KR101301453B1 - The apparatus and method of monitoring with terrestrial lidar and reflectless totalstation - Google Patents

Abstract

According to the present invention, it is possible to provide periodic slope deformation data because the survey is expensive, it is difficult to provide accurate data on the entire slope, and above all, it is affected by the weather. In order to improve the problem that there is no problem, the SAR active sensor installed in the slope terrain is disconnected from the control device, and the entire monitoring system becomes useless due to the failure of the control device. By configuring the displacement control module, it is possible to acquire the shape of the entire slope terrain rather than a specific position while being less influenced by the environment, and to generate more precise and precise three-dimensional coordinates than the air lidar, and the slope terrain with the user terminal. By transmitting the displacement data 1: 1 in real time, the safety status of the slope topography And a terrain displacement monitoring device and method through treble survey control of a ground lidar part, a non-target total station part, and a slope type displacement control module that can quickly and accurately warn a driver who is driving on or near a road. There is a purpose.

Description

Slope terrain displacement monitoring device and method through treble surveying control of terrestrial lidar unit, mutaketto total station unit and slope terrain displacement control module {THE APPARATUS AND METHOD OF MONITORING WITH TERRESTRIAL LIDAR AND REFLECTLESS TOTALSTATION}

The present invention precisely measures the displacement state of the slope terrain through the ground lidar part, the targetless station station, the slope terrain displacement control module, and transmits the slope terrain displacement data 1: 1 to the user terminal, Slope displacement through treble survey control of ground lidar, mutaket total station, and slope type displacement control module to quickly and accurately warn residents of nearby dwellings and drivers who are driving or driving on nearby roads It relates to a monitoring device and method.

Since Korea has more mountains than flat land, there are many dwellings and roads adjacent to the foothills. In particular, it is common to see cut slopes made of carved mountains in order to expand residential areas and roads.

Since such cut slopes or ordinary slopes have a very steep slope, they want to cause a situation. Therefore, slopes adjacent to dwellings or roads are mostly provided with other safety equipment such as wire mesh or retaining walls.

However, when a large amount of rainfall, such as the rainy season, the slope of the slope is deformed by the rainfall and the support capacity of the safety equipment installed on the slope is weakened, the slope is very likely to collapse.

Conventionally, a system capable of detecting wide area slope displacement using an airborne lidar survey capable of acquiring three-dimensional information and SAR active sensors capable of acquiring data regardless of weather has been developed.

However, the aerial lidar survey is expensive, it is difficult to provide accurate data for the entire slope, and above all, due to the weather is not able to provide periodic slope displacement data.

In addition, a plurality of SAR active sensors are installed on one side of the slope, but the connection between the SAR active sensor and the control device is disconnected due to the collapse of the slope, and the entire monitoring system becomes useless due to the failure of the control device. There was this.

In addition, image-based photogrammetry can measure displacement with high accuracy by using CCD camera, but it can affect the environmental factors such as atmospheric conditions, rain, dust, contrast, etc. Received a lot, there was a problem that takes a lot of work time.

Domestic Patent Publication No. 10-0869571 (announced 21 November 2008)

In order to solve the above problems, the present invention can obtain the overall shape of the slope terrain rather than a specific location while being less affected by the environment, and can generate more compact and precise three-dimensional coordinates than the air lidar, and user terminal. By transmitting the slope terrain displacement data in real time 1: 1, it is possible to promptly and accurately warn the safety status of slope terrain to residents of nearby dwellings and to drivers who drive or drive nearby roads. It is an object of the present invention to provide an apparatus and method for monitoring a slope type displacement through treble measurement control of a total station portion and a slope type displacement control module.

