CN105488958A - Non-contact landslide hazard monitoring system and method - Google Patents
Non-contact landslide hazard monitoring system and method Download PDFInfo
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- 238000005516 engineering process Methods 0.000 description 19
- 239000013307 optical fiber Substances 0.000 description 11
- 238000006073 displacement reaction Methods 0.000 description 6
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
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- G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The invention discloses a non-contact landslide hazard monitoring system, which comprises a laser radar scanner, a video check device and a monitoring center processing platform, wherein the laser radar scanner, the video check device and the monitoring center processing platform are connected with a monitoring processing host. The laser radar scanner is used for obtaining distance data of distance from each point in a landslide monitoring region to the laser radar scanner; the monitoring processing host is used for receiving the distance data collected by the laser radar scanner, obtaining an over-limit detection result and sending the over-limit detection result to the monitoring center processing platform; and when the monitoring center processing platform judges that the over-limit detection result surpasses the data threshold, the monitoring processing host triggers the video check device to collect videos to carry out recheck. The non-contact landslide hazard monitoring system monitors the whole landslide monitoring region by utilizing the three-dimensional scanning technique, so that the landslide geological disaster can be monitored accurately; and through linkage with the video check device, the monitoring system realizes an early warning-alarm-check processing mechanism. The invention also discloses a corresponding monitoring method.
Description
Technical Field
The invention relates to a landslide hazard monitoring system, in particular to a non-contact landslide hazard monitoring system, and also relates to a monitoring method realized by using the landslide hazard monitoring system, belonging to the field of geological hazard monitoring.
Background
The landslide is the phenomenon of integral gliding damage generated by shearing a part of rock and soil bodies forming the slope along a certain weak surface in the slope under the action of mainly gravity under certain natural conditions and geological conditions. In recent years, accidents caused by landslide disasters frequently occur, and the safety of lives and properties of people is seriously threatened.
The existing landslide monitoring technology mainly comprises the following three types: 1) traditional landslide monitoring techniques; 2) distributed optical fiber monitoring techniques; 3) GNSS displacement monitoring technology. The three monitoring technologies are all contact monitoring technologies, and have the following advantages and disadvantages when monitoring the landslide.
The traditional landslide monitoring technology adopts a sensor technology, monitors a landslide body by means of special instruments such as a vibrating crack meter, an inclinometer, an underground water level monitor, a pressure meter and the like which are arranged on the landslide body, and sends the landslide body to a center through a bus to perform software analysis processing. The monitoring technology has the advantages of low cost, high precision and good effect; but it is susceptible to groundwater, climatic environments; in addition, point measurement, non-surface measurement and measurement accuracy can be easily influenced only for the slope body; and the construction difficulty is high, and the period is long.
The distributed optical fiber monitoring technology is a distributed optical fiber strain sensing technology of Brillouin backscattering. Light waves propagate in the optical fiber and interact with acoustic phonons in the optical fiber to generate brillouin scattering. The sensing optical fibers are arranged on the surface of the landslide in a net shape, and the optical fibers are fixed at a certain depth position below the surface of a landslide soil body or directly attached to the surface of a rock body at intervals, so that the optical fibers are coordinated with the deformation of the rock body. The distributed optical fiber sensing technology has the following advantages: the measuring distance is long, the coverage range is large, a large-area landslide body can be well monitored, information such as strain, temperature and damage on any point along the optical fiber can be measured, and all-dimensional monitoring on a monitored object is achieved. But also has the following disadvantages: the contact type measurement has the disadvantages of troublesome construction, great influence by factors such as temperature, optical fiber aging and the like, high false alarm rate and high cost.
