CN110110641A - A kind of the unmanned plane monitoring method and system of Basin-wide flood scene - Google Patents
A kind of the unmanned plane monitoring method and system of Basin-wide flood scene Download PDFInfo
- Publication number
- CN110110641A CN110110641A CN201910355047.2A CN201910355047A CN110110641A CN 110110641 A CN110110641 A CN 110110641A CN 201910355047 A CN201910355047 A CN 201910355047A CN 110110641 A CN110110641 A CN 110110641A
- Authority
- CN
- China
- Prior art keywords
- remote sensing
- basin
- unmanned plane
- sensing image
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/251—Fusion techniques of input or preprocessed data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
- G06V10/462—Salient features, e.g. scale invariant feature transforms [SIFT]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Astronomy & Astrophysics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Data Mining & Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- Artificial Intelligence (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Alarm Systems (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a kind of unmanned plane monitoring method of Basin-wide flood scene and systems.The present invention is based on the first UAV system and multiple second UAV system, obtain panoramic video, remote sensing image and the point cloud data image of Basin-wide flood scene, then real-time monitoring is carried out to flood scene according to panoramic video, and the land use pattern flooded is extracted in remote sensing image and point cloud data image, and the submergence ratio and depth of immersion of every kind of land use pattern, realize timely, accurate and inexpensive Basin-wide flood disaster scene detection.
Description
Technical field
The present invention relates to flood monitor field, in particular to the unmanned plane monitoring method of a kind of Basin-wide flood scene and it is
System.
Background technique
China is the country that flood takes place frequently, and wherein Basin-wide flood disaster is especially frequent, grave danger numerous people
The security of the lives and property of the masses.For example, 1991, yangtse-huaihe region by especially big Basin-wide flood disaster, cause 2.3 hundred million people by
Calamity, 19,300,000 people are besieged by flood, 4,250,000 hectares of disaster affected farmland, damage between house 6,050,000, more than 200 hundred million kilograms of underproduction grain,
Direct economic loss is up to more than 500 hundred million yuan (China National Committee of the International Decade for Natural Disaster Reduction, 1991).Therefore, Basin-wide flood is carried out in a deep going way
Disaster scene detection research, the important component for the research that is not only to prevent and reduce natural disasters, watershed plan for flood control, rivers floodplain soil
A significance is had in the reasonable utilization and regional economy sustainable development etc. on ground.
Traditional disaster investigation and assessment is mainly dependent on ground investigation, and the condition of a disaster data are influenced and " water by human factor
Divide larger ", authenticity is not high.Although satellite remote sensing technology has biggish objectivity in terms of disaster investigation and assessment, defend
Star remote sensing technology limits larger because of the factor that the limitation of satellite revisiting period, cloud covering influence in terms of timeliness.Manned aircraft
Have the characteristics that independence is strong, maneuverability, is so far still a kind of important remote sensing platform, in Natural Disaster Evaluation investigation etc.
Aspect also often plays the effect for being difficult to substitute, but since use cost is larger, limits it and be widely used.How to provide and
When, accurate and inexpensive Basin-wide flood disaster scene detection become a technical problem urgently to be resolved.
Summary of the invention
The object of the present invention is to provide a kind of unmanned plane monitoring method of Basin-wide flood scene and system, to realize and
When, accurate and inexpensive Basin-wide flood disaster scene detection.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of unmanned plane monitoring method of Basin-wide flood scene, and the monitoring method includes following step
It is rapid:
The panoramic video of shooting Basin-wide flood scene is obtained by the first UAV system；
According to the actual scene of the panoramic video real-time monitoring Basin-wide flood；
By multiple second UAV system, multiple remote sensing image collection and multiple point cloud data image sets are obtained；Each
The remote sensing image collection that two UAV system obtain includes that second UAV system puts the multiple distant of acquisition in different times
Feel image；The point cloud data image set that each second UAV system obtains includes second UAV system when different
Between put multiple point cloud data images of acquisition；
By the point cloud data image joint in multiple point cloud data image sets at synthetic point cloud image data；
It is distant according to the synthetic point cloud image data and the land cover pattern point cloud data in geographical spatial data cloud database
Sense image carries out Image registration and intuitively compares, and determines the land use pattern flooded；
The remote sensing image that multiple remote sensing images are concentrated is spliced into synthesis remote sensing image；
The submergence ratio and depth of immersion of every kind of land use pattern are determined according to the synthesis remote sensing image.
Optionally, the remote sensing image that multiple remote sensing images are concentrated is spliced into synthesis remote sensing image, specifically includes:
Using SURF algorithm and HSI (Hue-Saturation-Intensity (Lightness)) color model to multiple
The remote sensing image that remote sensing image is concentrated slightly is matched, and multiple thick match points are obtained；
Multiple thick match points are purified using RANSAC algorithm, thick after obtaining multiple purifications
With point；
Smart matching is carried out to the thick match point after multiple purifications using least square method, obtains multiple smart match points；
Based on multiple smart match points, the remote sensing image that multiple remote sensing images are concentrated is spliced by conjunction using interpolation method
At remote sensing image.
