CN109579712A - Based on the contactless high slope surface displacement monitoring method of unmanned plane and monitoring system - Google Patents
Based on the contactless high slope surface displacement monitoring method of unmanned plane and monitoring system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The contactless high slope surface displacement monitoring method based on unmanned plane that the invention discloses a kind of, comprising the following steps: embedded monitoring stake；Embedded monitoring basic point, determines the space coordinate of monitoring basic point；Air cover domain is determined according to high slope, monitoring location and monitoring base position, and Image Acquisition is carried out to the air cover domain using unmanned plane；Unmanned plane acquired image is handled, the space coordinate of each monitoring pile center's point is gone out according to the spatial coordinates calculation of camera parameter and monitoring basic point；It is repeatedly taken photo by plane to air cover domain, obtains the space coordinate each time of monitoring pile center's point, and calculate displacement variable each time, according to displacement variable each time, surface reconstruction is carried out to high slope, generates displacement cloud atlas；Quantitative assessment is carried out according to stability of the displacement variable to high slope.The present invention can increase substantially the monitoring efficiency of high slope, and save the cost, while be able to satisfy the monitoring accuracy of construction monitoring requirement.
Description
Technical field
The present invention relates to high slope surface displacement monitoring technical fields, more particularly to non-contact based on unmanned plane
Formula high slope surface displacement monitoring method and monitoring system.
Background technique
With the fast development of China's highway and the continuous improvement of project construction level, highway can be more
It is built under high steep, complicated orographic condition, therefore inevitably encounters numerous high slope works in the construction process
Cheng Wenti.The excavation of High Engineering Slope necessarily causes the deformation of rock mass in coverage, and crustal stress is discharged and adjusted therewith, right
The stability of side slope has an adverse effect.Slope ground safe condition is directly related to the safety of road construction, therefore, adapts to side
The safety evaluation of slope environmental effect and construction overall process and disaster alarm problem, have become in Expressway Construction must
Want link and hot spot technology problem.And for the stability analysis of side slope, carrying out slope Deformation Analysis is wherein the most again
The content of core, thus deformation monitoring is carried out with regard to very necessary to high gradient slope.
Nowadays, from monitoring scheme consider, the common method for high gradient slope deformation detection mainly include the following types:
It is formed in a manner of the traditional monitoring based on manual inspection, with the measuring instruments such as total station in-site measurement, using deformation gauge
Internet of Things monitoring utilizes GPRS position monitor etc..During practice, present in above-mentioned existing High Slope Monitoring method
Weaknesses analysis is as follows:
The first, manual inspection traditional monitoring method: it is suitable for more gentle, the side slope for facilitating inspector to make an inspection tour, the method consumption
Take manpower, slope monitoring precision is very low, and detection range is limited, and the safety of inspector does not ensure；
The second, the instruments such as total station in-site measurement method: suitable for conveniently finding stationary monitoring point, it is easy to place monitoring instrument
Side slope, the method workload is big, and instrument and equipment is costly, and labor intensive, measurement accuracy is low, and monitoring range is limited；
Third, Internet of Things deformation gauge detection method: big suitable for monitoring range, required precision is high, convenient embedded deformation gauge
Side slope, the method need to bury more deformation gauge, at high cost, and instrument, which goes wrong, to be difficult to check.
4th, GPRS position monitor method:, side slope precipitous side slope big suitable for monitoring range, the method higher cost, meeting
Appearance data transmission error, there are the technical problems such as deviation for positioning.
Although various modes, which all exist, such as to be expended largely it follows that there are many method of Monitoring of Slope Deformation at present
Manpower and material resources, instrument such as are easily damaged at the different defects, and lack specification.
Therefore, how a kind of save the cost is provided, implements simple and high monitoring accuracy high slope surface displacement monitoring side
The problem of method is those skilled in the art's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of contactless high slope surface displacement monitoring method based on unmanned plane,
Its method and step is simple, realizes convenient, strong operability, and the monitoring efficiency of high slope is greatly improved, has saved cost, and
And it can ensure that the monitoring accuracy for meeting construction monitoring requirement.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of contactless high slope surface displacement monitoring method based on unmanned plane, comprising the following steps:
Step S10, the design of monitoring point；
Multiple monitoring stakes with specific markers are buried at interval on the plain stage of slopes at different levels of high slope, form criss-cross net
Shape monitoring point；
Step S20, the design of basic point is monitored；
Stablize in displacement and there is the monitoring basic point of specific markers close to the position of high slope embedded at least three, and really
Its fixed space coordinate；
Step S30, Image Acquisition；
The air cover domain is determined according to high slope, monitoring location and monitoring base position, using unmanned plane to described
Air cover domain carries out Image Acquisition, and the ship's control of the image of acquisition is not less than 60%, and sidelapping degree is not less than 30%；
Step S40, image procossing
Color filtering, Feature Points Matching and space orientation are successively carried out to unmanned plane acquired image, joined according to camera
The spatial coordinates calculation of number and monitoring basic point goes out the space coordinate of each monitoring stake characteristic point；
Step S50, monitoring point deformation calculates
It is repeatedly taken photo by plane to the air cover domain, obtains the space coordinate of monitoring stake characteristic point each time, and calculated
Displacement variable each time out carries out surface reconstruction to high slope according to displacement variable each time, generates displacement cloud
Figure；
Step S60, Analysis of Slope Stability
Quantitative assessment is carried out according to stability of the displacement variable of position each time to high slope.
