CN113310467B - Slope monitoring device and method combining Beidou and camera module - Google Patents

Slope monitoring device and method combining Beidou and camera module Download PDF

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CN113310467B
CN113310467B CN202110860705.0A CN202110860705A CN113310467B CN 113310467 B CN113310467 B CN 113310467B CN 202110860705 A CN202110860705 A CN 202110860705A CN 113310467 B CN113310467 B CN 113310467B
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beidou
monitoring
camera
slope
reference station
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CN113310467A (en
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雷孟飞
李鹏
汤金毅
熊用
周俊华
匡宇龙
吴家旺
黄立新
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Hunan Lianzhi Monitoring Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/18—Measuring inclination, e.g. by clinometers, by levels by using liquids
    • G01C9/24—Measuring inclination, e.g. by clinometers, by levels by using liquids in closed containers partially filled with liquid so as to leave a gas bubble
    • 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
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
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    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/20—Adaptations for transmission via a GHz frequency band, e.g. via satellite

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Abstract

The invention provides a slope monitoring device and method combining a Beidou satellite and a camera module, wherein the slope monitoring device combines Beidou satellite monitoring equipment and the camera module to monitor a slope, the Beidou satellite monitoring equipment is used for providing accurate coordinates of a reference station and a monitoring station, initial data are provided for the measurement of the camera module, and an external orientation element obtained by the calculation of the reference station and the monitoring station is used for calculating the absolute coordinates of a whole slope monitoring point; the side slope monitoring result is a displacement graph of each pixel point in the photo area, a large-area side slope monitoring result can be provided, and the monitoring range is wider compared with that of the existing single-point monitoring device; in addition, the monitoring result is a displacement graph, the deformation area of the side slope can be visually seen, and the side slope monitoring result is clear at a glance, and meanwhile, the method is beneficial to helping technicians to quickly determine the sliding belt of the side slope.

Description

Slope monitoring device and method combining Beidou and camera module
Technical Field
The invention relates to the field of slope monitoring, in particular to a slope monitoring device and method combining Beidou and a camera module.
Background
The Beidou satellite navigation system is a satellite navigation system which is independently constructed and independently operated in China and focuses on the development requirements of national security and economic society, and is a national important space infrastructure for providing all-weather, all-time and high-precision positioning, navigation and time service for global users. In recent years, high-precision positioning service based on a Beidou satellite navigation system is widely applied to ground disaster monitoring and prevention. The high-risk side slopes of urban and mountain residential areas relate to the life and property safety of people, and are key monitoring and preventing objects. The existing slope monitoring generally adopts equipment such as a Beidou, a deep level displacement meter, a stay wire type displacement meter and the like to monitor the slope. In the Beidou slope monitoring, monitoring points need to be arranged at easy-sliding points of the slope, a reference station is arranged at a stable place, and the displacement condition of the monitoring station relative to the reference station can be obtained after monitoring is started; monitoring by a deep displacement meter, drilling holes on the side slope, installing a deep inclinometer, and calculating the displacement of each level according to the inclination conditions of the equipment at different depth levels; the stay wire type displacement meter monitors, and the stay wire type displacement meter is installed on the fixed position of side slope, and the stay cord is tied up on the crack or the easy slip body of side slope, and when the side slope took place to slide, the stay cord extended and the shrink, according to extension, the shrinkage calculation displacement condition.
The traditional monitoring equipment and monitoring means can only carry out single-point or multi-point monitoring on the side slope, the monitoring of the whole side slope needs a plurality of monitoring equipment for cooperation monitoring, the monitoring cost is high, the installation is complex, and the monitoring of the whole landslide surface and the whole side slope sliding belt cannot be monitored; and the foundation sar equipment capable of monitoring in a large area is high in price and complex to operate. Therefore, a slope monitoring device and method which are simple in structure, capable of realizing large-range monitoring and high in monitoring precision and are formed by combining the Beidou and the camera module are urgently needed in the industry.
Disclosure of Invention
The invention aims to provide a slope monitoring device and method combining a Beidou satellite and a camera module, and aims to solve the problems in the background technology.