Optionally, described that the remote sensing image that multiple remote sensing images are concentrated is carried out using SURF algorithm and HSI color model
Thick matching, obtains multiple thick match points, specifically includes:
Construct the scale space of each remote sensing image；
The Hessian matrix for establishing and solving the scale space of each remote sensing image obtains multiple features of each remote sensing image
Point；
Construct description of each characteristic point；
According to the HSI color model, the color data of each characteristic point is added to description of the characteristic point, is obtained
To color description of each characteristic point；
According to the color description of each characteristic point, determine the characteristic point whether be remote sensing image overlapping region feature
Point chooses thick match point of the characteristic point of overlapping region as the remote sensing image being overlapped.
Optionally, described that the submergence ratio of every kind of land use pattern is determined according to the synthesis remote sensing image and floods depth
Degree, specifically includes:
According to the synthesis remote sensing image, the digital elevation model of basin flood scene is established；
Digital elevation model before the digital elevation model of the basin flood scene and the flood in the basin is compared,
Determine the submergence ratio and depth of immersion of every kind of land use pattern.
Optionally, the land use pattern includes one or more of settlement place, road, bridge and arable land.
A kind of unmanned plane monitoring system of Basin-wide flood scene, the monitoring system include:
First UAV system, multiple second UAV system and ground control and data processing centre；
First UAV system and multiple second UAV system and ground control and Data processing
The heart is wirelessly connected；
First UAV system includes the first unmanned plane, video camera and the first wireless data transfer module, described
Video camera and first wireless data transfer module are mounted on first unmanned plane；
The video camera is by first wireless data transfer module and the ground controls and data processing centre
It is wirelessly connected；The video camera is used to shoot the panoramic video of the Basin-wide flood scene, and the panoramic video is led to
It crosses first wireless data transfer module and is sent to the ground control and data processing centre；
Second UAV system includes the second unmanned plane, mapping camera, laser radar and the second wireless data transmission
Module；
The mapping camera, the laser radar and second wireless data transfer module be mounted on described second nobody
On machine；
The mapping camera and the laser radar pass through second wireless data transfer module and the ground respectively
Control and data processing centre are wirelessly connected, and the mapping camera is used to obtain the remote sensing image collection of Basin-wide flood scene, and
The remote sensing image collection is sent to the ground control and data processing centre by the wireless data transfer module；It is described
Laser radar passes through the second wireless data transfer module for obtaining point cloud data image set, and by the point cloud data image set
It is sent to the ground control and data processing centre；
The ground control and data processing centre are used for according to the scene video, the remote sensing image collection and the point
Cloud image data collection obtains the actual scene of Basin-wide flood, the land use pattern flooded and every kind of land use pattern
Submergence ratio and depth of immersion；
First unmanned plane of first UAV system and the second unmanned plane of multiple second UAV system point
It is not wirelessly connected with ground control and data processing centre；The ground control and data processing centre are also used to control institute
State the flight of the first unmanned plane and multiple second unmanned planes.
Optionally, flying overhead of first unmanned plane in multiple second unmanned planes；Multiple described second nobody
Machine flies at equal intervals side by side in sustained height.
Optionally, first unmanned plane be parallel to each other with multiple second unmanned planes and it is synchronous along the figure of eight fly
The flight of walking along the street line.
Optionally, first UAV system further include: infrared video camera, the infrared video camera are mounted on institute
It states on the first unmanned plane, the infrared video camera is controlled by first wireless data transfer module and the ground and number
It is connected according to processing center.
Optionally, second UAV system further include: infrared photography camera, the infrared photography camera are mounted on institute
It states on the second unmanned plane, the infrared photography camera is connected by the wireless data transfer module and the output processing center
It connects.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The invention discloses a kind of unmanned plane monitoring method of Basin-wide flood scene and systems.The present invention is based on the first nothings
Man-machine system and multiple second UAV system obtain panoramic video, remote sensing image and the point cloud data of Basin-wide flood scene
Then image carries out real-time monitoring to flood scene according to panoramic video, and extracts in remote sensing image and point cloud data image
The submergence ratio and depth of immersion of the land use pattern flooded and every kind of land use pattern, realize it is timely, accurate and
The Basin-wide flood disaster scene detection of low cost.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart of the unmanned plane monitoring method of Basin-wide flood scene provided by the invention；
Fig. 2 is the process that the remote sensing image provided by the invention for concentrating multiple remote sensing images is spliced into synthesis remote sensing image
Figure；
Fig. 3 is that a kind of unmanned plane of Basin-wide flood scene provided by the invention monitors the structure chart of system.
