CN115619357A

CN115619357A - Natural resource monitoring method, system, terminal and readable storage medium based on engineering machinery

Info

Publication number: CN115619357A
Application number: CN202110792771.9A
Authority: CN
Inventors: 周清亮
Original assignee: Changsha Hongshiyan Technology Co ltd
Current assignee: Changsha Hongshiyan Technology Co ltd
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2023-01-17

Abstract

The invention discloses a natural resource monitoring method, a system, a terminal and a readable storage medium of engineering machinery, wherein the method comprises the following steps: step 1: acquiring operation information of the engineering machinery in the target detection area, and acquiring at least a loading point position and an unloading point position of the engineering machinery based on the operation information; step 2: forming a polymerization range by polymerizing a formation surface based on the position of the loading point and the position of the unloading point; and step 3: and performing the land type identification of the natural resources based on the aggregation range and the geographic information base map data. The invention considers that the engineering equipment is widely applied to natural resource development, thereby fully utilizing the running state of the engineering equipment to realize natural resource monitoring and opening up a brand new monitoring thought. In addition, a set of monitoring system of the internet of things integrating monitoring and identification is formed by the acquisition terminal equipment, the cloud platform and the geographic information database platform, and the automation and informatization degrees of the monitoring system are improved.

Description

Natural resource monitoring method, system, terminal and readable storage medium based on engineering machinery

Technical Field

The invention belongs to the technical field of dynamic monitoring of natural resources, and particularly relates to a method, a system, a terminal and a readable storage medium for monitoring natural resources of engineering machinery.

Background

With the rapid development of social economy, the current situation of land utilization changes rapidly, the phenomenon that national and local resources are illegally used is more and more common, the dynamic monitoring of natural resources is more and more important, and how to further strengthen land supervision and protection and improve the intensive utilization degree of land; in addition, how to quickly find illegal events of natural resources and protect the natural resources and the like is also a problem troubling natural resource management departments.

At present, the monitoring of natural resources mainly adopts the following methods: (1) The natural resources are monitored through manual on-site investigation and photographing, the labor cost is high, the efficiency is low, and a monitoring target needs to provide position information through satellite images or manual clues; at present, the natural resource survey in China mostly adopts the mode. (2) The natural resources are monitored through remote sensing, the low-resolution remote sensing photos are difficult to meet the requirements of monitoring and planning early warning of the natural resources, the high-resolution remote sensing photos are too high in cost, the updating period is long, and dynamic real-time monitoring is difficult to achieve. (3) The natural resource monitoring and planning early warning are carried out through aerial photography, the cost is too high, the coverage of the area is limited, the regional coverage is difficult to realize, and the dynamic real-time monitoring is difficult to realize. (4) Natural resources are monitored through the high-altitude electronic eye, and the monitoring needs to build a large number of ultrahigh iron towers, needs to install a large number of ultrahigh-performance cameras, and is high in cost and limited in monitoring range; at present, only part of large cities adopt the mode, and the coverage of wide village and town areas cannot be realized.

In summary, the conventional natural resource monitoring method has the following disadvantages: the monitoring needs manual investigation, photographing, remote sensing, aerial photography or high-altitude electronic eyes, the monitoring cost is high, and real-time dynamic global monitoring is difficult to realize.

Disclosure of Invention

The invention aims to provide a natural resource monitoring method, a natural resource monitoring system, a natural resource monitoring terminal and a readable storage medium of engineering machinery aiming at the technical problems of the traditional natural resource monitoring mode.

In one aspect, the invention provides a natural resource monitoring method for an engineering machine, comprising the following steps:

step 1: acquiring operation information of the engineering machinery in the target detection area, and acquiring at least a loading point position and an unloading point position of the engineering machinery based on the operation information;

step 2: forming a polymerization range by polymerizing a formation surface based on the position of the loading point and the position of the unloading point;

and step 3: and performing the land type identification of the natural resources based on the aggregation range and the geographic information base map data.

The invention develops a new method, considers that the mechanized construction basically realizes the global coverage in the natural resource development and utilization process, and the most important engineering machinery, namely an excavator and a bulldozer, therefore, the invention analyzes the relevance between each land type and the engineering machinery, carries out the land type identification by monitoring the working state of the engineering machinery, further combines the geographic information base map data, assists the data of the land utilization current situation investigation, the land planning data, the three-line data (the ecological protection red line, the permanent basic farmland protection line, the town development boundary range line), the public welfare Lin Fan surrounding line, the national soil use control data, the mining right and the like, and improves the reliability of the land type identification.

Optionally, in the step 3, the process of identifying the land types of the natural resources based on the aggregation range and the geographic information base map data is to identify linear land features, cultivated land, garden/forest land, construction land, pool/reservoir and special land based on the overall dimension of the aggregation range and the geographic information base map data;

the linear land features, cultivated land, garden/forest land, construction land, pool/reservoir and special land have unique characteristics, and the aggregation range and the geographic information base map data are compared with the unique characteristics to determine whether the linear land features, cultivated land, garden/forest land, construction land, pool/reservoir and special land exist unique characteristics.

Optionally, the linear feature comprises a road, a pipeline, a river and a ditch, wherein the identification rule is as follows:

a, road A:

calculating the area S and/or the perimeter C and/or the width K and/or the length L of the aggregation range, comparing the area S and/or the perimeter C and/or the width K and/or the length L with the size of the aggregation range based on the prior knowledge of the road size, and taking the comparison result as one of the road identification standards;

acquiring peripheral pattern spots of the aggregation range from the geographic information base map data, judging whether the peripheral pattern spots have road pattern spots or not, and taking a judgment result as one of road identification standards;

judging whether continuous loading points exist on one side or/and two sides of the periphery of the aggregation range, and taking a judgment result as one of road identification standards;

judging whether the road special equipment works in the aggregation range or not, and taking the judgment result as one of the road identification standards; the special road equipment is a road roller, an asphalt concrete paver and the like.

