.3 and 1.4 are completed, taking off the oblique photography unmanned aerial vehicle, carrying out flight and shooting along the route planned in the step 1.2, wherein the shot picture data have time information and unmanned aerial vehicle positioning information at the same time of shooting;
1.6 Importing the picture data obtained in the step 1.5 into a computer, marking corresponding positions of the image control points recorded in the step 1.3 in a plurality of related pictures in software, and establishing a corresponding relation between the geographic coordinates of the image control points and pixel coordinates in the pictures;
1.7 And (3) importing the picture data which is subjected to the step 1.6 into software for calculating the triangle in the air, carrying out operation, and establishing oblique shooting three-dimensional model data.
Preferably, step 2 comprises the following sub-steps
2.1 On-site exploration prior to scanning
The coverage area of a construction operation space of the newly built bridge is estimated according to a drawing of the newly built bridge, the number and the positions of the three-dimensional laser scanning frame stations are determined by combining the activity rules of on-site traffic and personnel, scanning overlapping areas are reserved between adjacent frame stations, and the positions of the frame stations are numbered; setting targets in overlapping areas of scanning ranges between adjacent frame station positions;
2.2 Erecting a three-dimensional laser scanner for site scanning one by one, and collecting scanning point cloud data of a plurality of sites of the lower part of the bridge to be dismantled and peripheral objects;
2.3 Importing the scanning point cloud data obtained in the step 2.2) into a computer, processing the scanning point cloud data obtained by a plurality of stations through software operation, and splicing one by one according to target characteristics in the point cloud data to form laser point cloud data of the whole lower part of the bridge to be dismantled and the peripheral objects.
Preferably, step 3 comprises the following substeps
3.1 Firstly, converting laser point cloud data into a point cloud three-dimensional model through computer software, and then collecting fusion control points on the point cloud three-dimensional model;
3.2 After the first aerial triangle measurement calculation is completed by the oblique photography picture, according to the information of the fusion control points acquired on the point cloud three-dimensional model, the fusion control points are marked on the related oblique photography picture in sequence; submitting the measurement calculation of the aerial triangle again after the completion, carrying out adjustment by using the fusion control points, and establishing an updated oblique shooting three-dimensional model;
3.3 Then the imported point cloud three-dimensional model and the updated oblique shooting three-dimensional model data are fused in computer software according to the fusion control points.
Preferably, step 3 comprises the following substeps
3.1 Converting laser point cloud model data from a measurement coordinate system to a geodetic coordinate system, wherein control points are acquired, the coordinates of which also adopt the geodetic coordinate system;
3.2 Then labeling the control points on the oblique photography pictures in sequence; submitting the measurement calculation of the aerial triangle after completion, and carrying out adjustment by using the fusion control points to obtain an inclined shooting three-dimensional model of the geodetic coordinate system after completion;
3.3 Then the three-dimensional model of the point cloud is imported and the three-dimensional model data of the oblique camera shooting are fused in computer software according to the same coordinate system.
Preferably, in the step 3, the oblique photographing three-dimensional model data is converted into point cloud model data, and then the converted point cloud model data and laser point cloud model data are fused by combining an ICP point cloud registration algorithm and manual registration.
Preferably, the demolition construction plan and the simulation verification in the bim model three-dimensional space in the step 5 at least comprise the following matters,
5.1 Determining a plan of a bridge to be dismantled and dismantling time sequences of different objects around according to the three-dimensional space dimension relation of the site in the bim model, wherein the plan comprises a bridge dismantling time sequence plan;
5.2 According to the three-dimensional relation of the site in the bim model, the model of the construction tool to be used in the dismantling process is selected and determined, and the construction tool comprises, but is not limited to, an automobile crane, hoisting equipment built on site and a forklift;
5.3 According to the three-dimensional relation of the site in the bim model, planning the line and the pipeline of site electricity and water, and modeling the planned line and pipeline in the bim model;
5.4 Determining the planning of a temporary protection channel and safety protection facilities thereof according to the three-dimensional space dimension relation of the scene in the bim model, constructing the planning of the road, and modeling the planned road in the bim model;
5.5 Determining model selection and determination of the approach clearance vehicle according to the three-dimensional space size relation of the scene in the bim model and the road planning condition in the step 5.4;
5.6 And 5.1 to 5.5, the specific dismantling scheme of the automobile crane, the forklift and the cleaning vehicle is cooperatively matched to dismantle each object for planning.
