Geological disaster environment terrain and landform data collection system

Abstract

The invention provides a geological disaster environment topography and landform data collection system, and the system comprises a sensor assembly which is used for collecting the geological disaster environment topography and landform data; the angle-adjustable support comprises an upper supporting plate, a lower supporting plate and a telescopic supporting column, one side of the upper supporting plate is connected with one side of the lower supporting plate through a rotating shaft, and the other opposite side of the upper supporting plate and the other opposite side of the lower supporting plate are connected with the two ends of the telescopic supporting column through rotating shafts in a one-to-one correspondence mode respectively. The sensor assembly is fixed on the upper support plate; the lower support plate is fixed on the base; the protective shell is fixed on the base; the main board is connected with the sensor assembly, and the main board is located in the protective shell; and the power supply assembly is connected with the sensor assembly, and the power supply assembly is located in the protective shell. The scanning angle can be quickly and conveniently adjusted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data collection, and particularly relates to a geological disaster environment topography and geomorphology data collection system. BACKGROUND

[0002] The topography and geomorphology data of a geological disaster environment is the basis for studying, preventing and responding to geological disasters. At present, to obtain fine, comprehensive and accurate topography and geomorphology data of a geological disaster environment, it is still necessary to take close-range photos and scans and then reconstruct topography and geomorphology.

[0003] The current close-range geological disaster environment topography and geomorphology data collection system is mainly based on a camera, a laser radar and an inertial measurement unit (IMU) to collect environment images, point cloud data and pose data for reconstructing a topography and geomorphology model. Such a collection system is manually carried by a hand, a helmet or a backpack, or is installed on a carrier such as a drone, an unmanned vehicle and a mechanical dog.

[0004] In different disaster environments, the shooting angle and the scanning angle need to be adjusted, and usually need to be perpendicular to the surface to be shot and scanned. The current collection system usually fixes the tilt angle of the data shooting and scanning module, and needs to adjust the installation angle of the entire system when manually installing the collection system. The adjustment of the angle needs to adjust the installation of the entire system, which is not only time-consuming and laborious, but also cannot adjust the angle on some specific fixed-shaped carriers. SUMMARY

[0005] The present application provides a geological disaster environment topography and geomorphology data collection system to solve the defect that the shooting and scanning angle adjustment process in the prior art is complicated, and to realize quick and convenient adjustment of the shooting and scanning angle. In addition, it further slows down or solves the problems of image blur, laser radar point cloud distortion and IMU pose mismatch caused by rapid shaking and rotation of the sensor during data collection in the current technology; solves the problem that the equipment cannot continuously collect large-area scale data due to limited endurance; solves the problem of data horizontal plane determination and horizontal calibration. It is particularly suitable for automatic calibration of the horizontal plane of topography data in complex geological disaster environments such as mudslides, landslides and collapses.

[0006] The present application provides a geological disaster environment topography and geomorphology data collection system, comprising:

[0007] A sensor assembly for collecting geological disaster environment topography and geomorphology data;

[0008] The adjustable angle support comprises an upper support plate, a lower support plate and a telescopic support column, one side of the upper support plate is connected with one side of the lower support plate through a rotating shaft, and the other side of the upper support plate and the other side of the lower support plate are respectively connected with two ends of the telescopic support column through rotating shafts, and the sensor assembly is fixed on the upper support plate;

[0009] The base is fixed on the lower support plate;

[0010] The protective shell is fixed on the base;

[0011] The main plate is connected with the sensor assembly and located in the protective shell;

[0012] The power supply assembly is connected with the sensor assembly and located in the protective shell.

[0013] According to the geological disaster environment topography and geomorphology data collection system provided by the application, the telescopic support column comprises a reversible nut, a right-handed screw and a left-handed screw, the telescopic support column can be lengthened or shortened by rotating the reversible nut, and the opening angle of the adjustable angle support is adjusted.

[0014] According to the geological disaster environment topography and geomorphology data collection system provided by the application, the base is a damping base with a detachable fixing frame.

[0015] According to the geological disaster environment topography and geomorphology data collection system provided by the application, the damping base comprises a spring, a base plate and a detachable fixing frame.

[0016] One end of the spring is fixed on the upper surface of the base plate, and the other end is fixed on the lower surface of the lower support plate.

[0017] The detachable fixing frame is fixed between the base plate and the lower support plate.

[0018] According to the geological disaster environment topography and geomorphology data collection system provided by the application, the base plate and the lower support plate are provided with mounting holes for fixing the detachable fixing frame;

[0019] The detachable fixing frame is fixed between the base plate and the lower support plate by screwing through the mounting holes.

