CN105488958B - A kind of contactless landslide disaster monitoring system and method - Google Patents
A kind of contactless landslide disaster monitoring system and method Download PDFInfo
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- CN105488958B CN105488958B CN201510874775.6A CN201510874775A CN105488958B CN 105488958 B CN105488958 B CN 105488958B CN 201510874775 A CN201510874775 A CN 201510874775A CN 105488958 B CN105488958 B CN 105488958B
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention discloses a kind of contactless landslide disasters to monitor system, including the laser radar scanner, video review equipment and monitoring center processing platform connecting respectively with monitoring processing host；Wherein, laser radar scanner is for obtaining in landslide control region each point to the range data of laser radar scanner；Monitoring processing host is for receiving laser radar scanner range data collected, obtaining overrun testing result and overrun testing result being sent to monitoring center processing platform；After monitoring center processing platform judges that overrun testing result is more than data threshold, monitoring processing host is also used to trigger video review equipment acquisition video and is checked.The contactless landslide disaster monitors system, is monitored using 3 D stereo scanning technique to entire landslide control region, can accurately monitor Landslide Hazards, and by checking equipment linkage with video, realizes early warning-alarm-review treatment mechanism.The present invention discloses corresponding monitoring methods.
Description
Technical field
The present invention relates to a kind of landslide disaster monitoring systems more particularly to a kind of contactless landslide disaster to monitor system,
Present invention simultaneously relates to the monitoring methods for using above-mentioned landslide disaster monitoring system to realize, belong to Geological Hazards Monitoring field.
Background technique
Landslide is to organize sloping part Rock And Soil based on gravity under certain natural conditions and geological conditions
The whole downslide breakoff phenomenon that shearing occurs along the certain Weak face of sloping inner under effect and generates.In recent years due to the calamity that comes down
The accident that evil causes frequently occurs, and seriously threatens the people's lives and property safety.
Existing landslide monitoring technology mainly has following three kinds: 1) traditional landslide monitoring technology；2) distribution type fiber-optic is supervised
Survey technology；3) GNSS displacement monitoring technology.Above-mentioned three kinds of monitoring technology are contact monitoring technology, are monitored to landslide
When be respectively present following advantage and disadvantage.
Wherein, traditional landslide monitoring technology uses sensor technology, by the oscillatory type slit gauge for being mounted on slopes, surveys
Tiltedly meter, water table measure meter, the specialized equipments such as pressure gauge are monitored slip mass, are sent to center by bus, carry out
Software analysis processing.Cost is relatively low for such monitoring technology, and precision is higher, and effect is preferable；But it is easy by underground water, climatic environment
Influence；And it is only capable of the measurement put to slopes, the measurement of non-face, measurement accuracy is easy to be affected；And it constructs
Difficulty is big, and the period is long.
Distributed optical fiber sensing technology is a kind of distributed optical fiber strain sensor of Brillouin's backscattering.Light wave exists
It is propagated in optical fiber and Brillouin scattering occurs with the acoustical phonon interaction in optical fiber.Sensor fibre is on landslide surface in netted
It lays, optical fiber is fixed on landslide soil body surface following certain depth position or is attached directly to rock mass by spaced apart
Surface keeps it consistent with the compatibility of deformation of Rock And Soil.Distributed Optical Fiber Sensing Techniques have the advantages that measurement distance, cover
Lid range is big, can be good at being monitored the slip mass of large area, can measure strain along optical fiber on any point, temperature
The information such as degree and damage, realize the comprehensive monitoring to monitoring object.But contact type measurement is also had the drawback that simultaneously, is applied
Work trouble, is affected by the factors such as temperature, fiber ageing, and rate of false alarm is high, higher cost.
GNSS displacement monitoring technology sets up the monitoring point GNSS and datum mark being monitored Shi Yingxian to landslide displacement.Its
In, the sliding velocity of slip mass is very fast or the biggish key position of slippage lays the monitoring point GNSS, influenced far from landslide
Lay several GNSS datum marks in stabilization location other than area.And GNSS receiver is installed on each monitoring point GNSS or datum mark
And GNSS antenna.GNSS antenna and receiver are for receiving and recording the satellites such as Beidou, GPS, GLONASS, Gal i leo letter
Number, and data flow or data file are converted to, the server end for being equipped with dedicated monitoring of software is converged to by communication link, is led to
It crosses monitoring of software and carries out high-precision difference positioning calculation, obtain each high-precision displacement data.When displacement data is beyond predetermined
Threshold value when, system issues alarm automatically, and relevant department is reminded to take risk avoidance measures in advance.GNSS displacement monitoring technology, has
Monitoring accuracy is higher, the preferable advantage of effect；But its monitoring that still only slopes are put, non-comprehensive monitoring；And it is entire
Difficulty of construction is big for monitoring technology, and the period is long, at high cost.