The final road identification standard is any one standard or a plurality of standard combinations of the road identification standards;

a pipeline B:

calculating the area S and/or the perimeter C and/or the width K and/or the length L of the aggregation range, comparing the area S and/or the perimeter C and/or the width K and/or the length L with the size of the aggregation range based on the prior knowledge of the size of the pipeline, and taking the comparison result as one of the pipeline identification standards;

judging whether a preset number of point positions overlapped by the transshipment points and the unloading points exist in the aggregation range, and taking the judgment result as one of pipeline identification standards;

the final pipeline identification standard is any one standard or combination of the above pipeline identification standards;

c, river channel/canal:

calculating the area S and/or the perimeter C and/or the width K and/or the length L of the aggregation range, comparing the size of the aggregation range with the prior knowledge of the size of the river channel/channel, and taking the comparison result as one of river channel/channel identification standards;

acquiring the peripheral pattern spots of the aggregation range from the geographic information base map data, judging whether water system pattern spots exist in the peripheral pattern spots or not, and taking a judgment result as one of river channel/ditch channel identification standards;

judging whether a loading point exists in the polymerization range or not, wherein the unloading point is positioned at the side edge, and taking the judgment result as one of river channel/ditch identification standards;

wherein, the final river/canal identification standard is any one standard or combination of the above river/canal identification standards.

Optionally, the identification criteria of the arable land are:

acquiring a land development project range from the geographic information base map data, judging whether the aggregation range is in the land development project range, and taking the judgment result as one of farmland identification auxiliary standards;

acquiring peripheral pattern spots of the aggregation range from the geographic information base map data, judging whether ditch pattern spots exist in the peripheral pattern spots, and taking the judgment result as one of farmland (paddy field) identification standards;

judging whether a bulldozer is constructed in the polymerization range or not, and taking the judgment result as one of farmland identification standards;

judging that the edge of the pattern spot in the aggregation range is a continuously distributed unloading point, the loading point and the unloading point have height difference, the loading point is low, the unloading point is high, the judgment result is used as one of farmland identification standards, and the continuously distributed unloading point or loading point is that the distance between two adjacent unloading points or two adjacent loading points is not more than the aggregation distance;

the final farmland identification standard is any one standard or combination of the farmland identification standards, or the combination of any one or more farmland identification standards and the auxiliary farmland identification standard;

the identification standard of the garden/forest land is as follows:

judging whether the leveling information exists in the aggregation range, wherein the distance between the loading points is greater than the aggregation distance, the loading points have equal-spacing characteristics, and the loading points have regular square matrix distribution characteristics; taking the judgment result as the recognition standard of the garden/forest land, wherein the construction of a bulldozer or the construction of an excavator with a bucket in the aggregation range is regarded as the existence of leveling information, and the excavation point is taken as a loading point;

the identification standard of the construction land is as follows:

judging whether the leveling information exists in the aggregation range, excavating continuous square foundation ditches on the ground flatly, and judging whether included angles among the foundation ditches are as follows: 80-100 degrees, and the area enclosed by a single foundation ditch is 6-50 m ² The method comprises the following steps that a loading point and an unloading point of a foundation ditch are different in height, the loading point is low, the unloading point is high, the judgment result is used as one of identification standards of urban high-rise land in building land, and the foundation ditch is formed by aggregating the loading points;

judging whether the pile machine works in the aggregation range or not, and taking the judgment result as one of the identification standards of urban high-rise land in the building land;

the identification standard of the pit/reservoir is as follows:

calculating the area S and/or the perimeter C and/or the width K and/or the length L of the polymerization range, comparing the size and the shape of the polymerization range based on the pool/reservoir size and shape prior knowledge, and taking the comparison result as one of pool/reservoir identification standards;

judging whether the unloading point is positioned at the periphery of the polymerization range or not and the height of the unloading point is higher than that of the loading point, wherein the height difference between the unloading point and the loading point is larger (generally larger than 1 m), and taking the judgment result as one of pool/reservoir identification standards;

and the final pool/reservoir identification standard is any one standard or combination of the pool/reservoir identification standards.

Optionally, the process of aggregating the composition surface to form an aggregation range based on the loading point position and the unloading point position in step 2 is as follows:

respectively closing the loading point position and the unloading point position within the range of the polymerization distance to form a plane based on the polymerization distance of the polymerization density corresponding to the model of the engineering machinery to form a polymerization pattern spot;

and deleting the aggregated pattern spots with the areas smaller than the preset area threshold.

Wherein the aggregate distance is the diameter of a bucket of a corresponding model or the width of a bucket.

It should be understood that when determining the aggregation range based on the aggregation pattern spots, the setting may be performed according to the actual aggregation situation, and the aggregation range may be determined based on a plurality of aggregation pattern spots, or may be determined based on a single aggregation pattern spot.

In a second aspect, the present invention provides a system based on the natural resource monitoring method, which at least includes: acquiring terminal equipment, a cloud platform and a geographic information database platform;

the acquisition terminal equipment is arranged on the engineering machinery and used for acquiring the operation information of the engineering machinery;

the cloud platform is connected with the acquisition terminal equipment and is used for acquiring the operation information of the engineering machinery acquired by the acquisition terminal equipment and performing data processing;

the geographic information database platform is connected with the cloud platform, and geographic information base map data are stored in the geographic information database platform;

acquiring a loading point position and an unloading point position of the engineering machinery based on the operation information, and then aggregating to form an aggregation range based on the loading point position and the unloading point position; and performing ground type identification of natural resources based on the aggregation range and the geographic information base map data in the geographic information database platform.

The optimized geographic information database platform realizes the purposes of acquiring the loading point position and the unloading point position of the engineering machinery based on the running information and then aggregating to form an aggregation range based on the loading point position and the unloading point position; and performing ground class identification of natural resources based on the aggregation range and the geographic information base map data, which is realized on an internal network for the consideration of confidentiality requirements. The cloud platform can process non-confidential data, such as electronic map processing, processing and packaging sending of analysis results of a geographic information database, management of a user and the like;

optionally, the system further comprises a monitoring end, wherein the monitoring end is connected with the acquisition terminal device and the cloud platform, performs real-time interaction, and is used for acquiring the position and operation information of the engineering machinery and monitoring in real time;

the acquisition terminal device includes: the system comprises a main control module, an attitude identification module, a vibration monitoring module, a positioning function module, a network transmission module, a CAN signal acquisition module and a power management module;

the main control module is a data processing center of the terminal equipment, is connected with the positioning function module, the attitude recognition module, the network transmission module, the CAN signal acquisition module and the power management module, and performs interaction, analysis and execution on a system cloud platform instruction;

the positioning function module is used for acquiring positioning information of the engineering machinery monitoring terminal equipment;

the attitude identification module is used for acquiring attitude information of the engineering machinery, wherein the attitude information comprises a loading action and an unloading action, the attitude identification module monitors the change of an excavator bucket hydraulic sensing signal or an excavator bucket EPC current signal in the CAN bus, a bucket hydraulic pressure sensing signal or a bucket EPC current signal of a bulldozer, and identifies the loading action and the unloading action by combining a receiving-releasing driving signal driven by an excavator bucket and a receiving-releasing driving signal of a bucket of a bulldozer system;

the CAN signal acquisition module acquires signals of a CAN bus of the engineering machinery through a CAN interface;

the power management module is used for providing power supply.

In a third aspect, the system of the natural resource monitoring method provided by the invention comprises an engineering machine, an acquisition terminal device, a cloud platform and a geographic information database platform;

In a fourth aspect, the present invention provides a terminal, which includes a processor and a memory, wherein the memory stores a computer program, and the processor calls the computer program to implement:

a natural resource monitoring method for an engineering machine.

In a fifth aspect, the present invention provides a readable storage medium storing a computer program, the computer program being invoked by a processor to implement:

a natural resource monitoring method for an engineering machine.

Advantageous effects

1. The natural resource monitoring method provided by the invention starts from a brand new technical thought, recognizes the land type by monitoring the working state of the engineering machinery, assists the geographic information base map data to improve the reliability of the land type recognition, provides a brand new technical thought to realize the land type recognition, does not need on-site manual verification, photographing, remote sensing, aerial photography or high-altitude electronic eye monitoring by survey monitoring personnel, has low monitoring cost, and realizes the global real-time dynamic monitoring.

2. According to the natural resource monitoring system, the internet of things monitoring system integrating monitoring and recognition is formed through the collection terminal device, the cloud platform, the geographic information database platform and the monitoring end, and the automation and informatization degrees of the monitoring system are improved.

Drawings

A more complete appreciation of the invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein the accompanying drawings are included to provide a further understanding of the invention and form a part of this specification, and wherein the illustrated embodiments of the invention and the description thereof are intended to illustrate and not limit the invention, as illustrated in the accompanying drawings, in which:

FIG. 1 is a schematic diagram of a framework structure of an intelligent natural resource monitoring method based on a mobile Internet of things;

FIG. 2 is a structural schematic diagram of each module of the engineering machinery information acquisition terminal;

FIG. 3 is a schematic diagram of engineering equipment working state recognition in an intelligent natural resource monitoring method based on a mobile Internet of things;

fig. 4 is a flowchart of an embodiment of identifying a soil pushing area by a system cloud platform performing point aggregation through aggregation density.

Detailed Description

The present invention will be further described with reference to the following examples.

Example 1:

the natural resource monitoring system of the engineering machinery comprises a collecting terminal device, a system cloud platform, a geographic information database platform and a monitoring end. In other possible embodiments, the monitoring terminal may be optionally provided or not provided, and the present invention is not limited to this.

The acquisition terminal equipment is arranged on the engineering machinery and used for acquiring operation information of the engineering machinery. The acquisition terminal device in the embodiment specifically comprises a main control module, an attitude identification module, a vibration monitoring module, a positioning function module, a network transmission module, a CAN signal acquisition module and a power management module. The main control module is a data processing center of the terminal equipment, is connected with the positioning function module, the posture recognition module, the network transmission module, the CAN signal acquisition module and the power management module, and is used for interacting, analyzing and executing a system cloud platform instruction. The positioning function module is used for acquiring positioning information of the engineering machinery monitoring terminal equipment. The gesture recognition module recognizes information such as the walking direction, the three-axis acceleration, the three-axis vibration, the inclination and the angular velocity of the engineering equipment through sensors such as a six-axis sensor and an electronic compass sensor. The CAN signal acquisition module acquires signals of a CAN bus of the engineering equipment through a CAN interface, and is connected with the main control module. The network transmission module is used for transmitting the attitude information, the position/azimuth information and the operation information (collected by the CAN signal collection module) processed by the engineering machinery monitoring terminal to the system cloud platform and the monitoring terminal. The power management module is used for ensuring the stable operation of the engineering machinery monitoring terminal equipment, and comprises four parts of power supply, standby power supply, power conversion and circuit protection so as to ensure the stable operation of the equipment and the internal functional modules. It should be noted that, in the present invention, the information collected by the collecting terminal device is collectively referred to as operation information of the engineering machine, which includes attitude information, position/orientation information, operation information, and the like. It should be understood that, in other possible embodiments, the setting of the function module of the acquisition terminal device may be adaptively adjusted, and the function module may be deleted or added, which is not specifically limited in the present invention.

In this embodiment, the main control module is an MCU core processor; the positioning module comprises a GPS/Beidou dual-mode positioning system; the network transmission module is connected to the MCU core processor and comprises a transmission network circuit, a communication interface circuit, a GPS/Beidou circuit and a communication interface circuit. And a 2G/3G/4G/5G communication module is arranged in the network transmission module, so that the collected positioning information and the identified working state information are sent to the system cloud platform. The attitude identification module identifies information such as the direction, triaxial acceleration, triaxial vibration, inclination, angular velocity and the like of the engineering equipment through a six-axis sensor and an electronic compass.

The CAN signal acquisition module is connected with a CAN bus of the engineering equipment and an MCU core processor, and acquires a bucket driving signal and a change signal of a hydraulic pressure sensor signal in the CAN bus of the engineering equipment through the attitude identification module and synchronously records positioning data. The hydraulic pressure sudden increase is identified as a loading action, the hydraulic pressure sudden decrease is identified as an unloading action, the relatively gentle stage of the hydraulic pressure is in an idle state, and the hydraulic pressure sudden increase and hydraulic pressure sudden decrease is used for identifying the working state of the engineering machinery based on the rule. The hydraulic signals in the CAN bus comprise a movable arm hydraulic pressure sensor signal of a movable excavation system, an arm hydraulic pressure sensor signal, an excavator bucket hydraulic pressure sensor signal or a bucket hydraulic pressure sensor signal of a bulldozing system. In this embodiment, the attitude identification module identifies a loading action or an unloading action by monitoring a change of an excavator bucket hydraulic pressure sensing signal (bucket EPC current signal) or a bucket hydraulic pressure sensing signal (bucket EPC current signal) of the bulldozer in the CAN bus in combination with a "receiving-releasing" driving signal driven by an excavator bucket or a "receiving-releasing" driving signal of a bucket of the bulldozer system, that is, the bucket/bucket driving signal is "receiving", and a sudden increase of the excavator bucket/bucket hydraulic pressure sensor signal is a loading action, while the bucket driving signal is "releasing", and a decrease of the excavator bucket hydraulic pressure sensor signal is an unloading action.

When the loading or unloading action of the bucket is identified, the coordinates of the bucket or the bucket are calculated by combining the signals of the angle sensors on the movable arm, the bucket rod and the bucket and acquiring positioning information and electronic compass signals on terminal equipment, and the specific method is disclosed by 202010971496.2. In addition, the coordinates of the bucket or the excavator can be obtained by acquiring positioning information and electronic compass signals on terminal equipment and combining signals of a boom hydraulic cylinder stay wire type displacement sensor, a bucket rod hydraulic cylinder stay wire type displacement sensor, a bucket hydraulic cylinder stay wire type displacement sensor and the like, and the specific method is 201711014949.7. Thus, the present invention is achievable using existing techniques to identify bucket or bucket coordinates.

In some implementations, the gesture recognition module includes a vibration monitoring module, and when the vibration monitoring module monitors that the engineering equipment is in a vibration state, that is, the engineering mechanical equipment is in a working state, and the power supply is input without a signal, the standby power supply is supplied to the self-contained lithium battery, and the MCU core processor feeds back the fault information, and the fault information is fed back to the system cloud platform. Meanwhile, positioning, corresponding time and equipment numbers acquired when terminal equipment is acquired are synchronously fed back to the monitoring end so as to record the motion trail of the corresponding engineering machinery.

In some implementation modes, the acquisition terminal device is provided with a camera, real-time photographing, video recording and online video recording are carried out on a working area, the camera is connected with the positioning module, photos and videos shot by the camera are recorded, corresponding directions, positioning and shooting time of the photos and the videos are synchronously recorded, and the photos and the videos are processed and sent through the network transmission module.

And the system cloud platform performs data interaction and data processing with the geographic information database platform, the acquisition terminal equipment and the monitoring terminal, and comprises data storage, data interaction, data processing and data analysis. The data of the system cloud platform is from acquisition terminal equipment, and the data is pushed to a geographic information database platform through the data of the system cloud platform preliminary data screening, standardization processing and analysis (important information in electronic message information, such as the model, loading point, unloading point and other information, is read from json/xml and other formats, and is converted into a text format of a polymerization distance, loading point coordinates and unloading point coordinates of a corresponding model required by an intranet, and is transmitted to the intranet at regular time), and the information processed by the system cloud platform is transmitted to the geographic information database platform through a network security isolation and information one-way import system between the system cloud platform and the geographic information database platform; meanwhile, the system cloud platform is communicated with the monitoring end through a network, and engineering equipment real-time positioning data, working state signals, geographic information and planning permission or prohibition information fed back by the system cloud platform are fed back to the corresponding registration monitoring end.

The geographic information database platform is internally provided with geographic information base map data, namely a one-map database for the national soil space planning, and comprises data such as land utilization state investigation data, land planning data, three-line data (ecological protection red line, permanent basic farmland protection line, town development boundary range line), public welfare Lin Fan surrounding line, national soil use control data, mining rights and the like. The method comprises the steps that interaction is carried out on data of a geographic information database platform and a system cloud platform, superposition analysis is carried out on the data of a key information layer (an ecological protection red line, a permanent basic farmland protection line, a town development boundary range line, a public welfare Lin Fan surrounding line and the like), whether the working position of an engineering machine is located in a planning permission development area (such as a planning construction land, a land development project, an increase and decrease hanging and other project range) is analyzed, the working state of the engineering machine is further analyzed, meanwhile, point aggregation is carried out in the geographic information database platform according to the aggregation distance corresponding to the type of the engineering machine in combination with the positioning data of the engineering machine, point signals are converted into a working face range, natural resource development and utilization content of the point signals is identified, the processed data are stored and displayed in real time, and the corresponding land type change information and the planning permission information are extracted and fed back to the system cloud platform through a physical isolation gatekeeper.

And the monitoring end is communicated with the acquisition terminal equipment and the system cloud platform through a network to acquire the information of the engineering mechanical equipment and present the information in real time. The data of the monitoring end comes from the acquisition terminal equipment and the system cloud platform end, the real-time state monitoring of the mechanical equipment is realized through the monitoring end, the monitoring end obtains the position and the working state of the current engineering mechanical equipment through real-time interaction with the acquisition terminal equipment and the cloud platform, and the corresponding equipment is fed back to the corresponding monitoring end in real time.

In some implementation manners, the monitoring end is a mobile end or a desktop end, and the monitoring end is used for displaying the number and the model of the engineering mechanical equipment, the position information, the speed information and the equipment state information of the engineering mechanical equipment, and early warning information fed back by a system cloud platform, and displaying various information on a network electronic map.

In addition, the monitoring end can set electronic fence data and interact the electronic fence data simultaneously, the moving range of the collecting terminal device is monitored, whether the engineering machinery breaks through the electronic fence or not is judged, and when the monitored engineering machinery exceeds the range of the electronic fence, the monitoring end generates early warning information. Example 2:

the natural resource monitoring system for the engineering machinery provided by the embodiment comprises the engineering machinery, a collection terminal device, a cloud platform, a geographic information database platform and a monitoring end. Wherein, the collecting terminal device is installed on the engineering machine, and other related technical contents can refer to the related statement of embodiment 1.

Example 3:

the embodiment provides a natural resource monitoring method for engineering machinery based on operation information of the engineering machinery, which comprises the following steps:

step 1: the method comprises the steps of collecting operation information of the engineering machinery in a target detection area, and at least obtaining the loading point position and the unloading point position of the engineering machinery based on the operation information.

As CAN be seen from the description of embodiment 1, by monitoring the change of the excavator bucket hydraulic pressure sensing signal (bucket EPC current signal) or the bucket hydraulic pressure sensing signal (bucket EPC current signal) of the bulldozer in the CAN bus, in combination with the "receiving-releasing" driving signal of the excavator bucket drive or the "receiving-releasing" driving signal of the bucket of the bulldozer system, the loading action or the unloading action is recognized, that is, the bucket/bucket driving signal is "receiving", and at the same time, the sudden increase of the bucket/bucket hydraulic pressure sensing signal is the loading action, when a driver operates the excavator to lower a movable arm and fold a bucket for taking earth, the hydraulic pressure signal of the excavator is suddenly increased, the EPC current folded by the excavator is correspondingly increased, the EPC current unfolded by the excavator is correspondingly reduced, and then the loading working state CAN be identified, namely the reporting position information, the excavator model information, the acquisition time and the azimuth angle information of an electronic compass are newly added to a system cloud platform, and the working state (loading) of the system cloud platform; when a driver operates the excavator to lift the movable arm and open the bucket, the hydraulic pressure signal of the excavator bucket is reduced, the EPC current when the excavator bucket is opened is correspondingly increased, and the EPC current when the excavator bucket is closed is correspondingly suddenly reduced, so that the unloading working state of the excavator bucket can be identified, namely position information, machine signal information, acquisition time, azimuth angle information of the electronic compass and the working state (unloading) of the position information, the machine signal information, the acquisition time and the azimuth angle information of the electronic compass are newly added to a system cloud platform. Then, the coordinates of the bucket or the bucket can be obtained by utilizing the prior positioning technology,

step 2: and aggregating the forming surface based on the loading point position and the unloading point position to form an aggregation range. The realization process is as follows:

respectively closing the loading point position and the unloading point position within the range of the polymerization distance to form a plane based on the polymerization distance of the polymerization density corresponding to the model of the engineering machinery to form a polymerization pattern spot; and deleting the aggregated pattern spots with the areas smaller than the preset area threshold.

In this embodiment, the geographic information database platform performs processing, and the aggregate distance of the aggregate density corresponding to the model of the engineering machine is the diameter (or the width) of the bucket of the corresponding model. And the minimum area of the warehousing image spots is 50 square meters (preset area threshold), and the problem that the area after aggregation is too small to meet the requirement of the natural resource monitoring threshold is mainly considered.

And step 3: and identifying the land type of the natural resources based on the aggregation range and the geographic information base map data in the geographic information database platform.

Wherein, common land types include: linear ground, cultivated land, garden/forest land, construction land, pond/reservoir, special land. The invention summarizes the following identification standards by analyzing the association between different land types and the engineering machinery and the association between different land types and the geographic information base map data:

for roads, pipelines, rivers and ditches in linear ground objects, the area of the road, the pipeline, the river channel and the ditch is S, the corresponding perimeter is C, and the width K can be approximately expressed as K =2C/L; the length L may be approximately expressed as, L = S/K. The identification criteria are as follows:

a road A: considering that the width K of the common road is less than or equal to 40m, L is more than or equal to 200m, the length-width ratio is more than or equal to 10; the road is generally communicated with the existing road, and the map spots near 1m of the periphery of the road are selected by superposing the identified current position features and the latest state result of the homeland survey, so that the land of the road should exist; in addition, drainage ditches are generally arranged on both sides of the road, namely continuous loading points are arranged on both sides of the road; in addition, a part of the land for roads generally uses various engineering equipments such as a loading vehicle and a road roller, and when the road roller is used, it can be directly identified as a road. Thus, the following rules are summarized:

calculating the area S and/or the perimeter C and/or the width K and/or the length L of the aggregation range, comparing the size of the aggregation range with the prior knowledge of the road size, and taking the comparison result as one of the road identification standards; wherein the size of the aggregation range matches the road size prior knowledge and is deemed to satisfy the identification criteria.

Acquiring the surrounding pattern spots of the aggregation range from the geographic information base map data, judging whether the surrounding pattern spots have road pattern spots or not, and taking a judgment result as one of road identification standards; wherein, the road pattern spot exists, and the identification standard is considered to be satisfied.

Judging whether continuous loading points exist on one side or/and both sides of the periphery of the aggregation range, and taking a judgment result as one of the road identification standards; wherein there are consecutive loading points, which are considered to satisfy the identification criterion.

Judging whether the road special equipment works in the aggregation range or not, and taking the judgment result as one of the road identification standards; wherein the presence of road specific equipment operating within said aggregation range is deemed to satisfy the identification criteria.

And the final road identification standard is any one standard or a combination of a plurality of standards of the road identification standards, meets the corresponding standard and is regarded as the road. It should be understood that the more combinations, the more reliable the recognition result, and the invention can be selectively combined according to the actual precision requirement, which is not specifically limited by the invention.

A pipeline B: considering that the width K of the pipeline is less than or equal to 3m, L is more than or equal to 500m, the length-width ratio is more than or equal to 100; the bending rate of the pipeline is small and is generally less than 10; in addition, the pipeline land has a pipeline burying process in the construction process, namely the loading point and the unloading point are overlapped. The rule thus summarized is as follows:

calculating the area S and/or the perimeter C and/or the width K and/or the length L of the aggregation range, comparing the area S and/or the perimeter C and/or the width K and/or the length L with the size of the aggregation range based on the prior knowledge of the size of the pipeline, and taking the comparison result as one of the pipeline identification standards; wherein the size of the aggregation range matches the a priori knowledge of the pipeline size and is deemed to satisfy the identification criteria.

Judging whether a preset number of point positions overlapped by the transshipment points and the unloading points exist in the aggregation range, and taking the judgment result as one of pipeline identification standards; and the point positions with the preset number of coincident transfer points and unloading points are regarded as meeting the identification standard.

The final pipeline identification standard is any one standard or combination of the above pipeline identification standards, meets the corresponding rule, and is regarded as a pipeline. It should be understood that the more combinations, the more reliable the recognition result, and the invention can be selectively combined according to the actual precision requirement, which is not specifically limited by the invention.

C, river channel/canal: considering that the width K of a general river and a ditch is less than or equal to 20m, L is more than or equal to 200m, the length-width ratio is more than or equal to 10; the method comprises the following steps that a ditch is generally communicated with an existing water system, identified current land features and three-tone current pattern spots are superposed, pattern spots near 1m of the periphery of the ditch are selected, and pits, ditches, lakes, rivers, reservoirs and the like are judged to exist in the ditch; in addition, rivers and ditches show that the loading point is located in the middle of the polymerization surface, and the unloading point is located on two sides (or one side). The rule thus summarized is as follows:

calculating the area S and/or the perimeter C and/or the width K and/or the length L of the aggregation range, comparing the size of the aggregation range with the prior knowledge of the size of the river channel/channel, and taking the comparison result as one of river channel/channel identification standards; wherein the size of the aggregation range matches the a priori knowledge of the channel/canal size, and is deemed to satisfy the identification criteria.

Acquiring a peripheral pattern spot of the aggregation range from the geographic information base map data, judging whether a water system pattern spot exists in the peripheral pattern spot or not, and taking a judgment result as one of river channel/ditch identification standards; among them, the presence of water-based patches is considered to satisfy the identification criterion.

Judging whether a loading point exists in the polymerization range or not, wherein the unloading point is positioned at the side edge, and taking the judgment result as one of river channel/ditch identification standards; and if the loading points meeting the content exist, the identification standard is considered to be met.

The final river/channel identification standard is any one or combination of the river/channel identification standards, meets the corresponding rule, and is regarded as the river/channel. It should be understood that the more combinations, the more reliable the recognition result, and the invention can selectively combine according to the actual precision requirement, which is not specifically limited by the invention.

D: aiming at cultivated land, considering that newly-increased cultivated land is generally positioned in the range of a land development project, analyzing whether a pattern spot is positioned in the range of the land development project or not by superposing the pattern spot and a land development project library layer in a key information layer of one pattern; for a newly developed paddy field, overlapping the image spots obtained by polymerization with the image spots of the current situation of the third tone, selecting the image spots near 1m of the periphery of the image spots, and judging that the ditch image spots exist; in addition, the edge of the pattern spot is distinguished from other land types by a ridge formed by unloading points which are continuously distributed. The rule thus summarized is as follows:

acquiring a land development project range from the geographic information base map data, judging whether the aggregation range is in the land development project range, and taking the judgment result as one of farmland identification auxiliary standards; wherein the aggregation range is within the range of the land development project and is regarded as meeting the identification auxiliary standard.

Acquiring the peripheral pattern spots of the aggregation range from the geographic information base map data, judging whether the peripheral pattern spots have ditch pattern spots, and taking the judgment result as one of farmland identification standards; wherein the trench pattern is present and is deemed to satisfy the identification criteria.

Judging whether a bulldozer is under construction in the aggregation range or not, and taking the judgment result as one of farmland identification standards; wherein a bulldozer exists, deemed to meet the identification criteria.

Judging that the edge of the pattern spot in the aggregation range is a continuously distributed unloading point, the height difference between the loading point and the unloading point is small, the loading point is low, the unloading point is high, and the judgment result is used as one of farmland identification standards; wherein the load point and the unload point satisfy the above requirements and are deemed to satisfy the identification criteria.

And the final cultivated land identification standard is any one standard or combination of the cultivated land identification standards, meets the corresponding rule and is regarded as cultivated land. One of the farmland identification auxiliary standards is used for assisting identification. It should be understood that the more combinations, the more reliable the recognition result, and the invention can be selectively combined according to the actual precision requirement, which is not specifically limited by the invention.

E: in the garden/forest land, the planting foundation pits of the newly added garden are basically in regular distance and regular size, the land is generally pushed to the flat land in the early stage, the distance of digging points basically presents the equal distance characteristic, and the digging points present the regular square matrix characteristic. The set identification criteria are:

judging whether the leveling information exists in the aggregation range, wherein the distance between the loading points is greater than the aggregation distance, the loading points have equal-spacing characteristics, and the loading points have regular square matrix distribution characteristics; and taking the judgment result as the recognition standard of the garden/forest land, wherein the construction of a bulldozer or the construction of an excavator with a bucket in the aggregation range is regarded as the existence of leveling information, and the excavation point is taken as a loading point.

Wherein, satisfying the above rule, judge as garden/forest land.

F: the construction land generally refers to a business land, a residential land, a public management and public service land, and an industrial, mining and warehousing construction land. Considering the earlier stage of leveling, forming flat ground, digging continuous square foundation ditches on the flat ground, wherein the included angle between every two foundation ditches is about a right angle (generally 80-100 degrees), and the area enclosed by the single foundation ditches is 10-50 m ² The difference between the height of the loading point and the height of the unloading point of the foundation ditch is small, the loading point is low, and the unloading point is slightly higher; for urban high-rise buildings, pile machines generally work. The summarized recognition rules are:

judging whether the leveling information exists in the aggregation range, excavating continuous square foundation ditches on the ground, and judging whether included angles among the foundation ditches are as follows: 80-100 degrees, and the area enclosed by a single foundation ditch is 6-50 m ² The height difference between the loading point and the unloading point of the foundation ditch is small, the loading point is low, the unloading point is high, and the judgment result is used as one of the identification standards of urban high-rise land in the building land, wherein the foundation ditch is formed by aggregating the loading points.

Judging whether the pile machine works in the aggregation range or not, and taking the judgment result as one of the identification standards of urban high-rise land in the building land; wherein there are pile machines operating within said aggregation range considered to meet the identification criteria.

Wherein, satisfying the above rule, regard as the building land. It should be understood that the more combinations, the more reliable the recognition result, and the invention can be selectively combined according to the actual precision requirement, which is not specifically limited by the invention.

E: particularly where applicable. Generally, unique features exist in a special land, and the aggregation range, the geographic information base map data and the unique features are compared to determine whether the special land is used or not. Taking the common grave as an example, considering that the construction holes are mostly single holes, the hole shapes are mostly rectangular, the width is 0.5 to 2m, the length is 2 to 2.5m, the hole depth is 0.5 to 2m, and the single hole characteristics are realized.

Q: pools and reservoirs. Considering that the polymerization surface for the pit, the reservoir is more elliptical and sub-circular, the surface-to-periphery ratio is more than 0.5, and the loading point is positioned in the pit, the reservoir; the unloading point is positioned at the periphery of the pool and the reservoir, and the height of the unloading point is higher than that of the loading point. Thus, the generalized recognition rule is:

calculating the area S and/or the perimeter C and/or the width K and/or the length L of the polymerization range, comparing the size and the shape of the polymerization range based on the pool/reservoir size and shape prior knowledge, and taking the comparison result as one of pool/reservoir identification standards; and the size and the shape of the polymerization range are matched with the priori knowledge of the size and the shape of the pool/reservoir, and the size and the shape of the polymerization range are considered to meet the identification standard.

Judging whether the unloading point is positioned at the periphery of the polymerization range or not and the height of the unloading point is higher than that of the loading point, and taking the judgment result as one of pool/reservoir identification standards; wherein the unloading point is at the periphery of the aggregation range and the unloading point is higher than the loading point, and the identification standard is considered to be met.

And the final identification standard of the pit/reservoir is any one standard or combination of the identification standards of the pit/reservoir, meets the corresponding rule, and is regarded as the pit/reservoir. It should be understood that the more combinations, the more reliable the recognition result, and the invention can be selectively combined according to the actual precision requirement, which is not specifically limited by the invention.

As shown in fig. 4, an identification embodiment of the soil pushing area is developed for the excavator, and as is apparent from the embodiment, the loading points are mainly located at the north side of the unloading points and distributed along the road, the unloading points are located at the low-lying positions at the south side of the loading points, the loading points and the unloading points are partially overlapped, the overlapped part takes the point with the later time as the reference, the previous data points are cleared by the aggregation radius of the point with the later time, and the processed loading points and unloading points are respectively aggregated into a surface, so as to correspondingly form a loading range surface and an unloading range surface respectively. From this embodiment, the total range of the loading range plane and the unloading range plane is the range of the soil pushing area, and the recognized land type is also confirmed by comparing photos collected by the information collecting terminal of the excavator.

It should be noted that the present invention summarizes the above recognition rules based on the association between the land types and the construction machines, and the addition of the recognition rules without departing from the inventive concept also falls into one inventive concept of the present invention.

Example 4:

the present embodiments provide a terminal comprising one or more processors; one or more input devices, one or more output devices, and memory. The processor, the input device, the output device and the memory are connected by a bus. The memory is used for storing instructions and the processor is used for executing the instructions stored by the memory. Wherein the processor is configured to perform:

Step 2: and forming an aggregation range by aggregating and forming based on the position of the loading point and the position of the unloading point.

And step 3: and performing the land type identification of the natural resources based on the aggregation range and pre-stored geographic information base map data.

The specific implementation process of steps 1-3 can refer to the statement of embodiment 3, and the identification rule can refer to the process of a-Q.

The input device may include a sensor (e.g., various acquisition elements, such as a camera and a video camera, disposed on the acquisition terminal device). The output devices may include a display (LCD, etc.), speakers, etc. The memory may include both read-only memory and random access memory, and provides instructions and data to the processor. The portion of memory may also include non-volatile random access memory. For example, the memory may also store device type information.

In a specific implementation, the processor, the input device, and the output device described in the embodiments of the present invention may execute the implementation described in the embodiments of the method provided in the embodiments of the present invention, and may also execute the implementation of the system described in the embodiments of the present invention, which is not described herein again. It should be understood that in the embodiments of the present invention, the Processor may be a Central Processing Unit (CPU), and the Processor may also be other general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field-Programmable gate arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Example 5:

the present embodiment provides a readable storage medium storing a computer program which, when executed by a processor, implements:

And step 3: and performing ground type identification of natural resources based on the aggregation range and the geographic information base map data in the geographic information database platform.

The computer readable storage medium may be an internal storage unit of the server according to any of the foregoing embodiments, for example, a hard disk or a memory of the server. The computer readable storage medium may also be an external storage device of the server, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the server. Further, the computer-readable storage medium may also include both an internal storage unit of the server and an external storage device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the server. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the server and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed server and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It should be emphasized that the examples described herein are illustrative and not restrictive, and thus the invention is not to be limited to the examples described herein, but rather to other embodiments that may be devised by those skilled in the art based on the teachings herein, and that various modifications, alterations, and substitutions are possible without departing from the spirit and scope of the present invention.

Claims

1. A natural resource monitoring method for an engineering machine, characterized by: the method comprises the following steps:

and 2, step: forming a polymerization range by polymerizing a formation surface based on the position of the loading point and the position of the unloading point;

2. The method of claim 1, wherein: in the step 3, the process of identifying the land types of natural resources based on the aggregation range and the geographic information base map data is based on the overall dimension of the aggregation range and assists the geographic information base map data to identify linear land features, cultivated land, garden/forest land, construction land, pits/reservoirs and special land;

3. The method of claim 2, wherein: the linear ground object comprises a road, a pipeline, a river channel and a ditch, wherein the identification rule is as follows:

a road A:

calculating the area S and/or the perimeter C and/or the width K and/or the length L of the aggregation range, comparing the size of the aggregation range with the prior knowledge of the road size, and taking the comparison result as one of the road identification standards;

judging whether continuous loading points exist on one side or/and both sides of the periphery of the aggregation range, and taking a judgment result as one of the road identification standards;

judging whether the road special equipment works in the aggregation range or not, and taking the judgment result as one of the road identification standards;

a pipeline B:

calculating the area S and/or the perimeter C and/or the width K and/or the length L of the polymerization range, comparing the area S and/or the perimeter C and/or the width K and/or the length L with the size of the polymerization range based on the prior knowledge of the size of the pipeline, and taking the comparison result as one of the pipeline identification standards;

c, river channel/canal:

4. The method of claim 2, wherein: the identification standard of the cultivated land is as follows:

acquiring peripheral pattern spots of the aggregation range from the geographic information base map data, judging whether ditch pattern spots exist in the peripheral pattern spots, and taking the judgment result as one of farmland identification standards;

judging whether a bulldozer is under construction in the aggregation range or not, and taking the judgment result as one of farmland identification standards;

judging that the edge of the pattern spot in the aggregation range is a continuously distributed unloading point, the loading point and the unloading point have height difference, the loading point is low, the unloading point is high, the judgment result is used as one of farmland identification standards, and the continuously distributed unloading point or loading point is two adjacent unloading points or the distance between the two adjacent loading points is not more than the aggregation distance;

the identification standard of the garden/forest land is as follows:

the identification standard of the construction land is as follows:

judging whether the leveling information exists in the aggregation range, excavating continuous square foundation ditches on the ground flatly, and judging whether included angles among the foundation ditches are as follows: 80-100 degrees, and the surface enclosed by single foundation ditchThe product is 6-50 m ² The method comprises the following steps that a loading point and an unloading point of a foundation ditch are different in height, the loading point is low, the unloading point is high, the judgment result is used as one of identification standards of urban high-rise land in building land, and the foundation ditch is formed by aggregating the loading points;

the identification standard of the pit/reservoir is as follows:

judging whether the unloading point is positioned at the periphery of the polymerization range or not and the height of the unloading point is higher than that of the loading point, and taking the judgment result as one of pool/reservoir identification standards;

5. The method of claim 1, wherein: the process of forming the aggregation range by aggregating the synthetic surface based on the loading point position and the unloading point position in the step 2 is as follows:

deleting the aggregated pattern spots with the areas smaller than a preset area threshold;

6. A system based on the method of any one of claims 1 to 5, characterized in that: at least comprises the following steps: acquiring terminal equipment, a cloud platform and a geographic information database platform;

7. The system of claim 6, wherein: the monitoring terminal is connected with the acquisition terminal equipment and the cloud platform, performs real-time interaction, and is used for acquiring the position and operation information of the engineering machinery and monitoring in real time;

the power management module is used for providing power supply.

8. A system based on the method of claim 5, wherein: the system comprises engineering machinery, acquisition terminal equipment, a cloud platform and a geographic information database platform;

9. A terminal, characterized by: comprising a processor and a memory, the memory storing a computer program that the processor calls to implement:

the process steps of any one of claims 1 to 5.

10. A readable storage medium, characterized by: a computer program is stored, which is invoked by a processor to implement:

the method steps of any one of claims 1-5.