[0020] According to the geological disaster environment topography and geomorphology data collection system provided by the application, the protective shell is fixed on the lower surface of the base plate;

[0021] The base plate, the upper support plate and the lower support plate are provided with holes through which data lines and electric lines pass, the main plate is connected with the sensor assembly through the data lines, and the power supply assembly is connected with the sensor assembly through the electric lines.

[0022] According to the geological disaster environment topography data collection system provided by the application, the power supply assembly comprises a double-interface power supply interface, a battery and a battery fixing box, the battery is arranged in the battery fixing box, and parallel power supply technology is used.

[0023] According to the geological disaster environment topography data collection system provided by the application, the sensor assembly comprises a laser radar, a camera and an IMU.

[0024] According to the geological disaster environment topography data collection system provided by the application, the main plate is used for:

[0025] receiving data collected by the IMU and judging whether the system is in a uniform speed or static state according to the data collected by the IMU;

[0026] if the system is in a uniform speed or static state, extracting an acceleration vector of the system measured by the IMU;

[0027] calculating a rotation matrix between the acceleration vector of the system measured by the IMU and an acceleration vector of the system when the system is horizontally placed;

[0028] reconstructing a global topography map according to the geological disaster environment topography data collected by the sensor assembly, and recording a pose of the system in the reconstructed map during the data collection process in the mapping process;

[0029] performing horizontal calibration on the geological disaster environment topography data collected by the sensor assembly according to the rotation matrix and the pose of the system.

[0030] According to the geological disaster environment topography data collection system provided by the application, the main plate is specifically used for:

[0031] normalizing the acceleration vector (x0, y0, z0) of the system measured by the IMU to (x, y, z)=(x0, y0, z0) / g, to obtain a system coordinate system orthogonal basis matrix R1=as [(1, 1, -x / z-y / z), (-xy / z-y 2 / z-z, xy / z+x 2 / z+z, x-y), (x, y, z)], and g is the gravitational acceleration;

[0032] The acceleration vector (0, 0, g) of the system when horizontally placed is normalized to (0, 0, 1), and a horizontal orthogonal coordinate system matrix R0 is obtained as follows: R0=[(1, 0, 0), (0, 1, 0), (0, 0, 1)];

[0033] The rotation matrix R is calculated as R=R1 -1 ·R 0。

[0034] The geological disaster environment topography data collection system provided by the application can quickly and conveniently adjust the scanning angle, and the angle is adjusted by adjusting the telescopic rod without disassembling the sensor; the data blur, distortion and error caused by rapid shaking and rotation are effectively reduced; the change speed of the system state is inhibited by the spring, and the system stability is improved; the applicability of the data collection system is improved; the base and the protective shell can be separated and recombined, the form of the entire system can be changed, the power supply can be replaced in the continuous working state of the system without power failure, and the system is adjusted according to different application conditions; automatic horizontal calibration of data is realized, and the system is efficient, accurate and convenient. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0036] Figure 1 It is a structural schematic diagram of the geological disaster environment topography data collection system provided by the application;

[0037] Figure 2 It is a structural schematic diagram of the adjustable angle support in the structure of the geological disaster environment topography data collection system provided by the application;

[0038] Figure 3 It is a structural schematic diagram of the detachable fixing frame in the geological disaster environment topography data collection system provided by the application;

[0039] Figure 4 It is a left side surface schematic diagram of the protective shell in the geological disaster environment topography data collection system provided by the application;

[0040] Figure 5 It is a battery schematic diagram in the geological disaster environment topography data collection system provided by the application;

[0041] Figure 6 It is a horizontal calibration algorithm flowchart schematic diagram in the geological disaster environment topography data collection system provided by the application. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] The following is combined with Figure 1 A geological disaster environmental topography data collection system according to the present invention includes:

[0044] Sensor component 1, which is used to collect geological disaster environmental topography data;

[0045] Adjustable angle bracket 2, the adjustable angle bracket 2 includes an upper support plate, a lower support plate and a telescopic support column 21 (e.g. Figure 2 As shown), one side of the upper support plate is connected to one side of the lower support plate via a rotating shaft 24, and the opposite side of the upper support plate and the opposite side of the lower support plate are respectively connected to the two ends of the telescopic support column via rotating shafts 25. The sensor assembly 1 is fixed on the upper support plate.

[0046] Base 3, the lower support plate is fixed on base 3;

[0047] Protective shell 12, the protective shell 12 is fixed on the base 3;

[0048] Mainboard 10, which is connected to the sensor assembly 1, is located inside the protective shell 12;

[0049] Power supply assembly 6 is connected to the sensor assembly 1 and is located inside the protective housing 12.

