CN114295069B - Slope deformation monitoring method and system for unmanned aerial vehicle-mounted three-dimensional laser scanner - Google Patents
Slope deformation monitoring method and system for unmanned aerial vehicle-mounted three-dimensional laser scanner Download PDFInfo
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Abstract
The application discloses a slope deformation monitoring method and system for an unmanned aerial vehicle-mounted three-dimensional laser scanner, wherein the method comprises the following steps: obtaining basic information of a first side slope; obtaining historical three-dimensional model data of the first side slope according to the basic information; generating a first data acquisition path according to the historical three-dimensional model data; the first data acquisition module is used for carrying out data acquisition on the first side slope based on the first data acquisition path to obtain a first data acquisition result; the data processing module is used for processing the data of the first data acquisition result to obtain a first processing result; constructing a side slope three-dimensional model according to the first processing result, and comparing the side slope three-dimensional model with historical three-dimensional model data to obtain a side slope deformation curve and a first analysis result; and visually displaying and storing the slope deformation curve and the first analysis result based on the first display module. The application improves the scientificity, safety and accuracy of deformation monitoring.
Description
Technical Field
The application relates to the technical field of slope monitoring, in particular to a slope deformation monitoring method and system for an unmanned aerial vehicle-mounted three-dimensional laser scanner.
Background
Side slopes generally refer to the general names of slope forms such as natural slopes, river water bank slopes, tablelands, landslide fluid accumulation bodies, artificial side slopes (formed by traffic roads, open-pit mining, construction sites, foundation works and the like). The method can be broadly defined as a geological body with the earth surface inclined to be empty, and mainly comprises a slope top, a slope surface, a slope foot and a slope body with a certain lower part. In the field of surface mines, due to the action of self-weight stress, the slope free surface is increased, and the probability of landslide generation is increased. And the rear edge of the side slope opens the cracks, which can lead to continuous infiltration of rainfall, continuous increase of surface displacement and aggravation of the danger of landslide. In actual blasting operation, the mine side slope is likely to crack and have unbalanced stability, and serious consequences such as collapse, landslide and the like are caused, so that the monitoring of the side slope deformation of the mine has important significance.
The existing slope deformation monitoring technology at least has the following technical problems:
in the prior art, manual inspection lacks safety guarantee, comprehensive deformation monitoring results cannot be obtained, scientificity is not high, and data information acquired by an unmanned aerial vehicle measurement technology is distorted due to insufficient precision, so that the technical problems of low accuracy and poor precision of slope deformation monitoring are solved.
Disclosure of Invention
The first aspect of the embodiment of the application provides a slope deformation monitoring method for an unmanned aerial vehicle-mounted three-dimensional laser scanner, which aims to solve the technical problems of lack of safety guarantee, low monitoring accuracy and poor precision in the existing slope deformation monitoring process.
The technical scheme adopted by the application is as follows:
the method is applied to a monitoring system, and the system is in communication connection with a first acquisition module, a first processing module and a first display module, and comprises the following steps:
obtaining basic information of a first side slope;
obtaining historical three-dimensional model data of the first side slope according to the basic information;
generating a first data acquisition path according to the historical three-dimensional model data;
the first acquisition module is used for acquiring data of the first side slope based on the first data acquisition path to obtain a first data acquisition result, wherein the first acquisition module is an acquisition module based on an unmanned aerial vehicle-mounted three-dimensional laser scanner;
the data processing module processes the data of the first data acquisition result to obtain a first processing result;
Constructing a slope three-dimensional model according to the first processing result, and comparing the slope three-dimensional model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result;
and visually displaying and storing the slope deformation curve and the first analysis result based on the first display module.
Further, the data processing module performs data processing on the first data acquisition result to obtain a first processing result, and further includes the steps of:
acquiring a first processing instruction, and performing data noise reduction processing on the first data acquisition result according to the first processing instruction to acquire a first noise reduction result;
filtering the point cloud data in the first noise reduction result by a Gaussian filtering method to obtain a first filtering result;
performing simplifying treatment on the first filtering result through an octree structure, and performing feature aggregation on the first filtering result after the simplifying treatment to obtain a first aggregation result;
and obtaining the first processing result based on the first aggregation result.
