Mobile Monitoring Platform and Method of Soil Environmental Pollution Based on Unmanned Vehicle
孙梓超 1田扬戈 1王少华 1周松涛 1黄隆扬 1孔宪明1
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作者信息
1. 武汉大学遥感信息工程学院,湖北武汉,430079
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摘要
针对当前场地土壤环境污染监测任务中存在的效率低下、自动化程度低等问题,本文提出了一种基于无人车(unmanned ground vehicle,UGV)的场地土壤环境监测方法.该方法利用激光雷达和同步定位与建图算法(simulta-neous localization and mapping,SLAM)预建场地地图及本地坐标系,通过自动导航算法控制UGV在场地中沿预设的监测路径行驶,同时利用UGV搭载的监测传感器,获取监测路径上各检测位置的污染数据,动态调整检测点间隔,检测结果在边缘计算单元中实时处理并存储.基于空间插值算法和检测结果生成场地土壤污染区域分布图,高效自动地完成场地土壤环境污染监测工作.本文以土壤挥发性有机物(volatile organic compounds,VOCs)污染监测场景为例,对方法进行验证,基于多分类逻辑斯蒂回归算法评估空间插值的预测精度,结果为79％.
Abstract
Aiming at the problems of low efficiency and low degree of automation in current site soil environmental pollu-tion monitoring tasks,this paper proposes a site soil environ-ment monitoring method based on unmanned ground vehicle (UGV). This method uses Lidar and simultaneous localiza-tion and mapping (SLAM) to pre-build the site map and local coordinate system,controls the UGV to drive along the pre-set monitoring path in the site through the automatic naviga-tion algorithm,and uses the UGV to acquire the pollution da-ta of each detection position on the monitoring path,dynami-cally adjusts the detection point interval,and processes the de-tection results and stores the data in real time in the edge com-puting unit. Based on the spatial interpolation algorithm and the detection results,the distribution map of the soil pollution area of the site is generated,and the monitoring of the soil en-vironmental pollution of the site is efficiently and automatical-ly completed. This paper takes the soil volatile organic com-pounds (VOCs) pollution monitoring scenario as an example to verify the method. Based on the multi-class logistic regres-sion algorithm,the prediction accuracy of spatial interpolation is evaluated,and the result is 79％.
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