The GNSS displacement monitoring technology is used for firstly establishing GNSS monitoring points and datum points when monitoring landslide displacement. The GNSS monitoring points are arranged at key positions of the landslide body where the sliding speed is high or the sliding quantity is large, and the GNSS reference points are arranged at stable sections far away from the landslide influence area. And a GNSS receiver and a GNSS antenna are installed at each GNSS monitoring point or reference point. The GNSS antenna and the receiver are used for receiving and recording satellite signals such as Beidou, GPS, GLONASS, Galileo and the like, converting the satellite signals into data streams or data files, converging the data streams or the data files to a server end provided with special monitoring software through a communication link, and performing high-precision differential positioning calculation through the monitoring software to obtain high-precision displacement data of each satellite. When the displacement data exceeds a preset threshold value, the system automatically gives an alarm to remind relevant departments of taking risk avoidance measures in advance. The GNSS displacement monitoring technology has the advantages of high monitoring precision and good effect; but the method still only carries out point monitoring on the slope body, and non-omnibearing monitoring is carried out; and the whole monitoring technology has the advantages of high construction difficulty, long period and high cost.
Disclosure of Invention
The invention aims to provide a non-contact landslide hazard monitoring system.
The invention aims to solve another technical problem of providing a non-contact landslide hazard monitoring method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a non-contact landslide hazard monitoring system comprises a laser radar scanner, video rechecking equipment and a monitoring center processing platform which are respectively connected with a monitoring processing host; wherein,
the laser radar scanner is used for acquiring distance data from each point in a landslide monitoring area to the laser radar scanner;
the video rechecking equipment is used for acquiring image data of a landslide monitoring area;
the monitoring processing host is used for receiving the distance data acquired by the laser radar scanner, acquiring an overrun detection result and sending the overrun detection result to the monitoring processing platform; and when the monitoring processing platform judges that the overrun detection result exceeds the data threshold, the monitoring processing host is also used for triggering the video rechecking equipment to acquire the video for rechecking.
Preferably, the laser source inside the laser radar scanner can rotate horizontally;
the laser radar scanner is arranged on the crank rocker auxiliary platform, and the crank rocker auxiliary platform is used for driving the laser radar scanner to rotate in the vertical direction.
Among them, preferablyElevation angle theta of the crank rocker sub-platform1And depression angle theta2The following formulas are respectively satisfied between the installation height H of the laser radar scanner and the height H of the slope body:
preferably, the following formula is satisfied between the pitch angular velocity ω of the crank handle auxiliary platform and the control angle ψ of the crank handle auxiliary platform:
wherein, the control angle psi of the crank handle auxiliary platform is theta1+θ2(ii) a And t is the scanning period of the crank rocker auxiliary platform.
Preferably, the monitoring processing host comprises a laser radar processing platform and a video rechecking platform;
the laser radar processing platform is used for controlling a motor to drive the crank handle auxiliary platform to rotate, and is used for receiving position feedback information of the crank handle auxiliary platform; the laser radar processing platform is also used for establishing a digital surface model of the landslide monitoring area according to distance data obtained by scanning of the laser radar scanner and obtaining an overrun detection result;
the video rechecking platform is connected with the video rechecking equipment; the video rechecking platform is connected with the video rechecking equipment; the video rechecking platform is used for starting the video rechecking equipment to collect video data and sending the video data to the monitoring center processing platform to recheck the disaster.
Preferably, the monitoring processing host further comprises a switch for communicating with the laser radar processing platform, the video review platform and the monitoring center processing platform.
A non-contact landslide hazard monitoring method comprises the following steps:
(1) establishing a basic digital surface model by using standard point cloud data of the whole landslide monitoring area;
(2) the laser radar scanner repeatedly detects the whole landslide monitoring area to establish a real-time digital surface model, determines the position, the area and the volume of an out-of-tolerance area and the out-of-tolerance average height and the maximum height according to the comparison result of the real-time digital surface model and the basic digital surface model, and transmits the out-of-tolerance detection result back to the monitoring center processing platform;
(3) the monitoring center processing platform compares the overrun detection result with a set data threshold, and generates an early warning signal when the overrun detection result does not exceed the data threshold; and when the overrun detection result exceeds the data threshold, generating an alarm signal and triggering video rechecking equipment to recheck the disaster.
