CN106546592A - Side slope quality determining method and system based on multispectral aerial detection robot - Google Patents
Side slope quality determining method and system based on multispectral aerial detection robot Download PDFInfo
- Publication number
- CN106546592A CN106546592A CN201610982805.XA CN201610982805A CN106546592A CN 106546592 A CN106546592 A CN 106546592A CN 201610982805 A CN201610982805 A CN 201610982805A CN 106546592 A CN106546592 A CN 106546592A
- Authority
- CN
- China
- Prior art keywords
- image
- frequency coefficient
- side slope
- robot
- multispectral aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 81
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000004927 fusion Effects 0.000 claims abstract description 30
- 230000003287 optical effect Effects 0.000 claims abstract description 29
- 230000008569 process Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000005457 optimization Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 description 5
- 239000011435 rock Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 238000001228 spectrum Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012372 quality testing Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Image Processing (AREA)
Abstract
The present invention provides a kind of side slope quality determining method based on multispectral aerial detection robot, including：Image acquisition step, the optical camera and infrared camera multiple scope of operations that side slope is divided in advance respectively that are carried using the multispectral aerial detection robot are shot successively, to obtain the optical imagery and infrared image of multiple scope of operations；Image co-registration step, it is taken based on compressive sensing theory the optical imagery of each scope of operation that photographs and infrared image is merged, obtains fusion image；Hazard prediction step, the fusion image is contrasted with the reference standard being stored in data base, so as to predict the Slope hazard being likely to occur.The present invention also provides a kind of side slope quality detecting system based on multispectral aerial detection robot.The technical scheme that the present invention is provided can improve accuracy of detection and detection efficiency, while the safety of detection is also greatly improved.
Description
Technical field
The present invention relates to field of machine vision, more particularly to a kind of side slope quality based on multispectral aerial detection robot
Detection method and system.
Background technology
Side slope refers to the cutting slope that the natural slope near circuit or Jing construction and excavations formed, to fill the embankment to be formed oblique
Slope etc..Foundation《Highway subgrade design specification》JTGD30-2004 specifies：Soil property is dug slope height and is more than 20 meters, rock matter excavation side
Side slope of the slope highly more than 30 meters is high slope.
As slope system is an open complication system, synthesis of its stability by geologic(al) factor and engineering factor etc.
Affect.These factors being to determine property a bit, but most of have the uncertain feature such as randomness, ambiguity, transmutability,
Their weighing factors to different type slope rock mass stability are changes, the nonlinear dependence for having complexity between these factors
System, therefore identification factor should be dynamically selected according to concrete condition during analysis of rock slope stability.And for side slope
Engineering monitoring mainly understands geological type and deformation mechanism, with constantly developing, by original artificial simple tape measure instrument
Instrument monitoring till now, and to high accuracy, the Slope Monitoring technology development of the remote system of automatization.According to prison
The result obtained after survey, finds the rule of the dynamic changes such as slopes landslide, avalanche, the disaster that prediction may occur.
The detection method of side slope disaster includes simple observation method, sets station observation method, instrument observation method at present.
(1). simple observation method
Simple observation method is adapted to observe the slopes that disaster occurs, by artificial observation, the avalanche that slopes are produced is settled,
The signs such as table expansion, crack have further understanding, and where having easy avalanche or having occurred and that avalanche, do subscript
Note, by contrasting different time, under condition of different temperatures, what crack scale, ON state, depth, length, width and cracking extended
Direction, according to its development trend, analysis is the slip in which period.
(2). set station observation method
Can just be used after the situation for understanding engineering regional address background, slopes are divided into wire or latticed area
Domain, fixed observation station (this point can not be in the coverage of deformed area), with many measuring methods and the instrument of precision,
The different times are observed.
(3). instrument observation method
Instrument observation method mainly carries out Slope Monitoring with accurate instrument, for no detection type, makes
Instrument is also different, for the less slope test of deflection should use high precision short distance instrument, and for landslide,
Drastic change etc. should use the adjustable instrument of measuring range.