Specific embodiment
The object of the present invention is to provide a kind of unmanned plane monitoring method of Basin-wide flood scene and system, to realize and
When, accurate and inexpensive Basin-wide flood disaster scene detection.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Mode is applied to be described in further detail invention.
As shown in Figure 1, a kind of unmanned plane monitoring method of Basin-wide flood scene, the monitoring method includes following step
It is rapid:
Step 101, the panoramic video of shooting Basin-wide flood scene is obtained by the first UAV system.
Step 102, according to the actual scene of the panoramic video real-time monitoring Basin-wide flood.
Step 103, by multiple second UAV system, multiple remote sensing image collection and multiple point cloud data images are obtained
Collection；The remote sensing image collection that each second UAV system obtains includes that second UAV system puts acquisition in different times
Multiple remote sensing images；The point cloud data image set that each second UAV system obtains includes that second UAV system exists
Multiple point cloud data images that different time points obtains.
Step 104, by the point cloud data image joint in multiple point cloud data image sets at synthesis point cloud data shadow
Picture.It is identical that its joining method and the remote sensing image for concentrating multiple remote sensing images are spliced into the synthesis method of remote sensing image.
Step 105, according to the land cover pattern point in the synthetic point cloud image data and geographical spatial data cloud database
Cloud data remote sensing image carries out Image registration and intuitively compares, and determines the land use pattern flooded.
Step 106, the remote sensing image that multiple remote sensing images are concentrated is spliced into synthesis remote sensing image.As shown in Fig. 2, described
It by the point cloud data image joint in multiple point cloud data image sets at synthetic point cloud image data, specifically includes: using
SURF algorithm and HSI color model slightly match the remote sensing image that multiple remote sensing images are concentrated, and obtain multiple thick match points；
Multiple thick match points are purified using RANSAC algorithm, the thick match point after obtaining multiple purifications；It adopts
Smart matching is carried out to the thick match point after multiple purifications with least square method, obtains multiple smart match points；Based on multiple institutes
Smart match point is stated, the remote sensing image that multiple remote sensing images are concentrated is spliced by synthesis remote sensing image using interpolation method.
Wherein, the remote sensing image that multiple remote sensing images are concentrated slightly is matched using SURF algorithm and HSI color model,
Multiple thick match points are obtained, are specifically included: constructing the scale space of each remote sensing image；It establishes and solves each remote sensing image
The Hessian matrix of scale space obtains multiple characteristic points of each remote sensing image；Construct description of each characteristic point；According to institute
HSI color model is stated, the color data of each characteristic point is added to description of the characteristic point, obtains each characteristic point
Color description；According to the color description of each characteristic point, determine whether the characteristic point is remote sensing image overlapping region
Characteristic point chooses thick match point of the characteristic point of overlapping region as the remote sensing image being overlapped.
Step 107, the submergence ratio and depth of immersion of every kind of land use pattern are determined according to the synthesis remote sensing image；
It specifically includes: according to the synthesis remote sensing image, establishing the digital elevation model of basin flood scene；By basin flood field
Digital elevation model before the digital elevation model of scape and the flood in the basin compares, and determines flooding for every kind of land use pattern
Do not have range and depth of immersion.
As shown in figure 3, the present invention also provides a kind of unmanned planes of Basin-wide flood scene to monitor system, the monitoring system
Include:
First UAV system 1, multiple second UAV system 2 and ground control and data processing centre 3；Wherein, institute
The first UAV system 1 and multiple second UAV system 2 is stated wirelessly to connect with ground control and data processing centre 3
It connects；
First UAV system 1 includes the first unmanned plane, video camera and the first wireless data transfer module, described
Video camera and first wireless data transfer module are mounted on first unmanned plane；
The video camera is by first wireless data transfer module and the ground controls and data processing centre
It is wirelessly connected；The video camera is used to shoot the panoramic video of the Basin-wide flood scene, and the panoramic video is led to
It crosses first wireless data transfer module and is sent to the ground control and data processing centre；
Second UAV system 2 includes the second unmanned plane, mapping camera, laser radar and the second wireless data transmission
Module；
The mapping camera, the laser radar and second wireless data transfer module be mounted on described second nobody
On machine；
The mapping camera and the laser radar pass through second wireless data transfer module and the ground respectively
Control and data processing centre are wirelessly connected, and the mapping camera is used to obtain the remote sensing image collection of Basin-wide flood scene, and
The remote sensing image collection is sent to the ground control and data processing centre by the wireless data transfer module；It is described
Laser radar passes through the second wireless data transfer module for obtaining point cloud data image set, and by the point cloud data image set
It is sent to the ground control and data processing centre 3；
The ground control and data processing centre are used for according to the scene video, the remote sensing image collection and the point
Cloud image data collection obtains the actual scene of Basin-wide flood, the land use pattern flooded and every kind of land use pattern
Submergence ratio and depth of immersion；
First unmanned plane of first UAV system and the second unmanned plane of multiple second UAV system point
It is not wirelessly connected with ground control and data processing centre；The ground control and data processing centre are also used to control institute
State the flight of the first unmanned plane and multiple second unmanned planes；Specifically, control first unmanned plane and multiple described the
Two unmanned planes make first unmanned plane in the flying overhead of multiple second unmanned planes；Multiple second unmanned planes exist
Sustained height flies at equal intervals side by side, and first unmanned plane is made to be parallel to each other with multiple second unmanned planes and synchronous
Along figure of eight flight path fly.