Preferably, in the step (1), standard point cloud data of the whole landslide monitoring area is obtained from a primary scanning result or a periodic maintenance scanning result of the laser radar scanner, and the standard point cloud data comprises an initial distance from each monitoring point to the laser radar scanner.
Preferably, the step (2) comprises the following steps:
(21) acquiring the actual distance of each real-time scanning point, and calculating the difference between the actual distance and the initial distance;
(22) judging whether the difference value is a positive difference value and is larger than a set threshold value, and if so, constructing a real-time digital surface model for the overrun point cloud of the subsequent scanning of the point; if not, continuing to scan;
(23) and comparing data by using the real-time digital surface model and the basic digital surface model to determine the position, the area and the volume of the out-of-tolerance area and the out-of-tolerance average height and the maximum height.
Preferably, the step (2) further comprises a step (24): and (3) identifying whether the overrun detection object is a human or an animal according to the data form of the overrun point cloud, if so, ignoring the detection result, and returning to the step (21).
The non-contact landslide hazard monitoring system provided by the invention adopts a three-level architecture and is respectively a monitoring center processing platform, a monitoring processing host, a laser radar scanner and a video rechecking device. The non-contact landslide hazard monitoring system monitors the whole slope surface of a landslide monitoring area by using a three-dimensional scanning technology, can accurately monitor landslide geological hazards, and is linked with video rechecking equipment to realize a processing mechanism of early warning, alarming and rechecking. The non-contact landslide hazard monitoring system carries out non-contact monitoring on a landslide monitoring area by using equipment such as a laser radar scanner and the like fixed near the landslide monitoring area, and has the advantages of low cost, convenient construction and convenient maintenance; and, the precision is high, and the false alarm rate is low. Moreover, the non-contact landslide hazard monitoring system can approximately calculate the earth volume of the landslide according to the comparison result of the real-time digital surface model and the basic digital surface model, is convenient for subsequent rescue, and can greatly reduce the life and property loss of people caused by landslide geological hazards.
Drawings
FIG. 1 is a block diagram of a non-contact landslide hazard monitoring system provided by the present invention;
FIG. 2 is a schematic illustration of the measurement resolution of a lidar scanner;
FIG. 3 is a schematic view of the mounting position of the lidar scanner and the control angle of the bell crank sub-platform;
fig. 4 is a processing flow chart of the non-contact landslide hazard monitoring system provided by the present invention.
Detailed Description
The technical contents of the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
The laser radar scanning technology is a novel aviation measurement technology which is rapidly developed in the last ten years, has been widely applied to a plurality of industries at home and abroad, but is not common in landslide monitoring application. The ground three-dimensional laser scanning technology can acquire the three-dimensional space coordinates of the surface of the object at high speed, high precision and high density, does not need to contact the object to be detected, and is particularly suitable for being applied to the field of monitoring geological disasters such as landslides.
The non-contact landslide monitoring system provided by the invention adopts a three-level architecture, namely a monitoring center processing platform 1, a monitoring processing host 2, a laser radar scanner 3 and a video review device 4. As shown in fig. 1, a laser radar scanner 3, a video review device 4 and a monitoring center processing platform 1 are respectively connected with a monitoring processing host 2; the laser radar scanner 3 is used for acquiring distance data from each point in the landslide monitoring area to the laser radar scanner 3; the video rechecking device 4 is used for acquiring image data of a landslide monitoring area; the monitoring processing host 2 is used for receiving the distance data acquired by the laser radar scanner 3, acquiring an overrun detection result and sending the overrun detection result to the monitoring processing platform 1; when the monitoring processing platform 1 judges that the overrun detection result exceeds the data threshold, the monitoring processing host 2 is further used for triggering the video rechecking device 4 to collect the field video for rechecking. The non-contact landslide monitoring system utilizes a three-dimensional scanning technology to calculate the earth volume of slope collapse so as to facilitate emergency construction, and links the monitoring result of the laser radar scanner 3 with the video rechecking equipment 4 to realize a processing mechanism of early warning, alarming and rechecking.