Summary of the invention
Primary technical problem to be solved by this invention is to provide a kind of contactless landslide disaster monitoring system.
Another technical problem to be solved by this invention is to provide a kind of contactless Landslide Monitoring Methods.
In order to achieve the above-mentioned object of the invention, the present invention uses following technical solutions:
A kind of contactless landslide disaster monitoring system, including the laser radar scanning being connect respectively with monitoring processing host
Instrument, video review equipment and monitoring center processing platform；Wherein,
The laser radar scanner be used to obtaining each point in landslide control region to the laser radar scanner away from
From data；
The video review equipment is used to acquire the image data in landslide control region；
The monitoring processing host is for receiving laser radar scanner range data collected, obtaining inspection of transfiniting
It surveys result and overrun testing result is sent to monitoring center processing platform；When the monitoring center processing platform judges inspection of transfiniting
Result is surveyed more than after data threshold, the monitoring processing host is also used to trigger the video review equipment acquisition video and is answered
Core.
Wherein more preferably, the laser source inside the laser radar scanner can carry out the angle rotation of horizontal direction；
The laser radar scanner is arranged on crank rocker auxiliary platform, and the crank rocker auxiliary platform is for driving institute
State the angle rotation that laser radar scanner carries out vertical direction.
Wherein more preferably, the elevation angle theta of the crank rocker auxiliary platform1With angle of depression θ2Respectively with the peace of laser radar scanner
Meet following equation between the dress height h and height H of slopes:
Wherein, R1It is distance of the laser radar scanner to slopes highest point, R2It is that laser radar scanner is minimum to slopes
The distance of point.
Wherein more preferably, the control angle of the rate of pitch ω of the crank rocker auxiliary platform and crank rocker auxiliary platform
Meet following equation between ψ:
Wherein, control angle ψ=θ of crank rocker auxiliary platform1+θ2；T is the scan period of the crank rocker auxiliary platform.
Wherein more preferably, the monitoring processing host includes laser radar processing platform and video review platform；
The laser radar processing platform is rotated for controlling crank rocker auxiliary platform described in motor driven, also,
The laser radar processing platform is used to receive the position feedback information of the crank rocker auxiliary platform；The laser radar processing
Platform is also used to scan the number that the range data obtained establishes the landslide control region according to the laser radar scanner
Surface model, and obtain overrun testing result；
The video review platform is connect with video review equipment；The video review platform is for starting the view
Frequency review equipment acquires video data, and the video data is sent to monitoring center processing platform progress disaster and is answered
Core.
Wherein more preferably, monitoring processing host further include for the laser radar processing platform, the video
The interchanger that review platform and the monitoring center processing platform are communicated.
A kind of contactless Landslide Monitoring Methods, include the following steps:
(1) digital surface model on basis is established using the standard point cloud data in entire landslide control region；
(2) laser radar scanner carries out repeating to detect establishing real-time digital surface model to entire landslide control region,
And according to the comparing result of real-time digital surface model and the digital surface model on the basis, determine overproof region position,
Area, volume and overproof average height and maximum height, and overrun testing result is sent back into monitoring center processing platform；
(3) the monitoring center processing platform compares the overrun testing result and set data threshold, when described super
When limit testing result is not above the data threshold, pre-warning signal is generated；When the overrun testing result is more than the data
When thresholding, alarm signal is generated, and triggers video review equipment and carries out disaster review.
Wherein more preferably, in the step (1), from the preliminary scan result of the laser radar scanner or periodically
The standard point cloud data in entire landslide control region is obtained in the scanning result of maintenance, includes each in the standard point cloud data
Initial distance of the monitoring point to the laser radar scanner.
Wherein more preferably, include the following steps: in the step (2)
(21) actual range of each real time scan point is obtained, and is calculated between the actual range and the initial distance
Difference；
(22) judge whether the difference is positive difference and simultaneously greater than given threshold, if it is, obtaining to follow up scan
The cloud building real-time digital surface model that transfinites obtained；If it is not, then continuing to scan on；
(23) data comparison is carried out with the digital surface model of real-time digital surface model and basis, determines overproof region
Position, area, volume and overproof average height and maximum height.