In order to ensure shooting at night, first UAV system 1 further include: infrared video camera, the infrared video
Camera is mounted on first unmanned plane, the infrared video camera by first wireless data transfer module with it is described
Ground control and data processing centre 3 connect.Second UAV system 2 further include: infrared photography camera, it is described infrared to take the photograph
Shade machine is mounted on second unmanned plane, the infrared photography camera by the wireless data transfer module with it is described defeated
Processing center 3 connects out.
As it can be seen that unmanned plane of the invention monitors system, it is contemplated that Basin-wide flood is wide with coverage, outburst is rapid
Feature, therefore while being monitored using unmanned aerial vehicle remote sensing, should fully consider cruise duration and the load-carrying ability of unmanned airborne platform.
The present invention is respectively completed large scale macroscopic monitoring (the first UAV system) and small scale using the unmanned plane of two kinds of different models
Fine monitoring (multiple second UAV system), the two matches, Xiang Fuxiang.Specific arrangement be with cruise duration it is longer and carry
The biggish intermediate range unmanned plane of lotus ability (the first UAV system) is used as main platform, completes large scale macroscopic monitoring, with continuation of the journey
Time is shorter and the lesser short range unmanned plane of load-carrying ability (multiple second UAV system) is used as assistance platform, realizes severely afflicated area
Basin fine monitoring.To meet the needs of flood real-time dynamic monitoring, high definition is carried on the first unmanned plane and monitors video camera, is obtained
Take the real time video data in disaster area；Aerial mapping camera is carried on second unmanned plane, obtains the real time image data in disaster area；To obtain
Dem data in the region of basin is taken, high-precision lightweight laser radar can be carried.To ensure that night can also be monitored disaster area,
Also it needs to be equipped with corresponding infrared photography camera and infrared video camera.Unmanned plane monitoring each of system of offer of the invention sets
Standby parameter is as shown in table 1.
The parameter list of each equipment of the unmanned plane monitoring system of 1 Basin-wide flood scene of table
The invention discloses a kind of unmanned plane monitoring method of Basin-wide flood scene and systems.The present invention is based on the first nothings
Man-machine system and multiple second UAV system obtain panoramic video, remote sensing image and the point cloud data of Basin-wide flood scene
Then image carries out real-time monitoring to flood scene according to panoramic video, and extracts in remote sensing image and point cloud data image
The submergence ratio and depth of immersion of the land use pattern flooded and every kind of land use pattern, realize it is timely, accurate and
The Basin-wide flood disaster scene detection of low cost.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Specific examples are used herein to describe the principles and implementation manners of the present invention, the explanation of above embodiments
Method and its core concept of the invention are merely used to help understand, described embodiment is only that a part of the invention is real
Example is applied, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art are not making creation
Property labour under the premise of every other embodiment obtained, shall fall within the protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane monitoring method of Basin-wide flood scene, which is characterized in that the monitoring method includes the following steps:
The panoramic video of shooting Basin-wide flood scene is obtained by the first UAV system；
According to the actual scene of the panoramic video real-time monitoring Basin-wide flood；
By multiple second UAV system, multiple remote sensing image collection and multiple point cloud data image sets are obtained；Each second nothing
The remote sensing image collection that man-machine system obtains includes multiple remote sensing shadows that second UAV system puts acquisition in different times
Picture；The point cloud data image set that each second UAV system obtains includes second UAV system point in different times
The multiple point cloud data images obtained；
By the point cloud data image joint in multiple point cloud data image sets at synthetic point cloud image data；
According to the land cover pattern point cloud data remote sensing shadow in the synthetic point cloud image data and geographical spatial data cloud database
It is intuitively compared as carrying out Image registration, determines the land use pattern flooded；
The remote sensing image that multiple remote sensing images are concentrated is spliced into synthesis remote sensing image；
The submergence ratio and depth of immersion of every kind of land use pattern are determined according to the synthesis remote sensing image.
