CN114812528B - Automatic monitoring system applied to expressway disease side slope - Google Patents
Automatic monitoring system applied to expressway disease side slope Download PDFInfo
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Abstract
The invention provides an automatic monitoring system applied to a highway disease side slope, which comprises: a data acquisition module: the system comprises a three-dimensional laser scanner, a scanning system and a control system, wherein the three-dimensional laser scanner is used for scanning a highway slope to obtain scanning point cloud data; a model construction module: constructing a slope monitoring model according to the scanning point cloud data, and analyzing the state of slope diseases according to the slope monitoring model to obtain an analysis result; the early warning processing module: the invention can rapidly, accurately and comprehensively record the three-dimensional space position information, the reflectivity information, the color texture information and the like of the target object by the point cloud data acquired by the three-dimensional laser scanning technology, thereby not only improving the measurement efficiency, but also monitoring the side slope disease condition by constructing a model according to the point cloud data, and early warning the occurred disease condition in time, thereby avoiding the resource loss and the personnel injury.
Description
Technical Field
The invention belongs to the field of automatic monitoring, and particularly relates to an automatic monitoring system applied to a highway disease side slope.
Background
The highway side slope monitoring method has various technical means, the currently mainly adopted methods comprise conventional measurement, GPS measurement, sensor measurement and the like, monitoring points are required to be arranged on a deformable body for deformation monitoring by using a conventional measurement mode, the highway side slope disease condition is monitored by the method, and the monitoring points are required to be arranged on the deformable body.
Disclosure of Invention
The invention provides the following technical scheme:
in order to overcome the defects of the prior art, the invention provides an automatic monitoring system applied to a highway disease side slope, which comprises:
a data acquisition module: the system comprises a three-dimensional laser scanner, a scanning system and a control system, wherein the three-dimensional laser scanner is used for scanning a highway slope to obtain scanning point cloud data;
a model construction module: constructing a slope monitoring model according to the scanning point cloud data, and analyzing the state of the slope disease according to the slope monitoring model to obtain an analysis result;
the early warning processing module: and carrying out early warning treatment when the analysis result shows that the disease is a side slope disease.
Preferably, the data acquisition module is specifically configured to:
arranging preset monitoring control points, and performing three-dimensional laser scanning on the highway slope through a three-dimensional laser scanner to obtain scanning point cloud data;
wherein the scanning point cloud data comprises: slope displacement data, slope settlement data, deformation data, slope reflection data and slope texture information.
Preferably, the model building module includes:
a coordinate system determination unit: the system is used for determining a three-dimensional laser scanning target, fitting a three-dimensional coordinate of a target center, measuring the coordinate of the target center through a total station instrument without a prism and determining a coordinate proportion;
constructing a slope point cloud data three-dimensional coordinate system based on the target center three-dimensional coordinate and the coordinate proportion;
a three-dimensional coordinate projection unit: the system comprises a data acquisition module, a slope point cloud data three-dimensional coordinate system and a slope integral point cloud data three-dimensional coordinate system, wherein the data acquisition module is used for acquiring scanning point cloud data of a slope;
a noise rejection unit: carrying out data coordinate validity check based on the slope integral point cloud data coordinates, and deleting the slope integral point cloud invalid data when the check result shows that the data are invalid;
when the inspection result shows that the data are effective, encrypting and storing the effective data of the whole point cloud of the side slope in a database, and carrying out noise elimination processing on the stored effective data of the whole point cloud of the side slope to obtain the effective data of the whole point cloud of the noise-free side slope;
a model construction unit: the slope monitoring model is constructed according to the noise-free slope integral point cloud effective data;
slope disease analysis unit: and the slope disease state analysis module is used for analyzing the state of the slope disease according to the slope monitoring model and acquiring an analysis result.
Preferably, the specific steps of encrypting and storing the slope whole point cloud effective data in the database are as follows:
step S1: grouping the slope integral point cloud effective data according to preset character positions to obtain grouped data;
and step S3: replacing the grouped data, determining replaced data, and performing iterative processing on the replaced data through a round function;
and step S4: when the iteration times of the replacement data are equal to the preset iteration times, ending the iteration, acquiring the iterated slope integral point cloud effective data, and performing data exchange processing on the iterated slope integral point cloud effective data to obtain exchange data;
step S5: and performing inverse replacement on the exchange data to generate encrypted effective data of the whole point cloud of the side slope, and storing the encrypted effective data of the whole point cloud of the side slope in a database.
Preferably, the round function expression is:
wherein F is a round function; m is slope integral point cloud effective data;
and
is an encryption key.
Preferably, the slope disease analysis unit includes:
curve predictor unit: the system comprises a slope monitoring model, a historical effective point cloud data and a slope displacement change curve, wherein the slope monitoring model is used for monitoring slope surface degradation of a slope, and the slope surface degradation change curve is generated by using the historical effective point cloud data as a model input value and inputting the model input value into the slope monitoring model for point cloud data curve prediction;
disease analysis subunit: when the side slope displacement change curve is consistent with a preset displacement change curve, judging the safety of the highway side slope, otherwise, judging that the highway side slope has landslide;
when the slope settlement change curve is consistent with a preset settlement change curve, judging the safety of the expressway slope, otherwise, judging that the expressway slope has settlement collapse diseases;
and when the slope surface degradation change curve is consistent with a preset surface degradation change curve, judging the safety of the expressway slope, otherwise, judging that the expressway slope has collapse diseases.
Preferably, the generation process of the slope displacement variation curve is as follows:
according to the method, historical effective point cloud data is used as a model input value, the model input value is input into a slope monitoring model, and coordinate data of monitoring points are screened out;
taking historical data scanned for the first time as an initial value, and taking historical coordinate data of monitoring points scanned in a fixed time period as a variable value;
and calculating a horizontal displacement accumulated value and a displacement change rate based on the coordinate data of the monitoring points, and generating a slope displacement change curve through the horizontal displacement accumulated value and the displacement change rate.
Preferably, the horizontal displacement integrated value calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
is a horizontal displacement accumulated value;
the horizontal coordinate value of the monitoring point is obtained;
and is the ordinate value of the monitoring point.
Preferably, the displacement change rate is calculated as follows:
in the formula (I), the compound is shown in the specification,
is the rate of change of displacement;
is a horizontal displacement accumulated value; t is the scan interval period.
Preferably, the early warning processing module includes: the sound and light early warning unit and the short message early warning unit;
the acousto-optic early warning subunit: the system comprises a disease early warning subunit, a sound-light alarm and an automatic monitoring system, wherein the disease early warning subunit is used for connecting the sound-light alarm with the automatic monitoring system through a wireless network, and when receiving analysis results of landslide diseases, settlement and collapse diseases, the disease early warning subunit performs sound-light alarm prompting on corresponding disease danger through the sound-light alarm;
the audible and visual alarm is arranged in a monitoring area of the expressway;
a short message early warning subunit: and the mobile phone is used for sending landslide disease, settlement and collapse disease information to the personnel in the monitoring area through a wireless network to carry out short message early warning.
Compared with the closest prior art, the invention has the following beneficial effects:
1. the invention provides an automatic monitoring system applied to a highway disease side slope, which comprises: a data acquisition module: the system comprises a three-dimensional laser scanner, a data acquisition module and a data processing module, wherein the three-dimensional laser scanner is used for scanning a highway slope to obtain scanning point cloud data; a model construction module: constructing a slope monitoring model according to the scanning point cloud data, and analyzing the state of the slope disease according to the slope monitoring model to obtain an analysis result; the early warning processing module: the invention can rapidly, accurately and comprehensively record the three-dimensional space position information, reflectivity information, color texture information and the like of the target object with high precision by acquiring a large amount of dense scattered point data containing various information through a three-dimensional laser scanning technology and point cloud data acquired through the three-dimensional laser scanning technology, thereby not only improving the measurement efficiency, but also monitoring the slope disease condition by constructing a model according to the acquired point cloud data, and timely early warning the occurred disease condition so as to avoid the loss of resources and the injury of personnel.
2. In the model construction module, the acquired point cloud data is subjected to data splicing, encryption, noise reduction and other processing through the noise elimination unit, so that the integrity, safety and accuracy of the data can be ensured, and the efficiency and accuracy of the slope disease analysis of the slope monitoring model can be improved.
Drawings
FIG. 1 is a schematic structural connection diagram of an automatic monitoring system applied to a damaged side slope of a highway according to the present invention;
FIG. 2 is a schematic structural connection diagram of a model construction module of an automatic monitoring system applied to a diseased highway slope provided by the invention;
fig. 3 is a schematic connection diagram of the early warning processing module structure of the automatic monitoring system applied to the highway disease slope provided by the invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Example 1:
the invention provides an automatic monitoring system applied to a highway disease slope, which is shown in figure 1 and comprises:
a data acquisition module: the system comprises a three-dimensional laser scanner, a data acquisition module and a data processing module, wherein the three-dimensional laser scanner is used for scanning a highway slope to obtain scanning point cloud data;
a model construction module: constructing a slope monitoring model according to the scanning point cloud data, and analyzing the state of the slope disease according to the slope monitoring model to obtain an analysis result;
the early warning processing module: and carrying out early warning treatment when the analysis result shows that the slope disease is detected.
According to the method, the side slope displacement data, the side slope settlement data, the deformation data, the side slope reflection data and the side slope texture information are obtained through three-dimensional laser scanning in the data obtaining module, monitoring points of the highway side slope can be observed through a preset time period through the data, the side slope displacement change data and the side slope settlement data can be obtained, the surface degradation condition of the side slope can be accurately known through the side slope reflection data and the side slope texture data information, in the model building module, a side slope monitoring model is built through the obtained scanning point cloud data, the side slope disease condition can be analyzed through the built side slope monitoring model, possible diseases of the side slope can be known, therefore, the possible diseases of the monitored road can be timely pre-warned and processed, accordingly, larger economic loss and harm to personal safety of people are avoided, in the pre-warning processing module, possible disease conditions are pre-warned and processed according to monitoring and analyzing of the highway side slope diseases in the model building module, and people around the side slope damage can be timely notified, and accordingly, people are prevented from being injured by the side slope.
Example 2: the model building module applied to the automatic monitoring system on the highway disease side slope is shown in fig. 2 and comprises the following components:
a coordinate system determination unit: the system is used for determining a three-dimensional laser scanning target, fitting a three-dimensional coordinate of a target center, measuring the coordinate of the target center through a total station instrument without a prism and determining a coordinate proportion;
constructing a slope point cloud data three-dimensional coordinate system based on the target center three-dimensional coordinate and the coordinate proportion;
three-dimensional coordinate projection unit: the system comprises a data acquisition module, a slope point cloud data three-dimensional coordinate system and a slope integral point cloud data three-dimensional coordinate system, wherein the data acquisition module is used for acquiring scanning point cloud data of a slope;
a noise eliminating unit: carrying out data coordinate validity check based on the slope integral point cloud data coordinates, and deleting the slope integral point cloud invalid data when the check result shows that the data are invalid;
when the inspection result shows that the data are effective, the effective data of the whole point cloud of the side slope are encrypted and stored in a database, and the stored effective data of the whole point cloud of the side slope are subjected to noise elimination processing to obtain the effective data of the whole point cloud of the noise-free side slope;
a model construction unit: the slope monitoring model is constructed according to the noise-free slope integral point cloud effective data;
slope disease analysis unit: and the slope disease state analysis module is used for analyzing the state of the slope disease according to the slope monitoring model and acquiring an analysis result.
In one implementation scenario: the method for monitoring the highway side slope diseases by adopting the conventional measurement, GPS measurement, sensor measurement and other methods generally has the defects that monitoring points are required to be arranged on a deformation body and arranged on the deformation body in a conventional measurement mode, and then the method for monitoring through the change of the monitoring points has obvious defects, for example, the number of the monitoring points is limited, so that the measurement efficiency is low, the measurement is influenced by factors such as weather and the like, so that the monitored data is inaccurate, and the monitored data is not encrypted and stored in the prior art, so that the data leakage is possibly caused;
the invention is implemented as follows: the method comprises the steps of firstly, scanning the side slope by a three-dimensional laser scanner in the coordinate system determination unit, then determining a three-dimensional laser scanning target, fitting a three-dimensional coordinate of a target center, measuring the coordinate of the target center by a total station prism-free instrument, determining a coordinate proportion, thus constructing a three-dimensional coordinate system, carrying out data splicing on the acquired data in the three-dimensional coordinate projection unit, then converting the spliced complete data into the constructed three-dimensional coordinate system, thus obtaining the integral point cloud data coordinates of the side slope, mastering the integral data of the side slope by carrying out data splicing, integrally judging the deformation and other conditions of the side slope, obtaining the integral point cloud data coordinates of the side slope, monitoring the change of the side slope clearly, and facilitating the mastering of the early remediation treatment of the disease conditions, thereby avoiding the early remediation treatment of the side slope and the damage conditionCausing greater economic loss, then in a noise elimination unit, eliminating invalid data and data with noise interference, thereby ensuring the accuracy of the data, encrypting and storing the finally obtained slope integral point cloud effective data in a database, encrypting the data by adopting a triple DES technology when encrypting the data, firstly grouping the slope integral point cloud effective data, determining encryption keys K1 and K2 by a triple DES algorithm, and determining a triple DES round function as follows according to the encryption keys K1 and K2:
and encrypting the slope integral point cloud effective data stored in the database through the triple DES encryption function to obtain an encrypted ciphertext, wherein the encrypted ciphertext is as follows:
the method comprises the steps of firstly, encrypting slope integral point cloud effective data, storing the encrypted slope integral point cloud effective data in a database, and finally constructing a slope monitoring model according to the noise-free slope integral point cloud effective data;
the beneficial effects of the above technical scheme are: the slope disease monitoring model is constructed by constructing a three-dimensional coordinate system and determining coordinate point information of point cloud data, the condition of the slope disease can be accurately monitored and analyzed, so that risk avoidance can be effectively carried out, data splicing, encryption, noise reduction and other processing are carried out on the acquired point cloud data in the process of constructing the slope monitoring model, the integrity, the safety and the accuracy of the data can be guaranteed, and the efficiency and the accuracy of slope disease analysis of the slope monitoring model can be improved.
Example 3:
the early warning processing module applied to the automatic monitoring system on the highway disease side slope is shown in figure 3 and comprises the following components: the sound and light early warning unit and the short message early warning unit;
the acousto-optic early warning subunit: the system comprises a disease early warning subunit, a sound-light alarm and an automatic monitoring system, wherein the disease early warning subunit is used for connecting the sound-light alarm and the automatic monitoring system through a wireless network, and when receiving analysis results of landslide diseases, settlement and collapse diseases, the sound-light alarm prompts corresponding disease danger sound-light alarms;
the audible and visual alarm is arranged in a monitoring area of the expressway;
a short message early warning subunit: and the mobile phone is used for sending landslide disease, settlement and collapse disease information to the personnel in the monitoring area through a wireless network to carry out short message early warning.
When the invention is implemented: monitoring and analyzing the disease condition of the expressway side slope according to the model building module, and performing corresponding disease early warning prompt according to the obtained disease information, wherein firstly, when the acousto-optic early warning unit is used, the acousto-optic alarm is connected with the automatic monitoring system through a wireless network, when the disease early warning subunit receives analysis results of landslide disease, settlement and collapse disease, the acousto-optic alarm is used for performing acousto-optic alarm prompt of corresponding disease danger, and meanwhile, the disease information is synchronized to a mobile phone of a person in a monitoring area through the wireless network for performing short message early warning prompt;
the beneficial effects of the above technical scheme are: through acousto-optic early warning, personnel in the monitoring area can clearly hear and see the early warning of the side slope diseases, so that the personnel can be evacuated from the corresponding area in time, the personnel injury is avoided, and meanwhile, the condition that the personnel do not see or hear the alarm when acousto-optic alarm is carried out can be compensated through short message early warning.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting the protection scope thereof, and although the present invention is described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that after reading the present invention, they can make various changes, modifications or equivalents to the specific embodiments of the application, but these changes, modifications or equivalents are all within the protection scope of the claims of the application.
Claims (7)
1. The utility model provides an application is in automatic monitoring system on highway disease slope which characterized in that includes:
a data acquisition module: the system comprises a three-dimensional laser scanner, a data acquisition module and a data processing module, wherein the three-dimensional laser scanner is used for scanning a highway slope to obtain scanning point cloud data;
a model construction module: constructing a slope monitoring model according to the scanning point cloud data, and analyzing the state of the slope disease according to the slope monitoring model to obtain an analysis result;
the early warning processing module: when the analysis result shows that the disease of the side slope is detected, early warning treatment is carried out;
the model building module comprises:
a coordinate system determination unit: the system is used for determining a three-dimensional laser scanning target, fitting a three-dimensional coordinate of a target center, measuring the coordinate of the target center through a total station instrument without a prism and determining a coordinate ratio;
constructing a slope point cloud data three-dimensional coordinate system based on the target center three-dimensional coordinate and the coordinate proportion;
three-dimensional coordinate projection unit: the system comprises a data acquisition module, a side slope integral point cloud data conversion module, a side slope point cloud data storage module and a side slope integral point cloud data conversion module, wherein the data acquisition module is used for acquiring scanning point cloud data;
a noise rejection unit: carrying out data coordinate validity check based on the slope integral point cloud data coordinates, and deleting the slope integral point cloud invalid data when the check result shows that the data are invalid;
when the inspection result shows that the data are effective, the effective data of the whole point cloud of the side slope are encrypted and stored in a database, and the stored effective data of the whole point cloud of the side slope are subjected to noise elimination processing to obtain the effective data of the whole point cloud of the noise-free side slope;
a model construction unit: the slope monitoring model is constructed according to the noise-free slope integral point cloud effective data;
slope disease analysis unit: the slope disease state analysis module is used for analyzing the slope disease state according to the slope monitoring model and obtaining an analysis result;
the specific steps of encrypting and storing the slope integral point cloud effective data in the database are as follows:
step S1: grouping the whole slope point cloud effective data according to preset character positions to obtain grouped data;
and step S3: performing replacement on the grouped data, determining replacement data, and performing iterative processing on the replacement data through a round function;
and step S4: when the iteration times of the replacement data are equal to the preset iteration times, ending the iteration, obtaining the iterated slope integral point cloud effective data, and performing data exchange processing on the iterated slope integral point cloud effective data to obtain exchange data;
step S5: performing inverse replacement on the exchange data to generate encrypted effective data of the whole point cloud of the side slope, and storing the encrypted effective data of the whole point cloud of the side slope in a database; the round function expression is:
wherein F is a round function; m is slope integral point cloud effective data;
and
is an encryption key.
2. The system of claim 1, wherein the data acquisition module is specifically configured to:
arranging preset monitoring control points, and performing three-dimensional laser scanning on the highway slope through a three-dimensional laser scanner to obtain scanning point cloud data;
wherein the scan point cloud data comprises: slope displacement data, slope settlement data, deformation data, slope reflection data and slope texture information.
3. The system of claim 2, wherein the slope disease analysis unit comprises:
curve predictor unit: the system comprises a slope monitoring model, a historical effective point cloud data and a slope displacement change curve, wherein the slope monitoring model is used for monitoring slope surface degradation of a slope, and the slope surface degradation change curve is generated by using the historical effective point cloud data as a model input value and inputting the model input value into the slope monitoring model for point cloud data curve prediction;
disease analysis subunit: when the slope displacement change curve is consistent with a preset displacement change curve, judging the safety of the highway slope, otherwise, judging that the highway slope has landslide damage;
when the slope settlement change curve is consistent with a preset settlement change curve, judging the safety of the expressway slope, otherwise, judging that the expressway slope has settlement collapse diseases;
and when the slope surface degradation change curve is consistent with a preset surface degradation change curve, judging the safety of the expressway slope, otherwise, judging that the expressway slope has collapse diseases.
4. The system of claim 3, wherein the slope displacement curve is generated as follows:
according to the method, historical effective point cloud data is used as a model input value, the model input value is input into a slope monitoring model, and coordinate data of monitoring points are screened out;
taking historical data scanned for the first time as an initial value, and taking historical coordinate data of monitoring points scanned in a fixed time period as a variable value;
and calculating a horizontal displacement accumulated value and a displacement change rate based on the coordinate data of the monitoring points, and generating a slope displacement change curve through the horizontal displacement accumulated value and the displacement change rate.
5. The system of claim 4, wherein said horizontal displacement integrated value is calculated as follows:
in the formula (I), the compound is shown in the specification,
is a horizontal displacement accumulated value;
the horizontal coordinate value of the monitoring point is;
and the longitudinal coordinate value of the monitoring point.
6. The system of claim 5, wherein the rate of change of displacement is calculated as follows:
in the formula (I), the compound is shown in the specification,
is the rate of change of displacement;
is a horizontal displacement accumulated value; t is the scan interval period.
7. The system of claim 1, wherein the early warning processing module comprises: the sound and light early warning unit and the short message early warning unit;
the acousto-optic early warning subunit: the system comprises a disease early warning subunit, a sound-light alarm and an automatic monitoring system, wherein the disease early warning subunit is used for connecting the sound-light alarm with the automatic monitoring system through a wireless network, and when receiving analysis results of landslide diseases, settlement and collapse diseases, the disease early warning subunit performs sound-light alarm prompting on corresponding disease danger through the sound-light alarm;
the audible and visual alarm is arranged in a monitoring area of the expressway;
a short message early warning subunit: and the mobile phone is used for sending landslide disease, settlement and collapse disease information to the personnel in the monitoring area through a wireless network to carry out short message early warning.
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