Water and soil conservation method, device and equipment based on laser radar and medium

Abstract

The invention relates to a water and soil conservation method, device and equipment based on a laser radar, and a medium, and the method comprises the steps: receiving the echo of the laser radar, analyzing the echo of the laser radar, carrying out the high-precision scanning measurement, and collecting the terrain, landform features and other information of a silt dam in a region. Based on a position sensor, the relative three-dimensional field position of the laser radar water and soil conservation system is determined, the morphological characteristics such as the water level, the dam height and the deposition amount of the silt dam can be analyzed, and the silt dam deposition condition investigation is achieved. The water quantity information in the echoes is determined by utilizing a water quantity analysis algorithm, the water level and other detail features are visually seen, and the water level height of the silt dam is measured and analyzed by adopting an inclined model, so that manual judgment errors caused by points on stones, sandy soil, vegetation and ice lump are avoided. And determining the loss period of the water and soil silted land by using the trained position soil algorithm, and feeding back the viscosity parameter of the water and soil conservation scheme based on the loss period of the water and soil silted land. High-precision analysis is realized, and the scientificity of measurement is improved.

Description

Technical Field

[0001] This application relates to the technical field of soil and water conservation, and particularly to a soil and water conservation method, device, equipment, and medium based on lidar. Background Art

[0002] With the development of lidar technology, lidar technology has been applied in more and more operation scenarios. Lidar, whose English name is Laser Radar, is a radar system that detects the position, speed, and other characteristic quantities of a target by emitting laser beams. Its working principle is to emit a detection signal to the target. The detection signal of lidar can also be called a laser beam. Then, the receiving system of lidar compares the received signal echo reflected by the target with the emitted signal. After appropriate processing by the signal processing system of lidar, relevant information about the target, such as target distance, azimuth, and even shape parameters, can be obtained, so as to detect and identify the target. The measurement of check dams using traditional technologies not only faces difficulties in field control but also has problems such as difficulties in image matching in the office, seriously affecting the efficiency of data processing and the quality of results. Based on this, it is necessary to propose a soil and water conservation method and system based on lidar to address the defect of low accuracy in the survey results of traditional check dam measurement technologies. Summary of the Invention

[0003] Based on this, it is necessary to propose a soil and water conservation method, device, equipment, and medium based on lidar to address the defect of low accuracy in the survey results of traditional check dam measurement technologies.

[0004] On the one hand, this application provides a soil and water conservation method based on lidar, including:

[0005] Determine the relative three-dimensional field position of the lidar soil and water conservation system based on a position sensor;

[0006] Receive the echo of the lidar to analyze the echo of the lidar;

[0007] Use a water volume analysis algorithm to determine the water volume information in the echo;

[0008] Determine the real-time soil moisture content based on the water volume information;

[0009] Return to receive the echo of the lidar to analyze the echo of the lidar until a stop sampling instruction is received;

[0010] Incorporate the relative three-dimensional field position and the real-time soil moisture content into the sample library to form a training sample;

[0011] Use the trained position and soil algorithm to determine the erosion cycle of the check dam;

[0012] Based on the loss cycle of water and soil in the warping dam, feedback the viscosity parameters of the soil and water conservation plan.

[0013] Preferably, in the determination of the relative three-dimensional field position of the lidar soil and water conservation system based on the position sensor, the position sensor includes a variety of sensors such as a height sensor, a slope lidar sensor, and a horizontal information sensor.

[0014] Preferably, the determination of the relative three-dimensional field position of the lidar soil and water conservation system based on the position sensor includes:

[0015] Receive the height information of the relative ground from the height sensor;

[0016] Call the real-time data of the slope lidar sensor to determine the relative slope information of the ground;

[0017] Based on the height information of the relative ground and the relative slope information of the ground, determine the relative three-dimensional field position of the lidar soil and water conservation system;

[0018] Utilize the relative three-dimensional field position of the lidar soil and water conservation system to receive the three-dimensional space data of the soil and water conservation surface.

[0019] Preferably, the receiving of the lidar echo to analyze the lidar echo includes:

[0020] Based on the frequency of the lidar echo, determine the laser emission time domain corresponding to the echo;

[0021] Utilize the time domain to determine the waveform difference between the laser corresponding to the echo and the echo;

[0022] Utilize the wavelet algorithm to extract the waveform difference features;

[0023] Incorporate the laser emission time domain and the waveform difference features into the sample library to collect the information of the analyzed lidar echo.