2. the unmanned plane monitoring method of flood scene in basin according to claim 1, which is characterized in that it is described will be multiple distant
Remote sensing image in sense image set is spliced into synthesis remote sensing image, specifically includes:
The remote sensing image that multiple remote sensing images are concentrated slightly is matched using SURF algorithm and HSI color model, is obtained multiple
Thick match point；
Multiple thick match points are purified using RANSAC algorithm, the thick matching after obtaining multiple purifications
Point；
Smart matching is carried out to the thick match point after multiple purifications using least square method, obtains multiple smart match points；
Based on multiple smart match points, it is distant that the remote sensing image that multiple remote sensing images are concentrated is spliced by synthesis using interpolation method
Feel image.
3. a kind of unmanned plane monitoring method of basin flood scene according to claim 2, which is characterized in that the use
SURF algorithm and HSI color model slightly match the remote sensing image that multiple remote sensing images are concentrated, and obtain multiple thick match points,
It specifically includes:
Construct the scale space of each remote sensing image；
The Hessian matrix for establishing and solving the scale space of each remote sensing image obtains multiple characteristic points of each remote sensing image；
Construct description of each characteristic point；
According to the HSI color model, the color data of each characteristic point is added to description of the characteristic point, is obtained every
Color description of a characteristic point；
According to the color description of each characteristic point, determine the characteristic point whether be remote sensing image overlapping region characteristic point,
Choose thick match point of the characteristic point of overlapping region as overlapped remote sensing image.
4. the unmanned plane monitoring method of flood scene in basin according to claim 1, which is characterized in that described according to
Synthesis remote sensing image determines the submergence ratio and depth of immersion of every kind of land use pattern, specifically includes:
According to the synthesis remote sensing image, the digital elevation model of basin flood scene is established；
Digital elevation model before the digital elevation model of the basin flood scene and the flood in the basin is compared, is determined
The submergence ratio and depth of immersion of every kind of land use pattern.
5. the unmanned plane monitoring method of flood scene in basin according to claim 1, which is characterized in that the land use
Type includes one or more of settlement place, road, bridge and arable land.
6. the unmanned plane of Basin-wide flood scene a kind of monitors system, which is characterized in that the monitoring system includes:
First UAV system, multiple second UAV system and ground control and data processing centre；
First UAV system and multiple second UAV system and the ground control and data processing centre without
Line connection；
First UAV system includes the first unmanned plane, video camera and the first wireless data transfer module, the video
Camera and first wireless data transfer module are mounted on first unmanned plane；
The video camera is controlled by first wireless data transfer module with the ground and data processing centre is wireless
Connection；The video camera is used to shoot the panoramic video of the Basin-wide flood scene, and the panoramic video is passed through institute
It states the first wireless data transfer module and is sent to the ground control and data processing centre；
Second UAV system includes the second unmanned plane, mapping camera, laser radar and the second wireless data transfer module；
The mapping camera, the laser radar and second wireless data transfer module are mounted on second unmanned plane
On；
The mapping camera and the laser radar pass through second wireless data transfer module respectively and the ground controls
And data processing centre is wirelessly connected, the mapping camera is used to obtain the remote sensing image collection of Basin-wide flood scene, and by institute
It states remote sensing image collection and the ground control and data processing centre is sent to by the wireless data transfer module；The laser
Radar is sent for obtaining point cloud data image set, and by the point cloud data image set by the second wireless data transfer module
To ground control and data processing centre；
The ground control and data processing centre are used for according to the scene video, the remote sensing image collection and described cloud number
According to image set, the actual scene of Basin-wide flood is obtained, the land use pattern flooded and every kind of land use pattern are flooded
Do not have range and depth of immersion；
First unmanned plane of first UAV system and the second unmanned plane of multiple second UAV system respectively with
The ground control and data processing centre are wirelessly connected；Ground control and data processing centre are also used to control described the
The flight of one unmanned plane and multiple second unmanned planes.
7. the unmanned plane of Basin-wide flood scene according to claim 6 monitors system, which is characterized in that first nothing
The man-machine flying overhead in multiple second unmanned planes；Multiple second unmanned planes fly at equal intervals side by side in sustained height
Row.
8. the unmanned plane of flood scene in basin according to claim 7 monitors system, which is characterized in that described first nobody
Machine be parallel to each other with multiple second unmanned planes and it is synchronous along figure of eight flight path fly.
9. the unmanned plane of Basin-wide flood scene according to claim 6 monitors system, which is characterized in that first nothing
Man-machine system further include: infrared video camera, the infrared video camera are mounted on first unmanned plane, the infrared view
Frequency camera is controlled by first wireless data transfer module with the ground and data processing centre connect.
