CN111736170A - Device and method for monitoring cutting slope deformation degree - Google Patents
Device and method for monitoring cutting slope deformation degree Download PDFInfo
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- CN111736170A CN111736170A CN202010722755.8A CN202010722755A CN111736170A CN 111736170 A CN111736170 A CN 111736170A CN 202010722755 A CN202010722755 A CN 202010722755A CN 111736170 A CN111736170 A CN 111736170A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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Abstract
The invention discloses a device and a method for monitoring the deformation degree of a cutting slope, wherein the device comprises a Beidou positioning module, a laser radar system, a guide rail system and an operation module; the Beidou positioning module is used for acquiring three-dimensional coordinate values of two ends of the cutting slope on the earth; the guide rail system is arranged deviating from the side edge of the constructed cutting slope, and the laser radar system moves along the guide rail system and scans the path along the cutting slope in a full range; and the operation module is used for calculating the topographic data of the cutting slope according to the scanning data of the laser radar system and the positioning information of the Beidou positioning module. According to the invention, by fusing the guide rail type mobile laser radar and the Beidou positioning system, the deformation and displacement of the cutting slope in construction can be acquired in real time under the condition of no supervision, and timely data support is provided for rapid early warning and engineering progress management.
Description
Technical Field
The invention belongs to the field of cutting slope deformation monitoring, and particularly relates to a device and a method for monitoring the degree of deformation of a cutting slope.
Background
For cutting slopes, deformation and displacement monitoring are important safety quality management work, the current cutting slope monitoring main mode comprises two modes of on-site inspection and instrument monitoring, wherein the instrument monitoring technology can be divided into manual monitoring and automatic real-time monitoring.
The monitoring means in the prior art mainly comprises (1) carrying surveying and mapping instruments such as a level gauge and a total station manually to regularly monitor on-site marking points, (2) utilizing satellite positioning systems such as a GPS to monitor the marking points in real time, and (3) regularly scanning a target slope by synthetic aperture radars such as an InSAR. The monitoring is carried out by adopting a manually carried instrument, and the real-time monitoring cannot be realized; the GPS technology is utilized, and the slope surface of the side slope cannot be monitored only by acquiring the three-dimensional coordinates of the side slope; while InSAR technology is too costly to use.
Disclosure of Invention
Aiming at the problems, the invention provides a device and a method for monitoring the cutting slope deformation degree on the basis of combining the Beidou GNSS technology and a laser radar.
The technical purpose is achieved, the technical effect is achieved, and the invention is realized through the following technical scheme:
a device for monitoring the deformation degree of a cutting slope comprises a Beidou positioning module, a laser radar system, a guide rail system and an operation module;
the Beidou positioning modules are fixed at the head end and the tail end of the constructed cutting slope and used for acquiring three-dimensional coordinate values of the two ends of the cutting slope on the earth;
the guide rail system is arranged deviating from the side edge of the constructed cutting slope, and the laser radar system moves along the guide rail system and scans the path along the cutting slope in a full range;
and the operation module is used for calculating topographic data of the cutting slope according to the scanning data of the laser radar system and the positioning information of the Beidou positioning module.
The laser radar system scans the opposite cutting slopes and calculates according to the positioning coordinates of the Beidou positioning modules.
As a further improvement of the invention, the laser radar system comprises a laser radar scanner, a dynamic Beidou positioning module and a posture information acquisition system, wherein the laser radar scanner, the dynamic Beidou positioning module and the posture information acquisition system are arranged on a moving vehicle arranged on a guide rail;
the laser radar scanner is used for scanning the cutting slope point by point to acquire position data of the scanned test point relative to the laser radar scanner;
the dynamic Beidou positioning module and the Beidou positioning module receive navigation positioning signals at the same time and are provided with receivers for receiving the Beidou positioning module, so that accurate positioning coordinates of the laser radar scanner are obtained;
and the attitude information acquisition system is used for carrying out initial calibration according to the azimuth, the position and the speed of the mobile radar and the recorded initial state.
As a further improvement of the invention, laser radar systems on two sides synchronously scan the opposite cutting slopes.
As a further improvement of the invention, the guide rail system comprises guide rails laid along the slope surface of the cutting slope, the guide rails laid on the discontinuous slope surface are connected by a steering gear, and the laying position of the guide rail system corresponds to the laser radar system, so that the cutting slope can be scanned in a full range.