Further, the generating a first data acquisition path according to the historical three-dimensional model data further includes the steps of:
Obtaining a first departure point according to the historical three-dimensional model data;
acquiring first image set information of the first flying spot;
performing dangerous feature comparison on the first flying spot based on the first image set information to obtain a first comparison result;
and carrying out safety verification on the first flying spot based on the first comparison result, and taking the first flying spot as a path origin of the first data acquisition path when the safety verification meets a first preset threshold value.
Further, the step of comparing the dangerous features of the first flying spot based on the first image set information to obtain a first comparison result further includes the steps of:
obtaining basic information of the first acquisition module;
acquiring a dangerous feature set of the first acquisition module according to the basic information, wherein the dangerous feature set comprises dangerous features and identification information for identifying dangerous grades;
performing feature traversal on the first image set information based on the dangerous feature set to obtain a first feature traversal result, wherein the first feature traversal result comprises matching degree information of each feature in the dangerous feature set;
And calculating the dangerous characteristic coefficient of the first flying spot based on the matching degree information and the identification information to obtain a first calculation result, and obtaining the first comparison result through the first calculation result.
Further, the step of obtaining the first data acquisition result further includes the steps of:
obtaining a first target point, and obtaining distance information between the first target point and the data acquisition module through the first acquisition module;
acquiring a laser pulse transverse scanning angle observation value theta and a longitudinal scanning angle observation value zeta when acquiring the distance information;
and obtaining the first data acquisition result based on the distance information, the transverse scanning angle observation value theta and the longitudinal scanning angle observation value zeta.
Further, the step of constructing a slope three-dimensional model according to the first processing result, and comparing the slope three-dimensional model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result, further comprises the steps of:
taking the first flying spot as a coordinate origin to construct a three-dimensional rectangular coordinate system;
based on the distance information, the transverse scanning angle observation value theta and the longitudinal scanning angle observation value zeta, coordinate information of the first target point is obtained through formula calculation, and the calculation formula is as follows:
x＝L cosθcosζ
y＝L cosθsinζ
z＝L sinθ
Wherein x is the abscissa of the first target point, y is the ordinate of the first target point, z is the ordinate of the first target point, and L is the distance information.
The application further provides a slope deformation monitoring system of the unmanned aerial vehicle-mounted three-dimensional laser scanner, wherein the system comprises:
the first obtaining unit is used for obtaining basic information of the first slope;
the second obtaining unit is used for obtaining historical three-dimensional model data of the first side slope according to the basic information;
the first generation unit is used for generating a first data acquisition path according to the historical three-dimensional model data;
the third acquisition unit is used for acquiring data of the first side slope based on the first data acquisition path through a first acquisition module to obtain a first data acquisition result, wherein the first acquisition module is an acquisition module based on an unmanned aerial vehicle-mounted three-dimensional laser scanner;
the fourth obtaining unit is used for carrying out data processing on the first data acquisition result through the data processing module to obtain a first processing result;
The fifth obtaining unit is used for constructing a slope three-dimensional model according to the first processing result, and comparing the slope three-dimensional model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result;
the first execution unit is used for visually displaying and storing the slope deformation curve and the first analysis result based on a first display module.
The embodiment of the application also provides a slope deformation monitoring system of the unmanned aerial vehicle-mounted three-dimensional laser scanner, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the method when executing the program.
In another aspect, an embodiment of the present application further provides a storage medium, where the storage medium includes a stored program, and when the program runs, the program controls a device in which the storage medium is located to execute the steps of the method.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
as the basic information of the first side slope is obtained; obtaining historical three-dimensional model data of the first side slope according to the basic information; generating a first data acquisition path according to the historical three-dimensional model data; the first acquisition module is used for acquiring data of the first side slope based on the first data acquisition path to obtain a first data acquisition result, wherein the first acquisition module is an acquisition module based on an unmanned aerial vehicle-mounted three-dimensional laser scanner; the data processing module processes the data of the first data acquisition result to obtain a first processing result; constructing a slope three-dimensional model according to the first processing result, and comparing the slope three-dimensional model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result; and visually displaying and storing the slope deformation curve and the first analysis result based on the first display module. Based on the method, the slope deformation monitoring method of the unmanned aerial vehicle-mounted three-dimensional laser scanner can be constructed, the multi-angle all-dimensional intelligent monitoring of the slope is achieved, the monitoring precision is improved, the slope deformation data information is enriched, and the technical effects of scientificity, safety and accuracy of deformation monitoring are improved.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 is a schematic flow chart of a slope deformation monitoring method for an unmanned aerial vehicle-mounted three-dimensional laser scanner according to an embodiment of the application;
fig. 2 is a schematic flow chart of data processing by a data processing module in a slope deformation monitoring method of an unmanned aerial vehicle-mounted three-dimensional laser scanner according to an embodiment of the application;
fig. 3 is a schematic flow chart of generating a data acquisition path in a slope deformation monitoring method of an unmanned aerial vehicle-mounted three-dimensional laser scanner according to an embodiment of the application;
fig. 4 is a schematic flow chart of dangerous feature comparison in a slope deformation monitoring method of an unmanned aerial vehicle-mounted three-dimensional laser scanner according to an embodiment of the application;
Fig. 5 is a schematic flow chart of a method for monitoring slope deformation of an unmanned aerial vehicle-mounted three-dimensional laser scanner according to an embodiment of the application, wherein the method is used for acquiring data;
fig. 6 is a schematic flow chart of a slope deformation curve and a first analysis result obtained in a slope deformation monitoring method of an unmanned aerial vehicle-mounted three-dimensional laser scanner according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a slope deformation monitoring system of an unmanned aerial vehicle-mounted three-dimensional laser scanner according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an exemplary electronic device according to an embodiment of the present application.
