CN111784651A - Slope risk assessment method and system based on radar laser scanning - Google Patents
Slope risk assessment method and system based on radar laser scanning Download PDFInfo
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Abstract
The invention provides a side slope risk assessment method and system based on radar laser scanning, the side slope risk assessment method based on radar laser scanning is used for three-dimensionally scanning and modeling a side slope by adopting radar laser, then according to a side slope model, quantitative assessment of safety risks of a soil side slope, a rock side slope, a retaining wall side slope and a soil-rock mixed slope is carried out from three aspects of side slope instability, side slope protection engineering damage degree and side slope hazard, the relationship between side slope disasters and influence factors is established on a regional spatial scale, meanwhile, quantitative assessment of the safety risks of various types of side slopes is carried out from multiple angles, assessment results are more comprehensive and accurate, and meanwhile, the method and system have wide applicability.
Description
Technical Field
The invention belongs to the technical field of road engineering construction, and particularly relates to a slope risk assessment method and system based on radar laser scanning.
Background
The safety risk assessment models of the domestic slopes are few, the safety risk assessment of the slopes is mentioned in technical Specification for expressway slope maintenance (DB 33/T2099 and 2018) in Zhejiang province at present, but details are not given, in addition, the safety risk assessment of the slopes is difficult to be widely applied to other regions, meanwhile, the safety risk assessment of different types of slopes is not carried out by considering various influence factors, and the assessment result is not accurate.
In view of this, a slope risk assessment method and system based on radar laser scanning are provided to solve the above drawbacks.
Disclosure of Invention
The invention aims to provide a slope risk assessment method and system based on radar laser scanning to perform quantitative assessment of safety risks aiming at different types of slopes from multiple aspects, and establish the relationship between slope disasters and influence factors thereof on the regional spatial scale to obtain accurate assessment results, aiming at the defects of the existing scanning.
The object of the invention can be achieved by the following scanning measures:
in order to achieve the above object, the present invention provides a slope risk assessment method based on radar laser scanning, which is characterized in that the assessment method comprises:
the method comprises the steps that radar laser scans a side slope in a three-dimensional mode, point cloud data of the side slope are collected, and a side slope model is built according to the point cloud data;
determining the type of the side slope according to the side slope model, wherein the type of the side slope comprises a soil side slope, a rock side slope, a retaining wall side slope and a soil-rock mixed side slope;
if the side slope is a retaining wall side slope, calculating a side slope instability index SI and a side slope disaster harmfulness index CS according to the side slope model, and calculating a side slope safety risk assessment score RS according to the side slope instability index SI and the side slope disaster harmfulness index CS, wherein RS is SI multiplied by CS;
if the side slope is one of a soil side slope, a rock side slope or a soil-rock mixture side slope, calculating a side slope instability index SI, a side slope protection project damage degree UD and a side slope disaster harmfulness index CS according to the side slope model, and calculating a side slope safety risk assessment score RS according to the side slope instability index SI, the side slope protection project damage degree UD and the side slope disaster harmfulness index CS, wherein RS is SI multiplied by UD multiplied by CS.
Preferably, if the side slope is a soil-rock mixed side slope, side slope safety risk assessment scores RS are calculated according to side slope instability indexes SI, side slope protection project damage degrees UD and side slope disaster hazard indexes CS of the soil side slope and the rock side slope respectively, and the maximum side slope safety risk assessment score RS is taken as the side slope safety risk assessment score RS of the soil-rock mixed side slope.
Preferably, in the equations RS ═ SI × UD × CS and RS ═ SI × CS, the process of calculating the slope instability index SI includes the steps of:
when the side slope is a soil slope, judging whether the side slope has a fatal factor according to the side slope model, if so, determining that the side slope instability index SI is 1.0,
if not, obtaining a section geometric form index A, a deformation destruction characteristic index B1, a destruction history index B2, a surface water activity index C1 and a site characteristic index C2 according to the slope model, and calculating a slope instability index SI according to the section geometric form index A, the deformation destruction characteristic index B1, the destruction history index B2, the surface water activity index C1 and the site characteristic index C2, wherein the SI is (A + B1+ B2+ C1+ C2)/100;
and/or when the side slope is a rock side slope, judging whether the side slope has a fatal factor according to the side slope model, if so, determining that the side slope instability index SI is 1.0,
if not, acquiring a section geometric form index A, a deformation destruction characteristic index B1, a destruction history index B2, an underground water seepage index C, a destruction mode and scale index D1 and a destruction mode and scale index D2 according to the side slope model, and calculating a side slope instability index SI according to the section geometric form index A, the deformation destruction characteristic index B1, the destruction history index B2, the underground water seepage index C, the destruction mode and scale index D1 and the destruction mode and scale index D2, wherein SI is (A + B1+ B2+ C + D1 multiplied by D2)/100;
and/or when the side slope is a retaining wall side slope, judging whether the side slope has a fatal factor according to the side slope model, if so, determining that the side slope instability index SI is 1.0,
if not, acquiring a section geometric form index A, a deformation damage characteristic index B1, a damage history index B2, a slope surface protection and waterproof index C3, a slope body leakage sign index C4, a retaining wall type index D and a slope bottom angle index E according to the slope model, and calculating a slope instability index SI according to the section geometric form index A, the deformation damage characteristic index B1, the damage history index B2, the slope surface protection and waterproof index C3, the slope body leakage sign index C4, the retaining wall type index D and the slope bottom angle index E, wherein SI is (A + B1+ B2+ C3+ C4+ D + E)/100.
