CN114076568B - Air-ground-depth integrated visual slope automatic monitoring system and method - Google Patents
Air-ground-depth integrated visual slope automatic monitoring system and method Download PDFInfo
- Publication number
- CN114076568B CN114076568B CN202210058178.6A CN202210058178A CN114076568B CN 114076568 B CN114076568 B CN 114076568B CN 202210058178 A CN202210058178 A CN 202210058178A CN 114076568 B CN114076568 B CN 114076568B
- Authority
- CN
- China
- Prior art keywords
- displacement
- machine vision
- monitoring
- flexible inclinometer
- monitoring data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
-
- 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
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Pit Excavations, Shoring, Fill Or Stabilisation Of Slopes (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses an air-ground-depth integrated visual automatic side slope monitoring system, which comprises a soil body deep displacement monitoring system, a machine vision displacement monitoring system and a satellite positioning system, wherein the soil body deep displacement monitoring system consists of a flexible inclinometer and a flexible inclinometer intelligent gateway and is used for monitoring displacement values of different depths in a soil layer; the machine vision displacement monitoring system consists of a machine vision instrument and a machine vision instrument intelligent gateway and is used for monitoring the displacement of the tops of the ground meter and the flexible inclinometer and recording field image information; the satellite positioning system consists of a satellite positioning intelligent gateway, a positioning satellite and a satellite positioning instrument and is used for positioning the machine position of the machine vision instrument or the top coordinate of the flexible inclinometer and calibrating the displacement. The invention deeply integrates the three monitoring systems, can effectively improve the accuracy of slope monitoring and the rigor of early warning logic, and reduces the measuring error and the probability of missing report, false report and late report of alarm situation push in the monitoring process.
Description
Technical Field
The invention relates to the technical field of slope active monitoring, in particular to an air-ground-depth integrated visual slope automatic monitoring system and method.
Background
The existing common satellite positioning monitoring for slope monitoring can only monitor the surface displacement of a slope, cannot monitor a deep sliding surface which starts earlier than the surface displacement, and has certain hysteresis quality, and meanwhile, a satellite positioning system has long communication time and low monitoring frequency and cannot meet the high-frequency monitoring requirement when the alarm condition occurs.
A common slope deep soil displacement monitoring system can monitor soil displacement in a laid measuring line range and can carry out high-frequency high-precision monitoring on displacement of a slope deep sliding surface through a slope sliding surface, but when the flexible slope measuring laying range integrally slides, the absolute value of the slope position cannot be accurately monitored, and slope displacement monitoring failure can be caused.
The side slope machine vision displacement monitoring system commonly used can monitor the surface displacement of the side slope in a large range with high frequency, but the monitoring precision of the machine vision instrument on an observation plane is higher, the monitoring precision in the visual range direction is lower, the high-precision high-frequency monitoring of the side slope on the earth surface in the vertical direction and the slope width direction can be realized only, and meanwhile, when the vision field range of the machine vision instrument is shielded or the machine position of the machine vision instrument moves, the monitoring accuracy of the machine vision instrument is seriously influenced.
In summary, the probability of missing report, false report and late report of the slope displacement is high when the slope monitoring system is used independently, and high-frequency and low-error monitoring and accurate alarm pushing of slope monitoring are difficult to realize.
Disclosure of Invention
The invention provides an air-ground-deep integrated visual automatic slope monitoring system and method, and aims to solve the problems in the background art.
In order to achieve the technical purpose, the invention mainly adopts the following technical scheme:
an air-ground-deep integrated visual slope automatic monitoring system comprises a soil body deep displacement monitoring system, a machine vision displacement monitoring system and a satellite positioning system,
the soil deep displacement monitoring system consists of a flexible inclinometer and a flexible inclinometer intelligent gateway and is used for monitoring displacement values of different depths in a soil layer and transmitting deep soil displacement monitoring data to a terminal;
the machine vision displacement monitoring system consists of a machine vision instrument and a machine vision instrument intelligent gateway and is used for monitoring the displacement of the top of the ground meter and the flexible inclinometer, recording field image information and transmitting the image information and ground surface monitoring data to a terminal;
the satellite positioning system consists of a satellite positioning intelligent gateway, a positioning satellite and a satellite positioning instrument and is used for positioning machine positions of the machine vision instrument or the top of the flexible inclinometer and calibrating displacement, and transmitting collected earth surface displacement monitoring information or GIS and 3D positioning information of the top of the flexible inclinometer and the machine vision instrument to the terminal;
the terminal is used for collecting positioning and monitoring data of a satellite positioning system, a machine vision displacement monitoring system and a soil deep displacement monitoring system, comparing and analyzing ground surface displacement monitoring information transmitted by the satellite positioning system, GIS and 3D positioning information at the tops of a machine vision instrument and a flexible inclinometer, ground surface monitoring data transmitted by the machine vision displacement monitoring system and deep soil displacement monitoring data transmitted by the soil deep displacement monitoring system to obtain accurate absolute displacement values of the ground surface and the deep soil, and performing grading check and alarm on monitoring early warning data of each system according to pre-established early warning logic;
the three systems of the air-ground-depth integrated visual slope automatic monitoring and controlling system can independently carry out monitoring work, or can be combined and used in pairs according to the field condition, or the three systems are combined to form a comprehensive monitoring and early warning system, so that high-frequency monitoring and high-accuracy comprehensive early warning of the slope are realized.
In order to facilitate monitoring, the flexible inclinometer is arranged on a side slope of a monitored object, a satellite positioning instrument and a machine vision instrument target are mounted at the top of the flexible inclinometer, the machine vision instrument is arranged outside the sliding range of the side slope, and the satellite positioning instrument is also arranged at the top of the machine vision instrument.