In order to achieve the above object, the slope-type displacement monitoring apparatus through treble surveying control of the ground lidar part, the targetless station station, the slope-type displacement control module according to the present invention is

Located at a distance of 50m ~ 200m away from the slope, it transmits a near-infrared or visible light wavelength to the slope, receives the laser reflected from the slope, and measures the distance. After measuring the horizontal and vertical angles of the laser beams forming the slopes, three-dimensional relative coordinates and three-dimensional raw data are generated, and then the ground lie that delivers the generated three-dimensional relative coordinates and three-dimensional raw data to the slope terrain displacement controller. LiDAR: Light Detection And Range,

Located on one side of the ground lidar, the physical vector is calculated using the distance measurement for the slope and the angle value for the slope, and the calculated physical vector and the global coordinate system (longitude, latitude and A targetless totalstation for generating a three-dimensional absolute coordinate by using a vector of a height) and then transferring the generated three-dimensional absolute coordinate to a slope displacement controller,

After converting the three-dimensional relative coordinates of the terrestrial lidar part obtained by connecting the terrestrial lidar part and the non-target total station part to the three-dimensional absolute coordinates transmitted from the non-target total station part, the DSM, After calculating the displacement of slope terrain through filtering, DEM, and spatial grid analysis, it is composed of a slope terrain displacement control module which controls the displayed slope displacement data to be displayed on the remote monitor of user terminal through wireless internet network. Is achieved.

As described above, in the present invention, it is possible to generate high-precision three-dimensional coordinates of the slope topography in a short time at low cost, and by sending the slope terrain displacement data 1: 1 to the user terminal in comparison with other devices, The safety status of the terrain can be quickly and accurately alerted to residents of nearby dwellings and drivers who are driving or driving nearby, which has a good effect of reducing the slope collapse rate to 30%.

1 is a block diagram showing the components of the slope type displacement monitoring device through the treble surveying control of the ground lidar part, the targetless station station, the slope type displacement control module according to the present invention,
2 is a block diagram showing the components of the non-target total station 200 according to the present invention,
3 is a block diagram showing the components of the slope type displacement control module 300 according to the present invention,
4 is a diagram illustrating the arrangement of 15 facial expression points for 3D absolute coordinate transformation through a coordinate transformation unit according to the present invention;
FIG. 5 is a diagram illustrating an error calculation method (RMSE: Root Mean Square Error) between the transformed facial expression point 3D relative coordinates obtained from the ground lidar part and the facial point 3D absolute coordinate obtained from the non-target total station according to the present invention. In one embodiment,
FIG. 6 sets a curved surface (= smoothing surface) such that residuals are minimized with respect to three-dimensional raw data (= point group data) existing in the smoothing area through the filtering unit according to the present invention, and the allowable value of the height direction is set in the set surface. One embodiment also shows that by removing the point data that is considered to be affected by vegetation by setting the
7 is a diagram illustrating a three-dimensional grid model converted through the DSM unit according to the present invention;
8 is a view illustrating a state before and after removing vegetation, trees, and structures included in the point cloud (point group) data of three-dimensional raw data through a filtering unit according to the present invention;
Figure 9 is an embodiment showing a three-dimensional grid model of the slope before and after transformation generated by the Digital Elevation Model (DEM) according to the present invention,
10 is a diagram illustrating a cell-based arithmetic operation process using a spatial grid operation control unit according to the present invention;
11 is a flow chart illustrating a method for monitoring the slope displacement using the treble surveying control of the ground lidar part, the no-target total station part, the slope type displacement control module according to the present invention.

The slope type displacement monitoring device through the treble surveying control of the ground lidar part, the no-target total station part, and the slope type displacement control module according to the present invention includes information related to the terrain, such as elevation, area, volume, slope, and slope direction of the slope type. It is characterized by monitoring the displacement amount frequency distribution data and the cross-sectional view data, which is the slope terrain displacement data generated by periodically acquiring and observing the data to the user terminal quickly and accurately.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

1 is a configuration diagram showing the components of the slope type displacement monitoring device through the treble surveying control of the ground lidar part, the non-target total station part, the slope type displacement control module according to the present invention, 100), the targetless total station unit 200, the slope terrain displacement control module 300 is composed of.

First, the LiDAR (Light Detection And Range) 100 according to the present invention will be described.

The LiDAR (Light Detection And Range) 100 is located at a distance 50m to 200m away from a sloped terrain, and transmits a near infrared or visible light wavelength laser beam to the sloped terrain, and reflects from the sloped terrain. Receive the return laser and measure the distance, measure the horizontal and vertical angle of the laser beam that forms the slope and at the same time, generate the 3D relative coordinates and 3D raw data, and then generate the 3D relative It delivers coordinates and 3D raw data to slope terrain displacement controller.