Preferably, in the RS ═ SI × UD × CS equation, the calculation process of the slope protection project damage degree UD includes the following steps:
judging whether the slope has a prevention and treatment engineering measure, if not, the slope protection engineering damage degree UD is 1;
if yes, further judging whether a fatal factor exists according to the side slope model, if yes, obtaining a side slope protection engineering damage index US and a time factor K according to the side slope model, calculating the side slope protection engineering damage index UD according to the side slope protection engineering damage index US and the time factor K, wherein UD is KxUS/100, if UD is calculated according to a formula of KxUS/100 and is not more than 0.7, the prevention and treatment engineering measures fail, and taking UD not less than 1 and not more than 1.4 as a final result.
Preferably, in the RS ═ SI × UD × CS and RS ═ SI × CS equations, the calculation process of the slope disaster harmfulness index CS includes the following steps:
and obtaining a slope top facility index F1, a slope toe facility index F2, a road grade index G1, a road damage index G2 and a disaster-stricken population index I according to the slope model, and calculating a slope disaster harmfulness index CS according to the slope top facility index F1, the slope toe facility index F2, the road grade index G1, the road damage index G2 and the disaster-stricken population index I, wherein CS is (F1+ F2+ G1+ G2+ I)/100.
Preferably, the radar laser three-dimensionally scans a slope, collects point cloud data of the slope, and establishes a slope model according to the point cloud data, including:
splicing the point cloud data to obtain spliced point cloud data;
removing point cloud data which are obviously lower or higher than the side slope and irrelevant to the side slope monitoring in the spliced point cloud data so as to obtain effective point cloud data after carrying out noise reduction processing on the spliced point cloud data;
matching and coloring the effective point cloud data and the actual picture of the side slope, classifying the colored effective point cloud data to filter out targets irrelevant to the side slope, and then solving the side slope model through a surface fitting algorithm;
and manufacturing a profile of the side slope through the point cloud profile according to the side slope model, and acquiring data information of the side slope.
Preferably, the radar laser three-dimensionally scans a slope, collects point cloud data of the slope, and establishes a slope model according to the point cloud data, including:
and determining a plurality of scanning points according to the side slope and the environmental condition, and arranging a target and a radar laser scanner at the scanning points, wherein the overlapping degree of point cloud data obtained by scanning between adjacent scanning points is greater than or equal to 30%, and if the environmental condition is severe, the overlapping degree is greater than or equal to 10%.
The invention also provides a slope risk assessment system based on radar laser scanning, which comprises:
the radar laser three-dimensional scanning module is used for three-dimensionally scanning a side slope by adopting radar laser, acquiring point cloud data of the side slope and establishing a side slope model according to the point cloud data;
the side slope classification module is used for determining the type of the side slope according to the side slope model, wherein the type of the side slope comprises a soil side slope, a rock side slope, a retaining wall side slope and a soil-rock mixed slope;
the risk scoring module is used for calculating a slope instability index SI and a slope disaster harmfulness index CS according to the slope model if the slope is a retaining wall slope, and calculating a slope safety risk assessment score RS according to the slope instability index SI and the slope disaster harmfulness index CS, wherein RS is SI multiplied by CS;
and if the side slope is one of a soil side slope, a rock side slope or a soil-rock mixed side slope, calculating a side slope instability index SI, a side slope protection project damage degree UD and a side slope disaster hazard index CS according to the side slope model, and calculating a side slope safety risk assessment score RS according to the side slope instability index SI, the side slope protection project damage degree UD and the side slope disaster hazard index CS, wherein RS is SI multiplied by UD multiplied by CS.
Preferably, the range finding precision of the radar laser three-dimensional laser scanning module is 3.5mm/150 m.
Preferably, the three-dimensional laser scanning module further comprises an automatic height measuring module for performing automatic height measurement on the radar laser scanner during scanning.