The beneficial technical effects of the invention are as follows:
according to the bridge BIM measurement and construction planning method integrating laser scanning and unmanned aerial vehicle oblique photography, through oblique photographing three-dimensional model data with shape and space dimension data of the upper part and the side part of a bridge in a overlook state, and through laser point cloud three-dimensional model data with shape and space dimension data of the lower part and the side part of the bridge in a look-up state, the two data are fused through computer software, the defects of the respective data are overcome, the advantages of two data acquisition means are combined, the fused three-dimensional model data are imported into BIM software to establish BIM models of bridges to be dismantled and surrounding objects thereof, the BIM models cover the multiple dimension data in the relevant space region, BIM measurement of the bridges and the surrounding objects thereof is realized, so that model dimension selection of construction machines, temporary building structures and dimension selection of temporary channels can be simulated and verified in the three-dimensional space, the scheme planning process which can be verified in real time on the computer can be realized, the predictability and realizability of dismantling and construction planning can be improved, the construction scheme can be improved in a round-trip, the site construction efficiency is avoided, and the whole BIM dynamic planning and the new construction process is run through the new construction process.
Drawings
FIG. 1 is a pictorial representation of a construction area in which the method of the present invention is practiced;
FIG. 2 is a field picture of the layout of the image control points in step 1.3;
fig. 3 is a view of a tilt lens carried by the unmanned aerial vehicle in step 1;
FIG. 4 is a schematic illustration of the planning of the route in step 1.2;
fig. 5 is a schematic diagram of parameter settings when the drone is flying;
FIG. 6 illustrates performing image control point marking on an oblique photographic image;
FIG. 7 is a schematic diagram of the scanning operation of a three-dimensional laser scanner;
FIG. 8 laser point cloud model for multi-site stitching;
FIG. 9 is a schematic diagram of a measurement model built in BIM software.
Detailed Description
Examples: referring to fig. 1-9, a bridge BIM measurement and construction planning method integrating laser scanning and unmanned aerial vehicle oblique photography includes the following steps:
1) The unmanned aerial vehicle with the satellite positioning module flies above the bridge and the peripheral objects to be dismantled according to a planned route, the pictures of the oblique photography are obtained, the pictures are imported into a computer, and the oblique photographing three-dimensional model data of the bridge and the peripheral objects are established through software; the oblique imaging three-dimensional model data includes dimensional data of the shape and space of the upper and side portions of the bridge in a plan view.
In particular, step 1 comprises the following substeps
1.1 Estimating the coverage area of the construction operation space of the newly-built bridge according to the drawing, and planning the flight coverage area of the unmanned aerial vehicle;
1.2 According to the flight coverage area of the unmanned aerial vehicle, combining the parameters of the inclined camera carried by the unmanned aerial vehicle, the flight height and speed of the unmanned aerial vehicle, the image resolution and the aerial photo overlapping degree to plan the flight route,
1.3 Arrangement of image control points
Manually surveying the scene, taking the position which can be clearly identified after photographing and has obvious shape and color distinguishability as an image control point, simultaneously, measuring the geographic coordinates of the image control point conveniently, measuring and numbering the geographic coordinates of a plurality of image control points after determining the image control points, and recording;
1.4 Erecting a satellite positioning reference station in a shooting area, measuring and recording geographic coordinates of the reference station, and establishing communication between the reference station and the unmanned aerial vehicle;
1.5 After the steps 1.3 and 1.4 are completed, taking off the oblique photography unmanned aerial vehicle, carrying out flight and shooting along the route planned in the step 1.2, wherein the shot picture data have time information and unmanned aerial vehicle positioning information at the same time of shooting;
1.6 Importing the picture data obtained in the step 1.5 into a computer, marking corresponding positions of the image control points recorded in the step 1.3 in a plurality of related pictures in software, and establishing a corresponding relation between the geographic coordinates of the image control points and pixel coordinates in the pictures;
1.7 And (3) importing the picture data which is subjected to the step 1.6 into software for calculating the triangle in the air, carrying out operation, and establishing oblique shooting three-dimensional model data.
