空地一体技术在地下暗河探测中的应用研究

Research on application of air-ground integrated technology in underground river detection

地下排水管涵是城市排水的主要渠道之一,掌握地下排水管涵信息对于城市防汛具有重要意义。受拆迁、道路改造施工等影响,地下排水管涵的部分井盖、井筒遭到掩盖、掩埋,使其成为难以探明的地下暗河。针对现场条件复杂的地下暗河,单一探测技术难以实现地下暗河的完整探测。因此,采用了测量型无人机、全地形机器人、三维激光扫描仪和GNSS-RTK协同作业的方案,形成了一种空地一体测绘技术,实现了测区地形、地下暗河的精确测绘,提高了城市疑难地下暗河的作业效率和数据质量。

As one of the main channels of urban drainage,it is of great significance to master the information of underground drainage culvert for urban flood control.Affected by demolition and road reconstruction,some manhole covers and shafts of underground drainage culvert are covered and buried,making it an underground river that is difficult to find out.For the difficult underground river with complex site conditions,it is difficult to realize the complete detection of the underground river with a single detection technology.In this paper,the cooperative operation scheme of measuring UAV,all-terrain robot,three-dimensional laser scanner and GNSS-RTK are adopted to form an air-ground integrated mapping technology,which realizes the accurate mapping of the topography and underground river in the survey area and improves the operation efficiency and data quality of the difficult underground river in the city.