The invention has the beneficial effects that the side slope risk assessment method and the side slope risk assessment system based on the radar laser scanning are provided, the side slope risk assessment method based on the radar laser scanning is used for carrying out three-dimensional scanning and modeling on the side slope by adopting the radar laser, and then carrying out quantitative assessment on the safety risk of the soil side slope, the rock side slope, the retaining wall side slope and the soil-rock mixed slope from three aspects of side slope instability, side slope protection engineering damage degree and side slope harmfulness according to a side slope model, so that the relationship between the side slope disaster and the influence factors thereof is established on the regional spatial scale, and meanwhile, the safety risk of various types of side slopes is quantitatively assessed from multiple angles, so that the assessment result is more comprehensive and accurate, and the side slope risk assessment.
Drawings
Fig. 1 is a flowchart of a slope risk assessment method based on radar laser scanning according to an embodiment of the present invention.
Fig. 2 is a flowchart of a three-dimensional scanning modeling of a slope by a radar laser according to an embodiment of the present invention.
Fig. 3 is a side slope structure diagram of a bridge according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of the scanning station position in the flow chart of fig. 2 according to the embodiment of the present invention.
Fig. 5 is a fusion diagram of point cloud data and a slope photograph in the process of fig. 2 according to the embodiment of the present invention.
Fig. 6 is a diagram of a classification result of the valid point cloud data after being spliced in the process of fig. 2 according to the embodiment of the present invention.
Fig. 7 is a side slope section view obtained according to the side slope model in the flow of fig. 2 according to the embodiment of the present invention.
Fig. 8 is a flowchart of a safety risk assessment of a soil slope according to an embodiment of the present invention.
FIG. 9 is a flow chart of the safety risk assessment of a lithologic slope according to an embodiment of the present invention.
Fig. 10 is a flowchart of the safety risk assessment of the slope of the third retaining wall according to the embodiment of the invention.
Detailed Description
In order that the objects, scanning schemes and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to make the description of the present disclosure more complete and complete, the following description is given for illustrative purposes with respect to the embodiments and examples of the present invention; it is not intended to be the only form in which the embodiments of the invention may be practiced or utilized. The embodiments are intended to cover the features of the various embodiments as well as the method steps and sequences for constructing and operating the embodiments. However, other embodiments may be utilized to achieve the same or equivalent functions and step sequences.
The scanning scheme in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any inventive work are within the scope of the present invention.
Referring to fig. 1, a flowchart of a slope risk assessment method based on radar laser scanning according to an embodiment of the present invention is shown, where the assessment method includes the following steps:
step S1: and (3) three-dimensionally scanning the slope by using the radar laser, acquiring point cloud data of the slope, and establishing a slope model according to the point cloud data.
Step S0 is further included before step S1, a plurality of scanning points are determined according to the side slope and the environmental conditions, the targets and the radar laser scanner are arranged at the scanning points, the overlapping degree of effective point cloud data obtained by scanning between adjacent scanning points is greater than or equal to 30%, and if the environmental conditions are severe, the overlapping degree is greater than or equal to 10%.
The above steps S0 and S1 are a process for modeling three-dimensional scanning of the slope by the radar laser, as shown in fig. 2. Specifically, referring to fig. 3-7, for example, the bridge shown in fig. 3 is utilized to determine a scanning station (e.g., three white dots in fig. 4) reasonably according to environmental conditions such as topographic type, scanning distance, angle, etc. by using the existing engineering survey data. Specifically, the number of scanning sites to be arranged should be determined according to the range of scanning monitoring horizontal scanning angle and vertical scanning angle, and the method and requirements for data splicing should be satisfied. The scanning and measuring station is suitable to be buried at the periphery of an influence area where a slope is possibly deformed or unstable, and is arranged at a place where the visual field is wide, the foundation is stable and the safety protection is convenient. The target is arranged in the scanning station measuring process, the target uses a prism of the target using equipment, and the target is uniformly arranged in the scanning range and has different heights. The overlapping degree of effective point cloud data obtained by scanning of adjacent scanning stations is not lower than 30%, wherein if the environmental conditions are severe, the overlapping degree is not lower than 10%. In addition, in the process of point cloud data acquisition, the operation sign should place the instrument in an observation environment for more than 30 minutes, and should meet the requirement that the overlapping degree of effective point clouds between adjacent scanning stations is not less than 30%. Secondly, the data processing modeling process: and sequentially carrying out splicing processing on the acquired point cloud data to obtain spliced point cloud data, carrying out noise reduction processing to obtain effective point cloud data, carrying out classification processing and modeling. In the process of denoising the splicing point cloud data, the bridge, vegetation, building structures and other isolated points and point groups which are obviously lower than or higher than the side slope or point cloud data irrelevant to side slope monitoring are removed to obtain effective point cloud data. The effective point cloud data and the actual picture of the side slope are matched and colored (as shown in fig. 5), the colored effective point cloud data are classified and processed (as shown in fig. 6) to filter out targets irrelevant to the side slope, then a side slope model, namely a Digital Elevation Model (DEM) of the side slope is obtained through a surface fitting algorithm, a profile of the side slope is made through a point cloud profile according to the side slope model (as shown in fig. 7), and data information of the side slope is obtained.