2) Carrying out three-dimensional laser scanning on the lower part and the periphery of the bridge to be dismantled by adopting a three-dimensional laser scanner, and obtaining laser point cloud model data of the lower part and the periphery of the bridge; the laser point cloud three-dimensional model data has shape and space dimension data of the lower part and the side part of the bridge in a bottom view state.
The step 2 comprises the following substeps
2.1 On-site exploration prior to scanning
According to the drawing of a newly-built bridge, the coverage area of a construction operation space is estimated, the traffic situation of the periphery before dismantling is combined with the activity rules of on-site traffic and personnel, the number and the positions of the three-dimensional laser scanning frame stations are determined, scanning overlapping areas are reserved between adjacent frame stations, and the positions of the frame stations are numbered; setting targets in overlapping areas of scanning ranges between adjacent frame station positions; the overlapping area and the target are used for high-precision splicing of the point cloud data after scanning of each station, and the method is beneficial to obtaining a high-precision integral point cloud model.
2.2 Erecting a three-dimensional laser scanner for site scanning one by one, and collecting scanning point cloud data of a plurality of sites of the lower part of the bridge to be dismantled and peripheral objects;
2.3 Importing the scanning point cloud data obtained in the step 2.2) into a computer, processing the scanning point cloud data obtained by a plurality of stations through software operation, and splicing one by one according to target characteristics in the point cloud data to form laser point cloud data of the whole lower part of the bridge to be dismantled and the peripheral objects.
The steps 1) and 2) are not sequential.
3) Fusing the oblique shooting three-dimensional model data obtained in the step 1 with the laser point cloud model data obtained in the step 2 in computer software, and establishing fused three-dimensional model data; after unifying the two data formats, fusion and splicing are carried out in computer software, so that the respective defects of the two data are mutually compensated, and relatively complete three-dimensional model data are formed.
Step 3 comprises the following substeps
3.1 Firstly, converting laser point cloud data into a point cloud three-dimensional model through computer software, and then collecting fusion control points on the point cloud three-dimensional model;
firstly, importing the laser point cloud data into ContextCapture Master software, at this time, converting the laser point cloud data format into a.e57 format or a.las format corresponding to the software, checking the preview effect, and performing a new reconstruction project after verifying the data is complete. And then selecting a proper dicing mode according to the computer configuration setting parameters before submitting a new production project so as to more efficiently carry out the task. And submitting a new production project, selecting a 3MX three-dimensional grid for production purposes, opening an engine ContextCapture Engine after submitting a production task, and checking a 3D view of the model after waiting for the task to finish, so as to ensure that no error occurs in the established point cloud three-dimensional model. And performing the next operation, and collecting fusion control points on the three-dimensional model using the point cloud. And measuring the coordinates of the fusion control points in a point cloud model coordinate system by using a measuring tool in the 3D view, and establishing a control point file for later data fusion processing according to a new text document by using a control point file format.
3.2 After the first aerial triangle measurement calculation is completed by the oblique photography picture, according to the information of the fusion control points acquired on the point cloud three-dimensional model, the fusion control points are marked on the related oblique photography picture in sequence; when the fusion control points are selected, the points which are easy to distinguish and are not shielded in the oblique photographic picture are screened, no height difference exists, and more than four control points are selected as much as possible so as to ensure the matching precision.