It can be seen via above technical scheme that compared with prior art, the invention has the following advantages:
1, at low cost, highly-safe, with side slope is contactless, apparent displacement measurement is more rapid, work can be significantly improved
Efficiency.
2, monitoring result shows that more intuitive visualization is higher by way of being displaced cloud atlas, measurement data and fixed
Position is more accurate.
3, the algorithm of monitoring displacement is more fine, and calculated result has more reliability.
Preferably, in a kind of above-mentioned contactless high slope surface displacement monitoring method based on unmanned plane, step S10
Include:
S101, monitoring section is set since high slope highest point, and monitoring stake, monitoring are buried at each platform of high slope
Stake is in the netted laying of criss-cross, forms a plurality of Longitudinal Surveillance line and a plurality of laterally monitoring line；It is flat that monitoring stake is arranged in side slopes at different levels
At the outer 2m of platform section leg wire of slope, embedded no less than 5, every grade of platform, each spacing monitored between stake is 40m；
S102, stake will be monitored it is arranged to the rectangular concrete block of 40cm*40cm, pours chassis to ground level, and brush on surface
Painting is as label；A reinforcing bar is buried in center chassis, reinforcing bar height is flushed with concrete block height, using reinforcing bar top as this
Monitor the monitoring point of stake.
Preferably, in a kind of above-mentioned contactless high slope surface displacement monitoring method based on unmanned plane, step
When having deep soil movement monitoring point in S101, in high slope, a wherein Longitudinal Surveillance line and deep soil movement for high slope is monitored
Point is located along the same line.The purpose that Longitudinal Surveillance line and deep soil movement monitoring point are located along the same line is convenient for observation number
According to be mutually authenticated and comparative analysis.
Further, in a kind of above-mentioned contactless high slope surface displacement monitoring method based on unmanned plane, monitoring
Point layouts to slip band hidden danger region and emphasis monitoring region encryption in the procedures of establishment.
Preferably, in a kind of above-mentioned contactless high slope surface displacement monitoring method based on unmanned plane, step S20
Middle monitoring basic point is embedded with 12, is respectively arranged 3 in high slope top of the slope, slope foot and high slope two sides respectively.It is kept away during embedded
Exempt from 3 points point-blank.
In the coordinate determination process for monitoring basic point, coordinate system selects local engineering coordinate system, by mobile GPS coordinate system tune
At local engineering coordinate system, the position for being placed on monitoring basic point is monitored the acquisition of basic point coordinate information, each monitoring
Basic point acquires 3 times, is averaged, the coordinate as monitoring basic point；When the biggish collection point of error occurs in collection process, weight is needed
New acquisition.
In view of drone flying height and recognition effect during High Slope Monitoring, monitoring basic point is designed to 40*
The rectangular concrete block of 40cm, casting chassis to ground level are brushed with the paint of monitoring point different colours as label.
Preferably, in a kind of above-mentioned contactless high slope surface displacement monitoring method based on unmanned plane, step S30
In, the calculation formula of ship's control and sidelapping degree is respectively as shown in formula 1 and formula 2:
Wherein, Px% indicates ship's control, Py% indicates sidelapping degree, lx、lyFor the side length of phase width, px、pyAttach most importance to
Ghost image picture part side length.
When ship's control refers to that unmanned plane carries out boat along course line and takes the photograph, on same course line two captured image overlapping regions
Account for the ratio of single picture size, it is captured adjacent between two course lines when sidelapping degree refers to that unmanned plane carries out boat along course line and takes the photograph
Two image overlapping regions account for the ratio of single picture size.
Guarantee camera head always vertically downward during taking photo by plane, all monitorings laid are covered in the air cover domain
Point and monitoring basic point, convenient for improving displacement monitoring precision.
Preferably, in a kind of above-mentioned contactless high slope surface displacement monitoring method based on unmanned plane, step S40
Include:
S401, color filtering is carried out to all monitoring points in the air cover domain and monitoring basic point, by monitoring point and monitoring
The RGB color attribute of basic point is converted to HIS color attribute according to the geometrical relationship of color space, and conversion formula is as follows:
Wherein:
Wherein, the RGB color of monitoring point and monitoring basic point refers to constituting the R value of the color, G value and B value；R is indicated
Red, it is red；G indicates Green, green；B indicates Blue, blue；Each value should be carried out normalizing between 0-255 before use
Change, is converted between 0-1.
HSI color refers to constituting the H value of the color, S value and I value；H indicate Hue, tone, value 0-360 it
Between；S indicates Saturation, and saturation degree, value is between 0-1；I indicates Intensity brightness；Being converted to can after HSI color
With will be taken the photograph as boat the time it is different and caused by influence uniformly to be transformed into I value, and the figure in subsequent monitoring basic point and monitoring point
The interference generated as rejecting I value in identification process.