The specific configuration of the non-contact landslide monitoring system and the monitoring principle and monitoring method related thereto will be described in detail below.
As can be seen in connection with fig. 1, 2 and 3, the lidar scanner 3 is mounted on a knee-crank sub-platform 30. The inside laser source of laser radar scanner 3 can carry out the angular rotation of horizontal direction, and the vice platform 30 of bent lever rocking handle can drive laser radar scanner 3 and carry out the angular rotation on the vertical direction. As shown in fig. 3, the setting height H of the crank handle sub-platform 30 is smaller than the height H of the slope surface of the landslide monitoring area, so that the crank handle sub-platform 30 can drive the laser radar scanner 3 to swing up and down in the vertical direction. Through the horizontal rotation of the inside laser source of laser radar scanner 3, simultaneously, the vice platform 4 of bent lever rocking handle drives laser radar scanner 3 and carries out vertical rotation, finally forms the scanning of face. The pulse laser continuously scans the landslide to obtain the data of all target points on the landslide, and the accurate three-dimensional image of the landslide can be obtained after the imaging processing is carried out on the data.
The laser radar scanner 3 uses laser as a signal source, pulse laser emitted by the laser hits a target point in a landslide monitoring area to cause scattering, a part of light wave is reflected to a receiver of the laser radar scanner 3, and the distance from the laser radar scanner 3 to the target point is obtained by calculation according to a laser ranging principle.
As shown in fig. 2, assuming that the farthest scanning distance of the laser radar scanner 3 is R and the angular resolution is θ, the measurement resolution d can be calculated as:
as shown in FIG. 3, assume that the installation height of the lidar scanner 3 is H, the height of the slope is H, H<H, the elevation angle theta of the crank handle auxiliary platform 30 can be calculated1Comprises the following steps:angle of depression theta2Comprises the following steps:the control angle of the crank handle sub-platform 30 is: phi theta1+θ2。
When the angular resolution θ is 0.5 °, the scanning frequency of the laser radar scanner 3 may be set to 50 Hz; when the angular resolution θ is 0.25 °, the scanning frequency of the laser radar scanner 3 may be set to 25 Hz.
Suppose the period of scanning a slope is ts(determined by the time requirement for the alarm) the pitch rate of the bell crank set platform 30 is thenCalculated at 0.5 °, the angular resolution of the crank throw sub-platform 30 is
It can thus be calculated that the area scanned by the lidar scanner 3 is accurate (when the resolution is small): s is approximately equal to alpha multiplied by d, namely, when the area of the area larger than S is in landslide, an overrun detection result is generated, and therefore early warning or alarm information is generated.
As shown in fig. 1, the monitoring processing host 2 further includes a switch 20, a laser radar processing platform 21 and a video review platform 22; the switch 20 is used for communicating with the laser radar processing platform 21, the video review platform 22 and the monitoring center processing platform 1. Laser radar processing platform 21 is used for controlling motor drive crank throw pair platform 30 and rotates to, laser radar processing platform 21 is used for receiving the position feedback information of crank throw pair platform 30. The laser radar processing platform 21 is further configured to establish a digital surface model of the landslide monitoring area according to the distance data obtained by scanning of the laser radar scanner 3, and obtain an overrun detection result; the lidar processing platform 21 and the lidar scanner 3 may be connected via an RJ45 interface. The video rechecking platform 22 is connected with the video rechecking device 4 through an RJ45 interface, and the video rechecking platform 22 is used for starting the video rechecking device 4 to collect video data and sending the collected video data to the monitoring center processing platform 1 through the switch 20 for disaster rechecking.
As shown in fig. 4, when the non-contact landslide hazard monitoring system is used for disaster monitoring, the method specifically includes the following steps: (1) establishing a basic digital surface model by using standard point cloud data of the whole landslide monitoring area; (2) the laser radar scanner repeatedly detects the whole landslide monitoring area to establish a real-time digital surface model, determines the position, the area and the volume of an out-of-tolerance area and the out-of-tolerance average height and the maximum height according to the comparison result of the real-time digital surface model and the basic digital surface model, and transmits the out-of-tolerance detection result back to the monitoring center processing platform; (3) the monitoring center processing platform compares the overrun detection result with a set data threshold, and generates an early warning signal when the overrun detection result does not exceed the data threshold; and when the overrun detection result exceeds the data threshold, generating an alarm signal and triggering the video rechecking equipment to recheck the disaster.
