Device for high-precision monitoring of soil loss amount

Abstract

The invention discloses a device for high-precision soil loss amount monitoring, relates to the technical field of water and soil conservation monitoring, and solves the problems that an existing monitoring method cannot comprehensively and accurately reflect the soil loss amount of a monitoring area, a monitoring point is fixed and cannot be moved and reused, and the accuracy of a monitoring result is low. A device for high-precision soil loss monitoring comprises an integrated controller, a transverse rod, a data acquisition unit, a track system, a power wheel, a transverse support, supporting legs and auxiliary wheels, and the integrated controller integrates a power unit, a power supply unit, an intelligent control module and a data transmission unit. The monitoring device provided by the invention is quick to install, is completely composed of modules, can adapt to the requirements of fields with different sizes and gradients, can realize full-automatic monitoring and remote control monitoring of soil loss amount, can also be used for monitoring slope displacement and geological disasters, and has a monitoring result precision far higher than that of a traditional method.

Description

Technical Field

[0001] The present invention relates to the technical field of soil and water conservation monitoring, and in particular to a device for high-precision soil loss monitoring. Background Art

[0002] Soil and water conservation monitoring refers to the long-term investigation, observation and analysis of the occurrence, development, hazards and benefits of soil and water loss. Through soil and water conservation monitoring, we can find out the types, intensity and distribution characteristics of soil and water loss, its hazards and impacts, occurrence and development laws, and dynamic change trends. This is of great significance to the macro-decision-making on comprehensive soil and water loss control and ecological environment construction, as well as the scientific, reasonable and systematic deployment of various soil and water conservation measures.

[0003] At present, the conventional methods for monitoring soil loss under hydraulic erosion are: runoff plot method, measuring rod method, erosion ditch measurement method, sand collection pool method, control station method, etc. The commonly used monitoring equipment for monitoring soil loss under wind erosion include measuring rod, sand collector and wind erosion bridge.

[0004] However, the existing monitoring methods cannot fully and accurately reflect the amount of soil loss in the monitored area, and the monitoring points are fixed and cannot be moved or reused. The monitoring results are less accurate and cannot meet my country's increasingly stringent requirements for soil and water conservation monitoring. Although the control station method can more comprehensively reflect the amount of regional soil loss, it requires that the boundaries of the project area are clear and the basin has a centralized outlet. The other hydraulic and wind erosion monitoring methods cannot fully and accurately reflect the amount of soil loss in the project area. To this end, we proposed a device for high-precision soil loss monitoring. Summary of the Invention

[0005] The purpose of the present invention is to provide a device for high-precision soil loss monitoring to solve the problems that the existing monitoring method proposed in the above background technology cannot fully and accurately reflect the soil loss in the monitoring area, the monitoring points are fixed and cannot be moved or reused, and the monitoring results are less accurate.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solution: a device for high-precision soil loss monitoring, comprising an integrated controller, a cross bar, a data acquisition unit, a track system, a power wheel, a transverse bracket, a support leg and an auxiliary wheel, wherein the integrated controller integrates a power unit, a power supply unit, an intelligent control module and a data transmission unit.

[0007] Preferably, the ends of every two adjacent transverse brackets are fitted together and provided with joint locks, and the two transverse brackets are fixed with an internal quick-release structure.

[0008] Preferably, the track system includes an aluminum alloy transverse track, a longitudinal bracket and an aluminum alloy longitudinal track. The aluminum alloy longitudinal track is located on the upper surface of the longitudinal bracket and is an upwardly open slide rail. A power wheel is clamped on the inner side of one of the aluminum alloy longitudinal tracks, and an auxiliary wheel is clamped on the inner side of the other aluminum alloy longitudinal track. The opening of the aluminum alloy longitudinal track is slightly larger than the width of the power wheel.