Reference numerals illustrate: 11. a first obtaining unit; 12. a second obtaining unit; 13. a first generation unit; 14. a third obtaining unit; 15. a fourth obtaining unit; 16. a fifth obtaining unit; 17. a first execution unit; 300. a bus; 301. a receiver; 302. a processor; 303. a transmitter; 304. a memory; 305. a bus interface.
Detailed Description
The embodiment of the application solves the technical problems that in the prior art, manual inspection lacks safety guarantee, comprehensive deformation monitoring results cannot be obtained, scientificity is low, and data information acquired by an unmanned aerial vehicle measurement technology is distorted due to insufficient precision, so that the accuracy of monitoring the deformation of the side slope is low and the precision is poor. The intelligent monitoring device has the advantages that the intelligent monitoring device can monitor the side slope in a multi-angle and omnibearing manner, the monitoring precision is improved, so that the side slope deformation data information is enriched, and the technical effects of scientificity, safety and accuracy of deformation monitoring are improved.
Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.
Example 1
As shown in fig. 1, an embodiment of the present application provides a slope deformation monitoring method based on an unmanned aerial vehicle-mounted three-dimensional laser scanner, where the method is applied to a monitoring system, and the system is communicatively connected with a first acquisition module, a first processing module, and a first display module, and the method includes the steps of:
s100: obtaining basic information of a first side slope;
s200: obtaining historical three-dimensional model data of the first side slope according to the basic information;
s300: generating a first data acquisition path according to the historical three-dimensional model data;
specifically, the first side slope is any side slope, and the basic information of the first side slope is collected and comprises slope height information, material composition information, disease information and the like. The slope height information comprises a low slope, a high slope and an extra-high slope; the material composition information comprises soil slopes, rock slopes and binary structure slopes; disease information includes wind-break exfoliation, meteor mud flow, falling of lump and stone, collapse, dumping, collapse, crumple, slip, slump, and the like. According to the basic information, historical three-dimensional model data of the first side slope in the database are matched, wherein the historical three-dimensional model data comprise a large number of three-dimensional coordinate points, acquisition time, deformation information, deformation coefficients and the like. And determining the stability of the slope according to the historical three-dimensional model data, and generating the first data acquisition path based on the stability to acquire data. The historical three-dimensional model data is mastered, so that a data acquisition path is generated on the basis of the historical data, and the accuracy and the scientificity of data acquisition can be improved.
S400: the first acquisition module is used for acquiring data of the first side slope based on the first data acquisition path to obtain a first data acquisition result, wherein the first acquisition module is an acquisition module based on an unmanned aerial vehicle-mounted three-dimensional laser scanner;
specifically, an acquisition module based on an unmanned aerial vehicle-mounted three-dimensional laser scanner is adopted to acquire data of the first side slope according to the first data acquisition path. The three-dimensional laser scanner is a measuring instrument for instantaneously measuring three-dimensional coordinate values of a space by a laser ranging principle (comprising pulse laser and phase laser), and can quickly establish a three-dimensional visual model of a scene with a complex and irregular structure by utilizing the three-dimensional point cloud data acquired by a three-dimensional laser scanning technology, so that time and labor are saved. The first data acquisition result comprises a target position, a distance between the target position and an acquisition point, a transverse scanning angle, a longitudinal scanning angle and the like. The three-dimensional laser scanner has the blind area in the scanning process, and the unmanned aerial vehicle is adopted to carry the three-dimensional laser scanner, so that the multi-angle all-dimensional scanning can be carried out on the side slope, the obtained data materials are enriched, and the data material accuracy is improved.