It has a scanning distance of up to 300m, a minimum of 1m, scanning range of horizontal 360 °, vertical 270 °, measuring accuracy of 6mm, distance of 4mm, terrain modeling accuracy of 2mm, and data acquisition speed of 50,000point / sec. It has the characteristics of 1 ", resolution acquisition of 2 mm, and spot size of 4 mm.

The ground lidar unit 100 according to the present invention includes a first body unit 110, a digital camera unit 120, a laser transmitter / receiver 130, an LCD panel unit 140, a support stand 150, and a first network cable. It consists of 160.

The first body part 110 has a rectangular box shape to support each device, and serves to protect each device from external pressure.

The digital camera unit is formed on one side of the front face facing the slope, the laser transmitter and receiver is formed on one side of the digital camera unit, the LCD panel unit is formed on one side of the laser transmitter, and the support is formed on one side of the lower end. The first network cable is formed on one side.

The digital camera unit 120 is positioned on one side of the front surface of the first body portion facing the slope feature, and serves to generate three-dimensional raw data by photographing the slope feature.

Here, the three-dimensional raw data is data containing three-dimensional information of four-sided topography such as point information of X, Y, and Z and color images.

The laser transmitter / receiver 130 is located at one side of the digital camera unit, and transmits a laser in the near infrared or visible wavelength range toward the slope terrain object, and serves to receive the laser reflected from the slope terrain surface.

This is composed of a time difference method in which the laser is fired on the slope, and then the position is calculated by calculating the time difference when the laser is reflected.

That is, the position is determined using the time difference method as in Equation 1 below.

Where c is the speed of light, Δt is the time difference, D is the distance between the scanner and the object, X, Y, and Z are tetragonal coordinates, α is the horizontal angle, and β is the vertical angle.

The LCD panel 140 is located at one side of the laser transmitter and receiver, and outputs three-dimensional raw data of the slope terrain photographed from the digital camera unit and three-dimensional relative coordinates measured from the laser transmitter and receiver to the LCD window. It plays a role.

The support 150 is positioned at the lower end of the first body portion, and serves to stably maintain the left and right horizontal degrees of the body portion with the fans and tilt.

The first network cable 160 is connected to the USB port and the RS-232 communication cable connection port formed on one side of the rear end of the first body portion, and the other side is connected to the first input port of the slope type displacement control module measured It transmits 3D relative coordinate data and 3D raw data to slope terrain displacement control module.

Next, a non-target total station 200 according to the present invention will be described.

The targetless total station 200 is located at one side of the ground lidar unit, and calculates a physical vector using a distance measurement value for a slope feature and an angle value for the slope feature, and calculates the calculated physical vector. After generating the three-dimensional absolute coordinates by using the vector of the physical vector and the earth coordinate system (longitude, latitude, and height) transmitted from the receiver, the three-dimensional absolute coordinates are transmitted to the slope terrain displacement controller.

It is composed of a second body portion 210, a targetless measurement unit 220, a three-dimensional absolute coordinate value calculation unit 230, a second network cable 240.

The second body portion 210 has a rectangular box shape to support each device, and serves to protect each device from external pressure.

The targetless measurement unit is formed on one side of the front center facing the slope, and the three-dimensional absolute coordinate value calculation unit is formed therein, a second network cable is formed on one side of the rear end, and a support is formed on one side of the lower end.

The non-target measurement unit 220 is located at one side of the front center of the second body part, and is driven in a non-prism mode set by a function key button so that the distance to the slope terrain and the angle to the slope terrain It serves to measure.

This is done by a time-of-flight (TOF) technique that accurately measures time information and calculates distance.

That is, infrared or light pulses are transmitted to the slope terrain through the telescope formed therein, and the pulses are reflected back to the slope terrain to return to the machine where the round trip time of each light pulse is determined electronically.

Since the speed of light through the medium is accurately measured, the distance between the machine and the slope can be calculated by measuring the round trip time.