In the present invention, preferably, the method for calibrating the machine position of the machine vision instrument and the top displacement of the flexible inclinometer by the satellite positioning system is as follows:
the satellite positioning system calibrates and checks the machine position of the machine vision instrument, judges whether the machine position of the machine vision instrument moves, and if the machine position does not move, the calibration and checking are passed; if the machine position is displaced, the calibration check is not passed;
if the machine position calibration check of the machine vision instrument passes, monitoring the top displacement of the flexible inclinometer by using the machine vision instrument;
if the machine position calibration check of the machine vision instrument fails, judging that the machine vision instrument has overall displacement; and instructing field manual calibration and maintenance, and monitoring the top displacement of the flexible inclinometer by adopting a satellite positioning system.
Furthermore, the soil body deep level displacement monitoring system further comprises an early warning device, and the early warning device is connected with the flexible inclinometer intelligent gateway.
Furthermore, the machine vision displacement monitoring system further comprises an early warning device, and the early warning device is connected with the machine vision instrument intelligent gateway.
The invention also provides an air-ground-deep integrated visual slope automatic monitoring method which mainly adopts the air-ground-deep integrated visual slope automatic monitoring system.
Further, the method comprises the following steps:
if the soil deep layer displacement monitoring system gives an early warning, judging whether the early warning is the early warning of the surface displacement of the flexible inclinometer or the early warning of the displacement of the soil deep layer of the flexible inclinometer,
when the ground surface displacement of the flexible inclinometer is early warned, the terminal calls the ground surface monitoring data of the machine vision instrument to be compared with the top displacement of the flexible inclinometer, and if the comparison result is matched, the terminal sends ground surface sliding alarm information and calls an image collected by the machine vision instrument; if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite positioning system, and the positioning signal is adopted to calibrate the monitoring data of the flexible inclinometer to obtain the absolute displacement of the side slope;
when the displacement of the deep soil body of the flexible inclinometer is early warned, the terminal sends deep sliding early warning information and calls an image collected by the machine vision instrument, then the ground surface monitoring data of the machine vision instrument is called to be compared with the displacement of the top of the flexible inclinometer, if the comparison result is matched, the flexible inclinometer is judged not to have integral displacement, and the monitoring data of the flexible inclinometer is the absolute displacement of the stratum; if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite positioning system, and the positioning signal is adopted to calibrate the monitoring data of the flexible inclinometer to obtain the absolute displacement of the side slope;
if the machine vision displacement monitoring system gives an early warning, the terminal calls the top monitoring data of the flexible inclinometer to compare with the top monitoring data, judges whether the top monitoring data and the top monitoring data are matched, and if the top monitoring data and the top monitoring data are matched, judges that the machine vision instrument does not displace, sends ground surface sliding alarm information and sends an image collected by the machine vision instrument; and if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite, and the positioning signal is adopted to calibrate the monitoring data of the flexible inclinometer to obtain the absolute displacement of the side slope.
Furthermore, when the early warning of the soil deep level displacement monitoring system is performed, the early warning of the surface displacement of the flexible inclinometer is performed, the surface monitoring data of the machine vision instrument is compared with the top displacement of the flexible inclinometer, and when the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite positioning system, wherein the command comprises:
if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system does not move, the ground surface displacement alarm is based on the machine vision instrument monitoring data, if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system moves, the machine position of the machine vision instrument is judged to be wholly displaced, and the ground surface alarm is based on the satellite positioning monitoring data and is used for adjusting and calibrating the machine position of the machine vision instrument layout in time; when the satellite positioning system checks the machine position coordinates of the machine vision instrument, the change value of the top coordinate of the flexible inclinometer is calibrated, and if the change value is matched with the top displacement measured by the flexible inclinometer, the ground surface displacement alarm is based on the monitoring data of the flexible inclinometer; and if the change value is not consistent with the top displacement measured by the flexible inclinometer, judging that the flexible inclinometer generates the whole displacement, calibrating the monitoring data of the flexible inclinometer by adopting a satellite positioning system to obtain the absolute displacement value of the side slope, and retransmitting the absolute displacement value of the side slope to the terminal for analysis.
Furthermore, when the early warning of the deep soil displacement monitoring system of the soil mass is performed, the early warning of the deep soil displacement of the flexible inclinometer is performed, the ground surface monitoring data of the machine vision instrument is compared with the top displacement of the flexible inclinometer, and when the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite, wherein the command comprises:
if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system does not move, the earth surface displacement alarm is based on the machine vision instrument monitoring data, if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system moves, the machine position of the machine vision instrument is judged to be wholly displaced, and the earth surface alarm is based on the satellite positioning monitoring data and is used for adjusting and calibrating the machine position of the machine vision instrument layout in time. When the satellite positioning system checks the machine position coordinates of the machine vision instrument, the change value of the top coordinate of the flexible inclinometer is calibrated, and if the change value is matched with the top displacement measured by the flexible inclinometer, the ground surface displacement alarm is based on the monitoring data of the flexible inclinometer; and if the change value is not consistent with the top displacement measured by the flexible inclinometer, judging that the flexible inclinometer generates the whole displacement, calibrating the monitoring data of the flexible inclinometer by adopting a satellite positioning system to obtain the absolute displacement value of the side slope, and retransmitting the absolute displacement value of the side slope to the terminal for analysis.
Furthermore, when the soil deep level displacement monitoring system gives an early warning to the machine vision displacement monitoring system, the terminal takes the top monitoring data of the flexible inclinometer and compares the data with the top monitoring data, and when the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite, wherein the command comprises:
if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system does not move, the earth surface displacement alarm is based on the machine vision instrument monitoring data, if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system moves, the machine position of the machine vision instrument is judged to be wholly displaced, and the earth surface alarm is based on the satellite positioning monitoring data and is used for adjusting and calibrating the machine position of the machine vision instrument layout in time. When the satellite positioning system checks the machine position coordinates of the machine vision instrument, the change value of the top coordinate of the flexible inclinometer is calibrated, and if the change value is matched with the top displacement measured by the flexible inclinometer, the ground surface displacement alarm is based on the monitoring data of the flexible inclinometer; and if the change value is not consistent with the top displacement measured by the flexible inclinometer, judging that the flexible inclinometer generates the whole displacement, calibrating the monitoring data of the flexible inclinometer by adopting a satellite positioning system to obtain the absolute displacement value of the side slope, and retransmitting the absolute displacement value of the side slope to the terminal for analysis.