Meanwhile monitoring point is comprehensively considered during color filtering and monitors the shape of basic point, and to being unsatisfactory for color
It is rejected with the pixel of shape need, is assigned to white, to obtain accurately only showing monitoring point and monitoring base
The picture of point.
Step S402, it the uniqueness processing of monitoring point: using the location information of unmanned plane and the layout drawing of monitoring point, determines
Each acquisition image in monitoring point corresponding relationship, and by it in certain gamut range according to space from left to right, from
Sequence under successively improves H, is all different the color attribute of each monitoring point；It avoids matching when Feature Points Matching
The situation of mistake.
Step S403, angle point Feature Points Matching: is carried out to monitoring point and monitoring basic point using Harris corner correspondence
Matching；
Step S404, monitoring characteristic point space orientation: is calculated according to the space coordinate of monitoring basic point and camera parameter
The space coordinate of point feature point.
Preferably, in a kind of above-mentioned contactless high slope surface displacement monitoring method based on unmanned plane, step
S403 includes:
Step S4031, grayscale image is converted: picture being converted into ash using cvtColor () function in OpenCV kit
Degree figure, the extraction for subsequent characteristics point；
Step S4032, feature point extraction: using the higher corner characteristic point of Harris corner correspondence extraction accuracy,
Identify rectangular concrete block；
Step 4033, feature point description: being assisted using k-d tree structure, using Euclidean distance as standard, uses k-nearest neighbor
Carry out characteristic point screening matching；
Step 4034, the screening of outstanding match point: matching is weeded out not by way of crossing filtering and basis matrix filtering
Accurate part obtains the matching double points set of high quality.
Preferably, in a kind of above-mentioned contactless high slope surface displacement monitoring method based on unmanned plane, step
S404 includes:
Step 4041, camera calibration: one group of image is shot using scaling board, checkerboard image is obtained, is mentioned using checkerboard image
Angle point is taken, camera parameter is calculated by coordinate of the angle point in checkerboard image, makes to use when camera parameter and unmanned plane
Parameter is consistent；
Specifically, carrying out Image Acquisition to scaling board (i.e. chessboard) using camera, the posture of scaling board is as various as possible.It claps
Chessboard plane and imaging plane angle are controlled within 45 degree during taking the photograph；Use findChessboardCorners function
Checkerboard image angle point is found, sub-pix precision is carried out to the angle point tentatively extracted using cornerSubPix function, finally will
Angle point bring into cvCalibrateCamera2 function carry out camera calibration, the 4th of cvCalibrateCamera2 function
Parameter is camera internal reference matrix, and the 5th parameter is the distortion parameter of camera；
Step 4042, characteristic point coordinate setting: the checkerboard image of unmanned plane acquired image and camera calibration is carried out
It matches two-by-two, matches the characteristic point with monitoring basic point in the monitoring point of same picture first, and utilize camera parameter and monitoring
The spatial coordinates calculation of basic point obtains the space coordinate of the characteristic point of the monitoring point on the picture；Again by this calculated feature
Point is used as datum mark, successively calculates the space coordinate of the characteristic point of each monitoring point；
Step 4043, according to existing characteristic point, the profile of each monitoring point is identified, further according to each monitoring point
The spatial coordinates calculation of characteristic point obtain the space coordinate of each monitoring point central point.
Preferably, in a kind of above-mentioned contactless high slope surface displacement monitoring method based on unmanned plane, step S50
Include:
Step S501, the displacement of monitoring point calculates: according to the space coordinate for the multiple monitoring point taken photo by plane, and utilizing public affairs
Formula 6 calculates displacement variable each time:
Wherein xk1,yk1,zk1For the space coordinate of k-th of monitoring point first time, xki,yki,zkiFor k-th of monitoring point i-th
Secondary space coordinate, dkiFor the displacement variable of k-th of monitoring point i-th；
Step 502, side slope surface reconstruction: utilizing OpenCV kit, and the picture that will take photo by plane carries out three-dimensional reconstruction, and using
There is monitoring basic point to obtain seven parameters of coordinate conversion；The coordinate conversion of cloud is put after being encrypted according to calculated seven parameter, most
The Delaunay trigonometric ratio for carrying out side slope surface by VTK afterwards, generates the surface model of side slope；
Step 503, radial difference are calculated to be generated with displacement cloud atlas: after calculating the displacement variable of monitoring point, using diameter
The displacement variable around monitoring point is obtained to basic function interpolation, corresponding displacement cloud atlas is visualized out by vtk later.
Preferably, in a kind of above-mentioned contactless high slope surface displacement monitoring method based on unmanned plane, step S60
Include:
Step 601, the calculation formula for being displaced the coefficient of stability are as shown in formula 7:
Wherein qd2Referred to as side connects difference, SdFor displacement measurement standard deviation, rdTo be displaced the coefficient of stability；When in certain time
When high-wall slope deformation is in highly stable state, rdLevel off to 1；When assessment, such as rdBe worth it is too small, illustrate deformation growth trend
Obviously, high slope is in unsteady state.