Each pulse is a direct distance observation, which allows thousands of tens of thousands of pulses to be sent in seconds to achieve good results relatively quickly.

The targetless measuring unit according to the present invention is configured to make 20000 pulsed laser measurements every second, and to calculate an accurate distance measurement value.

The three-dimensional absolute coordinate calculation unit 230 is located inside the second body portion, the corrected elevation angle and horizontal angle and the horizontal distance (distance projected on the horizontal plane (XY plane) at a distance from the non-target total station to the measurement point} It calculates the three-dimensional absolute coordinates (X, Y, Z) of the measurement point.

The second network cable 240 is connected to the USB port and the RS-232 communication cable connection port formed on one side of the rear end of the second body portion, and the other side is connected to the second input port of the slope type displacement control module measured It transmits three-dimensional absolute coordinate data to slope terrain displacement control module.

Next, the slope type displacement control module 300 according to the present invention will be described.

The slope terrain displacement control module 300 refers to the three-dimensional relative coordinates of the terrestrial lidar unit obtained by being connected to the terrestrial lidar unit and the non-target total station unit with reference to the three-dimensional absolute coordinates transmitted from the non-target total station unit. After converting to dimensional absolute coordinates, the displacement of slope terrain is calculated through DSM, filtering, DEM, and spatial grid analysis, and the calculated slope displacement data is displayed on remote user terminal monitor through wireless internet network. It has a role to control.

The slope terrain displacement control module 300 calculates the displacement of the slope terrain displacement data for each observation time, and the average displacement of the slope is calculated using the observed data up to the tenth order based on the first observation data.

This is the coordinate transformation unit 310, DSM (Digital Surface Model) unit 320, filtering unit 330, DEM (Digital Elevation Model) unit 340, spatial grid calculation control unit 350, slope terrain displacement data transmission unit It consists of 360.

The coordinate conversion unit 310 converts the three-dimensional relative coordinates input from the ground lidar unit into three-dimensional absolute coordinates with reference to the three-dimensional absolute coordinates transmitted from the non-target total station unit.

That is, since the three-dimensional relative coordinates obtained through the ground lidar part are relative coordinates with the origin of the ground lidar part, the relative coordinates of the corresponding point are absolute by referring to the absolute coordinates of the facial expressions of the slope terrain acquired from the non-target total station. Configured to convert to coordinates.

FIG. 5 is a diagram illustrating an error calculation method (RMSE: Root Mean Square Error) between the transformed facial expression point 3D relative coordinates obtained from the ground lidar part and the facial point 3D absolute coordinate obtained from the non-target total station according to the present invention. In one embodiment, it is expressed as Equation 2.

The DSM (Digital Surface Model) unit 320 serves to convert the numerical surface model that numerically modeled the continuous undulation change of the sloped terrain into a three-dimensional grid model.

It is treated with any three-dimensional coordinates extracted from the slopes, and is configured to structure the geometric relationships in a lattice form for changes in topography.

The filtering unit 330 removes vegetation, trees, and structures included in the point cloud (point group) data of the 3D raw data and extracts only pure terrain.

In other words, in natural slopes where disasters occur most often, vegetation grows abundantly. Therefore, when measuring slope topography through the land rider and the targetless station, the vegetation affects the accuracy. It is important.

At this time, the filtering unit according to the present invention separates the ground surface and the non-ground surface with respect to the three-dimensional raw data (= point group data) obtained from the ground lidar unit.

The filtering unit is configured to perform smoothing on a random point, and determine that the distance is far from the smoothing point as vegetation, and delete data.

That is, as shown in Fig. 6, the curved surface (= smoothing surface) is set so that the residual is minimal with respect to the three-dimensional raw data (= point group data) existing in the smoothing area, and the set value is allowed in the height direction. Set to remove the point data that is thought to be the effect of vegetation.

A process of performing filtering on 3D raw data (= point group data) in the filtering unit according to the present invention will be described.

Since various features and ground surface in 3D raw data cannot be divided completely, after filtering by automatic processing, check again using contour map or shadow diagram, and change the setting value etc. for the inappropriate part automatically. Perform filtering.

Through this process, high quality DEM data can be constructed.