Compared with the prior art, the invention has the following beneficial effects: the invention provides an air-ground-depth integrated visual slope automatic monitoring system and method. The three monitoring systems are deeply integrated, the advantages of the three monitoring systems in slope monitoring are fully exerted, the problems of the systems in the monitoring process are avoided, the slope monitoring precision and the slope monitoring rate are effectively improved, and the error and alarm situation pushing missing report, false report and late report probability in the monitoring process are reduced.
Drawings
FIG. 1 is a structural block diagram of a hollow-ground-deep integrated visual slope automatic monitoring system according to the present invention;
FIG. 2 is a general diagram of monitoring field layout in the hollow-ground-deep integrated visual automatic slope monitoring system according to the present invention;
FIG. 3 is an enlarged view of the top of the flexible inclinometer of FIG. 2;
FIG. 4 is a functional diagram of the hollow-ground-deep integrated visual slope automatic monitoring system of the present invention;
FIG. 5 is a flowchart of the present invention showing the calibration and checking of the machine position of the machine vision system by the satellite positioning system;
FIG. 6 is a flow chart of early warning of a soil deep level displacement monitoring system according to the present invention;
FIG. 7 is a flow chart of the machine vision displacement monitoring system early warning in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of implementations of the invention refers to the accompanying drawings.
The first embodiment is as follows: air-ground-depth integrated visual automatic slope monitoring system
An automatic monitoring system for a space-ground-depth integrated visual slope as shown in fig. 1 and fig. 4, wherein the monitoring system comprises a soil body deep layer displacement monitoring system, a machine vision displacement monitoring system and a satellite positioning system,
the soil deep displacement monitoring system consists of a flexible inclinometer and a flexible inclinometer intelligent gateway and is used for monitoring displacement values of different depths in a soil layer and transmitting deep soil displacement monitoring data to a terminal;
the machine vision displacement monitoring system consists of a machine vision instrument and a machine vision instrument intelligent gateway and is used for monitoring the displacement of the top of the ground and the flexible inclinometer, recording field image information and transmitting the image information and ground surface monitoring data to the terminal;
the satellite positioning system consists of a satellite positioning intelligent gateway, a positioning satellite and a satellite positioning instrument and is used for positioning machine positions of the machine vision instrument or the top of the flexible inclinometer and calibrating displacement, and transmitting the collected ground surface displacement monitoring information or GIS and 3D positioning information of the top of the flexible inclinometer and the machine vision instrument to the terminal;
the terminal is used for collecting positioning and monitoring data of a satellite positioning system, a machine vision displacement monitoring system and a soil deep layer displacement monitoring system, comparing and analyzing ground surface displacement monitoring information transmitted by the satellite positioning system, GIS and 3D positioning information at the tops of a machine vision instrument and a flexible inclinometer, ground surface monitoring data transmitted by the machine vision displacement monitoring system and deep layer soil displacement monitoring data transmitted by the soil deep layer displacement monitoring system to obtain accurate absolute displacement values of a ground surface and a deep layer soil body, and performing grading check and alarm on monitoring early warning data of each system according to pre-established early warning logic;
the three systems of the air-ground-depth integrated visual slope automatic monitoring and controlling system can independently carry out monitoring work, or can be combined and used in pairs according to the field condition, or the three systems are combined to form a comprehensive monitoring and controlling system, so that high-frequency monitoring and high-accuracy comprehensive early warning of the slope are realized.
In the present invention, preferably, the terminal may be a computer or a mobile phone, etc., which is convenient for displaying the detection data, and certainly, the terminal may also be other display devices, which is not further limited herein.
As shown in fig. 2 and 3, in order to facilitate monitoring, in the present invention, a flexible inclinometer 3 is disposed on a slope of a monitored object, a satellite positioning instrument 2 and a machine vision instrument target 5 are installed on the top of the flexible inclinometer 3, a machine vision instrument 4 is disposed outside a sliding range of the slope, the satellite positioning instrument 2 is also disposed on the top of the machine vision instrument 4, and the satellite positioning instrument 2 and a positioning satellite 1 form a communication connection of a positioning signal.
Specifically, machine vision appearance 4 should be installed on a support, and this support then selects suitable position to lay outside side slope sliding range, and wherein, the preferred two-dimensional machine vision appearance that is of machine vision appearance, at the top installation laser/millimeter radar range unit of machine vision appearance, machine vision appearance towards flexible inclinometer's one side installation removable zoom or tight focus camera lens, can shoot the displacement condition in flexible inclinometer top through the camera lens to realize the monitoring of machine vision appearance to flexible inclinometer top displacement.
Machine vision appearance electric connection has machine vision appearance intelligent gateway, and machine vision appearance intelligent gateway installs at quick-witted incasement portion, and machine incasement still installs wired or wireless router and edge calculation treater, and wired or wireless router and edge calculation treater also with machine vision appearance intelligent gateway electric connection for output monitoring information, simultaneously, machine incasement portion can also set up lightning protection device, and this lightning protection device can play the effect of protection to this machine vision appearance controller.
It should be noted that, because the terrain and the actual environment of the slope are different from each other, a plurality of monitoring systems may be placed at different positions of the slope according to the requirement, and the layout of the devices in each monitoring system is as described above.
