CN105488958B - A kind of contactless landslide disaster monitoring system and method - Google Patents

The invention discloses a kind of contactless landslide disasters to monitor system, including the laser radar scanner, video review equipment and monitoring center processing platform connecting respectively with monitoring processing host；Wherein, laser radar scanner is for obtaining in landslide control region each point to the range data of laser radar scanner；Monitoring processing host is for receiving laser radar scanner range data collected, obtaining overrun testing result and overrun testing result being sent to monitoring center processing platform；After monitoring center processing platform judges that overrun testing result is more than data threshold, monitoring processing host is also used to trigger video review equipment acquisition video and is checked.The contactless landslide disaster monitors system, is monitored using 3 D stereo scanning technique to entire landslide control region, can accurately monitor Landslide Hazards, and by checking equipment linkage with video, realizes early warning-alarm-review treatment mechanism.The present invention discloses corresponding monitoring methods.

Non-contact landslide disaster monitoring system and method thereof

Technical Field

The invention relates to a landslide hazard monitoring system, in particular to a non-contact landslide hazard monitoring system, and also relates to a monitoring method realized by using the landslide hazard monitoring system, belonging to the field of geological hazard monitoring.

Background

The landslide is the phenomenon of integral gliding damage generated by shearing a part of rock and soil bodies forming the slope along a certain weak surface in the slope under the action of mainly gravity under certain natural conditions and geological conditions. In recent years, accidents caused by landslide disasters frequently occur, and the safety of lives and properties of people is seriously threatened.

The existing landslide monitoring technology mainly comprises the following three types: 1) traditional landslide monitoring techniques; 2) distributed optical fiber monitoring techniques; 3) GNSS displacement monitoring technology. The three monitoring technologies are all contact monitoring technologies, and have the following advantages and disadvantages when monitoring the landslide.

The traditional landslide monitoring technology adopts a sensor technology, monitors a landslide body by means of special instruments such as a vibrating crack meter, an inclinometer, an underground water level monitor, a pressure meter and the like which are arranged on the landslide body, and sends the landslide body to a center through a bus to perform software analysis processing. The monitoring technology has the advantages of low cost, high precision and good effect; but it is susceptible to groundwater, climatic environments; in addition, point measurement, non-surface measurement and measurement accuracy can be easily influenced only for the slope body; and the construction difficulty is high, and the period is long.

The distributed optical fiber monitoring technology is a distributed optical fiber strain sensing technology of Brillouin backscattering. Light waves propagate in the optical fiber and interact with acoustic phonons in the optical fiber to generate brillouin scattering. The sensing optical fibers are arranged on the surface of the landslide in a net shape, and the optical fibers are fixed at a certain depth position below the surface of a landslide soil body or directly attached to the surface of a rock body at intervals, so that the optical fibers are coordinated with the deformation of the rock body. The distributed optical fiber sensing technology has the following advantages: the measuring distance is long, the coverage range is large, a large-area landslide body can be well monitored, information such as strain, temperature and damage on any point along the optical fiber can be measured, and all-dimensional monitoring on a monitored object is achieved. But also has the following disadvantages: the contact type measurement has the disadvantages of troublesome construction, great influence by factors such as temperature, optical fiber aging and the like, high false alarm rate and high cost.

The GNSS displacement monitoring technology is used for firstly establishing GNSS monitoring points and datum points when monitoring landslide displacement. The GNSS monitoring points are arranged at key positions of the landslide body where the sliding speed is high or the sliding quantity is large, and the GNSS reference points are arranged at stable sections far away from the landslide influence area. And a GNSS receiver and a GNSS antenna are installed at each GNSS monitoring point or reference point. The GNSS antenna and the receiver are used for receiving and recording satellite signals such as Beidou, GPS, GLONASS, Gal i leo and the like, converting the satellite signals into data streams or data files, converging the data streams or the data files to a server end provided with special monitoring software through a communication link, and performing high-precision differential positioning calculation through the monitoring software to obtain high-precision displacement data of each satellite. When the displacement data exceeds a preset threshold value, the system automatically gives an alarm to remind relevant departments of taking risk avoidance measures in advance. The GNSS displacement monitoring technology has the advantages of high monitoring precision and good effect; but the method still only carries out point monitoring on the slope body, and non-omnibearing monitoring is carried out; and the whole monitoring technology has the advantages of high construction difficulty, long period and high cost.