S500: the data processing module processes the data of the first data acquisition result to obtain a first processing result;
s600: constructing a slope three-dimensional model according to the first processing result, and comparing the slope three-dimensional model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result;
s700: and visually displaying and storing the slope deformation curve and the first analysis result based on the first display module.
Specifically, the data processing of the first data acquisition result includes noise reduction, filtering, aggregation and the like, and the slope is completely restored to obtain the first processing result. And constructing a three-dimensional slope model according to the scanning data which are measured and processed in real time, performing intelligent comparison processing on each coordinate point with the historical three-dimensional model data, calculating horizontal deformation and vertical deformation, and obtaining the slope deformation curve and a first analysis result. And visually displaying through the first display module and storing the visual display in a database. The deformation of the side slope is compared with the historical data, so that the deformation visualization and the datamation are realized, the concrete condition of the side slope can be conveniently determined, a user can be timely reminded of taking measures on the side slope, and the management of staff is convenient.
Further, as shown in fig. 2, the step S500 further includes the step of performing data processing on the first data acquisition result by using the data processing module to obtain a first processing result:
s510: acquiring a first processing instruction, and performing data noise reduction processing on the first data acquisition result according to the first processing instruction to acquire a first noise reduction result;
s520: filtering the point cloud data in the first noise reduction result by a Gaussian filtering method to obtain a first filtering result;
s530: performing simplifying treatment on the first filtering result through an octree structure, and performing feature aggregation on the first filtering result after the simplifying treatment to obtain a first aggregation result;
s540: and obtaining the first processing result based on the first aggregation result.
Specifically, the noise reduction processing of the data is performed, and the purpose of noise reduction is to emphasize the signal itself and suppress the noise effect. From this point of view, noise reduction is to give a high weight to the signal and a low weight to the noise. Noise points forming point cloud data, such as airborne dust, winged insects, moving personnel, machinery, vegetation and the like, are generated between scanning equipment and a scanning target due to some external accidental factors in the scanning data acquisition process, and the noise data are removed. Further, filtering the point cloud data in the first noise reduction result, wherein the point cloud data comprises geometric positions, color information and intensity information, the color information is obtained by endowing the color information of pixels at corresponding positions to corresponding points in the point cloud, the intensity information is the acquired echo intensity, and the intensity information is related to the surface material, roughness and incident angle direction of a target, and the emission energy and laser wavelength of an instrument. And filtering unordered point clouds of the obtained point cloud data by adopting a Gaussian filtering method, wherein after the point cloud is filtered, more overlapped point clouds still exist, and simplifying the point cloud data by adopting an octree structure simplifying method. The simplified point cloud data are blocky and disordered. And carrying out characteristic aggregation treatment on the point cloud data scanned for multiple times, so that the side slope is completely restored. After the data processing module performs noise reduction, filtering, simplification and aggregation processing on the data acquisition result, clear and complete three-dimensional point cloud data of the side slope can be obtained, and a foundation is laid for building a three-dimensional model of the side slope.
Further, as shown in fig. 3, the step S300 includes the steps of:
s310: obtaining a first departure point according to the historical three-dimensional model data;
s320: acquiring first image set information of the first flying spot;
s330: performing dangerous feature comparison on the first flying spot based on the first image set information to obtain a first comparison result;
s340: and carrying out safety verification on the first flying spot based on the first comparison result, and taking the first flying spot as a path origin of the first data acquisition path when the safety verification meets a first preset threshold value.
Specifically, the first flying spot can be obtained by comprehensively analyzing the historical three-dimensional model data, the historical image information set at the first flying spot is obtained as a starting point for starting data acquisition of the unmanned aerial vehicle to take off, the first flying spot is compared with dangerous features according to the image information, the unmanned aerial vehicle is prevented from falling or being damaged due to collision, and dangerous features of the flying spot comprise magnetic field interference, obstacles existing in the air and the like. And presetting a safety threshold as the first preset threshold, carrying out safety verification on the flying spot, and determining the origin of the data acquisition path of the first flying spot when the verification result meets the first preset threshold. The flying spot with guaranteed safety can be obtained, and the effects of data safety acquisition and equipment safety guarantee can be achieved. And the operability, scientificity and safety of data acquisition are improved.