In addition, in the present invention, the method for calibrating the machine position of the machine vision instrument and the top displacement of the flexible inclinometer by the satellite positioning system is as follows, as shown in fig. 5:
the satellite positioning system calibrates and checks the machine position of the machine vision instrument, judges whether the machine position of the machine vision instrument moves, and if the machine position does not move, the calibration and checking are passed; if the machine position is displaced, the calibration check is not passed; the position of the machine vision instrument is directly related to the position of a lens arranged on the machine vision instrument, and the position of the lens is related to whether the lens can accurately shoot the top displacement of the flexible inclinometer, so that the machine position of the machine vision instrument is firstly ensured before slope monitoring is carried out, which is the first premise for ensuring the monitoring accuracy.
If the machine position calibration check of the machine vision instrument passes, monitoring the top displacement of the flexible inclinometer by using the machine vision instrument;
if the machine position calibration check of the machine vision instrument fails, judging that the machine vision instrument has overall displacement; and instructing field manual calibration and maintenance, and monitoring the top displacement of the flexible inclinometer by adopting a satellite positioning system.
After manual calibration and maintenance, the machine position of the machine vision instrument is calibrated and checked again by using the satellite positioning system again, the machine position of the machine vision instrument is ensured to finally reach the correct machine position, and then subsequent operation is carried out, so that the monitoring result is ensured.
Further, the soil body deep level displacement monitoring system further comprises an early warning device, and the early warning device is connected with the flexible inclinometer intelligent gateway. That is to say in the deep level displacement monitoring system of soil body, when the displacement of flexible inclinometer monitoring stratum from earth's surface to slip plane depths exceeded the default, can feed back the flexible inclinometer intelligent gateway who is connected with flexible inclinometer with the result, simultaneously, this early warning device also with flexible inclinometer intelligent gateway electric connection, therefore, when the displacement appears unusually, can report to the police through this early warning device.
It should be noted that the preset value of the displacement should be adjusted according to the actual slope condition, and is not limited to a value, and is not further limited herein.
In a similar way, the machine vision displacement monitoring system also comprises an early warning device, and the early warning device is connected with the machine vision instrument intelligent gateway.
When the two early warning devices are used, the two early warning devices can be numbered or set with different red and green signals for the convenience of distinguishing, so that the abnormity of the soil deep level displacement monitoring system or the abnormity of the machine vision displacement monitoring system can be visually judged.
Example two: air-ground-depth integrated visual automatic side slope monitoring method
The second embodiment mainly provides an air-ground-deep integrated visual slope automatic monitoring method, which specifically adopts the monitoring system disclosed above.
That is, a plurality of monitoring systems placed at different positions of the side slope as needed, are monitored according to the following monitoring method. The monitoring method specifically comprises the following steps:
s1, arranging each part in the monitoring system at a reasonable position of the side slope of the monitored object, and monitoring the side slope according to the arrangement position of each part in the embodiment; a plurality of monitoring systems which can be placed at different positions of the side slope according to actual needs;
s2, if the side slope displacement exceeds a preset value, the early warning device gives an alarm, and whether the soil deep-layer displacement monitoring system gives an early warning or the machine vision displacement monitoring system gives an early warning is judged according to the alarm result of the early warning device; early warning devices are arranged on a soil deep displacement monitoring system and a machine vision displacement monitoring system, and are arranged in a distinguishing way, if the early warning devices are numbered, an early warning device 1 or an early warning device 2 is arranged, or early warning devices with different red and green signals are arranged, so that the abnormity of the soil deep displacement monitoring system or the abnormity of the machine vision displacement monitoring system can be visually judged;
s3 if it is judged that the system is for early warning of soil deep displacement monitoring, as shown in fig. 6, it is firstly judged whether the system is for early warning of surface displacement of flexible inclinometer or deep soil displacement of flexible inclinometer, that is, based on the same principle, early warning devices are also provided at the surface displacement of flexible inclinometer and deep soil displacement of flexible inclinometer, and are also distinguished, and are connected in parallel with the total early warning device on the soil deep displacement monitoring system, and when the total early warning device on the soil deep displacement monitoring system alarms, it is observed which early warning device alarms in parallel with the total early warning device, so as to judge whether the system is for early warning of surface displacement of flexible inclinometer or deep soil displacement of flexible inclinometer;
when the ground surface displacement of the flexible inclinometer is early warned, the terminal calls the ground surface monitoring data of the machine vision instrument to be compared with the top displacement of the flexible inclinometer, and if the comparison result is matched, the terminal sends ground surface sliding alarm information and calls an image collected by the machine vision instrument; if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite positioning system:
if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system does not move, the ground surface displacement alarm is based on the machine vision instrument monitoring data, if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system moves, the machine position of the machine vision instrument is judged to be wholly displaced, and the ground surface alarm is based on the satellite positioning monitoring data and is used for adjusting and calibrating the machine position of the machine vision instrument layout in time; when the satellite positioning system checks the machine position coordinates of the machine vision instrument, the change value of the top coordinate of the flexible inclinometer is calibrated, and if the change value is matched with the top displacement measured by the flexible inclinometer, the ground surface displacement alarm is based on the monitoring data of the flexible inclinometer; if the change value is not matched with the top displacement measured by the flexible inclinometer, the flexible inclinometer is judged to have overall displacement, meanwhile, a satellite positioning system is adopted to calibrate the monitoring data of the flexible inclinometer, so as to obtain the absolute displacement value of the side slope, and the absolute displacement value is transmitted to the terminal again for analysis,
calibrating monitoring data of the flexible inclinometer by using the positioning signals to obtain absolute slope displacement;
when the displacement of the deep soil body of the flexible inclinometer is early warned, the terminal sends deep sliding early warning information and calls an image collected by the machine vision instrument, then the ground surface monitoring data of the machine vision instrument is called to be compared with the displacement of the top of the flexible inclinometer, if the comparison result is matched, the flexible inclinometer is judged not to have integral displacement, and the monitoring data of the flexible inclinometer is the absolute displacement of the stratum; if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite positioning system:
if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system does not move, the earth surface displacement alarm is based on the machine vision instrument monitoring data, if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system moves, the machine position of the machine vision instrument is judged to be wholly displaced, and the earth surface alarm is based on the satellite positioning monitoring data and is used for adjusting and calibrating the machine position of the machine vision instrument layout in time. When the satellite positioning system checks the machine position coordinates of the machine vision instrument, the change value of the top coordinate of the flexible inclinometer is calibrated, and if the change value is matched with the top displacement measured by the flexible inclinometer, the ground surface displacement alarm is based on the monitoring data of the flexible inclinometer; if the change value is not consistent with the top displacement measured by the flexible inclinometer, judging that the flexible inclinometer has overall displacement, calibrating the monitoring data of the flexible inclinometer by adopting a satellite positioning system to obtain an absolute displacement value of the side slope, retransmitting the absolute displacement value to a terminal for analysis, and calibrating the monitoring data of the flexible inclinometer by adopting a positioning signal to obtain the absolute displacement of the side slope;