And step S2, determining the type of the side slope according to the side slope model, wherein the type of the side slope comprises a soil side slope, a rock side slope, a retaining wall side slope and a soil-rock mixed side slope.
Wherein, because early, the retaining wall of building does not have clear and definite reconnaissance data, does not refer to the design specification yet, and retaining wall construction life time is longer simultaneously, has appeared ageing phenomenon, and partial retaining wall has also failed, consequently needs to do special aassessment to the retaining wall side slope.
Step S3, if the side slope is a retaining wall side slope, calculating a side slope instability index SI and a side slope disaster harmfulness index CS according to the side slope model, and calculating a side slope safety risk assessment score RS according to the side slope instability index SI and the side slope disaster harmfulness index CS, wherein RS is SI multiplied by CS;
if the side slope is one of a soil side slope, a rock side slope or a soil-rock mixture side slope, calculating a side slope instability index SI, a side slope protection project damage degree UD and a side slope disaster hazard index CS according to the side slope model, and calculating a side slope safety risk assessment score RS according to the side slope instability index SI, the side slope protection project damage degree UD and the side slope disaster hazard index CS, wherein RS is SI multiplied by UD multiplied by CS.
According to the slope risk assessment method based on radar laser scanning, disclosed by the embodiment of the invention, the actual information of the slope can be accurately obtained by three-dimensionally scanning and modeling the slope by adopting the radar laser, and then the safety risk quantitative assessment is carried out on the soil slope, the rock slope, the retaining wall slope and the soil-rock mixed slope from three aspects of slope instability, slope protection engineering damage degree and slope hazard according to the slope model, and meanwhile, the safety risk of various slopes is quantitatively assessed from multiple angles, so that the assessment result is more comprehensive and accurate.
Based on the above four types of slopes, the risk assessment of each type of slope will be exemplified in detail below.
Example one
Please refer to fig. 8, which illustrates an evaluation of a safety risk of a soil cut slope according to an embodiment of the present invention. All slopes in this embodiment are understood to be soil slopes.
Based on the above steps S0-S2, in step S3, the soil slope safety risk assessment is calculated as follows:
RS＝SI×UD×CS (1-1)
in the formula (1-1):
RS-slope safety risk assessment score
SI-slope instability index
UD-degree of damage of slope protection engineering
CS-index of hazard to side slope disaster
In the soil slope safety risk assessment, a safety risk assessment score (RS) is obtained by multiplying a slope instability index (SI), a slope protection project damage degree (UD) and a slope disaster harmfulness index (CS). The calculation of the slope instability index (SI) and the slope disaster harmfulness index (CS) is obtained by adding all internal evaluation indexes; the damage degree (UD) of the slope protection project is obtained by performing normalization processing on the product of the damage index (US) of the slope protection project and a time factor, and a soil slope safety risk evaluation system is shown in figure 8.
Specifically, referring to fig. 8, in the soil slope, the indexes of the slope instability index (SI) include a section geometry index a, a deformation damage characteristic index B1, a damage history index B2, a surface water activity index C1, and a site characteristic index C2. According to the side slope data information of the side slope model, if the soil side slope has a fatal factor X1, the SI is 1.0, if the soil side slope does not have a fatal factor X1, specific indexes of the side slope instability index SI in the soil side slope are obtained according to the side slope data information of the side slope model, and the specific indexes are substituted into an equation (A + B1+ B2+ C1+ C2)/100 to calculate the side slope instability index SI of the soil side slope. Wherein, the fatal factor X1 includes at least one of a continuously extending open crack (open more than 0.5m) at the rear edge of the slope, obvious deformation bulging or displacement at the front edge of the slope, serious deformation of rock and soil mass in the slope body of the slope and a large number of longitudinal shear cracks visible in the slope body.