In step (1), a basic database is established by scanning the landslide monitoring area with the lidar scanner 3. During the first use, laser radar scanner 3 carries out the accurate scanning to landslide monitored area, obtains standard point cloud data, and the initial distance of every monitoring point to laser radar scanner 3 is included in standard point cloud data, and this point cloud data is handled and can be established the Digital Surface Model (DSM) of basis, and this data surface model is as the basic data of later stage automatic monitoring. And during regular maintenance, the laser radar scanner scans the landslide monitoring area again and updates the basic data as required. That is, in step (1), the standard point cloud data of the entire landslide monitoring area may be obtained from the primary scanning result of the laser radar scanner or the scanning result during regular maintenance, and a basic digital surface model may be established.
In the step (2), the landslide monitoring area is rapidly scanned in real time through the laser radar scanner 3, and landslide detection is performed. Specifically, the actual distance of each real-time scanning point is obtained, and the difference between the actual distance and the initial distance in the basic digital surface model is calculated; if the difference is positive difference and is larger than a set threshold, constructing a real-time digital surface model for the overrun point cloud of the subsequent scanning of the point; then, the real-time digital surface model and the basic digital surface model are used for carrying out conversion detection, an overrun detection result is determined, and the overrun detection result is transmitted back to the monitoring center.
The method specifically comprises the following steps:
(21) acquiring the actual distance of each real-time scanning point, and calculating the difference between the actual distance and the initial distance;
(22) judging whether the difference is a positive difference and is larger than a set threshold, if so, constructing a real-time digital surface model for the overrun point cloud of the subsequent scanning of the point; if not, continuing to scan; an overrun point cloud is a collection of points whose distance difference exceeds a set threshold.
(23) And comparing data by using the real-time digital surface model and the basic digital surface model to determine the position, the area and the volume of the out-of-tolerance area and the out-of-tolerance average height and the maximum height. The out-of-tolerance area is an area formed by out-of-limit point clouds of which the distance difference value exceeds a set threshold value; and the position, the area, the volume, the average out-of-tolerance height, the maximum out-of-tolerance height and other information of the out-of-tolerance area form an out-of-limit detection result.
In the step (2), the laser radar scanner scans the landslide monitoring area on a fixed occasion, so that dynamic autonomous calibration can be performed. The system scans the target in a fixed occasion, and the position size in the monitored area is fixed, so that the system can be used as a dynamic autonomous calibration reference, the operation stability of the system can be improved, and the misinformation can be reduced.
In addition, the step (2) may further include a step (24) of identifying whether the overrun detection object is a human or an animal according to the data form of the overrun point cloud, if so, ignoring the detection result, returning to the step (21), and if not, sending the overrun detection result to the monitoring center processing platform. That is, the data form of the point cloud formed by the early analysis can automatically judge that the overrun detection object is a human or an animal, so that the situation is not misreported.
In the step (3), the linkage of the alarm information and the video can be realized. When the monitoring data changes in a range lower than the data threshold, early warning can be performed in advance; when the monitoring data exceeds a set data threshold, an alarm signal is generated, the video rechecking equipment is triggered to be linked, and the video data of the landslide monitoring area are obtained for rechecking the disaster.
