CN111524228A - Unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management - Google Patents
Unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management Download PDFInfo
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- CN111524228A CN111524228A CN202010234844.8A CN202010234844A CN111524228A CN 111524228 A CN111524228 A CN 111524228A CN 202010234844 A CN202010234844 A CN 202010234844A CN 111524228 A CN111524228 A CN 111524228A
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- G—PHYSICS
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- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The invention discloses an unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management. Positioning is provided for unmanned aerial vehicle flight by using a GNSS RTK positioning system, three-dimensional scanning is carried out on the whole landfill area through unmanned aerial vehicle route design, and initial model parameter information of the landfill is obtained; forming a landfill site three-dimensional model through computer software simulation; the landform and the landform of the landfill area are measured in real time every week and month, and the measurement system receiver is used for measuring the landform and the landform according to the ratio of 4 points/m2Obtaining the three-dimensional coordinates of the control points by the density, and drawing in the three-dimensional model again; forming a dynamic four-dimensional model with time dimension through computer simulation on the basis of collected field real-time data; and feeding back an analysis result of the dynamic data change in the three-dimensional model to the four-dimensional model to establish a four-dimensional model file. The invention analyzes the change of the landfill site through the four-dimensional model, thereby reducing the environment caused by the garbage disposal processBringing a risk of contamination.
Description
Technical Field
The invention belongs to the technical field of refuse landfills and hazardous waste safety landfills, and particularly relates to an unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on operation management of a landfill.
Background
With the increasing growth of garbage caused by the increasing urban population, the management of cities often causes the embarrassment of 'refuse surrounding cities', and the garbage disposal mode is mainly based on garbage landfill and garbage incineration technology at the present stage, and the garbage incineration technology finally generates dangerous wastes such as slag, fly ash condensate and the like, and whichever garbage disposal technology relates to the landfill disposal of final products.
The pollution of the hazardous waste to the living environment of people becomes increasingly serious along with the continuous forward development of national economy of China; hazardous waste is high in toxicity, high in environmental risk, difficult to manage and not suitable for being managed and disposed by a general method of common waste; for hazardous waste that cannot be recycled in its components and energy, it must be disposed of in a safe landfill.
The operation management of the landfill site is strict, particularly, the landfill operation of a safe landfill site needs to be required to be performed by unit and block landfill, rainwater needs to be strictly controlled to enter dangerous waste, and the danger probability increase of the redundant harmful percolate to the environment is avoided.
The partitioning principle of hazardous waste safe landfills is specified in the hazardous waste landfill pollution control standard (GB 18598-2019): 1. each landfill area can be sealed in a short time as much as possible; 2. landfilling incompatible wastes in zones; 3. the sequence of zones should be conducive to waste transport and landfill; 4. the landfill management unit establishes all files related to the landfill, and arranges and stores all file data formed in the whole process of waste characteristic, waste dumping part, site selection, investigation, land acquisition, design, construction, operation management, field closing and field closing management, monitoring, inspection and the like according to the national file management regulations to ensure completeness.
However, in the operation management of domestic landfill sites (whether refuse landfill or hazardous waste landfill), the daily operation management means of landfill is extensive, the subjective consciousness and command of people are mainly used, the randomness is large, and the planning performance is not strong. The data collection in the landfill process is incomplete, the records are incomplete, and the supervision is incomplete. The probability of loopholes in management is high, and environmental pollution accidents and safety accidents are easy to happen.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management for overcoming the defects in the prior art, which can plan the optimal landfill time and path of hazardous wastes in advance and realize the maximization of the utilization efficiency of landfill storage capacity; the change condition of high-range distribution in the pile can be known, the rain and sewage diversion operation can be better guided, and the safety risks of pile slippage and the like in the landfill process are reduced.