The digital elevation model (DEM) unit 340 receives pure terrain data extracted from the filtering unit, adds a height value of the terrain, and then converts the three-dimensional grid model of the slope terrain before conversion according to the fast time, and the slope terrain terrain after the transformation. It converts into 3D grid model.

The DEM part according to the present invention interpolates the three-dimensional grid model of the sloped terrain before conversion, and the three-dimensional grid model of the sloped terrain after the conversion is three-dimensional raw data of the terrestrial lidar part, and three-dimensional absolute coordinates converted through the coordinate transformation unit. It is configured to be obtained through.

In other words, DEM construction on the three-dimensional grid model of the slope before and after the transformation, and the three-dimensional grid model of the slope after the transformation, form a TIN (triangulatedirregular network model) from the three-dimensional raw data of the terrestrial lidar. It is composed of a Creeking Interpolation Engine that interpolates data at regular intervals.

The kriging interpolation engine is an algorithm engine that predicts a desired point value from a linear combination of ambient values to know a specific value of a point of interest.

This is expressed as in Equation 3.

는 위치를 알고 있는 지점에서의 크리킹보간알고리즘엔진을 이용한 예측값이고,

는 이미 그 위치와 값을 알고 있는 주위의 점에 관한 것이며, n은 크리킹 예측을 위해 사용한 자료의 총개수이고,

는 각 자료의 가중치에 관한 것이다.here,

Is a predicted value using a clicking interpolation algorithm engine at a location where

Is the surrounding point that already knows its location and value, n is the total number of data used to predict the click,

Is the weight of each data.

Here, the weight is determined so that the error between the predicted value and the true value is minimal, and in many cases the value is further determined using the condition that the estimate should not be biased.

The spatial grid operation control unit 350 is connected to the coordinate conversion unit, the DSM unit, the filtering unit, the DEM unit, the slope terrain displacement data transfer unit to control the overall operation of each device, and converts through an arithmetic operator among the local operators that are grid operators After the transformation of the three-dimensional grid model of all the topographical features and subtraction of the three-dimensional grid model of the four-sided topography, the displacement of the slope is calculated as plus (+), minus (-), and zero (0). Phosphorus displacement frequency distribution data and cross-sectional data is generated.

The spatial grid arithmetic and control unit according to the present invention uses arithmetic operators among the local operators, which are grid operators, to easily and quickly generate slope displacement data. Here, local functions and operators are performed on one cell, and the result is set to be assigned to the same grid position in the result grid.

The arithmetic operator calculates the displacement amount of the slope as plus (+), minus (-), and zero (0) by subtracting the three-dimensional grid model of the slope before the transformation and the three-dimensional grid model of the slope after the transformation. .

Here, the area indicated by the positive value (+) or the minus value (-) indicates the area with displacement, and the area indicated by the zero value (0) indicates the area without displacement.

FIG. 10 is a diagram illustrating an embodiment of a cell-based arithmetic operation through a spatial grid operation control unit according to the present invention.

That is, the information extraction method for the displacement occurrence point of the slope can be expressed as Equation 4 below.

는 개별격자의 변위량에 관한 것이고,

은 변위전 개별 격자의 높이에 관한 것이며,

는 변위 후 개별격자의 높이에 관한 것이고, i는 라인의 수를 의미하고, j는 행의 수를 의미한다.
here,

Is the displacement of individual lattice,

Is the height of the individual grid before displacement,

Is the height of the individual lattice after displacement, i is the number of lines, and j is the number of rows.

The slope topographical displacement data transmission unit 360 is driven under the control of the spatial grid calculation control unit, and transmits the displacement frequency distribution data and the cross-sectional view data that are the slope topographic displacement data to the user terminal.

This includes a unique identification ID setting unit for a user terminal that assigns a unique identification ID to a location-based user terminal located in a local zone with a radius of 500m to 2000m based on the slope terrain.

That is, through the unique identification ID setting unit for the user terminal to transmit the displacement amount frequency distribution data and the cross-sectional view data, such as the topographic displacement amount data to the WiFi network.