As a further improvement of the invention, the Beidou positioning module further comprises a scanning module for receiving the scanning information of the laser radar and sending the received scanning information to the operation module through a satellite signal.
As a further improvement of the invention, the Beidou positioning module or the dynamic Beidou positioning module adopts a Beidou GNSS positioning module.
A method for monitoring the deformation degree of a cutting slope is used for calculating the slope terrain of the cutting slope based on scanning data obtained by the device, and comprises the following steps:
the method comprises the following steps: the Beidou positioning modules fixed at the head end and the tail end of the cutting slope obtain accurate three-dimensional coordinates on the earth;
step two: the laser radar system of setting at the cutting side slope scans the cutting side slope, and the data that obtain the scanning test point include:
the included angle between the laser line emitted from the center of the laser radar scanner and the earth coordinate axis when the laser line is scanned to the position of the test point is (thetay, thetap and thetar),
the height D of the laser radar relative to the test point,
the line of sight angle a of the lidar scanner,
the elevation angle H of the lidar scanner,
and dynamic Beidou positioning module coordinate (X)G,YG,ZG)；
Wherein the dynamic Beidou positioning module coordinate (X)G,YG,ZG) Obtaining coordinates of the two Beidou positioning modules based on the first step;
step three: the operation module calculates coordinate values of the test points according to the obtained scanning data, connects three-dimensional coordinates of a series of test points corresponding to the cutting slope points into point cloud data, and then calculates the deformation of the cutting slope based on the obtained point cloud data.
As a further improvement of the present invention, step three, the coordinate values (X, Y, Z) of the test points are calculated according to the following formula:
wherein:
in the formula (X)1，Y1，Z1) 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 to calculate the deformation amount based on the comparison of the point cloud data obtained in real time and the point cloud data obtained in the previous time.
The invention has the beneficial effects that: according to the invention, by fusing the guide rail type mobile laser radar and the Beidou positioning system, the deformation and displacement of the cutting slope in construction can be acquired in real time by utilizing the characteristics of high ranging precision, strong directivity, quick response, no influence of ground clutter, high safety, accurate positioning, stable signal and safe technology of the national Beidou satellite positioning system in China under the condition of unsupervised monitoring, and timely data support is provided for quick early warning and engineering progress management.
Drawings
FIG. 1 is a cross-sectional view of the arrangement of the apparatus of the present invention;
FIG. 2 is a top plan view of the arrangement of the apparatus of the present invention;
FIG. 3 is a schematic flow chart of the operation of the apparatus;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following 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.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
The layout of the device arranged along the cutting slope as shown in fig. 1 and 2 comprises a Beidou positioning module, a laser radar system and a guide rail system. The Beidou positioning module is fixed on the top and the bottom of the constructed cutting slope in a fixed mode and used for calibrating coordinate values of the Beidou GNSS receiver carried by the mobile laser radar. A set up in the side direction for being directed at monitoring cutting side slope scans, what adopt is the guide rail system who arranges at the avris of the cutting side slope of being under construction, the lidar system along the guide rail system remove and carry out the scanning of full range to the route along the line of cutting side slope. In the process of construction, what generally adopted to same domatic is that set up two cutting slopes in the position of same isotatic face in the left and right sides, a set of mutually supporting big dipper orientation module with laser radar system subtend arrange, promptly guide rail system along arranging of the cutting slope of seting up, laser radar system and subtend big dipper orientation module carry out the signal interaction, scan subtend cutting slope.
In the detection process, a mobile laser radar system on two sides is arranged to synchronously scan the opposite cutting slopes.
In the embodiment of the invention, the Beidou positioning module adopts a Beidou GNSS positioning module, is used for calibrating the accurate coordinate position of the mobile laser radar system, and also comprises a scanning module for receiving the scanning information of the mobile laser radar system and sending the received scanning information to the operation module through satellite signals.
The guide rail system is arranged along the slope surface of the cutting slope and comprises guide rails arranged along the section line, the guide rails laid on the discontinuous slope surface are connected through a steering gear, in order to save cost, the guide rails are not arranged in a full range but arranged in a proper section position, and the section range can ensure that the mobile laser radar can realize full-range scanning on the cutting slope within the range.
The mobile laser radar system comprises a mobile vehicle, a mobile laser radar scanner, a dynamic Beidou positioning module and attitude information acquisition, wherein the mobile laser radar scanner, the dynamic Beidou positioning module and the attitude information acquisition are arranged on the mobile vehicle. The mobile laser radar scanner comprises a shape information acquisition system which is a laser radar sensor with medium and short distance; the dynamic Beidou positioning system mainly measures the same positioning signals of Beidou positioning satellite navigation by using a Beidou GNSS positioning module on the opposite side slope and a mobile GNSS receiver on the mobile radar at the same time, and determines the accurate position of the mobile radar in a combined manner; the attitude information acquisition system mainly determines the azimuth, the position and the speed of the mobile radar by utilizing the inertial sensitivity period of the IMU, and initially calibrates by combining the recorded initial state when calculating a target point in the later period, so as to eliminate the calculation error caused by attitude adjustment; the image information acquisition system consists of a CCD camera and is mainly used for assisting a radar sensor to acquire information such as texture characters of a target.
The device also comprises a control module connected with the moving vehicle, and the moving vehicle can be remotely controlled to move on the guide rail.
The operation module is used for calculating topographic data of the cutting slope according to the scanning information of the laser radar and the positioning information of the Beidou positioning module, and the specific calculation process is as follows:
the Beidou GNSS module is used for receiving, tracking, transforming and measuring satellite signals. By amplifying, exchanging and processing satellite signals, the three-dimensional coordinates of a user on the earth are determined through calculation of data processing software, real-time navigation is carried out on the user, and the satellite and an earth surface receiving station form a tetrahedron, so that the real distance calculation formula of the satellite and a receiver is as follows:
in the formula: (x)i,yi,zi) Is the coordinate of the ith satellite in three-dimensional space, (X)G,YG,ZG)For coordinates of the moving lidar to be determined
If the ground and the satellite are considered to be completely synchronous and have no time difference, the true distance can be calculated by the following formula:
Ri＝C(tPR-tSV)-CtA
in the formula: t is tPRObservation time, t, synchronized for a ground receiverSVFor the satellite synchronization signal transmission time, tAC is the delay time generated during signal propagation and the speed of light.
Because the satellite is too far away from the earth surface and moves at a high speed, the satellite clock is asynchronous with the earth surface clock, and the distance measured by the GNSS system is not the true distance but the pseudo distance:
ρi＝C[tPR+ΔtPR-(tSV+ΔtSV)]＝C(tPR-tSV)+C(ΔtPR-ΔtSV)
in the formula: rhoiIs a pseudo-range, Δ tPRTime difference, Δ t, for terrestrial receiversSVIs the satellite time difference.
The formula is arranged to obtain:
in the formula, the clock difference (delta t) between the satellite clock and the earth surface clockPR-ΔtSV) And observation point coordinates (x)i,yi,zi) For unknown quantity, four equations are needed for solving the four unknown quantities, and since the earth surface receiver can simultaneously receive four or more satellite data in space, the satellites can be divided into a plurality of groups by 4 in each group, the coordinates of the mobile laser radar are listed for solving the equations, and the value with the highest precision is selected from all solutions, so that the satellite positioning precision can be well improved by the method. So that the three-dimensional coordinate values of the moving lidar can be determined.
The main principle of the test of the mobile laser radar system during working is as follows: simultaneously carrying a mobile laser radar scanner, a high-precision Beidou GNSS receiver and an IMU on a mobile vehicle, and continuously recording the position and attitude information of the mobile vehicle in the moving process of the mobile vehicle; the mobile laser radar scanner continuously records the distance measurement value of the transmitter and the index value in the scanning line along with the movement of the measuring vehicle; and calculating an included angle between the point and the initial direction through the index value, and calculating a three-dimensional space coordinate of the point cloud data of the opposite side slope by combining the inspection parameters of the vehicle-mounted system and the recorded position and posture information of the measuring vehicle.
Assuming that the measuring point is P point, the coordinate is (X, Y, Z), and the coordinate (namely the three-dimensional coordinate of the mobile laser radar) obtained by the mobile vehicle-mounted Beidou GNSS module is marked as (X)G,YG,ZG) (ii) a The included angle between the mobile laser radar scanner and the earth coordinate axis is (theta y, theta p, theta r), and the relative coordinate of the measuring point to the laser scanning system is set as (X)1，Y1，Z1) (ii) a The target test point is calculated as follows:
wherein:
in the formula, D is a target distance obtained by moving the lidar scanner, a is a sight angle obtained by moving the lidar scanner, and H is a height angle obtained by moving the lidar scanner.