The technical solution of the invention is as follows: an unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management comprises the following steps:
step 1: an unmanned aerial vehicle flying platform is built near a refuse landfill, a GNSS RTK positioning system is used for providing positioning for the flying of the unmanned aerial vehicle, the unmanned aerial vehicle flying platform is provided with an oblique photography camera, the whole landfill area is scanned in three dimensions through unmanned aerial vehicle route design, and the initial model parameter information of the landfill is obtained; the landfill initial model parameters comprise landfill body coordinate parameters, elevation parameters corresponding to coordinate points and high-resolution aerial images of the landfill collected by the unmanned aerial vehicle;
step 2: forming a landfill site three-dimensional model through computer software simulation;
and step 3: the landform and the landform of the landfill area are measured in real time every week and month, and the measurement system receiver is used for measuring the landform and the landform according to the ratio of 4 points/m2Obtaining three-dimensional coordinates of the control points and recording the phasesAccording to the time dimension information, the data are analyzed and gathered, and then the data are drawn in the three-dimensional model again; identifying the position and the time of landfill in the three-dimensional model, and then recording the position and the time in the three-dimensional model;
and 4, step 4: on the basis of the three-dimensional model, space and time are combined together, the existing landfill site is tracked in a three-dimensional real-time manner, and a dynamic four-dimensional model with time dimension is formed through computer simulation on the basis of collected field real-time data; and feeding back an analysis result of the dynamic data change in the three-dimensional model to the four-dimensional model, establishing a four-dimensional model file for deducing and predicting future changes of parameter indexes in the landfill site, and analyzing the influence of the residual service time of the landfill storage capacity and different landfill orders on the storage capacity.
According to the embodiment of the invention, in the step 1, one or two or more than two oblique photographic cameras are adopted, the model of the unmanned aerial vehicle is an SV360 fixed wing unmanned aerial vehicle, the maximum working height is 5000 meters, the communication radius is 30KM, the oblique photographic cameras are RX1/A7R full-frame 4200 ten thousand-pixel high-definition cameras, and the oblique photographic cameras acquire high-resolution aerial images of the landfill site from vertical and oblique angles.
According to the embodiment of the invention, in the step 2, the computer analyzes aerial triangulation, geometric correction, homonymy point matching and area network joint adjustment processing through professional soft Smart 3D.4.9 and EPS2016 by using three-dimensional mapping software, and gives data obtained by adjusting three coordinate information and three direction angle information to each inclined image, so that the inclined images have position and posture data in a virtual three-dimensional space, and a three-dimensional model is synthesized.
According to the embodiment of the invention, the three-dimensional model analyzes the landfill body every month every week to obtain the actual slope ratio data, and reflects the landfill operation condition every month every week in the three-dimensional model, so as to obtain the actual landfill garbage amount and the consumed storage capacity operation data every month, and visually express the natural drainage slope of the landfill body and the field data of the displacement of the landfill body.
According to the embodiment of the invention, the four-dimensional model file in the step 4 comprises a waste characteristic recording module, a waste landfill position module and a landfill time module.
The data of the characteristics of the wastes is obtained by collecting the names of the wastes, registering the wastes for each landfill in blocks, and assigning the characteristic data (the kind of the wastes, the time of the wastes entering the landfill) of the collected wastes to each block, so that the position information and the time information of the landfill of each waste can be obtained, and a file for landfill management is formed.
The landfill position information is reflected in the model by acquiring the position of each landfill waste block through RTK approach, and in the four-dimensional model, the characteristic data of the waste, the landfill time and the data acquired by the landfill position are reflected in the model in an identification mode according to the block.
According to the embodiment of the invention, the air route design mode adopting 2 cameras and the fixed-wing unmanned aerial vehicle is as follows: the aerial photography area is rectangular, air lines are laid along the long side direction and the short side direction of the rectangular area respectively, and the aerial photography area is in a grid shape and flies in a cross manner; the number of the routes is two and is not less than 6; the maximum length of the single route is designed according to 40% of the effective endurance mileage of the unmanned aerial vehicle, and the maximum length does not exceed 5500 meters; the course overlapping degree is more than 75%, and the side overlapping degree is more than 40%.
According to the embodiment of the invention, the four-dimensional model adopts a four-dimensional coordinate analysis method added with a time dimension, updates and analyzes field data in real time, and is used for recording landfill capacity consumption and landfill position time information; the four-dimensional model is applied to strengthening daily management of a landfill and reversibility tracing of a landfill process, and has strong operability.
According to the invention, after the 3D measurement of the whole landfill area is carried out by adopting the unmanned aerial vehicle, a 3D model of the landfill area is formed, then the landfill planning simulation can be carried out in the 3D model through software, namely calculation of landfill positions (landfill paths) in different time periods is carried out, and the optimal landfill mode can be selected through multiple times of simulation, so that the optimal landfill mode is selected.
According to the invention, for the landfill body of the landfill garbage, the elevation distribution condition of the landfill body can be obtained after the 3d measurement modeling of the unmanned aerial vehicle is carried out for the first time, and the landfill time is advancedIn the later stage of stack elevation change, elevation distribution data are mainly acquired in two modes in application, wherein the first mode is that a space C93T RTK measurement system receiver is adopted on site according to 4 points/m2The density of obtaining enough quantity of three-dimensional coordinates of control points, the second is to carry out 3d data measurement of the landfill dump body through the unmanned aerial vehicle again, new dump body elevation data can be obtained through the two modes, and the change condition of elevation distribution in the dump body can be immediately compared after the data are input into software.