It wherein more preferably, further include step (24) in the step (2): according to the data shape for the cloud that transfinites, identification
Whether overrun testing object is human or animal, if it is, ignore the testing result, return step (21).
Contactless landslide disaster monitoring system provided by the present invention uses three-level structure, is monitoring center processing respectively
Platform, monitoring processing host, laser radar scanner and video check equipment.The contactless landslide disaster monitors system, benefit
It is monitored with entire slope surface of the 3 D stereo scanning technique to landslide control region, can accurately monitor Landslide Hazards,
And by checking equipment linkage with video, early warning-alarm-review treatment mechanism is realized.The contactless landslide disaster prison
Using being fixed on, the equipment such as the laser radar scanner of landslide control areas adjacent are non-to the progress of landslide control region to be connect examining system
Touch monitoring, it is at low cost, it is easy for construction, it is convenient for safeguarding；Also, precision is high, and rate of false alarm is low.Moreover, the contactless landslide calamity
Evil monitoring system, can be according to the comparing result of real-time digital surface model and the digital surface model on basis, and approximate calculation is sliding
The earth volume on slope is speedily carried out rescue work convenient for subsequent, can greatly reduce the life and property loss brought due to Landslide Hazards.
Detailed description of the invention
Fig. 1 is the structural block diagram of contactless landslide disaster monitoring system provided by the present invention；
Fig. 2 is the schematic diagram of the Measurement Resolution of laser radar scanner；
Fig. 3 is the schematic diagram of the installation site of laser radar scanner and the control angle of crank rocker auxiliary platform；
Fig. 4 is the process flow diagram of contactless landslide disaster monitoring system provided by the present invention.
Specific embodiment
Technology contents of the invention are further described in detail in the following with reference to the drawings and specific embodiments.
Laser radar scanning technology is the novel aerial survey technology developed rapidly the nearest more than ten years, at home
Relatively broad application has been obtained in outer multiple industries, but in landslide monitoring using upper actually rare.Since Three Dimensional Ground swashs
Optical scanning technology can at high speed, high-precision, the highdensity three dimensional space coordinate for obtaining body surface, and it is tested without contact
Object is particularly suitable for applications in the Geological Hazards Monitorings fields such as landslide.
Contactless Landslide Forecast System provided by the present invention is that monitoring center processing is flat respectively using three-level structure
Platform 1, monitoring processing host 2, laser radar scanner 3 and video check equipment 4.Wherein, as shown in Figure 1, laser radar scanning
Instrument 3, video review equipment 4 and monitoring center processing platform 1 are connect with monitoring processing host 2 respectively；Laser radar scanner 3 is used
Range data of each point to laser radar scanner 3 in acquisition landslide control region；Video checks equipment 4 for acquiring landslide
The image data of monitoring area；Monitoring processing host 2 is for receiving the range data collected of laser radar scanner 3, acquisition
Overrun testing result is simultaneously sent to monitoring center processing platform 1 by overrun testing result；When the judgement of monitoring center processing platform 1 is super
Testing result is limited more than after data threshold, monitoring processing host 2 is also used to trigger video review 4 collection site video of equipment and carries out
Review.The contactless Landslide Forecast System is calculated using earth volume of the 3 D stereo scanning technique to slopes avalanche, with
Convenient for emergency work construction, and the monitoring result of laser radar scanner 3 and video review equipment 4 are linked, realize early warning --- report
It is alert --- the treatment mechanism of review.
Below to the specific setting of the contactless Landslide Forecast System and its related monitoring principle and monitoring method
It describes in detail.
In conjunction with Fig. 1, Fig. 2 and Fig. 3 it is found that laser radar scanner 3 is arranged on crank rocker auxiliary platform 30.Laser radar
Laser source inside scanner 3 can carry out the angle rotation of horizontal direction, and crank rocker auxiliary platform 30 can drive laser radar
Scanner 3 carries out the angle rotation in vertical direction.As shown in figure 3, the setting height h of crank rocker auxiliary platform 30 is less than landslide
The height H of the slope surface of monitoring area, so that crank rocker auxiliary platform 30 can drive laser radar scanner 3 to carry out vertical direction
Swing up and down.By the horizontal rotation in 3 inner laser source of laser radar scanner, meanwhile, crank rocker auxiliary platform 4, which drives, to swash
Optical radar scanner 3 carries out vertical rotary, ultimately forms the scanning in face.Pulse laser constantly scans landslide, so that it may obtain
The data of target complete point on landslide, after carrying out imaging with this data, so that it may obtain the accurate three-dimensional image that comes down.
