CN-122015728-A - High-side slope surface deformation radar vision sensing integrated monitoring system and method

Abstract

The invention discloses a high-side slope surface deformation radar vision general sense integrated monitoring system and method, which belong to the technical field of geotechnical engineering safety monitoring, wherein a coordinate conversion relation is established by carrying out joint calibration on a millimeter wave radar with a built-in Beidou chip and a binocular camera, radar point clouds and binocular image data are synchronously acquired by using Beidou second pulse signals, the radar point clouds are converted into a visual coordinate system by calibrating external parameters and are aligned at pixel level, true color three-dimensional point clouds are generated by fusion, denoising filtering and time sequence analysis are carried out on the point cloud data, displacement and settlement deformation characteristics of the side slope surface are extracted, and the deformation characteristics are compared with a preset safety threshold value to trigger intelligent early warning. According to the invention, through the integration of the radar vision and the ventilation, the defects of sensing limitation or insufficient three-dimensional modeling capability of a single sensor in severe weather are overcome, millimeter-level precision, all-weather three-dimensional visual monitoring and accurate early warning of high slope surface deformation are realized, and the reliability of slope safety management is remarkably improved.

Inventors

• LIU XUEZENG
• ZHANG WEN
• SUN ZHOU
• ZHAO YIXIAN
• LI MING
• SONG YUANMING

Assignees

• 上海同岩土木工程科技股份有限公司

Dates

Publication Date

20260512

Application Date

20260119

Claims (10)

1. 1. The integrated monitoring method for the radar vision sensing of the deformation of the surface of the high side slope is characterized by comprising the following steps: s1, synchronously acquiring radar point cloud data and binocular image data of the surface of a high slope; s2, fusing the radar point cloud data with the binocular image data to generate color point cloud data with color information; S3, extracting deformation characteristics of the surface of the high slope based on the color point cloud data on the time sequence; s4, comparing the deformation characteristics with a preset safety threshold value, and generating an early warning signal when the deformation characteristics exceed the threshold value.
2. 2. The integrated monitoring method for the deformation of the surface of the high side slope according to claim 1, wherein in the step S1, the synchronous acquisition is realized by a time sequence signal provided by a Beidou positioning system.
3. 3. The method for integrated monitoring of high-slope surface deformation radar vision through sensing according to claim 1, wherein in step S2, the data fusion method is mainly based on a joint calibration algorithm, and conversion external parameters between a radar coordinate system and a binocular vision coordinate system are obtained; And converting the radar point cloud data into a binocular vision coordinate system by using the conversion external parameters, and performing pixel level alignment.
4. 4. The integrated monitoring method for the deformation of the surface of the high side slope according to claim 3, wherein the conversion external parameters are obtained by initially solving through a PnP algorithm and further optimizing through an ICP algorithm.
5. 5. The integrated monitoring method for deformation of a high slope surface according to claim 1, wherein in step S3, the extracted deformation characteristics include at least one of displacement, settlement, or crack propagation.
6. 6. The method for integrated monitoring of deformation of a high slope surface according to claim 5, wherein in step S3, the high slope is divided into a plurality of monitoring areas based on geological conditions or slope structures, and the deformation characteristics are extracted in a partitioned manner.
7. 7. The method for integrated monitoring of high slope surface deformation radar vision according to claim 1, further comprising the step of denoising and filtering the color point cloud data before step S3.
8. 8. A high slope surface deformation radar vision integrated monitoring system for implementing the method of any one of claims 1 to 7, comprising: The millimeter wave radar is used for acquiring cloud data of the high slope Lei Dadian; The binocular camera is synchronous with the millimeter wave radar time sequence and is used for acquiring binocular image data; A data processing module for performing data fusion and deformation analysis, and The early warning module is used for generating and sending early warning signals.
9. 9. The high-side slope surface deformation radar vision and sensing integrated monitoring system is characterized in that a Beidou chip is arranged in the millimeter wave radar, and the data processing module is connected with a cloud server through a communication module arranged in the millimeter wave radar to realize sensing integrated data feedback.
10. 10. The integrated monitoring system for high slope surface deformation and radar vision through sensing according to claim 9, wherein the early warning module is configured to superimpose the color point cloud data and a geological information model, and perform stability assessment and early warning based on sliding surface morphology evolution.

