CN114415203A - Slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar - Google Patents
Slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar Download PDFInfo
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- CN114415203A CN114415203A CN202111597809.3A CN202111597809A CN114415203A CN 114415203 A CN114415203 A CN 114415203A CN 202111597809 A CN202111597809 A CN 202111597809A CN 114415203 A CN114415203 A CN 114415203A
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Abstract
The invention relates to a slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar, which comprises a terminal server module, a real-time monitoring module and a periodic scanning module, wherein the real-time monitoring module and the periodic scanning module are wirelessly connected with the terminal server module, the real-time monitoring module acquires real-time deformation data and climate monitoring data of a target slope and uploads the real-time deformation data and the climate monitoring data to the terminal server module, the periodic scanning module scans the target slope to generate three-dimensional digital elevation models at different time intervals and uploads the three-dimensional digital elevation models to the terminal server module, and the terminal server module performs artificial intelligent learning by combining the three-dimensional digital elevation models at different time intervals with the real-time deformation data and the climate monitoring data of the target slope so as to obtain the deformation trend and the deformation rule of the full section of the target slope and provide decision data for long-term use and maintenance of the target slope. The invention provides reliable and accurate data support for landslide early warning and long-term maintenance of a side slope by taking an unmanned aerial vehicle as a basis and combining a Beidou positioning system and laser radar equipment.
Description
Technical Field
The invention relates to the field of slope surveying and mapping engineering, in particular to a slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar.
Background
In infrastructure construction engineering, because of the complex natural terrain, excavation or filling construction needs to be carried out on a construction site, and the stability of a constructed side slope is easily influenced by factors such as construction progress and climate and season changes due to the change of an original state, so that geological disasters such as landslide are generated, the engineering progress is further influenced, casualties and financial loss are caused, and landslide monitoring and early warning are necessary to be carried out on the constructed side slope. Aiming at the characteristics of landslide disasters, the monitoring and early warning of the construction side slope needs to have the requirements of comprehensiveness, real time, prevention in advance and the like.
Common slope monitoring technologies include a precision geodetic measurement method, a satellite positioning system measurement method, an InSAR synthetic aperture radar measurement method, a distributed optical fiber earth surface displacement monitoring method and the like, wherein a LiDAR laser radar scanning method is an emerging monitoring method in recent years. The various slope monitoring technologies have advantages and disadvantages, wherein a satellite positioning measurement method is used as a point monitoring method, the availability of monitoring data depends on the selection and arrangement of monitoring points, and the method has the advantages of real-time monitoring, unattended operation and the like; the InSAR measurement method needs long-time scanning so as to obtain a high-precision slope digital map, and the equipment is expensive and depends on manual operation; the existing LiDAR laser radar technology has the advantages of all terrain, multi-platform carriers and the like besides lower precision.
The monitoring method is singly used in actual engineering, and the monitoring requirement of the target slope cannot be met. Therefore, the invention provides a monitoring scheme combining a Beidou system and an unmanned aerial vehicle carrying a laser radar aiming at the actual slope monitoring requirement and combining the advantages of various monitoring technologies, realizes the real-time monitoring, slope deformation monitoring and slope deformation trend analysis and prediction of the target slope by combining an artificial intelligent neural network algorithm, and provides objective and quantitative judgment basis for slope early warning and engineering decision.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the utility model provides a combine big dipper location and unmanned aerial vehicle radar's side slope section monitoring early warning system, this system includes terminal server module and wireless connection the real-time monitoring module and the periodic scanning module of terminal server module, real-time deformation data and the climatic monitoring data of target side slope are gathered to the real-time monitoring module and are uploaded to the terminal server module, the periodic scanning module scans the three-dimensional digital elevation model of target side slope formation different periods and upload to the terminal server module, the terminal server module carries out artificial intelligence study with the three-dimensional digital elevation model of different periods with the real-time deformation data and the climatic monitoring data of target side slope to obtain the full sectional deformation trend and the deformation law of target side slope, provide decision-making data for the long-term use maintenance of target side slope.