s4, if the machine vision displacement monitoring system gives an early warning, as shown in FIG. 7, the terminal calls the top monitoring data of the flexible inclinometer to compare with the top monitoring data, whether the top monitoring data and the top monitoring data are matched is judged, if the top monitoring data and the top monitoring data are matched, the machine vision instrument is judged not to be displaced, and ground surface sliding alarm information is sent and an image collected by the machine vision instrument is sent; if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite: if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system does not move, the earth surface displacement alarm is based on the machine vision instrument monitoring data, if the machine position coordinate of the machine vision instrument obtained by the calibration of the satellite positioning system moves, the machine position of the machine vision instrument is judged to be wholly displaced, and the earth surface alarm is based on the satellite positioning monitoring data and is used for adjusting and calibrating the machine position of the machine vision instrument layout in time. When the satellite positioning system checks the machine position coordinates of the machine vision instrument, the top coordinate change value of the flexible inclinometer is calibrated, and if the change value is matched with the top displacement measured by the flexible inclinometer, the ground surface displacement alarm is based on the monitoring data of the flexible inclinometer; and if the change value is not consistent with the top displacement measured by the flexible inclinometer, judging that the flexible inclinometer has overall displacement, calibrating the monitoring data of the flexible inclinometer by adopting a satellite positioning system to obtain an absolute displacement value of the side slope, retransmitting the absolute displacement value to the terminal for analysis, and calibrating the monitoring data of the flexible inclinometer by adopting a positioning signal to obtain the absolute displacement of the side slope.
The invention provides an air-ground-deep integrated visual automatic side slope monitoring system and method, which are characterized in that three monitoring systems are combined to form an air-ground-deep linked monitoring method, a mutual calibration logic of the three systems and an alarm reporting flow, the three monitoring systems are deeply integrated, the advantages of the three monitoring systems in side slope monitoring are fully exerted, the problems of the systems in the monitoring process are avoided, the side slope monitoring precision and rate are effectively improved, and the error and alarm sending missing, false alarm and late alarm probabilities in the monitoring process are reduced.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments may be referred to each other. For the system-class embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It should be noted that, in the foregoing system embodiment, each included module is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, the specific names of the functional modules are only for convenience of distinguishing from each other and are not used for limiting the protection scope of the present invention.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. An air-ground-deep integrated visual slope automatic monitoring system is characterized by comprising a soil body deep displacement monitoring system, a machine vision displacement monitoring system and a satellite positioning system,
the soil deep displacement monitoring system consists of a flexible inclinometer and a flexible inclinometer intelligent gateway and is used for monitoring displacement values of different depths in a soil layer and transmitting deep soil displacement monitoring data to a terminal;
the machine vision displacement monitoring system consists of a machine vision instrument and a machine vision instrument intelligent gateway and is used for monitoring the displacement of the top of the ground meter and the flexible inclinometer, recording field image information and transmitting the image information and ground surface monitoring data to a terminal;
the satellite positioning system consists of a satellite positioning intelligent gateway, a positioning satellite and a satellite positioning instrument and is used for positioning machine positions of the machine vision instrument and the top coordinate of the flexible inclinometer and calibrating displacement, and transmitting collected earth surface displacement monitoring information or GIS and 3D positioning information of the top of the flexible inclinometer and the machine vision instrument to the terminal;
the terminal is used for collecting positioning and monitoring data of a satellite positioning system, a machine vision displacement monitoring system and a soil deep displacement monitoring system, comparing and analyzing ground surface displacement monitoring information transmitted by the satellite positioning system, GIS and 3D positioning information at the tops of a machine vision instrument and a flexible inclinometer, ground surface monitoring data transmitted by the machine vision displacement monitoring system and deep soil displacement monitoring data transmitted by the soil deep displacement monitoring system to obtain accurate absolute displacement values of the ground surface and the deep soil, and performing grading check and alarm on monitoring early warning data of each system according to pre-established early warning logic;
the three systems of the air-ground-deep integrated visual slope automatic monitoring system can independently carry out monitoring work, or can be combined in pairs for use according to the field condition, or the three systems are combined to form a comprehensive monitoring early warning system;
the flexible inclinometer is arranged on a side slope of a monitored object, a satellite positioning instrument and a machine vision instrument target are mounted at the top of the flexible inclinometer, the machine vision instrument is arranged outside the sliding range of the side slope, and the satellite positioning instrument is also arranged at the top of the machine vision instrument;
wherein:
if the soil deep layer displacement monitoring system gives an early warning, judging whether the early warning is the early warning of the surface displacement of the flexible inclinometer or the early warning of the displacement of the soil deep layer of the flexible inclinometer,
when the ground surface displacement of the flexible inclinometer is early warned, the terminal calls the ground surface monitoring data of the machine vision instrument to be compared with the top displacement of the flexible inclinometer, and if the comparison result is matched, the terminal sends ground surface sliding alarm information and calls an image collected by the machine vision instrument; if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite positioning system, and the positioning signal is adopted to calibrate the monitoring data of the flexible inclinometer to obtain the absolute displacement of the side slope;
when the displacement of the deep soil body of the flexible inclinometer is early warned, the terminal sends deep sliding early warning information and calls an image collected by the machine vision instrument, then the ground surface monitoring data of the machine vision instrument is called to be compared with the displacement of the top of the flexible inclinometer, if the comparison result is matched, the flexible inclinometer is judged not to have integral displacement, and the monitoring data of the flexible inclinometer is the absolute displacement of the stratum; if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite positioning system, and the positioning signal is adopted to calibrate the monitoring data of the flexible inclinometer to obtain the absolute displacement of the side slope;
if the machine vision displacement monitoring system gives an early warning, the terminal calls the top monitoring data of the flexible inclinometer to compare with the top monitoring data, judges whether the top monitoring data and the top monitoring data are matched, and if the top monitoring data and the top monitoring data are matched, judges that the machine vision instrument does not displace, sends ground surface sliding alarm information and sends an image collected by the machine vision instrument; and if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite, and the positioning signal is adopted to calibrate the monitoring data of the flexible inclinometer to obtain the absolute displacement of the side slope.
