Ground deformation monitoring method and device based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of ground deformation monitoring, and discloses a ground deformation monitoring method and device based on an unmanned aerial vehicle, and the method comprises the steps: arranging a plurality of monitoring stations in a to-be-monitored region, placing the unmanned aerial vehicle at each monitoring station, and obtaining the initial coordinates of each monitoring station; designing a flight route of the unmanned aerial vehicle according to the position of the monitoring station; the unmanned aerial vehicle lands to the same relative position of each monitoring station in sequence according to the flight route, and space coordinates of each monitoring station are collected; obtaining the position of the initial coordinate of each monitoring station for the unmanned aerial vehicle relative to the same position; and the space coordinates and the initial coordinates of all the monitoring stations are compared, and the ground deformation conditions of all the monitoring stations are obtained. According to the invention, required positions are monitored, different arrangements can be flexibly carried out according to various complex terrains or dangerous areas, the data processing complexity is reduced while the data acquisition precision is ensured, and the acquired data can be processed in time.

Description

Technical Field

[0001] The present invention relates to the technical field of ground deformation monitoring, and in particular to a ground deformation monitoring method and device based on an unmanned aerial vehicle. Background Art

[0002] Ground deformation monitoring is an important part of geological engineering, civil engineering and natural disaster prevention. It is directly related to engineering safety and the safety of life and property.

[0003] Traditional ground deformation monitoring methods usually rely on ground sensors, total stations, GPS and other equipment. Although these methods can provide a certain degree of monitoring accuracy, they have many limitations in terms of monitoring range, labor costs and the complexity of equipment installation.

[0004] With the widespread application of drone technology in various industries, its high flexibility, ease of operation and ability to fly freely in complex terrain and environments make it an ideal monitoring tool. Equipped with high-definition cameras, laser radars, etc., drones can accurately obtain images or point cloud data to obtain terrain information, providing a new solution for large-scale, automated ground deformation monitoring.

[0005] However, in the existing monitoring schemes, the acquisition of images or the generation of point cloud data will be affected by extreme weather conditions and complex terrain. For example, weather conditions such as lighting conditions, wind, rain, fog, etc. will affect the image quality, making the image blurred or point cloud data missing. For example, if the terrain is undulating, the drone needs to constantly adjust its flight attitude. Towering mountains, buildings, etc. block the drone's line of sight, thereby affecting the image or the influence of complex terrain, the monitoring accuracy and stability are reduced, and the collected data has certain deviations, thus affecting the accuracy of the monitoring results. It is also necessary to perform a lot of analysis and processing on the collected images or point cloud data, but timely monitoring results cannot be obtained. There are high requirements for the accuracy, speed and data volume of data processing, which is a technical difficulty.

[0006] Therefore, it is urgent to develop a ground deformation monitoring method to solve the above problems. Summary of the invention

[0007] In order to solve the above problems, the present application provides a ground deformation monitoring method and device based on drone, which is more suitable for complex terrain and large-scale ground deformation monitoring. It can be flexibly arranged according to various terrains or dangerous areas, while ensuring the accuracy of data collection and reducing the complexity of data processing. The collected data can be processed in a timely manner, ensuring the timeliness of the data, accelerating the speed of ground deformation monitoring, and improving the monitoring efficiency.

[0008] In a first aspect, the present application provides a ground deformation monitoring method based on a drone, comprising: S1. Arrange several monitoring sites in the area to be monitored, and place drones on each of the monitoring sites to obtain the initial coordinates of each monitoring site; S2. Design the flight route of the drone according to the location of the monitoring site; S3, the drone lands at the relatively same position of each monitoring site in turn according to the flight route, and collects the spatial coordinates of each monitoring site; the relatively same position is the position where the drone obtains the initial coordinates of each monitoring site; S4. Compare the spatial coordinates of each monitoring site with the initial coordinates to obtain the ground deformation of each monitoring site.

[0009] Furthermore, the arrangement of several monitoring sites in the area to be monitored includes: Monitoring stations are arranged for specific terrain in the area to be monitored, and the specific terrain includes mountainous areas, slopes, engineering structures, mining areas and crustal movement areas.

[0010] Furthermore, the monitoring site includes a horizontal monitoring platform, on which a marking position is provided, and the position of the marking position is the position for obtaining the initial coordinates of the monitoring site.

[0011] Furthermore, the drone is provided with a GPS sensor, an image collector and a communication module, the GPS sensor is used to collect the spatial coordinates and the initial coordinates, the image collector is used to collect the information of the marking position and transmit it to the controller of the drone, and the communication module is used to receive the signal of the terminal and send data to the terminal.

[0012] Furthermore, the flight route includes the initial coordinates and preset time of each monitoring point.

[0013] Further, the drone lands at the same position of each monitoring site in sequence according to the flight route, including: The drone stops in sequence above the initial coordinates of each monitoring site according to the flight route; the drone collects images at the marked position through an image collector to determine whether the marked position is directly below the drone. If not, the drone's position is adjusted to the marked position directly below the drone, and the drone lands at the marked position and stays at each monitoring site for a preset time.

[0014] In a second aspect, the present application provides a ground deformation monitoring device based on a drone, comprising: A monitoring platform with marking positions; A drone used to land at the marked position of the monitoring platform and obtain the spatial coordinates of each monitoring platform; A terminal used to receive data sent by drones and send signals to drones.

[0015] The embodiments of the present invention have the following technical effects: This application sets up monitoring sites to cover all locations that need to be monitored in the monitored area, and sets up flight routes so that the drones can operate according to the settings of the aircraft routes, and stay at each monitoring site to obtain spatial coordinates, and compare them with the initial coordinates to obtain ground deformation information; This application reduces costs and equipment complexity by building monitoring sites and using drones to monitor specific locations; The present application monitors the required locations and is more suitable for ground deformation monitoring in complex terrains, and can be flexibly arranged according to various terrains; the present application sets up monitoring stations for each special terrain, and collects spatial coordinates in turn through the GPS sensor inside the drone, thereby ensuring data collection accuracy; the ground deformation situation can be obtained by comparing the spatial coordinates with the initial coordinates, which reduces the complexity of data processing, and the collected data can be processed in a timely manner, ensuring the timeliness of the data, accelerating the speed of ground deformation monitoring, and improving monitoring efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 The present invention provides a flow chart of a method for monitoring ground deformation based on a drone. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0019] Example 1 Figure 1 is a flow chart of a ground deformation monitoring method based on a drone provided by an embodiment of the present invention. Figure 1 , specifically including: S1. Arrange several monitoring sites in the area to be monitored, and place drones on each of the monitoring sites to obtain the initial coordinates of the monitoring site.

[0020] In the actual area to be monitored, after the panoramic image or point cloud data is collected, data processing is required. There are high requirements for the accuracy, speed and calculation amount in the data processing process, so as to obtain the ground deformation in time and take corresponding measures. However, the monitoring results often produce errors due to problems such as calculation accuracy, thus obtaining wrong results. In order to improve the accuracy of the monitoring results, a fixed position is selected to obtain and compare the spatial coordinates. It is necessary to conduct a comprehensive analysis of the terrain and determine the monitoring location. Specifically, the monitoring stations are arranged for specific terrain in the area to be monitored. The specific terrain includes mountainous areas, slopes, engineering structures, mining areas, crustal movement areas, etc. These areas are prone to collapse, landslides and other disasters due to geological structures, human activities and other factors, so monitoring is required to ensure safety. Exemplarily, the dam crest slope, slope surface of the slope, etc. of the dam are used as the locations that need to be monitored. It should be noted that appropriate locations should be determined as monitoring points according to the actual terrain and monitoring needs to ensure coverage of the entire monitoring area and avoid missing locations.

[0021] The monitoring site includes a horizontal monitoring platform, on which a marking position is provided. The position of the marking position is the position for obtaining the initial coordinates of the monitoring site, and the marking position is also a positioning pattern for the subsequent landing of the drone. The monitoring platform can be a round pile made of cement or the like, which has strong bearing capacity, good stability, long service life and convenient construction. This application does not make specific limitations on this, and other materials or shapes can be used to meet actual usage requirements.

[0022] The monitoring site should have good conditions for the drone to land, such as no obstructions. The drone is equipped with a GPS sensor, an image collector and a communication module. The GPS sensor is used to collect the spatial coordinates and initial coordinates, the image collector is used to collect the information of the mark position and transmit it to the drone controller, and the communication module is used to receive the terminal signal and send data to the terminal. The image collector here can be a high-definition camera, a camera, etc., and the controller can be a PLC controller. For the GPS sensor, image collector and communication module, they are all existing technologies and are not specifically limited in this application; the terminal can be a tablet computer, a laptop computer, etc., which can be selected according to actual needs.

[0023] A horizontal monitoring platform is set up, and the drone is placed on the monitoring platform to obtain the initial coordinates through the GPS sensor, and the position of the drone that obtains the initial coordinates is set as the mark position. It should be noted that the initial coordinates here are the coordinates of the drone when the drone is placed on the monitoring platform and collected by the GPS sensor inside the drone, rather than the coordinates of the monitoring site or monitoring platform.

[0024] S2. Design the flight route of the drone according to the location of the monitoring site.

[0025] For example, based on the setting of monitoring sites, a flight route can be designed for the drone using route planning software (such as Pix4D, MissionPlanner, etc.). This is a prior art and will not be described in detail in this application.

[0026] The flight route should start from the starting point, pass through all monitoring points in sequence, and finally return to the starting point. For each monitoring point, the initial coordinates and preset time are pre-set in the route.

[0027] S3. The drone lands at the relatively same position of each monitoring site in turn according to the flight route, and collects the spatial coordinates of each monitoring site; the relatively same position is the position where the drone obtains the initial coordinates of each monitoring site.

[0028] The drone achieves the purpose of landing at the same position relatively through the aforementioned marking position. When the drone monitors according to the flight route, the GPS sensor navigates, and the landing position is the set initial coordinates, which are fixed. However, in the case of offset, if the landing point is still the set coordinates, it is possible that the ground deformation information cannot be obtained. Therefore, it is necessary to make the drone still land at the same position relatively, rather than the same coordinates. The GPS sensor collects spatial coordinates so that the coordinates obtained before and after can be compared to obtain the ground deformation of each monitoring site.

[0029] Specifically, the UAV stops in sequence above the initial coordinates of each monitoring site according to the flight route; the UAV collects images at the marked position through an image collector to determine whether the marked position is directly below the UAV. If not, the position of the UAV is adjusted to the marked position directly below the UAV, and the UAV lands at the marked position and stays at each monitoring site for a preset time; if so, the UAV directly lands at the marked position and stays at each monitoring site for a preset time.

[0030] The drone first lands according to the set coordinates. Before landing, it is necessary to determine whether the landing point is correct. If it does not land at the marked position, it is necessary to manually adjust the drone based on the collected image information or set the corresponding code to control the drone. This application does not explain this in detail and it is sufficient to meet actual needs.

[0031] In the case where the drone cannot obtain the marked position image, the drone sends an alarm signal to the terminal, indicating that serious deformation has occurred and that timely processing is required by staff. The drone continues to collect data for the next monitoring site.

[0032] The drone stays at each monitoring site for a preset time. For example, after arriving at the monitoring point, the drone stays for 5 minutes to collect spatial coordinates to avoid interference with the GPS signal and affect the accuracy of the collection results. The preset time for each monitoring site can be set as needed.

[0033] In summary, the corresponding coordinates are preset in the UAV according to the flight route, and the GPS sensor is used for navigation to perform tasks such as landing, staying and taking off at the corresponding coordinates to ensure that the UAV can accurately reach each monitoring site during flight.

[0034] S4. Compare the spatial coordinates of each monitoring site with the initial coordinates to obtain the ground deformation of each monitoring site.

[0035] The data collected by the drone through the GPS sensor at each monitoring site is the spatial coordinates. The collected spatial coordinates and the pictures collected by the image collector can be transmitted to the computer terminal through the communication module, or the relevant instructions from the computer terminal can be received for operation. The spatial coordinates are compared and analyzed with the initial data. By comparing the currently collected spatial coordinates of each monitoring point with the historical data, the ground deformation of the monitoring point can be accurately determined.