After completion, submitting the aerial triangle measurement calculation again, using the fusion control point to make adjustment,
3.3 Then the imported point cloud three-dimensional model and the updated oblique shooting three-dimensional model data are fused in computer software according to the fusion control points. And importing the file of the point cloud three-dimensional model, and checking whether the point cloud three-dimensional model data is matched with the oblique shooting three-dimensional model data or not by checking the 3D view. And after the two types of data are successfully matched, re-submitting a new production project, selecting an obj format three-dimensional grid for modification, submitting production, and performing detail modification on the obj model by using Geomagic Studio software after the completion of the production. After the completion, the modification model is imported into the reconstruction project, then the production project is updated, and after the completion, the quality is better and the establishment of a more complete model is completed.
4) Importing the fused three-dimensional model data obtained in the step 3 into BIM software to establish a BIM model of the bridge and the peripheral objects thereof to be dismantled, wherein the BIM model covers the multi-dimensional data in the relevant space region, and BIM measurement of the bridge and the peripheral objects thereof is realized; the BIM model is built to build a digital measurement foundation for subsequent construction planning, and multi-method diversified measurement is realized, so that subsequent construction equipment, construction temporary buildings, bowel-relaxing channels and the like can be directly incorporated into the BIM model, the construction equipment specification is selected, the construction temporary buildings and the construction dimensions of the channels are selected, the setting of the channel channels and the setting of the safety protection facilities can be simulated and verified in a three-dimensional space, the scheme planning process which can be verified in real time on a computer is realized, the predictability and the realizability of scheme planning can be improved, the scheme is prevented from being changed back and forth during site construction, and the construction efficiency is improved.
5) Planning and simulation verification of the demolishing construction process are carried out in the BIM model, and the demolishing construction scheme is gradually determined;
the demolition construction plan and simulation verification in step 5 contains at least the following matters,
5.1 Planning a bridge to be dismantled and dismantling time sequences of different objects around the bridge, including planning the dismantling time sequences of the bridge;
5.2 Model selection and determination of construction equipment required to be used in the dismantling process, wherein the construction equipment comprises, but is not limited to, an automobile crane, lifting equipment built on site and a forklift;
5.3 Line and pipeline planning for site electricity and water use;
5.4 Planning a temporary protection channel and safety protection facilities thereof, and planning a construction channel;
5.5 Model selection and determination of the approach clearance vehicle;
5.6 And 7.1 to 7.5, the specific dismantling scheme of the automobile crane, the forklift and the cleaning vehicle is cooperatively matched to dismantle each object for planning.
Because the on-site vehicle-mounted construction machine needs to be moved on site and the occupied space is also dynamic, a more accurate measurement model is needed for simulating and verifying the space occupation in the dynamic process, and the BIM model can meet the requirement; the BIM measurement model is characterized in that the BIM measurement model also comprises cooperative operation among different machines and tools, cross operation in the same time period can be performed to comprehensively simulate and verify whether space occupation is overlapped or not, the construction planning scheme is made according to the comprehensive simulation and verification, the foreseeability of problems possibly occurring in the construction process is higher, and the determined construction scheme is higher in realizability.
6) Deleting the removed object from the BIM model according to the removal progress in the removal process,
7) Inserting the designed BIM model of the newly built bridge into the BIM model obtained after the dismantling in the step 6, fusing the two BIM models, and planning the construction scheme of the newly built bridge; the BIM model in the computer is synchronous with the site dismantling construction process, changes of the space dimension condition of the site of the construction area are reflected in real time, accurate site multi-azimuth diversified dimension measurement data are provided for the scheme planning of the subsequent newly built bridge construction, and the method penetrates through the bridge dismantling and newly built process through one BIM model, so that two purposes are achieved.
Embodiment two: the second embodiment is basically the same as the first embodiment except that the step 3 in the second embodiment includes the following substeps
3.1 The laser point cloud model data is converted from the measurement coordinate system to the geodetic coordinate system, in which control points are acquired, which also take the coordinates of the geodetic coordinate system.
Firstly, finding control points arranged in an experiment in FARO screen software, marking scanning points, recording coordinates of the control points under a measurement coordinate system, and editing into txt files which correspond to the control points one by one in sequence.
The next step uses the point cloud processing software RiSCAN Pro of the oride Riegl company to perform coordinate transformation on the point cloud.