The characteristics of three traditional detection methods of the above have one common is exactly to need artificial participation, needs workmen couple
Rock mass is comprehensively monitored and periodic detection, and the particularly detection after heavy rain or after earthquake is particularly important.But
It is that China's geology is special, and Rock Species are a lot of, inside side slope, ground also has certain complexity, traditional manual detection side
Method have the shortcomings that high labor intensive, inefficiency, detection precision it is not high, it is especially often adjoint when high slope is detected
Certain danger, the injures and deaths of personnel are easily caused.
The content of the invention
In view of this, it is an object of the invention to provide a kind of side slope quality inspection based on multispectral aerial detection robot
Survey and its system, it is intended to the precision that solves manual detection in prior art is not high, detection efficiency is relatively low and the safety that detects compared with
Poor problem.
The present invention proposes a kind of side slope quality determining method based on multispectral aerial detection robot, mainly includes：
Image acquisition step, the optical camera carried using the multispectral aerial detection robot and infrared camera point
Multiple scope of operations that other side slope is divided in advance are shot successively, to obtain the optical imagery and infrared figure of multiple scope of operations
Picture；
Image co-registration step, compressive sensing theory is taken based on to the optical imagery of each scope of operation that photographs and red
Outer image is merged, and obtains fusion image；
Hazard prediction step, the fusion image is contrasted with the reference standard being stored in data base, so as to
The Slope hazard that prediction is likely to occur.
On the other hand, the present invention also provides a kind of side slope quality detecting system based on multispectral aerial detection robot,
Mainly include：
Image capture module, for using the multispectral aerial detection optical camera that carried of robot and infrared phase
Machine multiple scope of operations that side slope is divided in advance respectively are shot successively, to obtain the optical imagery of multiple scope of operations and infrared
Image；
Image co-registration module, for being taken based on the optical imagery of each scope of operation of the compressive sensing theory to photographing
Merged with infrared image, obtained fusion image；
Hazard prediction module, for the fusion image is contrasted with the reference standard being stored in data base,
So as to predict the Slope hazard being likely to occur.
The technical scheme that the present invention is provided, the optical camera carried by multispectral aerial detection robot and infrared phase
Machine is shot to whole region to be detected, is formulated the flight path of multispectral aerial detection robot, disposably quickly can be held
Complete detection of the row to whole side slope, has been greatly saved manpower and time cost, and has substantially increased detection efficiency；For flash
Slope is detected, using the multispectral aerial danger for detecting that robot replacement manually effectively prevent work high above the ground, for gradient slope is examined
Survey, substituted using multispectral aerial detection robot and manually effectively prevent side slope and collapse suddenly the danger that brings, and then greatly
Improve the safety of detection.
Description of the drawings
Fig. 1 is the stream in an embodiment of the present invention based on the multispectral aerial side slope quality determining method for detecting robot
Cheng Tu；
Fig. 2 is that image co-registration step implements flow chart in an embodiment of the present invention；
Fig. 3 is that the multispectral aerial detection robot fixed point flight of carrying optical camera in an embodiment of the present invention shoots
The domatic region clear pictures figure of whole engineering；
Fig. 4 is the side slope quality detecting system 10 based on multispectral aerial detection robot in an embodiment of the present invention
Internal structure schematic diagram；
Fig. 5 is the schematic perspective view of air-robot in an embodiment of the present invention；
Fig. 6 is the AA line generalized sections of air-robot shown in Fig. 5 in an embodiment of the present invention；
Fig. 7 is the BB line generalized sections of air-robot shown in Fig. 5 in an embodiment of the present invention；
Fig. 8 is the side view of the camera integral part 4 of air-robot shown in Fig. 5 in an embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
A kind of side slope quality testing based on multispectral aerial detection robot provided by the present invention will be carried out below
Describe in detail.
Fig. 1 is referred to, is the side slope quality testing based on multispectral aerial detection robot in an embodiment of the present invention
Flow chart.