Further, as shown in fig. 4, the step S330 further includes the step of comparing the dangerous features of the first flying spot based on the first image set information to obtain a first comparison result:
s331: obtaining basic information of the first acquisition module;
s332: acquiring a dangerous feature set of the first acquisition module according to the basic information, wherein the dangerous feature set comprises dangerous features and identification information for identifying dangerous grades;
s333: performing feature traversal on the first image set information based on the dangerous feature set to obtain a first feature traversal result, wherein the first feature traversal result comprises matching degree information of each feature in the dangerous feature set;
s334: and calculating the dangerous characteristic coefficient of the first flying spot based on the matching degree information and the identification information to obtain a first calculation result, and obtaining the first comparison result through the first calculation result.
Specifically, the basic information of the first acquisition module comprises the type of the unmanned aerial vehicle, the model of the three-dimensional laser scanner, ranging and the like, a dangerous feature set is obtained according to the basic information of the first acquisition module, the dangerous feature set comprises dangerous features and identification information for identifying dangerous grades, the dangerous features are classified according to the influence degree of the dangerous features on equipment take-off and measurement, the dangerous grades are classified according to the dangerous features, the dangerous feature set is subjected to feature traversal in the first image set information, the first feature traversal result is obtained, the matching degree of the features in the first image set information is obtained according to the matching degree of the features, and the higher the matching degree is, the higher the similarity degree and the matching degree of the features with the dangerous features are indicated. The dangerous feature coefficient is obtained through calculation based on the matching degree information and the identification information and is used for representing the dangerous degree of the dangerous feature of the first image set information. Further, the first flying spot is subjected to dangerous feature comparison, so that the first flying spot is subjected to dangerous assessment, and the most suitable flying spot and acquisition path can be found.
Further, as shown in fig. 5, the step S400 includes the steps of:
s410: obtaining a first target point, and obtaining distance information between the first target point and the data acquisition module through the first acquisition module;
s420: acquiring a laser pulse transverse scanning angle observation value theta and a longitudinal scanning angle observation value zeta when acquiring the distance information;
s430: and obtaining the first data acquisition result based on the distance information, the transverse scanning angle observation value theta and the longitudinal scanning angle observation value zeta.
Specifically, the first target point can be targets such as deformation, inclination and cracks, the first acquisition module is used for acquiring the distance between the first target point and the first acquisition module, the laser transmitter of the three-dimensional laser scanner transmits laser pulse signals, the laser pulse signals are reflected along the same path after being diffusely reflected by the surface of an object and then are returned to the receiver, the distance between the target point and the scanner can be calculated, the encoder is controlled to synchronously measure the observation value theta of each laser pulse transverse scanning angle and the observation value zeta of each longitudinal scanning angle, so that a first data acquisition result is obtained, the measured object can be rapidly scanned and measured in complex sites and spaces, and the current situation of a slope is reproduced.
Further, as shown in fig. 6, the step S600 further includes the steps of:
s610: taking the first flying spot as a coordinate origin to construct a three-dimensional rectangular coordinate system;
s620: based on the distance information, the transverse scanning angle observation value theta and the longitudinal scanning angle observation value zeta, coordinate information of the first target point is obtained through formula calculation, and the calculation formula is as follows:
x＝L cosθcosζ
y＝L cosθsinζ
z＝L sinθ
wherein x is the abscissa of the first target point, y is the ordinate of the first target point, z is the ordinate of the first target point, and L is the distance information.
Specifically, a three-dimensional rectangular coordinate system is constructed by taking the first flying spot as a coordinate origin, space coordinates of a first target point can be obtained through calculation of a formula through distance information L, a transverse scanning angle observation value theta and a longitudinal scanning angle observation value zeta, horizontal deformation and vertical deformation are calculated, a slope deformation curve is produced according to a deformation result, and a slope deformation detection result is obtained, namely the first analysis result. An accurate deformation curve is obtained, and a basis material can be provided for the judgment of a manager.