[0009] Preferably, the power wheel and the auxiliary wheel are connected to the end of the aluminum alloy transverse rail, and the end of the aluminum alloy transverse rail connected to the auxiliary wheel is provided with a laser radar sensor. The aluminum alloy transverse rail is located on both sides of the cross bar and is respectively connected to the integrated controller and the data acquisition unit. The opening direction of the aluminum alloy transverse rail is horizontally outward. The power wheel and the laser radar sensor are set on the track away from the top of the slope to collect the lateral movement distance, and the auxiliary wheel is set on the track on the other side.

[0010] Preferably, a noise reduction and soil loss calculation module is added to realize automatic calculation of soil loss by comparing DSM differential data and soil density parameters before and after rainfall or wind erosion.

[0011] Preferably, the intelligent control module can automatically plan the motion trajectory according to the site specifications input by the mobile terminal.

[0012] Preferably, the intelligent control module uses polynomial interpolation to generate a smooth trajectory for the main control chip, and uses the laser radar sensor feedback on the two tracks to control the movement of the power wheel and the electromagnetic brake. When the data acquisition end is a laser scanner, the main control chip sets the start of movement as the scan start time and the arrival at the end of the route as the closing time. When the data acquisition end is a multispectral camera, the shutter spacing is set according to the running speed.

[0013] Preferably, the data acquisition unit can adjust the pitch angle of the multispectral camera or laser scanner through the gimbal to automatically collect slope data. The basic principle is to input the measured slope gradient into the control unit, adjust the shooting angle of the multispectral camera or laser scanner installed on the three-axis gimbal to be parallel to the slope, and maintain the shooting angle without being affected by movement through the power of the gimbal itself.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The monitoring device of the present invention is quick to install. The device is composed entirely of modules and can adapt to the requirements of sites of different sizes and slopes.

[0016] 2. The present invention can realize fully automatic monitoring and remote control monitoring of soil loss, and can also be used for slope displacement and geological disaster monitoring;

[0017] 3. The monitoring results of the present invention are much more accurate than those of traditional methods;

[0018] 4. The present invention can be expanded in function according to demand, such as connecting external sensors to monitor meteorological factors such as rainfall and wind speed, and more comprehensively monitor external causes of soil loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A three-dimensional schematic diagram of the overall system architecture.

[0020] Figure 2 for Figure 1 A magnified view of the structure at point A in the middle.

[0021] In the figure: 1. Integrated controller; 2. Data acquisition unit; 3. Aluminum alloy transverse track; 4. Longitudinal bracket; 5. Power wheel; 6. Transverse bracket; 7. Support leg; 8. Aluminum alloy longitudinal track; 9. Auxiliary wheel. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0023] like Figure 1 and Figure 2 As shown, a device for high-precision soil loss monitoring includes an integrated controller 1, a cross bar, a data acquisition unit 2, a track system, a power wheel 5, a transverse bracket 6, a support leg 7 and an auxiliary wheel 9. The integrated controller 1 integrates a power unit, a power supply unit, an intelligent control module and a data transmission unit.

[0024] The ends of every two adjacent transverse brackets 6 are fitted together and provided with joint locks, and the two transverse brackets 6 are fixed with an internal quick-release structure, which is adapted to rods of different lengths to accommodate slopes of different sizes.

[0025] The track system includes an aluminum alloy transverse track 3, a longitudinal bracket 4 and an aluminum alloy longitudinal track 8. The aluminum alloy longitudinal track 8 is located on the upper surface of the longitudinal bracket 4 and is an upwardly open slide rail. A power wheel 5 is clamped on the inner side of one of the aluminum alloy longitudinal tracks 8, and an auxiliary wheel 9 is clamped on the inner side of the other aluminum alloy longitudinal track 8. The opening of the aluminum alloy longitudinal track 8 is slightly larger than the width of the power wheel 5, and the power wheel 5 provides power for the longitudinal movement of the equipment.

