A device and method for collecting data on the material and structure of a slope

Abstract

The application discloses a kind of slope body material and structural data acquisition device and method.The acquisition device includes host box and at least two groups of walking mechanism installed in the two sides of host box, and the host box is supported by at least two groups of walking mechanism and separated from the ground.The host box is installed with microcomputer terminal and image acquisition device.The image data of rock layer in rock hole is obtained by the image acquisition device, and the image data in rock hole is processed by the microcomputer terminal, and the data of structure and material are collected.Under the action of transmission swing arm and rotating wheel frame, the whole device can effectively walk on the uneven surface of slope body, so that the walking of the whole device on the slope body is more stable, to ensure the stability of the collected data, so as to obtain accurate slope rock material and structural data, so as to select the appropriate slope stabilization method.

Description

Technical Field

[0001] This invention relates to the field of slope data acquisition devices, specifically to a slope material and structure data acquisition device and method. Background Technology

[0002] With the maturation of road construction in my country, many road sections require mountain excavation. Effective stabilization of the slope structure on both sides of the road is crucial to prevent rockfalls that could damage or block the road. Different protective measures are needed for different slope angles. Slopes steeper than 60° are less prone to water and snow accumulation, with weathering primarily caused by temperature changes. In these cases, metal mesh structures such as wire mesh are typically used for deep anchoring, providing overall rock face protection against rockfalls. Slopes between 30° and 60° are more susceptible to water and snow accumulation, with weathering primarily caused by water immersion. A common approach is to first lay metal mesh and then plant turf to effectively solidify the slope. However, this method often requires excessive solidification, which increases the load on the slope and can compromise its stability. Therefore, it is essential to obtain accurate material and structural data on the slope to determine the most suitable solidification method.

[0003] For slopes with an angle of 30° to 60° or greater, the planting and stabilization method requires a high level of attention to the surface of the rock mass and a large amount of data to be collected. However, manual data collection is time-consuming, labor-intensive, and extremely dangerous. In addition, since the rock slope is excavated by blasting, the flatness of the broken surface is not uniform. As a result, general road data collection devices cannot guarantee the stability of walking, which leads to significant deviations in the data collected under such conditions.

[0004] Therefore, it is essential to design a device and method for acquiring slope material and structural data. Summary of the Invention

[0005] The purpose of this invention is to provide a device and method for acquiring slope material and structural data, so as to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides a slope material and structure data acquisition device, characterized in that: the acquisition device includes a main unit and at least two sets of walking mechanisms installed on both sides of the main unit, the main unit is supported by the at least two sets of walking mechanisms and is detached from the ground; each set of walking mechanisms includes a transmission swing arm, a rotating wheel frame and a track, one end of the transmission swing arm is connected to the main unit, the rotating wheel frame is rotatably mounted on the free end of the transmission swing arm through a shaft, and the outer periphery of the rotating wheel frame is surrounded by a track;

[0007] The main unit includes a protective casing, in which a microcomputer terminal, an image acquisition device, a battery, and a walking control mechanism are fixedly installed. The image acquisition device includes a panoramic camera. Each walking mechanism is equipped with a corresponding walking control mechanism. The walking control mechanism includes a gearbox and a servo motor assembly fixedly installed at the input end of the gearbox. The transmission swing arm of the walking mechanism is rotatably connected to the gearbox of the corresponding walking control mechanism through a shaft.

[0008] The microcomputer terminal is electrically connected to the image acquisition device, the battery and the servo motor assembly. It acquires image data of the slope through the panoramic camera on the image acquisition device and transmits the data to the microcomputer terminal, which processes the data to form a digital map of the surface and sub-deep rock mass material and structure of the rock slope.

[0009] The preferred technical solution of this invention is as follows: The microcomputer terminal is equipped with a wireless communication module, and the image acquisition device is equipped with a laser feedback device. The laser feedback device detects the rock holes drilled on the slope using a conical swing method to determine their extension angle. Based on the extension angle measured by the laser feedback device, the extension detection angle of the panoramic camera is corrected. The panoramic camera is mounted on the bottom of the protective housing via a telescopic mechanism. The microcomputer terminal has a device driver program that sets the detection step size of the panoramic camera. The panoramic camera acquires images at the step size nodes and marks the south direction of the images based on the built-in compass positioning program. The data processing module in the microcomputer terminal processes the data to form a digital map of the surface and sub-deep rock mass material and structure of the rock slope. The data processing methods include, but are not limited to, image distortion correction algorithms, grayscale equalization algorithms, median filtering algorithms, high-pass enhancement methods, Laplacian sharpening algorithms, Canny algorithms, image rollback methods, ISP algorithms, temporal algorithms, CNN image convolution algorithms, statistical fitting algorithms, and SVM algorithms to process the data.

[0010] The preferred technical solution of the present invention is as follows: the walking mechanism is provided in four sets, with two sets symmetrically distributed on both sides of the main unit box; the gearbox is provided in four sets, and is respectively installed on the inner walls of both sides of the protective housing, and is symmetrically distributed; the storage battery is provided in two sets, and is symmetrically fixedly installed on the front and rear sides of the main unit box; the microcomputer terminal and the image acquisition device are located in the middle of the main unit box; two horizontal electronic levels and two vertical electronic levels are fixedly installed inside the protective housing, with the two horizontal electronic levels symmetrically arranged front and rear, and the two vertical electronic levels symmetrically arranged left and right.