[0050] There are one or more telescopic support columns 21. The upper support plate has mounting holes 26 for fixing the sensor assembly 1, and the lower support plate has connection points 24 for connecting the base.

[0051] This embodiment allows for quick and convenient adjustment of the scanning angle by adjusting the telescopic rod without disassembling the sensor.

[0052] Based on the above embodiments, the telescopic support column 21 in this embodiment includes a positive and negative thread nut, a positive thread screw and a negative thread screw. The telescopic support column can be lengthened or shortened by rotating the positive and negative thread nut. The telescopic support column can be adjusted according to application requirements, thereby adjusting the opening angle of the adjustable angle bracket 2.

[0053] On the basis of the above-mentioned embodiment, the base 3 in the present embodiment is a shock-absorbing base with a detachable fixing frame.

[0054] On the basis of the above-mentioned embodiment, as shown in Figure 3 the shock-absorbing base in the present embodiment comprises a spring 4, a base plate 5 and a detachable fixing frame.

[0055] One end of the spring 4 is fixed on the upper surface of the base plate 5, and the other end is fixed on the lower surface of the lower support plate.

[0056] The detachable fixing frame is fixed between the base plate 5 and the lower support plate. The base plate 5 has a mounting hole for fixing a protective shell and a mounting hole for fixing the detachable fixing frame.

[0057] The system can meet the needs of topography data collection in ordinary geological disaster environment, but in complex geological disaster environment where rugged terrain, boulders, surface pits, trees and other phenomena are common, the collected data is usually difficult to apply. During the data collection process, when avoiding and crossing complex obstacles, the human body or carrier will usually have a large, dramatic, rapid shaking, which will make the camera image blurred, the laser radar point cloud distorted, and the IMU pose mismatched, thus making the topography reconstruction inaccurate or even failed.

[0058] The present embodiment effectively reduces the data blur, distortion and error caused by rapid shaking and rotation, and improves the system stability by suppressing the change speed of the system state through the spring.

[0059] According to the needs, the base plate 5 is installed on the top, front or left side of the protective shell 12, and is fixed in the mounting hole 8 by screws. The connection points on the three sides are cut at an angle, as shown in Figure 4 .

[0060] For large-scale geological disaster environment, it is necessary to ensure that the system has enough long endurance to realize continuous data collection and facilitate the reconstruction of the entire topography model at one time. Although the model can be fused by splicing, this method is more complex, requires secondary matching, and has the risk of secondary matching error or even matching failure. However, the current long-endurance collection system requires a large-capacity battery, which greatly increases the weight of the entire system and makes it more laborious to use.

[0061] The present embodiment improves the applicability of the data collection system. The base and the protective shell can be separated and recombined, and the form of the entire system can be changed, which can ensure the replacement of the power supply in the system in a continuous power supply state and adjust the system according to different application conditions.

[0062] On the basis of the above-mentioned embodiment, as shown in Figure 1 the present embodiment, the base plate 5 and the lower support plate have mounting holes 23 for fixing the detachable fixing frame.

[0063] The detachable fixing frame is fixed between the base plate and the lower support plate using screws passing through the mounting holes 23.

[0064] If the application environment is rugged or requires vibration damping, do not install the detachable mounting frame; if the environment is relatively stable or does not require vibration damping, install the detachable mounting frame and use screws to secure the base plate of the detachable mounting frame to the lower support plate.

[0065] Based on the above embodiments, in this embodiment, the protective shell 12 is fixed to the lower surface of the base plate 5;

[0066] The base plate 5, upper support plate and lower support plate all have holes 27 for data cables and wires. The motherboard 10 is connected to the sensor assembly 1 through the data cable, and the power supply assembly 6 is connected to the sensor assembly 1 through the wire.

[0067] Based on the above embodiments, the power supply assembly 1 in this embodiment includes a dual-interface power interface 7, a battery, and a battery mounting box 9. The battery (e.g. Figure 5 (As shown) is placed in the battery mounting box and uses parallel power supply technology.

[0068] When replacing the battery, insert the connector of the replacement battery into the empty connector in the power interface 7, then remove the replacement battery from the battery holder 9, and then fix the replacement battery in the battery holder.

[0069] Based on the above embodiments, the sensor assembly 1 in this embodiment includes a lidar, a camera, and an IMU, and the installation positions and orientations of the three are relatively fixed.

[0070] Based on the above embodiments, such as Figure 6 As shown, in this embodiment, the motherboard 10 is used for:

[0071] Receive data collected by the IMU and determine whether the system is in a constant speed or stationary state based on the data collected by the IMU;

[0072] If the system is in a uniform or stationary state, then the acceleration vector of the system measured by the IMU is extracted;

[0073] Calculate the rotation matrix between the acceleration vector of the system measured by the IMU and the acceleration vector of the system when it is placed horizontally;

[0074] The global topographic map is reconstructed based on the geological disaster environment and topographic data collected by the sensor components, and the system's pose in the reconstructed map is recorded during the data collection process.

[0075] The geological disaster environmental topography data collected by the sensor components are horizontally calibrated based on the rotation matrix and the pose of the system.

[0076] When using collected lidar point cloud data and its derived topographic models in geological hazard research, it is typically necessary to determine the horizontal plane of the point cloud data to ensure sufficient accuracy in analyses of gravity effects, especially in hazards such as landslides and debris flows where the energy for material transport is provided by gravity. Determining the horizontal plane can be done before data collection or during post-processing of the topographic model. Pre-collection requires accurately measuring the angle between the lidar and the horizontal plane at startup, usually done directly using a protractor and frequently assisted by a level calibration instrument. This process is cumbersome and prone to significant manual errors. Determining the horizontal plane after establishing the topographic model requires the model to contain a horizontal plane, but geological hazard environments generally do not contain horizontal planes; only a very small amount of topographic data contains flat land, and even then, it is highly likely that the flat land is not horizontal but rather a plane with an angle of inclination. Determining the horizontal plane before data collection is not only complex but also prone to large errors, making it unacceptable for large-scale areas such as kilometers or larger. For post-processing, current methods and technologies are insufficient to determine the horizontal plane of the geological hazard environment topographic model and also make it difficult to calibrate the model's level. During data collection, the equipment is constantly moving, making it even more difficult to determine the horizon. Furthermore, current technology struggles to provide accurate horizontal alignment for camera image data. Accurately determining the horizon line of the photographed content would greatly aid in the analysis of geological hazard information.

[0077] The entire system consists of hardware and software components. The software component is the algorithm for horizontal calibration data, which is located on the motherboard 10. The horizontal calibration results and collected data can be read through the data interface 11 on the motherboard.

[0078] After the power is turned on and the system enters the working state, IMU velocity and acceleration data are received, and the horizontal calibration matrix calculation is initiated. First, a trigger monitoring command is issued, and the software starts after receiving IMU data. Using the IMU velocity data, it is determined whether the system is in a uniform or stationary state. That is, after excluding system errors and other environmental factors, whether the velocity change of the entire system is zero during this period. If so, further calculation is continued; otherwise, IMU data is monitored to keep the entire system stationary or in uniform linear motion for a very short period of time. In the uniform or stationary state, the acceleration vector (x0, y0, z0) is extracted. The rotation matrix R between the system acceleration vector (x0, y0, z0) and the acceleration vector (0, 0, g) when the system is placed horizontally is calculated. The rotation matrix R and the data collection time used to solve the rotation matrix are stored for subsequent horizontal calibration.

[0079] A global terrain map is reconstructed using all data collected by the data collection system. During the mapping process, the pose of the data collection system in the reconstructed map is recorded at all time points during the data collection process. The data used can be one or more types of data collected by sensors such as cameras, LiDAR, and IMU.

[0080] Match the time points where horizontal calibration is possible, i.e., time points that simultaneously contain the solved rotation matrix and the pose data of the system in the reconstructed map. When multiple calibrable time points exist, data from one of the time points can be selected or the average of data from different time points can be taken, depending on the requirements.

[0081] Finally, the data undergoes horizontal calibration. First, the reconstructed topographic map or other collected data is translated and rotated according to the pose of the data collection system at the horizontal calibration time, changing the global coordinate system of the data from the initial coordinate system to the coordinate system at the horizontal calibration time. Then, horizontal alignment is performed based on the calibration rotation matrix of the data at this time, thus obtaining the horizontally aligned data.

[0082] Based on the above embodiments, the motherboard in this embodiment is specifically used for:

[0083] If the velocity change is zero, after excluding system errors and other environmental factors, the acceleration vector (x0, y0, z0) of the system measured by the IMU is normalized to (x, y, z) = (x0, y0, z0) / g, and two assumed vectors (1, 1, -x / zy / z) and (-xy / z-y2 / zz, xy / z+x2 / z+z, xy) are introduced, assuming that the vectors are orthogonal to the acceleration vector.