In the calculation process of the damage degree (UD) of the slope protection project, all indexes in the damage degree (UD) of the slope protection project comprise a slope protection project damage index US and a time factor K. If no prevention and control engineering measures exist in the soil slope, UD is 1; if the soil slope has the prevention engineering measures, whether the soil slope has the fatality factor X2 is further judged according to the slope data information of the slope model, if yes, UD is 1.4, if no, each item in the slope protection engineering damage degree UD in the soil slope is obtained according to the slope data information of the slope model, the item is substituted into an UD-KXUS/100 equation, and when the UD is calculated to be not less than 0.7 according to the UD-KXUS/100 equation, namely the prevention engineering measures are considered to fail, the last result is that UD is not less than 1 and not more than 1.4. Wherein, the fatal factor X2 includes that the retaining wall has obvious displacement, toppling or dislocation in the prevention and treatment project; the anti-slide pile has obvious displacement, inclination or bending; and the anchor cable (rod) is provided with at least one of the steel bar (steel strand) breaking and the anchor head is obviously damaged or falls off.
Each index in the slope disaster harmfulness index (CS) comprises a slope top facility index F1, a slope toe facility index F2, a highway grade index G1, a road damage index G2 and a disaster-stricken population index I, and each index specific value of the slope disaster harmfulness index CS in the soil slope is obtained according to slope data information of a slope model and is substituted into an equation (F1+ F2+ G1+ G2+ I)/100 to calculate the slope disaster harmfulness index CS of the soil slope.
Example two
Please refer to fig. 9, which illustrates an evaluation of a rock cut slope safety risk according to an embodiment of the present invention. All slopes in this embodiment are understood to be rock slopes.
Based on the above steps S0-S2, in step S3, the rock slope safety risk assessment is calculated as follows:
RS＝SI×UD×CS (1-2)
in the formula (1-2):
RS-slope safety risk assessment score
SI-slope disaster instability index
UD-degree of damage of slope protection engineering
CS-index of hazard to side slope disaster
In the rock slope safety risk assessment, a safety risk assessment score (RS) is obtained by multiplying a slope instability index (SI), a slope protection project damage degree (UD) and a slope disaster harmfulness index (CS). The calculation of the slope instability index (SI) and the slope disaster harmfulness index (CS) is obtained by adding all internal evaluation indexes; the slope protection project damage degree (UD) is obtained by performing normalization processing on the product of the slope protection project damage index (US) and a time factor. The rock slope safety risk evaluation system is shown in figure 9.
Specifically, referring to fig. 9, in the rock slope, the indexes of the slope instability index (SI) include a section geometry index a, a deformation damage characteristic index B1, a damage history index B2, a groundwater seepage index C, a damage mode and scale index D1, and a damage mode and scale index D2. Side slope data information based on side slope modelIf the soil slope has the lethality factor X3, the SI is 1.0, and if the soil slope does not have the lethality factor X3, the concrete values of the slope instability indexes SI in the rock slope are obtained according to the slope data information of the slope model, and the values are substituted into an equation (A + B1+ B2+ C + D1+ D2)/100 to calculate the slope instability indexes SI of the rock slope. Wherein, the X3 comprises a continuously extending opening crack (opening more than 0.5m) at the rear edge of the side slope, obvious bulging or displacement of the front edge of the side slope, a large number of longitudinal shear cracks visible in the slope, and a large-sized suspended dangerous rock mass (with the volume more than or equal to 50 m) on the slope3) At least one of (1).
In the calculation process of the damage degree (UD) of the slope protection project, all indexes in the damage degree (UD) of the slope protection project comprise a slope protection project damage index US and a time factor K. If no prevention and control engineering measures exist in the rock slope, UD is 1; if the rock slope has the prevention engineering measures, whether the rock slope has the fatal factor X4 is further judged according to the slope data information of the slope model, if yes, UD is 1.4, if no, each item in the slope protection engineering damage degree UD in the rock slope is obtained according to the slope data information of the slope model, the item is substituted into an equation UD which is KxUS/100, and if UD which is calculated according to the equation UD which is KxUS/100 is not less than 0.7, namely the prevention engineering measures are considered to fail, UD which is not less than 1 and not more than 1.4 is the final result. Wherein, X4 includes that the retaining wall has obvious displacement, toppling or dislocation in the prevention and treatment project; the anti-slide pile has obvious displacement, inclination or bending; and the anchor cable (rod) is provided with at least one of the steel bar (steel strand) breaking and the anchor head is obviously damaged or falls off.
Each index in the slope disaster harmfulness index (CS) comprises a slope top facility index F1, a slope toe facility index F2, a highway grade index G1, a highway hazard index G2 and a disaster-stricken population index I, specific values of each index of the slope disaster harmfulness index CS in the rock slope are obtained according to slope data information of a slope model, and the specific values are substituted into an equation (F1+ F2+ G1+ G2+ I)/100 to calculate the slope disaster harmfulness index CS of the rock slope.