Compared with the prior art, the embodiment has the following beneficial effects:
1. due to the adoption of the method, the basic information of the first side slope is obtained; obtaining historical three-dimensional model data of the first side slope according to the basic information; generating a first data acquisition path according to the historical three-dimensional model data; the first acquisition module is used for acquiring data of the first side slope based on the first data acquisition path to obtain a first data acquisition result, wherein the first acquisition module is an acquisition module based on an unmanned aerial vehicle-mounted three-dimensional laser scanner; the data processing module processes the data of the first data acquisition result to obtain a first processing result; constructing a slope three-dimensional model according to the first processing result, and comparing the slope three-dimensional model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result; and visually displaying and storing the slope deformation curve and the first analysis result based on the first display module. Based on the method, the slope deformation monitoring method of the unmanned aerial vehicle-mounted three-dimensional laser scanner can be constructed, the multi-angle all-dimensional intelligent monitoring of the slope is achieved, the monitoring precision is improved, the slope deformation data information is enriched, and the technical effects of scientificity, safety and accuracy of deformation monitoring are improved.
2. Because the dangerous feature comparison of the flying spot is adopted, the dangerous assessment is carried out, and the flying spot with high safety can be obtained, thereby achieving the safe data acquisition, guaranteeing the equipment safety and achieving the technical effects of improving the operability, the scientificity and the safety of the data acquisition.
Example two
Based on the same inventive concept as the slope deformation monitoring method of the three-dimensional laser scanner carried by the unmanned aerial vehicle in the foregoing embodiment, the invention also provides a slope deformation monitoring system of the three-dimensional laser scanner carried by the unmanned aerial vehicle, as shown in fig. 7, the system comprises:
a first obtaining unit 11, where the first obtaining unit 11 is configured to obtain basic information of a first side slope;
a second obtaining unit 12, wherein the second obtaining unit 12 is configured to obtain historical three-dimensional model data of the first side slope according to the basic information;
a first generating unit 13, where the first generating unit 13 is configured to generate a first data acquisition path according to the historical three-dimensional model data;
the third obtaining unit 14 is configured to obtain a first data acquisition result by performing data acquisition on the first slope through a first acquisition module based on the first data acquisition path, where the first acquisition module is an acquisition module based on an unmanned aerial vehicle-mounted three-dimensional laser scanner;
A fourth obtaining unit 15, where the fourth obtaining unit 15 is configured to process, by using a data processing module, the data of the first data acquisition result, and obtain a first processing result;
a fifth obtaining unit 16, where the fifth obtaining unit 16 is configured to construct a three-dimensional slope model according to the first processing result, and compare the three-dimensional slope model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result;
the first execution unit 17 is configured to visually display and store the slope deformation curve and the first analysis result based on a first display module, where the first execution unit 17 is configured to perform the first analysis.
Further, the system further comprises:
the sixth obtaining unit is used for obtaining a first processing instruction, carrying out noise reduction processing on the data of the first data acquisition result according to the first processing instruction, and obtaining a first noise reduction result;
a seventh obtaining unit, configured to filter, by using a gaussian filtering method, the point cloud data in the first noise reduction result, to obtain a first filtering result;
the eighth obtaining unit is used for simplifying the first filtering result through an octree structure, and performing feature aggregation on the first filtering result after the simplifying to obtain a first aggregation result;
A ninth obtaining unit configured to obtain the first processing result based on the first aggregation result.
Further, the system further comprises:
a tenth obtaining unit configured to obtain a first departure point from the historical three-dimensional model data;
an eleventh obtaining unit configured to obtain first image set information of the first flying spot;
a twelfth obtaining unit, configured to perform dangerous feature comparison on the first flying spot based on the first image set information, to obtain a first comparison result;
and the second execution unit is used for carrying out safety verification of the first flying spot based on the first comparison result, and taking the first flying spot as a path origin of the first data acquisition path when the safety verification meets a first preset threshold.
Further, the system further comprises:
a thirteenth obtaining unit, configured to obtain basic information of the first acquisition module;
a fourteenth obtaining unit, configured to obtain a risk feature set of the first acquisition module according to the basic information, where the risk feature set includes a risk feature and identification information that identifies a risk level;
A fifteenth obtaining unit, configured to perform feature traversal on the first image set information based on the dangerous feature set, to obtain a first feature traversal result, where the first feature traversal result includes matching degree information of each feature in the dangerous feature set;
a sixteenth obtaining unit, configured to calculate, based on the matching degree information and the identification information, a dangerous feature coefficient of the first flying spot, obtain a first calculation result, and obtain the first comparison result through the first calculation result.