Further, the real-time monitoring module is used for calculating and judging whether the target side slope exceeds a deformation threshold value according to the collected real-time deformation data and climate monitoring data of the target side slope by combining a side slope theory, if so, the target side slope is indicated to have a large sliding trend, an early warning signal is generated, the calculation result and the early warning signal are uploaded to a terminal server, landslide early warning is implemented, if not, the target side slope is indicated to be in a safe state, and the real-time deformation data and the climate monitoring data of the target side slope are uploaded to the terminal server.
Furthermore, the real-time monitoring module comprises a fixed ground anchor, a Beidou positioning system, an information storage device, an information processor, an information transceiver and a climate monitoring sensor, wherein the fixed ground anchor is divided into a plurality of pieces to be arranged on a target side slope, the Beidou positioning system automatically receives displacement information of the fixed ground anchor and climate monitoring data collected by the climate monitoring sensor, real-time deformation data of the target side slope is determined by the displacement information of the fixed ground anchor, the Beidou positioning system inputs the real-time deformation data and the climate monitoring data into the information processor, and the information processor calculates and judges whether a deformation threshold value of the target side slope exceeds or not according to a slope theory and uploads a corresponding judgment result to the terminal server through the information transceiver.
Further, the climate monitoring sensor comprises a thermometer, a hygrometer and a rain gauge, and the climate monitoring data is determined by data measured by the thermometer, the hygrometer and the rain gauge.
Further, the periodic scanning module comprises an unmanned aerial vehicle platform and corresponding unmanned aerial vehicle, a laser radar, a digital single chip microcomputer, an information storage device, an information receiving and transmitting device, a Beidou positioning system, a real-time dynamic carrier phase differential module RTK and an INS inertial flight attitude sensor, a fixed ground anchor is placed at a reference point near a target slope, the unmanned aerial vehicle and an airborne laser radar thereof are used for photographing and scanning the full section of the target slope for a certain period, from the second scanning, after each scanning is finished, the scanning result is transmitted to a digital single chip microcomputer, the digital single chip microcomputer compares and analyzes the result of the previous scanning to find out the area with larger deformation in the full section of the target slope and correspondingly arranges and fixes the ground anchor, when the continuous scanning results are not obviously changed, the target slope can be considered to reach a stable state, and the photographing and scanning work is not required to be carried out continuously.
Further, when photographing and scanning are carried out according to a certain period, the INS inertial flight attitude sensor continuously measures the current position of the unmanned aerial vehicle, the laser radar measures the distance between the unmanned aerial vehicle and the target side slope, and the digital single chip microcomputer obtains the three-dimensional digital elevation model of the target side slope through the current position of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each anchor point on the target side slope.
Further, the digital single chip microcomputer carries out error correction on the scanning results of different periods through the real-time dynamic carrier phase difference module RTK and the Beidou positioning system to generate three-dimensional digital elevation models of the target slope in different time periods, and the three-dimensional digital elevation models of the target slope in different time periods are uploaded to the terminal server through the information receiving and transmitting device.
Further, the real-time dynamic carrier phase differential module RTK provides the three-dimensional coordinate of the observation point and the three-dimensional coordinate information of the fixed ground anchor in the Beidou positioning system in real time for error correction.
Further, the information processor and the digital single chip microcomputer upload corresponding data stored in the information storage device to the terminal server through the information transceiver in a real-time mode or an asynchronous mode; when the terminal is in the real-time mode, the information processor or the digital single chip microcomputer stores the calculation result, the climate monitoring data or the scanning result into the information storage device and uploads the calculation result, the climate monitoring data or the scanning result to the terminal server through the information transceiver; when the terminal is in the asynchronous mode, the information processor stores the calculation result and the climate monitoring data in the information storage device and uploads the calculation result and the climate monitoring data to the terminal server through the transceiver.
The invention has the beneficial effects that:
(1) the invention provides reliable and accurate data support for landslide early warning and long-term maintenance of a side slope by taking an unmanned aerial vehicle as a basis and combining a Beidou positioning system and laser radar equipment; the whole deformation trend of the target side slope is deduced by adopting artificial intelligence learning combined with real-time climate data, and objective and quantitative judgment basis is provided for decision making in the process of side slope excavation or filling construction; the management method combining unattended operation and regular monitoring is applied, the danger of outdoor operation of workers is reduced, and meanwhile, the long-term effectiveness of the monitoring result is ensured through regular maintenance equipment;
(2) by adopting the Beidou positioning system, the system has the advantages of high precision, all weather, reliability, unattended operation and real-time performance;
(3) the unmanned aerial vehicle platform carrying the laser radar is full-terrain, fast in response and free from the influence of ground clutter;
(4) the system has artificial intelligent self-learning capability, high-speed feedback capability and logic inference capability;
(5) the monitoring of data such as climate and the like is comprehensive.
Drawings
FIG. 1 is a schematic diagram of the structure and the working flow of a real-time monitoring module according to the present invention;
FIG. 2 is a schematic diagram of the structure and the working flow of the periodic scanning module according to the present invention;
FIG. 3 is a schematic diagram of the overall structure and operation of the present invention;
fig. 4 is a schematic view of the arrangement of the fixed ground anchor of the present invention.
The reference numbers in the figures illustrate: 1. the fixed earth anchor of benchmark department, 2, the fixed earth anchor who arranges to the slope deformation zone, 3, the unmanned aerial vehicle who scans, 4, the region that the target slope takes place great deformation.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 3, a slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar, the system comprises a terminal server module, a real-time monitoring module and a periodic scanning module which are in wireless connection with the terminal server module, the real-time monitoring module collects real-time deformation data and climate monitoring data of the target slope and uploads the data to the terminal server module, the periodic scanning module scans the target slope to generate three-dimensional digital elevation models in different time periods and uploads the three-dimensional digital elevation models to the terminal server module, the terminal server module combines the three-dimensional digital elevation models at different time intervals with real-time deformation data and climate monitoring data of the target slope for artificial intelligent learning, the method has the advantages that the deformation trend and the deformation rule of the full section of the target side slope are obtained, the side slope transparentization is realized, and decision data are provided for long-term use and maintenance of the target side slope.
As shown in fig. 1, the real-time monitoring module calculates and judges whether the target slope exceeds a deformation threshold value according to the collected real-time deformation data and climate monitoring data of the target slope in combination with a slope theory, if so, the target slope is indicated to have a large sliding trend, an early warning signal is generated, the calculation result and the early warning signal are uploaded to a terminal server, landslide early warning is implemented, if not, the target slope is indicated to be in a safe state, and the real-time deformation data and the climate monitoring data of the target slope are uploaded to the terminal server.
The real-time monitoring module comprises a fixed ground anchor, a Beidou positioning system, an information storage device, an information processor, an information transceiver and a climate monitoring sensor, wherein the fixed ground anchor is divided into a plurality of pieces to be arranged on a target side slope, the Beidou positioning system automatically receives displacement information of the fixed ground anchor and climate monitoring data collected by the climate monitoring sensor, real-time deformation data of the target side slope is determined by the displacement information of the fixed ground anchor, the Beidou positioning system inputs the real-time deformation data and the climate monitoring data into the information processor, and the information processor calculates and judges whether a deformation threshold value of the target side slope exceeds or not according to a slope theory and uploads a corresponding judgment result to a terminal server through the information transceiver.
The climate monitoring sensor comprises a thermometer, a hygrometer and a rain gauge, and climate monitoring data is determined by data measured by the thermometer, the hygrometer and the rain gauge.
As shown in fig. 2, the periodic scanning module includes an unmanned aerial vehicle platform, a corresponding unmanned aerial vehicle, a laser radar, a digital single chip microcomputer, an information storage device, an information transceiver, a beidou positioning system, a real-time dynamic carrier phase difference module RTK and an INS inertial flight attitude sensor, as shown in fig. 4, a fixed ground anchor 1 is placed at a reference point near a target slope, and the unmanned aerial vehicle 3 and the onboard laser radar thereof are used for photographing and scanning the full section of the target slope for a certain period, in this embodiment, the scanning period is one week, from the second scanning, after each scanning is finished, the scanning result is transmitted to the digital single chip microcomputer, the digital single chip microcomputer compares and analyzes the previous scanning result, finds out an area 4 with large deformation in the full section of the target slope, and correspondingly arranges a fixed ground anchor 2 in a slope deformation area, when the scanning results of a plurality of times are not obviously changed, the target slope can be considered to reach a stable state without continuously carrying out photographing and scanning.
When photographing and scanning are carried out according to a certain period, the INS inertial flight attitude sensor continuously measures the current position of the unmanned aerial vehicle, the laser radar measures the distance between the unmanned aerial vehicle and the target slope, the digital single chip microcomputer is an integrated circuit chip, a small and perfect computer system is formed, data processing can be carried out, and the digital single chip microcomputer obtains a three-dimensional digital elevation model of the target slope through the current position of the unmanned aerial vehicle and the distance between the digital single chip microcomputer and each anchor point on the target slope.
And the digital single chip microcomputer carries out error correction on the scanning results of different periods through the real-time dynamic carrier phase difference module RTK and the Beidou positioning system to generate three-dimensional digital elevation models of the target slope at different time intervals, and uploads the three-dimensional digital elevation models of the target slope at different time intervals to the terminal server through the information receiving and transmitting device.
The real-time dynamic carrier phase differential module RTK provides the three-dimensional coordinate of the observation point and the three-dimensional coordinate information of the fixed ground anchor in the Beidou positioning system in real time for error correction.
The information processor and the digital single chip microcomputer upload corresponding data stored in the information storage device to the terminal server through the information receiving and transmitting device in a real-time mode or an asynchronous mode; when the terminal is in the real-time mode, the information processor or the digital single chip microcomputer stores the calculation result, the climate monitoring data or the scanning result into the information storage device and uploads the calculation result, the climate monitoring data or the scanning result to the terminal server through the information transceiver; when the terminal is in the asynchronous mode, the information processor stores the calculation result and the climate monitoring data in the information storage device and uploads the calculation result and the climate monitoring data to the terminal server through the transceiver.
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 (9)
1. The utility model provides a slope section monitoring and early warning system who combines big dipper location and unmanned aerial vehicle radar, its characterized in that, this system include terminal server module, and wireless connection the real-time monitoring module and the periodic scanning module of terminal server module, real-time deformation data and the climatic monitoring data of target side slope are gathered to the real-time monitoring module and are uploaded to the terminal server module, the periodic scanning module scans the three-dimensional digital elevation model of target side slope formation different periods and upload to the terminal server module, the terminal server module carries out artificial intelligence study with the three-dimensional digital elevation model of different periods with the real-time deformation data and the climatic monitoring data of target side slope to obtain the deformation trend and the deformation law of the full section of target side slope, provide decision-making data for the long-term use maintenance of target side slope.
2. The slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar as claimed in claim 1, wherein the real-time monitoring module is used for calculating and judging whether a target slope exceeds a deformation threshold value according to collected real-time deformation data and climate monitoring data of the target slope in combination with a slope theory, if so, indicating that the target slope has a large sliding trend, generating an early warning signal, uploading the calculation result and the early warning signal to a terminal server, implementing landslide early warning, and if not, indicating that the target slope is in a safe state, and uploading the real-time deformation data and the climate monitoring data of the target slope to the terminal server.
3. The slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar according to claim 2, it is characterized in that the real-time monitoring module comprises a fixed ground anchor, a Beidou positioning system, an information storage device, an information processor, an information transceiver and a climate monitoring sensor, the fixed ground anchors are divided into a plurality of fixed ground anchors arranged on the target side slopes, the Beidou positioning system automatically receives displacement information of the fixed ground anchors and climate monitoring data collected by the climate monitoring sensors, real-time deformation data of the target side slopes is determined by the displacement information of the fixed ground anchors, the Beidou positioning system inputs the real-time deformation data and the climate monitoring data into the information processor, and the information processor calculates and judges whether the target slope exceeds a deformation threshold value according to a slope theory and uploads a corresponding judgment result to the terminal server through the information transceiver.
4. The slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar as set forth in claim 3, wherein the climate monitoring sensors comprise a thermometer, a hygrometer and a rain gauge, and the climate monitoring data is determined by data measured by the thermometer, the hygrometer and the rain gauge.
5. The slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar as set forth in claim 3, wherein the periodic scanning module comprises an unmanned aerial vehicle platform and corresponding unmanned aerial vehicle, a laser radar, a digital single-chip microcomputer, an information storage device, an information transceiver, a Beidou positioning system, a real-time dynamic carrier phase differential module RTK and an INS inertial flight attitude sensor, a fixed ground anchor is placed at a reference point near a target slope, the unmanned aerial vehicle and the airborne laser radar thereof are used for photographing and scanning the full section of the target slope for a certain period, from the second scanning, after each scanning, the scanning result is transmitted to the digital single-chip microcomputer, the digital single-chip microcomputer compares the scanning result with the previous scanning result, finds out a region with larger deformation in the full section of the target slope, and correspondingly arranges the fixed ground anchor, when the continuous scanning results are not obviously changed, the target slope can be considered to reach a stable state, and the photographing and scanning work is not required to be carried out continuously.
6. The slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar as set forth in claim 5, wherein when photographing and scanning are performed according to a certain period, the INS inertial flight attitude sensor continuously measures the current position of the unmanned aerial vehicle, the laser radar measures the distance between the unmanned aerial vehicle and the target slope, and the digital single chip microcomputer obtains the three-dimensional digital elevation model of the target slope through the current position of the unmanned aerial vehicle and the distance to each anchor point on the target slope.
7. The slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar as set forth in claim 6, wherein the digital single chip microcomputer performs error correction on scanning results of different periods through a real-time dynamic carrier phase difference module RTK and the Beidou positioning system to generate three-dimensional digital elevation models of the target slope at different time periods, and uploads the three-dimensional digital elevation models of the target slope at different time periods to a terminal server through an information transceiver.
8. The slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar as set forth in claim 7, wherein the real-time dynamic carrier phase differential module RTK provides the three-dimensional coordinates of the observation point and the three-dimensional coordinate information of the fixed ground anchor in the Beidou positioning system for error correction in real time.
9. The slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar as set forth in claim 3 or 7, characterized in that the information processor and the digital single chip microcomputer upload the corresponding data stored in the information storage device to the terminal server through the information transceiver in a real-time mode or an asynchronous mode; when the terminal is in the real-time mode, the information processor or the digital single chip microcomputer stores the calculation result, the climate monitoring data or the scanning result into the information storage device and uploads the calculation result, the climate monitoring data or the scanning result to the terminal server through the information transceiver; when the terminal is in the asynchronous mode, the information processor stores the calculation result and the climate monitoring data in the information storage device and uploads the calculation result and the climate monitoring data to the terminal server through the transceiver.
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| CN115713855A (en) * | 2022-10-14 | 2023-02-24 | 港珠澳大桥管理局 | Vehicle-mounted terminal system, data display method and device and computer equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115713855A (en) * | 2022-10-14 | 2023-02-24 | 港珠澳大桥管理局 | Vehicle-mounted terminal system, data display method and device and computer equipment |
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