CN111736170A - A device and method for monitoring the deformation degree of cutting side slope - Google Patents

Abstract

The invention discloses a device and method for monitoring the deformation degree of a cutting slope. The device includes a Beidou positioning module, a laser radar system, a guide rail system and an arithmetic module; the Beidou positioning module is used for The three-dimensional coordinate value on the rail system; the guide rail system deviates from the side of the cutting slope to be constructed, and the lidar system moves along the guide rail system and scans the entire range of the path along the cutting slope; the The computing module calculates the terrain data of the cutting slope according to the scanning data of the lidar system and the positioning information of the Beidou positioning module. The invention can obtain the deformation and displacement of the cutting slope during construction in real time without supervision by integrating the guide rail type mobile laser radar and the Beidou positioning system, and provides timely data support for rapid early warning and project progress management.

Description

A device and method for monitoring the deformation degree of cutting side slope

technical field

The invention belongs to the field of road cutting side slope deformation monitoring, and particularly relates to a device and method for monitoring the deformation degree of road cutting side slopes.

Background technique

For cutting slopes, deformation and displacement monitoring are important safety and quality management tasks. At present, the main methods of monitoring cutting slopes include on-site inspection and instrument monitoring. The instrument monitoring technology can be divided into manual monitoring and automatic real-time monitoring.

The monitoring methods in the prior art mainly include (1) manually carrying surveying and mapping instruments such as levels and total stations to regularly monitor the on-site marked points, (2) using GPS and other satellite positioning systems to monitor the marked points in real time, (3) InSAR Equal Synthetic Aperture Radar scans the target slope periodically. It is impossible to perform real-time monitoring by manually carrying instruments for monitoring; by using GPS technology, only the three-dimensional coordinates of the slope can be obtained, but the slope surface cannot be monitored; and the cost of using InSAR technology is too high.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention proposes a device and method for monitoring the deformation degree of a cutting slope on the basis of combining Beidou GNSS technology and laser radar.

To achieve the above-mentioned technical purpose and achieve the above-mentioned technical effect, the present invention is realized through the following technical solutions:

A device for monitoring the deformation degree of a cutting slope, comprising a Beidou positioning module, a laser radar system, a guide rail system and an arithmetic module;

The Big Dipper positioning module is fixed on the first and last ends of the cutting slope to be constructed, and is used to obtain the three-dimensional coordinate values of the two ends of the cutting slope on the earth;

The guide rail system deviates from the side of the cutting slope to be constructed, and the lidar system moves along the guide rail system and scans the entire range of the path along the cutting slope;

The computing module is used to calculate the terrain data of the cutting slope according to the scanning data of the lidar system and the positioning information of the Beidou positioning module.

As a further improvement of the present invention, it includes two cutting slopes arranged on the left and right sides and arranged on the same contour plane. Scan the cutting slope in the opposite direction, and calculate it in combination with the positioning coordinates of the Beidou positioning module in the opposite direction.

As a further improvement of the present invention, the lidar system includes a lidar scanner, a dynamic Beidou positioning module and an attitude information collection system, which are installed on a moving vehicle arranged on the guide rail;

The lidar scanner is used to scan the cutting and slope point by point, and obtain the position data of the scanned test point relative to the lidar scanner;

The dynamic Beidou positioning module receives the navigation and positioning signal simultaneously with the Beidou positioning module and is provided with a receiver for receiving the Beidou positioning module, so as to obtain the accurate positioning coordinates of the lidar scanner;

The attitude information acquisition system is used for initial calibration based on the orientation, position and velocity of the mobile radar and through the recorded initial state.

As a further improvement of the present invention, the laser radar systems on both sides scan the opposite cutting slopes synchronously.

As a further improvement of the present invention, the guide rail system includes guide rails laid along the slope of the cutting slope, the guide rails laid on the discontinuous slope are connected by diverters, and the laying position of the guide rail system corresponds to the The lidar system can realize the full-range scanning of the opposite road cutting slope.

As a further improvement of the present invention, the Beidou positioning module further includes receiving the scanning information of the laser radar, and sending the received scanning information to the computing module through satellite signals.

As a further improvement of the present invention, the Beidou positioning module or the dynamic Beidou positioning module adopts the Beidou GNSS positioning module.

A method for monitoring the deformation degree of a cutting side slope, calculating the slope topography of the cutting side slope based on the scanning data obtained by the above device, including:

Step 1: The Beidou positioning module fixed at the beginning and end of the cutting slope obtains accurate three-dimensional coordinates on the earth;

Step 2: The laser radar system installed on the cutting slope scans the cutting slope, and the data obtained from the scanning test points include:

When the laser line emitted from the center of the lidar scanner scans to the position of the test point, the included angle with the geodetic axis is (θy, θp, θr),

The height D of the lidar relative to the test point,

The sight angle A of the lidar scanner,

The high and low angle H of the lidar scanner,

and dynamic Beidou positioning module coordinates (X _G , Y _G , Z _G );

Wherein, the dynamic Beidou positioning module coordinates (X _G , Y _G , Z _G ) are obtained based on the coordinates of two Beidou positioning modules in step one;

Step 3: The calculation module calculates the coordinate value of the test point according to the obtained scan data, and connects the three-dimensional coordinates of a series of test points corresponding to the cutting and slope points as point cloud data, and then calculates the cutting edge based on the obtained point cloud data. Deformation of the slope.

As a further improvement of the present invention, step 3, calculate the coordinate value (X, Y, Z) of the test point according to the following formula as follows:

in:

In the formula, (X ₁ , Y ₁ , Z ₁ ) are the coordinates of the measurement point relative to the laser scanning system.

As a further improvement of the present invention, the calculation of the deformation amount is based on the comparison between the point cloud data obtained in real time and the previous point cloud data.

Beneficial effects of the present invention: the present invention can utilize the laser radar with high ranging precision, strong directionality, fast response, and no influence of ground clutter without any supervision by integrating the rail-type mobile laser radar and the Beidou positioning system. my country's domestic Beidou satellite positioning system has the characteristics of high safety, accurate positioning, stable signal and technical safety. It can obtain the deformation and displacement of the cutting slope during construction in real time, providing timely data support for rapid early warning and project progress management.

Description of drawings

Fig. 1 is the sectional view of the arrangement of the device of the present invention;

Fig. 2 is the top plan view of the device arrangement of the present invention;

Fig. 3 is the schematic flow chart of device operation;

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

The application principle of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in Figures 1 and 2, the layout of the device arranged along the cutting slope of the present invention includes a Beidou positioning module, a lidar system, and a guide rail system. Among them, the Beidou positioning module is fixed on the top and bottom of the road cutting slope under construction in a fixed manner, and is used to calibrate the coordinate value of the mobile lidar-borne Beidou GNSS receiver. The device for scanning the monitored cutting slope is set in the lateral direction, and a guide rail system arranged on the side of the construction cutting slope is used, and the lidar system moves along the guide rail system to the cutting slope. A full range scan is performed along the line path. In the process of construction, two cutting slopes are usually set on the left and right sides at the same contour level for the same slope, and a set of the Beidou positioning module and the lidar system cooperate with each other. Opposite arrangement, that is, the guide rail system is arranged along the opened cutting slope, and the laser radar system interacts with the opposite Beidou positioning module to scan the opposite cutting slope. .

In the process of detection, the mobile lidar system on both sides is used to scan the opposite cutting slope synchronously.

The Beidou positioning module described in the embodiment of the present invention adopts the Beidou GNSS positioning module. In addition to calibrating the accurate coordinate position of the mobile lidar system, it also includes receiving the scanning information of the mobile lidar system, and The received scanning information is sent to the computing module through satellite signals.

The guide rail system in the present invention is arranged along the slope of the cutting slope, including guide rails arranged along the section, and the guide rails laid on the discontinuous slope are connected by diverters. In order to save costs, the guide rails are not arranged in a full range Instead, it is arranged at a suitable section position, and the range of this section can ensure that the moving lidar moves within this range to achieve full-range scanning of the opposite road cutting slope.

In the present invention, the mobile laser radar system includes a mobile laser radar scanner, a dynamic Beidou positioning module and attitude information collection, which are arranged on the moving vehicle. The mobile lidar scanner includes a shape information acquisition system, which is a medium and short-range lidar sensor; the dynamic Beidou positioning system mainly uses the Beidou GNSS positioning module on the opposite slope and the mobile GNSS receiver on the mobile radar to measure the same Beidou positioning satellite navigation at the same time The positioning signal of the mobile radar can jointly determine the accurate position of the mobile radar; the attitude information acquisition system mainly uses the inertial sensitive period of the IMU to determine the orientation, position and speed of the mobile radar. Initial calibration is performed in the initial state to eliminate calculation errors caused by attitude adjustment; the image information acquisition system is composed of CCD cameras, whose main function is to assist the radar sensor to complete the acquisition of information such as the texture and properties of the target.

It also includes a control module connected with the moving vehicle, which can remotely control the moving vehicle to move on the guide rail.

The computing module is used to calculate the terrain data of the cutting slope according to the scanning information of the laser radar and the positioning information of the Beidou positioning module. The specific calculation process is as follows:

The Beidou GNSS module is used to receive, track, transform and measure satellite signals. By amplifying, exchanging and processing satellite signals, the three-dimensional coordinates of the user on the earth are determined by the calculation of the data processing software, and the user is guided in real time. The satellite and the surface receiving station form a tetrahedron, which makes the real distance between the satellite and the receiver. The calculation formula is:

In the formula: (x _i , y _i , z _i ) are the coordinates of the i-th satellite in three-dimensional space, and (X _G , Y _G , Z _{G )} are the coordinates of the mobile lidar to be found

If the ground and the satellite are considered to be completely synchronized with no time difference, the true distance can be calculated by the following formula:

R _i =C(t _PR -t _SV )-Ct _A

In the formula: t _PR is the observation time of the synchronization of the ground receiver, t _SV is the launch time of the satellite synchronization signal, t _A is the delay time generated in the process of signal propagation, and C is the speed of light.

Because the satellite is too far away from the surface and moves at high speed, the satellite clock is not synchronized with the surface clock. The distance measured by the GNSS system is not the real distance, but the pseudorange:

ρ _i =C[t _PR +Δt _PR -(t _SV +Δt _SV )]=C(t _PR -t _SV )+C(Δt _PR -Δt _SV )

In the formula: ρ _i is the pseudorange, Δt _PR is the time difference of the ground receiver, and Δt _SV is the satellite time difference.

Arrange the above formula to get:

In this formula, the clock difference between the satellite clock and the surface clock (Δt _PR -Δt _SV ) and the coordinates of the observation point (x _i , y _i , z _i ) are unknowns. Solving these four unknowns requires four equations. The receiver can receive data from four or more satellites in space at the same time. Therefore, the satellites can be divided into several groups with each group of four, and the equations can be listed to solve the coordinates of the mobile lidar, and the value with the highest accuracy can be selected from all the solutions. This method can greatly improve the accuracy of satellite positioning. Thereby, the three-dimensional coordinate value of the mobile lidar can be determined.

The main principle of the test when the mobile lidar system is working: the mobile lidar scanner, the high-precision Beidou GNSS receiver and the IMU are loaded on the mobile vehicle at the same time, and the position and attitude information of the measurement vehicle are continuously recorded during the movement of the measurement vehicle. ;The mobile lidar scanner continuously records the ranging value of the transmitter and the index value in the scan line with the movement of the measuring vehicle; calculates the angle between the point and the initial direction through the index value, and combines the inspection parameters and records of the on-board system The position and attitude information of the measuring vehicle is obtained, and the three-dimensional space coordinates of the point cloud data of the opposite side slope are calculated.

Assuming that the measurement point is point P, the coordinates are set to (X, Y, Z), and the coordinates obtained by the mobile Beidou GNSS module (that is, the three-dimensional coordinates of the mobile lidar) are recorded as (X _G , Y _G , Z _G ); The angle between the radar scanner and the geodetic coordinate axis is (θy, θp, θr), and the relative coordinates of the measurement point relative to the laser scanning system are set as (X ₁ , Y ₁ , Z ₁ ); the target test point is calculated as follows:

in:

In the formula, D is the target distance obtained by the mobile lidar scanner, A is the line of sight angle obtained by the mobile lidar scanner, and H is the high and low angle obtained by the mobile lidar scanner.

The mobile lidar scans the opposite side slope to obtain the three-dimensional coordinates of a series of points on the opposite side slope, and these data form the point cloud data of the opposite side slope. The opposite side slope is periodically scanned by the mobile radar to obtain the real-time point cloud data of the opposite side slope. By comparing with the previous point cloud data, the deformation value of the opposite side slope is finally obtained.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Various changes and modifications fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. a device for monitoring the deformation degree of cutting slope, is characterized in that: comprise Big Dipper positioning module, laser radar system, guide rail system and arithmetic module; The Big Dipper positioning module is fixed on the first and last ends of the cutting slope to be constructed, and is used to obtain the three-dimensional coordinate values of the two ends of the cutting slope on the earth; The guide rail system deviates from the side of the cutting slope to be constructed, and the lidar system moves along the guide rail system and scans the entire range of the path along the cutting slope; The computing module is used to calculate the terrain data of the cutting slope according to the scanning data of the lidar system and the positioning information of the Beidou positioning module. 2. device according to claim 1 is characterized in that: comprise two cutting side slopes that are arranged on the left and right sides of the same contour plane, and the described guide rails are arranged along the cutting side slopes that are set up, The laser radar system scans the opposite road cutting slope, and calculates in combination with the positioning coordinates of the opposite Beidou positioning module. 3. The device according to claim 1 or 2, characterized in that: the lidar system comprises a lidar scanner, a dynamic Beidou positioning module and attitude information collection system; The lidar scanner is used to scan the cutting and slope point by point, and obtain the position data of the scanned test point relative to the lidar scanner; The dynamic Beidou positioning module receives the navigation and positioning signal simultaneously with the Beidou positioning module and is provided with a receiver for receiving the Beidou positioning module, so as to obtain the accurate positioning coordinates of the lidar scanner; The attitude information acquisition system is used for initial calibration based on the orientation, position and velocity of the mobile radar and through the recorded initial state. 4 . The device according to claim 3 , wherein the laser radar systems on both sides scan the opposite cutting slopes synchronously. 5 . 5. The device according to claim 2, wherein the guide rail system comprises guide rails laid along the slope of the cutting slope, and the guide rails laid on the discontinuous slope are connected by diverters, and the guide rail system The position of the laying corresponds to that the lidar system can realize the full range scanning of the opposite road cutting slope. 6 . The device according to claim 1 or 2 , wherein the Beidou positioning module further comprises receiving scanning information of the lidar, and sending the received scanning information to the computing module through satellite signals. 7 . 7 . The device according to claim 6 , wherein the Beidou positioning module or the dynamic Beidou positioning module adopts a Beidou GNSS positioning module. 8 . 8. a method for monitoring the degree of deformation of the cutting slope, characterized in that, based on the scanning data obtained by the device of any one of claims 1-7, the slope terrain of the cutting slope is calculated, comprising: Step 1: The Beidou positioning module fixed at the beginning and end of the cutting slope obtains accurate three-dimensional coordinates on the earth; Step 2: The laser radar system installed on the cutting slope scans the cutting slope, and the data obtained from the scanning test points include: When the laser line emitted from the center of the lidar scanner scans to the position of the test point, the included angle with the geodetic axis is (θy, θp, θr), The height D of the lidar relative to the test point, The sight angle A of the lidar scanner, The high and low angle H of the lidar scanner, and dynamic Beidou positioning module coordinates (X _G , Y _G , Z _G ); Wherein, the dynamic Beidou positioning module coordinates (X _G , Y _G , Z _G ) are obtained based on the coordinates of two Beidou positioning modules in step one; Step 3: The calculation module calculates the coordinate value of the test point according to the obtained scan data, and connects the three-dimensional coordinates of a series of test points corresponding to the cutting and slope points as point cloud data, and then calculates the cutting edge based on the obtained point cloud data. Deformation of the slope. 9. a kind of method for monitoring the deformation degree of cutting slope according to claim 8, is characterized in that: step 3, the coordinate value (X, Y, Z) of calculating test point calculated by calculation module according to following formula is as follows:

in:

In the formula, (X ₁ , Y ₁ , Z ₁ ) are the coordinates of the measurement point relative to the laser scanning system. 10 . A method for monitoring the deformation degree of cutting slope according to claim 8 , wherein the calculation of the deformation amount is based on the comparison between the point cloud data obtained in real time and the point cloud data of the previous time. 10 .

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