[0011] The preferred technical solution of the present invention is as follows: The transmission swing arm includes a mechanical cavity shell. A primary rotating shaft is rotatably mounted at the fixed end of the mechanical cavity shell. A primary central gear and a primary driving bevel gear are fixedly mounted on the primary rotating shaft. A primary external gear ring is fixedly mounted inside the fixed end of the mechanical cavity shell. A primary planetary gear is circumferentially distributed between the primary central gear and the primary external gear ring. A secondary rotating shaft is rotatably mounted at the free end of the mechanical cavity shell. One end of the secondary rotating shaft is located inside the mechanical cavity shell and a primary driven bevel gear is fixedly mounted thereon. The other end is located inside the rotating wheel frame. The primary driving bevel gear and the primary driven bevel gear are dynamically connected through a primary transmission gear shaft. The number of teeth of the primary driving bevel gear is the same as the number of teeth of the primary driven bevel gear. The number of bevel teeth at both ends of the primary transmission gear shaft is the same. The working angle of the transmission swing arm in the two sets of walking mechanisms on the front side is -45° to 45°, and the initial working angle is -45°. The working angle of the transmission swing arm in the two sets of walking mechanisms on the rear side is 135° to 225°, and the initial working angle is 225°.

[0012] The preferred technical solution of the present invention is as follows: a water storage tank and a water-air mixing pressurization device are fixedly installed inside the main unit, and the nozzle of the water-air mixing pressurization device cooperates with the panoramic camera and the laser feedback device.

[0013] The preferred technical solution of the present invention is as follows: The rotating wheel frame includes a disc box and a support shell. There are three support shells, which are circumferentially distributed and welded to the outer periphery of the disc box. A secondary external gear ring is fixedly installed inside the disc box. A secondary central gear and a secondary driving bevel gear are provided inside the disc box, and both are fixedly installed on a secondary rotating shaft. A secondary planetary gear is circumferentially distributed between the secondary external gear rings of the secondary central gear. A secondary driven bevel gear and a transmission gear are rotatably installed inside the support shell. A roller is rotatably installed at the outer end of the support shell. An end gear is fixedly installed on the shaft of the roller. The secondary driving bevel gear and the secondary driven bevel gear are dynamically connected through a secondary transmission gear shaft. The secondary driven bevel gear meshes with the transmission gear, and the transmission gear meshes with the transmission end gear. The three rollers roll to support the track. The number of teeth of the secondary driving bevel gear is the same as the number of teeth of the secondary driven bevel gear. The number of teeth of the bevel gears at both ends of the secondary transmission gear shaft is the same.

[0014] The present invention also provides a method for acquiring slope material and structure data. The method is based on the above-mentioned slope material and structure data acquisition device and specifically includes the following steps:

[0015] S1. Collect three-dimensional point cloud data of the rock slope using LiDAR, construct a three-dimensional spatial model based on the point cloud data, and process the three-dimensional point cloud data using the RANSAC algorithm combined with the IPC algorithm to divide the three-dimensional spatial model into several feature regions and ordinary regions.

[0016] S2. Set several poles for existing boreholes in the characteristic area and set data sampling points; set a single point for existing boreholes in the ordinary area and set data sampling points.

[0017] S3. The data acquisition device moves along the slope based on regional division. It collects data from data sampling points in the designated feature area and ordinary area using an image acquisition device. The data acquisition device plans a path based on the extreme points in the feature area and the single points in the ordinary area. The extreme points and single points are the inflection points of the path. The location of the rock borehole at the inflection point is re-determined. Then, a high-speed airflow carrying a high-speed water flow is used to clean the inside of the rock borehole, making the inside of the borehole clean and smooth. The data acquisition device acquires images of the inside of the rock borehole through a laser feedback device and a panoramic camera, and transmits them back to the microcomputer terminal.

[0018] S4. The microcomputer terminal receives the data collected by the image acquisition device, processes the data, and uses function calculation and fitting to form a digital map of the surface and sub-deep rock mass material and structure of the rock slope.

[0019] A further technical solution of the present invention: the data processing in step S4 includes the following steps:

[0020] a. The microcomputer terminal (102) divides the returned image into a main region and an auxiliary correction region. The images acquired at the full step length node are integrated, that is, after the main region and the auxiliary correction region are fitted and corrected, a complete cylindrical image of the hole is formed. The image auxiliary correction method is as follows: the standard values ​​of the pixels in the middle of the image are determined, which include the standard pixel width a1, the standard image region width width1, and the deformed pixel width a1. n and the width of the deformed image region n The pixel deformation coefficient and the image deformation coefficient are calculated using the following formulas:

[0021] n n =a n / a1,n n Pixel deformation coefficient;

[0022] n m =width n / width1,n m The deformation coefficient of the image region;

[0023] n n / n m =L and n m / n n =R, where L and R are two deformation vectors of the image in two directions, and then resetting and correction are performed based on L and R;

[0024] b. Based on the laser feedback angle parameters, the central axis of the borehole cylindrical image is set, and then the expansion reference plane is constructed by connecting the central axis and the azimuth markers on the image. The image is then finely adjusted and corrected so that the azimuth markers are on the same straight line.

[0025] c. Expand the cylindrical image into a rectangular image by using the straight lines formed by the re-corrected orientation marks. Then, perform grayscale equalization on the rectangular image, and preprocess the image by median filtering, high-pass enhancement, and Laplacian sharpening. The preprocessed image is then trimmed at the image edges using the Canny algorithm to form a rectangular image.

[0026] d. A cylindrical interface image is formed by wrapping the rectangular image back, and then three-branch processing is performed;

[0027] Branch 1 calculates the rock strata morphology of the borehole wall using the cylindrical interface image, and then simulates the outward extension trend of the rock strata using the ISP algorithm combined with a time-domain algorithm. The rock strata morphology calculation is based on the image edge calculation in step c, obtaining a clear image curve. The image curve is then subjected to function image fitting calculation, and the function formula is as follows:

[0028] y = A·sin(w·x+B) + C

[0029] In the formula, A is the amplitude, x is the time point, B is the phase difference, and C is the initial elevation;

[0030] Branch two involves performing CNN image convolution from the cylindrical interface image inwards to create a virtual image and form a virtual rock column. Based on this virtual rock column, the rock strata structure extending from the rock hole is determined. The calculation method for obtaining the virtual image through CNN image convolution inwards is as follows:

[0031]

[0032] In the formula, I d For the input dimension, O d k is the output dimension. size is the kernel size, and s is the stride;

[0033] Branch 3 uses the SVM algorithm to perform material comparison analysis on the cylindrical interface image. Based on the material comparison analysis results, the rock strata boundary is determined. The SVM algorithm's material comparison analysis is based on the grayscale balancing process in step c, calculating the significant feature value S(I(x, y)).