10. the unmanned plane of Basin-wide flood scene according to claim 6 monitors system, which is characterized in that described second
UAV system further include: infrared photography camera, the infrared photography camera is mounted on second unmanned plane, described infrared
Photographic camera is connect by the wireless data transfer module with the output processing center.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910355047.2A CN110110641B (en) | 2019-04-29 | 2019-04-29 | Unmanned aerial vehicle monitoring method and system for watershed flooding scene |
| GB2019092.2A GB2590192B (en) | 2019-04-29 | 2020-04-29 | Unmanned aerial vehicle (UAV)-based monitoring method and system for basin-wide flood |
| PCT/CN2020/087706 WO2020221284A1 (en) | 2019-04-29 | 2020-04-29 | Unmanned aerial vehicle monitoring method and system for basin-wide flood scene |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910355047.2A CN110110641B (en) | 2019-04-29 | 2019-04-29 | Unmanned aerial vehicle monitoring method and system for watershed flooding scene |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110110641A true CN110110641A (en) | 2019-08-09 |
| CN110110641B CN110110641B (en) | 2020-11-27 |
Family
ID=67487370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910355047.2A Active CN110110641B (en) | 2019-04-29 | 2019-04-29 | Unmanned aerial vehicle monitoring method and system for watershed flooding scene |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN110110641B (en) |
| GB (1) | GB2590192B (en) |
| WO (1) | WO2020221284A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111753703A (en) * | 2020-06-18 | 2020-10-09 | 杭州浙大东南土地研究所有限公司 | Monitoring system and monitoring method for town land boundary |
| WO2020221284A1 (en) * | 2019-04-29 | 2020-11-05 | 黄河勘测规划设计研究院有限公司 | Unmanned aerial vehicle monitoring method and system for basin-wide flood scene |
| CN112034736A (en) * | 2020-09-07 | 2020-12-04 | 中国航空工业集团公司成都飞机设计研究所 | Low-coupling unmanned aerial vehicle simulation training method and system |
| CN112414375A (en) * | 2020-10-08 | 2021-02-26 | 武汉大学 | Unmanned aerial vehicle image posture recovery method for flood disaster emergency quick jigsaw making |
| CN112465849A (en) * | 2020-11-27 | 2021-03-09 | 武汉大学 | Registration method for laser point cloud and sequence image of unmanned aerial vehicle |
| CN113933871A (en) * | 2021-10-15 | 2022-01-14 | 贵州师范学院 | Flood disaster detection system based on unmanned aerial vehicle and Beidou positioning |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112348381A (en) * | 2020-11-12 | 2021-02-09 | 北京优云智翔航空科技有限公司 | Processing method and device for scheduling data of unmanned aerial vehicle equipment and server |
| CN113012398A (en) * | 2021-02-20 | 2021-06-22 | 中煤航测遥感集团有限公司 | Geological disaster monitoring and early warning method and device, computer equipment and storage medium |
| CN113378700B (en) * | 2021-06-08 | 2022-11-08 | 四川农业大学 | Grassland rat damage dynamic monitoring method based on unmanned aerial vehicle aerial image |
| CN113612966A (en) * | 2021-07-02 | 2021-11-05 | 河南浩宇空间数据科技有限责任公司 | Intelligent specific target object distinguishing method based on urban low-altitude remote sensing data |
| CN113591714A (en) * | 2021-07-30 | 2021-11-02 | 金陵科技学院 | Flood detection method based on satellite remote sensing image |
| CN115793093B (en) * | 2023-02-02 | 2023-05-16 | 水利部交通运输部国家能源局南京水利科学研究院 | Dam hidden disease diagnosis air-ground equipment |
| CN117036622B (en) * | 2023-10-08 | 2024-02-23 | 海纳云物联科技有限公司 | Three-dimensional reconstruction method, device and equipment for fusing aerial image and ground scanning |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104091369A (en) * | 2014-07-23 | 2014-10-08 | 武汉大学 | Unmanned aerial vehicle remote-sensing image building three-dimensional damage detection method |
| US9589238B2 (en) * | 2012-06-22 | 2017-03-07 | Knowmtech, Llc | Methods for performing anti-hebbian and hebbian (AHAH) based feature extraction of surface manifolds for compression |
| US20170184399A1 (en) * | 2011-06-30 | 2017-06-29 | The Regents Of The University Of Colorado | Remote measurement of shallow depths in semi-transparent media |
| CN107479065A (en) * | 2017-07-14 | 2017-12-15 | 中南林业科技大学 | A kind of three-dimensional structure of forest gap method for measurement based on laser radar |
| CN108896117A (en) * | 2018-05-10 | 2018-11-27 | 北京师范大学 | A kind of method of Remote Sensing To Hydrology station monitoring discharge of river |