In summary, the non-contact landslide hazard monitoring system provided by the invention monitors the whole slope surface of a landslide monitoring area by using a three-dimensional scanning technology, can accurately monitor landslide geological hazards, and realizes a processing mechanism of early warning, alarming and rechecking by linking with video rechecking equipment. The non-contact landslide hazard monitoring system uses equipment such as a laser radar scanner and the like fixed near a landslide monitoring area to carry out non-contact monitoring on the landslide monitoring area in a monitoring surface mode, and is low in cost, convenient to construct and convenient to maintain; and, the precision is high, and the false alarm rate is low. Moreover, the non-contact landslide hazard monitoring system can approximately calculate the earth volume of the landslide according to the comparison result of the real-time digital surface model and the basic digital surface model, is convenient for subsequent rescue, and can greatly reduce the life and property loss of people caused by landslide geological hazards.
The non-contact landslide hazard monitoring system and the method thereof provided by the invention are explained in detail above. It will be apparent to those skilled in the art that any obvious modifications thereto can be made without departing from the true spirit of the invention, which is to be accorded the full scope of the claims herein.
Claims (10)
1. The utility model provides a non-contact landslide disaster monitoring system which characterized in that:
the system comprises a laser radar scanner, video rechecking equipment and a monitoring center processing platform which are respectively connected with a monitoring processing host; wherein,
the laser radar scanner is used for acquiring distance data from each point in a landslide monitoring area to the laser radar scanner;
the video rechecking equipment is used for acquiring image data of a landslide monitoring area;
the monitoring processing host is used for receiving the distance data acquired by the laser radar scanner, acquiring an overrun detection result and sending the overrun detection result to the monitoring processing platform; and when the monitoring processing platform judges that the overrun detection result exceeds the data threshold, the monitoring processing host is also used for triggering the video rechecking equipment to acquire the video for rechecking.
2. The system of claim 1, wherein:
a laser source inside the laser radar scanner can rotate in an angle in the horizontal direction;
the laser radar scanner is arranged on the crank rocker auxiliary platform, and the crank rocker auxiliary platform is used for driving the laser radar scanner to rotate in the vertical direction.
3. The system of claim 2, wherein:
elevation angle theta of crank rocker auxiliary platform1And depression angle theta2The following formulas are respectively satisfied between the installation height H of the laser radar scanner and the height H of the slope body:
4. the system of claim 3, wherein:
the following formula is satisfied between the pitch angle speed omega of the crank handle auxiliary platform and the control angle psi of the crank handle auxiliary platform:
wherein, the control angle psi of the crank handle auxiliary platform is theta1+θ2(ii) a And t is the scanning period of the crank rocker auxiliary platform.
5. The system of claim 2, wherein:
the monitoring processing host comprises a laser radar processing platform and a video rechecking platform;
the laser radar processing platform is used for controlling a motor to drive the crank handle auxiliary platform to rotate, and is used for receiving position feedback information of the crank handle auxiliary platform; the laser radar processing platform is also used for establishing a digital surface model of the landslide monitoring area according to distance data obtained by scanning of the laser radar scanner and obtaining an overrun detection result;
the video rechecking platform is connected with the video rechecking equipment; the video rechecking platform is used for starting the video rechecking equipment to collect video data and sending the video data to the monitoring center processing platform to recheck the disaster.
6. The system of claim 5, wherein:
the monitoring processing host further comprises a switch which is used for communicating with the laser radar processing platform, the video rechecking platform and the monitoring center processing platform.
7. A non-contact landslide hazard monitoring method is characterized by comprising the following steps:
(1) establishing a basic digital surface model by using standard point cloud data of the whole landslide monitoring area;
(2) the laser radar scanner repeatedly detects the whole landslide monitoring area to establish a real-time digital surface model, determines the position, the area and the volume of an out-of-tolerance area and the out-of-tolerance average height and the maximum height according to the comparison result of the real-time digital surface model and the basic digital surface model, and transmits the out-of-tolerance detection result back to the monitoring center processing platform;
(3) the monitoring center processing platform compares the overrun detection result with a set data threshold, and generates an early warning signal when the overrun detection result does not exceed the data threshold; and when the overrun detection result exceeds the data threshold, generating an alarm signal and triggering video rechecking equipment to recheck the disaster.