Thus, by transmitting the slope terrain data 1: 1 to the user terminal in real time, it is possible to quickly and accurately warn the safety status of the slope terrain to residents of nearby dwellings and drivers who are driving or driving on nearby roads. The collapse rate can be reduced to 30%.

Hereinafter, a method for monitoring a slope terrain displacement through treble measurement control of a ground lidar unit, a targetless station station, and a slope terrain displacement control module according to the present invention will be described.

First of all, three-dimensional relative coordinates and three-dimensional raw data are obtained by surveying slope terrain using LiDAR (Light Detection And Range), and three-dimensional absolute coordinates are performed through reflective totalstation. Acquire (S100).

Subsequently, the 3D relative coordinates inputted from the terrestrial lidar unit through the coordinate conversion unit are converted into 3D absolute coordinates with reference to the 3D absolute coordinates transmitted from the non-target total station unit (S200).

In the present invention, as shown in FIG. 4, 15 facial expression points are arranged for 3D absolute coordinate transformation through the coordinate transformation unit.

Subsequently, the numerical surface model, which numerically modeled the continuous ups and downs changes of the slope terrain through the Digital Surface Model (DSM) unit, is converted into a three-dimensional grid model (S300).

7 is a diagram illustrating an example of a three-dimensional grid model converted through the DSM unit according to the present invention.

Subsequently, the vegetation, trees, and structures included in the point cloud (point group) data of the 3D raw data are removed through the filtering unit, and only pure terrain is extracted (S400).

8 is a diagram illustrating an embodiment before and after removing vegetation, trees, and structures included in the point cloud (point group) data of three-dimensional raw data through a filtering unit according to the present invention.

Subsequently, the pure terrain data extracted from the filtering unit is input through the digital elevation model (DEM) to add the height value of the terrain, and the three-dimensional grid model of the pre-transformed slope terrain according to the fast time, and the three-dimensional surface of the sloped terrain after the conversion. Convert to a grid model (S500).

Here, the fast time refers to the displacement of the first to tenth order of the slope data for each observation time.

FIG. 9 is a diagram illustrating a three-dimensional grid model of slope before and after transformation generated by a digital elevation model (DEM) unit according to the present invention.

Subsequently, the spatial grid arithmetic controller subtracts the three-dimensional grid model of the sloped terrain before conversion and adds the displacement amount of the sloped terrain to the positive value (+) After calculating as a negative value (-) and a zero value (0), the displacement amount frequency distribution data and the cross-sectional view data, which are the slope terrain displacement data, are generated (S600).

At this time, the spatial grid calculation control unit calculates the displacement of the slope terrain displacement data for each observation time, and the average displacement of the slope is calculated using the observed data up to the 10th order based on the primary observation data.

Finally, the displacement amount frequency distribution data and the cross-sectional view data, which is the slope terrain displacement data, are transmitted to the user terminal through the slope terrain displacement data transmission unit (S700).

100: ground lidar part 110: the first body part
120: digital camera unit 130: laser transmitter and receiver
140: LCD panel portion 140 150: support
160: first network cable 200: no target total station
300: slope terrain displacement control module

Claims (5)