[0034]

[0035] In the formula, I(x, y) represents the gray value of each pixel (x, y) in the image, ||·|| represents the gray distance metric, k represents the gray level from 0 to 255, and count(k) represents the number of each gray level in the gray level.

[0036] The eigenvalue S(I(x,y)) is compared and analyzed with the eigenvalues ​​of the material in the database.

[0037] Based on the rock strata extension trend obtained from branch one and the virtual rock column structure from branch two, a rock mass structure diagram of the current sampling point is formed. Combined with the material analysis results obtained from branch three, a comprehensive digital data diagram of the rock strata material and structure of the current sampling point is constructed.

[0038] e. Construct a point cloud map of rock strata structure using comprehensive digital data from all sampling points on the slope, and statistically calculate the overall rock strata layout trend of the slope using the point cloud map of rock strata structure.

[0039] The preferred technical solution of the present invention is as follows: The specific division method of step S1 is as follows:

[0040] A. Pre-divide the area based on the rock holes left during the slope excavation process or the rock holes left in the early topographic and geological survey.

[0041] B. Based on the fractured structure of the rock mass, the terrain is classified into three levels: the fracture zone is tens to hundreds of meters long and the fracture zone is several centimeters to about 1 meter wide. The well-developed faults and joints are classified as Class III terrain. The fracture zone is tens to tens of meters long and mainly consists of joints, bedding, secondary fractures and small faults. The threshold is set and the boundary is set accurately based on the dichotomy method.

[0042] C. Areas containing Level IV and Level III terrain features are designated as feature areas, while areas without such features are designated as ordinary areas.

[0043] A further technical solution of the present invention: The specific methods for setting the poles of the feature region and the single-point setting of the ordinary region in step S2 are as follows:

[0044] Within the feature region, based on the boundary of the feature region, a borehole layout pattern is constructed for the boreholes within the region. At the same time, a planar pattern is constructed for the feature region. The deviation between the borehole layout pattern and the planar pattern is calculated. The boreholes in the borehole layout pattern that fit the edge of the planar pattern and the boreholes in the borehole layout pattern that are closest to the geometric center of the planar pattern are set as the extreme points of the data sampling points.

[0045] Within a normal area, a planar shape is constructed based on the edge boundary. The geometric center of the planar shape is calculated, and the nearest rock borehole is calculated by fitting the geometric center. This borehole is then set as a single point for data sampling.

[0046] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the panoramic camera set in the main unit acquires image data of the rock strata in the rock hole, processes the image data in the rock hole to obtain data on structure and material, and under the action of the transmission swing arm and the rotating wheel frame, the entire device can move effectively on the uneven slope surface, so that the device moves more smoothly on the slope, thereby ensuring the stability of the acquired data, and thus obtaining accurate data on the rock material and structure of the slope, so as to select a suitable slope stabilization method. Attached Figure Description

[0047] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0048] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0049] Figure 2 This is a top sectional view of the main unit chassis of the present invention;

[0050] Figure 3 This is a top sectional view of the transmission swing arm structure of the present invention;

[0051] Figure 4 This is a schematic diagram of the main cross-sectional structure of the transmission swing arm of the present invention;

[0052] Figure 5 This is a three-dimensional structural diagram of the rotating wheel frame of the present invention from one perspective;

[0053] Figure 6 This is a schematic diagram of the main cross-sectional structure of the rotating wheel frame of the present invention;

[0054] Figure 7 This is a schematic diagram of the right cross-sectional structure of the disk box of the present invention.

[0055] In the diagram: 100, Main unit chassis; 101, Protective housing; 102, Microcomputer terminal; 103, Image acquisition device; 104, Battery; 105, Servo motor assembly; 106, Gearbox; 107, Horizontal electronic level; 108, Vertical electronic level; 200, Transmission swing arm; 201, Mechanical cavity housing; 202, First-stage shaft; 203, Second-stage shaft; 204, First-stage center gear; 205, First-stage external gear ring; 206, First-stage planetary gear. 207. First-stage driving bevel gear; 208. First-stage driven bevel gear; 209. First-stage transmission gear shaft; 300. Rotating wheel frame; 301. Disc box; 302. Support housing; 303. Roller; 304. Second-stage center gear; 305. Second-stage external gear ring; 306. Second-stage planetary gear; 307. Second-stage driving bevel gear; 308. Second-stage driven bevel gear; 309. Second-stage transmission gear shaft; 310. Transmission gear; 311. End gear; 400. Track. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] An embodiment provides a slope material and structure data acquisition device, such as Figure 1-7As shown, the system includes a main chassis 100 and at least two sets of traveling mechanisms mounted on both sides of the main chassis 100. The main chassis 100 is supported and lifted off the ground by the at least two sets of traveling mechanisms. Each set of traveling mechanisms includes a transmission swing arm 200, a rotating wheel frame 300, and a track 400. One end of the transmission swing arm 200 is connected to the main chassis 100, and the rotating wheel frame 300 is rotatably mounted on the free end of the transmission swing arm 200 via a shaft. The track 400 surrounds the outer periphery of the rotating wheel frame 300. The main chassis 100 includes a protective housing 101. The enclosure 101 houses a microcomputer terminal 102, an image acquisition device 103, a battery 104, and a gearbox 106. The image acquisition device 103 includes a panoramic camera and a laser feedback device. The panoramic camera is telescopic and is located on the bottom of the enclosure 100. Due to the unevenness of the rock slope, a groove is provided on the bottom of the enclosure to prevent wear on the camera. The panoramic camera is mounted in the groove via a telescopic bracket and can be extended for omnidirectional data acquisition. The microcomputer terminal 102 and the panoramic camera are located in the middle. There are four gearboxes 106, which are symmetrically distributed and installed on the inner walls of both sides of the enclosure 101. A servo motor assembly 105 is fixedly installed at the input end of each gearbox 106. The microcomputer terminal 102 is electrically connected to the panoramic camera, the battery 104, and the servo motor assembly 105. There are two batteries 104, symmetrically fixedly installed on the front and rear sides of the enclosure 100. The transmission swing arm 200 is rotatably connected to the gearbox 106 via a shaft. The rotating wheel frame 300 is rotatably mounted on the free end of the transmission swing arm 200 via a shaft. The track 400 surrounds the outer periphery of the rotating wheel frame 300. The main unit 100 is oscillatingly mounted with the rotating wheel frame 300 via the transmission swing arm 200, and then the track 400 is mounted via the wheel frame, enabling the entire device to perform effective amplitude-following oscillation and ensuring the effective and stable operation of the main unit 100. The protective housing 101 is the basic mounting structure of the main unit 100, protecting the internal components and providing a mounting base.