Step 602, using displacement coefficient of variation tdAuxiliary judgment, t are done to the stability of high slopedCalculation formula such as formula 8
It is shown:
Wherein, EdFor the mathematic expectaion of displacement measurement, tdTo be displaced the coefficient of variation.
When the fluctuation of the measured value of displacement is larger, it may appear that qd 2Value it is also larger, and then rdValue it is also larger in addition approach
In 1.But the fluctuation being actually displaced illustrates that high-wall slope deformation is in unstable or even abnormality.Therefore simple steady using displacement
Coefficient is determined it is possible that erroneous judgement, needs using displacement coefficient of variation tdAuxiliary judgment.
Displacement coefficient of variation reflection is " relative scatter " being displaced between each measured value, the coefficient of stability of comprehensive displacement and change
Different coefficient can accurately reflect the deformation state of high slope.
The present invention also provides a kind of high slope surface displacements to monitor system, comprising:
Image import modul, described image import modul is for importing unmanned plane acquired image；
Image processing module, described image processing module are used to successively carry out color mistake to the image of the high slope of importing
Filter, Feature Points Matching and space orientation go out each monitoring point spy according to the spatial coordinates calculation of camera parameter and monitoring basic point
Levy the space coordinate of point；
Monitoring point deforms computing module, and the monitoring point deformation computing module is for comparing this unmanned plane figure collected
The space coordinate of the space coordinate of monitoring point characteristic point and monitoring point characteristic point in last time unmanned plane acquired image as in, meter
Displacement variable each time is calculated, displacement cloud atlas is generated；And
Stability assessment module, the stability assessment module are used for according to displacement variable each time to high slope
Stability is assessed.
High slope surface displacement of the present invention monitors system, just can be straight by importing unmanned plane side slope image collected
Deliver a child into displacement cloud atlas and Stability for High Slope assessment result；It is high that intuitive and measurement accuracy is presented in easy to operate, measurement result.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is the process of the contactless high slope surface displacement monitoring method provided by the invention based on unmanned plane
Figure；
Fig. 2 attached drawing is the structural schematic diagram of present invention monitoring stake and high slope；
Fig. 3 attached drawing is the left view of Fig. 2；
Fig. 4 attached drawing is the top view of Fig. 2；
Fig. 5 attached drawing is the top view of present invention monitoring stake；
Fig. 6 attached drawing is the cross-sectional view of present invention monitoring stake；
Fig. 7 attached drawing is that the entirety of high slope of the present invention, monitoring stake and monitoring basic point is taken photo by plane figure；
Fig. 8 attached drawing is the calculating process schematic diagram of the ship's control of unmanned plane of the present invention；
Fig. 9 attached drawing is the calculating process schematic diagram of the sidelapping degree of unmanned plane of the present invention；
Figure 10 attached drawing is RGB color schematic diagram；
Figure 11 attached drawing is HSI color space schematic diagram；
Figure 12 attached drawing is the structural schematic diagram that high slope surface displacement provided by the invention monitors system.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the embodiment of the invention discloses a kind of, the contactless high slope surface displacement based on unmanned plane is supervised
Survey method, comprising the following steps:
Step S10, monitoring point is embedded: interval is buried multiple with specific mark on the plain stage of slopes at different levels of high slope 1
The monitoring stake 2 of note forms the netted monitoring point of criss-cross；
As shown in Figure 2, Figure 3 and Figure 4, monitoring section is set since 1 highest point of high slope, and in each platform of high slope 1
The embedded monitoring stake 2 in place, monitoring stake 2 are in the netted laying of criss-cross, form a plurality of Longitudinal Surveillance line and a plurality of laterally monitoring line；Monitoring
Stake 2 is arranged at the outer 2m of plain stage of slope section leg wire of slope 5 at different levels, embedded no less than 5, every grade of platform, each to monitor between stake 2
Spacing is 40m.Displacement observation point is set on the outside of Lu Zhizheng line, is located at same longitudinal direction on displacement observation point and plain stage of slopes at different levels
Monitoring stake 2 on monitoring line is located along the same line.
It is more favorable, when having deep soil movement monitoring point in high slope 1, wherein Longitudinal Surveillance line of high slope 1 with
Deep soil movement monitoring point is located along the same line.
As shown in Figure 5 and Figure 6, when practical embedded, monitoring point is carried out as follows arrangement: excavating 1 table of high slope
The square hole of round hole or 40cm × 40cm that a diameter is 40cm is excavated after soil, hole depth about 40cm is deep, is poured with reinforced concrete
Chassis is to ground level, and brushing red paint is as label.A reinforcing bar 21,21 top of reinforcing bar bidding are buried in center chassis
It is denoted as monitoring point.After monitoring point is embedded, preliminary survey is carried out after stablizing 2-3 days again.