Further, the system further comprises:
a seventeenth obtaining unit, configured to obtain a first target point, and obtain distance information between the first target point and the data acquisition module through the first acquisition module;
an eighteenth obtaining unit for obtaining a laser pulse lateral scanning angle observation value θ and a longitudinal scanning angle observation value ζ when acquiring the distance information;
a nineteenth obtaining unit configured to obtain the first data acquisition result based on the distance information, the lateral scanning angle observation value θ, and the longitudinal scanning angle observation value ζ.
Further, the system further comprises:
the first construction unit is used for constructing a three-dimensional rectangular coordinate system by taking the first flying spot as a coordinate origin;
a twentieth obtaining unit configured to obtain coordinate information of the first target point by a formula calculation based on the distance information, the lateral scanning angle observation value θ, and the longitudinal scanning angle observation value ζ, the formula being as follows:
x＝L cosθcosζ
y＝L cosθsinζ
z＝L sinθ
wherein x is the abscissa of the first target point, y is the ordinate of the first target point, z is the ordinate of the first target point, and L is the distance information.
The various modifications and specific examples of the method for monitoring the deformation of the side slope of the three-dimensional laser scanner mounted on the unmanned aerial vehicle in the first embodiment of fig. 1 are equally applicable to the system for monitoring the deformation of the side slope of the three-dimensional laser scanner mounted on the unmanned aerial vehicle in the first embodiment, and by describing the method for monitoring the deformation of the side slope of the three-dimensional laser scanner mounted on the unmanned aerial vehicle in detail, those skilled in the art can clearly know the implementation method of the system for monitoring the deformation of the side slope of the three-dimensional laser scanner mounted on the unmanned aerial vehicle in the first embodiment, so that the description is omitted again for brevity.
Example III
An electronic device of an embodiment of the present application is described below with reference to fig. 8.
Fig. 8 illustrates a schematic structural diagram of an electronic device according to an embodiment of the present application.
Based on the inventive concept of the slope deformation monitoring method of the three-dimensional laser scanner mounted on the unmanned aerial vehicle in the embodiment, the application also provides a slope deformation monitoring system of the three-dimensional laser scanner mounted on the unmanned aerial vehicle, wherein a computer program is stored on the slope deformation monitoring system, and the program is executed by a processor to realize the steps of any method of the slope deformation monitoring system of the three-dimensional laser scanner mounted on the unmanned aerial vehicle.
Where in FIG. 8, a bus architecture (represented by bus 300), bus 300 may comprise any number of interconnected buses and bridges, with bus 300 linking together various circuits, including one or more processors, represented by processor 302, and memory, represented by memory 304. Bus 300 may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., as are well known in the art and, therefore, will not be described further herein. Bus interface 305 provides an interface between bus 300 and receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e. a transceiver, providing a means for communicating with various other systems over a transmission medium. The processor 302 is responsible for managing the bus 300 and general processing, while the memory 304 may be used to store data used by the processor 302 in performing operations.
The embodiment of the application provides a slope deformation monitoring method for an unmanned aerial vehicle-mounted three-dimensional laser scanner, wherein the method comprises the following steps: obtaining basic information of a first side slope; obtaining historical three-dimensional model data of the first side slope according to the basic information; generating a first data acquisition path according to the historical three-dimensional model data; the first acquisition module is used for acquiring data of the first side slope based on the first data acquisition path to obtain a first data acquisition result, wherein the first acquisition module is an acquisition module based on an unmanned aerial vehicle-mounted three-dimensional laser scanner; the data processing module processes the data of the first data acquisition result to obtain a first processing result; constructing a slope three-dimensional model according to the first processing result, and comparing the slope three-dimensional model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result; and visually displaying and storing the slope deformation curve and the first analysis result based on the first display module.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. The method for monitoring the deformation of the side slope of the three-dimensional laser scanner carried by the unmanned aerial vehicle is applied to a monitoring system, and the system is in communication connection with a first acquisition module, a first processing module and a first display module, and is characterized by comprising the following steps:
Obtaining basic information of a first side slope;
obtaining historical three-dimensional model data of the first side slope according to the basic information;
generating a first data acquisition path according to the historical three-dimensional model data;
the first acquisition module is used for acquiring data of the first side slope based on the first data acquisition path to obtain a first data acquisition result, wherein the first acquisition module is an acquisition module based on an unmanned aerial vehicle-mounted three-dimensional laser scanner;
the data processing module processes the data of the first data acquisition result to obtain a first processing result;
constructing a slope three-dimensional model according to the first processing result, and comparing the slope three-dimensional model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result;
the slope deformation curve and the first analysis result are visually displayed and stored based on the first display module;
the step of generating a first data acquisition path according to the historical three-dimensional model data further comprises the steps of:
obtaining a first departure point according to the historical three-dimensional model data;
acquiring first image set information of the first flying spot;
Comparing dangerous features of the first flying spot based on the first image set information to obtain a first comparison result, wherein the dangerous features comprise obstacles, magnetic field interference, dense cloud and dense fog which influence the monitoring equipment to take off along a data acquisition path;
and carrying out safety verification on the first flying spot based on the first comparison result, and taking the first flying spot as a path origin of the first data acquisition path when the safety verification meets a first preset threshold value.