[0058] An embodiment provides a slope material and structure data acquisition device, such as Figures 1 to 7As shown, the microcomputer terminal 102 is electrically connected to the image acquisition device 103, the battery 104, and the servo motor assembly 105. It acquires image data of the slope via a panoramic camera on the image acquisition device 103 and transmits the data to the microcomputer terminal 102. The microcomputer terminal 102 is equipped with a wireless communication module, enabling data transmission during unmanned operation. The laser feedback device on the image acquisition device 103 detects the rock borehole using a conical swing method to determine its extension angle. Based on the extension angle measured by the laser feedback device, the image acquisition device 103 corrects the extension detection angle of the panoramic camera. The microcomputer terminal 102 contains a device driver program that sets the detection step size of the panoramic camera. The panoramic camera acquires images at the step size nodes and marks the image as due south based on a built-in compass positioning program. The microcomputer terminal 102 injects its own data processing program, including but not limited to image distortion correction algorithms, grayscale equalization algorithms, median filtering algorithms, high-pass enhancement methods, Laplacian sharpening algorithms, Canny algorithms, image rollback methods, ISP algorithms, temporal algorithms, CNN image convolution algorithms, statistical fitting algorithms, SVM algorithms, and device drivers, to control the extension and retraction of the panoramic camera. This allows the panoramic camera to effectively penetrate into the rock hole to collect image data. The collected image data is processed by the microcomputer terminal 102 to obtain the structural and material data of the rock strata. The battery 104 provides power for the device's offline operation. The gearbox 106 controls the rotational speed of the servo motor assembly 105 through its own functionality. The servo motor assembly 105 is controlled by its own PLC microcontroller and outputs power based on its own rotational speed. The gearbox 106 and the servo motor assembly 105 are set up in four independent groups to provide independent power output, avoiding mutual interference. The two batteries 104, positioned front and rear, ensure the stability of the center of gravity.

[0059] An embodiment provides a slope material and structure data acquisition device, such as Figure 3 and Figure 4As shown, the transmission swing arm 200 includes a mechanical cavity shell 201. A primary rotating shaft 202 is rotatably mounted on the fixed end of the mechanical cavity shell 201. A primary central gear 204 and a primary driving bevel gear 207 are fixedly mounted on the primary rotating shaft 202. A primary external gear ring 205 is fixedly mounted inside the fixed end of the mechanical cavity shell 201. A primary planetary gear 206 is circumferentially distributed between the primary central gear 204 and the primary external gear ring 205. A secondary rotating shaft 203 is rotatably mounted on the free end of the mechanical cavity shell 201. One end of the secondary rotating shaft 203 is located inside the mechanical cavity shell 201 and a primary driven bevel gear 208 is fixedly mounted thereon. The other end is located inside the rotating wheel frame 300. The primary driving bevel gear 207 and the primary driven bevel gear 208 are poweredly connected through a primary transmission gear shaft 209. The mechanical housing 201 forms the basic mounting structure of the transmission swing arm 200. The primary rotating shaft 202 connects to the transmission, directing the power from the gearbox 106 to the primary driving bevel gear 207. The primary central gear 204, in conjunction with the primary planetary gear 206 and the primary external gear ring 205, forms a positioning structure, enabling the mechanical housing 201 to rotate and be positioned. The primary driving bevel gear 207, in conjunction with the primary transmission gear shaft 209, drives the primary driven bevel gear 208 to achieve power transmission. The primary driven bevel gear 208 drives the secondary rotating shaft 203 to output power. The number of teeth on the primary driving bevel gear 207 is the same as that on the primary driven bevel gear 208, and the number of bevel teeth at both ends of the primary transmission gear shaft 209 is the same. By setting the number of teeth on the primary driving bevel gear 207 and the primary driven bevel gear 208 to be the same, and by setting the number of bevel teeth at both ends of the primary transmission gear shaft 209 to be the same, transmission torque is prevented, thus avoiding power imbalance within the transmission swing arm 200. The number of teeth on the secondary driving bevel gear 307 is the same as the number of teeth on the secondary driven bevel gear 308, and the number of teeth on both ends of the secondary transmission gear shaft 309 is the same. By setting the number of teeth on the secondary driving bevel gear 307 and the secondary driven bevel gear 308 to be the same, and by setting the number of teeth on both ends of the secondary transmission gear shaft 309 to be the same, the transmission torque is prevented from causing uneven stress inside the rotating wheel frame 300, which could lead to deflection and damage after being subjected to external forces.