Step S20, it monitors the embedded of basic point: stablizing in displacement and have close to the position of high slope 1 embedded at least three
The monitoring basic point of specific markers, and determine its space coordinate；
The method for embedding for monitoring basic point is identical as the monitoring method for embedding of stake 2, excavates always after excavating 1 surface soil of high slope
Diameter is that the round hole of 40cm or the square hole of 40cm × 40cm, hole about 40cm are deep, is poured chassis to ground level with reinforced concrete,
And blue paint is brushed as label.Monitoring basic point, which is arranged in, is displaced stable region, avoids setting up an office on the surface layer of loosening.?
On the basis of displacement is stablized, monitoring basic point is as close to monitoring slopes, to reduce aerial survey of unmanned aerial vehicle region, improves monitoring essence
Degree.In the present embodiment, the inbuilt monitoring basic point of institute is 3, and 3 detection basic points are not point-blank.
Step S30, Image Acquisition: air cover domain is determined according to high slope 1, monitoring location and monitoring base position, is adopted
Image Acquisition is carried out to the air cover domain with unmanned plane, guarantee ship's control is other to weight not less than 60% in collection process
Folded degree is not less than 30%；Ship's control is 90% in unmanned plane acquisition image process in the present embodiment, and sidelapping degree is
80%.
As shown in figure 8, when ship's control refers to that unmanned plane carries out boat along course line and takes the photograph, captured two figures on same course line
As overlapping region accounts for the ratio of single picture size.As shown in figure 9, sidelapping degree refer to unmanned plane along course line carry out boat take the photograph when,
Captured two adjacent image overlapping regions account for the ratio of single picture size between two course lines.
It needs to carry out flight course planning before unmanned plane during flying, it is specified that drone flying height, fixed point marks nobody in map
Air cover domain needed for machine, unmanned plane can carry out image according to the course line of setting according to the requirement of ship's control and sidelapping degree
Acquisition.It should ensure that the contained camera lens of unmanned plane in flight course vertically downward, it is perpendicular with the course line of unmanned plane.Unmanned plane
Flying height refers to the lifting height from calculating unmanned plane takeoff setting；Air cover domain refers to comprising high slope 1, monitoring point and prison
The region including basic point is surveyed, as shown in fig. 7, to high slope 1, monitoring stake 2 and monitoring the entirety of basic point for unmanned plane and taking photo by plane figure.This
In embodiment, drone flying height 30m.
Step S40, color filtering, Feature Points Matching and sky successively image procossing: are carried out to unmanned plane acquired image
Between position, the space coordinate of each monitoring point characteristic point is gone out according to the spatial coordinates calculation of camera parameter and monitoring basic point；
Step S50, the deformation of monitoring point calculates: repeatedly being taken photo by plane to air cover domain, obtains the every of monitoring point characteristic point
Primary space coordinate, and calculate displacement variable each time, according to displacement variable each time, to high slope 1 into
Row surface reconstruction generates displacement cloud atlas.
Step S60, quantitative assessment is carried out according to stability of the displacement variable each time to high slope 1.
1 surface displacement monitoring method of contactless high slope based on unmanned plane according to the present invention, in another embodiment
In, basic point is monitored in step S20 and is embedded with 12, is respectively arranged 3 in 1 top of the slope of high slope, slope foot and 1 two sides of high slope respectively.
Further, monitoring stake 2 implements encryption cloth to slip band hidden danger region and emphasis monitoring region in the procedures of establishment
Point.
Specifically, as shown in Figure 8 and Figure 9, in step s 30, the calculation formula point of ship's control and sidelapping degree
Not as shown in formula 1 and formula 2:
Wherein, Px% indicates ship's control, Py% indicates sidelapping degree, lx、lyFor the side length of phase width, px、pyAttach most importance to
Ghost image picture part side length.
As shown in Figure 10 and Figure 11, specifically, step S40 includes:
S401, color filtering is carried out to all monitoring points in the domain of air cover and monitoring basic point, by monitoring point and monitoring basic point
RGB color attribute be converted to HIS color attribute according to the geometrical relationship of color space, conversion formula is as follows:
Wherein:
Wherein, the RGB color of monitoring point and monitoring basic point refers to constituting the R value of the color, G value and B value；HSI face
Color refers to constituting the H value of the color, S value and I value；
Step S402, the uniqueness processing of stake 2 is monitored: using the location information of unmanned plane and the layout drawing of monitoring point, really
Corresponding relationship of monitoring point in each fixed acquisition image, and by it in certain gamut range according to space from left to right,
Sequence from top to bottom successively improves H, is all different the color attribute of each monitoring point；
Step S403, angle point Feature Points Matching: is carried out to monitoring point and monitoring basic point using Harris corner correspondence
Matching；
Step S404, monitoring characteristic point space orientation: is calculated according to the space coordinate of monitoring basic point and camera parameter
The space coordinate of the characteristic point of point.