EXAMPLE III
Please refer to fig. 10, which shows the special risk assessment of the retaining wall slope of the present invention. All the side slopes in this embodiment are understood as retaining wall side slopes.
Based on the above steps S0-S2, in step S3, the retaining wall slope safety risk assessment is calculated as follows:
RS＝SI×CS (1-3)
in the formula (1-3):
RS-slope safety risk assessment score
SI-slope disaster instability index
CS-index of hazard to side slope disaster
When the soil retaining wall side slope is specially evaluated, in the side slope safety risk evaluation sub-item, the evaluation of the side slope protection project damage degree is different, and design and construction influence factors are considered when the soil retaining wall is specially evaluated.
In the retaining wall slope safety risk assessment, when two indexes of a slope instability index (SI) and a slope disaster harmfulness index (CS) are calculated, the indexes are added, and when a slope safety risk assessment score (RS) is calculated, indexes are multiplied, which is the same as the soil slope calculation method, and a specific evaluation idea is shown in fig. 10.
Specifically, referring to fig. 10, in the retaining wall slope, each index in the slope instability index (SI) includes a section geometry index a, a deformation damage characteristic index B1, a damage history index B2, a slope surface protection and waterproofing index C3, a slope leakage sign index C4, a retaining wall type index D, and a slope bottom angle index E. According to the side slope data information of the side slope model, if a fatal factor X exists in the side slope of the retaining wall, SI is 1.0; if the retaining wall side slope does not have the fatal factor X, obtaining each index specific value of the side slope instability index SI in the retaining wall side slope according to the side slope data information of the side slope model, substituting the SI into an equation (A + B1+ B2+ C3+ C4+ D + E)/100, and calculating the side slope instability index SI of the retaining wall side slope. Wherein, the fatal factor X comprises a continuously extending opening crack (opening is more than 0.5m) at the rear edge of the slope, obvious bulging or displacement of the front edge of the slope, and a large number of longitudinal shear cracks visible in the slope body; at least one of significant displacement of the retaining wall, misalignment, or blocking of open transverse fractures.
Each index in the slope disaster harmfulness index (CS) comprises a slope top facility index F1, a slope toe facility index F2, a highway grade index G1, a road damage index G2 and a disaster-stricken population index I, specific values of each index of the slope disaster harmfulness index CS in the retaining wall slope are obtained according to slope data information of a slope model, and the specific values are substituted into a (F1+ F2+ G1+ G2+ I)/100 equation to calculate the slope disaster harmfulness index CS of the retaining wall slope.
Example four
Based on the above steps S1-S2, in step S3, the soil-rock mixed slope is a special soil-rock mixed complex structure slope, and the soil slope in the first embodiment and the rock slope in the second embodiment can be respectively scored according to the safety risk assessment methods, that is, the slope safety risk assessment score RS is respectively calculated according to the slope instability index SI, the slope protection project damage degree UD and the slope disaster hazard index CS in the soil slope and according to the slope instability index SI, the slope protection project damage degree UD and the slope disaster hazard index CS in the rock slope, and the maximum value of the two is taken as the slope safety risk assessment score RS of the soil-rock mixed slope. Please refer to fig. 8 and 9, which are not described herein.
The lethal factors (X1, X2, X3, X4 and X) in the above four examples are all factors that are decisive for the instability of the side slope, and once such factors appear on the side slope, the safety risk level increases.
The invention also provides a slope risk assessment system based on radar laser scanning, which comprises:
the radar laser three-dimensional scanning module is used for three-dimensionally scanning the side slope by adopting radar laser, acquiring point cloud data of the side slope and establishing a side slope model according to the point cloud data;
specifically, please refer to table 1, which shows parameters of the radar laser three-dimensional scanner according to the embodiment of the present invention. The three-dimensional scanning module of the invention adopts a high-quality point cloud noise suppression technology, greatly improves the quality of point cloud data, improves the noise-to-performance ratio and the precision of the point cloud data, and simplifies the workload of point cloud data processing; by adopting the pulse method measurement technology, the distance measurement precision is as high as 3.5mm/150m, high-quality and low-noise point cloud data can be provided, and the subdivision processing of the pulse method measurement technology is further enhanced by the ultra-high speed direct sampling technology, so that the measurement requirements of rapidness and accuracy are met; the automatic height measuring module is arranged, so that the height of the radar laser scanner can be automatically measured during scanning, and the measurement precision of point cloud data is greatly improved; the scanning mode comprises five different measuring ranges including a long-distance mode, a close-range mode, a high-definition mode, a high-speed mode, a safety mode and the like. Under any scanning environment, the scanning operation task can be completed quickly, efficiently and accurately; the wide-angle telephoto camera with 170 degrees and 500 ten thousand pixels and the coaxial 500 ten thousand pixel telephoto camera with 8.9 degrees of field angle are equipped, the wide-angle camera can quickly acquire peripheral image data, and the telephoto camera can shoot detailed information of a target object; the method supports multiple splicing modes such as a connection point method, a survey station back-viewing method, a shape matching method and the like, and can conveniently, quickly and accurately complete the splicing of point cloud data among multiple survey stations according to different scanning field conditions.