Description

High-side slope surface deformation radar vision sensing integrated monitoring system and method Technical Field The invention relates to the technical field of geotechnical engineering safety monitoring, in particular to a high-side slope surface deformation thunder vision and ventilation integrated monitoring system and method. Background The stability of the high side slope is the core of the safe operation of heavy infrastructure such as civil engineering, traffic, water conservancy and the like, and compared with the common side slope, the high side slope has the remarkable characteristics of high steepness, complex geological structure, deep burying of potential sliding surfaces, multidimensional deformation mechanism and the like, so that the deformation monitoring technology of the high side slope not only needs to have millimeter-level precision to capture initial creep, but also needs to have the capability of accurately restoring a large-scale three-dimensional deformation field, thereby realizing accurate depiction of the spatial form of the sliding surfaces and effective early warning of catastrophe trends. Although the traditional monitoring means (such as total station, inclinometer and the like) have higher measurement precision, the traditional monitoring means are limited by inherent limitations such as point layout, difficulty in automation and the like, and cannot meet the urgent requirements of continuous monitoring of a high side slope on a large scale and on the whole surface. With the development of remote sensing technology, non-contact monitoring technologies such as Synthetic Aperture Radar (SAR), foundation interferometry radar (GB-InSAR) and the like provide a new solution for slope monitoring. In particular, the sensing technology represented by millimeter wave radar can effectively penetrate adverse weather interference such as rain, fog, dust and the like by virtue of the physical characteristic that the wavelength of the sensing technology is far greater than that of light waves, and all-weather and large-range deformation monitoring is realized. For example, chinese patent publication No. CN117395622a discloses a slope monitoring scheme with integrated communication and sensing, which is based on a 5G millimeter wave base station, and implements fusion of communication and sensing functions through an air interface fusion processing technology, so that system deployment cost is reduced to a certain extent and monitoring range is enlarged. However, practice shows that the problem of insufficient resolution of pitching angle inherent in the existing technical system taking millimeter wave radar as a core is particularly prominent in a high slope scene, so that the system becomes a key technical bottleneck for limiting the effectiveness of the system. The defects mainly originate from the physical limitation of the antenna array of the millimeter wave radar in the vertical direction (only 1-4 antennas are usually provided), so that the sensing capability of the millimeter wave radar in the vertical dimension is far lower than that of the millimeter wave radar in the horizontal dimension, the stability sensitive deformation of the high slope is just concentrated on the vertical settlement and the shearing displacement along the potential sliding surface, the conventional system is difficult to directly construct a high-precision and measurable three-dimensional visual model, and therefore, key deformation information such as the fine settlement, crack expansion and the like of the surface of the slope in the vertical direction cannot be accurately captured, and the three-dimensional form of the sliding surface cannot be effectively restored. This defect results in the monitoring result of the high slope to stay on the macroscopic alarm level, but lacks the deep resolution capability of the deformation mechanism. Therefore, in view of the special and complex monitoring requirements of the high slope, an innovative solution capable of combining all-weather working advantages and high-precision three-dimensional sensing capability of the millimeter wave radar is needed in the art, so that the bottleneck of the prior art is broken through, the span from deformation discovery to mechanism analysis is realized, and reliable technical support is provided for safety management and control of the high slope. Disclosure of Invention The invention overcomes the defects of the prior art and provides a high-side slope surface deformation radar vision integrated monitoring system and method. In order to achieve the purpose, the technical scheme adopted by the invention is that the high-side slope surface deformation thunder vision and ventilation integrated monitoring method comprises the following steps: s1, synchronously acquiring radar point cloud data and binocular image data of the surface of a high slope; s2, fusing the radar point cloud data with the binocular image data to generate c