First, a new project is created, then a new scanposition1 is created to import the laser point cloud model data file into POLYDATA, and the coordinate file in the measurement coordinate system is imported into TPL (SOCS). A new scanposition2 is created again to import the control point file into a new TPL (SOCS), and then a coordinate transformation matrix is obtained by transforming the point cloud in scanposition1 onto the coordinate system of scanposition 2.
After the coordinate system conversion is completed, the laser point cloud model data are derived, and the RiSCAN Pro software cannot derive a point cloud data format suitable for carrying out the next modeling in the smart3D, so that the point cloud data format is converted into a.e57 format or a.las format through the CloudCompare software.
3.2 Then, the control points are marked on the oblique photographic picture in sequence, and the geodetic coordinate system of the control points corresponds to the picture pixel coordinates; submitting the measurement calculation of the aerial triangle after completion, and carrying out adjustment by using the fusion control points to obtain an inclined shooting three-dimensional model of the geodetic coordinate system after completion;
3.3 Then the data of the three-dimensional model of the imported point cloud and the data of the three-dimensional model of the oblique camera shooting are fused in computer software according to the same geodetic coordinate system.
And (3) importing laser point cloud model data into a smart3D and placing the oblique shooting three-dimensional model obtained in the step (3.2) in the same block, checking a primary matching effect (effect diagram) in a 3D view after importing, ensuring that a reconstruction project is newly built after no problem exists, selecting an obj-format three-dimensional grid for modification, submitting the three-dimensional grid for production, and carrying out detail modification on the obj model by using Geomagic Studio software after importing. And after the process is finished, reconstructing the imported modification model in the project, and updating the production project, so that the fusion modeling process according to the geodetic coordinate system is finished.
Embodiment III: the third embodiment is basically the same as the first embodiment, and the differences are that in the step 3 of the third embodiment, the oblique photographing three-dimensional model data is converted into the point cloud model data, and then the converted point cloud model data and the laser point cloud model data are fused by combining an ICP point cloud registration algorithm and manual registration.
The basic principle of the ICP point cloud registration algorithm is that for two point clouds A, B to be registered, a is used as reference point cloud data, and B is used as point cloud data to be registered. And (3) taking one point in the point cloud B, searching the closest point in the point cloud A as a corresponding point thereof, combining a plurality of corresponding points, and enabling a translational rotation relation [ R, t ] to exist between two point sets. And solving a conversion relation [ R, t ], and converting the point cloud B through the conversion matrix [ R, t ] to obtain a point cloud B1, wherein the average distance S between each point in the point cloud B1 and the corresponding point in the point cloud A. And according to the precision setting requirement, returning to perform resolving on the conversion relation between the point cloud A and the point cloud B1 when the requirement is not met, obtaining a new conversion matrix [ R, t ] and a new converted point cloud B2, and continuing calculating the value of S. After iteration is carried out for many times, the iteration is stopped until S reaches the required precision, and the final conversion matrix [ R, t ] is output.
In this embodiment, frao scale software is used to register two kinds of point cloud data, and because the accuracy of laser scanning laser point cloud model data is higher than the quality of point cloud data produced by converting an oblique photography three-dimensional model, in the process of registering two kinds of point cloud model data, the laser scanning laser point cloud model data is used as a datum point cloud, and a manual registration method is used to register two pieces of point cloud model data based on combination of cloud arrangement scanning to obtain a fused point cloud model.
According to the three embodiments, the point cloud data and the inclined image data can be matched and fused, the integrity of the re-modeling is 85%, the model integrity is improved by comparing the point cloud data and the inclined image data with the independent modeling, the defect of the model built by the inclined image at the shielding position of the lower part of the bridge and the like is also made up by the three-dimensional laser scanning point cloud data, the position which cannot be measured by the ground three-dimensional laser scanner at the upper part of the bridge and the like is also made up by the inclined image, the fused model resolution reaches 3cm, and the purpose of accurate measurement is achieved.