Disclosure of Invention

The invention aims to provide a non-contact landslide hazard monitoring system.

The invention aims to solve another technical problem of providing a non-contact landslide hazard monitoring method.

In order to achieve the purpose, the invention adopts the following technical scheme:

a non-contact landslide hazard monitoring system comprises a laser radar scanner, video rechecking equipment and a monitoring center processing platform which are respectively connected with a monitoring processing host; wherein,

the laser radar scanner is used for acquiring distance data from each point in a landslide monitoring area to the laser radar scanner;

the video rechecking equipment is used for acquiring image data of a landslide monitoring area;

the monitoring processing host is used for receiving the distance data acquired by the laser radar scanner, acquiring an overrun detection result and sending the overrun detection result to a monitoring center processing platform; and when the monitoring center processing platform judges that the overrun detection result exceeds the data threshold, the monitoring processing host is also used for triggering the video rechecking equipment to acquire the video for rechecking.

Preferably, the laser source inside the laser radar scanner can rotate horizontally;

the laser radar scanner is arranged on the crank rocker auxiliary platform, and the crank rocker auxiliary platform is used for driving the laser radar scanner to rotate in a vertical direction.

Wherein preferably, the elevation angle theta of the crank rocker pair platform₁And depression angle theta₂The following formulas are respectively satisfied between the installation height H of the laser radar scanner and the height H of the slope body:

wherein R is₁Is the distance, R, from the laser radar scanner to the highest point of the slope₂Is the distance from the laser radar scanner to the lowest point of the slope.

Preferably, the following formula is satisfied between the pitch angle speed ω of the crank and rocker pair platform and the control angle ψ of the crank and rocker pair platform:

wherein, the control angle psi of the crank rocker pair platform is theta₁+θ₂(ii) a And t is the scanning period of the crank rocker auxiliary platform.

Preferably, the monitoring processing host comprises a laser radar processing platform and a video rechecking platform;

the laser radar processing platform is used for controlling a motor to drive the crank rocker pair platform to rotate, and is used for receiving position feedback information of the crank rocker pair platform; the laser radar processing platform is also used for establishing a digital surface model of the landslide monitoring area according to distance data obtained by scanning of the laser radar scanner and obtaining an overrun detection result;

the video rechecking platform is connected with the video rechecking equipment; the video rechecking platform is used for starting the video rechecking equipment to collect video data and sending the video data to the monitoring center processing platform to recheck the disaster.

Preferably, the monitoring processing host further comprises a switch for communicating with the laser radar processing platform, the video review platform and the monitoring center processing platform.

A non-contact landslide hazard monitoring method comprises the following steps:

(1) establishing a basic digital surface model by using standard point cloud data of the whole landslide monitoring area;

(2) the laser radar scanner repeatedly detects the whole landslide monitoring area to establish a real-time digital surface model, determines the position, the area and the volume of an out-of-tolerance area and the out-of-tolerance average height and the maximum height according to the comparison result of the real-time digital surface model and the basic digital surface model, and transmits the out-of-tolerance detection result back to the monitoring center processing platform;

(3) the monitoring center processing platform compares the overrun detection result with a set data threshold, and generates an early warning signal when the overrun detection result does not exceed the data threshold; and when the overrun detection result exceeds the data threshold, generating an alarm signal and triggering video rechecking equipment to recheck the disaster.

Preferably, in the step (1), standard point cloud data of the whole landslide monitoring area is obtained from a primary scanning result or a periodic maintenance scanning result of the laser radar scanner, and the standard point cloud data comprises an initial distance from each monitoring point to the laser radar scanner.

Preferably, the step (2) comprises the following steps:

(21) acquiring the actual distance of each real-time scanning point, and calculating the difference between the actual distance and the initial distance;

(22) judging whether the difference value is a positive difference value and is larger than a set threshold value, and if so, constructing a real-time digital surface model for the overrun point cloud obtained by subsequent scanning; if not, continuing to scan;

(23) and comparing data by using the real-time digital surface model and the basic digital surface model to determine the position, the area and the volume of the out-of-tolerance area and the out-of-tolerance average height and the maximum height.

Preferably, the step (2) further comprises a step (24): and (3) identifying whether the overrun detection object is a human or an animal according to the data form of the overrun point cloud, if so, ignoring the detection result, and returning to the step (21).

The non-contact landslide hazard monitoring system provided by the invention adopts a three-level architecture and is respectively a monitoring center processing platform, a monitoring processing host, a laser radar scanner and a video rechecking device. The non-contact landslide hazard monitoring system monitors the whole slope surface of a landslide monitoring area by using a three-dimensional scanning technology, can accurately monitor landslide geological hazards, and is linked with video rechecking equipment to realize a processing mechanism of early warning, alarming and rechecking. The non-contact landslide hazard monitoring system carries out non-contact monitoring on a landslide monitoring area by using equipment such as a laser radar scanner and the like fixed near the landslide monitoring area, and has the advantages of low cost, convenient construction and convenient maintenance; and, the precision is high, and the false alarm rate is low. Moreover, the non-contact landslide hazard monitoring system can approximately calculate the earth volume of the landslide according to the comparison result of the real-time digital surface model and the basic digital surface model, is convenient for subsequent rescue, and can greatly reduce the life and property loss of people caused by landslide geological hazards.

Drawings

FIG. 1 is a block diagram of a non-contact landslide hazard monitoring system provided by the present invention;

FIG. 2 is a schematic illustration of the measurement resolution of a lidar scanner;

FIG. 3 is a schematic view of the mounting position of the lidar scanner and the control angle of the crank and rocker sub-platform;

fig. 4 is a processing flow chart of the non-contact landslide hazard monitoring system provided by the present invention.

Detailed Description

The technical contents of the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

The laser radar scanning technology is a novel aviation measurement technology which is rapidly developed in the last ten years, has been widely applied to a plurality of industries at home and abroad, but is not common in landslide monitoring application. The ground three-dimensional laser scanning technology can acquire the three-dimensional space coordinates of the surface of the object at high speed, high precision and high density, does not need to contact the object to be detected, and is particularly suitable for being applied to the field of monitoring geological disasters such as landslides.

The non-contact landslide monitoring system provided by the invention adopts a three-level architecture, namely a monitoring center processing platform 1, a monitoring processing host 2, a laser radar scanner 3 and a video review device 4. As shown in fig. 1, a laser radar scanner 3, a video review device 4 and a monitoring center processing platform 1 are respectively connected with a monitoring processing host 2; the laser radar scanner 3 is used for acquiring distance data from each point in the landslide monitoring area to the laser radar scanner 3; the video rechecking device 4 is used for acquiring image data of a landslide monitoring area; the monitoring processing host 2 is used for receiving the distance data acquired by the laser radar scanner 3, acquiring an overrun detection result and sending the overrun detection result to the monitoring center processing platform 1; when the monitoring center processing platform 1 judges that the overrun detection result exceeds the data threshold, the monitoring processing host 2 is also used for triggering the video rechecking device 4 to collect the field video for rechecking. The non-contact landslide monitoring system utilizes a three-dimensional scanning technology to calculate the earth volume of slope collapse so as to facilitate emergency construction, and links the monitoring result of the laser radar scanner 3 with the video rechecking equipment 4 to realize a processing mechanism of early warning, alarming and rechecking.

The specific configuration of the non-contact landslide monitoring system and the monitoring principle and monitoring method related thereto will be described in detail below.

As can be seen in fig. 1, 2 and 3, the lidar scanner 3 is mounted on a crank and rocker sub-platform 30. The inside laser source of laser radar scanner 3 can carry out the angular rotation of horizontal direction, and crank rocker vice platform 30 can drive laser radar scanner 3 and carry out the angular rotation on the vertical direction. As shown in fig. 3, the height H of the crank and rocker pair platform 30 is smaller than the height H of the slope of the landslide monitoring area, so that the crank and rocker pair platform 30 can drive the laser radar scanner 3 to swing up and down in the vertical direction. Through the horizontal rotation of the inside laser source of laser radar scanner 3, simultaneously, the vice platform 4 of crank rocker drives laser radar scanner 3 and carries out vertical rotation, finally forms the scanning of face. The pulse laser continuously scans the landslide to obtain the data of all target points on the landslide, and the accurate three-dimensional image of the landslide can be obtained after the imaging processing is carried out on the data.

The laser radar scanner 3 uses laser as a signal source, pulse laser emitted by the laser hits a target point in a landslide monitoring area to cause scattering, a part of light wave is reflected to a receiver of the laser radar scanner 3, and the distance from the laser radar scanner 3 to the target point is obtained by calculation according to a laser ranging principle.

As shown in fig. 2, assuming that the farthest scanning distance of the laser radar scanner 3 is R and the angular resolution is θ, the measurement resolution d can be calculated as:

as shown in FIG. 3, assuming that the installation height of the laser radar scanner 3 is H, the height of the slope is H, and H is less than H, the elevation angle θ of the crank rocker sub-platform 30 can be calculated₁Comprises the following steps:angle of depression theta₂Comprises the following steps:the control angles of the crank rocker pair platform 30 are: phi theta₁+θ₂. Wherein R is₁Is the distance, R, from the laser radar scanner to the highest point of the slope₂Is the distance from the laser radar scanner to the lowest point of the slope.

When the angular resolution θ is 0.5 °, the scanning frequency of the laser radar scanner 3 may be set to 50 Hz; when the angular resolution θ is 0.25 °, the scanning frequency of the laser radar scanner 3 may be set to 25 Hz.

Assuming that the period for scanning the slope is t (determined according to the time requirement of alarm), the pitch angle speed of the crank rocker sub-platform 30 is tCalculated as θ being 0.5 °, the angular resolution of the crank and rocker sub-platform 30 is

Therefore, the area scanned by the laser radar scanner 3 has the precision (when the resolution is small) that S is approximately equal to α multiplied by d, namely, when the area larger than S slides, the overrun detection result is generated, thereby generating the early warning or alarm information.

As shown in fig. 1, the monitoring processing host 2 further includes a switch 20, a laser radar processing platform 21 and a video review platform 22; the switch 20 is used for communicating with the laser radar processing platform 21, the video review platform 22 and the monitoring center processing platform 1. Laser radar processing platform 21 is used for controlling the motor drive crank rocker pair platform 30 and rotates to, laser radar processing platform 21 is used for receiving the position feedback information of crank rocker pair platform 30. The laser radar processing platform 21 is further configured to establish a digital surface model of the landslide monitoring area according to the distance data obtained by scanning of the laser radar scanner 3, and obtain an overrun detection result; the lidar processing platform 21 and the lidar scanner 3 may be connected via an RJ45 interface. The video rechecking platform 22 is connected with the video rechecking device 4 through an RJ45 interface, and the video rechecking platform 22 is used for starting the video rechecking device 4 to collect video data and sending the collected video data to the monitoring center processing platform 1 through the switch 20 for disaster rechecking.

As shown in fig. 4, when the non-contact landslide hazard monitoring system is used for disaster monitoring, the method specifically includes the following steps: (1) establishing a basic digital surface model by using standard point cloud data of the whole landslide monitoring area; (2) the laser radar scanner repeatedly detects the whole landslide monitoring area to establish a real-time digital surface model, determines the position, the area and the volume of an out-of-tolerance area and the out-of-tolerance average height and the maximum height according to the comparison result of the real-time digital surface model and the basic digital surface model, and transmits the out-of-tolerance detection result back to the monitoring center processing platform; (3) the monitoring center processing platform compares the overrun detection result with a set data threshold, and generates an early warning signal when the overrun detection result does not exceed the data threshold; and when the overrun detection result exceeds the data threshold, generating an alarm signal and triggering the video rechecking equipment to recheck the disaster.

In step (1), a basic database is established by scanning the landslide monitoring area with the lidar scanner 3. During the first use, laser radar scanner 3 carries out the accurate scanning to landslide monitored area, obtains standard point cloud data, and the initial distance of every monitoring point to laser radar scanner 3 is included in standard point cloud data, and this point cloud data is handled and can be established the Digital Surface Model (DSM) of basis, and this data surface model is as the basic data of later stage automatic monitoring. And during regular maintenance, the laser radar scanner scans the landslide monitoring area again and updates the basic data as required. That is, in step (1), the standard point cloud data of the entire landslide monitoring area may be obtained from the primary scanning result of the laser radar scanner or the scanning result during regular maintenance, and a basic digital surface model may be established.

In the step (2), the landslide monitoring area is rapidly scanned in real time through the laser radar scanner 3, and landslide detection is performed. Specifically, the actual distance of each real-time scanning point is obtained, and the difference between the actual distance and the initial distance in the basic digital surface model is calculated; if the difference is positive difference and is larger than a set threshold, constructing a real-time digital surface model for the overrun point cloud obtained by subsequent scanning; then, the real-time digital surface model and the basic digital surface model are used for carrying out conversion detection, an overrun detection result is determined, and the overrun detection result is transmitted back to the monitoring center.

The method specifically comprises the following steps:

(21) acquiring the actual distance of each real-time scanning point, and calculating the difference between the actual distance and the initial distance;

(22) judging whether the difference is a positive difference and is larger than a set threshold, if so, constructing a real-time digital surface model for the overrun point cloud obtained by subsequent scanning; if not, continuing to scan; an overrun point cloud is a collection of points whose distance difference exceeds a set threshold.

(23) And comparing data by using the real-time digital surface model and the basic digital surface model to determine the position, the area and the volume of the out-of-tolerance area and the out-of-tolerance average height and the maximum height. The out-of-tolerance area is an area formed by out-of-limit point clouds of which the distance difference value exceeds a set threshold value; and the position, the area, the volume, the average out-of-tolerance height, the maximum out-of-tolerance height and other information of the out-of-tolerance area form an out-of-limit detection result.

In the step (2), the laser radar scanner scans the landslide monitoring area on a fixed occasion, so that dynamic autonomous calibration can be performed. The system scans the target in a fixed occasion, and the position size in the monitored area is fixed, so that the system can be used as a dynamic autonomous calibration reference, the operation stability of the system can be improved, and the misinformation can be reduced.

In addition, the step (2) may further include a step (24) of identifying whether the overrun detection object is a human or an animal according to the data form of the overrun point cloud, if so, ignoring the detection result, returning to the step (21), and if not, sending the overrun detection result to the monitoring center processing platform. That is, the data form of the point cloud formed by the early analysis can automatically judge that the overrun detection object is a human or an animal, so that the situation is not misreported.

In the step (3), the linkage of the alarm information and the video can be realized. When the monitoring data changes in a range lower than the data threshold, early warning can be performed in advance; when the monitoring data exceeds a set data threshold, an alarm signal is generated, the video rechecking equipment is triggered to be linked, and the video data of the landslide monitoring area are obtained for rechecking the disaster.

In summary, the non-contact landslide hazard monitoring system provided by the invention monitors the whole slope surface of a landslide monitoring area by using a three-dimensional scanning technology, can accurately monitor landslide geological hazards, and realizes a processing mechanism of early warning, alarming and rechecking by linking with video rechecking equipment. The non-contact landslide hazard monitoring system uses equipment such as a laser radar scanner and the like fixed near a landslide monitoring area to carry out non-contact monitoring on the landslide monitoring area in a monitoring surface mode, and is low in cost, convenient to construct and convenient to maintain; and, the precision is high, and the false alarm rate is low. Moreover, the non-contact landslide hazard monitoring system can approximately calculate the earth volume of the landslide according to the comparison result of the real-time digital surface model and the basic digital surface model, is convenient for subsequent rescue, and can greatly reduce the life and property loss of people caused by landslide geological hazards.

The non-contact landslide hazard monitoring system and the method thereof provided by the invention are explained in detail above. It will be apparent to those skilled in the art that any obvious modifications thereto can be made without departing from the true spirit of the invention, which is to be accorded the full scope of the claims herein.