Specifically, step S403 includes:
Step S4031, grayscale image is converted: picture being converted into ash using cvtColor () function in OpenCV kit
Degree figure；
Step S4032, feature point extraction: using the higher corner characteristic point of Harris corner correspondence extraction accuracy,
Identify rectangular concrete block；
Step 4033, feature point description: being assisted using k-d tree structure, using Euclidean distance as standard, uses k-nearest neighbor
Carry out characteristic point screening matching；
Step 4034, the screening of outstanding match point: matching is weeded out not by way of crossing filtering and basis matrix filtering
Accurate part obtains the matching double points set of high quality.
Specifically, step S404 includes:
Step 4041, camera calibration: one group of image is shot using scaling board, checkerboard image is obtained, is mentioned using checkerboard image
Angle point is taken, camera parameter is calculated by coordinate of the angle point in checkerboard image, makes to use when camera parameter and unmanned plane
Parameter is consistent；
Step 4042, characteristic point coordinate setting: the checkerboard image of unmanned plane acquired image and camera calibration is carried out
It matches two-by-two, matches the characteristic point with monitoring basic point in the monitoring point of same picture first, and utilize camera parameter and monitoring
The spatial coordinates calculation of basic point obtains the space coordinate of the characteristic point of the monitoring point on the picture；Again by this calculated feature
Point is used as datum mark, successively calculates the space coordinate of the characteristic point of each monitoring point；
Step 4043, according to existing characteristic point, the profile of each monitoring point is identified, further according to each monitoring point
The spatial coordinates calculation of characteristic point obtain the space coordinate of each monitoring point central point
Specifically, step S50 includes:
Step S501, the displacement of monitoring point calculates: according to the space coordinate for the multiple monitoring point taken photo by plane, and utilizing public affairs
Formula 6 calculates displacement variable each time:
Wherein xk1,yk1,zk1For the space coordinate of k-th of monitoring point first time, xki,yki,zkiFor k-th of monitoring point i-th
Secondary space coordinate, dkiFor the displacement variable of k-th of monitoring point i-th；
Step 502, side slope surface reconstruction: utilizing OpenCV kit, and the picture that will take photo by plane carries out three-dimensional reconstruction, and using
There is monitoring basic point to obtain seven parameters of coordinate conversion；The coordinate conversion of cloud is put after being encrypted according to calculated seven parameter, most
The Delaunay trigonometric ratio for carrying out side slope surface by VTK afterwards, generates the surface model of side slope；
Step 503, radial difference are calculated to be generated with displacement cloud atlas: after calculating the displacement variable of monitoring point, using diameter
The displacement variable around monitoring point is obtained to basic function interpolation, corresponding displacement cloud atlas is visualized out by vtk later.
Specifically, step S60 includes:
Step 601, the calculation formula for being displaced the coefficient of stability are as shown in formula 7:
Wherein qd2Referred to as side connects difference, SdFor displacement measurement standard deviation, rdTo be displaced the coefficient of stability；When in certain time
When high-wall slope deformation is in highly stable state, rdLevel off to 1；When assessment, such as rdBe worth it is too small, illustrate deformation growth trend
Obviously, high slope is in unsteady state.
Step 602, using displacement coefficient of variation tdAuxiliary judgment, t are done to the stability of high slope 1dCalculation formula such as formula
Shown in 8:
Wherein, EdFor the mathematic expectaion of displacement measurement, tdTo be displaced the coefficient of variation.
When the fluctuation of the measured value of displacement is larger, it may appear that qd 2Value it is also larger, and then rdValue it is also larger in addition approach
In 1.But the fluctuation being actually displaced illustrates that high-wall slope deformation is in unstable or even abnormality.Therefore simple steady using displacement
Coefficient is determined it is possible that erroneous judgement, needs using displacement coefficient of variation tdAuxiliary judgment.
Displacement coefficient of variation reflection is " relative scatter " being displaced between each measured value, the coefficient of stability of comprehensive displacement and change
Different coefficient can accurately reflect the deformation state of side slope.
As shown in figure 12, the embodiment of the present invention discloses a kind of high slope surface displacement monitoring system, comprising:
Image import modul 3, described image import modul 3 is for importing unmanned plane acquired image；
Image processing module 4, described image processing module 4 is for successively carrying out color mistake to unmanned plane acquired image
Filter, Feature Points Matching and space orientation, and calculate the space of each monitoring point characteristic point in unmanned plane acquired image
Coordinate；
Monitoring point deforms computing module 5, and the monitoring point deformation computing module 5 is collected for comparing this unmanned plane
The space coordinate of the space coordinate of monitoring point characteristic point and monitoring point characteristic point in last time unmanned plane acquired image in image,
The displacement variable each time of each monitoring point is calculated, displacement cloud atlas is generated；And
Stability assessment module 6, the stability assessment module is for the displacement variable pair according to monitoring point each time
The stability of high slope 1 is assessed.
Specifically, with 1 surface displacement of high slope of the present invention monitoring system to the aerial map picture of unmanned plane carry out processing and
It identifies, original EXIF information of unmanned plane acquired image is not used in treatment process, and image processing module 4 is specifically handled
Process is as follows:
(1) color filtering is carried out to the aerial map picture of unmanned plane, RGB attribute is converted into HSI attribute first, is then passed through
HSI filters out monitoring point and monitoring basic point, while carrying out assignment again to monitoring point color attribute.