Claims (7)
1. A bridge BIM measurement and construction planning method integrating laser scanning and unmanned aerial vehicle oblique photography comprises the following steps:
1) The unmanned aerial vehicle with the satellite positioning module flies above the bridge and the peripheral objects to be dismantled according to a planned route, the pictures of the oblique photography are obtained, the pictures are imported into a computer, and the oblique photographing three-dimensional model data of the bridge and the peripheral objects are established through software;
2) Carrying out three-dimensional laser scanning on the lower part and the periphery of the bridge to be dismantled by adopting a three-dimensional laser scanner, and obtaining laser point cloud model data of the lower part and the periphery of the bridge;
3) Fusing the oblique shooting three-dimensional model data obtained in the step 1 with the laser point cloud model data obtained in the step 2 in computer software, and establishing fused three-dimensional model data;
4) Importing the fused three-dimensional model data obtained in the step 3 into BIM software to establish a BIM model of the bridge and the peripheral objects thereof to be dismantled, wherein the BIM model covers the multi-dimensional data in the relevant space region, and BIM measurement of the bridge and the peripheral objects thereof is realized;
5) Planning and simulation verification of the demolishing construction process are carried out in the BIM model, and the demolishing construction scheme is gradually determined;
6) Deleting the removed object from the BIM model according to the removal progress in the removal process,
7) Inserting the designed BIM model of the newly built bridge into the BIM model obtained after the dismantling in the step 6, fusing the two BIM models, and planning the construction scheme of the newly built bridge;
the steps 1) and 2) are not sequential.
2. The bridge BIM measurement and construction planning method combining laser scanning and unmanned aerial vehicle oblique photography according to claim 1, which is characterized in that:
step 1 comprises the following substeps
1.1 Estimating the coverage area of the construction operation space of the newly-built bridge according to the drawing, and planning the flight coverage area of the unmanned aerial vehicle;
1.2 According to the flight coverage area of the unmanned aerial vehicle, combining the parameters of the inclined camera carried by the unmanned aerial vehicle, the flight height and speed of the unmanned aerial vehicle, the image resolution and the aerial photo overlapping degree to plan the flight route,
1.3 Arrangement of image control points
Manually surveying the scene, taking the position which can be clearly identified after photographing and has obvious shape and color distinguishability as an image control point, simultaneously, measuring the geographic coordinates of the image control point conveniently, measuring and numbering the geographic coordinates of a plurality of image control points after determining the image control points, and recording;
1.4 Erecting a satellite positioning reference station in a shooting area, measuring and recording geographic coordinates of the reference station, and establishing communication between the reference station and the unmanned aerial vehicle;
1.5 After the steps 1.3 and 1.4 are completed, taking off the oblique photography unmanned aerial vehicle, carrying out flight and shooting along the route planned in the step 1.2, wherein the shot picture data have time information and unmanned aerial vehicle positioning information at the same time of shooting;
1.6 Importing the picture data obtained in the step 1.5 into a computer, marking corresponding positions of the image control points recorded in the step 1.3 in a plurality of related pictures in software, and establishing a corresponding relation between the geographic coordinates of the image control points and pixel coordinates in the pictures;
1.7 And (3) importing the picture data which is subjected to the step 1.6 into software for calculating the triangle in the air, carrying out operation, and establishing oblique shooting three-dimensional model data.
3. The bridge BIM measurement and construction planning method combining laser scanning and unmanned aerial vehicle oblique photography according to claim 1, which is characterized in that: the step 2 comprises the following substeps
2.1 On-site exploration prior to scanning
The coverage area of a construction operation space of the newly built bridge is estimated according to a drawing of the newly built bridge, the number and the positions of the three-dimensional laser scanning frame stations are determined by combining the activity rules of on-site traffic and personnel, scanning overlapping areas are reserved between adjacent frame stations, and the positions of the frame stations are numbered; setting targets in overlapping areas of scanning ranges between adjacent frame station positions;
2.2 Erecting a three-dimensional laser scanner for site scanning one by one, and collecting scanning point cloud data of a plurality of sites of the lower part of the bridge to be dismantled and peripheral objects;
2.3 Importing the scanning point cloud data obtained in the step 2.2) into a computer, processing the scanning point cloud data obtained by a plurality of stations through software operation, and splicing one by one according to target characteristics in the point cloud data to form laser point cloud data of the whole lower part of the bridge to be dismantled and the peripheral objects.