[0060] An embodiment provides a slope material and structure data acquisition device, such as Figure 5-7As shown, specifically, the rotating wheel frame 300 includes a disc box 301 and a support shell 302. There are three support shells 302, which are circumferentially distributed and welded to the outer periphery of the disc box 301. A secondary external gear ring 305 is fixedly installed inside the disc box 301. A secondary central gear 304 and a secondary driving bevel gear 307 are provided inside the disc box 301, both fixedly installed on the secondary rotating shaft 203. Secondary planetary gears 306 are circumferentially distributed between the secondary external gear rings 305 and the support shell 302... The support housing 302 is rotatably mounted with a secondary driven bevel gear 308 and a transmission gear 310. A roller 303 is rotatably mounted on the outer end of the support housing 302. An end gear 311 is fixedly mounted on the shaft of the roller 303. The secondary driving bevel gear 307 and the secondary driven bevel gear 308 are poweredly connected through a secondary transmission gear shaft 309. The secondary driven bevel gear 308 meshes with the transmission gear 310, and the transmission gear 310 meshes with the transmission end gear 311. The three rollers 303 roll to support the track 400. The disc box 301 and the bracket housing 302 are the support and mounting structures for the rotating wheel frame 300. The circumferentially distributed bracket housing 302 can better ensure the uniformity of the overall rotation. The secondary center gear 304 and the secondary driving bevel gear 307 in the disc box 301 transmit the power on the secondary rotating shaft 203. The secondary center gear, together with the secondary planetary gear 306 and the secondary external gear ring 305, enables the rotating wheel bracket to be positioned and rotated. The secondary driving bevel gear 307, together with the secondary transmission gear shaft 309 and the secondary driven bevel gear 308, realizes the power distribution output. The secondary driven bevel gear 308, together with the transmission gear 310, drives the end gear 311, enabling the roller 303 to rotate. The rotation of the roller 303 around its axis enables the track 400 supported and mounted to be effectively driven.

[0061] The embodiment provides a slope material and structure data acquisition device. The working angle of the front transmission swing arm 200 is -45° to 45°, and the initial working angle is -45°. The working angle of the rear transmission swing arm 200 is 135° to 225°, and the initial working angle is 225°. By setting the working swing angle of the transmission swing arm 200, the device can be adapted to more complex slope terrain. Figure 2Two horizontal electronic levels 107 and two vertical electronic levels 108 are fixedly installed inside the protective housing 101. The two horizontal electronic levels 107 are symmetrically arranged front and back, and the two vertical electronic levels 108 are symmetrically arranged left and right. The horizontal and vertical electronic levels 107 are electrically connected to the microcomputer terminal 102 to achieve effective transmission of horizontal status signals. The arrangement of the two horizontal and two vertical electronic levels 107 and 108 enables effective monitoring of the overall horizontal status of the device. A water storage tank and a water-air mixing pressurization device are fixedly installed inside the main unit 100. The nozzle of the water-air mixing pressurization device works in conjunction with the panoramic camera and laser feedback device. The water storage tank, in conjunction with the water-air mixing pressurization device, can clean the rock borehole, preventing debris from depositing inside the borehole from affecting the panoramic camera's image acquisition.

[0062] In this embodiment, the data acquisition device is based on the overall slope of the slope and presets the overall tilt of the device at its current operating position. When the device travels on the slope and encounters protruding rock masses, the transmission swing arm 200 adjusts its angle, and the rotating wheel frame 300 rotates to overcome the protruding rock obstacles. The transmission swing arm 200 controls the undulation based on its built-in primary central gear 204, primary planetary gear 206, and primary external gear ring 205, while the rotating wheel frame 300 controls its rotation based on its internal secondary central gear 304, secondary planetary gear 306, and secondary external gear ring 305. This ensures smooth operation of the device, enabling the panoramic camera to effectively collect data on the rock mass structure and material of the slope. The data is processed by the microcomputer terminal 102 and transmitted to the operation terminal via the wireless module. When no obstacle is encountered, the first-stage planetary gear 206 revolves around the first-stage central gear 204 without affecting the first-stage external gear ring 205. The second-stage planetary gear 306 works around the second-stage central gear 304 without affecting the second-stage external gear ring 305. When an obstacle is encountered, the overall resistance increases, and the first-stage planetary gear 206 and the second-stage planetary gear 306 stop revolving. Based on their own rotation, the first-stage external gear ring 205 and the second-stage external gear ring 305 rotate, thereby adjusting the working load angle. After overcoming the obstacle, the resistance decreases, and the first-stage planetary gear 206 and the second-stage planetary gear 306 resume their revolving state. At the same time, the swing arm rotates and resets.

[0063] This embodiment provides a method for acquiring slope material and structure data, using the aforementioned slope material and structure data acquisition device. The specific steps are as follows:

[0064] S1. Three-dimensional point cloud data of the rock slope is collected using LiDAR. A three-dimensional spatial model is constructed based on the point cloud data. Simultaneously, the RANSAC algorithm combined with the IPC algorithm is used to process the three-dimensional point cloud data, dividing the three-dimensional spatial model into several feature regions and ordinary regions. The specific division method is as follows:

[0065] A. Pre-divide the area based on the rock holes left during the slope excavation process or the rock holes left in the early topographic and geological survey.

[0066] B. Based on the fractured structure of the rock mass, the terrain is classified into three levels: the fracture zone is tens to hundreds of meters long and the fracture zone is several centimeters to about 1 meter wide. The terrain with well-developed faults and joints is classified as Level III terrain. The fracture zone is tens to tens of centimeters long and mainly consists of joints, bedding, secondary fractures and small faults. The threshold is set and the boundary is set accurately based on the dichotomy method.

[0067] C. Areas containing both Level IV and Level III terrain features are designated as feature areas, while areas without these features are designated as ordinary areas.