| CN109063553A (en) * | 2018-06-22 | 2018-12-21 | 中国矿业大学 | Field-crop growth defect area's remote sensing fast diagnosis method after a kind of land control |
| CN109684929A (en) * | 2018-11-23 | 2019-04-26 | 中国电建集团成都勘测设计研究院有限公司 | Terrestrial plant ECOLOGICAL ENVIRONMENTAL MONITORING method based on multi-sources RS data fusion |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007305077A (en) * | 2006-05-15 | 2007-11-22 | Nec Corp | Method and system for supporting material distribution in disaster |
| CN106341667A (en) * | 2016-11-10 | 2017-01-18 | 广西师范大学 | UAV (Unmanned Aerial Vehicle) based 3D panorama video remote monitoring system and image acquisition control method thereof |
| CN207720303U (en) * | 2017-12-25 | 2018-08-10 | 黑龙江龙飞航空摄影有限公司 | Image processing system based on unmanned plane |
| CN109446587A (en) * | 2018-09-30 | 2019-03-08 | 中国科学院、水利部成都山地灾害与环境研究所 | A kind of extensive Landslide Hazards Fast numerical simulation method and system |
| CN110110641B (en) * | 2019-04-29 | 2020-11-27 | 中国水利水电科学研究院 | Unmanned aerial vehicle monitoring method and system for watershed flooding scene |
| CN110044338B (en) * | 2019-04-29 | 2020-05-22 | 中国水利水电科学研究院 | Unmanned aerial vehicle monitoring method and system for dam break scene |
-
2019
- 2019-04-29 CN CN201910355047.2A patent/CN110110641B/en active Active
-
2020
- 2020-04-29 GB GB2019092.2A patent/GB2590192B/en active Active
- 2020-04-29 WO PCT/CN2020/087706 patent/WO2020221284A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170184399A1 (en) * | 2011-06-30 | 2017-06-29 | The Regents Of The University Of Colorado | Remote measurement of shallow depths in semi-transparent media |
| US9589238B2 (en) * | 2012-06-22 | 2017-03-07 | Knowmtech, Llc | Methods for performing anti-hebbian and hebbian (AHAH) based feature extraction of surface manifolds for compression |
| CN104091369A (en) * | 2014-07-23 | 2014-10-08 | 武汉大学 | Unmanned aerial vehicle remote-sensing image building three-dimensional damage detection method |
| CN107479065A (en) * | 2017-07-14 | 2017-12-15 | 中南林业科技大学 | A kind of three-dimensional structure of forest gap method for measurement based on laser radar |
| CN108896117A (en) * | 2018-05-10 | 2018-11-27 | 北京师范大学 | A kind of method of Remote Sensing To Hydrology station monitoring discharge of river |
| CN109063553A (en) * | 2018-06-22 | 2018-12-21 | 中国矿业大学 | Field-crop growth defect area's remote sensing fast diagnosis method after a kind of land control |
| CN109684929A (en) * | 2018-11-23 | 2019-04-26 | 中国电建集团成都勘测设计研究院有限公司 | Terrestrial plant ECOLOGICAL ENVIRONMENTAL MONITORING method based on multi-sources RS data fusion |
Non-Patent Citations (2)
| Title |
|---|
| ADRIANO MANCINI ET AL.: "High-resolution mapping of river and estuary areas by using unmanned aerial and surface platforms", 《2015 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS》 * |
| 李广静: "无人机低空遥感影像的应用及精度实证研究", 《中国优秀硕士学位论文全文数据库基础科学辑》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020221284A1 (en) * | 2019-04-29 | 2020-11-05 | 黄河勘测规划设计研究院有限公司 | Unmanned aerial vehicle monitoring method and system for basin-wide flood scene |
| GB2590192A (en) * | 2019-04-29 | 2021-06-23 | Yellow River Engineering Consulting Co Ltd | Unmanned aerial vehicle monitoring method and system for basin-wide flood scene |
| GB2590192B (en) * | 2019-04-29 | 2023-09-27 | Yellow River Engineering Consulting Co Ltd | Unmanned aerial vehicle (UAV)-based monitoring method and system for basin-wide flood |
| CN111753703A (en) * | 2020-06-18 | 2020-10-09 | 杭州浙大东南土地研究所有限公司 | Monitoring system and monitoring method for town land boundary |
| CN111753703B (en) * | 2020-06-18 | 2024-04-30 | 杭州浙大东南土地研究所有限公司 | Monitoring system and monitoring method for urban land boundary |
| CN112034736A (en) * | 2020-09-07 | 2020-12-04 | 中国航空工业集团公司成都飞机设计研究所 | Low-coupling unmanned aerial vehicle simulation training method and system |
| CN112034736B (en) * | 2020-09-07 | 2023-05-23 | 中国航空工业集团公司成都飞机设计研究所 | Low-coupling unmanned aerial vehicle simulation training method and system |
| CN112414375A (en) * | 2020-10-08 | 2021-02-26 | 武汉大学 | Unmanned aerial vehicle image posture recovery method for flood disaster emergency quick jigsaw making |
| CN112414375B (en) * | 2020-10-08 | 2021-09-03 | 武汉大学 | Unmanned aerial vehicle image posture recovery method for flood disaster emergency quick jigsaw making |