2. The air-ground-depth integrated visual slope automatic monitoring and controlling system according to claim 1, characterized in that: the method for calibrating the machine position of the machine vision instrument and the top displacement of the flexible inclinometer by the satellite positioning system comprises the following steps:
the satellite positioning system calibrates and checks the machine position of the machine vision instrument, judges whether the machine position of the machine vision instrument moves, and if the machine position does not move, the calibration and checking are passed; if the machine position is displaced, the calibration check is not passed;
if the machine position calibration check of the machine vision instrument passes, monitoring the top displacement of the flexible inclinometer by using the machine vision instrument;
if the machine position calibration check of the machine vision instrument fails, judging that the machine vision instrument has overall displacement; and instructing field manual calibration and maintenance, and monitoring the top displacement of the flexible inclinometer by adopting a satellite positioning system.
3. The air-ground-depth integrated visual slope automatic monitoring and controlling system according to claim 1, characterized in that: the soil body deep level displacement monitoring system further comprises an early warning device, and the early warning device is connected with the flexible inclinometer intelligent gateway.
4. The air-ground-depth integrated visual slope automatic monitoring and controlling system according to claim 3, characterized in that: the machine vision displacement monitoring system further comprises an early warning reporting device, and the early warning reporting device is connected with the machine vision instrument intelligent gateway.
5. An air-ground-deep integrated visual slope automatic monitoring method is characterized by comprising the following steps: the air-ground-deep integrated visual slope automatic monitoring and monitoring system of claim 4 is operated with the following steps:
if the soil deep layer displacement monitoring system gives an early warning, judging whether the early warning is the early warning of the surface displacement of the flexible inclinometer or the early warning of the displacement of the soil deep layer of the flexible inclinometer,
when the ground surface displacement of the flexible inclinometer is early warned, the terminal calls the ground surface monitoring data of the machine vision instrument to be compared with the top displacement of the flexible inclinometer, and if the comparison result is matched, the terminal sends ground surface sliding alarm information and calls an image collected by the machine vision instrument; if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite positioning system, and the positioning signal is adopted to calibrate the monitoring data of the flexible inclinometer to obtain the absolute displacement of the side slope;
when the displacement of the deep soil body of the flexible inclinometer is early warned, the terminal sends deep sliding early warning information and calls an image collected by the machine vision instrument, then the ground surface monitoring data of the machine vision instrument is called to be compared with the displacement of the top of the flexible inclinometer, if the comparison result is matched, the flexible inclinometer is judged not to have integral displacement, and the monitoring data of the flexible inclinometer is the absolute displacement of the stratum; if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite positioning system, and the positioning signal is adopted to calibrate the monitoring data of the flexible inclinometer to obtain the absolute displacement of the side slope;
if the machine vision displacement monitoring system gives an early warning, the terminal calls the top monitoring data of the flexible inclinometer to compare with the top monitoring data, judges whether the top monitoring data and the top monitoring data are matched, and if the top monitoring data and the top monitoring data are matched, judges that the machine vision instrument does not displace, sends ground surface sliding alarm information and sends an image collected by the machine vision instrument; and if the comparison result is not matched, the terminal sends a command for checking the machine position of the machine vision instrument and the top coordinate of the flexible inclinometer to the satellite, and the positioning signal is adopted to calibrate the monitoring data of the flexible inclinometer to obtain the absolute displacement of the side slope.
6. The air-ground-depth integrated visual slope automatic monitoring method according to claim 5, characterized in that: during the early warning of soil body deep level displacement monitoring system, for flexible inclinometer earth's surface displacement early warning, and machine vision appearance earth's surface monitoring data compares with flexible inclinometer top displacement, and when the comparison result is inconsistent, the terminal sends to satellite positioning system and checks machine vision appearance machine position and flexible inclinometer top coordinate command and contains:
if the result obtained by the satellite positioning system calibration indicates that the machine position coordinate of the machine vision instrument does not move, the earth surface displacement alarm is based on the machine vision instrument monitoring data, if the result obtained by the satellite positioning system calibration indicates that the machine position coordinate of the machine vision instrument moves, the machine position of the machine vision instrument is judged to be wholly displaced, and the earth surface alarm is based on the satellite positioning monitoring data and timely adjusts and calibrates the machine position of the machine vision instrument layout; when the satellite positioning system checks the machine position coordinates of the machine vision instrument, the change value of the top coordinate of the flexible inclinometer is calibrated, and if the change value is matched with the top displacement measured by the flexible inclinometer, the ground surface displacement alarm is based on the monitoring data of the flexible inclinometer; and if the change value is not consistent with the top displacement measured by the flexible inclinometer, judging that the flexible inclinometer generates the whole displacement, calibrating the monitoring data of the flexible inclinometer by adopting a satellite positioning system to obtain the absolute displacement value of the side slope, and retransmitting the absolute displacement value of the side slope to the terminal for analysis.