[0068] S2. Set several poles for existing boreholes in the characteristic area and set data sampling points; set a single point for existing boreholes in the ordinary area and set data sampling points.

[0069] The extreme point setting of the feature region is based on the boundary of the feature region division. A hole layout pattern is constructed for the rock holes in the region, and a planar pattern is constructed for the feature region. The deviation between the hole layout pattern and the planar pattern is calculated. The rock holes in the hole layout pattern that fit the edge of the planar pattern and the rock holes in the hole layout pattern that are closest to the geometric center of the planar pattern are set as the extreme points of the data sampling points.

[0070] The single-point setting of ordinary areas is based on constructing a planar graphic by the edge boundary, calculating the geometric center of the planar graphic, fitting the geometric center to calculate the nearest rock borehole, and setting the borehole as a single point of data sampling.

[0071] S3. The data acquisition device moves along the slope based on regional division. It collects data from data sampling points in the designated feature area and ordinary area using an image acquisition device. The data acquisition device plans a path based on the extreme points in the feature area and the single points in the ordinary area. The extreme points and single points are the inflection points of the path. The location of the rock borehole at the inflection point is re-determined. Then, a high-speed airflow carrying a high-speed water flow is used to clean the inside of the rock borehole, making the inside of the borehole clean and smooth. The data acquisition device acquires images of the inside of the rock borehole through a laser feedback device and a panoramic camera, and transmits them back to the microcomputer terminal.

[0072] S4. The microcomputer terminal receives data collected by the image acquisition device and processes the data. Through function calculation and fitting, it generates digital images of the surface and sub-deep rock mass material and structure of the rock slope. The specific data fitting process is as follows:

[0073] a. The microcomputer terminal (102) divides the returned image into a main region and an auxiliary correction region. The images acquired at the full step length node are integrated, that is, after the main region and the auxiliary correction region are fitted and corrected, a complete cylindrical image of the hole is formed. The image auxiliary correction method is as follows: the standard values ​​of the pixels in the middle of the image are determined, which include the standard pixel width a1, the standard image region width width1, and the deformed pixel width a1. n and the width of the deformed image region n The pixel deformation coefficient and the image deformation coefficient are calculated using the following formulas:

[0074] n n =a n / a1,n n Pixel deformation coefficient;

[0075] n m =width n / width1,n m The deformation coefficient of the image region;

[0076] n n / n m =L and n m / n n =R, where L and R are two deformation vectors of the image in two directions, and then resetting and correction are performed based on L and R;

[0077] b. Based on the laser feedback angle parameters, the central axis of the borehole cylindrical image is set, and then the expansion reference plane is constructed by connecting the central axis and the azimuth markers on the image. The image is then finely adjusted and corrected so that the azimuth markers are on the same straight line.

[0078] c. Expand the cylindrical image into a rectangular image by using the straight lines formed by the re-corrected orientation marks. Then, perform grayscale equalization on the rectangular image, and preprocess the image by median filtering, high-pass enhancement, and Laplacian sharpening. The preprocessed image is then trimmed at the image edges using the Canny algorithm to form a rectangular image.

[0079] d. A cylindrical interface image is formed by wrapping the rectangular image back, and then three-branch processing is performed;

[0080] Branch 1 calculates the rock strata morphology of the borehole wall using the cylindrical interface image, and then simulates the outward extension trend of the rock strata using the ISP algorithm combined with a time-domain algorithm. The rock strata morphology calculation is based on the image edge calculation in step c, obtaining a clear image curve. The image curve is then subjected to function image fitting calculation, and the function formula is as follows:

[0081] y = A·sin(w·x+B) + C

[0082] In the formula, A is the amplitude, x is the time point, B is the phase difference, and C is the initial elevation;

[0083] Branch two involves performing CNN image convolution from the cylindrical interface image inwards to create a virtual image and form a virtual rock column. Based on this virtual rock column, the rock strata structure extending from the rock hole is determined. The calculation method for obtaining the virtual image through CNN image convolution inwards is as follows:

[0084]

[0085] In the formula, I d For the input dimension, O d k is the output dimension. size is the kernel size, and s is the stride;

[0086] Branch 3 uses the SVM algorithm to perform material comparison analysis on the cylindrical interface image. Based on the material comparison analysis results, the rock strata boundary is determined. The SVM algorithm's material comparison analysis is based on the grayscale balancing process in step c, calculating the significant feature value S(I(x, y)).

[0087]

[0088] In the formula, I(x, y) represents the gray value of each pixel (x, y) in the image, ||·|| represents the gray distance metric, k represents the gray level from 0 to 255, and count(k) represents the number of each gray level in the gray level.

[0089] The eigenvalue S(I(x,y)) is compared and analyzed with the eigenvalues ​​of the material in the database.

[0090] Based on the rock strata extension trend obtained from branch one and the virtual rock column structure from branch two, a rock mass structure diagram of the current sampling point is formed. Combined with the material analysis results obtained from branch three, a comprehensive digital data diagram of the rock strata material and structure of the current sampling point is constructed.

[0091] e. Construct a point cloud map of rock strata structure using comprehensive digital data from all sampling points on the slope, and statistically calculate the overall rock strata layout trend of the slope using the point cloud map of rock strata structure.