(2) Feature Points Matching and space orientation are successively carried out to aerial map picture, obtains each characteristic point in space coordinate
Accurate coordinate under system.
(3) according to obtained characteristic point space coordinate, 2 pattern of monitoring stake of 40cm*40cm is matched, each prison is calculated
The space coordinate of pile central point.
(4) three-dimensional reconstruction is carried out to whole high slope 1, and calculates coordinate seven parameters of conversion by monitoring basic point, will added
Point cloud after close all switches to engineering coordinate system.
(5) side slope surface is subjected to Delaunay trigonometric ratio using VTK, generates the surface of point cloud, the triangulation network and high slope 1
Model.
It is as follows to the specific calculating process of monitoring point displacement variable each time that monitoring point deforms computing module 5: to each time
The monitoring point identified in point cloud data is matched, and the monitoring point identified in each secondary point cloud data is independent from each other,
For the displacement that can judge each monitoring point, the position of each same monitoring point should be matched, calculate and monitored in data twice
The distance between point.Monitoring point is the same monitoring point in aerial map picture twice apart from the smallest one group, and same monitoring point is
It can carry out deformation monitoring analysis.
After the successful match of monitoring point, the difference between the coordinate of monitoring point is the three directions change for being respectively monitoring point twice
Shape, total deformation are calculated according to formula 6.
The accumulative displacement of each monitoring point is shown assessment result according to the date by stability assessment module 6 in graph form
Out, it as a result presents more intuitive.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of contactless high slope surface displacement monitoring method based on unmanned plane, which comprises the following steps:
Step S10, on the plain stage of slopes at different levels of high slope, multiple monitoring stakes with specific markers are buried at interval, form grid
The netted monitoring point of shape；
Step S20, stablize and have close to the position of high slope embedded at least three the monitoring basic point of specific markers in displacement,
And determine its space coordinate；
Step S30, air cover domain is determined according to high slope, monitoring location and monitoring base position, using unmanned plane to described
Air cover domain carries out Image Acquisition, guarantees that ship's control is not less than 60% in collection process, sidelapping degree is not less than 30%；
Step S40, color filtering, Feature Points Matching and space orientation are successively carried out to unmanned plane acquired image, according to phase
Machine parameter and the spatial coordinates calculation of monitoring basic point go out the space coordinate of each monitoring stake characteristic point；
Step S50, it is repeatedly taken photo by plane to air cover domain, obtains the space coordinate each time of monitoring stake characteristic point, and calculated
Displacement variable each time out carries out surface reconstruction to high slope according to displacement variable each time, generates displacement cloud
Figure；
Step S60, quantitative assessment is carried out according to stability of the displacement variable each time to high slope.
2. a kind of contactless high slope surface displacement monitoring method based on unmanned plane according to claim 1, special
Sign is that step S10 includes:
S101, monitoring section, and the 2m outside the plain stage of slope section leg wire of slope at different levels of high slope are set since high slope highest point
Equidistantly embedded at least five monitors stake at place；All monitoring stakes are in the netted laying of criss-cross, form a plurality of Longitudinal Surveillance line and a plurality of
Laterally monitoring line；When having deep soil movement monitoring point in high slope, wherein a Longitudinal Surveillance line and the deep soil movement of high slope
Monitoring point is located along the same line；
S102, stake will be monitored it is arranged to the rectangular concrete block of 40cm*40cm, pours chassis to ground level, and brush oil on surface
Qi Zuowei label；A reinforcing bar is buried in center chassis, reinforcing bar height is flushed with concrete block height, using reinforcing bar top as the monitoring
The monitoring point of stake.
3. a kind of contactless high slope surface displacement monitoring method based on unmanned plane according to claim 1, special
Sign is, basic point is monitored in step S20 and is embedded with 12, is respectively arranged 3 in high slope top of the slope, slope foot and high slope two sides respectively
It is a.
4. a kind of contactless high slope surface displacement monitoring method based on unmanned plane according to claim 1, special
Sign is, in step S30, the calculation formula of ship's control and sidelapping degree is respectively as shown in formula 1 and formula 2:
Wherein, Px% indicates ship's control, Py% indicates sidelapping degree, lx、lyFor the side length of phase width, px、pyFor mcakle
As part side length.
5. a kind of contactless high slope surface displacement monitoring method based on unmanned plane according to claim 1, special
Sign is that step S40 includes:
S401, color filtering is carried out to all monitoring points in the domain of air cover and monitoring basic point, by the RGB of monitoring point and monitoring basic point
Color attribute is converted to HIS color attribute according to the geometrical relationship of color space, and conversion formula is as follows:
Wherein:
Wherein, the RGB color of monitoring point and monitoring basic point refers to constituting the R value of the color, G value and B value；HSI color refers to
Be constitute the color H value, S value and I value；
Step S402, it the uniqueness processing of monitoring point: using the location information of unmanned plane and the layout drawing of monitoring point, determines each
The corresponding relationship of monitoring point in a acquisition image, and by it in certain gamut range according to space from left to right, from up to
Under sequence successively improve H, be all different the color attribute of each monitoring point；
Step S403, corners Matching Feature Points Matching: is carried out to monitoring point and monitoring basic point using Harris corner correspondence；
Step S404, monitoring point spy characteristic point space orientation: is calculated according to the space coordinate of monitoring basic point and camera parameter
Levy the space coordinate of point.
6. according to right want 5 described in a kind of contactless high slope surface displacement monitoring method based on unmanned plane, feature
It is, step S403 includes:
Step S4031, grayscale image is converted: picture being converted into gray scale using cvtColor () function in OpenCV kit
Figure；
Step S4032, the higher corner characteristic point of Harris corner correspondence extraction accuracy, identification feature point extraction: are used
Rectangular concrete block out；
Step 4033, feature point description: being assisted using k-d tree structure, using Euclidean distance as standard, is carried out using k-nearest neighbor
Characteristic point screening matching；
Step 4034, the screening of outstanding match point: matching inaccuracy is weeded out by way of crossing filtering and basis matrix filtering
Part, obtain the matching double points set of high quality.
7. according to right want 5 described in a kind of contactless high slope surface displacement monitoring method based on unmanned plane, feature
It is, step S404 includes:
Step 4041, camera calibration: shooting one group of image using scaling board, obtain checkerboard image, extracts angle using checkerboard image
Point calculates camera parameter by coordinate of the angle point in checkerboard image, makes the parameter used when camera parameter and unmanned plane
Unanimously；
Step 4042, characteristic point coordinate setting: the checkerboard image of unmanned plane acquired image and camera calibration is carried out two-by-two
Matching matches the characteristic point with monitoring basic point in the monitoring point of same picture first, and utilizes camera parameter and monitoring basic point
Spatial coordinates calculation obtain the monitoring point on the picture characteristic point space coordinate；This calculated characteristic point is made again
On the basis of point, successively calculate the space coordinate of the characteristic point of each monitoring point；
Step 4043, according to existing characteristic point, the profile of each monitoring point is identified, further according to the spy of each monitoring point
The spatial coordinates calculation of sign point obtains the space coordinate of each monitoring point central point.
8. according to right want 1 described in a kind of contactless high slope surface displacement monitoring method based on unmanned plane, feature
It is, step S50 includes:
Step S501, the displacement of monitoring point calculates: according to the space coordinate for the multiple monitoring point taken photo by plane, and utilizing formula 6
Calculate displacement variable each time:
Wherein, xk1,yk1,zk1For the space coordinate of k-th of monitoring point first time, xki,yki,zkiFor k-th monitoring point i-th
Space coordinate, dkiFor the displacement variable of k-th of monitoring point i-th；
Step 502, side slope surface reconstruction: OpenCV kit is utilized, the picture that will take photo by plane carries out three-dimensional reconstruction, and utilizes and have prison
It surveys basic point and obtains seven parameters of coordinate conversion；The coordinate conversion that cloud is put after being encrypted according to calculated seven parameter, finally leads to
The Delaunay trigonometric ratio that VTK carries out high slope surface is crossed, the surface model of high slope is generated；
Step 503, radial difference are calculated to be generated with displacement cloud atlas: after calculating the displacement variable of monitoring point, using radial base
Function interpolation obtains the displacement variable around monitoring point, visualizes out corresponding displacement cloud atlas by vtk later.
9. according to right want 1 described in a kind of contactless high slope surface displacement monitoring method based on unmanned plane, feature
It is, step S60 includes:
Step 601, the calculation formula for being displaced the coefficient of stability are as shown in formula 7:
Wherein qd2Referred to as side connects difference, SdFor displacement measurement standard deviation, rdTo be displaced the coefficient of stability；When side slope in certain time
When deformation is in highly stable state, rdLevel off to 1；
Step 602, using displacement coefficient of variation tdAuxiliary judgment, t are done to the stability of high slopedCalculation formula such as 8 institute of formula
Show:
Wherein, EdFor the mathematic expectaion of displacement measurement, tdTo be displaced the coefficient of variation.
10. a kind of high slope surface displacement monitors system characterized by comprising
Image import modul, described image import modul is for importing as the described in any item unmanned planes of claim 1-9 are adopted
The image of collection；
Image processing module, described image processing module is for successively carrying out color filtering, spy to unmanned plane acquired image
Sign point matching and space orientation, and calculate the space coordinate of each monitoring point characteristic point in unmanned plane acquired image；
Monitoring point deforms computing module, and the monitoring point deformation computing module is for comparing in this unmanned plane acquired image
The space coordinate of monitoring point characteristic point, calculates in the space coordinate and last time unmanned plane acquired image of monitoring point characteristic point
The displacement variable each time of each monitoring point generates displacement cloud atlas；And
Stability assessment module, the stability assessment module are used for according to monitoring point displacement variable each time to high slope
Stability assessed.
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Application publication date: 20190405 |