[0024] Preferably, the determination of the water volume information in the echo using the water volume analysis algorithm includes:

[0025] Call the three-dimensional space data of the soil and water conservation surface;

[0026] Based on the three-dimensional space data of the soil and water conservation surface, determine whether the thickness change value of the soil and water conservation surface is within the target threshold;

[0027] If the thickness change value of the soil and water conservation surface is within the target threshold, it is determined that the soil and water have not been lost;

[0028] If the thickness change value of the soil and water conservation surface is not within the target threshold, further determine whether the thickness of the soil and water conservation surface has increased;

[0029] If the thickness of the soil and water conservation surface increases, information on sediment accumulation is fed back;

[0030] If the thickness of the soil and water conservation surface does not increase, soil and water loss is determined and information on sediment loss is fed back;

[0031] Receive information on sediment loss;

[0032] Based on the information on sediment loss, determine the rate of decrease in the thickness of the soil and water conservation surface per unit time;

[0033] Using the rate of decrease in the thickness of the soil and water conservation surface, determine whether the rate of decrease in the thickness of the soil and water conservation surface is within the analysis threshold;

[0034] If the rate of decrease in the thickness of the soil and water conservation surface is not within the analysis threshold, information on debris flow occurrence is fed back;

[0035] If the rate of decrease in the thickness of the soil and water conservation surface is within the analysis threshold, call the water consumption analysis algorithm;

[0036] Call the water consumption analysis algorithm;

[0037] Convert the time domain into a timestamp;

[0038] Based on the timestamp, incorporate the laser emission time domain and waveform difference features in the sample library into the water volume analysis algorithm respectively;

[0039] Obtain the water volume information in the soil.

[0040] Preferably, the water volume analysis algorithm includes:

[0041] Electromagnetic damping parameter formula, D = F / V, where F is the electromagnetic damping force, V is the electromagnetic propagation speed of the soil, and D is the electromagnetic intensity of the laser;

[0042] Instantaneous electromagnetic field formula for static unit time, E = tD / tT, where E is the instantaneous electromagnetic field, tD is the derivative of the electromagnetic intensity of the laser per unit time, and tT is the unit time;

[0043] Based on the time domain, incorporate the instantaneous electromagnetic field into the feature map of the waveform difference features to obtain a multi-dimensional water volume analysis algorithm.

[0044] Preferably, using the trained position soil algorithm to determine the loss cycle of soil and water sedimentation includes:

[0045] The generation method of the position soil algorithm includes:

[0046] Compare the waveform difference features formed between the laser and the echo corresponding to the echo in the same time domain;

[0047] Extract the waveform difference features;

[0048] Based on the water volume analysis algorithm, determine the electromagnetic damping force and the electromagnetic propagation speed of the soil;

[0049] Utilize the electromagnetic intensity of the laser to determine the soil water content and soil type;

[0050] Return the waveform difference characteristics formed between the laser and the echo corresponding to the echo in the same time domain to form the erosion cycle of the water and soil sedimentation land.

[0051] On the other hand, the present application also provides a laser radar-based soil and water conservation device, including:

[0052] A collection module, which collects relevant information through the collection module;

[0053] A processing module, the collection module is communicatively connected to the processing module, and the processing module executes the laser radar-based soil and water conservation method described in any one of the foregoing.

[0054] On the other hand, the present application also provides a laser radar-based soil and water conservation equipment, including:

[0055] A host computer, which is used to process relevant information;

[0056] A lidar, which is communicatively connected to the host computer.

[0057] On the other hand, the present application also provides a computer-readable storage medium, on which instructions are stored, and when the instructions are executed by the host computer, the laser radar-based soil and water conservation method described in any one of the foregoing is implemented.

[0058] This application relates to a soil and water conservation method, device, equipment, and medium based on lidar. By receiving the echoes of the lidar, the echoes of the lidar are analyzed to perform high-precision scanning and measurement, and information such as the topography and geomorphic features of the check dams in the area are collected. Based on high-precision lidar point cloud LAS, high-resolution orthoimage DOM, and high-precision oblique model, and based on a position sensor, the relative three-dimensional field position of the lidar soil and water conservation system is determined, and the morphological features such as the water level, dam height, and sedimentation volume of the check dam can be analyzed to realize the investigation of the sedimentation situation of the check dam. The water volume analysis algorithm is used to determine the water volume information in the echoes, and the water level and some other detailed features can be intuitively seen. The oblique model is used to measure and analyze the water level height of the check dam to avoid hitting stones, sand, vegetation, and ice lumps, resulting in artificial judgment errors. The lidar point cloud can be combined with images or other feature information to assist in positioning and analysis. To obtain the water level height more accurately, uniform sampling is carried out near the temporary water retaining dam and where there is stored water, the number of sampling points is reasonably determined, and the average value is calculated as the water level of the check dam. Based on the water volume information, the real-time soil moisture content is determined, and the actual current situation of the measured check dam is obtained. The construction time of the measured check dam is relatively long. The relative three-dimensional field position and the real-time soil moisture content are incorporated into the sample library to form training samples. The height measurement is obtained by calculating the average value of the sampling points that are unobstructed, relatively firm and flat, and evenly distributed according to the oblique model. The construction time of the measured check dam is relatively new, and the vegetation on both sides of the dam is low, only grass and relatively sparse, which is conducive to the laser spreading operation of the lidar. Using the trained position and soil algorithm, the loss cycle of soil and water is determined, and based on the loss cycle of soil and water, the viscosity parameters of the soil and water conservation plan are fed back. This realizes high-precision analysis and improves the scientific nature of the measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 FIG. is a schematic flowchart of a soil and water conservation method based on lidar provided by an embodiment of the present application.

[0060] Figure 2 FIG. is a structural connection diagram of a soil and water conservation device based on lidar provided by an embodiment of the present application.

[0061] Figure 3 FIG. is a structural connection diagram of a soil and water conservation equipment based on lidar provided by an embodiment of the present application.

[0062] REFERENCE SIGNS:

[0063] 100 - Host computer; 200 - Lidar; 300 - Acquisition module; 400 - Processing module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0064] To make the objectives, technical solutions and advantages of this application more clear, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0065] This application provides a soil and water conservation method based on lidar.

[0066] As Figure 1 shown, in an embodiment of this application, a soil and water conservation method based on lidar includes:

[0067] S100. Determine the relative three-dimensional field position of the lidar soil and water conservation system based on a position sensor.

[0068] S200. Receive the echo of the lidar to analyze the echo of the lidar.

[0069] S300. Use a water volume analysis algorithm to determine the water volume information in the echo.

[0070] S400. Determine the real-time soil moisture content based on the water volume information.

[0071] S500. Return to receive the echo of the lidar to analyze the echo of the lidar until a stop sampling instruction is received.

[0072] S600. Incorporate the relative three-dimensional field position and the real-time soil moisture content into a sample library to form a training sample.

[0073] S700. Use the trained position and soil algorithm to determine the erosion cycle of the sedimentation land.

[0074] S800. Based on the erosion cycle of the sedimentation land, feedback the viscosity parameter of the soil and water conservation plan.

[0075] This embodiment relates to a soil and water conservation method based on lidar. By receiving the echo of the lidar, parsing the echo of the lidar, performing high-precision scanning measurement, and collecting information such as the topography and geomorphic features of the warping dam in the area. Based on high-precision lidar point cloud LAS, high-resolution orthophoto DOM, and high-precision oblique model, and based on the position sensor, the relative three-dimensional field position of the lidar soil and water conservation system is determined, and the morphological features such as the water level, dam height, and sedimentation volume of the warping dam can be analyzed to realize the investigation of the sedimentation situation of the warping dam. The water quantity analysis algorithm is used to determine the water quantity information in the echo, directly observe the water level and some other detailed features, and the oblique model is used to measure and analyze the water level height of the warping dam to avoid hitting stones, sand, vegetation, and ice lumps, resulting in manual judgment errors. The lidar point cloud can be combined with images or other feature information to assist in positioning and analysis. To obtain the water level height more accurately, uniform sampling is carried out near the temporary water retaining dam and where there is stored water, the number of sampling points is reasonably determined, and the average value is calculated as the water level of the warping dam. Based on the water quantity information, the real-time soil moisture content is determined, and the actual current situation of the measured warping dam is measured. The construction time of the measured warping dam is relatively long. The relative three-dimensional field position and the real-time soil moisture content are incorporated into the sample library to form training samples. The height measurement is obtained by calculating the average value of the sampling points that are unobstructed, relatively firm and flat, and evenly distributed according to the oblique model. The construction time of the measured warping dam is relatively new, and the vegetation on both sides of the dam is low, only grass and relatively sparse, which is conducive to the laser spreading operation of the lidar. Using the trained position soil algorithm, the erosion cycle of the soil and water is determined, and based on the erosion cycle of the soil and water, the viscosity parameters of the soil and water conservation plan are fed back. This realizes high-precision analysis and improves the scientific nature of the measurement.

[0076] In an embodiment of the present application, in S100, the position sensor includes a variety of height sensors, slope laser sensors, and horizontal information sensors.

[0077] Specifically, the position sensor includes a height sensor and a slope laser sensor.

[0078] It can be understood that the height sensor and the slope laser sensor can determine the slope of the soil and water to be analyzed and the height relative to the lidar body.

[0079] Specifically, the position sensor includes a height sensor and a horizontal information sensor.

[0080] It can be understood that the height sensor and the horizontal information sensor can also determine the slope of the soil and water to be analyzed and the height relative to the lidar body.

[0081] In an embodiment of the present application, S100 includes:

[0082] S110, receiving the height information of the height sensor relative to the ground.

[0083] S120, call the real-time data of the slope laser sensor to determine the relative slope information of the ground.

[0084] S130, based on the height information relative to the ground and the relative slope information of the ground, determine the relative three-dimensional field position of the lidar soil and water conservation system.

[0085] S140, use the relative three-dimensional field position of the lidar soil and water conservation system to receive the three-dimensional spatial data of the soil and water conservation surface.

[0086] Specifically, the ultrasonic height sensor is a type of height sensor. The ultrasonic height sensor utilizes the principle of ultrasonic wave reflection. The sensor emits a beam of ultrasonic waves. When the ultrasonic waves encounter the ground or other reflecting surfaces, they will be reflected back. After the sensor receives the reflected wave, it calculates the distance to the reflecting surface based on the propagation speed of ultrasonic waves in the air (about 340 m / s) and the propagation time. This distance is the relative height.

[0087] The slope laser sensor is a device used to measure the angle of a slope or inclined surface. It uses laser technology to accurately measure the inclination of an object surface. By emitting a laser beam onto the target object and measuring the round-trip time of the laser, the distance can be calculated. Based on this distance value and the relative position relationship between the sensor and the target object, the slope or inclination angle can be calculated. Some slope laser sensors use the triangulation method, that is, the laser emitter, receiver, and target object form a triangle. By measuring the two side lengths and the included angle of the triangle, the slope or inclination angle of the target object can be calculated.

[0088] The main components of the slope laser sensor are a laser emitter, a laser receiver, and a signal processing circuit. The laser emitter is responsible for emitting the laser beam. Usually, semiconductor lasers and other light sources are used, which can generate high-energy and narrow-beam lasers. The laser receiver is used to receive the laser beam reflected from the target object and convert it into an electrical signal for processing. The signal processing circuit amplifies, filters, and performs analog-to-digital conversion on the electrical signal received by the receiver, extracts useful information such as distance and angle.

[0089] Based on the height information relative to the ground and the relative slope information of the ground, determine the relative three-dimensional field position of the lidar soil and water conservation system. Use the relative three-dimensional field position of the lidar soil and water conservation system to receive the three-dimensional spatial data of the soil and water conservation surface. This can monitor the slope change of the soil and water to be analyzed in real time.

[0090] In an embodiment of the present application, S200 includes:

[0091] S210, based on the frequency of the echo of the lidar, determine the laser emission time domain corresponding to the echo.

[0092] Specifically, the echo frequency of the lidar refers to the frequency of the echo signal received by the lidar, which is closely related to the transmission frequency of the lidar. The echo frequency of the lidar is equal to its transmission frequency. This is because when the lidar is working, it emits laser pulses at a certain frequency and receives the reflected laser echoes.

[0093] The lidar system will mark a timestamp on each transmitted pulse, and the host computer will record the transmission time of this pulse. When the echo signal is received, the system will determine the transmitted pulse corresponding to this echo according to the timestamp information in the echo signal.

[0094] S220. Use the time domain to determine the waveform difference between the laser corresponding to the echo and the echo.

[0095] Specifically, the laser corresponding to the echo is the pulse emitted by the lidar system.

[0096] When the echo contacts the water-containing soil, its frequency and waveform will change because the water and soil will produce an electromagnetic damping effect on the pulse emitted by the lidar system.

[0097] S230. Use the wavelet algorithm to extract the waveform difference features.

[0098] S240. Incorporate the laser emission time domain and the waveform difference features into the sample library to collect the information of the lidar echo to be analyzed.

[0099] In a backlight environment, the lidar can work normally. It can penetrate a certain degree of backlight, clearly identify the shape and contour of the target object, and provide high-quality data for subsequent target recognition and analysis. The high resolution of the lidar enables it to capture rich details of the water and soil to be analyzed. The echo signal contains information such as the texture, shape, and water content of the target object. The lidar measures the target distance by emitting laser pulses and receiving echoes. Since the laser has high energy and high directivity, it can propagate a long distance and the energy is concentrated, enabling high-precision distance measurement. Its measurement accuracy can usually reach the centimeter or even millimeter level.

[0100] In an embodiment of the present application, S300 includes:

[0101] S311. Invoke the three-dimensional space data of the soil and water conservation surface.

[0102] S312. Based on the three-dimensional space data of the soil and water conservation surface, determine whether the thickness change value of the soil and water conservation surface is within the target threshold.

[0103] Specifically, generally, the target threshold of the thickness change value of the soil and water conservation surface is the threshold range of plus or minus 0.1 mm per day.

[0104] S313. If the change value of the thickness of the soil and water conservation surface is within the target threshold, it is determined that the soil and water is not lost.

[0105] S314. If the change value of the thickness of the soil and water conservation surface is not within the target threshold, it is further determined whether the thickness of the soil and water conservation surface increases.

[0106] S315. If the thickness of the soil and water conservation surface increases, information on sediment accumulation is fed back.

[0107] S316. If the thickness of the soil and water conservation surface does not increase, soil and water loss is determined and information on sediment loss is fed back.

[0108] In the actual application process, situations such as debris flows are often encountered. For the soil and water sedimentation in case of debris flow, information on sediment accumulation is fed back.

[0109] S321. Receive information on sediment loss.

[0110] S322. Based on the information on sediment loss, determine the rate of decrease in the thickness of the soil and water conservation surface per unit time.

[0111] S323. Use the rate of decrease in the thickness of the soil and water conservation surface to determine whether the rate of decrease in the thickness of the soil and water conservation surface is within the analysis threshold.

[0112] S324. If the rate of decrease in the thickness of the soil and water conservation surface is not within the analysis threshold, information on debris flow occurrence is fed back.

[0113] S325. If the rate of decrease in the thickness of the soil and water conservation surface is within the analysis threshold, a water consumption analysis algorithm is invoked.

[0114] Specifically, generally, the target threshold for the change rate value of the thickness of the soil and water conservation surface is the threshold range of -0.1 mm per day. When the target threshold for the change rate value of the thickness of the soil and water conservation surface is less than the threshold range of -0.1 mm per day and greater than the threshold range of -0.2 mm per day, it is considered that the rate of decrease in the thickness of the soil and water conservation surface is within the analysis threshold. Similarly, when the target threshold for the change rate value of the thickness of the soil and water conservation surface is less than the threshold range of -0.2 mm per day, information on debris flow occurrence needs to be fed back.

[0115] S331. Invoke a water consumption analysis algorithm.

[0116] S332. Convert the time domain into a timestamp.

[0117] Specifically, the time domain is an interval range. By cutting this interval range, it is possible to convert the time domain into a timestamp. For example, with a time width of half an hour for cutting, a 24-hour time domain can be converted into 48 timestamps.

[0118] S333. Incorporate the time-domain and waveform difference features of laser emission in the sample library into the water volume analysis algorithm based on the time stamp.

[0119] Specifically, for the waveform diagram under the same time stamp, the dimension axes include time, frequency domain, and the intensity of electromagnetic pulses.

[0120] More specifically, the water volume analysis algorithm includes

[0121] The electromagnetic damping parameter formula: D = F / V, where F is the electromagnetic damping force, V is the electromagnetic propagation speed of the soil, and D is the electromagnetic intensity of the laser.

[0122] The instantaneous electromagnetic field formula for static unit time: E = tD / tT, where E is the instantaneous electromagnetic field, tD is the derivative of the electromagnetic intensity of the laser per unit time, and tT is the unit time.

[0123] Based on the time domain, incorporate the instantaneous electromagnetic field into the feature map of waveform difference features to obtain a multi-dimensional water volume analysis algorithm.

[0124] S334. Obtain the water volume information in the soil.

[0125] Specifically, wavelet analysis is a time-frequency analysis method that has great advantages in processing non-stationary signals and extracting features. Through wavelet analysis, the difference features of waveforms can be effectively determined.

[0126] The compactly supported wavelet basis function has good space-frequency localization characteristics and can effectively capture the local features of signals. For example, the Daubechies wavelet is a wavelet with a compact support, which can better localize signal features in both the time domain and the frequency domain. Its compact support property makes only the coefficients within a limited range non-zero when decomposing the signal, reducing the computational amount and boundary effects. The orthogonal wavelet transform can conserve the energy of the signal, making the representation of the signal in the wavelet domain more accurate. To a certain extent, the wavelet function has better properties in the decomposition and reconstruction processes and can more accurately represent the detailed features of the waveform. Symmetric or anti-symmetric wavelet basis functions can reduce phase distortion in the signal decomposition and reconstruction processes. For signals containing singularities or mutations, choose wavelet basis functions with compact support and a certain number of vanishing moments, such as the Coiflet wavelet. Such wavelets can concentrate on reflecting the local mutation features of the signal and accurately locate the positions and features of singularities in both the time domain and the frequency domain.

[0127] Obtaining information about the water content in the soil requires small-scale parameters. The small-scale parameters correspond to the high-frequency part of the signal and can reflect the detailed information and local variations of the signal. The selection of small-scale parameters should be determined according to the detail level of the signal and the required resolution. If it is necessary to analyze the fine structure of the signal, such as texture, edges, etc., smaller scale parameters can be selected. For complex signals, more decomposition levels are required to extract rich features. For example, for an image signal with multiple frequency components and a complex structure, multi-level wavelet decomposition may be required to separate the components and detailed information in different frequency bands.

[0128] In an embodiment of the present application, S700 includes a position soil algorithm.

[0129] The method for generating the position soil algorithm includes:

[0130] S710, comparing the waveform difference features formed between the laser and the echo corresponding to the echo in the same time domain.

[0131] S720, extracting the waveform difference features.

[0132] S730, based on the water content analysis algorithm, determining the electromagnetic damping force and the electromagnetic propagation speed of the soil.

[0133] S740, using the electromagnetic intensity of the laser to determine the soil water content and soil type.

[0134] Specifically, the electromagnetic damping parameter formula is D = F / V, where F is the electromagnetic damping force, V is the electromagnetic propagation speed of the soil, and D is the electromagnetic intensity of the laser. The formula for the instantaneous electromagnetic field in static unit time is E = tD / tT, where E is the instantaneous electromagnetic field, tD is the derivative of the electromagnetic intensity of the laser in unit time, and tT is the unit time. Based on the time domain, the instantaneous electromagnetic field is incorporated into the feature map of the waveform difference features to obtain a multi-dimensional water content analysis algorithm.

[0135] S750, returning the waveform difference features formed between the laser and the echo corresponding to the echo in the same time domain to form the loss cycle of the soil and water conservation area.

[0136] Specifically, through on-site operations and data processing, three aspects of content are obtained. The point cloud cannot intuitively show the water level and some other detailed features. The pilot uses an inclined model to measure and analyze the water level of the silt dam to avoid points on stones, sand, vegetation, and ice lumps, which may cause manual judgment errors. Point clouds can be combined with images or other feature information to assist in positioning analysis. In order to obtain the water level more accurately, the pilot uniformly samples near temporary water dams and places with water storage, reasonably determines the number of sample points, and calculates the average value as the water level of the silt dam at that location. According to the actual status of the measured silt dam, the silt dam measured in Pilot 1 was built a long time ago. The vegetation on both sides of the dam is in patches, with shrubs and trees mostly and densely. The nearby traffic routes and village residential buildings are also relatively dense. There is no cement reinforcement on the top of the dam. After years of traffic, the elevation of the dam top surface is not uniform, and a cement road is built on the bottom side of the dam. The height measurement of the dam is obtained by selecting unobstructed, relatively solid and flat, and evenly distributed sampling points according to the inclined model to calculate the average value. The silt dam measured in pilot 2 was built relatively recently, and the vegetation on both sides of the dam is low and sparse, with only grass. The top of the dam has not been reinforced, and traces of erosion gullies and potholes have appeared after rain erosion, and the overall level is relatively flat. The reinforced stone piers and flood discharge tunnels at the bottom of the dam are clearly visible. The nearby transportation routes are single and relatively far from the residential buildings in the village. The height measurement and calculation of the dam is based on the tilt model to select the average of the sampling points in the non-eroded parts and nearby parts, and the reinforcement of the low part of the dam bottom to calculate the dam height. The height difference analysis of the silt dam uses the DEM obtained from the point cloud to perform profile analysis in ARCGIS, observe the slope trend, and determine the general orientation of the dam bottom. Then use the visibility of the tilt model to eliminate some obstacles and select the best dam bottom point. Finally, the dam height is obtained by subtracting the dam bottom elevation from the above dam top elevation. The construction of the pilot 1 dam was completed a long time ago, and the upstream is wide and flat. There is already a large area of ​​silt land, and the silt land has been transformed into fields and cultivated to increase production. The No. 2 Dam was built not long ago, and there is less siltation. The upstream and downstream are in the shape of thin strips, and the shape is extremely irregular. Because the dam was built a long time ago, the original design drawings of the silt dam cannot be found. Therefore, the slope change law of the nearby downstream is used to infer the elevation values ​​of the corners of the dam bottom of the upstream silt dam. The elevation value of the siltation layer at the top of the dam is extracted by thinning the point cloud data, and then the earthwork volume is calculated using the "grid method". The final earthwork volume is the estimated value of the siltation volume. The slope law is used to select two points on a slope to calculate the distance and height difference, and the tangent function tanα and the principle of similar triangles are used to calculate. The siltation volume is calculated according to the principle of similar triangles and Bd_Z=Z(the height of the dam low point is planned to be used, known)+h(variable height) according to the grid method. The triangulated network is constructed with the above-calculated points as the simulated bottom surface of the siltation land at this location. The height of the upper siltation top surface is extracted by thinning the point cloud by 10 times according to the "2D grid" method. Finally, the earthwork volume calculated by the CASS grid is the siltation volume. The denser the sampling points, the smaller the grid spacing, and the higher the accuracy. The accuracy of the estimated sedimentation volume needs to be verified in combination with the specific implementation project data indicators.To test the product quality of the airborne lidar mapping system, the point cloud data is compared and analyzed with the data collected by PTK. The elevation accuracy statistics and analysis are respectively carried out in different areas such as roads, mountainous areas, and residential areas, and the root mean square error of elevation is calculated. The undulating profile, central position, and profile trajectory line coordinate values of the dam top can be extracted.

[0137] As Figure 2 shown, the present application also provides a soil and water conservation device based on lidar.

[0138] In an embodiment of the present application, a soil and water conservation device based on lidar includes a collection module 300 and a processing module 400.

[0139] The relevant information is collected through the collection module 300. The collection module 300 is communicatively connected to the processing module 400, and the soil and water conservation method according to any one of the foregoing embodiments is executed through the processing module 400.

[0140] The present application designs a soil and water conservation device based on lidar. The on-site position information is collected through the collection module 300 and transmitted into the processing module 400 to determine the relative three-dimensional on-site position of the lidar soil and water conservation system. At the same time, the collection module 300 can also collect the soil and water information and transmit the collected soil and water information into the processing module 400, and then combine the soil and water information to implement the soil and water conservation method.

[0141] As Figure 3 shown, in an embodiment of the present application, a soil and water conservation system based on lidar is also provided, including a host computer 100 and a lidar 200.

[0142] The host computer 100 is used to execute the soil and water conservation method based on lidar.

[0143] The lidar 200 is communicatively connected to the host computer 100.

[0144] This application relates to a soil and water conservation system based on lidar. The host computer 100 receives the echo of the lidar 200 to analyze the echo of the lidar 200, perform high-precision scanning measurement, and collect information such as the topography and geomorphic features of the check dam in the area. Based on the high-precision lidar point cloud LAS, high-resolution orthophoto DOM, and high-precision oblique model, and based on the position sensor, the relative three-dimensional field position of the lidar 200 soil and water conservation system is determined. The host computer 100 can analyze the morphological features such as the water level, dam height, and sedimentation volume of the check dam to realize the investigation of the sedimentation situation of the check dam. The water volume analysis algorithm is used to determine the water volume information in the echo, intuitively see the water level and some other detailed features, and the oblique model is used to measure and analyze the water level height of the check dam to avoid hitting stones, sand, vegetation, ice lumps, etc., causing manual judgment errors. The lidar point cloud can be combined with images or other feature information to assist in positioning and analysis. To obtain the water level height more accurately, uniform sampling is carried out near the temporary water retaining dam and where there is water storage, the number of sampling points is reasonably determined, and the average value is calculated as the water level of the check dam. Based on the water volume information, the real-time soil moisture content is determined, and the actual current situation of the measured check dam is obtained. The construction time of the measured check dam is relatively long. The relative three-dimensional field position and the real-time soil moisture content are incorporated into the sample library to form training samples. The height measurement is obtained by calculating the average value of the sampling points that are unobstructed, relatively firm and flat, and evenly distributed according to the oblique model. The construction time of the measured check dam is relatively new, and the vegetation on both sides of the dam is low, only grass and relatively sparse, which is conducive to the laser spreading operation of the lidar. Using the trained position soil algorithm, the loss cycle of soil and water in the check dam is determined, and based on the loss cycle of soil and water in the check dam, the viscosity parameter of the soil and water conservation plan is fed back. This realizes high-precision analysis and improves the scientific nature of measurement.

[0145] In an embodiment of the present application, a computer-readable storage medium is further provided. Instructions are stored on the computer-readable storage, and when the instructions are executed by the host computer, the lidar-based soil and water conservation method described in any one of the foregoing is implemented.

[0146] The foregoing embodiments can be implemented in whole or in part by software, hardware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated.

[0147] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A soil and water conservation method based on lidar, characterized in that, Including: Based on a position sensor, determine the relative three-dimensional on-site position of the lidar soil and water conservation system; Receive the echo of the lidar to analyze the echo of the lidar; Use a water volume analysis algorithm to determine the water volume information in the echo; Based on the water volume information, determine the real-time soil moisture content; Return to receive the echo of the lidar to analyze the echo of the lidar until a stop sampling instruction is received; Incorporate the relative three-dimensional on-site position and the real-time soil moisture content into the sample library to form a training sample; Use the trained position and soil algorithm to determine the erosion cycle of the sediment deposition area; Based on the erosion cycle of the sediment deposition area, feedback the viscosity parameter of the soil and water conservation plan.

2. The method for soil and water conservation based on lidar according to claim 1, wherein In the step of determining the relative three-dimensional on-site position of the lidar soil and water conservation system based on the position sensor, the position sensor includes multiple types such as a height sensor, a slope lidar sensor, and a horizontal information sensor.

3. The method for soil and water conservation based on lidar according to claim 2, characterized in that, The step of determining the relative three-dimensional on-site position of the lidar soil and water conservation system based on the position sensor includes: Receive the height information of the height sensor relative to the ground; Call the real-time data of the slope lidar sensor to determine the relative slope information of the ground; Based on the height information relative to the ground and the relative slope information of the ground, determine the relative three-dimensional on-site position of the lidar soil and water conservation system; Using the relative three-dimensional on-site position of the lidar soil and water conservation system, receive the three-dimensional space data of the soil and water conservation surface.

4. The method for soil and water conservation based on lidar according to claim 3, wherein The step of receiving the echo of the lidar to analyze the echo of the lidar includes: Based on the frequency of the echo of the lidar, determine the laser emission time domain corresponding to the echo; Use the time domain to determine the waveform difference between the laser corresponding to the echo and the echo; Use the wavelet algorithm to extract the waveform difference features; Incorporate the laser emission time domain and the waveform difference features into the sample library to collect the information of the analyzed lidar echo.

5. The method for soil and water conservation based on lidar according to claim 4, wherein The step of using the water volume analysis algorithm to determine the water volume information in the echo includes: Call the three-dimensional space data of the soil and water conservation surface; Based on the three-dimensional space data of the soil and water conservation surface, determine whether the thickness change value of the soil and water conservation surface is within the target threshold; If the thickness change value of the soil and water conservation surface is within the target threshold, determine that the soil has not been eroded; If the thickness change value of the soil and water conservation surface is not within the target threshold, further determine whether the thickness of the soil and water conservation surface increases; If the thickness of the soil and water conservation surface increases, feedback the information of sediment accumulation; If the thickness of the soil and water conservation surface does not increase, determine soil erosion and feedback the information of sediment loss; Receive the information of sediment loss; Based on the information of sediment loss, determine the rate of decrease in the thickness of the soil and water conservation surface per unit time; Use the rate of decrease in the thickness of the soil and water conservation surface to determine whether the rate of decrease in the thickness of the soil and water conservation surface is within the analysis threshold; If the rate of decrease in the thickness of the soil and water conservation surface is not within the analysis threshold, feedback the information of debris flow occurrence; If the rate of decrease in the thickness of the soil and water conservation surface is within the analysis threshold, call the water volume analysis algorithm; Call the water volume analysis algorithm; Convert the time domain into a timestamp; Based on the timestamp, incorporate the laser emission time domain and the waveform difference features in the sample library into the water volume analysis algorithm respectively; Obtain the water volume information in the soil.

6. The method for soil and water conservation based on lidar according to claim 5, wherein The water volume analysis algorithm includes: Electromagnetic damping parameter formula: D = F / V, where F is the electromagnetic damping force, V is the electromagnetic propagation speed of the soil, and D is the electromagnetic intensity of the laser; Instantaneous electromagnetic field formula for static unit time: E = tD / tT, where E is the instantaneous electromagnetic field, tD is the derivative of the electromagnetic intensity of the laser per unit time, and tT is the unit time; Based on the time domain, incorporate the instantaneous electromagnetic field into the feature map of waveform difference features to obtain a multi-dimensional water volume analysis algorithm.

7. The method for soil and water conservation based on lidar according to claim 6, wherein Using the trained position soil algorithm to determine the erosion cycle of the water and soil sedimentation area, including: The generation method of the position soil algorithm includes: Compare the waveform difference features formed between the laser corresponding to the echo and the echo in the same time domain; Extract the waveform difference features; Based on the water volume analysis algorithm, determine the electromagnetic damping force and the electromagnetic propagation speed of the soil; Use the electromagnetic intensity of the laser to determine the soil water content and soil type; Return the waveform difference features formed between the laser corresponding to the echo and the echo in the same time domain to form the erosion cycle of the water and soil sedimentation area.

8. A soil and water conservation device based on lidar, characterized in that, Including: A collection module that collects relevant information through the collection module; A processing module, the collection module is communicatively connected to the processing module, and the processing module executes the lidar-based soil and water conservation method according to any one of claims 1 to 7.

9. A soil and water conservation device based on lidar, characterized in that, Including: A host computer for processing relevant information; A lidar device communicatively connected to the host computer.

10. A computer-readable storage medium, on which instructions are stored, characterized in that, When the instruction is executed by the host computer, it realizes the lidar-based soil and water conservation method according to any one of claims 1 to 7.

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