[0092] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0093] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for acquiring data on slope material and structure, characterized in that: The data acquisition device includes a main unit housing (100) and at least two sets of walking mechanisms installed on both sides of the main unit housing (100). The main unit housing (100) is supported by the at least two sets of walking mechanisms and is detached from the ground. Each set of walking mechanisms includes a transmission swing arm (200), a rotating wheel frame (300), and a track (400). One end of the transmission swing arm (200) is connected to the main unit housing (100). The rotating wheel frame (300) is rotatably mounted on the free end of the transmission swing arm (200) through a secondary rotating shaft (203). The track (400) surrounds the outer periphery of the rotating wheel frame (300). The main unit (100) includes a protective housing (101), in which a microcomputer terminal (102), an image acquisition device (103), a battery (104) and a walking control mechanism are fixedly installed. The image acquisition device (103) includes a panoramic camera. Each walking mechanism is provided with a walking control mechanism. The walking control mechanism includes a gearbox (106) and a servo motor assembly (105) fixedly installed at the input end of the gearbox (106). The transmission swing arm (200) of the walking mechanism is rotatably connected to the gearbox (106) of the corresponding walking control mechanism through a shaft. The microcomputer terminal (102) is electrically connected to the image acquisition device (103), the battery (104) and the servo motor assembly (105). It acquires image data of the slope through the panoramic camera on the image acquisition device (103) and transmits the data to the microcomputer terminal (102). The microcomputer terminal (102) processes the data to form a digital map of the surface and sub-deep rock mass material and structure of the rock slope. The microcomputer terminal (102) is equipped with a wireless communication module, and the image acquisition device (103) also includes a laser feedback device. The laser feedback device detects the rock holes drilled on the slope using a conical swing method to detect their extension angle, and corrects the extension detection angle of the panoramic camera based on the extension angle measured by the laser feedback device. The panoramic camera is installed on the bottom of the protective housing (101) through a telescopic mechanism. The microcomputer terminal (102) is equipped with a device driver program to set the detection step size of the panoramic camera. The panoramic camera is located at the step size. Images are acquired at long nodes, and the images are marked as due south based on the built-in compass positioning program; the data processing module in the microcomputer terminal (102) processes the data to form a digital map of the surface and sub-deep rock mass material and structure of the rock slope. The data processing methods include image distortion correction algorithm, gray level equalization algorithm, median filtering algorithm, high-pass enhancement method, Laplacian sharpening algorithm, Canny algorithm, image rollback method, ISP algorithm, temporal algorithm, CNN image convolution algorithm, statistical fitting algorithm and SVM algorithm to process the data. The transmission swing arm (200) includes a mechanical cavity shell (201). A primary shaft (202) is rotatably mounted on the fixed end of the mechanical cavity shell (201). A primary central gear (204) and a primary driving bevel gear (207) are fixedly mounted on the primary shaft (202). A primary external gear ring (205) is fixedly mounted inside the fixed end of the mechanical cavity shell (201). A primary planetary gear (206) is circumferentially distributed between the primary central gear (204) and the primary external gear ring (205). A secondary shaft (203) is rotatably mounted on the free end of the mechanical cavity shell (201). One end of the secondary shaft (203) is located inside the mechanical cavity shell (201) and is fixedly mounted with a... The first-stage driven bevel gear (208) is located at one end within the rotating wheel frame (300). The first-stage driving bevel gear (207) and the first-stage driven bevel gear (208) are connected by a first-stage transmission gear shaft (209). The number of teeth of the first-stage driving bevel gear (207) is the same as the number of teeth of the first-stage driven bevel gear (208). The number of teeth of the bevel gears at both ends of the first-stage transmission gear shaft (209) is the same. The working angle of the transmission swing arm (200) in the two sets of walking mechanisms on the front side relative to its central axis is -45° to 45°, and the initial working angle is -45°. The working angle of the transmission swing arm (200) in the two sets of walking mechanisms on the rear side is 135° to 225°, and the initial working angle is 225°. The rotating wheel frame (300) includes a disc box (301) and a support shell (302). Three support shells (302) are circumferentially distributed and welded to the outer periphery of the disc box (301). A secondary external gear ring (305) is fixedly installed inside the disc box (301). A secondary central gear (304) and a secondary driving bevel gear (307) are provided inside the disc box (301), both fixedly installed on the secondary rotating shaft (203). Secondary planetary gears (306) are circumferentially distributed between the secondary external gear rings (305) and the secondary driven bevel gear (308) and transmission gear (310) are rotatably installed inside the support shells (302). A roller (303) is rotatably mounted on the outer end of the support shell (302). An end gear (311) is fixedly mounted on the shaft of the roller (303). The secondary driving bevel gear (307) and the secondary driven bevel gear (308) are poweredly connected through a secondary transmission gear shaft (309). The secondary driven bevel gear (308) meshes with the transmission gear (310), and the transmission gear (310) meshes with the transmission end gear (311). The three rollers (303) roll to support the track (400). The number of teeth of the secondary driving bevel gear (307) is the same as the number of teeth of the secondary driven bevel gear (308). The number of bevel teeth at both ends of the secondary transmission gear shaft (309) is the same.

2. The slope material and structure data acquisition device according to claim 1, characterized in that: The walking mechanism is provided in four sets, with two vehicles symmetrically distributed on both sides of the main unit box (100). There are four gearboxes (106), which are respectively installed on the inner walls of both sides of the protective housing (101) and are symmetrically distributed. There are two batteries (104), which are symmetrically fixedly installed on the front and rear sides of the main unit box (100). The microcomputer terminal (102) and the image acquisition device (103) are located in the middle of the main unit box (100). There are two horizontal electronic levels (107) and two vertical electronic levels (108) fixedly installed inside the protective housing (101). The two horizontal electronic levels (107) are symmetrically arranged front and back, and the two vertical electronic levels (108) are symmetrically arranged left and right.

3. The slope material and structure data acquisition device according to claim 1, characterized in that: The main unit (100) is equipped with a water storage tank and a water-air mixing pressurization device, and the nozzle of the water-air mixing pressurization device works in conjunction with the panoramic camera and the laser feedback device.