4. A bridge BIM measurement and construction planning method fused by laser scanning and unmanned aerial vehicle oblique photography according to any one of claims 1 to 3, characterized in that: step 3 comprises the following substeps
3.1 Firstly, converting laser point cloud data into a point cloud three-dimensional model through computer software, and then collecting fusion control points on the point cloud three-dimensional model;
3.2 After the first aerial triangle measurement calculation is completed by the oblique photography picture, according to the information of the fusion control points acquired on the point cloud three-dimensional model, the fusion control points are marked on the related oblique photography picture in sequence; submitting the measurement calculation of the aerial triangle again after the completion, carrying out adjustment by using the fusion control points, and establishing an updated oblique shooting three-dimensional model;
3.3 Then the imported point cloud three-dimensional model and the updated oblique shooting three-dimensional model data are fused in computer software according to the fusion control points.
5. A bridge BIM measurement and construction planning method fused by laser scanning and unmanned aerial vehicle oblique photography according to any one of claims 1 to 3, characterized in that: step 3 comprises the following substeps
3.1 Converting laser point cloud model data from a measurement coordinate system to a geodetic coordinate system, wherein control points are acquired, the coordinates of which also adopt the geodetic coordinate system;
3.2 Then labeling the control points on the oblique photography pictures in sequence; submitting the measurement calculation of the aerial triangle after completion, and carrying out adjustment by using the fusion control points to obtain an inclined shooting three-dimensional model of the geodetic coordinate system after completion;
3.3 Then the three-dimensional model of the point cloud is imported and the three-dimensional model data of the oblique camera shooting are fused in computer software according to the same coordinate system.
6. The bridge BIM measurement and construction planning method combining laser scanning and unmanned aerial vehicle oblique photography according to claim 1, which is characterized in that: in the step 3, the oblique shooting three-dimensional model data is firstly converted into point cloud model data, and then the converted point cloud model data and laser point cloud model data are fused by combining an ICP point cloud registration algorithm and manual registration.
7. The bridge BIM measurement and construction planning method combining laser scanning and unmanned aerial vehicle oblique photography according to claim 1, which is characterized in that: the demolition construction plan and simulation verification in step 5 contains at least the following matters,
5.1 Planning a bridge to be dismantled and dismantling time sequences of different objects around the bridge, including planning the dismantling time sequences of the bridge;
5.2 Model selection and determination of construction equipment required to be used in the dismantling process, wherein the construction equipment comprises, but is not limited to, an automobile crane, lifting equipment built on site and a forklift;
5.3 Line and pipeline planning for site electricity and water use;
5.4 Planning a temporary protection channel and safety protection facilities thereof, and planning a construction channel;
5.5 Model selection and determination of the approach clearance vehicle;
5.6 And 5.1 to 5.5, the specific dismantling scheme of the automobile crane, the forklift and the cleaning vehicle is cooperatively matched to dismantle each object for planning.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118314300A (en) * | 2024-06-06 | 2024-07-09 | 核工业(天津)工程勘察院有限公司 | Engineering measurement accurate positioning and three-dimensional modeling method and system |
| CN118758267A (en) * | 2024-09-09 | 2024-10-11 | 湖南省交通科学研究院有限公司 | A bridge crack detection method and system based on close-up photogrammetry technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118314300A (en) * | 2024-06-06 | 2024-07-09 | 核工业(天津)工程勘察院有限公司 | Engineering measurement accurate positioning and three-dimensional modeling method and system |
| CN118314300B (en) * | 2024-06-06 | 2024-09-03 | 核工业(天津)工程勘察院有限公司 | Engineering measurement accurate positioning and three-dimensional modeling method and system |
| CN118758267A (en) * | 2024-09-09 | 2024-10-11 | 湖南省交通科学研究院有限公司 | A bridge crack detection method and system based on close-up photogrammetry technology |
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