CN114923458A - Surface settlement monitoring system and method based on unmanned aerial vehicle three-dimensional laser scanning - Google Patents
Surface settlement monitoring system and method based on unmanned aerial vehicle three-dimensional laser scanning Download PDFInfo
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- CN114923458A CN114923458A CN202210838788.8A CN202210838788A CN114923458A CN 114923458 A CN114923458 A CN 114923458A CN 202210838788 A CN202210838788 A CN 202210838788A CN 114923458 A CN114923458 A CN 114923458A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention belongs to the technical field of measurement, and particularly relates to a ground surface settlement monitoring system, a ground surface settlement monitoring method and electronic equipment based on three-dimensional laser scanning of an unmanned aerial vehicle, aiming at solving the problem that the unmanned aerial vehicle carries three-dimensional laser scanning equipment to monitor ground surface settlement with large errors. The method comprises the following steps: releasing and assembling the total station at the first coordinate; after aiming at the mark point, the total station tracks the mark point in real time to obtain first data; the unmanned aerial vehicle carries out three-dimensional scanning on the earth surface of the target monitoring area to obtain first scanning data; acquiring a third coordinate based on the first data and the first coordinate; acquiring second scanning data based on the third coordinate and the first scanning data; acquiring a three-dimensional model of the target area based on a world coordinate system based on the second scanning data; and comparing the obtained data with the historical three-dimensional model of the target area to obtain the earth surface settlement information of the target area. The invention realizes the automation of ground surface settlement monitoring, and improves the monitoring efficiency, frequency and accuracy through all-day rotation monitoring.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a system and a method for monitoring surface subsidence based on three-dimensional laser scanning of an unmanned aerial vehicle, and electronic equipment.
Background
In the current subway construction process, the subway shield construction method is widely applied due to the advantages of wide soil layer application, quick construction progress and the like, but as stratum materials are dug out, the stress state in the deep stratum changes, and ground settlement is inevitably generated in the construction process and the later construction period, so that a series of problems of environmental rock and soil, city safety and the like are caused. Inevitably, only through the monitoring of the surface subsidence, timely discovery and timely intervention are effective methods at present.
The monitoring of the surface subsidence in the construction process is relatively more important, so that engineering personnel can know the influence of construction on the ground in time, and the construction method is continuously optimized in the construction process according to the feedback of the monitoring result so as to ensure the safety of the surrounding environment and facilities in the construction process.
The existing tunnel excavation ground surface settlement monitoring technology is not only manual, but also needs to be provided with a large number of datum points and monitoring points for regular manual monitoring, is time-consuming and labor-consuming, has low efficiency and low monitoring frequency, and cannot well meet the monitoring requirements; or adopt unmanned aerial vehicle to carry on three-dimensional laser scanning equipment and directly scan, except scanning equipment's error, the great problem of monitoring data error that unmanned aerial vehicle self three-dimensional coordinate error also further caused.
Disclosure of Invention
In order to solve the problems in the prior art, namely the problem that the unmanned aerial vehicle carries three-dimensional laser scanning equipment to monitor the ground surface settlement with large errors is solved, the invention provides the ground surface settlement monitoring system and method based on the unmanned aerial vehicle three-dimensional laser scanning, the errors of the three-dimensional coordinates of the unmanned aerial vehicle are reduced through a total station, and the monitoring precision is improved.
The invention provides a surface settlement monitoring system based on three-dimensional laser scanning of an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, a total station and a reference pile;
the unmanned aerial vehicle comprises three-dimensional laser scanning equipment, a first fixing device and a wireless charging receiving device, wherein the three-dimensional laser scanning equipment, the first fixing device and the wireless charging receiving device are arranged on a lower holder; a mark point for tracking and measuring the total station is arranged on the unmanned aerial vehicle;
the unmanned aerial vehicle and the total station are synchronous in clock, and information interaction is carried out in a wireless communication mode;
the standard pile comprises an upright post and a platform arranged on the upright post, and a second fixing device and a wireless charging and transmitting device are arranged on the platform; the wireless charging transmitting device is matched with the wireless charging receiving device; the datum point of the datum pile is located on the second fixing device;
the first fixing device and/or the second fixing device are/is a magnetic attraction fixing device and are used for detachably and fixedly assembling the total station;
the number of the reference piles is one or more, and the reference piles are distributed in a subway tunnel ground surface settlement monitoring zone for a plurality of time divisions.
In some preferred embodiments, the wireless charging transmitting device is connected with a storage battery.
In some preferred embodiments, the reference pile is provided with a solar and/or wind power generation device for charging the battery.
In a second aspect of the present invention, a method for monitoring surface subsidence based on three-dimensional laser scanning of an unmanned aerial vehicle is provided, and based on the above system for monitoring surface subsidence based on three-dimensional laser scanning of an unmanned aerial vehicle, the method for monitoring surface subsidence includes:
s100, the unmanned aerial vehicle loaded with the total station reaches a target reference pile and releases the total station to a second fixing device based on the first coordinate; the first coordinate is three-dimensional coordinate information of a reference point of the target reference pile;
step S200, the unmanned aerial vehicle flies away from the reference pile by a set distance to hover the mark point towards the total station, the total station aims at the mark point and then tracks the mark point in real time, real-time measurement of first data is carried out, and a first instruction is sent to the unmanned aerial vehicle; the first data comprises a horizontal angle, a vertical angle and a distance from the total station to a mark point, and clock information;
step S300, after acquiring a first instruction, the unmanned aerial vehicle takes a target reference pile as a starting point and carries out three-dimensional scanning on the earth surface of a target monitoring area corresponding to the target reference pile according to a preset scanning path to acquire first scanning data of the target monitoring area; the first scanning data comprises three-dimensional point cloud data and clock information under an unmanned aerial vehicle coordinate system;
step S400, calculating three-dimensional coordinate information of the unmanned aerial vehicle relative to the datum point based on the first data to serve as a second coordinate, and acquiring a third coordinate based on the first coordinate and the second coordinate; the third coordinate is three-dimensional coordinate information of the unmanned aerial vehicle under a world coordinate system, which is calculated based on the measurement data of the total station;
step S500, acquiring second scanning data based on the third coordinate and the first scanning data; the second scanning data is three-dimensional point cloud data in a world coordinate system;
and S600, acquiring a three-dimensional model of the target area based on the world coordinate system based on the second scanning data, comparing the three-dimensional model with a historical three-dimensional model of the target area, and acquiring the earth surface settlement information of the target area.
In some preferred embodiments, step S600 is followed by:
and S700, acquiring a block with the earth surface settlement height larger than a set height threshold value and the settlement area larger than a set area threshold value, and outputting earth surface settlement alarm information.
In some preferred embodiments, the number of the reference piles set in the subway tunnel ground surface settlement monitoring zone is multiple, after step S600 is performed, the unmanned aerial vehicle returns to the current target reference pile based on the first coordinate and mounts the total station, and step S100 is performed.
In some preferred embodiments, the number of the reference piles arranged in the subway tunnel ground surface settlement monitoring zone is multiple, after the step S300 is executed, the unmanned aerial vehicle returns to the current target reference pile based on the first coordinate and mounts the total station, and the step S100 is executed; and after the monitored areas corresponding to all the reference piles are scanned, sending the data to a server to perform the data processing from the step S400 to the step S600.
In some preferred embodiments, during the flight process when the unmanned aerial vehicle loaded with the total station reaches the target reference pile based on the first coordinate, after the distance from the target reference pile is smaller than a set value, the total station aims at the second fixing device, obtains the horizontal angle, the vertical angle and the distance from the total station to the second fixing device in real time, and sends the horizontal angle, the vertical angle and the distance to the unmanned aerial vehicle for landing guidance.
In a third aspect of the present invention, an electronic device is provided, including:
at least one processor; and
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the storage stores instructions executable by the processor, and the instructions are used for being executed by the processor to realize the ground surface settlement monitoring method based on unmanned aerial vehicle three-dimensional laser scanning.
In a fourth aspect of the present invention, a computer-readable storage medium is provided, where the computer-readable storage medium stores computer instructions for being executed by the computer to implement the above-mentioned ground surface settlement monitoring method based on three-dimensional laser scanning by an unmanned aerial vehicle.
The invention has the beneficial effects that:
according to the invention, the total station is fixedly arranged at the reference point, the flight position of the unmanned aerial vehicle is tracked and monitored in real time, the three-dimensional coordinate information of the unmanned aerial vehicle is obtained, the self-position calculation error of the unmanned aerial vehicle and the error of the self-three-dimensional coordinate information caused by external interference factors are eliminated, and the accuracy of the three-dimensional coordinate information of the unmanned aerial vehicle is improved.
According to the invention, through a system consisting of the unmanned aerial vehicle, the total station and the reference pile, the automation and the unmanned monitoring of the surface subsidence are realized, the all-day climate monitoring can be carried out, the monitoring efficiency, the monitoring frequency and the monitoring accuracy are improved, and the real-time monitoring and the timely discovery are really realized.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic diagram of a surface subsidence monitoring process based on three-dimensional laser scanning of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a surface subsidence monitoring process based on three-dimensional laser scanning of an unmanned aerial vehicle according to another embodiment of the invention.
Detailed Description
To make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The invention provides a ground surface settlement monitoring system based on unmanned aerial vehicle three-dimensional laser scanning, which comprises an unmanned aerial vehicle, a total station and a reference pile.
The lower cloud platform of the unmanned aerial vehicle is provided with three-dimensional laser scanning equipment for three-dimensional scanning of the earth's surface. The unmanned aerial vehicle lower part still is provided with first fixing device, and the fixing device is inhaled to the magnetism of device for separable fixed assembly the total powerstation. In order to increase unmanned aerial vehicle's duration, still dispose wireless receiving arrangement that charges, can charge in the position of berthing the wireless emitter that charges.
In order to improve the accuracy of the total station tracking and monitoring unmanned aerial vehicle, a mark point for tracking and measuring the total station is further arranged on the unmanned aerial vehicle. The three-dimensional coordinate distance between the mark point and the central position of the unmanned aerial vehicle is calibrated in advance, and the real three-dimensional coordinate of the unmanned aerial vehicle can be obtained through the three-dimensional coordinate distance when the subsequent total station tracks the position of the unmanned aerial vehicle, so that the error is further reduced.
The unmanned aerial vehicle and the total station are synchronous in clock, the information acquired in the working process has time tags, and the data can be accurately matched based on the time tags in the subsequent data processing process; the unmanned aerial vehicle and the total station carry out information interaction in a wireless communication mode, the possibility of sending information and instructions between the unmanned aerial vehicle and the total station is ensured, and the diversity of mutual cooperation modes is improved.
One or more reference piles are distributed in a plurality of time division manner and placed in the subway tunnel ground surface settlement monitoring zone; the standard pile comprises an upright post and a platform arranged on the upright post, and a second fixing device and a wireless charging and transmitting device are arranged on the platform; the wireless charging transmitting device is matched with the wireless charging receiving device; the datum point of the datum pile is located on the second fixing device; the second fixing device is a magnetic attraction fixing device and is used for detachably and fixedly assembling the total station.
The wireless charging transmitting device on the reference pile is connected with a power supply network/storage battery, and when the storage battery is adopted, the reference pile is also provided with a solar energy and/or wind energy generating device for charging the storage battery.
The upper part of the total station is provided with a fixing part matched with the first fixing device, which can be an additionally installed magnetic suction fixing steel plate or a magnetic suction buckle structure; the lower part of the total station is provided with a fixing part matched with the second fixing device, and the fixing part can be a magnetic attraction fixing steel plate which is additionally arranged and can also be a magnetic attraction buckle structure.
The unmanned aerial vehicle in the embodiment generally adopts a quad-rotor unmanned aerial vehicle, and the flight stability and the flight and hovering controllability of the quad-rotor unmanned aerial vehicle bring more convenience to the monitoring method. Simultaneously four preferred adoption squares or circular fuselages of rotor unmanned aerial vehicle can set up a mark point on the fuselage like this, also can set up a plurality of mark points, and the fuselage mark point is unanimous to the distance of unmanned aerial vehicle self coordinate system initial point, can not do the mark point and distinguish, also can carry out the serial number of mark point and distinguish.
The second embodiment of the invention is a ground surface settlement monitoring method based on three-dimensional laser scanning of an unmanned aerial vehicle, which is realized based on the ground surface settlement monitoring system based on three-dimensional laser scanning of the unmanned aerial vehicle, wherein a scene comprises an unmanned aerial vehicle warehouse, wireless reconfiguration of the unmanned aerial vehicle and a total station is carried out in the warehouse, the total station is mounted on the unmanned aerial vehicle, and a ground surface settlement monitoring task is executed after taking off. The subway tunnel ground surface settlement monitoring zone is generally a continuous long strip-shaped zone, the monitoring zone can be divided into zones based on factors such as total station monitoring distance, unmanned aerial vehicle flying distance and the like according to the length and width information of the zone, one horizontal coordinate is selected in each monitoring zone as a datum point, a datum pile is arranged on the datum point, and further based on the elevation of the sea level, the coordinate of the datum point in the vertical direction is obtained, so that the three-dimensional coordinate of the datum point in a world coordinate system is obtained; when the total station is assembled on the second fixing device, the reference point coincides with the origin of the coordinate system of the total station.
The method for monitoring surface subsidence of the present embodiment is shown in fig. 1, and includes:
s100, the unmanned aerial vehicle loaded with the total station reaches a target reference pile and releases the total station to a second fixing device based on the first coordinate; the first coordinate is three-dimensional coordinate information of a reference point of the target reference pile.
And the target reference pile is a corresponding reference pile in the current monitoring area. The unmanned aerial vehicle carries out position navigation based on datum point three-dimensional coordinate information of the target datum pile, flies to the target datum pile and berths at the platform and places the total station at the second fixing device, and the second fixing device is fixed a position the total station through predetermined magnetism and/or mechanical buckle mechanism. The second fixing device can be implemented in more ways, such as a retractable buckle structure and a mechanical arm way, and the structures for implementing the corresponding effect function are more, which are not listed here.
In the flight process of the unmanned aerial vehicle with the total station instrument, when the unmanned aerial vehicle reaches the target reference pile based on the first coordinate, in order to submit the accuracy of navigation and positioning, the unmanned aerial vehicle can also aim at the second fixing device through the total station instrument after the distance from the target reference pile is smaller than a set value, the horizontal angle, the vertical angle and the distance from the total station instrument to the second fixing device are obtained in real time, and the horizontal angle, the vertical angle and the distance are sent to the unmanned aerial vehicle for landing guidance.
Step S200, the unmanned aerial vehicle flies away from the reference pile by a set distance to hover the mark point towards the total station, the total station aims at the mark point and then tracks the mark point in real time, real-time measurement of first data is carried out, and a first instruction is sent to the unmanned aerial vehicle; the first data includes horizontal angles, vertical angles and distances from the total station to the mark point, and clock information.
When the total station tracks and monitors the unmanned aerial vehicle, in order to improve monitoring accuracy and sensitivity, a tracking mark arranged on the unmanned aerial vehicle is generally adopted as a tracking target, a middle point of the tracking mark is taken as a mark point, and three-axis information of a coordinate point of the mark point in a coordinate system of the unmanned aerial vehicle is taken as correction information of first data, so that more real and accurate data are obtained.
Step S300, after acquiring a first instruction, the unmanned aerial vehicle takes a target reference pile as a starting point and carries out three-dimensional scanning on the earth surface of a target monitoring area corresponding to the target reference pile according to a preset scanning path to acquire first scanning data of the target monitoring area; the first scanning data comprise three-dimensional point cloud data and clock information under an unmanned aerial vehicle coordinate system.
Step S400, calculating three-dimensional coordinate information of the unmanned aerial vehicle relative to the datum point based on the first data to serve as a second coordinate, and acquiring a third coordinate based on the first coordinate and the second coordinate; the third coordinate is three-dimensional coordinate information of the unmanned aerial vehicle in a world coordinate system, which is calculated based on the measurement data of the total station.
In the process of three-dimensional scanning of the unmanned aerial vehicle according to the preset scanning path, the total station carries out tracking monitoring on the unmanned aerial vehicle, and therefore real-time three-dimensional coordinate information of the unmanned aerial vehicle under the accurate world coordinate system is obtained. The unmanned aerial vehicle three-dimensional scanning is the distance and angle information from any scanned point to the unmanned aerial vehicle, so whether the three-dimensional coordinates of the unmanned aerial vehicle are updated in real time based on the information acquired by the total station does not influence the acquisition of three-dimensional scanning data.
In the post-processing mode, after the single monitoring area or the whole monitoring area is scanned in a three-dimensional mode, the three-dimensional coordinates of the world coordinate system under each clock label of the unmanned aerial vehicle are replaced based on the clock information, then the step S500 is executed on all data obtained through scanning, and the three-dimensional point cloud data are calculated integrally.
And the real-time updating mode is a wireless communication mode based on the total station and the unmanned aerial vehicle, the third coordinate obtained and calculated by the total station is timely sent to the unmanned aerial vehicle, and the step S500 is executed to calculate the three-dimensional point cloud data in real time.
Step S500, acquiring second scanning data based on the third coordinate and the first scanning data; the second scanning data is three-dimensional point cloud data in a world coordinate system.
And S600, acquiring a three-dimensional model of the target area based on the world coordinate system based on the second scanning data, comparing the three-dimensional model with a historical three-dimensional model of the target area, and acquiring the land surface settlement information of the target area.
In a third embodiment of the present invention, when a plurality of reference piles are provided in the subway tunnel ground surface settlement monitoring zone, a ground surface settlement monitoring method based on three-dimensional laser scanning by the unmanned aerial vehicle is that after the current target monitoring area is scanned through the above steps S100 to S600, after the step S600 is performed, the unmanned aerial vehicle returns to the current target reference pile based on the first coordinate and mounts the total station, and the step S100 is performed to start monitoring the next target monitoring area. In this example, based on the loop of steps S100-S500, step S600 may be performed by the server of the monitoring center after all the monitoring areas are scanned.
In a fourth embodiment of the present invention, when there are a plurality of reference piles set in the subway tunnel surface subsidence monitoring zone, as shown in fig. 2, a surface subsidence monitoring method based on three-dimensional laser scanning by an unmanned aerial vehicle is described, after step S300 is executed, the unmanned aerial vehicle returns to the current target reference pile based on the first coordinate and mounts the total station, step S100 is executed, and monitoring of the next target monitoring area is started. And after the scanning of the monitoring areas corresponding to all the reference piles is finished, sending the data to a monitoring center server to perform the data processing from the step S400 to the step S600.
The second, third, and fourth embodiments may further include step S700, acquiring a block in which the ground surface settlement height is greater than the set height threshold and the settlement area is greater than the set area threshold, and outputting ground surface settlement alarm information as a settlement risk area. The alarm mode can be various, for example, the display device of the monitoring center flashes the light of the settlement risk area, or sends the settlement risk area to the corresponding terminal device, and the colleague matches the sound alarm mode.
It is clear to those skilled in the art that for convenience and brevity of description, reference may be made to the foregoing first embodiment for the above-described related description of the second, third, and fourth embodiments, and reference may be made to the foregoing second embodiment for the above-described related description of the third and fourth embodiments, which will not be described herein again.
An electronic device of a fifth embodiment of the present invention includes: at least one processor; and a memory communicatively coupled to at least one of the processors; the storage stores instructions executable by the processor, and the instructions are used for being executed by the processor to realize the above ground surface settlement monitoring method based on unmanned aerial vehicle three-dimensional laser scanning.
A computer-readable storage medium of a sixth embodiment of the present invention stores computer instructions for being executed by the computer to implement the above-mentioned method for monitoring surface subsidence based on three-dimensional laser scanning by an unmanned aerial vehicle.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes and related descriptions of the electronic device and the computer-readable storage medium described above may refer to corresponding processes in the foregoing method embodiments, and are not described herein again.
In particular, the processes described above with reference to the flow diagrams may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section, and/or installed from a removable medium. The computer program performs the above-mentioned functions defined in the method of the present application when executed by a Central Processing Unit (CPU). It should be noted that the computer readable medium mentioned above in the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing or implying a particular order or sequence.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can be within the protection scope of the invention.
Claims (10)
1. A surface subsidence monitoring system based on unmanned aerial vehicle three-dimensional laser scanning is characterized by comprising an unmanned aerial vehicle, a total station and a reference pile;
the unmanned aerial vehicle comprises three-dimensional laser scanning equipment, a first fixing device and a wireless charging receiving device, wherein the three-dimensional laser scanning equipment, the first fixing device and the wireless charging receiving device are arranged on a lower holder; a mark point for tracking and measuring the total station is arranged on the unmanned aerial vehicle;
the unmanned aerial vehicle and the total station are synchronous in clock, and information interaction is carried out in a wireless communication mode;
the standard pile comprises an upright post and a platform arranged on the upright post, and a second fixing device and a wireless charging and transmitting device are arranged on the platform; the wireless charging transmitting device is matched with the wireless charging receiving device; the datum point of the datum pile is located on the second fixing device;
the first fixing device and/or the second fixing device are/is a magnetic attraction fixing device and are used for detachably and fixedly assembling the total station;
the number of the reference piles is one or more, and the reference piles are distributed in a subway tunnel ground surface settlement monitoring zone for a plurality of time divisions.
2. The unmanned aerial vehicle three-dimensional laser scanning-based ground surface settlement monitoring system of claim 1, wherein the wireless charging and transmitting device is connected with a storage battery.
3. The unmanned aerial vehicle three-dimensional laser scanning-based ground surface settlement monitoring system of claim 2, wherein the reference pile is configured with a solar and/or wind power generation device for charging the storage battery.
4. An earth surface settlement monitoring method based on unmanned aerial vehicle three-dimensional laser scanning is characterized in that the earth surface settlement monitoring system based on unmanned aerial vehicle three-dimensional laser scanning is based on any one of claims 1-3, and the earth surface settlement monitoring method comprises the following steps:
step S100, the unmanned aerial vehicle loaded with the total station reaches a target reference pile and releases the total station to a second fixing device based on a first coordinate; the first coordinate is three-dimensional coordinate information of a reference point of the target reference pile;
step S200, the unmanned aerial vehicle flies away from the reference pile by a set distance to hover the mark point towards the total station, the total station aims at the mark point and then tracks the mark point in real time, real-time measurement of first data is carried out, and a first instruction is sent to the unmanned aerial vehicle; the first data comprises a horizontal angle, a vertical angle and a distance from the total station to a mark point, and clock information;
step S300, after acquiring a first instruction, the unmanned aerial vehicle takes a target reference pile as a starting point and carries out three-dimensional scanning on the earth surface of a target monitoring area corresponding to the target reference pile according to a preset scanning path to acquire first scanning data of the target monitoring area; the first scanning data comprises three-dimensional point cloud data and clock information under an unmanned aerial vehicle coordinate system;
step S400, calculating three-dimensional coordinate information of the unmanned aerial vehicle relative to the datum point based on the first data to serve as a second coordinate, and acquiring a third coordinate based on the first coordinate and the second coordinate; the third coordinate is three-dimensional coordinate information of the unmanned aerial vehicle under a world coordinate system, which is calculated based on the measurement data of the total station;
step S500, second scanning data are obtained based on the third coordinate and the first scanning data; the second scanning data is three-dimensional point cloud data under a world coordinate system;
and S600, acquiring a three-dimensional model of the target area based on the world coordinate system based on the second scanning data, comparing the three-dimensional model with a historical three-dimensional model of the target area, and acquiring the earth surface settlement information of the target area.
5. The method for monitoring surface subsidence based on unmanned aerial vehicle three-dimensional laser scanning of claim 4, further comprising after step S600:
and S700, acquiring a block with the earth surface settlement height larger than a set height threshold value and the settlement area larger than a set area threshold value, and outputting earth surface settlement alarm information.
6. The method for monitoring surface subsidence based on three-dimensional laser scanning of unmanned aerial vehicle as claimed in claim 4, wherein there are a plurality of reference piles set in the surface subsidence monitoring zone of the subway tunnel, and after step S600 is performed, the unmanned aerial vehicle returns to the current target reference pile based on the first coordinates and mounts the total station, and step S100 is performed.
7. The method for monitoring surface subsidence based on three-dimensional laser scanning of unmanned aerial vehicle as claimed in claim 4, wherein there are a plurality of reference piles set in the surface subsidence monitoring zone of the subway tunnel, after step S300 is executed, the unmanned aerial vehicle returns to the current target reference pile based on the first coordinate and mounts the total station, and step S100 is executed; and after the monitored areas corresponding to all the reference piles are scanned, sending the data to a server to perform the data processing from the step S400 to the step S600.
8. The method for monitoring the surface subsidence based on three-dimensional laser scanning of the unmanned aerial vehicle as claimed in any one of claims 4-7, wherein during the flight process of the unmanned aerial vehicle loaded with the total station, based on the first coordinate, reaching the target reference pile, after the distance from the target reference pile is less than a set value, the total station aims at the second fixing device, obtains the horizontal angle, the vertical angle and the distance from the total station to the second fixing device in real time, and sends the horizontal angle, the vertical angle and the distance to the unmanned aerial vehicle for landing guidance.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by the processor for implementing the drone three-dimensional laser scanning based surface subsidence monitoring method of any one of claims 4-8.
10. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions for being executed by the computer to implement the method for monitoring ground surface settlement based on three-dimensional laser scanning by a drone of any one of claims 4 to 8.
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