4. A method for acquiring slope material and structure data, characterized in that, The data acquisition method is based on the slope material and structure data acquisition device described in claim 1, and specifically includes the following steps: S1. Collect three-dimensional point cloud data of the rock slope using LiDAR, construct a three-dimensional spatial model based on the point cloud data, and process the three-dimensional point cloud data using the RANSAC algorithm combined with the IPC algorithm to divide the three-dimensional spatial model into several feature regions and ordinary regions. S2. Set several poles for existing boreholes in the characteristic area and set data sampling points; set a single point for existing boreholes in the ordinary area and set data sampling points. S3. The data acquisition device moves along the slope based on regional division. It collects data from data sampling points in the designated feature area and ordinary area using an image acquisition device. The data acquisition device plans a path based on the extreme points in the feature area and the single points in the ordinary area. The extreme points and single points are the inflection points of the path. The location of the rock borehole at the inflection point is re-determined. Then, a high-speed airflow carrying a high-speed water flow is used to clean the inside of the rock borehole, making the inside of the borehole clean and smooth. The data acquisition device acquires images of the inside of the rock borehole through a laser feedback device and a panoramic camera, and transmits them back to the microcomputer terminal. S4. The microcomputer terminal receives the data collected by the image acquisition device, processes the data, and uses function calculation and fitting to form a digital map of the surface and sub-deep rock mass material and structure of the rock slope.

5. The method for acquiring slope material and structure data according to claim 4, characterized in that, The data processing in step S4 includes the following steps: a. The microcomputer terminal (102) divides the returned image into a main region and an auxiliary correction region. The images acquired at the full step length node are integrated, that is, after the main region and the auxiliary correction region are fitted together for orthodontic correction, a complete cylindrical image of the hole is formed. The image auxiliary correction method is as follows: the standard values ​​of the pixels in the middle of the image are determined, and the standard pixel width of the included pixels is determined. Standard image area width Deformation pixel width and deformed image area The pixel deformation coefficient and the image deformation coefficient are calculated using the following formulas: , Pixel deformation coefficient; , The deformation coefficient of the image region; and , and The two values ​​are the two deformation vectors of the image in two directions, and then based on... and Perform repositioning and correction; b. Based on the laser feedback angle parameters, the central axis of the borehole cylindrical image is set, and then the expansion reference plane is constructed by connecting the central axis and the azimuth markers on the image. The image is then finely adjusted and corrected so that the azimuth markers are on the same straight line. c. Expand the cylindrical image into a rectangular image by using the straight lines formed by the re-corrected orientation marks. Then, perform grayscale equalization on the rectangular image, and preprocess the image by median filtering, high-pass enhancement, and Laplacian sharpening. The preprocessed image is then trimmed at the image edges using the Canny algorithm to form a rectangular image. d. A cylindrical interface image is formed by wrapping the rectangular image back, and then three-branch processing is performed; Branch 1 calculates the rock strata morphology of the borehole wall using the cylindrical interface image, and then simulates the outward extension trend of the rock strata using the ISP algorithm combined with a time-domain algorithm. The rock strata morphology calculation is based on the image edge calculation in step c, obtaining a clear image curve. The image curve is then subjected to function image fitting calculation, and the function formula is as follows: ； in the formula For amplitude, For a point in time, For phase difference, This is the initial elevation; Branch two involves performing CNN image convolution from the cylindrical interface image inwards to create a virtual image and form a virtual rock column. Based on this virtual rock column, the rock strata structure extending from the rock hole is determined. The calculation method for obtaining the virtual image through CNN image convolution inwards is as follows: ； in the formula For input dimensions, For output dimensions, The kernel size is [size]. Step size; Branch 3 uses the SVM algorithm to perform material comparison analysis on the cylindrical interface image, and determines the rock strata boundary based on the material comparison analysis results. The material comparison analysis of the SVM algorithm is based on the gray-level balancing processing in step c, and performs significant feature value analysis. Calculation: ； in the formula Show each pixel in the image grayscale value, This indicates a grayscale distance metric. This represents the grayscale levels from 0 to 255. This indicates the number of each gray level in the grayscale range; Through eigenvalues Compare and analyze the material's feature values ​​with those in the database; Based on the rock strata extension trend obtained from branch one and the virtual rock column structure from branch two, a rock mass structure diagram of the current sampling point is formed. Combined with the material analysis results obtained from branch three, a comprehensive digital data diagram of the rock strata material and structure of the current sampling point is constructed. e. Construct a point cloud map of rock strata structure using comprehensive digital data from all sampling points on the slope, and statistically calculate the overall rock strata layout trend of the slope using the point cloud map of rock strata structure.

6. The method for acquiring slope material and structure data according to claim 4, characterized in that, The specific division method for step S1 is as follows: A. Pre-divide the area based on the rock holes left during the slope excavation process or the rock holes left in the early topographic and geological survey. B. Based on the fractured structure of the rock mass, the terrain is classified into three levels: the fracture zone is tens to hundreds of meters long and the fracture zone is several centimeters to 1 meter wide. The terrain with well-developed faults and joints is classified as Level III terrain; the fracture zone is tens to tens of centimeters long and has developed joints, bedding, secondary fractures and small faults as Level IV terrain. Thresholds are set and precise boundaries are set based on the dichotomy method. C. Areas containing both Level IV and Level III terrain features are designated as feature areas, while areas without these features are designated as ordinary areas.

7. The method for acquiring slope material and structure data according to claim 4, characterized in that, The specific methods for setting the poles of the feature region and the single-point settings of the ordinary region in step S2 are as follows: Within the feature region, based on the boundary of the feature region, a borehole layout pattern is constructed for the boreholes within the region. At the same time, a planar pattern is constructed for the feature region. The deviation between the borehole layout pattern and the planar pattern is calculated. The boreholes in the borehole layout pattern that fit the edge of the planar pattern and the boreholes in the borehole layout pattern that are closest to the geometric center of the planar pattern are set as the extreme points of the data sampling points. Within a normal area, a planar shape is constructed based on the edge boundary. The geometric center of the planar shape is calculated, and the nearest rock borehole is calculated by fitting the geometric center. This borehole is then set as a single point for data sampling.

Images