7. The air-ground-depth integrated visual slope automatic monitoring method according to claim 5, characterized in that: during the early warning of soil body deep level displacement monitoring system, for the early warning of the deep soil body displacement of flexible inclinometer, and machine vision appearance earth's surface monitoring data compares with flexible inclinometer top displacement, and when the comparison result is not identical, the terminal sends to the satellite and checks machine vision appearance machine position and flexible inclinometer top coordinate command and contains:
if the result obtained by the satellite positioning system calibration indicates that the machine position coordinate of the machine vision instrument does not move, the ground surface displacement alarm is based on the machine vision instrument monitoring data, if the result obtained by the satellite positioning system calibration indicates that the machine position coordinate of the machine vision instrument moves, the machine position of the machine vision instrument is judged to be wholly displaced, the ground surface alarm is based on the satellite positioning monitoring data and timely adjusts and calibrates the machine position of the machine vision instrument layout, the satellite positioning system calibrates the top coordinate change value of the flexible inclinometer while checking the machine position coordinate of the machine vision instrument, and if the change value is matched with the top displacement measured by the flexible inclinometer, the ground surface displacement alarm is based on the flexible inclinometer monitoring data; and if the change value is not consistent with the top displacement measured by the flexible inclinometer, judging that the flexible inclinometer generates the whole displacement, calibrating the monitoring data of the flexible inclinometer by adopting a satellite positioning system to obtain the absolute displacement value of the side slope, and retransmitting the absolute displacement value of the side slope to the terminal for analysis.
8. The air-ground-depth integrated visual slope automatic monitoring method according to claim 5, characterized in that: during the early warning of soil body deep level displacement monitoring system, for machine vision displacement monitoring system early warning, and the terminal transfer flexible inclinometer top monitoring data rather than comparing, when the comparison result is not identical, the terminal sends to the satellite and checks machine vision appearance machine position and flexible inclinometer top coordinate command and contains:
if the result obtained by the satellite positioning system calibration indicates that the machine position coordinate of the machine vision instrument does not move, the ground surface displacement alarm is based on the machine vision instrument monitoring data, if the result obtained by the satellite positioning system calibration indicates that the machine position coordinate of the machine vision instrument moves, the machine position of the machine vision instrument is judged to be wholly displaced, the ground surface alarm is based on the satellite positioning monitoring data and timely adjusts and calibrates the machine position of the machine vision instrument layout, the satellite positioning system calibrates the top coordinate change value of the flexible inclinometer while checking the machine position coordinate of the machine vision instrument, and if the change value is matched with the top displacement measured by the flexible inclinometer, the ground surface displacement alarm is based on the flexible inclinometer monitoring data; and if the change value is not consistent with the top displacement measured by the flexible inclinometer, judging that the flexible inclinometer generates the whole displacement, calibrating the monitoring data of the flexible inclinometer by adopting a satellite positioning system to obtain the absolute displacement value of the side slope, and retransmitting the absolute displacement value of the side slope to the terminal for analysis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210058178.6A CN114076568B (en) | 2022-01-19 | 2022-01-19 | Air-ground-depth integrated visual slope automatic monitoring system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210058178.6A CN114076568B (en) | 2022-01-19 | 2022-01-19 | Air-ground-depth integrated visual slope automatic monitoring system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114076568A CN114076568A (en) | 2022-02-22 |
| CN114076568B true CN114076568B (en) | 2022-05-10 |
Family
ID=80284608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210058178.6A Active CN114076568B (en) | 2022-01-19 | 2022-01-19 | Air-ground-depth integrated visual slope automatic monitoring system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114076568B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117115189A (en) * | 2023-07-10 | 2023-11-24 | 中铁第一勘察设计院集团有限公司 | Track 3D geometric form monitoring method and system based on machine vision |
| CN117037425A (en) * | 2023-08-07 | 2023-11-10 | 齐鲁高速(山东)装配有限公司 | Mine slope stability and environment monitoring and early warning method, system and terminal |
| CN117433444B (en) * | 2023-12-21 | 2024-03-15 | 中铁第一勘察设计院集团有限公司 | Foundation pit deformation monitoring method and system based on machine vision measuring instrument |
| CN117688780B (en) * | 2024-01-30 | 2024-04-12 | 中交一航局第三工程有限公司 | Method for calculating local and global safety coefficients of two-dimensional multistage stacking slope |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203034434U (en) * | 2013-01-09 | 2013-07-03 | 中铁二十一局集团有限公司 | Remote intelligent monitoring three-dimensional digital comprehensive early warning system for stability of deep foundation pit |
| CN111721361A (en) * | 2020-06-29 | 2020-09-29 | 杭州鲁尔物联科技有限公司 | Embankment monitoring system, method and equipment |
| CN213517973U (en) * | 2021-01-05 | 2021-06-22 | 深圳市中勘勘测设计有限公司 | Remote detection device for forecasting slope slippage |
Family Cites Families (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19833996C1 (en) * | 1998-07-29 | 1999-12-09 | Zeiss Carl Jena Gmbh | Electronic levelling device, for video sighting on measurement rule |