[0026] The power wheel 5 and the auxiliary wheel 9 are connected to the end of the aluminum alloy transverse track 3. The end of the aluminum alloy transverse track 3 connected to the auxiliary wheel 9 is provided with a laser radar sensor. The aluminum alloy transverse track 3 is located on both sides of the cross bar and is respectively connected to the integrated controller 1 and the data acquisition unit 2. The opening direction of the aluminum alloy transverse track 3 is horizontally outward. The power wheel 5 and the laser radar sensor are set on the track away from the top of the slope to collect the lateral movement distance. The auxiliary wheel 9 is set on the track on the other side. The laser radar sensor and the auxiliary wheel 9 are used to balance the cross bar and collect the longitudinal movement distance.

[0027] The intelligent control module can automatically plan the movement trajectory according to the site specifications input by the mobile terminal.

[0028] The data acquisition unit can adjust the pitch angle of the multispectral camera or laser scanner through the gimbal to automatically collect slope data. The basic principle is to input the measured slope gradient into the control unit, adjust the shooting angle of the multispectral camera or laser scanner installed on the three-axis gimbal to be parallel to the slope, and use the gimbal's own power to keep the shooting angle unaffected by movement.

[0029] A noise reduction and soil loss measurement module is added to realize automatic calculation of soil loss by comparing DSM differential data and soil density parameters before and after rainfall or wind erosion.

[0030] The specific technical solution adopted by the present invention includes the following steps:

[0031] 1) Select monitoring points through comprehensive survey of the project area;

[0032] 2) Install monitoring device:

[0033] Fixed bracket assembly: Adopting modular design, modular grid support structure is assembled. Bracket units are assembled according to 1m×1m grid, and support leg 7 is added every 3m. The height of support leg 7 is adjusted according to the slope to achieve stable fit between the bracket and the slope angle.

[0034] Assembly of the track-type mobile system: High-precision aluminum alloy longitudinal tracks are laid along the vertical bracket, equipped with a mobile transverse rod driven by a stepper motor with a positioning accuracy of ±1mm; an electromagnetic brake device is used to ensure the safety of emergency braking of the equipment when the slope is greater than 35°; high-precision aluminum alloy transverse tracks are laid on both sides of the transverse moving rod, equipped with a stepper motor to drive the transverse moving platform with a positioning accuracy of ±1mm;

[0035] Data acquisition and power supply unit: A universal electric three-axis gimbal, multispectral camera, or laser scanner is mounted on a transversely movable platform. The multispectral camera or laser scanner is fixed to the gimbal. The electric three-axis gimbal has a horizontal rotation angle of 0°-350° and a vertical rotation angle of -90°-35°. The device can be equipped with a built-in high-capacity lithium battery or an external photovoltaic power supply system. The measured slope gradient is input into the control unit, and the shooting angle of the multispectral camera or laser scanner mounted on the three-axis gimbal is adjusted to be parallel to the slope surface. The gimbal's own power maintains the shooting angle without being affected by movement. The laser scanner scans continuously throughout the entire process. The multispectral camera uses the data sent back by the laser sensor anti-collision device to guide the photo taking time, ensuring that the overlap between two adjacent photos is above 80%.

[0036] Intelligent control system: This consists of an intelligent control module, a wireless transmission module, a measurement module, and a human-computer interaction interface. The human-computer interaction interface is a developed mobile app that uses the Air780E's 4G module for wireless transmission, enabling remote control and reading of final results. The intelligent control module uses polynomial interpolation for the main control chip to generate a smooth trajectory. The lidar sensors on the two tracks provide feedback to control the movement of the power wheels and the electromagnetic brake. When the data acquisition end is a laser scanner, the main control chip sets the start time of movement as the scan start time and the end time of arrival at the route endpoint as the shutdown time. When the data acquisition end is a multispectral camera, the shutter spacing is set according to the operating speed. An image stitching algorithm based on feature point extraction is used to generate monitored slope images. The two-phase data is aligned based on the thin plate spline function (TPS). The volume of slope erosion is calculated by calling GIS software, and the preset soil density parameters are extracted to determine the slope soil loss.