TABLE 1
The side slope classification module is used for determining the type of the side slope according to the side slope model, wherein the type of the side slope comprises a soil side slope, a rock side slope, a retaining wall side slope and a soil-rock mixed slope;
the risk scoring module is used for calculating a slope instability index SI and a slope disaster harmfulness index CS according to the slope model if the slope is a retaining wall slope, and calculating a slope safety risk assessment score RS according to the slope instability index SI and the slope disaster harmfulness index CS, wherein RS is SI multiplied by CS;
and if the side slope is one of a soil side slope, a rock side slope or a soil-rock mixed side slope, calculating a side slope instability index SI, a side slope protection project damage degree UD and a side slope disaster hazard index CS according to the side slope model, and calculating a side slope safety risk assessment score RS according to the side slope instability index SI, the side slope protection project damage degree UD and the side slope disaster hazard index CS, wherein RS is SI multiplied by UD multiplied by CS.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A slope risk assessment method based on radar laser scanning is characterized by comprising the following steps:
the method comprises the steps that radar laser scans a side slope in a three-dimensional mode, point cloud data of the side slope are collected, and a side slope model is built according to the point cloud data;
determining the type of the side slope according to the side slope model, wherein the type of the side slope comprises a soil side slope, a rock side slope, a retaining wall side slope and a soil-rock mixed side slope;
if the side slope is a retaining wall side slope, calculating a side slope instability index SI and a side slope disaster harmfulness index CS according to the side slope model, and calculating a side slope safety risk assessment score RS according to the side slope instability index SI and the side slope disaster harmfulness index CS, wherein RS is SI multiplied by CS;
if the side slope is one of a soil side slope, a rock side slope or a soil-rock mixture side slope, calculating a side slope instability index SI, a side slope protection project damage degree UD and a side slope disaster harmfulness index CS according to the side slope model, and calculating a side slope safety risk assessment score RS according to the side slope instability index SI, the side slope protection project damage degree UD and the side slope disaster harmfulness index CS, wherein RS is SI multiplied by UD multiplied by CS.
2. The slope risk assessment method based on radar laser scanning as claimed in claim 1, wherein if the slope is a soil-rock mixed slope, slope safety risk assessment scores RS are calculated according to slope instability indexes SI, slope protection project damage degrees UD and slope disaster hazard indexes CS of the soil slope and the rock slope, respectively, and a maximum slope safety risk assessment score RS is taken as the slope safety risk assessment score RS of the soil-rock mixed slope.
3. The radar laser scanning-based slope risk assessment method according to claim 1, wherein in RS ═ SI × UD × CS and RS ═ SI × CS equations, the calculation process of the slope instability index SI comprises the following steps:
when the side slope is a soil slope, judging whether the side slope has a first life factor according to the side slope model, if so, determining that the side slope instability index SI is 1.0,
if not, obtaining a section geometric form index A, a deformation destruction characteristic index B1, a destruction history index B2, a surface water activity index C1 and a site characteristic index C2 according to the slope model, and calculating a slope instability index SI according to the section geometric form index A, the deformation destruction characteristic index B1, the destruction history index B2, the surface water activity index C1 and the site characteristic index C2, wherein the SI is (A + B1+ B2+ C1+ C2)/100;
and/or when the side slope is a rock side slope, judging whether the first fatal factor exists in the side slope according to the side slope model, if so, determining that the side slope instability index SI is 1.0,
if not, acquiring a section geometric form index A, a deformation destruction characteristic index B1, a destruction history index B2, an underground water seepage index C, a destruction mode and scale index D1 and a destruction mode and scale index D2 according to the side slope model, and calculating a side slope instability index SI according to the section geometric form index A, the deformation destruction characteristic index B1, the destruction history index B2, the underground water seepage index C, the destruction mode and scale index D1 and the destruction mode and scale index D2, wherein SI is (A + B1+ B2+ C + D1 multiplied by D2)/100;
and/or when the side slope is a retaining wall side slope, judging whether a second fatal factor exists in the side slope according to the side slope model, if so, determining that the side slope instability index SI is 1.0,
if not, acquiring a section geometric form index A, a deformation damage characteristic index B1, a damage history index B2, a slope surface protection and waterproof index C3, a slope body leakage sign index C4, a retaining wall type index D and a slope bottom angle index E according to the slope model, and calculating a slope instability index SI according to the section geometric form index A, the deformation damage characteristic index B1, the damage history index B2, the slope surface protection and waterproof index C3, the slope body leakage sign index C4, the retaining wall type index D and the slope bottom angle index E, wherein SI is (A + B1+ B2+ C3+ C4+ D + E)/100.