The invention provides a slope monitoring device combining a Beidou satellite and a camera module, which comprises a Beidou satellite monitoring station, a Beidou reference station and a background processing center, wherein the Beidou satellite monitoring station is connected with the Beidou satellite reference station; the number of the Beidou monitoring stations and the number of the Beidou reference stations respectively comprise at least two, the Beidou reference stations are arranged at intervals, and the Beidou monitoring stations are arranged at intervals on the side slope to be monitored; the Beidou monitoring station is in communication connection with the Beidou reference station, and a camera module is arranged on the Beidou reference station and used for acquiring photo information of the side slope and the Beidou monitoring station; the Beidou reference station is in communication connection with the background processing center, the background processing center resolves and processes Beidou monitoring information of the Beidou monitoring station and the Beidou reference station, and analyzes and processes camera shooting picture information acquired by the camera shooting module.
Furthermore, the Beidou reference station comprises a monitoring pile, a leveling mechanism arranged on the monitoring pile, a Beidou antenna, a Beidou receiver and wireless transmission equipment, the camera module is arranged on the leveling mechanism and is connected with the Beidou receiver, the camera module and the Beidou receiver are respectively connected with the wireless transmission equipment, and the wireless transmission equipment is in communication connection with the background processing center.
Further, the leveling mechanism comprises a bottom plate, a leveling screw, a tray and a bubble level meter, wherein the bottom plate is arranged at one end of the monitoring pile, the tray is arranged on the bottom plate, the leveling screw is arranged between the tray and the bottom plate, and the leveling screw is used for leveling the tray; the camera module comprises a camera bracket and a camera, the camera bracket is rotatably arranged on the tray of the leveling mechanism, and the camera bracket is provided with a bubble level meter which is used for detecting and judging whether the leveling screw levels the tray and the camera bracket; the camera is rotationally arranged on the camera bracket.
Furthermore, the tray is provided with an installation shaft, one side of the camera bracket is provided with a first installation hole, and the first installation hole is rotatably sleeved on the installation shaft; a second mounting hole is formed in the other side of the camera shooting support, and the Beidou antenna is mounted on the second mounting hole; be equipped with the mounting groove in the support of making a video recording, the rotatable setting of axis of rotation is in the mounting groove, and the camera is installed in the axis of rotation.
Further, a bearing is arranged in the first mounting hole of the camera shooting support, and the bearing is sleeved on a mounting shaft on the tray.
Furthermore, the leveling mechanism also comprises a vertical braking screw and a horizontal braking screw, the horizontal braking screw is in contact connection with a bearing on the camera shooting support, and the horizontal braking screw is used for braking the bearing on the camera shooting support to limit and fix the camera shooting support; the vertical braking screw is in contact connection with the rotating shaft and is used for braking the rotating shaft to limit and fix the rotating shaft to rotate.
The invention also provides a slope monitoring method combining the Beidou and the camera module, which comprises the slope monitoring device combining the Beidou and the camera module, and specifically comprises the following steps:
s1, arranging slope monitoring devices, arranging two Beidou monitoring stations at intervals of a slope to be monitored, and arranging two Beidou reference stations at intervals of 0-200m below the slope: the Beidou reference station A and the Beidou reference station B level camera modules on the Beidou reference station through leveling screws and a bubble level meter of a leveling mechanism, cameras of the camera modules rotate through bearings, camera angles of the cameras on a horizontal plane are adjusted, a horizontal braking screw is screwed and fixed after the horizontal plane angles of the cameras are adjusted, the cameras adjust pitching camera angles of the cameras through rotation of a rotating shaft, and a vertical braking screw is screwed and fixed after the pitching angles of the cameras are adjusted; ensuring that a camera of the Beidou reference station can acquire two Beidou monitoring stations arranged on a shooting slope; setting sampling intervals of a Beidou monitoring station and a Beidou reference station and setting a time interval of shooting by a camera of the reference station;
s2, returning monitoring data, wherein the Beidou monitoring data collected by the Beidou monitoring station and the Beidou reference station and the photo data collected by the camera module on the Beidou reference station are returned to the background processing center;
s3, processing and analyzing the monitoring data, wherein the background processing center analyzes and processes the returned monitoring data, and specifically comprises the steps of coordinate calculation, exterior orientation element calculation, pixel point coordinate calculation and displacement map generation; and obtaining the displacement of the slope according to the change of the displacement graphs generated in two adjacent times.
Further, the coordinate calculation specifically includes: the background processing center makes different base line combinations with the reference station and the monitoring station, and simultaneously resolves the Beidou data of the Beidou monitoring station and the Beidou data of the Beidou reference station to obtain the base line vectors of all the base lines and obtain the coordinates of two Beidou monitoring stations:
Figure 41365DEST_PATH_IMAGE001
、
Figure 265673DEST_PATH_IMAGE002
coordinates of two Beidou monitoring stations, namely coordinates of two monitoring points, and coordinates of a Beidou reference station A
Figure 327170DEST_PATH_IMAGE003
The coordinate of the Beidou reference station B is
Figure 237619DEST_PATH_IMAGE004
(ii) a The coordinate of the camera A on the Beidou reference station A is
Figure 650146DEST_PATH_IMAGE005
(ii) a The coordinate of the camera B on the Beidou reference station B is
Figure 802778DEST_PATH_IMAGE006
And h is the distance between the center of the camera and the center of the Beidou antenna.
Further, the solving of the exterior orientation element specifically includes: coordinates of two monitoring points obtained by resolving Beidou data (
Figure 984361DEST_PATH_IMAGE007
) And (a)
Figure 174034DEST_PATH_IMAGE008
) Coordinates of two Beidou reference stations
Figure 73857DEST_PATH_IMAGE003
And
Figure 242629DEST_PATH_IMAGE004
and coordinates of camera A
Figure 544297DEST_PATH_IMAGE005
Carrying out least square solution to obtain the photographic attitude angle of the Beidou reference station A
Figure 904871DEST_PATH_IMAGE009
(ii) a Two monitoring point coordinates obtained by resolving Beidou data
Figure 291990DEST_PATH_IMAGE001
And
Figure 786425DEST_PATH_IMAGE002
two big dipper reference station coordinates
Figure 677021DEST_PATH_IMAGE003
And
Figure 474076DEST_PATH_IMAGE004
the coordinates of the camera B are
Figure 82912DEST_PATH_IMAGE006
Carrying out least square solution to obtain a photographic attitude angle of the Beidou reference station B
Figure 256404DEST_PATH_IMAGE010
。
Collinearity equation for photogrammetry:
①：
Figure 893184DEST_PATH_IMAGE011
；
②：
Figure 861140DEST_PATH_IMAGE012
Figure 957272DEST_PATH_IMAGE014
；
formula (I) and formula (II)
Figure 668876DEST_PATH_IMAGE015
，
Figure 658698DEST_PATH_IMAGE016
) The coordinate of the image plane of the image point, namely the coordinate of the monitoring point in the photo, is obtained by measuring the coordinate of the Beidou monitoring station in the photo and is a known parameter; (
Figure 797555DEST_PATH_IMAGE017
) The internal orientation elements of the photo are determined by the parameters of the camera and are known parameters; (
Figure 380983DEST_PATH_IMAGE018
) The coordinate of the photographing center, namely the central coordinate of the camera, is obtained by resolving through a Beidou receiver and is a known parameter; (
Figure 630699DEST_PATH_IMAGE019
) The object space coordinate of the object space point, namely the coordinate of the monitoring point is a known parameter;
Figure 242071DEST_PATH_IMAGE020
is a photographic attitude angle;
Figure 551829DEST_PATH_IMAGE021
to make a camera from a photographic attitude angle
Figure 622554DEST_PATH_IMAGE022
The determined direction cosine.
The calculation of the coordinates of the pixel points specifically comprises the following steps: bringing the internal orientation elements of the Beidou reference station A and the Beidou reference station B and the attitude angles of the Beidou reference station A and the Beidou reference station B into a formula (I), substituting each pixel in the photo to obtain four equations, and calculating the coordinate of each pixel point in the photo in the side slope by using least square (the equation (A) is obtained
Figure 675960DEST_PATH_IMAGE019
）。
And generating a displacement graph, subtracting the coordinate value obtained by calculation of the photo in the previous period from the coordinate of each pixel point obtained by calculation, and generating the displacement graph of the two-period side slope through a background processing center, wherein the change of the displacement graph of the two-period side slope is the displacement generated by the side slope.
Further, the change of the pixel points in the displacement graph is marked with different colors according to different difference levels.
The invention has the following beneficial effects:
the invention provides a slope monitoring device and method of a Beidou satellite and a camera, wherein the slope monitoring device combines Beidou monitoring equipment and a camera module to monitor a slope, the Beidou monitoring equipment is used for providing accurate coordinates of a Beidou reference station and the Beidou monitoring station, initial data are provided for the measurement of the camera module, and external orientation elements obtained by the calculation of the Beidou reference station and the Beidou monitoring station are used for calculating absolute coordinates of a whole slope monitoring point. According to the monitoring device, the two Beidou monitoring stations and the two Beidou reference stations with the camera modules are arranged in the side slope, so that the monitoring of the whole side slope can be completed in a matched mode, the monitoring equipment is few, the cost is low, the side slope monitoring result is a displacement diagram of each pixel point in a photo area, a large-area side slope monitoring result can be provided, and the monitoring range is wider compared with that of an existing single-point monitoring device; in addition, the monitoring result is a displacement graph, the deformation area of the side slope can be visually seen, and the side slope monitoring result is clear at a glance, and meanwhile, the method is beneficial to helping technicians to quickly determine the sliding belt of the side slope.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a Beidou reference station of the embodiment;
FIG. 2 is a schematic view of the camera stand of FIG. 1 in connection with the leveling mechanism;
FIG. 3 is a schematic diagram of the connection between the Beidou reference station and the Beidou monitoring system in the embodiment;
FIG. 4 is a block diagram of a flow chart of a slope monitoring method combining Beidou and a camera module according to the invention;
the device comprises a Beidou antenna 1, a Beidou antenna 2, a camera 3, a leveling mechanism 4, a monitoring pile 5, a camera module 6, a Beidou receiver 7, a DTU wireless transmission device 8, a power interface 9, an installation shaft 10, a rotating shaft 11, a bearing 12, a tray 13, a leveling screw 14, an antenna nut 15, a camera support 16, a vertical braking screw 17, a horizontal braking screw 18 and a bubble level meter.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 2, the invention provides a slope monitoring device combining a Beidou satellite and a camera module, which comprises Beidou monitoring stations, Beidou reference stations and a background processing center, wherein the number of the Beidou monitoring stations and the number of the Beidou reference stations respectively comprise at least two Beidou monitoring stations, the Beidou reference stations are arranged at intervals, and the Beidou monitoring stations are arranged at intervals on a slope to be monitored; the Beidou monitoring station is in communication connection with the Beidou reference station, the camera module 5 is arranged on the Beidou reference station, the camera module collects photo information of a side slope and the Beidou monitoring station, the Beidou reference station is in communication connection with the background processing center, the background processing center resolves and processes Beidou monitoring information of the Beidou monitoring station and the Beidou reference station, and analyzes and processes the photo information collected by the camera module.
In the embodiment, the number of the Beidou monitoring stations and the number of the Beidou reference stations are two, the existing Beidou monitoring equipment is adopted in the Beidou monitoring stations, each Beidou reference station comprises a monitoring pile 4, a leveling mechanism 3 arranged on the monitoring pile, a Beidou antenna 1, a Beidou receiver 6 and wireless transmission equipment, and the Beidou receiver and the wireless transmission equipment are arranged in the monitoring pile 4; the wireless transmission equipment adopts DUT wireless transmission equipment 7; a power supply device (such as a lithium battery pack power supply) is further arranged in the monitoring pile, the power supply device is electrically connected with the Beidou receiver and the wireless transmission equipment, and the power supply device supplies power to the equipment of the Beidou reference station; in addition, the Beidou reference station is further provided with a power interface 8, the power interface is arranged on the side wall of the monitoring pile, and the Beidou reference station can be externally connected with a power supply for supplying power by utilizing the power interface. The camera module is arranged on the leveling mechanism 3, the leveling mechanism comprises a bottom plate, a leveling screw 13, a tray 12 and a bubble level meter 18, the bottom plate is arranged on one end face of the monitoring pile, the tray is arranged on the bottom plate, the leveling screw is arranged between the tray and the bottom plate, and the leveling screw is used for leveling the tray; the camera module comprises a camera bracket 15 and a camera 2, the camera bracket is rotatably arranged on the tray of the leveling mechanism, and a bubble level meter is arranged on the camera bracket and used for detecting and judging whether the leveling screw levels the tray and the camera bracket. Be equipped with installation axle 9 on the tray, camera shooting support one side is equipped with first mounting hole, and the rotatable cover of first mounting hole is established on installation axle 9, specifically includes: a bearing 11 is arranged in a first mounting hole of the camera bracket, and the bearing is sleeved on a mounting shaft on the tray; a second mounting hole is formed in the other side of the camera shooting support; big dipper antenna is installed on the second mounting hole, specifically includes: the second mounting hole is provided with an internal thread or is provided with an antenna nut 14, the Beidou antenna is mounted on the bolt, and the Beidou antenna is in threaded connection with the internal thread or the antenna nut of the second mounting hole by the bolt; be equipped with the mounting groove in the support 15 of making a video recording, be equipped with axis of rotation 10 in the mounting groove, the camera is installed in the axis of rotation. The Beidou antenna is connected with the Beidou receiver, the camera module is connected with the Beidou receiver through DTU wireless transmission equipment respectively, the DTU wireless transmission equipment is in communication connection with the background processing center, and camera shooting data of the cameras on the Beidou monitoring station, the Beidou reference station and the Beidou reference station are transmitted back to the background processing center through the DTU wireless transmission equipment.
The leveling mechanism 3 also comprises a vertical braking screw 16 and a horizontal braking screw 17, the horizontal braking screw is in contact connection with a bearing on the camera shooting support, and the horizontal braking screw is used for braking the bearing on the camera shooting support to limit and fix the camera shooting support; the vertical braking screw is in contact connection with the rotating shaft and is used for limiting and fixing the rotating shaft to prevent the rotating shaft from rotating. It should be noted that the leveling mechanism is arranged according to the existing total station leveling mechanism. The camera of the camera module in the monitoring device can horizontally rotate and adjust the installation angle in a pitching mode by 360 degrees, and the field installation and arrangement of the monitoring device are facilitated. The camera adopts ordinary high resolution camera can, need not professional measurement type camera, and the photographic attitude angle of camera among the camera module is solved through collineation equation and known monitoring point and is learnt, need not to install gyroscope module additional, effectively saves the cost.
Referring to fig. 3 and 4, the invention further provides a slope monitoring method combining the Beidou and the camera module, which comprises the following steps:
s1, arranging slope monitoring devices, arranging two Beidou monitoring stations at the intervals of the slope to be monitored, setting the intervals of the two Beidou monitoring stations according to the actual situation, and setting two Beidou reference stations at the interval of the range of 0-200m below the slope: the camera module on the Beidou reference station is leveled through a leveling screw and a bubble level meter of the leveling mechanism, the camera of the camera module adjusts the camera angle of the camera on the horizontal plane through the rotation of a bearing, and the pitching camera angle of the camera is adjusted through the rotation of a rotating shaft; ensuring that a camera of the Beidou reference station can acquire two Beidou monitoring stations arranged on a shooting slope; the Beidou monitoring station and the Beidou reference station are arranged at sampling intervals (the intervals are set according to specific conditions) and at time intervals for shooting by the camera of the Beidou reference station.
S2, monitoring data are transmitted back, and the Beidou monitoring data collected by the Beidou monitoring station and the Beidou reference station and the photo data collected by the cameras on the Beidou reference station are transmitted back to the background processing center.
S3, processing and analyzing the monitoring data, wherein the background processing center analyzes and processes the returned monitoring data, and specifically comprises the steps of coordinate calculation, exterior orientation element calculation, pixel point coordinate calculation and displacement map generation; and obtaining the displacement of the slope according to the change of the displacement graphs generated in two adjacent times.
Calculating coordinates, namely, combining different base lines of the Beidou reference stations and the Beidou monitoring stations by the background processing center, calculating Beidou data of the two Beidou monitoring stations and Beidou data of the two Beidou reference stations respectively to obtain base line vectors of all the base lines, and assuming that the Beidou reference station A is used as an original point, namely coordinates of the Beidou reference station A are (0, 0, 0); obtain the coordinates of two Beidou monitoring stations as
Figure 515740DEST_PATH_IMAGE001
、
Figure 121034DEST_PATH_IMAGE002
The coordinates of the two Beidou monitoring stations are the coordinates of the two monitoring points; resolving to obtain the coordinate of the Beidou reference station B as
Figure 413475DEST_PATH_IMAGE004
(ii) a The distance h between the center of the camera and the center of the Beidou antenna is 20cm, and the coordinates of the camera A are (0, 0, -20); the coordinates of the camera B are
Figure 270573DEST_PATH_IMAGE023
。
Solving external orientation elements which are basic data for determining the geometric relation of the photographing light beam on the object space and comprise a photographing attitude angle
Figure 964859DEST_PATH_IMAGE024
And a shooting center coordinate, wherein the shooting center coordinate is known in the embodiment, and only three shooting attitude angles need to be solved.
The collinearity equation for photogrammetry is as follows:
①：
Figure 242519DEST_PATH_IMAGE025
；
②：
Figure 287835DEST_PATH_IMAGE026
Figure 683045DEST_PATH_IMAGE014
；
formula (I) and formula (II)
Figure 231838DEST_PATH_IMAGE015
，
Figure 319879DEST_PATH_IMAGE016
) The coordinate of the image plane of the image point, namely the coordinate of the monitoring point in the photo, is obtained by measuring the coordinate of the Beidou monitoring station in the photo and is a known parameter; (
Figure 711546DEST_PATH_IMAGE017
) The internal orientation element of the photo is determined by the parameters of the camera, which are known parameters (1)
Figure 910447DEST_PATH_IMAGE018
) The coordinate of the photographing center, namely the coordinate of the camera center (obtained by resolving by a Beidou receiver), is a known parameter; (
Figure 313746DEST_PATH_IMAGE019
) The object space coordinate of the object space point, namely the coordinate of the monitoring point is a known parameter;
Figure 572689DEST_PATH_IMAGE024
is a photographic attitude angle;
Figure 953117DEST_PATH_IMAGE021
to make a camera from a photographic attitude angle
Figure 690129DEST_PATH_IMAGE024
The determined direction cosine is an unknown parameter.
Two monitoring point coordinates obtained by resolving Beidou data
Figure 213514DEST_PATH_IMAGE001
、
Figure 643359DEST_PATH_IMAGE002
Two big dipper basesQuasi-station coordinate
Figure 744039DEST_PATH_IMAGE003
And
Figure 284741DEST_PATH_IMAGE004
substituting the coordinates (0, 0, -20) of the center of the camera A into a formula (I), and performing least square solution to obtain the photographic attitude angle of the Beidou reference station A
Figure 928212DEST_PATH_IMAGE009
。
Coordinates of two monitoring points
Figure 263379DEST_PATH_IMAGE001
、
Figure 618399DEST_PATH_IMAGE002
Coordinates with two reference stations
Figure 697213DEST_PATH_IMAGE003
And
Figure 195191DEST_PATH_IMAGE004
and coordinates of the center of the B camera
Figure 701259DEST_PATH_IMAGE023
The method includes the steps of substituting a formula I, having four equations in total, performing least square solution to obtain a shooting attitude angle of the Beidou reference station B
Figure 917476DEST_PATH_IMAGE010
。
Calculating coordinates of pixel points, namely bringing internal orientation elements and attitude angles of the camera A and the camera B into a formula I, obtaining four equations by matching each pixel point in the photo, and calculating the coordinates of each pixel point in the photo in the side slope by using least square, namely calculating the coordinates of each pixel point in the formula I
Figure 924615DEST_PATH_IMAGE019
。
And generating a displacement graph, subtracting the coordinate value obtained by calculation of the last-stage photo from the coordinate of each pixel point obtained by calculation to obtain the displacement graph of the two-stage side slope, and marking different colors according to different difference levels for the change of the pixel points in the displacement graph, so that the displacement change of the side slope can be visually known.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. A slope monitoring method combining a Beidou satellite and a camera module is characterized by comprising a Beidou satellite monitoring station, a Beidou reference station and a background processing center; the number of the Beidou monitoring stations and the number of the Beidou reference stations respectively comprise at least two, and the Beidou reference stations are arranged at intervals; the Beidou monitoring stations are arranged on the side slope to be monitored at intervals; the Beidou monitoring station is in communication connection with the Beidou reference station; the Beidou reference station is provided with a camera module, and the camera module is used for acquiring photo information of the side slope and the Beidou monitoring station; the Beidou reference station is in communication connection with the background processing center, and the background processing center resolves and processes Beidou monitoring information of the Beidou monitoring station and the Beidou reference station and analyzes and processes camera shooting picture information acquired by the camera shooting module;
the method specifically comprises the following steps:
s1, arranging slope monitoring devices, arranging two Beidou monitoring stations at intervals of a slope to be monitored, and arranging two Beidou reference stations at intervals of 0-200m below the slope: the camera module on the Beidou reference station is leveled through a leveling screw and a bubble level meter of the leveling mechanism, the camera of the camera module adjusts the camera angle of the camera on the horizontal plane through the rotation of a bearing, and the pitching camera angle of the camera is adjusted through the rotation of a rotating shaft; ensuring that a camera of the Beidou reference station can acquire two Beidou monitoring stations arranged on a shooting slope; setting sampling intervals of a Beidou monitoring station and a Beidou reference station and setting a time interval of shooting by a camera of the Beidou reference station;
s2, returning monitoring data, wherein the Beidou monitoring data collected by the Beidou monitoring station and the Beidou reference station and the photo data collected by the camera on the Beidou reference station are returned to the background processing center;
s3, processing and analyzing the monitoring data, wherein the background processing center analyzes and processes the returned monitoring data, and specifically comprises the steps of coordinate calculation, exterior orientation element calculation, pixel point coordinate calculation and displacement map generation; obtaining the displacement of the slope according to the change of the displacement graphs generated in two adjacent times;
the coordinate calculation specifically includes: the background processing center makes different base line combinations with big dipper reference station and big dipper monitoring station, solves big dipper data of big dipper monitoring station and big dipper reference station's big dipper data simultaneously, obtains the base line vector of each base line, obtains the coordinate of two big dipper monitoring stations: (X)1，Y1，Z1)、(X2，Y2，Z2) And coordinates (X) of the Beidou reference station AA，YA，ZA) The coordinate of the Beidou reference station B is (X)B，YB，ZB) (ii) a The coordinate of the camera A on the Beidou reference station A is (X)A，YA，ZA-h); the coordinate of the camera B on the Beidou reference station B is (X)B，YB，ZBH) is the distance from the center of the camera to the center of the Beidou antenna;
the external orientation element calculation specifically comprises the following steps: two monitoring point coordinates (X) obtained by resolving Beidou data1，Y1，Z1) And (X)2，Y2，Z2) Coordinates (X) of two Beidou reference stationsA，YA，ZA) And (X)B，YB，ZB) And coordinates (X) of camera AA，YA，ZA-h) substituting a formula (I), and simultaneously performing least square solution to obtain the photographic attitude angle of the Beidou reference station A
Figure FDA0003250386940000011
ωA、kA；
Two monitoring point coordinates (X) obtained by resolving Beidou data1，Y1，Z1) And (X)2，Y2，Z2) Two big dipper reference station coordinates (X)A，YA，ZA) And (X)B，YB，ZB) The coordinate of the camera B is (X)B，YB，ZB-h) substituting a formula (I), and simultaneously performing least square solution to obtain a shooting attitude angle of the Beidou reference station B
Figure FDA0003250386940000021
ωB、kB；
Collinearity equation for photogrammetry:
①：
Figure FDA0003250386940000022
②：
Figure FDA0003250386940000023
Figure FDA0003250386940000024
in the formulas I and II, (u, v) are image plane coordinates of image points, namely coordinates of monitoring points in a photo, and the coordinates are obtained by measuring coordinates of a Beidou monitoring station in the photo and are known parameters; (u)0，v0F) is an internal orientation element of the photo, is determined by the parameters of the camera and is a known parameter; (X)s，Ys，Zs) The coordinate of the photographing center, namely the central coordinate of the camera, is obtained by resolving through a Beidou receiver and is a known parameter; (X, Y, Z) is the object space coordinate of the object space point, namely the coordinate of the monitoring point, and is a known parameter;
Figure FDA0003250386940000025
omega and k are photographic attitude angles; a is1、a2、a3、b1、b2、b3、c1、c2、c3To make a camera from a photographic attitude angle
Figure FDA0003250386940000026
Cosine of direction determined by omega and k;
the calculation of the coordinates of the pixel points specifically comprises the following steps: bringing the inner orientation elements of the camera A and the camera B and the attitude angles of the Beidou reference station A and the Beidou reference station B into a formula I, substituting each pixel in the photo to obtain four equations, and calculating the coordinates (X, Y, Z) of each pixel point in the photo in the side slope by using least square;
generating a displacement graph; and subtracting the coordinate value obtained by calculating the photo in the previous period from the coordinate of each pixel point obtained by calculation, and generating a displacement graph of the slope in the two periods through the background processing center, wherein the change of the displacement graph of the slope in the two periods is the displacement of the slope.
2. The side slope monitoring method combining the Beidou and the camera module according to claim 1, wherein the Beidou reference station comprises a monitoring pile, and a leveling mechanism, a Beidou antenna, a Beidou receiver and a wireless transmission device which are arranged on the monitoring pile, the camera module is arranged on the leveling mechanism, the Beidou antenna is connected with the Beidou receiver, the camera module and the Beidou receiver are respectively connected with the wireless transmission device, and the wireless transmission device is in communication connection with a background processing center.
3. The slope monitoring method combining the Beidou and the camera module according to claim 2, wherein the leveling mechanism comprises a bottom plate, a leveling screw, a tray and a bubble level meter, the bottom plate is arranged at one end of the monitoring pile, the tray is arranged on the bottom plate, the leveling screw is arranged between the tray and the bottom plate, and the leveling screw is used for leveling the tray; the camera module comprises a camera bracket and a camera, the camera bracket is rotatably arranged on the tray of the leveling mechanism, the camera bracket is provided with a bubble level meter, and the camera is rotatably arranged on the camera bracket.
4. The slope monitoring method combining the Beidou and the camera module according to claim 3, wherein the tray is provided with an installation shaft, one side of the camera bracket is provided with a first installation hole, and the first installation hole is rotatably sleeved on the installation shaft; a second mounting hole is formed in the other side of the camera shooting support, and the Beidou antenna is mounted on the second mounting hole; be equipped with the mounting groove in the support of making a video recording, the rotatable setting of axis of rotation is in the mounting groove, and the camera is installed in the axis of rotation.
5. The slope monitoring method combining the Beidou and the camera module according to claim 4, wherein a bearing is arranged in the first mounting hole of the camera bracket, and the bearing is sleeved on a mounting shaft on the tray.
6. The slope monitoring method combining the Beidou and the camera module according to claim 5, wherein the leveling mechanism further comprises a vertical braking screw and a horizontal braking screw, the horizontal braking screw is in contact connection with a bearing on the camera bracket, and the horizontal braking screw is used for braking the bearing on the camera bracket to limit and fix the camera bracket; the vertical braking screw is in contact connection with the rotating shaft and is used for braking the rotating shaft to limit and fix the rotating shaft.
7. The slope monitoring method combining the Beidou and the camera module according to claim 1, wherein the change of the pixel points in the displacement graph is marked with different colors according to different difference levels.
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CN207364573U (en) * 2017-11-06 2018-05-15 山东省交通规划设计院 A kind of slope of highway deforms photographic measurement support device
CN110388893A (en) * 2019-08-16 2019-10-29 湖南联智桥隧技术有限公司 Long-range safety monitoring slope data acquisition device based on Beidou data communication
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Publication number Priority date Publication date Assignee Title
CN206210063U (en) * 2016-10-27 2017-05-31 昆明理工大学 A kind of highway High and dangerous slope monitoring system based on a Big Dipper generation
CN207364573U (en) * 2017-11-06 2018-05-15 山东省交通规划设计院 A kind of slope of highway deforms photographic measurement support device
CN210570483U (en) * 2019-07-24 2020-05-19 四川建筑职业技术学院 Subway hub station foundation pit slope deformation real-time monitoring appearance based on big dipper location
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