In step sl, image acquisition step, the optical camera carried using the multispectral aerial detection robot
Shot with infrared camera multiple scope of operations that side slope is divided in advance respectively successively, to obtain the optical picture of multiple scope of operations
Picture and infrared image.
In the present embodiment, its accurate three-dimensional in flight course can be realized using multispectral aerial detection robot
Positioning, i.e., including longitudinal register (Z axis), axially position (Y-axis) and located lateral (X-axis).
In the technical scheme that the present invention is provided, high and ultrasonic assistant localization method phase is measured with air pressure with light stream positioning
With reference to using the concrete control command of ground station control system, the multispectral aerial detection robot of control reaches precalculated position, makes
It is adaptive switched with light stream with GPS, stable spot hover is realized, horizontal direction connects transceiver with ultrasonic sensor, keeps one
It is individual with domatic suitable distance scope, vertical direction controls the height of multispectral aerial detection robot using barometer.Vertically
Direction is by external barometer and the method for ultrasonic sensor co-located.Wherein barometric air pressure, degree of accuracy is not high, meeting
There is error with atmosphere zone variable density, also error can occur because of temperature and humidity.Ultrasound wave is auxiliary positioning, and scope exists
Within 7 meters, it is ensured that simultaneously, using outsourcing sponge, realize low-pass filtering using barometer.
Multispectral aerial detection robot flies control plate using Pixhawk, and the PIXHawk flies to control the computing that plate possesses 168MHz
Frequency, and breakthrough the single-chip microcomputer for employing the Cortex-M4 for integrating hardware floating point arithmetic core is used as main control chip, it is built-in
Two sets of gyros and accelerometer MEMS sensor, complement one another correction, and built-in triaxial magnetic field sensor simultaneously can be with external one three
Axle magnetic field sensor, at the same can an external master one for two GPS sensors, automatically switch in failure.Based on its high-speed computation
Core and floating-point arithmetic, the Pixhawk flies to control plate can be using advanced fixed high algorithm, can only with barometertic altimeter just general
Its own High definition is within 1m.
Transverse horizontal positioning mainly takes GPS device and a pair of ultrasonic sensors (for auxiliary positioning, preventing collision),
Multispectral aerial detection robot is mainly made to keep certain distance with wall face.Distance is too near, multispectral aerial detection robot
Easily bump against with outer slope, so as to cause aircraft to crash.Before multispectral aerial detection robot takes off, by ground
Control station flies control plate write-in program to Pixhawk so as to keep certain distance with wall face.If multispectral aerial detection robot
With the control of the distance between wall face 2.5m ± 1m a scope, when multispectral aerial detection robot and wall face distance
During more than 2.5m, the program for flying to pre-enter on control plate in Pixhawk can then make multispectral aerial detection robot fly inwardly
One segment distance so that distance reaches 2.5m；When multispectral aerial detection robot is less than 2.5m with wall face distance, then can make
Multispectral aerial detection robot is flown a segment distance outwardly so that distance reaches 2.5m.In practical application, multispectral aerial inspection
Robot is surveyed always because various factors is slightly drifted about in the air, particularly when its gps signal receives Adjacent Buildings interference
Wait.In addition, transverse horizontal of the invention positioning additionally uses infrared scan radar, its measurement distance scope be 10 meters with
It is interior, it is similar to ultrasonic sensor.Except for the difference that, infrared scan radar can be at the top of multispectral aerial detection robot to which
Surrounding carries out comprehensive 360 degree of scanning, and ultrasonic sensor can only orient range finding.Particularly outside the building shape is not
When being standard flat, simply use ultrasonic sensor and can not realize the effective avoidance of multispectral aerial detection robot, easily turn round and look at
This loses that.
During multispectral aerial detection robot flight in the air, which mainly passes through GPS device, GPS along the positioning of X-direction
The horizontal positioning accuracy of device is 1 to 2m.It is similar with axially position (Y-axis), before multispectral aerial detection robot takes off,
Control plate write-in program is flown by ground control station to Pixhawk.Fly the data that control plate can read GPS device in flight course,
And according to the program adjustment motor output for pre-entering, so as to control itself state of flight.Multispectral aerial detection robot is inclined
From preset direction, the program being previously written can then make multispectral aerial detection robot return flight path.
In step s 2, image co-registration step, be taken based on compressive sensing theory to each scope of operation for photographing
Optical imagery and infrared image are merged, and obtain fusion image.
In the present embodiment, described image fusion steps are specifically included：
Infrared image and optical imagery to being input into carries out discrete cosine transform respectively, obtains low frequency coefficient and high frequency system
Number；
Discrete sampling is carried out to the high frequency coefficient after conversion, nearly low frequency coefficient and absolute high frequency coefficient is obtained；
Corresponding low frequency coefficient is weighted into average treatment, nearly low frequency coefficient enters row coefficient weighting process, and will be exhausted
Absolute value is carried out to high frequency coefficient and takes big process；
According to sampled value and sampling matrix after fusion, optimization problem is solved using Nonlinear conjugate gradient Reconstruction Method,
Obtain fusion image.
In the present embodiment, image co-registration step implements flow process as shown in Figure 2.
In the present embodiment, first have to plan the flight path of the multispectral aerial detection robot, determine side slope
Face test point so that the multispectral aerial detection robot can be looked in the air and play anchor point hovering；Its secondary determination is described more
Spectrum detects the domatic lateral separation of robot and side slope to be measured in the air, to guarantee the multispectral aerial detection robot not
Clash into detection faces and phase function takes picture rich in detail.
In the present embodiment, the multispectral aerial detection robot fixed point flight for carrying optical camera shoots whole engineering
Domatic region clear photograph several, as shown in Figure 3.Then (i.e. grid is processed by Matlab softwares to image
Change), the flight path of the multispectral aerial detection robot of planning and designing, while the multispectral aerial detection robot of real-time monitoring
State of flight, and path planning is carried out to its air route in real time according to mission requirements.Planning the multispectral aerial detection machine
After the flight path of people, the test point of the initial scope of operation is determined so that multispectral aerial detection robot is able in sky
In find positioning hovering.
In step s3, hazard prediction step, the fusion image is entered with the reference standard being stored in data base
Row contrast, so as to predict the Slope hazard being likely to occur.
In the present embodiment, the hazard prediction step is specifically included：
By periodically shooting the corresponding region in identical operation face, it is reference point to choose datum mark in advance, and stores the ginseng
The position of examination point is in the data base as reference standard；
The position of datum mark is obtained in the fusion image, and by carrying out contrast drawing with the reference standard of storage
The displacement of selected datum mark；
The motion conditions of geotechnical structure in the correspondence scope of operation are judged according to the size of the displacement, so as to predict possibility
The Slope hazard of appearance.
A kind of side slope quality determining method based on multispectral aerial detection robot that the present invention is provided, by whole
Region is shot, and is formulated the flight path of multispectral aerial detection robot, disposably quickly can be performed to whole side slope
Complete detection, has been greatly saved manpower and time cost, and has substantially increased detection efficiency；For high slope is detected, using many
Spectrum detects that robot substitutes the danger that manually effectively prevent work high above the ground in the air, for gradient slope is detected, using multispectral
Aerial detection robot substitutes and manually effectively prevent side slope and collapse suddenly the danger for bringing, and then greatly improves the peace of detection
Quan Xing.
Fig. 4 is referred to, the side slope matter based on multispectral aerial detection robot showing in an embodiment of the present invention
The structural representation of amount detection systems 10.
In the present embodiment, the side slope quality detecting system 10 based on multispectral aerial detection robot, mainly includes
Image capture module 11, image co-registration module 12 and hazard prediction module 13.
Image capture module 11, for using the multispectral aerial detection optical camera that carried of robot and infrared
Camera multiple scope of operations that side slope is divided in advance respectively are shot successively, to obtain the optical imagery of multiple scope of operations and red
Outer image.
Image co-registration module 12, for being taken based on the optical picture of each scope of operation of the compressive sensing theory to photographing
Picture and infrared image are merged, and obtain fusion image.
In the present embodiment, described image Fusion Module 12 specifically for：
Infrared image and optical imagery to being input into carries out discrete cosine transform respectively, obtains low frequency coefficient and high frequency system
Number；
Discrete sampling is carried out to the high frequency coefficient after conversion, nearly low frequency coefficient and absolute high frequency coefficient is obtained；
Corresponding low frequency coefficient is weighted into average treatment, nearly low frequency coefficient enters row coefficient weighting process, and will be exhausted
Absolute value is carried out to high frequency coefficient and takes big process；
According to sampled value and sampling matrix after fusion, optimization problem is solved using Nonlinear conjugate gradient Reconstruction Method,
Obtain fusion image.
Hazard prediction module 13 is right for the fusion image and the reference standard being stored in data base are carried out
Than so as to predict the Slope hazard being likely to occur.
In the present embodiment, the hazard prediction module 13 specifically for：
By periodically shooting the corresponding region in identical operation face, it is reference point to choose datum mark in advance, and stores the ginseng
The position of examination point is in the data base as reference standard；
The position of datum mark is obtained in the fusion image, and by carrying out contrast drawing with the reference standard of storage
The displacement of selected datum mark；
The motion conditions of geotechnical structure in the correspondence scope of operation are judged according to the size of the displacement, so as to predict possibility
The Slope hazard of appearance.
A kind of side slope quality detecting system 10 based on multispectral aerial detection robot that the present invention is provided, by whole
Individual region is shot, and is formulated the flight path of multispectral aerial detection robot, disposably quickly can be performed to whole side slope
Complete detection, be greatly saved manpower and time cost, and substantially increased detection efficiency；For high slope is detected, utilize
Multispectral aerial detection robot substitutes the danger that manually effectively prevent work high above the ground, for gradient slope is detected, using light more
The aerial detection robot of spectrum substitutes and manually effectively prevent side slope and collapse suddenly the danger for bringing, and then greatly improves detection
Safety.
Fig. 5 is referred to, the schematic perspective view of air-robot in an embodiment of the present invention is shown.
Fig. 6 is referred to, is the AA line generalized sections of air-robot shown in Fig. 5 in an embodiment of the present invention.
Fig. 7 is referred to, is the BB line generalized sections of air-robot shown in Fig. 5 in an embodiment of the present invention.
Fig. 8 is referred to, is the side view of the camera integral part 4 of air-robot shown in Fig. 5 in an embodiment of the present invention.
In the present embodiment, air-robot, including：
A pair of supporting parts 1, are arranged on the bottom and symmetrically of the air-robot；
Six axle aircraft 2, are arranged on the top of the air-robot and including horizontally disposed six rotary wings；
Head 3, is connected with the center of the six axles aircraft 2；And
Camera integral part 4, hangs upside down under the head 3, and the camera integral part 4 is provided with two cameras.
In the present embodiment, described two cameras include infrared camera and optical camera.By independently building double camera
Head 3, realizes while carrying two cameras and completes to shoot target area.Using multispectral technology and binocular vision technology energy
The situation of enough effectively identification slope grounds.By collection and post processing to gathering image, the recent developments in the region are drawn, so as to
Next step is safeguarded.
As shown in above-mentioned Fig. 5-8, in the present embodiment, each supporting part 1 is T-shaped and all includes horizon bar and vertical
Bar, 1 respective horizon bar of the pair of supporting part are parallel to each other and in same level, and the pair of supporting part 1 is respective
Vertical rod mutually supports the main part of the air-robot with splayed.
In the present embodiment, the center of the six axles aircraft 2 is provided with disk, six rotary wings are equal
Even is distributed on the circumference of the disk, and each rotary wings is T-shaped, and the horizontal component of T-shaped is away from the circumference, T
The vertical portion of shape is connected on the circumference of the disk.
In the present embodiment, the head 3 is connected with the disk, and the center of the head 3 and the disk
The plane that the line at center is located with six rotary wings is vertical.
In the present embodiment, the camera integral part 4 includes kink, and the initiating terminal of the kink vertically connects institute
Head 3 is stated, at least two cameras are carried in the end of the kink, and the kink includes multiple connections connected vertically
Section.
It should be noted that in above-described embodiment, what included unit was simply divided according to function logic,
But above-mentioned division is not limited to, as long as corresponding function can be realized；In addition, the specific name of each functional unit
Only to facilitate mutually distinguishing, protection scope of the present invention is not limited to.
In addition, one of ordinary skill in the art will appreciate that realizing all or part of step in the various embodiments described above method
Program be can be by instruct the hardware of correlation to complete, corresponding program can be stored in embodied on computer readable storage and be situated between
In matter, described storage medium, such as ROM/RAM, disk or CD etc..
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (6)
1. it is a kind of based on the multispectral aerial side slope quality determining method for detecting robot, it is characterised in that methods described includes：
Image acquisition step, the optical camera and infrared camera that are carried using the multispectral aerial detection robot are right respectively
Multiple scope of operations that side slope is divided in advance are shot successively, to obtain the optical imagery and infrared image of multiple scope of operations；
Image co-registration step, compressive sensing theory is taken based on to the optical imagery of each scope of operation that photographs and infrared figure
As being merged, fusion image is obtained；
Hazard prediction step, the fusion image is contrasted with the reference standard being stored in data base, so as to predict
The Slope hazard being likely to occur.
2. as claimed in claim 1 based on the multispectral aerial side slope quality determining method for detecting robot, it is characterised in that
Described image fusion steps are specifically included：
Infrared image and optical imagery to being input into carries out discrete cosine transform respectively, obtains low frequency coefficient and high frequency coefficient；
Discrete sampling is carried out to the high frequency coefficient after conversion, nearly low frequency coefficient and absolute high frequency coefficient is obtained；
Corresponding low frequency coefficient is weighted into average treatment, nearly low frequency coefficient enters row coefficient weighting process, and will be definitely high
Frequency coefficient carries out absolute value and takes big process；
According to sampled value and sampling matrix after fusion, optimization problem is solved using Nonlinear conjugate gradient Reconstruction Method, obtained
Fusion image.
3. as claimed in claim 2 based on the multispectral aerial side slope quality determining method for detecting robot, it is characterised in that
The hazard prediction step is specifically included：
By periodically shooting the corresponding region in identical operation face, it is reference point to choose datum mark in advance, and stores the reference point
Position in the data base as reference standard；
The position of datum mark is obtained in the fusion image, and it is selected to draw by carrying out contrast with the reference standard of storage
The displacement of the datum mark for taking；
The motion conditions of geotechnical structure in the correspondence scope of operation are judged according to the size of the displacement, is likely to occur so as to predict
Slope hazard.
4. it is a kind of based on the multispectral aerial side slope quality detecting system for detecting robot, it is characterised in that the system includes：
Image capture module, the optical camera and infrared camera for being carried using the multispectral aerial detection robot are divided
Multiple scope of operations that other side slope is divided in advance are shot successively, to obtain the optical imagery and infrared figure of multiple scope of operations
Picture；
Image co-registration module, for being taken based on compressive sensing theory to the optical imagery of each scope of operation that photographs and red
Outer image is merged, and obtains fusion image；
Hazard prediction module, for the fusion image is contrasted with the reference standard being stored in data base, so as to
The Slope hazard that prediction is likely to occur.
5. as claimed in claim 4 based on the multispectral aerial side slope quality detecting system for detecting robot, it is characterised in that
Described image Fusion Module specifically for：
Infrared image and optical imagery to being input into carries out discrete cosine transform respectively, obtains low frequency coefficient and high frequency coefficient；
Discrete sampling is carried out to the high frequency coefficient after conversion, nearly low frequency coefficient and absolute high frequency coefficient is obtained；
Corresponding low frequency coefficient is weighted into average treatment, nearly low frequency coefficient enters row coefficient weighting process, and will be definitely high
Frequency coefficient carries out absolute value and takes big process；
According to sampled value and sampling matrix after fusion, optimization problem is solved using Nonlinear conjugate gradient Reconstruction Method, obtained
Fusion image.
6. as claimed in claim 5 based on the multispectral aerial side slope quality detecting system for detecting robot, it is characterised in that
The hazard prediction module specifically for：
By periodically shooting the corresponding region in identical operation face, it is reference point to choose datum mark in advance, and stores the reference point
Position in the data base as reference standard；
The position of datum mark is obtained in the fusion image, and it is selected to draw by carrying out contrast with the reference standard of storage
The displacement of the datum mark for taking；
The motion conditions of geotechnical structure in the correspondence scope of operation are judged according to the size of the displacement, is likely to occur so as to predict
Slope hazard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610982805.XA CN106546592A (en) | 2016-11-07 | 2016-11-07 | Side slope quality determining method and system based on multispectral aerial detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610982805.XA CN106546592A (en) | 2016-11-07 | 2016-11-07 | Side slope quality determining method and system based on multispectral aerial detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106546592A true CN106546592A (en) | 2017-03-29 |
Family
ID=58394878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610982805.XA Pending CN106546592A (en) | 2016-11-07 | 2016-11-07 | Side slope quality determining method and system based on multispectral aerial detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106546592A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109270853A (en) * | 2018-09-14 | 2019-01-25 | 南京理工技术转移中心有限公司 | A kind of working method of intelligent ecological Water Management System |
| CN110941023A (en) * | 2019-11-14 | 2020-03-31 | 广东交科检测有限公司 | Method for detecting working condition of side slope drainage facility |
| CN111595853A (en) * | 2020-05-29 | 2020-08-28 | 中国科学院、水利部成都山地灾害与环境研究所 | Slope disease inspection method and system |
| CN111754540A (en) * | 2020-06-29 | 2020-10-09 | 中国水利水电科学研究院 | Slope particle displacement trajectory monitoring real-time tracking method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006027331A (en) * | 2004-07-13 | 2006-02-02 | Hiroboo Kk | Method for collecting aerial image information by utilizing unmanned flying object |
| US20150331143A1 (en) * | 2014-05-14 | 2015-11-19 | Foundation of Soongsil University-lndustry Cooperation | Method of recognizing slope condition, system using the same, and recording medium for performing the same |
| CN105783878A (en) * | 2016-03-11 | 2016-07-20 | 三峡大学 | Small unmanned aerial vehicle remote sensing-based slope deformation detection and calculation method |
| CN105865427A (en) * | 2016-05-18 | 2016-08-17 | 三峡大学 | Individual geological disaster emergency investigation method based on remote sensing of small unmanned aerial vehicle |
| CN106018417A (en) * | 2016-06-27 | 2016-10-12 | 深圳大学 | External wall defect detection method and system |
-
2016
- 2016-11-07 CN CN201610982805.XA patent/CN106546592A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006027331A (en) * | 2004-07-13 | 2006-02-02 | Hiroboo Kk | Method for collecting aerial image information by utilizing unmanned flying object |
| US20150331143A1 (en) * | 2014-05-14 | 2015-11-19 | Foundation of Soongsil University-lndustry Cooperation | Method of recognizing slope condition, system using the same, and recording medium for performing the same |
| CN105783878A (en) * | 2016-03-11 | 2016-07-20 | 三峡大学 | Small unmanned aerial vehicle remote sensing-based slope deformation detection and calculation method |
| CN105865427A (en) * | 2016-05-18 | 2016-08-17 | 三峡大学 | Individual geological disaster emergency investigation method based on remote sensing of small unmanned aerial vehicle |
| CN106018417A (en) * | 2016-06-27 | 2016-10-12 | 深圳大学 | External wall defect detection method and system |
Non-Patent Citations (4)
| Title |
|---|
| 严传鹏: "基于图像处理的边坡表面状态检测方法研究", 《农业网络信息》 * |
| 彭艺 等: "基于图像识别的边坡表面位移检测方法研究", 《农业网络信息》 * |
| 林海玉 等: "适于滑坡监测的小型无人机遥感系统构建及其应用", 《三峡大学学报(自然科学版)》 * |
| 罗仁立等: "基于数字照相技术的边坡变形自动化监测技术研究", 《石家庄铁道大学学报(自然科学版)》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109270853A (en) * | 2018-09-14 | 2019-01-25 | 南京理工技术转移中心有限公司 | A kind of working method of intelligent ecological Water Management System |
| CN110941023A (en) * | 2019-11-14 | 2020-03-31 | 广东交科检测有限公司 | Method for detecting working condition of side slope drainage facility |
| CN110941023B (en) * | 2019-11-14 | 2022-01-14 | 广东交科检测有限公司 | Method for detecting working condition of side slope drainage facility |
| CN111595853A (en) * | 2020-05-29 | 2020-08-28 | 中国科学院、水利部成都山地灾害与环境研究所 | Slope disease inspection method and system |
| CN111754540A (en) * | 2020-06-29 | 2020-10-09 | 中国水利水电科学研究院 | Slope particle displacement trajectory monitoring real-time tracking method and system |
| CN111754540B (en) * | 2020-06-29 | 2023-11-17 | 中国水利水电科学研究院 | Method and system for monitoring displacement track of mass points of side slope in real time |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Francioni et al. | Improvements in the integration of remote sensing and rock slope modelling | |
| CN111927552B (en) | Sky-earth reconnaissance technology-based complex mountain area long and deep-buried tunnel reconnaissance method | |
| CN104931022B (en) | Satellite image stereoblock adjustment method based on spaceborne laser altimeter system data | |
| CN106289184B (en) | A kind of no GNSS signal and cooperate with vision deformation monitoring method without unmanned plane under control point | |
| CN106546592A (en) | Side slope quality determining method and system based on multispectral aerial detection robot | |
| CN104569972B (en) | Plant root system three-dimensional configuration nondestructive testing method | |
| Teza et al. | Integration of laser scanning and thermal imaging in monitoring optimization and assessment of rockfall hazard: a case history in the Carnic Alps (Northeastern Italy) | |
| CN112965135B (en) | Nondestructive detection comprehensive method for spatial heterogeneous distribution of grotto cliff body cracks | |
| CN103759713B (en) | A kind of rockfall investigation method based on full-view image | |
| CN104729482B (en) | A kind of ground small objects detecting system and method based on dirigible | |
| CN101963500A (en) | Computer vision large-scale distance measuring method and portable distance measurer for applying same | |
| CN106482730A (en) | A kind of field information collecting device on the spot being applied in geological informationization work | |
| CN106291542A (en) | A kind of tunnel three-D imaging method | |
| Kim et al. | Applicability assessment of UAV mapping for disaster damage investigation in Korea | |
| WO2024083262A1 (en) | Space-sky-ground-tunnel-hole integrated unfavorable geology identification method and system | |
| Themistocleous et al. | Monitoring cultural heritage sites affected by geo-hazards using in situ and SAR data: the Choirokoitia case study | |
| Costanzo et al. | Integrated use of unmanned aerial vehicle photogrammetry and terrestrial laser scanning to support archaeological analysis: The Acropolis of Selinunte case (Sicily, Italy) | |
| CN104931021B (en) | Crack multi-parameter observation device based on close-range photogrammetry | |
| CN206378130U (en) | Air-robot | |
| CN206378262U (en) | A kind of automatic knocking device and air-robot | |
| Themistocleous et al. | Best practices for monitoring, mitigation, and preservation of cultural heritage sites affected by geo-hazards: the results of the PROTHEGO project | |
| Pesci et al. | Characterization of soil deformation due to blast-induced liquefaction by UAV-based photogrammetry and terrestrial laser scanning | |
| Hu et al. | Application of unmanned aerial vehicle remote sensing for geological disaster reconnaissance along transportation lines: A case study | |
| CN206223177U (en) | A kind of field information collecting device on the spot being applied in geological informationization work | |
| CN106525970A (en) | Project slope quality detection method and system based on aerial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20240322 |