[0036] For example, if the coordinates of a certain station undergo obvious vertical displacement, it can be determined that there is surface subsidence at that location; if the coordinates of a certain station undergo obvious horizontal and vertical displacement, it means that the platform is tilted, and it can be determined that there are geological changes such as uneven subsidence or landslides at that location.

[0037] Based on the above technical solution, monitoring is carried out at the required locations, which is more suitable for complex terrain and large-scale ground deformation monitoring. Different arrangements can be flexibly made according to various terrains or dangerous areas, which reduces the complexity of data processing while ensuring the accuracy of data collection; and the collected data can be processed in a timely manner, ensuring the timeliness of the data, accelerating the speed of ground deformation monitoring, and improving the monitoring efficiency.

[0038] Example 2 The present application provides a ground deformation monitoring device based on a drone, which is used to execute a ground deformation monitoring method based on a drone described in the above embodiment 1, comprising: A monitoring platform with marking positions; A drone used to land at the marked position of the monitoring platform and obtain the spatial coordinates of each monitoring platform; A terminal used to receive data sent by drones and send signals to drones.

[0039] For other contents, please refer to Example 1, which will not be described in detail here.

[0040] It should be noted that the terms used in the present invention are only for describing specific embodiments, rather than limiting the scope of the present application. As shown in the present specification, unless the context clearly indicates an exception, the words "one", "a", "a kind of" and / or "the" do not specifically refer to the singular, but may also include the plural. The terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method or device. In the absence of more restrictions, the elements defined by the sentence "include one..." do not exclude the presence of other identical elements in the process, method or device including the elements.

[0041] It should also be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A ground deformation monitoring method based on drone, characterized in that: The steps include: S1. Arrange several monitoring sites in the area to be monitored, and place drones on each of the monitoring sites to obtain the initial coordinates of each monitoring site; S2. Design the flight route of the drone according to the location of the monitoring site; S3, the drone lands at the relatively same position of each monitoring site in turn according to the flight route, and collects the spatial coordinates of each monitoring site; the relatively same position is the position where the drone obtains the initial coordinates of each monitoring site; S4. Compare the spatial coordinates of each monitoring site with the initial coordinates to obtain the ground deformation of each monitoring site.

2. The method for monitoring ground deformation based on an unmanned aerial vehicle according to claim 1, characterized in that: The arrangement of several monitoring sites in the area to be monitored includes: Monitoring stations are arranged for specific terrain in the area to be monitored, and the specific terrain includes mountainous areas, slopes, engineering structures, mining areas and crustal movement areas.

3. The ground deformation monitoring method based on an unmanned aerial vehicle according to claim 1 is characterized in that: The monitoring site comprises a horizontal monitoring platform, on which a marking position is arranged, and the position of the marking position is the position for obtaining the initial coordinates of the monitoring site.

4. The method for ground deformation monitoring based on an unmanned aerial vehicle according to claim 3, characterized in that: The drone is provided with a GPS sensor, an image collector and a communication module. The GPS sensor is used to collect the spatial coordinates and the initial coordinates. The image collector is used to collect the information of the marking position and transmit it to the controller of the drone. The communication module is used to receive signals from the terminal and send data to the terminal.

5. The method for ground deformation monitoring based on an unmanned aerial vehicle according to claim 4, characterized in that: The flight route includes the initial coordinates and preset time of each monitoring point.

6. The method for ground deformation monitoring based on an unmanned aerial vehicle according to claim 5, characterized in that: The UAV lands at the same position of each monitoring site in sequence according to the flight route, including: The drone stops in sequence above the initial coordinates of each monitoring site according to the flight route; the drone collects images at the marked position through an image collector to determine whether the marked position is directly below the drone. If not, the drone's position is adjusted to the marked position directly below the drone, and the drone lands at the marked position and stays at each monitoring site for a preset time.

7. A ground deformation monitoring device based on a drone, used to execute a ground deformation monitoring method based on a drone as described in any one of claims 1 to 6, characterized in that: include: A monitoring platform with marking positions; A drone used to land at the marked position of the monitoring platform and obtain the spatial coordinates of each monitoring platform; A terminal used to receive data sent by drones and send signals to drones.

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