| CN112465849A (en) * | 2020-11-27 | 2021-03-09 | 武汉大学 | Registration method for laser point cloud and sequence image of unmanned aerial vehicle |
| CN112465849B (en) * | 2020-11-27 | 2022-02-15 | 武汉大学 | Registration method for laser point cloud and sequence image of unmanned aerial vehicle |
| CN113933871A (en) * | 2021-10-15 | 2022-01-14 | 贵州师范学院 | Flood disaster detection system based on unmanned aerial vehicle and Beidou positioning |
Also Published As
| Publication number | Publication date |
|---|---|
| GB202019092D0 (en) | 2021-01-20 |
| CN110110641B (en) | 2020-11-27 |
| WO2020221284A1 (en) | 2020-11-05 |
| GB2590192A (en) | 2021-06-23 |
| GB2590192B (en) | 2023-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110110641A (en) | A kind of the unmanned plane monitoring method and system of Basin-wide flood scene | |
| CN112422783B (en) | Unmanned aerial vehicle intelligent patrol system based on parking apron cluster | |
| CN103822635B (en) | The unmanned plane during flying spatial location real-time computing technique of view-based access control model information | |
| WO2021115124A1 (en) | Edge-cloud coordinated three-dimensional reconstruction method for farmland site | |
| CN106682592B (en) | Image automatic identification system and method based on neural network method | |
| CN104156968B (en) | Large-area complex-terrain-region unmanned plane sequence image rapid seamless splicing method | |
| CN107247458A (en) | UAV Video image object alignment system, localization method and cloud platform control method | |
| CN104618689B (en) | Coastal waters spilled oil monitoring method and system based on unmanned plane | |
| CN107316012A (en) | The fire detection and tracking of small-sized depopulated helicopter | |
| CN107560593B (en) | Special unmanned aerial vehicle image air-three free network construction method based on minimum spanning tree | |
| CN105139350A (en) | Ground real-time reconstruction processing system for unmanned aerial vehicle reconnaissance images | |
| CN110243381B (en) | Cooperative sensing monitoring method for air-ground robot | |
| Xing et al. | Multi-UAV cooperative system for search and rescue based on YOLOv5 | |
| CN110427041A (en) | A kind of heat-net-pipeline unmanned plane cruise system and method | |
| CN110044338B (en) | Unmanned aerial vehicle monitoring method and system for dam break scene | |
| CN109547769A (en) | A kind of highway communication dynamic 3 D number scene acquisition building system and its working method | |
| CN111811502B (en) | Motion carrier multi-source information fusion navigation method and system | |
| CN111027422A (en) | Emergency unmanned aerial vehicle inspection method and system applied to power transmission line corridor | |
| CN114926739A (en) | Unmanned collaborative acquisition and processing method for underwater and overwater geographic spatial information of inland waterway | |
| CN115580708A (en) | Unmanned aerial vehicle inspection method for optical cable line | |
| Gülch | Photogrammetric evaluation of multi-temporal fixed wing UAV imagery | |
| CN113867404B (en) | Beach garbage inspection method and system based on unmanned aerial vehicle | |
| Zhou | Research on the Application of UAV Oblique Photography Algorithm in the Protection of Traditional Village Cultural Heritage | |
| CN107957734A (en) | A kind of long-range unmanned aerial vehicle's control system | |
| CN111156956B (en) | Space attitude parameter acquisition method based on atmospheric polarization E-vector mode features |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lei Tianjie Inventor after: Fu Jian Inventor after: Zhang Yazhen Inventor after: Cheng Ziyi Inventor after: Wang Yang Inventor after: Liu Zhongwei Inventor after: Yang Dielong Inventor after: Zhou Yuanjing Inventor before: Lei Tianjie Inventor before: Li Xiangyu Inventor before: Huang Jintao Inventor before: Li Shuguang Inventor before: Wang Weiping Inventor before: Zhang Ju Inventor before: Li Shican Inventor before: Qin Jing Inventor before: Feng Jie Inventor before: Li Aili Inventor before: Pang Zhiguo Inventor before: Fu Jian Inventor before: Yang Dielong Inventor before: Zhou Yuanjing Inventor before: Wang Yang Inventor before: Liu Zhongwei Inventor before: Wan Jinhong Inventor before: Xu Jing Inventor before: Li Yang Inventor before: Zhang Yazhen Inventor before: Cheng Ziyi Inventor before: Yuan Man Inventor before: Wang Jiabao Inventor before: Gong Adu Inventor before: Cheng Hui |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |