CN108663413B - Method and system for nondestructive scanning of refuse landfill based on air-ground integration - Google Patents
Method and system for nondestructive scanning of refuse landfill based on air-ground integration Download PDFInfo
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- CN108663413B CN108663413B CN201810434560.6A CN201810434560A CN108663413B CN 108663413 B CN108663413 B CN 108663413B CN 201810434560 A CN201810434560 A CN 201810434560A CN 108663413 B CN108663413 B CN 108663413B
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- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The invention discloses a landfill nondestructive scanning system based on air-ground integration, which comprises an aerial photography module, a control point measurement module, a first data processing module, a physical exploration survey line laying module, a landfill detection module and a second data processing module, wherein the aerial photography module is used for operating an aerial photography unmanned aerial vehicle to carry out aerial photography according to a landfill by using a cartoons to obtain aerial photography films and transmitting the obtained aerial photography films to the control point measurement module and the first data processing module, the control point measurement module is used for selecting ground control points suitable for measurement in the range of the landfill according to the aerial photography films from the aerial photography module and operating a real-time dynamic differential satellite positioning system to measure the selected ground control points to obtain three-dimensional coordinates of the ground control points. The method can solve the technical problems that the existing pre-evaluation method before mining has less acquired data, larger data error and can not accurately detect the underground condition of the refuse landfill.
Description
Technical Field
The invention belongs to the technical field of landfill treatment, and particularly relates to a method and a system for lossless scanning of a landfill based on air-ground integration.
Background
The landfill treatment is used as a final treatment method for domestic garbage widely adopted by multiple countries at present, and has the advantages of relatively low cost, relatively simple technical operation, good practicability and the like.
However, with the progress of urban construction, especially in densely populated areas, the limited availability of land resources limits the use of landfill sites; meanwhile, landfill disposal is also in public question and objection in consideration of factors such as incomplete management and environmental pollution, such as emission of greenhouse gases, leaching of harmful substances, etc. In response to these problems, many countries and regions adopt a sealing covering or cleaning treatment mode for the landfill site, so as to finally transform the landfill site into a land with other functions, and mine, recover and reuse the garbage in the landfill site.
Before the landfill is mined, the landfill needs to be pre-evaluated, the existing pre-evaluation mode mainly adopts drilling sampling, but the coverage area is limited, the obtained data is less, and the data error is larger, so that the situation under the landfill is difficult to accurately detect, a reasonable mining scheme is difficult to be specifically formulated, and the construction energy consumption and the risk of subsequent mining are increased.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a method and a system for nondestructive scanning of a landfill based on air-ground integration, aiming at obtaining the underground boundary, layering, moisture characteristics and pollution condition of the landfill by combining and applying the modern geophysical exploration technology and the information technology, thereby solving the technical problems that the existing pre-evaluation method before mining has less obtained data and larger data error and can not accurately detect the underground condition of the landfill.
In order to achieve the above object, according to one aspect of the present invention, there is provided an air-ground integration-based refuse landfill nondestructive scanning system, including an aerial photography module, a control point measurement module, a first data processing module, a physical exploration survey line laying module, a refuse landfill detection module, and a second data processing module, where the aerial photography module is configured to operate an aerial photography unmanned aerial vehicle to perform aerial photography according to a terrain map of a refuse landfill to obtain aerial photography films, and transmit the obtained aerial photography films to the control point measurement module and the first data processing module. The control point measurement module is used for selecting a ground control point suitable for measurement in the range of the refuse landfill according to aerial images from the aerial photography module, operating the real-time dynamic differential satellite positioning system to measure the selected ground control point so as to obtain a three-dimensional coordinate of the ground control point, and transmitting the obtained three-dimensional coordinate of the ground control point to the first data processing module. The first data processing module is used for obtaining a DEM (digital elevation model) of the refuse landfill by using a full-digital photogrammetric system according to aerial images transmitted by the aerial photography module and three-dimensional coordinates of ground control points transmitted by the control point measuring module, determining the surface terrain complexity of the refuse landfill through the DEM, and transmitting the determined surface terrain complexity of the refuse landfill to the physical exploration survey line laying module. The physical exploration measuring line laying module is used for laying a plurality of physical exploration measuring lines meeting detection requirements on the surface of the refuse landfill according to the surface terrain complexity of the refuse landfill and transmitting the laid physical exploration measuring lines to the refuse landfill detection module. The landfill detection module is used for carrying out nondestructive scanning detection on the internal structure of the landfill along the laid physical exploration measuring lines and transmitting nondestructive scanning detection data to the second data processing module. The second data processing module is used for establishing a three-dimensional data model about the structure under the refuse landfill site according to the nondestructive scanning detection data transmitted by the refuse landfill detection module so as to accurately reflect the relevant information of the refuse landfill site.
Preferably, selecting a ground control point suitable for measurement includes satisfying: the target image of the control point should be clear; the distributed control points can be applied to different photos; the distance between the control point and the edge of the photo is not less than 1.5cm, and the distance between the control point and each mark of the photo is more than 1 mm.
Preferably, the average spacing of the physical survey lines is calculated according to the following formula:
a＝(x·n/v1)·(x·m/b)
where a represents the amount of the detection work, b represents the average pitch of the physical survey lines, v1 represents the moving speed of the physical survey line laying module, x represents the side length of the best statistical unit constituting the sub-area, m represents the number of grids in the horizontal direction in the entire landfill, and n represents the number of grids in the vertical direction in the entire landfill.
Preferably, the landfill detection module includes a first physical prospecting sub-module, a second physical prospecting sub-module, and a travel sub-module; the first physical exploration submodule is used for acquiring ground penetrating radar data and three-dimensional coordinate data of the radar data acquisition points and transmitting the ground penetrating radar data and the three-dimensional coordinate data of the ground penetrating radar data acquisition points to the second data processing module. The traveling submodule is used for loading the first physical exploration submodule to work along the physical exploration measuring line acquired by the physical exploration measuring line laying module; the second physical exploration submodule is internally provided with a high-density resistivity measuring instrument which is used for arranging electrodes along a physical exploration measuring line so as to detect underground resistivity distribution of the refuse landfill, storing detected resistivity distribution data and transmitting the resistivity distribution data to the second data processing module.
Preferably, the first physical survey sub-module comprises a satellite positioning system, a ground penetrating radar device, and a programmable controller. The system comprises a satellite positioning system, a satellite positioning mobile station, a ground penetrating radar device and a ground penetrating radar device, wherein the satellite positioning system is used for collecting three-dimensional coordinate data of a point to be measured and comprises a satellite positioning base station and at least one satellite positioning mobile station, the satellite positioning mobile station comprises a satellite positioning mobile station antenna and a satellite positioning receiver, the satellite positioning base station is used for receiving satellite data and transmitting base station coordinates and the satellite data to the satellite positioning mobile station, the satellite data collected by the satellite positioning base station and the satellite positioning mobile station are resolved to obtain the three-dimensional coordinate data of the point to be measured, the ground penetrating radar device is used for collecting ground penetrating radar data and comprises a ground penetrating radar host and a ground penetrating radar antenna, and the satellite positioning mobile station antenna is rigidly fixed in the center right above the ground penetrating radar antenna, horizontally; the ground penetrating radar antenna is connected with the radar host; the programmable controller is used for realizing synchronization between the ground penetrating radar and the satellite positioning mobile station, simultaneously generating pulse signals at a fixed frequency to trigger the ground penetrating radar and the satellite positioning system to respectively acquire ground penetrating radar data and three-dimensional coordinate data of a ground penetrating radar data acquisition point in real time, and transmitting the acquired ground penetrating radar data and the three-dimensional coordinate data of the ground penetrating radar data acquisition point to the second data processing module; the satellite positioning mobile station, the ground penetrating radar device and the programmable controller are all arranged on the traveling submodule.
According to another aspect of the present invention, there is provided an air-ground based integrated refuse landfill nondestructive scanning method, which is applied to the above-mentioned air-ground based integrated refuse landfill nondestructive scanning system, the method includes the following steps:
(1) the aerial photography module controls an aerial photography unmanned aerial vehicle to carry out aerial photography according to the ground red line map for the refuse landfill to obtain aerial photography pictures, and the obtained aerial photography pictures are transmitted to the control point measurement module and the first data processing module;
(2) the control point measurement module selects a ground control point suitable for measurement in the range of the refuse landfill according to aerial images from the aerial photography module, operates the real-time dynamic differential satellite positioning system to measure the selected ground control point so as to obtain a three-dimensional coordinate of the ground control point, and transmits the obtained three-dimensional coordinate of the ground control point to the first data processing module;
(3) the first data processing module obtains a DEM model of the refuse landfill by using a full-digital photogrammetry system according to the aerial images transmitted by the aerial photography module and the three-dimensional coordinates of the ground control points transmitted by the control point measurement module, determines the surface terrain complexity of the refuse landfill through the DEM model, and transmits the determined surface terrain complexity of the refuse landfill to the physical exploration survey line laying module.
(4) The physical exploration measuring line laying module lays a plurality of physical exploration measuring lines meeting detection requirements on the surface of the refuse landfill according to the surface terrain complexity of the refuse landfill, and transmits the laid physical exploration measuring lines to the landfill detection module;
(5) the landfill detection module carries out nondestructive scanning detection on the internal structure of the landfill along the laid physical exploration measuring lines and transmits nondestructive scanning detection data to the second data processing module;
(6) and the second data processing module is used for establishing a three-dimensional data model about the structure under the refuse landfill site according to the nondestructive scanning detection data transmitted by the refuse landfill detection module.
Preferably, the step (3) of determining the surface terrain complexity of the refuse landfill by the DEM model is determined by a neighborhood statistical analysis method, which specifically includes the following sub-steps:
and (3-1) dividing the landfill area into a plurality of grids, and determining the area size of each grid and the topographic relief degree of each grid according to the DEM model.
(3-2) setting the area gradient change range of each grid to be increased from 10m multiplied by 10m to 100m multiplied by 100m, fitting the area of each grid with the average fluctuation degree of all the grids to obtain a fitting curve, and taking the inflection point on the fitting curve, namely the grid area size corresponding to the point of which the average fluctuation degree changes gradually from the grid area, as a plurality of optimal statistical units of a neighborhood statistical analysis method, wherein the side length of the grid of the optimal statistical unit is x meters;
and (3-3) when a physical exploration survey line passes through n grids, forming the n grids into a sub-area with the length of x.n meters and the width of x meters, wherein x represents the side length of the optimal statistical unit, and obtaining the topographic relief of the corresponding sub-area through the topographic relief of each optimal statistical unit.
(3-4) determining the terrain complexity of the refuse landfill according to the terrain relief degree of each sub-area obtained in the step (3-3);
preferably, if the topographic relief degree is 0 to 0.5m, the corresponding sub-region is a flat topography, if the topographic relief degree is 0.5 to 3m, the corresponding sub-region is a small relief topography, if the topographic relief degree is 3 to 8m, the corresponding sub-region is a medium relief topography, and if the topographic relief degree is greater than 8m, the corresponding sub-region is a large relief topography.
Preferably, step (5) comprises in particular the following sub-steps:
(5-1) rigidly fixing a satellite positioning mobile station antenna in the center right above the ground penetrating radar antenna, horizontally coinciding with the center position of the ground penetrating radar antenna, connecting the satellite positioning mobile station antenna with a satellite positioning receiver, and connecting the ground penetrating radar antenna with a radar host;
(5-2) the traveling submodule is loaded with a satellite positioning mobile station, a ground penetrating radar device and a programmable controller to work along the physical exploration survey line obtained by the physical exploration survey line laying module;
(5-3) the programmable controller realizes synchronization between the ground penetrating radar and the satellite positioning receiver, generates pulse signals at a fixed frequency, triggers the ground penetrating radar and the satellite positioning system to respectively acquire ground penetrating radar data and three-dimensional coordinate data of a ground penetrating radar data acquisition point in real time, and transmits the acquired ground penetrating radar data and the three-dimensional coordinate data of the ground penetrating radar data acquisition point to the second data processing module;
and (5-4) stopping the operation of the traveling submodule and the first physical exploration submodule, using the second physical exploration submodule to arrange electrodes along the physical exploration measuring line so as to detect the underground resistivity distribution of the landfill, storing the detected resistivity distribution data, and transmitting the resistivity distribution data to the second data processing module.
Preferably, step (6) comprises in particular the following sub-steps:
(6-1) the second data processing module performs terrain correction on the ground penetrating radar data transmitted by the first physical exploration sub-module by using a terrain correction method based on a time-displacement theory so as to obtain a corrected horizontal displacement-time profile of the ground penetrating radar;
and (6-2) the second data processing module obtains the ground penetrating radar horizontal displacement-depth profile map by performing time-depth conversion on the obtained ground penetrating radar horizontal displacement-time profile map so as to determine the boundary of the refuse landfill and the depth position of the underground structure in the ground, and establishes a three-dimensional data model for the underground structure of the refuse landfill by combining coordinate point bit data measured by a real-time dynamic differential satellite positioning system.
And (6-3) the second data processing module obtains the underground boundary and water-containing characteristic information of the refuse landfill according to the resistivity distribution data obtained by the second physical exploration sub-module, and compares and combines the information with a three-dimensional data model obtained by detecting through a ground penetrating radar and a real-time dynamic differential satellite positioning system so as to further improve the accuracy of underground exploration.
Preferably, the terrain correction method in the step (6-1) comprises the steps of obtaining a highest point on the obtained laid physical exploration survey line, establishing a standard reference surface based on the highest point, and obtaining a formula △ t-2H according to the two-way travel time △ t in the ground penetrating radar dataxAnd v2, correcting the propagation time of the ground penetrating radar in elevation to a standard reference surface. Wherein HxThe elevation difference of a radar data acquisition point relative to a reference plane is defined, v2 is the propagation speed of electromagnetic waves in the air, and the initial time of each sampling data of the ground penetrating radar is correspondingly shifted downwards according to the time difference obtained from the elevation difference to realize terrain correction and obtain the terrainAnd (4) correcting the horizontal displacement-time profile of the ground penetrating radar.
Preferably, the average spacing of the physical survey lines is calculated according to the following formula:
a＝(x·n/v1)·(x·m/b)
where a represents the amount of the detection work, b represents the average pitch of the physical survey lines, v1 represents the moving speed of the physical survey line laying module, x represents the side length of the best statistical unit constituting the sub-area, m represents the number of grids in the horizontal direction in the entire landfill, and n represents the number of grids in the vertical direction in the entire landfill.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) the invention can solve the technical problems of less acquired data, larger data error and incapability of accurately detecting the underground condition of the refuse landfill in the existing pre-evaluation method before mining: the invention uses the landfill detection system comprising the real-time dynamic differential satellite positioning system, the ground penetrating radar device and the high-density resistivity instrument to carry out comprehensive and comprehensive nondestructive scanning detection on the underground structure and characteristics of the landfill, thereby solving the technical problems of less acquired data, large data error and incapability of accurately detecting the underground condition of the landfill in the pre-evaluation method before mining.
(2) According to the method, a digital elevation model reflecting the topographic characteristics of the surface of the landfill is established through an unmanned aerial vehicle aerial photography technology, the topographic complexity of the surface of the landfill is obtained, and a physical exploration survey line laying module lays survey lines meeting the actual working requirements according to the topographic complexity by combining the required detection scanning precision and reasonable engineering workload, so that good conditions can be created for subsequent detection work.
(3) According to the invention, a three-dimensional model under the landfill site is constructed through the detection data acquired by the landfill site detection module and subsequent data processing, and underground boundaries, layering, water characteristics and pollution conditions of the landfill site are reflected, so that good conditions can be created for subsequent reasonable garbage mining schemes and procedures.
Drawings
FIG. 1 is a block diagram of the space-ground based integrated refuse landfill nondestructive scanning system of the present invention;
fig. 2 is a flow chart of the method for the space-ground integrated-based nondestructive scanning of the refuse landfill.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, according to an aspect of the present invention, there is provided an air-ground-based integrated refuse landfill nondestructive scanning system, which includes an aerial photography module 1, a control point measurement module 2, a first data processing module 3, a physical exploration survey line laying module 4, a refuse landfill detection module 5, and a second data processing module 6.
The aerial photography module 1 is used for operating the aerial photography unmanned aerial vehicle to carry out aerial photography according to the ground red line map used by the refuse landfill to obtain aerial photography pictures, and transmitting the obtained aerial photography pictures to the control point measurement module 2 and the first data processing module 3.
The control point measuring module 2 is used for selecting a ground control point suitable for measurement in the range of the refuse landfill according to the aerial image from the aerial photography module 1, operating the real-time dynamic differential satellite positioning system to measure the selected ground control point so as to obtain a three-dimensional coordinate of the ground control point, and transmitting the obtained three-dimensional coordinate of the ground control point to the first data processing module 3.
Specifically, selecting a ground control point suitable for measurement includes satisfying: firstly, the target image of a control point is required to be clear; the distributed control points can be applied to different photos; and thirdly, the distance between the control point and the edge of the photo is not less than 1.5cm, and the distance between the control point and various marks of the photo is more than 1 mm.
The first data processing module 3 is configured to obtain a Digital Elevation model (Digital Elevation model, abbreviated as DEM) of the landfill site according to aerial images transmitted by the aerial photography module 1 and three-dimensional coordinates of ground control points transmitted by the control point measurement module 2 and by using a full-Digital photogrammetry system, determine the surface terrain complexity of the landfill site through the DEM model, and transmit the determined surface terrain complexity of the landfill site to the physical exploration survey line laying module 4.
In particular, the all-digital photogrammetry system used in the present invention is the VirtuoZo system.
In the step, the complexity of the surface terrain of the refuse landfill determined by the DEM model is determined by a neighborhood statistical analysis method, and the specific process is as follows:
(1) and dividing the landfill area into a plurality of grids, and determining the area size of each grid and the topographic relief degree of each grid according to the DEM model.
When the area of each grid is within a certain range, the average topographic relief value of all the grids is increased along with the increase of the unit area of the grid, and after a certain threshold value is reached, the increasing trend of the average relief degree becomes slow.
(2) Setting the area gradient change range of each grid to be increased from 10m multiplied by 10m to 100m multiplied by 100 m; fitting the area of the grid with the average fluctuation of all the grids to obtain a fitting curve, and taking the inflection point on the fitting curve, namely the grid area size corresponding to the point of which the average fluctuation changes gradually from the point of the grid area, as a plurality of optimal statistical units of a neighborhood statistical analysis method, wherein the side length of the grid of the optimal statistical unit is x meters.
(3) When a physical exploration survey line passes through n grids, the n grids form a sub-area with the length x.n meters and the width x meters, wherein x represents the side length of the optimal statistical unit, and the topographic relief degree of the corresponding sub-area is obtained through the topographic relief degree of each optimal statistical unit.
(4) Determining the terrain complexity of the refuse landfill according to the terrain relief degree of each sub-area obtained in the step (3);
specifically, if the topographic relief degree is 0 to 0.5m, the corresponding sub-region is a flat topography, if the topographic relief degree is 0.5 to 3m, the corresponding sub-region is a small relief topography, if the topographic relief degree is 3 to 8m, the corresponding sub-region is a medium relief topography, and if the topographic relief degree is greater than 8m, the corresponding sub-region is a large relief topography.
The physical exploration measuring line laying module 4 is used for laying a plurality of physical exploration measuring lines meeting detection requirements on the surface of the refuse landfill according to the surface terrain complexity of the refuse landfill, and transmitting the laid physical exploration measuring lines to the refuse landfill detection module 5.
Specifically, the average spacing of the physical survey lines is calculated according to the following formula:
a＝(x·n/v1)·(x·m/b)
where a represents the amount of the detection work, b represents the average pitch of the physical survey lines, v1 represents the moving speed of the physical survey line laying module, x represents the side length of the best statistical unit constituting the sub-area, m represents the number of grids in the horizontal direction in the entire landfill, and n represents the number of grids in the vertical direction in the entire landfill.
In the detection process, accidental errors are easily generated by the system under the condition of complex terrain, and in order to meet the scanning precision of the garbage pile body structure and reduce the influence caused by the accidental errors, the layout distance of the physical prospecting lines in the area with large topographic relief changes is correspondingly reduced. And on the basis of the average distance, determining the line measurement distance in each sub-area according to the complexity of the landfill site.
Preferably, the detection work amount is not more than 3 days, and the daily work time is not more than 12 hours. The work amount can be adjusted according to the actual situation.
Preferably, the average spacing of the physical survey lines is no greater than 20m to meet the scanning accuracy of the landfill structure. The average spacing of the measuring lines can also be adjusted according to actual conditions.
Preferably, the physical survey line spacing can be reduced by 50% -100% in terrain with undulations and large undulating regions relative to terrain with flat and small undulations. And the measuring line layout according with the engineering requirement can be carried out according to the actual situation.
The landfill detection module 5 is used for carrying out nondestructive scanning detection on the internal structure of the landfill along the laid physical exploration measuring lines and transmitting nondestructive scanning detection data to the second data processing module 6.
In particular, the landfill detection module 5 includes a first physical prospecting sub-module 51, a second physical prospecting sub-module 52, and a travel sub-module 53 (not shown).
The first physical exploration submodule 51 is configured to acquire ground penetrating radar data and three-dimensional coordinate data of a radar data acquisition point, and transmit the ground penetrating radar data and the three-dimensional coordinate data of the ground penetrating radar data acquisition point to the second data processing module 6.
The first physical survey submodule 51 includes a satellite positioning system 511, a ground penetrating radar device 512, and a programmable controller 513.
The satellite positioning system 511 is used for acquiring three-dimensional coordinate data of a point to be measured, and includes a satellite positioning base station 5111 and at least one satellite positioning mobile station 5112, the satellite positioning mobile station 5112 includes a satellite positioning mobile station antenna and a satellite positioning receiver, the satellite positioning base station 5111 is used for receiving satellite data and transmitting the base station coordinate and the satellite data to the satellite positioning mobile station 5112, and the satellite data acquired by the satellite positioning base station 5111 and the satellite positioning mobile station 5112 is resolved to obtain the three-dimensional coordinate data of the point to be measured.
The ground penetrating radar device 512 is used for collecting ground penetrating radar data, and comprises a ground penetrating radar host and a ground penetrating radar antenna, wherein a satellite positioning mobile station antenna is rigidly fixed at the center right above the ground penetrating radar antenna, horizontally coincides with the center position of the ground penetrating radar antenna, and is connected with a satellite positioning receiver; the ground penetrating radar antenna is connected with the radar host.
The programmable controller 513 is configured to implement synchronization between the ground penetrating radar and the satellite positioning mobile station 5112, and generate a pulse signal at a fixed frequency to trigger the ground penetrating radar and the satellite positioning system 511 to respectively acquire the ground penetrating radar data and the three-dimensional coordinate data of the ground penetrating radar data acquisition point in real time, and send the acquired ground penetrating radar data and the three-dimensional coordinate data of the ground penetrating radar data acquisition point to the second data processing module 6.
The satellite positioning mobile station 5112, the ground penetrating radar device 512 and the programmable controller 513 are all disposed on the travel submodule 53. The traveling submodule 53 is used to work along the physical survey line acquired by the physical survey line laying module 4 by the cradle-mounted satellite positioning mobile station 5112, the ground penetrating radar device 512, and the programmable controller 513. The support realizes the shock attenuation effect through devices such as damping spring, optimizes the measuring condition of instrument.
The second physical exploration sub-module 52 is internally provided with a high-density resistivity measuring instrument for arranging electrodes along a physical exploration measuring line so as to detect the underground resistivity distribution of the landfill, store the detected resistivity distribution data, and transmit the resistivity distribution data to the second data processing module 6.
The high-density resistivity instrument adopts a high-voltage direct-current power supply to supply power externally to establish an artificial electric field, the voltage range is 200-600V, and 60 or 120 electrodes are selected for detection according to the size of a refuse landfill (the length of a physical exploration measuring line). Preferably, the detection is carried out by adopting a Wener device mode, and the electrode distance is 5 m.
The second data processing module 6 is used for establishing a three-dimensional data model related to the underground structure of the refuse landfill according to the nondestructive scanning detection data transmitted by the refuse landfill detection module 5 so as to accurately reflect the relevant information of the refuse landfill, including underground boundaries, layering, moisture, pollution characteristics and the like.
Specifically, first, the second data processing module 6 performs terrain correction according to the ground penetrating radar data transmitted by the first physical exploration sub-module 51 and the three-dimensional coordinate data of the ground penetrating radar data acquisition point by using a terrain correction method based on a time-displacement theory to obtain a corrected horizontal displacement-time profile of the ground penetrating radar, so as to reflect the real structure of the medium under the landfill site.
The terrain correction method comprises the following steps: obtaining the highest point on the well-laid physical exploration measuring line, and obtaining the highest point based on the highest pointEstablishing a standard reference surface, and according to the two-way travel time in the ground penetrating radar data, according to the formula that △ t is-2HxAnd v2, correcting the propagation time of the ground penetrating radar in elevation to a standard reference surface. Wherein HxAnd v2 is the propagation speed of electromagnetic waves in the air, and the initial time of each sampling data of the ground penetrating radar is correspondingly moved downwards according to the time difference obtained by the elevation difference, so that the terrain correction is realized, and the corrected horizontal displacement-time profile of the ground penetrating radar is obtained.
Then, the second data processing module 6 obtains the ground penetrating radar horizontal displacement-depth profile map by performing time-depth conversion on the obtained ground penetrating radar horizontal displacement-time profile map so as to determine the boundary of the refuse landfill and the depth position of the underground structure in the ground, and establishes a three-dimensional data model for the underground structure of the refuse landfill by combining coordinate point bit data measured by the real-time dynamic differential satellite positioning system 511.
Wherein, the time-depth conversion processing comprises: firstly, according to the soil characteristics of the detected refuse landfill in the region, the water content of the refuse landfill and other related data, selecting the corresponding dielectric constant, and adopting a formula
Calculating the wave velocity of the electromagnetic waves, wherein c is the wave velocity of the electromagnetic waves of light in vacuum and is the dielectric constant of the underground medium; and then obtaining the depth corresponding to the electromagnetic wave propagation time according to the relation among the speed, the time and the displacement.
Finally, the second data processing module 6 obtains information such as the underground boundary and the water-containing characteristic of the refuse landfill according to the resistivity distribution data obtained by the second physical exploration submodule 52. The obtained information can be compared and combined with a three-dimensional data model obtained by detection of the ground penetrating radar and the real-time dynamic differential satellite positioning system 511 so as to further improve the accuracy of underground exploration.
According to another aspect of the present invention, as shown in fig. 2, there is provided an empty-ground-based integrated landfill nondestructive scanning method, which is applied in the above-mentioned empty-ground-based integrated landfill nondestructive scanning system, and the method includes the following steps:
(1) the aerial photography module controls an aerial photography unmanned aerial vehicle to carry out aerial photography according to the ground red line map for the refuse landfill to obtain aerial photography pictures, and the obtained aerial photography pictures are transmitted to the control point measurement module and the first data processing module;
(2) the control point measurement module selects a ground control point suitable for measurement in the range of the refuse landfill according to aerial images from the aerial photography module, operates the real-time dynamic differential satellite positioning system to measure the selected ground control point so as to obtain a three-dimensional coordinate of the ground control point, and transmits the obtained three-dimensional coordinate of the ground control point to the first data processing module;
specifically, selecting a ground control point suitable for measurement includes satisfying: firstly, the target image of a control point is required to be clear; the distributed control points can be applied to different photos; and thirdly, the distance between the control point and the edge of the photo is not less than 1.5cm, and the distance between the control point and various marks of the photo is more than 1 mm.
(3) The first data processing module obtains a Digital Elevation model (DEM for short) of the refuse landfill by using a full-Digital photogrammetry system according to aerial images transmitted by the aerial photography module and three-dimensional coordinates of ground control points transmitted by the control point measurement module, determines the complexity of the surface topography of the refuse landfill through the DEM model, and transmits the determined complexity of the surface topography of the refuse landfill to the physical exploration survey line laying module.
Specifically, the all-digital photogrammetry system used in this step is a VirtuoZo system.
In the step, the complexity of the surface terrain of the refuse landfill determined by the DEM model is determined by a neighborhood statistical analysis method, and the method specifically comprises the following substeps:
and (3-1) dividing the landfill area into a plurality of grids, and determining the area size of each grid and the topographic relief degree of each grid according to the DEM model.
When the area of each grid is within a certain range, the average topographic relief value of all the grids is increased along with the increase of the unit area of the grid, and after a certain threshold value is reached, the increasing trend of the average relief degree becomes slow.
(3-2) setting the area gradient change range of each grid to be increased from 10m multiplied by 10m to 100m multiplied by 100 m; fitting the area of each grid with the average fluctuation of all the grids to obtain a fitting curve, and taking the inflection point on the fitting curve, namely the grid area size corresponding to the point of which the average fluctuation changes gradually from the point of the grid area, as a plurality of optimal statistical units of a neighborhood statistical analysis method, wherein the side length of the grid of the optimal statistical unit is x meters.
And (3-3) when a physical exploration survey line passes through n grids, forming the n grids into a sub-area with the length of x.n meters and the width of x meters, wherein x represents the side length of the optimal statistical unit, and obtaining the topographic relief of the corresponding sub-area through the topographic relief of each optimal statistical unit.
(3-4) determining the terrain complexity of the refuse landfill according to the terrain relief degree of each sub-area obtained in the step (3-3);
specifically, if the topographic relief degree is 0 to 0.5m, the corresponding sub-region is a flat topography, if the topographic relief degree is 0.5 to 3m, the corresponding sub-region is a small relief topography, if the topographic relief degree is 3 to 8m, the corresponding sub-region is a medium relief topography, and if the topographic relief degree is greater than 8m, the corresponding sub-region is a large relief topography.
(4) The physical exploration measuring line laying module lays a plurality of physical exploration measuring lines meeting detection requirements on the surface of the refuse landfill according to the surface terrain complexity of the refuse landfill, and transmits the laid physical exploration measuring lines to the landfill detection module;
specifically, the average spacing of the physical survey lines is calculated according to the following formula:
a＝(x·n/v1)·(x·m/b)
where a represents the amount of the detection work, b represents the average pitch of the physical survey lines, v1 represents the moving speed of the physical survey line laying module, x represents the side length of the best statistical unit constituting the sub-area, m represents the number of grids in the horizontal direction in the entire landfill, and n represents the number of grids in the vertical direction in the entire landfill.
In the detection process, accidental errors are easily generated by the system under the condition of complex terrain, and in order to meet the scanning precision of the garbage pile body structure and reduce the influence caused by the accidental errors, the layout distance of the physical prospecting lines in the area with large topographic relief changes is correspondingly reduced. And on the basis of the average distance, determining the line measurement distance in each sub-area according to the complexity of the landfill site.
(5) The landfill detection module carries out nondestructive scanning detection on the internal structure of the landfill along the laid physical exploration measuring lines and transmits nondestructive scanning detection data to the second data processing module;
the method specifically comprises the following substeps:
(5-1) rigidly fixing a satellite positioning mobile station antenna in the center right above the ground penetrating radar antenna, horizontally coinciding with the center position of the ground penetrating radar antenna, connecting the satellite positioning mobile station antenna with a satellite positioning receiver, and connecting the ground penetrating radar antenna with a radar host;
(5-2) the traveling submodule is loaded with a satellite positioning mobile station, a ground penetrating radar device and a programmable controller to work along the physical exploration survey line obtained by the physical exploration survey line laying module;
(5-3) the programmable controller realizes synchronization between the ground penetrating radar and the satellite positioning receiver, and simultaneously generates pulse signals at a fixed frequency to trigger the ground penetrating radar and the satellite positioning system to respectively acquire ground penetrating radar data and three-dimensional coordinate data of a ground penetrating radar data acquisition point in real time, and transmits the acquired ground penetrating radar data and the three-dimensional coordinate data of the ground penetrating radar data acquisition point to the second data processing module;
(5-4) stopping the traveling submodule and the first physical exploration submodule from working, using the second physical exploration submodule to arrange electrodes along a physical exploration measuring line so as to detect underground resistivity distribution of the landfill, storing detected resistivity distribution data and transmitting the resistivity distribution data to the second data processing module;
(6) the second data processing module is used for establishing a three-dimensional data model about the structure under the refuse landfill according to the nondestructive scanning detection data transmitted by the refuse landfill detection module;
the method specifically comprises the following substeps:
(6-1) the second data processing module performs terrain correction on the ground penetrating radar data transmitted by the first physical exploration sub-module by using a terrain correction method based on a time-displacement theory so as to obtain a corrected horizontal displacement-time profile of the ground penetrating radar;
the terrain correction method comprises the steps of obtaining the highest point on the well-laid physical exploration measuring line, establishing a standard reference surface based on the highest point, and obtaining the two-way travel time △ t in the ground penetrating radar data according to the formula △ t-2HxAnd v2, correcting the propagation time of the ground penetrating radar in elevation to a standard reference surface. Wherein HxAnd v2 is the propagation speed of electromagnetic waves in the air, and the initial time of each sampling data of the ground penetrating radar is correspondingly moved downwards according to the time difference obtained by the elevation difference, so that the terrain correction is realized, and the corrected horizontal displacement-time profile of the ground penetrating radar is obtained.
And (6-2) the second data processing module obtains the ground penetrating radar horizontal displacement-depth profile map by performing time-depth conversion on the obtained ground penetrating radar horizontal displacement-time profile map so as to determine the boundary of the refuse landfill and the depth position of the underground structure in the ground, and establishes a three-dimensional data model for the underground structure of the refuse landfill by combining coordinate point bit data measured by a real-time dynamic differential satellite positioning system.
Wherein, the time-depth conversion processing comprises: firstly, according to the soil characteristics of the detected refuse landfill in the region, the water content of the refuse landfill and other related data, selecting the corresponding dielectric constant, and adopting a formula
Calculating the wave velocity of the electromagnetic waves, wherein c is the wave velocity of the electromagnetic waves of light in vacuum and is the dielectric constant of the underground medium; then obtaining the depth corresponding to the electromagnetic wave propagation time according to the relation of the speed, the time and the displacement。
And (6-3) the second data processing module obtains information such as the underground boundary, the water-containing characteristic and the like of the refuse landfill according to the resistivity distribution data obtained by the second physical exploration sub-module, and compares and combines the information with a three-dimensional data model obtained through detection of the ground penetrating radar and the real-time dynamic differential satellite positioning system so as to further improve the accuracy of underground exploration.
Example one
For area at 5x105m2And in the landfill with the landfill depth of about 5-10m, the nondestructive scanning operation is completed through an aerial photography module, a control point measuring module, a first data processing module, a physical exploration measuring line laying module, a landfill detection module and a second data processing module, wherein the landfill detection module uses a first physical exploration submodule and a traveling submodule. The preferred ground penetrating radar antenna model: 200 MHz.
Measuring line spacing: according to the relief grade of the terrain, considering other factors such as the area of a refuse landfill, the engineering workload and the like, and taking the distance between measuring lines to be 10-15m for the area with flat terrain or small relief; for medium or large relief, the line spacing is 5-10 m.
Engineering workload: 1-2 days
Example two
For areas greater than 5x105m2And the landfill site with the landfill depth of more than 10m is subjected to nondestructive scanning operation through an aerial photography module, a control point measuring module, a first data processing module, a physical exploration measuring line laying module, a landfill site detection module and a second data processing module, wherein the landfill site detection module uses a first physical exploration submodule, a traveling submodule and a second physical exploration submodule. The preferred ground penetrating radar antenna model: 100 MHz.
Measuring line spacing: according to the relief grade of the terrain, considering other factors such as the area of a refuse landfill, the engineering workload and the like, and taking the distance between measuring lines to be 10-15m for the area with flat terrain or small relief; for medium or large relief, the line spacing is 5-10 m.
Engineering workload: 2-3 days
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A landfill nondestructive scanning system based on air-ground integration comprises an aerial photography module, a control point measurement module, a first data processing module, a physical exploration survey line laying module, a landfill detection module and a second data processing module,
the aerial photography module is used for operating the aerial photography unmanned aerial vehicle to carry out aerial photography according to the landfills for the refuse landfill to obtain aerial photography pictures, and transmitting the obtained aerial photography pictures to the control point measurement module and the first data processing module;
the control point measurement module is used for selecting a ground control point suitable for measurement in the range of the refuse landfill according to aerial images from the aerial photography module, operating the real-time dynamic differential satellite positioning system to measure the selected ground control point so as to obtain a three-dimensional coordinate of the ground control point, and transmitting the obtained three-dimensional coordinate of the ground control point to the first data processing module; wherein selecting a ground control point suitable for measurement comprises: the target image of the control point should be clear; the distributed control points can be applied to different photos; the distance between the control point and the edge of the photo is not less than 1.5cm, and the distance between the control point and each mark of the photo is more than 1 mm;
the first data processing module is used for obtaining a DEM (digital elevation model) of the refuse landfill by using a full-digital photogrammetric system according to aerial images transmitted by the aerial photography module and three-dimensional coordinates of ground control points transmitted by the control point measuring module, determining the surface terrain complexity of the refuse landfill through the DEM, and transmitting the determined surface terrain complexity of the refuse landfill to the physical exploration survey line laying module;
the physical exploration measuring line laying module is used for laying a plurality of physical exploration measuring lines meeting the detection requirements on the surface of the refuse landfill according to the surface terrain complexity of the refuse landfill and transmitting the laid physical exploration measuring lines to the refuse landfill detection module; wherein the average spacing of the physical survey lines is calculated according to the following formula:
a＝(x·n/v1)·(x·m/b)
wherein a represents the amount of detection work, b represents the average distance of the physical survey lines, v1 represents the moving speed of the physical survey line laying module, x represents the side length of the optimal statistical unit constituting the sub-area, m represents the number of grids in the horizontal direction in the whole landfill, and n represents the number of grids in the vertical direction in the whole landfill;
the landfill detection module is used for carrying out nondestructive scanning detection on the internal structure of the landfill along the laid physical exploration measuring line and transmitting nondestructive scanning detection data to the second data processing module;
the second data processing module is used for establishing a three-dimensional data model about the structure under the refuse landfill site according to the nondestructive scanning detection data transmitted by the refuse landfill detection module so as to accurately reflect the relevant information of the refuse landfill site.
2. The landfill nondestructive scanning system of claim 1,
the landfill detection module comprises a first physical exploration sub-module, a second physical exploration sub-module and a traveling sub-module;
the first physical exploration submodule is used for acquiring ground penetrating radar data and three-dimensional coordinate data of radar data acquisition points and transmitting the ground penetrating radar data and the three-dimensional coordinate data of the ground penetrating radar data acquisition points to the second data processing module;
the traveling submodule is used for loading the first physical exploration submodule to work along the physical exploration measuring line acquired by the physical exploration measuring line laying module;
the second physical exploration submodule is internally provided with a high-density resistivity measuring instrument which is used for arranging electrodes along a physical exploration measuring line so as to detect underground resistivity distribution of the refuse landfill, storing detected resistivity distribution data and transmitting the resistivity distribution data to the second data processing module.
3. The landfill nondestructive scanning system of claim 2,
the first physical exploration submodule comprises a satellite positioning system, a ground penetrating radar device and a programmable controller;
the satellite positioning system is used for acquiring three-dimensional coordinate data of a point to be measured and comprises a satellite positioning base station and at least one satellite positioning mobile station, the satellite positioning mobile station comprises a satellite positioning mobile station antenna and a satellite positioning receiver, the satellite positioning base station is used for receiving satellite data and transmitting a base station coordinate and the satellite data to the satellite positioning mobile station, and the satellite data acquired by the satellite positioning base station and the satellite positioning mobile station are resolved to obtain the three-dimensional coordinate data of the point to be measured;
the ground penetrating radar device is used for collecting ground penetrating radar data and comprises a ground penetrating radar host and a ground penetrating radar antenna, and the satellite positioning mobile station antenna is rigidly fixed in the center right above the ground penetrating radar antenna, horizontally coincided with the center position of the ground penetrating radar antenna and connected with the satellite positioning receiver; the ground penetrating radar antenna is connected with the radar host;
the programmable controller is used for realizing synchronization between the ground penetrating radar and the satellite positioning mobile station, simultaneously generating pulse signals at a fixed frequency to trigger the ground penetrating radar and the satellite positioning system to respectively acquire ground penetrating radar data and three-dimensional coordinate data of a ground penetrating radar data acquisition point in real time, and transmitting the acquired ground penetrating radar data and the three-dimensional coordinate data of the ground penetrating radar data acquisition point to the second data processing module;
the satellite positioning mobile station, the ground penetrating radar device and the programmable controller are all arranged on the traveling submodule.
4. An air-ground-based integrated refuse landfill nondestructive scanning method which is applied to the air-ground-based integrated refuse landfill nondestructive scanning system of any one of claims 1 to 3, and is characterized by comprising the following steps:
(1) the aerial photography module controls an aerial photography unmanned aerial vehicle to carry out aerial photography according to the ground red line map for the refuse landfill to obtain aerial photography pictures, and the obtained aerial photography pictures are transmitted to the control point measurement module and the first data processing module;
(2) the control point measurement module selects a ground control point suitable for measurement in the range of the refuse landfill according to aerial images from the aerial photography module, operates the real-time dynamic differential satellite positioning system to measure the selected ground control point so as to obtain a three-dimensional coordinate of the ground control point, and transmits the obtained three-dimensional coordinate of the ground control point to the first data processing module;
(3) the first data processing module obtains a DEM (digital elevation model) of the refuse landfill by using a full-digital photogrammetric system according to aerial images transmitted by the aerial photography module and three-dimensional coordinates of ground control points transmitted by the control point measuring module, determines the surface terrain complexity of the refuse landfill through the DEM, and transmits the determined surface terrain complexity of the refuse landfill to the physical exploration survey line laying module;
(4) the physical exploration measuring line laying module lays a plurality of physical exploration measuring lines meeting detection requirements on the surface of the refuse landfill according to the surface terrain complexity of the refuse landfill, and transmits the laid physical exploration measuring lines to the landfill detection module;
(5) the landfill detection module carries out nondestructive scanning detection on the internal structure of the landfill along the laid physical exploration measuring lines and transmits nondestructive scanning detection data to the second data processing module;
(6) and the second data processing module is used for establishing a three-dimensional data model about the structure under the refuse landfill site according to the nondestructive scanning detection data transmitted by the refuse landfill detection module.
5. The method for nondestructive scanning of a landfill site according to claim 4, wherein the determination of the surface topography complexity of the landfill site through the DEM model in the step (3) is determined through a neighborhood statistical analysis method, which specifically includes the following sub-steps:
(3-1) dividing the landfill area into a plurality of grids, and determining the area size of each grid and the topographic relief degree of each grid according to the DEM model;
(3-2) setting the area gradient change range of each grid to be increased from 10m multiplied by 10m to 100m multiplied by 100m, fitting the area of each grid with the average topographic relief degree of all the grids to obtain a fitting curve, and taking the inflection point on the fitting curve, namely the grid area size corresponding to the point where the average topographic relief degree changes gradually from the grid area, as a plurality of optimal statistical units of a neighborhood statistical analysis method, wherein the side length of the grid of the optimal statistical unit is x meters;
(3-3) when a physical exploration survey line passes through n grids, forming the n grids into a sub-area with the length of x.n meters and the width of x meters, wherein x represents the side length of an optimal statistical unit, and obtaining the topographic relief of the corresponding sub-area through the topographic relief of each optimal statistical unit;
and (3-4) determining the terrain complexity of the refuse landfill according to the terrain relief degree of each sub-area obtained in the step (3-3).
6. The method according to claim 5, wherein the degree of topography is 0-0.5m, the corresponding sub-region is flat, the degree of topography is 0.5-3m, the corresponding sub-region is small, the degree of topography is 3-8m, the corresponding sub-region is medium, and the degree of topography is greater than 8m, the corresponding sub-region is large.
7. The method for nondestructive scanning of a landfill site according to claim 4, wherein the step (5) includes the following substeps:
(5-1) rigidly fixing a satellite positioning mobile station antenna in the center right above the ground penetrating radar antenna, horizontally coinciding with the center position of the ground penetrating radar antenna, connecting the satellite positioning mobile station antenna with a satellite positioning receiver, and connecting the ground penetrating radar antenna with a radar host;
(5-2) the traveling submodule is loaded with a satellite positioning mobile station, a ground penetrating radar device and a programmable controller to work along the physical exploration survey line obtained by the physical exploration survey line laying module;
(5-3) the programmable controller realizes synchronization between the ground penetrating radar and the satellite positioning receiver, generates pulse signals at a fixed frequency, triggers the ground penetrating radar and the satellite positioning system to respectively acquire ground penetrating radar data and three-dimensional coordinate data of a ground penetrating radar data acquisition point in real time, and transmits the acquired ground penetrating radar data and the three-dimensional coordinate data of the ground penetrating radar data acquisition point to the second data processing module;
and (5-4) stopping the operation of the traveling submodule and the first physical exploration submodule, using the second physical exploration submodule to arrange electrodes along the physical exploration measuring line so as to detect the underground resistivity distribution of the landfill, storing the detected resistivity distribution data, and transmitting the resistivity distribution data to the second data processing module.
8. The method for nondestructive scanning of a landfill site according to claim 4, wherein the step (6) includes the following sub-steps:
(6-1) the second data processing module performs terrain correction on the ground penetrating radar data transmitted by the first physical exploration sub-module by using a terrain correction method based on a time-displacement theory so as to obtain a corrected horizontal displacement-time profile of the ground penetrating radar;
(6-2) the second data processing module obtains the ground penetrating radar horizontal displacement-depth profile map by performing time-depth conversion on the obtained ground penetrating radar horizontal displacement-time profile map so as to determine the boundary of the refuse landfill and the depth position of the underground structure in the ground, and establishes a three-dimensional data model for the underground structure of the refuse landfill by combining coordinate point bit data measured by a real-time dynamic differential satellite positioning system;
and (6-3) the second data processing module obtains the underground boundary and water-containing characteristic information of the refuse landfill according to the resistivity distribution data obtained by the second physical exploration sub-module, and compares and combines the information with a three-dimensional data model obtained by detecting through a ground penetrating radar and a real-time dynamic differential satellite positioning system so as to further improve the accuracy of underground exploration.
9. The method for nondestructive scanning of refuse landfill according to claim 8, wherein the terrain correction method in step (6-1) is carried out by obtaining the highest point on the obtained deployed physical exploration survey line, establishing a standard reference plane based on the highest point, and obtaining the two-way travel time △ t in the ground penetrating radar data according to the formula △ t-2HxV2, correcting the propagation time of the ground penetrating radar in elevation to a standard reference surface, wherein HxAnd v2 is the propagation speed of electromagnetic waves in the air, and the initial time of each sampling data of the ground penetrating radar is correspondingly moved downwards according to the time difference obtained by the elevation difference, so that the terrain correction is realized, and the corrected horizontal displacement-time profile of the ground penetrating radar is obtained.
10. The method of claim 4, wherein the average spacing of the physical survey lines is calculated according to the formula:
a＝(x·n/v1)·(x·m/b)
where a represents the amount of the detection work, b represents the average pitch of the physical survey lines, v1 represents the moving speed of the physical survey line laying module, x represents the side length of the best statistical unit constituting the sub-area, m represents the number of grids in the horizontal direction in the entire landfill, and n represents the number of grids in the vertical direction in the entire landfill.
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