For laser radar scanner 3 using laser as signal source, the pulse laser launched by laser gets to landslide control
Cause to scatter on the target point in region, a part of light wave can be reflected on the receiver of laser radar scanner 3, according to Laser Measuring
It is calculated away from principle, just obtains the distance from laser radar scanner 3 to target point.
As illustrated in fig. 2, it is assumed that the farthest scanning distance of laser radar scanner 3 is R, angular resolution θ can then be calculated
Measurement Resolution d out are as follows:
As shown in Figure 3, it is assumed that the mounting height of laser radar scanner 3 is h, and the height of slopes is H, h < H, then can be with
Calculate the elevation angle theta of crank rocker auxiliary platform 301Are as follows:Angle of depression θ2Are as follows:Crank shakes
The control angle of bar auxiliary platform 30 are as follows: ψ=θ1+θ2.Wherein, R1It is distance of the laser radar scanner to slopes highest point, R2It is
Distance of the laser radar scanner to slopes minimum point.
When angular resolution θ=0.5 °, the scan frequency that laser radar scanner 3 can be set is 50Hz；Work as angular resolution
When rate θ=0.25 °, the scan frequency that laser radar scanner 3 can be set is 25Hz.
Assuming that the period of scanning slope surface is t (being determined according to the time requirement of alarm), then crank rocker auxiliary platform 30 is bowed
Elevation angle speed isIt is calculated with θ=0.5 °, then the angular resolution of crank rocker auxiliary platform 30 is
So as to calculate, the area precision that laser radar scanner 3 scans is (when resolution ratio is smaller): S ≈ α × d,
I.e. when region of the area greater than S is come down, overrun testing will be generated as a result, to generate early warning or warning message.
As shown in Figure 1, monitoring processing host 2 further includes that interchanger 20, laser radar processing platform 21 and video review are flat
Platform 22；Interchanger 20 is used to be led to laser radar processing platform 21, video review platform 22 and monitoring center processing platform 1
Letter.Laser radar processing platform 21 is rotated for controlling motor driven crank rocker auxiliary platform 30, also, at laser radar
Platform 21 is used to receive the position feedback information of crank rocker auxiliary platform 30.Laser radar processing platform 21 is also used to according to sharp
The range data that the scanning of optical radar scanner 3 obtains establishes the digital surface model in landslide control region, and obtains overrun testing
As a result；It can be connected by RJ45 interface between laser radar processing platform 21 and laser radar scanner 3.Video checks platform
22 are connect with video review equipment 4 by RJ45 interface, and video review platform 22 acquires video for starting video review equipment 4
Data, and collected video data is sent to monitoring center processing platform 1 by interchanger 20 and carries out disaster review.
As shown in figure 4, when stating contactless landslide disaster monitoring system in use and carrying out disaster monitoring, specifically include as
Lower step: (1) digital surface model on basis using the standard point cloud data in entire landslide control region is established；(2) laser thunder
Entire landslide control region is carried out repeating to detect up to scanner to establish real-time digital surface model, and according to real-time digital surface
The comparing result of model and the digital surface model on basis, determines position, area, volume and the overproof mean height in overproof region
Degree and maximum height, and overrun testing result is sent back into monitoring center processing platform；(3) comparison of monitoring center processing platform is super
Testing result and set data threshold are limited, when overrun testing result is not above data threshold, generates pre-warning signal；When super
When limiting testing result more than data threshold, alarm signal is generated, and triggers video review equipment and carries out disaster review.
Wherein, in step (1), basic data is established to the scanning in landslide control region by laser radar scanner 3
Library.When first used, laser radar scanner 3 carries out accurate scan to landslide control region, obtains the point cloud data of standard, marks
It include the initial distance that laser radar scanner 3 is arrived in each monitoring point in quasi- point cloud data, which is handled can be with
Establish the digital surface model (DSM) on basis, the basic data which monitors automatically as the later period.Periodic inspection
When, as needed, laser radar scanner updates basic data after scanning again to landslide control region.That is, in step (1)
In, entire landslide prison is obtained in scanning result when can be from the preliminary scan result or periodic inspection of laser radar scanner
The standard point cloud data in region is controlled, and establishes the digital surface model on basis.