4. The slope risk assessment method based on radar laser scanning as claimed in claim 1, wherein in RS ═ SI × UD × CS equation, the calculation process of the slope protection project damage degree UD includes the following steps:
judging whether the slope has a prevention and treatment engineering measure, if not, the slope protection engineering damage degree UD is 1;
if yes, further judging whether a third fatal factor exists according to the slope model, if yes, the slope protection engineering damage degree UD is 1.4, if not, obtaining a slope protection engineering damage index US and a time factor K according to the slope model, calculating the slope protection engineering damage degree UD according to the slope protection engineering damage index US and the time factor K, wherein UD is KxUS/100, if UD is not less than 0.7 and is calculated according to a formula of UD not less than K xUS/100, the prevention and treatment engineering measures fail, and taking UD not less than 1 and not more than 1.4 as a final result.
5. The slope risk assessment method based on radar laser scanning as claimed in claim 1, wherein in RS ═ SI × UD × CS and RS ═ SI × CS equations, the calculation process of the slope disaster harmfulness index CS comprises the following steps:
and obtaining a slope top facility index F1, a slope toe facility index F2, a road grade index G1, a road damage index G2 and a disaster-stricken population index I according to the slope model, and calculating a slope disaster harmfulness index CS according to the slope top facility index F1, the slope toe facility index F2, the road grade index G1, the road damage index G2 and the disaster-stricken population index I, wherein CS is (F1+ F2+ G1+ G2+ I)/100.
6. The slope risk assessment method based on radar laser scanning as claimed in any one of claims 1 to 5, wherein the radar laser scans the slope three-dimensionally, collects point cloud data of the slope, and builds a slope model according to the point cloud data, including:
splicing the point cloud data to obtain spliced point cloud data;
removing point cloud data which are obviously lower or higher than the side slope and irrelevant to the side slope monitoring in the spliced point cloud data so as to obtain effective point cloud data after carrying out noise reduction processing on the spliced point cloud data;
matching and coloring the effective point cloud data and the actual picture of the side slope, classifying the colored effective point cloud data to filter out targets irrelevant to the side slope, and then solving the side slope model through a surface fitting algorithm;
and manufacturing a profile of the side slope through the point cloud profile according to the side slope model, and acquiring data information of the side slope.
7. The slope risk assessment method based on radar laser scanning as claimed in claim 6, wherein the radar laser scans the slope three-dimensionally, collects point cloud data of the slope, and builds a slope model according to the point cloud data, and the method comprises the following steps:
and determining a plurality of scanning points according to the side slope and the environmental condition, and arranging a target and a radar laser scanner at the scanning points, wherein the overlapping degree of point cloud data obtained by scanning between adjacent scanning points is greater than or equal to 30%, and if the environmental condition is severe, the overlapping degree is greater than or equal to 10%.
8. A radar laser scanning based slope risk assessment system, the system comprising:
the radar laser three-dimensional scanning module is used for three-dimensionally scanning a side slope by adopting radar laser, acquiring point cloud data of the side slope and establishing a side slope model according to the point cloud data;
the side slope classification module is used for determining the type of the side slope according to the side slope model, wherein the type of the side slope comprises a soil side slope, a rock side slope, a retaining wall side slope and a soil-rock mixed slope;
the risk scoring module is used for calculating a slope instability index SI and a slope disaster harmfulness index CS according to the slope model if the slope is a retaining wall slope, and calculating a slope safety risk assessment score RS according to the slope instability index SI and the slope disaster harmfulness index CS, wherein RS is SI multiplied by CS;
and if the side slope is one of a soil side slope, a rock side slope or a soil-rock mixed side slope, calculating a side slope instability index SI, a side slope protection project damage degree UD and a side slope disaster hazard index CS according to the side slope model, and calculating a side slope safety risk assessment score RS according to the side slope instability index SI, the side slope protection project damage degree UD and the side slope disaster hazard index CS, wherein RS is SI multiplied by UD multiplied by CS.
9. The radar laser scanning-based slope risk assessment system according to claim 8, wherein the ranging precision of the radar laser three-dimensional laser scanning module is 3.5mm/150 m.
10. The radar laser scanning-based slope risk assessment system according to claim 8, wherein the three-dimensional laser scanning module further comprises an automatic height sub-module for performing automatic height measurement on the radar laser scanner during scanning.
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