2. The method of claim 1, wherein the data processing performed on the first data acquisition result by the data processing module, to obtain a first processing result, further comprises the steps of:
acquiring a first processing instruction, and performing data noise reduction processing on the first data acquisition result according to the first processing instruction to acquire a first noise reduction result;
filtering the point cloud data in the first noise reduction result by a Gaussian filtering method to obtain a first filtering result;
performing simplifying treatment on the first filtering result through an octree structure, and performing feature aggregation on the first filtering result after the simplifying treatment to obtain a first aggregation result;
And obtaining the first processing result based on the first aggregation result.
3. The method of claim 1, wherein the performing the dangerous feature comparison on the first departure point based on the first image set information to obtain a first comparison result, further comprises the steps of:
obtaining basic information of the first acquisition module;
acquiring a dangerous feature set of the first acquisition module according to the basic information, wherein the dangerous feature set comprises dangerous features and identification information for identifying dangerous grades;
performing feature traversal on the first image set information based on the dangerous feature set to obtain a first feature traversal result, wherein the first feature traversal result comprises matching degree information of each feature in the dangerous feature set;
and calculating the dangerous characteristic coefficient of the first flying spot based on the matching degree information and the identification information to obtain a first calculation result, and obtaining the first comparison result through the first calculation result.
4. The method of claim 1, wherein the obtaining the first data acquisition result further comprises the steps of:
obtaining a first target point, and obtaining distance information between the first target point and the data acquisition module through the first acquisition module;
Acquiring a laser pulse transverse scanning angle observation value theta and a longitudinal scanning angle observation value zeta when acquiring the distance information;
and obtaining the first data acquisition result based on the distance information, the transverse scanning angle observation value theta and the longitudinal scanning angle observation value zeta.
5. The method of claim 4, wherein the constructing a three-dimensional slope model according to the first processing result, comparing the three-dimensional slope model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result, further comprises the steps of:
taking the first flying spot as a coordinate origin to construct a three-dimensional rectangular coordinate system;
based on the distance information, the transverse scanning angle observation value theta and the longitudinal scanning angle observation value zeta, coordinate information of the first target point is obtained through formula calculation, and the calculation formula is as follows:
x＝L cosθcosζ
y＝L cosθsinζ
z＝L sinθ
wherein x is the abscissa of the first target point, y is the ordinate of the first target point, z is the ordinate of the first target point, and L is the distance information.
6. An unmanned aerial vehicle carries on side slope deformation monitoring system of three-dimensional laser scanner, characterized in that, the system includes:
The first obtaining unit is used for obtaining basic information of the first slope;
the second obtaining unit is used for obtaining historical three-dimensional model data of the first side slope according to the basic information;
the first generation unit is used for generating a first data acquisition path according to the historical three-dimensional model data;
the third acquisition unit is used for acquiring data of the first side slope based on the first data acquisition path through a first acquisition module to obtain a first data acquisition result, wherein the first acquisition module is an acquisition module based on an unmanned aerial vehicle-mounted three-dimensional laser scanner;
the fourth obtaining unit is used for carrying out data processing on the first data acquisition result through the data processing module to obtain a first processing result;
the fifth obtaining unit is used for constructing a slope three-dimensional model according to the first processing result, and comparing the slope three-dimensional model with the historical three-dimensional model data to obtain a slope deformation curve and a first analysis result;
the first execution unit is used for visually displaying and storing the slope deformation curve and the first analysis result based on a first display module.
7. A slope deformation monitoring system for an unmanned aerial vehicle-mounted three-dimensional laser scanner, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 5 when executing the program.
8. A storage medium comprising a stored program, characterized in that the device in which the storage medium is controlled to perform the steps of the method according to any one of claims 1-5 when the program is run.
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