In step (2), landslide control region is scanned real-time, quickly by laser radar scanner 3, is slided
Slope detection.Specifically, the actual range of each real time scan point is obtained, and calculates the digital surface of the actual range and basis
The difference between initial distance in model；If it is positive difference, and it is greater than given threshold, then will obtain to follow up scan
The cloud building real-time digital surface model that transfinites；Then it is carried out with the real-time digital surface model with fundamental digital surface model
Change detection determines overrun testing as a result, and overrun testing result is sent back monitoring center.
Specifically comprise the following steps:
(21) actual range of each real time scan point is obtained, and calculates the difference between actual range and initial distance；
(22) judge whether the difference is positive difference and simultaneously greater than given threshold, if it is, obtaining to follow up scan
The cloud building real-time digital surface model that transfinites；If it is not, then continuing to scan on；The cloud that transfinites refers to that distance difference is more than setting
The set of multiple points of threshold value.
(23) data comparison is carried out with the digital surface model of real-time digital surface model and basis, determines overproof region
Position, area, volume and overproof average height and maximum height.Wherein, overproof region refers to that by distance difference be more than setting
The cloud that transfinites of threshold value is formed by region；Position, area, volume and the overproof average height and maximum height in overproof region
Etc. information constitute overrun testing result.
It, can since landslide control region of the laser radar scanner to stationary applica-tions is scanned in step (2)
To carry out dynamic Auto-calibration.It is stationary applica-tions that this system, which scans target, and position dimension is fixed in monitored district, therefore can be used as
Dynamic Auto-calibration reference substance can be used to improve the operation stability of system, reduce wrong report.
In addition, can also identify inspection of transfiniting according to the data shape for the cloud that transfinites including step (24) in step (2)
Survey whether object is human or animal, if it is, ignore the testing result, return step (21), if it is not, then by the inspection of transfiniting
It surveys result and is sent to monitoring center processing platform.That is, the point cloud data form that can be formed by preliminary analysis, automatically
Judge that overrun testing object is people or animal, to not report by mistake to such case.
In step (3), warning message and video interlink can also be realized.When monitoring data are in the model for being lower than data threshold
When enclosing interior variation, it can give warning in advance；When monitoring data are more than set data threshold, alarm signal is generated, triggers video
Check equipment linkage, obtain landslide control region video data, to check disaster there is a situation where.
In conclusion contactless landslide disaster provided by the present invention monitors system, 3 D stereo scanning technique is utilized
The entire slope surface in landslide control region is monitored, can accurately monitor Landslide Hazards, and by setting with video review
Standby linkage, realizes early warning-alarm-review treatment mechanism.Cunning is fixed in the contactless landslide disaster monitoring system use
The equipment such as the laser radar scanner near the monitoring area of slope carry out landslide control region contactless in a manner of monitoring surface
Monitoring, it is at low cost, it is easy for construction, it is convenient for safeguarding；Also, precision is high, and rate of false alarm is low.Moreover, the contactless landslide disaster prison
Examining system can come down according to the comparing result of real-time digital surface model and the digital surface model on basis, approximate calculation
Earth volume is speedily carried out rescue work convenient for subsequent, can greatly reduce the life and property loss brought due to Landslide Hazards.
Contactless landslide disaster monitoring system and method provided by the present invention are described in detail above.
To those skilled in the art, it is done under the premise of without departing substantially from true spirit any obvious
Change will all belong to the protection scope of the invention patent power.
Claims (10)
1. a kind of contactless Landslide Monitoring Methods, it is characterised in that include the following steps:
(1) digital surface model on basis is established using the standard point cloud data in entire landslide control region；
(2) laser radar scanner carries out entire landslide control region using dynamic Auto-calibration mode to repeat detection, monitoring
Processing host obtains the actual range of each real time scan point, and calculates in the actual range and the digital surface model on basis
Difference between initial distance；If it is positive difference, and it is greater than given threshold, then transfiniting what is obtained to follow up scan a little
Cloud constructs real-time digital surface model；And according to the comparison knot of real-time digital surface model and the digital surface model on the basis
Fruit determines overrun testing as a result, and the overrun testing result is sent back monitoring center processing platform；The overrun testing knot
Fruit includes position, area, volume and the overproof average height and maximum height in overproof region；The cloud that transfinites refers to distance
Difference is more than the set of multiple points of given threshold；
(3) the monitoring center processing platform compares the overrun testing result and set data threshold, when the inspection of transfiniting
When survey result is not above the data threshold, pre-warning signal is generated；When the overrun testing result is more than the data threshold
When, alarm signal is generated, and trigger video review equipment and carry out disaster review.