8. The non-contact landslide hazard monitoring method of claim 7 wherein:
and (2) in the step (1), obtaining standard point cloud data of the whole landslide monitoring area from the primary scanning result or the periodic maintenance scanning result of the laser radar scanner, wherein the standard point cloud data comprises the initial distance from each monitoring point to the laser radar scanner.
9. The non-contact landslide hazard monitoring method of claim 8 wherein said step (2) comprises the steps of:
(21) acquiring the actual distance of each real-time scanning point, and calculating the difference between the actual distance and the initial distance;
(22) judging whether the difference value is a positive difference value and is larger than a set threshold value, and if so, constructing a real-time digital surface model for the overrun point cloud of the subsequent scanning of the point; if not, continuing to scan;
(23) and comparing data by using the real-time digital surface model and the basic digital surface model to determine the position, the area and the volume of the out-of-tolerance area and the out-of-tolerance average height and the maximum height.
10. The non-contact landslide hazard monitoring method as claimed in claim 9 further comprising step (24) in said step (2): and (3) identifying whether the overrun detection object is a human or an animal according to the data form of the overrun point cloud, if so, ignoring the detection result, and returning to the step (21).
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106990411A (en) * | 2017-05-24 | 2017-07-28 | 东华理工大学 | Contactless side slope falling and landslide hazards long distance intellectual monitoring early warning system |
| CN107218899A (en) * | 2017-06-02 | 2017-09-29 | 北斗卫星导航科技邢台有限公司 | A kind of deformation high-precision intelligent detection method towards subterranean tunnels such as civil air defense works |
| CN107316299A (en) * | 2017-07-13 | 2017-11-03 | 云南数云信息科技有限公司 | Ancient architecture deformed monitoring method and system based on three-dimensional point cloud technology |
| CN107967789A (en) * | 2017-12-07 | 2018-04-27 | 何旭连 | A kind of efficient natural calamity automatic early-warning system |
| CN108460959A (en) * | 2018-04-09 | 2018-08-28 | 重庆甲虫网络科技有限公司 | A kind of building and geological disaster monitoring system based on low-power consumption Internet of Things |
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| CN109584515B (en) * | 2018-12-21 | 2021-12-28 | 武汉万集信息技术有限公司 | Mountain disaster early warning method and device and readable storage medium |
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| CN110596715B (en) * | 2019-09-20 | 2021-07-06 | 中国有色金属长沙勘察设计研究院有限公司 | Intelligent waterline identification system and positioning method |
| CN111141365A (en) * | 2020-01-14 | 2020-05-12 | 浙江天禹信息科技有限公司 | Non-contact all-dimensional hydrological water level monitoring method |
| CN112505720A (en) * | 2020-10-29 | 2021-03-16 | 北京全路通信信号研究设计院集团有限公司 | Multi-line laser radar-based slope disaster monitoring system and method |
| CN112429493A (en) * | 2020-11-27 | 2021-03-02 | 华能国际电力股份有限公司上海石洞口第二电厂 | Bucket wheel machine automatic control method and system based on stack collapse detection |
| CN113108700A (en) * | 2021-04-28 | 2021-07-13 | 上海同禾工程科技股份有限公司 | Displacement checking system and displacement checking method based on machine vision |
| CN113240887A (en) * | 2021-05-14 | 2021-08-10 | 深圳市安泰数据监测科技有限公司 | Slope rockfall collapse monitoring method, device and equipment |
| CN113219474A (en) * | 2021-06-02 | 2021-08-06 | 中大检测(湖南)股份有限公司 | Visualization-based laser ranging system |
| CN113701707A (en) * | 2021-08-27 | 2021-11-26 | 叶富建 | Automatic monitoring system and method for collapse geological disaster |
| CN116013034A (en) * | 2023-01-03 | 2023-04-25 | 云南省地质环境监测院(云南省环境地质研究院) | Landslide hazard hidden danger remote sensing early warning system |
| CN117471485A (en) * | 2023-10-31 | 2024-01-30 | 中铁六局集团路桥建设有限公司 | Expressway roadbed high slope displacement monitoring method based on unmanned plane laser radar |
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