Located at a distance of 50m ~ 200m away from the slope, it transmits a near-infrared or visible light wavelength to the slope, receives the laser reflected from the slope, and measures the distance. After measuring the horizontal and vertical angles of the laser beams forming the slopes, three-dimensional relative coordinates and three-dimensional raw data are generated. LiDAR: Light Detection And Range (100),
Located on one side of the ground lidar, the physical vector is calculated using the distance measurement for the slope and the angle value for the slope, and the calculated physical vector and the global coordinate system (longitude, latitude and And a targetless total station (200) for generating a three-dimensional absolute coordinate by using a vector of a height), and then transmitting the generated three-dimensional absolute coordinate to a slope displacement controller.
After converting the three-dimensional relative coordinates of the terrestrial lidar part obtained by connecting the terrestrial lidar part and the non-target total station part to the three-dimensional absolute coordinates transmitted from the non-target total station part, the DSM, Slope terrain displacement control module 300 for calculating the displacement amount of slope terrain through filtering, DEM, spatial grid analysis, and then displaying the calculated slope terrain displacement data on a monitor of a user terminal in a remote place through a wireless Internet network. Slope terrain displacement monitoring device through the treble surveying control of the ground lidar portion, mute target total station portion, slope slope displacement control module, characterized in that consisting of. The method of claim 1, wherein the ground lidar (LiDAR: Light Detection And Range) 100
A first body part 110 having a rectangular box shape for supporting each device and protecting each device from external pressure;
A digital camera unit 120 which is located on one side of the front surface of the first body part facing the topography, and photographs the topography to generate three-dimensional raw data;
A laser transmitter / receiver 130 positioned at one side of the digital camera unit and transmitting a laser in the near-infrared or visible light wavelength band to the slope terrain object, and receiving the laser reflected from the slope terrain surface;
An LCD panel 140 positioned at one side of the laser transmitter / receiver and outputting three-dimensional raw data of the slope terrain photographed by the digital camera unit and three-dimensional relative coordinates measured by the laser transmitter / receiver to the LCD window; ,
Located on the lower end of the first body portion, the support 150 for maintaining a horizontal horizontal degree of the body portion while maintaining the pan (Fans) and tilt (Tilt),
One side is connected to the USB port and the RS-232 communication cable connection port formed at one end of the first body part, and the other side is connected to the first input port of the slope type displacement control module, and the measured three-dimensional relative coordinate data and three-dimensional raw image. Slope topographic displacement through treble survey control of a ground lidar part, a targetless total station part, a slope topographic displacement control module, comprising a first network cable 160 for transmitting data to a slope topographic displacement control module Monitoring device.
The method of claim 1, wherein the targetless total station (Reflectless Totalstation) 200
A second body part 210 having a rectangular box shape to support each device and protecting each device from external pressure,
The non-target measuring unit 220, which is located at one side of the front center of the second body part and is driven in a non-prism mode set by a function key button, measures a distance to a slope feature and an angle to the slope feature. )Wow,
The 3D absolute coordinates (X, Y, Z) of the measuring points, which are located inside the second body, are corrected elevation angles, horizontal angles and horizontal distances (distance projected on the horizontal plane (XY plane) from the total station to the measuring point). 3D absolute coordinate value calculation unit 230 to calculate,
One side is connected to the USB port and RS-232 communication cable connection port formed at one end of the second body part, and the other side is connected to the second input port of the slope type displacement control module to measure the three-dimensional absolute coordinate data A slope-type displacement monitoring apparatus through treble surveying control of a ground lidar part, a targetless total station part, and a slope type displacement control module, comprising a second network cable 240 for transmitting to a control module.
According to claim 1, wherein the slope type displacement control module
A coordinate conversion unit for converting the three-dimensional relative coordinates input from the terrestrial lidar unit into three-dimensional absolute coordinates by referring to the three-dimensional absolute coordinates transmitted from the non-target total station unit;
A digital surface model (DSM) unit for converting a numerical surface model that numerically models continuous ups and downs of slopes into a three-dimensional grid model;
A filtering unit which removes vegetation, trees, and structures included in the point cloud data of the 3D raw data and extracts only pure terrain;
DEM (Digital Elevation Model) converts the three-dimensional grid model of the sloped terrain before conversion and the three-dimensional grid model of the sloped terrain after conversion by adding the height value of the terrain by inputting the pure terrain data extracted from the filtering unit. )
Coordinate transformation unit, DSM unit, filtering unit, DEM unit, slope terrain displacement data transmission unit are connected to control the overall operation of each device, and through the arithmetic operators among the local operators, which are grid operators After the transformation, the three-dimensional grid model of the slope is subtracted to calculate the displacement of the slope as plus (+), minus (-), and zero (0), and then the displacement frequency distribution data and the cross-sectional data, which are the slope displacement data. A spatial grid operation control unit to generate,
A ground lidar part and a no-target total station, which are driven under the control of the spatial grid computational control unit and include a slope terrain displacement data transmission unit for transmitting displacement frequency distribution data and cross-sectional view data, which are slope terrain displacement data, to a user terminal. Slope Terrain Displacement Monitoring System by Treble Surveying Control of Sub-Slope Terrain Displacement Control Module.
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