2. contactless Landslide Monitoring Methods as described in claim 1, it is characterised in that:
In the step (1), from the preliminary scan result of the laser radar scanner or the scanning result of periodic inspection
The middle standard point cloud data for obtaining entire landslide control region includes each monitoring point in the standard point cloud data to described sharp
The initial distance of optical radar scanner.
3. contactless Landslide Monitoring Methods as claimed in claim 2, it is characterised in that include in the step (2)
Following steps:
(21) actual range of each real time scan point is obtained, and calculates the difference between the actual range and the initial distance
Value；
(22) judge whether the difference is positive difference and simultaneously greater than given threshold, if it is, follow up scan is obtained
Transfinite a cloud building real-time digital surface model；If it is not, then continuing to scan on；
(23) data comparison is carried out with the digital surface model of real-time digital surface model and basis, determines the position in overproof region
It sets, area, volume and overproof average height and maximum height.
4. contactless Landslide Monitoring Methods as claimed in claim 3, it is characterised in that also wrapped in the step (2)
It includes step (24): according to the data shape for the cloud that transfinites, identifying whether overrun testing object is human or animal, if it is, neglecting
The slightly testing result, return step (21).
5. a kind of contactless landslide disaster monitors system, for realizing contactless landslide disaster as described in claim 1
Monitoring method, it is characterised in that:
Laser radar scanner, video review equipment and monitoring center processing including connecting respectively with monitoring processing host are flat
Platform；Wherein,
The laser radar scanner is used to use dynamic Auto-calibration mode, obtains each point in landslide control region and swashs to described
The range data of optical radar scanner；
The video review equipment is used to acquire the image data in landslide control region；
The monitoring processing host is for receiving laser radar scanner range data collected, establishing real-time digital table
Surface model, and according to real-time digital surface model and basis digital surface model comparing result obtain overrun testing as a result,
And overrun testing result is sent to monitoring center processing platform；When the monitoring center processing platform judges overrun testing result
After data threshold, the monitoring processing host is also used to trigger the video review equipment acquisition video and is checked.
6. contactless landslide disaster as claimed in claim 5 monitors system, it is characterised in that:
Laser source inside the laser radar scanner can carry out the angle rotation of horizontal direction；
The laser radar scanner is arranged on crank rocker auxiliary platform, and the crank rocker auxiliary platform is described sharp for driving
Optical radar scanner carries out the angle rotation of vertical direction.
7. contactless landslide disaster as claimed in claim 6 monitors system, it is characterised in that:
The elevation angle theta of the crank rocker auxiliary platform1With angle of depression θ2Respectively with the mounting height h of laser radar scanner and slopes
Meet following equation between height H:
Wherein, R1It is distance of the laser radar scanner to slopes highest point, R2It is laser radar scanner to slopes minimum point
Distance.
8. contactless landslide disaster as claimed in claim 7 monitors system, it is characterised in that:
Meet following public affairs between the rate of pitch ω of the crank rocker auxiliary platform and the control angle ψ of crank rocker auxiliary platform
Formula:
Wherein, control angle ψ=θ of crank rocker auxiliary platform1+θ2；T is the scan period of the crank rocker auxiliary platform.
9. contactless landslide disaster as claimed in claim 6 monitors system, it is characterised in that:
The monitoring processing host includes laser radar processing platform and video review platform；
The laser radar processing platform is rotated for controlling crank rocker auxiliary platform described in motor driven, also, described
Laser radar processing platform is used to receive the position feedback information of the crank rocker auxiliary platform；The laser radar processing platform
It is also used to scan the digital surface that the range data obtained establishes the landslide control region according to the laser radar scanner
Model, and obtain overrun testing result；
The video review platform is connect with video review equipment；The video review platform is multiple for starting the video
Nuclear equipment acquires video data, and the video data is sent to the monitoring center processing platform and carries out disaster review.
10. contactless landslide disaster as claimed in claim 9 monitors system, it is characterised in that:
The monitoring processing host further includes for checking platform and the prison with the laser radar processing platform, the video
The interchanger that control central processing platform is communicated.
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