[0084] Next, the rotation matrix R between the horizontal Cartesian coordinate system and the data collection system coordinate system is calculated. The acceleration vector (0, 0, g) of the system when it is placed horizontally is normalized to (0, 0, 1), and the orthogonal basis matrix of the horizontal Cartesian coordinate system is obtained as R0 = [(1, 0, 0), (0, 1, 0), (0, 0, 1)];

[0085] The orthogonal basis matrix R1 of the data collection coordinate system is [(1, 1, -x / zy / z), (-xy / zy)]. 2 / zz,xy / z+x 2 / z+z,xy,(x,y,z)],g is the acceleration due to gravity;

[0086] Then there exists R0 = R1·R, and solving for the rotation matrix yields R = R1. -1 ·R0.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A geological disaster environment topography data collection system, characterized by, The utility model relates to a kind of geological disaster environment topographic data acquisition system, including: Sensor assembly for collecting geological disaster environment topographic data; Adjustable angle support, including upper support plate, lower support plate and telescopic support, one side of the upper support plate is connected with one side of the lower support plate through pivot, the opposite side of the upper support plate and the opposite side of the lower support plate are respectively connected with the two ends of the telescopic support through pivot, and the sensor assembly is fixed on the upper support plate; Base, the lower support plate is fixed on the base; Protective shell, fixed on the base; Mainboard, connected with the sensor assembly, located in the protective shell; Power supply assembly, connected with the sensor assembly, located in the protective shell.

2. The geological disaster environment topographic data collection system according to claim 1, wherein, The telescopic support includes positive and negative toothed nut, positive toothed screw and reverse toothed screw, by rotating the positive and negative toothed nut, the telescopic support can be extended or shortened, thereby adjusting the opening angle of the adjustable angle support.

3. The geological disaster environment topographic data collection system of claim 1, wherein, The base is a shock-absorbing base with a detachable fixing frame.

4. The geological disaster environment topographic data collection system of claim 3, wherein, The shock-absorbing base includes a spring, a base plate, and a detachable fixing frame. One end of the spring is fixed on the upper surface of the base plate, and the other end is fixed on the lower surface of the lower support plate. The detachable fixing frame is fixed between the base plate and the lower support plate.

5. The geological hazard environment topographic data collection system of claim 4, wherein, The base plate and the lower support plate have mounting holes for fixing the detachable fixing frame. The detachable fixing frame is fixed between the base plate and the lower support plate by screwing through the mounting holes.

6. The geological disaster environment topographic data collection system according to claim 4, wherein, The protective shell is fixed on the lower surface of the base plate. The base plate, the upper support plate, and the lower support plate all have holes for data lines and power lines, the mainboard is connected with the sensor assembly through the data lines, and the power supply assembly is connected with the sensor assembly through the power lines.

7. The geological hazard environment topographical data collection system of claim 1, wherein, The power supply assembly includes a double-interface power supply interface, a battery, and a battery fixing box, the battery is placed in the battery fixing box, and parallel power supply technology is used.

8. The geological disaster environment topographic data collection system according to any one of claims 1-7, characterized in that, The sensor assembly includes a laser radar, a camera, and an IMU.

9. The geological hazard environment topography data collection system of claim 8, wherein, The mainboard is used to: Receive data collected by the IMU and determine whether the system is uniform or stationary based on the data collected by the IMU; If the system is uniform or stationary, extract the acceleration vector of the system measured by the IMU; Calculate the rotation matrix between the acceleration vector of the system measured by the IMU and the acceleration vector when the system is placed horizontally; Reconstruct the global topographic map based on the geological disaster environment topographic data collected by the sensor assembly, and record the pose of the system in the reconstructed map during data collection during mapping; Horizontally calibrate the geological disaster environment topographic data collected by the sensor assembly based on the rotation matrix and the pose of the system.

10. The geological hazard environment topography data collection system of claim 9, wherein, The mainboard is specifically used to: The acceleration vector (x0, y0, z0) of the system measured by the IMU is normalized to (x, y, z) = (x0, y0, z0) / g, and the orthogonal basis matrix R1= of the system coordinate system is obtained as [(1, 1, -x / z-y / z), (-xy / z-y 2 / z-z, xy / z+x 2 / z+z, x-y), (x, y, z)], and g is the acceleration of gravity; Normalize the acceleration vector of the system when placed horizontally (0, 0, g) to (0, 0, 1), and obtain the orthogonal basis matrix of the horizontal rectangular coordinate system R0=[(1, 0, 0), (0, 1, 0), (0, 0, 1)]; Compute rotation matrix R = R1 -1 • R 0。

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