[0037] 3) Workflow:

[0038] Slope surface data collection before and after rainfall or wind erosion: Through the mobile app settings, the mobile platform automatically plans a "bow-shaped" path for cruising, and the gimbal controls the pitch angle of the collection; multispectral cameras or laser scanners collect slope surface data before and after rainfall or wind erosion;

[0039] Data backhaul: After collection is completed, the data is uploaded to the cloud via the network;

[0040] Data processing: The collected slope data are spliced and noise-reduced to generate DSM data. The slope data before and after rainfall or wind erosion are compared to calculate the amount of slope soil loss.

[0041] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A device for high-precision soil loss monitoring, characterized by: The invention comprises an integrated controller (1), a crossbar, a data acquisition unit (2), a track system, a power wheel (5), a transverse bracket (6), a support leg (7) and an auxiliary wheel (9). The integrated controller (1) integrates a power unit, a power supply unit, an intelligent control module and a data transmission unit.

2. The device for high-precision soil loss monitoring according to claim 1, characterized in that: The ends of each two adjacent transverse brackets (6) are fitted to each other and are provided with joint locks, and the two transverse brackets (6) are fixed with an internal quick-release structure.

3. The device for high-precision soil loss monitoring according to claim 1, characterized in that: The track system comprises an aluminum alloy transverse track (3), a longitudinal bracket (4) and an aluminum alloy longitudinal track (8). The aluminum alloy longitudinal track (8) is located on the upper surface of the longitudinal bracket (4) and is an upwardly open slide rail. A power wheel (5) is clamped on the inner side of one of the aluminum alloy longitudinal tracks (8), and an auxiliary wheel (9) is clamped on the inner side of the other aluminum alloy longitudinal track (8). The opening of the aluminum alloy longitudinal track (8) is slightly larger than the width of the power wheel (5).

4. The device for high-precision soil loss monitoring according to claim 3, characterized in that: The power wheel (5) and the auxiliary wheel (9) are connected to the ends of the aluminum alloy transverse track (3); the ends of the aluminum alloy transverse track (3) connected to the auxiliary wheel (9) are provided with a laser radar sensor; the aluminum alloy transverse track (3) is located on both sides of the crossbar and is respectively connected to the integrated controller (1) and the data acquisition unit (2); the opening direction of the aluminum alloy transverse track (3) is horizontally outward; the track on one side away from the top of the slope is provided with a power wheel (5) and a laser radar sensor for collecting the lateral movement distance; the track on the other side is provided with an auxiliary wheel (9).

5. The device for high-precision soil loss monitoring according to claim 1, characterized in that: A noise reduction and soil loss measurement module is added to realize automatic calculation of soil loss by comparing DSM differential data and soil density parameters before and after rainfall or wind erosion.

6. The device for high-precision soil loss monitoring according to claim 1, characterized in that: The intelligent control module can automatically plan the movement trajectory according to the site specifications input by the mobile terminal.

7. The device for high-precision soil loss monitoring according to claim 6, characterized in that: The intelligent control module uses polynomial interpolation to generate a smooth trajectory for the main control chip, and uses the laser radar sensor feedback on the two tracks to control the movement of the power wheel and the electromagnetic brake. When the data acquisition end is a laser scanner, the main control chip sets the start time of movement as the scanning start time and the arrival at the end of the route as the closing time. When the data acquisition end is a multispectral camera, the shutter spacing is set according to the operating speed.

8. The device for high-precision soil loss monitoring according to claim 1, characterized in that: The data acquisition unit can adjust the pitch angle of the multispectral camera or laser scanner through the pan-tilt platform to automatically collect slope data. The basic principle is to input the measured slope gradient into the control unit, adjust the shooting angle of the multispectral camera or laser scanner installed on the three-axis pan-tilt platform to be parallel to the slope, and maintain the shooting angle without being affected by movement through the power of the pan-tilt platform itself. The laser scanner scans non-stop during the whole process. The multispectral camera guides the photo taking time according to the data sent back by the laser sensor anti-collision device to ensure that the overlap of two adjacent photos is more than 80%.

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