According to the invention, the elevation distribution condition and the elevation distribution change condition of the whole landfill reservoir area are obtained after 3D measurement modeling by the unmanned aerial vehicle, so that the optimal rainwater drainage guide path can be planned in a 3D model according to the pile elevation data, and the rainwater catchment amount on the surface of the pile and the flow condition in the pile under different rainfall conditions can be simulated by software, so that rainwater drainage guide can be known more intuitively, and the rainwater and sewage diversion operation can be guided to be implemented more efficiently and more economically.
At present, most domestic refuse landfill sites are over-filled due to the fact that the garbage entering amount is generally larger than the design amount, the daily garbage entering amount is larger than the design value, the heightening speed of a refuse dump body is too high, rainwater is not well shunted, the rainwater enters the dump body to cause the water level in the refuse dump body to be high, and the safety risk that the dump body of the refuse landfill slides easily is caused; the daily stack elevation data acquisition and the elevation distribution change analysis in the invention can timely find the slippage precursor of the stack, thereby taking measures as early as possible.
In the operation management process of the landfill, the information of waste characteristics, waste landfill positions, landfill time and the like is recorded in the four-dimensional model established by the invention, and a four-dimensional management file related to the landfill is established, so that the traceability management of hazardous waste can be realized.
By means of the four-dimensional modeling and intelligent remote sensing, an environment monitoring department can quickly acquire near real-time images, dynamic monitoring is carried out on water bodies, solid wastes, ecological environments and the like around a landfill site through comparing the historical images with the latest images in a front-and-back time image mode, a risk source remote sensing monitoring category system and a monitoring standard database are constructed, and ecological protection red line supervision is effectively promoted.
Compared with the prior art, the invention has the advantages that: the method is different from the traditional three-dimensional model in that a time dimension coordinate is introduced, the position and time information of a landfill in a landfill are obtained at regular time through an RTK receiver, and the change of the landfill along with time is simulated through a computer to form a four-dimensional model; the method has the advantages that the change of the landfill site is analyzed through the four-dimensional model, and the landfill mode is simulated, so that the economic cost of landfill operation can be reduced, land resources are relatively saved, the urban pressure is relieved, and the pollution risk of the garbage disposal process to the environment is reduced; has better economic benefit and environmental benefit.
Detailed Description
The following embodiments are further illustrative of the present invention and are not intended to limit the scope thereof.
The specific implementation mode of the invention is divided into three steps.
In the first step, a field three-dimensional model is generated.
The SV360 electric unmanned aerial vehicle based on the high-precision GNSS-RTK real-time dynamic auxiliary aerial triangulation technology is used for carrying out three-dimensional modeling field aerial photography, the unmanned aerial vehicle has certain load capacity, endurance of 70min, takeoff weight of 12.0kg, maximum flight height of 5000m and 6-level wind resistance, a digital camera under specific parameter setting is used for aerial photography, and pixels are 4200 ten thousand.
Specifically, the method comprises the following three steps (1) that the whole landfill area is scanned aloft by an unmanned aerial vehicle, an RX1/A7R oblique photography camera is carried on a flight platform, high-resolution images are acquired from different angles such as verticality and inclination, coordinates of ground control points are measured by high-precision RTK (real-time kinematic) at the same time; (2) the processing of analysis aerial triangulation, geometric correction, homonymy point matching, area network joint adjustment and the like is carried out through professional software Smart 3D.4.9 and EPS2016, and (3) data obtained by adjusting three coordinate information and three direction angle information are given to each oblique image, so that the oblique images have position and posture data in a virtual three-dimensional space, and a high-precision three-dimensional model is synthesized.
And secondly, acquiring field real-time topographic data and establishing a four-dimensional model.
Acquiring three-dimensional coordinates of a sufficient number of control points according to 4 points/m 2 at fixed time by adopting an RTK receiver of a sky C93T RTK measuring system, and simultaneously recording the time of acquiring the coordinates; after the data are analyzed and gathered, drawing the data in the three-dimensional model again; on the basis of a three-dimensional model, space and time are organically combined together, the existing landfill site is tracked in a three-dimensional real-time manner, and a dynamic four-dimensional model is formed through computer simulation on the basis of collecting a large amount of field real-time data.
And thirdly, analyzing and applying the model.
The dynamic change in the four-dimensional model is monitored and analyzed, the analysis result is fed back to the four-dimensional model, and the future change of each index in the landfill site is deduced and predicted.
The position of the landfill in the landfill is recorded, coordinate acquisition is carried out, meanwhile, landfill time is identified, and a hazardous waste landfill four-dimensional model management file capable of being inquired in real time can be formed for the hazardous waste safety landfill.
Claims (7)
1. An unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management is characterized by comprising the following steps:
step 1: an unmanned aerial vehicle flying platform is built near a refuse landfill, a GNSS RTK positioning system is used for providing positioning for the flying of the unmanned aerial vehicle, the unmanned aerial vehicle flying platform is provided with an oblique photography camera, the whole landfill area is scanned in three dimensions through unmanned aerial vehicle route design, and the initial model parameter information of the landfill is obtained; the landfill initial model parameters comprise landfill body coordinate parameters, elevation parameters corresponding to coordinate points and high-resolution aerial images of the landfill collected by the unmanned aerial vehicle;
step 2: forming a landfill site three-dimensional model through computer software simulation;
and step 3: the landform and the landform of the landfill area are measured in real time every week and month, and the measurement system receiver is used for measuring the landform and the landform according to the ratio of 4 points/m2Obtaining three-dimensional coordinates of the control points and recording corresponding timeDimension information, which is drawn in the three-dimensional model again after the data are analyzed and summarized; identifying the position and the time of landfill in the three-dimensional model, and then recording the position and the time in the three-dimensional model;
and 4, step 4: on the basis of the three-dimensional model, space and time are combined together, the existing landfill site is tracked in a three-dimensional real-time manner, and a dynamic four-dimensional model with time dimension is formed through computer simulation on the basis of collected field real-time data; and feeding back an analysis result of the dynamic data change in the three-dimensional model to the four-dimensional model to establish a four-dimensional model file.
2. The unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management as claimed in claim 1, wherein the tilted photography cameras in step 1 are one or two or more, the unmanned aerial vehicle model is SV360 fixed wing unmanned aerial vehicle, the maximum working height is 5000 meters, the communication radius is 30KM, the tilted photography cameras are RX1/A7R full frame 4200 ten thousand pixels high definition cameras, and the tilted photography cameras acquire landfill aerial images from vertical and tilted angles.
3. The unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management as claimed in claim 1, wherein in step 2, the computer analyzes aerial triangulation, geometric correction, homonymy point matching, and area network joint adjustment processing through professional soft Smart 3D.4.9 and EPS2016 by using three-dimensional mapping software, and gives data obtained by adjusting three coordinate information and three direction angle information to each oblique image, so that the oblique images have position and posture data in a virtual three-dimensional space, and a three-dimensional model is synthesized.
4. The unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management of claim 3, characterized in that the three-dimensional model obtains actual slope ratio data by analyzing the landfill body of each month every week, reflects the landfill operation conditions of each month every week in the three-dimensional model, thereby obtaining the actual landfill garbage amount of each month, consuming reservoir capacity operation data, and visually expressing the site data of the natural drainage gradient of the landfill body and the displacement of the landfill body.
5. The unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management of claim 1, wherein the four-dimensional model file in the step 4 comprises a waste characteristic recording module, a waste landfill position module and a landfill time module.
6. The unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management as claimed in claim 2, characterized in that the design mode of adopting 2 cameras and fixed wing unmanned aerial vehicle routes is: the aerial photography area is rectangular, air lines are laid along the long side direction and the short side direction of the rectangular area respectively, and the aerial photography area is in a grid shape and flies in a cross manner; the number of the routes is two and is not less than 6; the maximum length of the single route is designed according to 40% of the effective endurance mileage of the unmanned aerial vehicle, and the maximum length does not exceed 5500 meters; the course overlapping degree is more than 75%, and the side overlapping degree is more than 40%.
7. The unmanned aerial vehicle remote sensing four-dimensional modeling analysis method based on landfill operation management of claim 1, wherein the four-dimensional model adopts a four-dimensional coordinate analysis method with an added time dimension, updates field data in real time, analyzes the field data in real time, and is used for recording landfill storage capacity consumption and landfill position time information.
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| CN117419761B (en) * | 2023-09-27 | 2024-04-19 | 成都天测皓智科技有限公司 | High-precision intelligent sensing refuse landfill situation monitoring method and system |
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