And scanning the opposite side slope by the mobile laser radar to obtain the three-dimensional coordinates of a series of points of the opposite side slope, and forming point cloud data of the opposite side slope by the data. The method comprises the steps of periodically scanning the opposite side slope through a mobile radar to obtain real-time point cloud data of the opposite side slope, and finally obtaining a deformation value of the opposite side slope through comparison with previous point cloud data.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a device of monitoring cutting slope deformation degree which characterized in that: the Beidou positioning system comprises a Beidou positioning module, a laser radar system, a guide rail system and an operation module;
the Beidou positioning modules are fixed at the head end and the tail end of the constructed cutting slope and used for acquiring three-dimensional coordinate values of the two ends of the cutting slope on the earth;
the guide rail system is arranged deviating from the side edge of the constructed cutting slope, and the laser radar system moves along the guide rail system and scans the path along the cutting slope in a full range;
and the operation module is used for calculating topographic data of the cutting slope according to the scanning data of the laser radar system and the positioning information of the Beidou positioning module.
2. The apparatus of claim 1, wherein: including seting up at the left and right sides and arranging two cutting slopes at same isotatic face, the guide rail arrange along cutting slope of seting up, laser radar system scan subtend cutting slope, combine subtend big dipper orientation module's location coordinate calculates.
3. The apparatus of claim 1 or 2, wherein: the laser radar system comprises a laser radar scanner, a dynamic Beidou positioning module and a posture information acquisition system, wherein the laser radar scanner, the dynamic Beidou positioning module and the posture information acquisition system are arranged on a moving vehicle arranged on a guide rail;
the laser radar scanner is used for scanning the cutting slope point by point to acquire position data of the scanned test point relative to the laser radar scanner;
the dynamic Beidou positioning module and the Beidou positioning module receive navigation positioning signals at the same time and are provided with receivers for receiving the Beidou positioning module, so that accurate positioning coordinates of the laser radar scanner are obtained;
and the attitude information acquisition system is used for carrying out initial calibration according to the azimuth, the position and the speed of the mobile radar and the recorded initial state.
4. The apparatus of claim 3, wherein: and the laser radar systems on the two sides synchronously scan the opposite cutting slopes.
5. The apparatus of claim 2, wherein: the guide rail system comprises guide rails laid along the slope surface of the cutting slope, the guide rails laid on the discontinuous slope surface are connected through a steering gear, and the position laid by the guide rail system corresponds to the laser radar system which can realize full-range scanning of the cutting slope.
6. The apparatus of claim 1 or 2, wherein: the Beidou positioning module also receives scanning information of the laser radar and sends the received scanning information to the operation module through satellite signals.
7. The apparatus of claim 6, wherein: the Beidou positioning module or the dynamic Beidou positioning module adopts a Beidou GNSS positioning module.
8. A method of monitoring a cutting slope deformation degree, wherein a slope topography of the cutting slope is calculated based on scan data obtained by the apparatus of any one of claims 1 to 7, comprising:
the method comprises the following steps: the Beidou positioning modules fixed at the head end and the tail end of the cutting slope obtain accurate three-dimensional coordinates on the earth;
step two: the laser radar system of setting at the cutting side slope scans the cutting side slope, and the data that obtain the scanning test point include:
the included angle between the laser line emitted from the center of the laser radar scanner and the earth coordinate axis when the laser line is scanned to the position of the test point is (thetay, thetap and thetar),
the height D of the laser radar relative to the test point,
the line of sight angle a of the lidar scanner,
the elevation angle H of the lidar scanner,
and dynamic Beidou positioning module coordinate (X)G,YG,ZG)；
Wherein the dynamic Beidou positioning module coordinate (X)G,YG,ZG) Obtaining coordinates of the two Beidou positioning modules based on the first step;
step three: the operation module calculates coordinate values of the test points according to the obtained scanning data, connects three-dimensional coordinates of a series of test points corresponding to the cutting slope points into point cloud data, and then calculates the deformation of the cutting slope based on the obtained point cloud data.
9. The method of monitoring moat slope deformation according to claim 8, wherein the method comprises the following steps: step three, the operation module calculates the coordinate values (X, Y, Z) of the test points according to the following formula as follows:
wherein:
in the formula (X)1，Y1，Z1) The coordinates of the measurement point relative to the laser scanning system.
10. The method of monitoring moat slope deformation according to claim 8, wherein the method comprises the following steps: and the calculation of the deformation amount is to calculate the deformation amount based on the comparison of the point cloud data obtained in real time and the last point cloud data.
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