| JP3635270B2 (en) * | 2002-07-10 | 2005-04-06 | 株式会社パスコ | Ground deformation measurement system |
| JP2008122271A (en) * | 2006-11-14 | 2008-05-29 | Chem Grouting Co Ltd | Clinometer and measurement method using it |
| CN203204791U (en) * | 2013-04-02 | 2013-09-18 | 成都市西创科技有限公司 | Multiparameter landslide and mud-rock flow monitoring early warning system |
| JP6058483B2 (en) * | 2013-06-28 | 2017-01-11 | 公益財団法人鉄道総合技術研究所 | Aerial surveying method and apparatus |
| CN104990519A (en) * | 2015-07-27 | 2015-10-21 | 中国民航机场建设集团公司 | Side slope deformation monitoring system based on satellite positioning technology |
| CN106225682B (en) * | 2016-08-03 | 2018-10-02 | 西安敏文测控科技有限公司 | Measuring device and method for the vertical displacement of large structure ontology and ground settlement |
| CN207779468U (en) * | 2018-02-28 | 2018-08-28 | 湖南联智桥隧技术有限公司 | Integral type slope monitoring stake based on Beidou satellite navigation system |
| CN109506625A (en) * | 2018-12-26 | 2019-03-22 | 中国公路工程咨询集团有限公司 | Landslide dangerous situation monitoring method, system and its image data acquisition device |
| CN109697833A (en) * | 2019-02-21 | 2019-04-30 | 重庆三峡学院 | A kind of Geological Hazards Monitoring device based on GPS positioning |
| CN110006382A (en) * | 2019-03-26 | 2019-07-12 | 华思（广州）测控科技有限公司 | A kind of deep displacement automated watch-keeping facility integrated with surface displacement and method |
| CN109801478A (en) * | 2019-03-29 | 2019-05-24 | 蓝蛛科技(杭州)有限公司 | A kind of intelligent monitor system of disaster of mountain massif coast |
| CN110411408A (en) * | 2019-07-11 | 2019-11-05 | 浙江大学 | A kind of surface subsidence monitoring method based on computer vision |
| CN110751811A (en) * | 2019-09-23 | 2020-02-04 | 河北跃进信息技术有限公司 | Geological disaster monitoring and early warning system based on Beidou high-precision satellite positioning |
| CN111880206A (en) * | 2020-07-29 | 2020-11-03 | 祝侁捷 | Slope deformation monitoring system based on satellite positioning technology |
| CN111947605B (en) * | 2020-08-20 | 2023-05-09 | 上海同禾工程科技股份有限公司 | Slope safety monitoring system and monitoring method thereof |
| CN213399929U (en) * | 2020-11-26 | 2021-06-08 | 兰州理工大学 | Landslide monitoring system |
| CN112950902A (en) * | 2021-01-27 | 2021-06-11 | 河海大学 | Landslide monitoring system |
| CN113532509A (en) * | 2021-05-31 | 2021-10-22 | 中国科学院武汉岩土力学研究所 | Large-scale high and steep slope monitoring method based on air-ground three-dimensional technology |
| CN113470319A (en) * | 2021-07-13 | 2021-10-01 | 中铝广西有色稀土开发有限公司 | Method for monitoring landslide by adopting wireless online monitoring |
| CN113554849A (en) * | 2021-08-09 | 2021-10-26 | 广东智云工程科技有限公司 | Air-ground monitoring slope system and instability risk assessment method thereof |
| CN113884052A (en) * | 2021-09-26 | 2022-01-04 | 国能大渡河流域水电开发有限公司 | Dam slope deviational survey intelligent measurement and control device based on movable inclinometer |
-
2022
- 2022-01-19 CN CN202210058178.6A patent/CN114076568B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203034434U (en) * | 2013-01-09 | 2013-07-03 | 中铁二十一局集团有限公司 | Remote intelligent monitoring three-dimensional digital comprehensive early warning system for stability of deep foundation pit |
| CN111721361A (en) * | 2020-06-29 | 2020-09-29 | 杭州鲁尔物联科技有限公司 | Embankment monitoring system, method and equipment |
| CN213517973U (en) * | 2021-01-05 | 2021-06-22 | 深圳市中勘勘测设计有限公司 | Remote detection device for forecasting slope slippage |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114076568A (en) | 2022-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114076568B (en) | Air-ground-depth integrated visual slope automatic monitoring system and method | |
| WO2022206978A1 (en) | Roadside millimeter-wave radar calibration method based on vehicle-mounted positioning apparatus | |
| CN108050964B (en) | Two-dimensional surface deformation monitoring method and system based on microwave interference | |
| CN103499337B (en) | Vehicle-mounted monocular camera distance and height measuring device based on vertical target | |
| DE202010018581U1 (en) | Systems for detecting positions of underground objects | |
| CN105989697A (en) | Multi-source sensor-based landslide monitoring and early-warning device | |
| CN106646407B (en) | Radar Calibration equipment verification methods, devices and systems | |
| KR20150012384A (en) | Pothole Recognition System and Its Implementation Method | |
| CN112254660B (en) | Tunnel intelligent monitoring and measuring information integration and early warning system | |
| CN112924955A (en) | Dynamic correction method for point cloud coordinates of roadside laser radar | |
| CN110542934A (en) | Multi-sensor fusion life detection positioning system and positioning method | |
| CN109708614A (en) | A kind of real-time ground sedimentation of multi-source and horizontal displacement monitoring system and method | |
| CN114608525B (en) | Tunnel settlement monitoring method and device based on visual transmission and storage medium | |
| CN106601032B (en) | A kind of multipath landform integrality detection method based on lower view sensor | |
| CN112284277B (en) | Tunnel portal slope deformation monitoring system and method based on computer vision | |
| CN111912378A (en) | Method for measuring cable tower deformation based on tilt angle sensor and tilt angle measuring system | |
| CN115597554A (en) | House settlement detection method and system, storage medium and intelligent terminal | |
| CN114809388A (en) | Special-shaped steel structure curtain wall system, construction system and construction method thereof | |
| CN107978540B (en) | Automatic adjusting method and system for measuring machine | |
| CN109375246A (en) | A kind of high-accuracy position system applied to rail traffic | |
| CN213152385U (en) | Novel antenna attitude testing device | |
| CN114063068A (en) | Millimeter wave radar integration networking method and system | |
| CN114609996B (en) | Vibration fault diagnosis system based on hierarchical early warning | |
| CN115797281B (en) | Automatic measurement system for foundation pit engineering inspection based on big data | |
| CN219714304U (en) | Dam monitoring device and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |