CN109886192A - A kind of ecological environment intelligent monitor system - Google Patents
A kind of ecological environment intelligent monitor system Download PDFInfo
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- CN109886192A CN109886192A CN201910128334.XA CN201910128334A CN109886192A CN 109886192 A CN109886192 A CN 109886192A CN 201910128334 A CN201910128334 A CN 201910128334A CN 109886192 A CN109886192 A CN 109886192A
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Abstract
The invention discloses a kind of ecological environment intelligent monitor systems, including the crusing robot and handheld terminal being connected by data transmission module, crusing robot includes climbing robot and unmanned plane, climbing robot and unmanned plane in be loaded with sensor group, it is made of several sensor nodes, the acquisition for the environmental parameters data in area to be tested；It is loaded with an image capture module on unmanned plane, the acquisition for area to be tested target image；Handheld terminal uses the mode of cell phone application, inside sets travel region demarcating module, crusing robot path planning module, data fusion module, data characteristics extraction module and Ecological Environmental Evaluation module.The present invention is based on the planning of crusing robot walking path, crusing robot may be implemented to the automatic collection of environmental parameters in area to be tested, it is easy to use；Sensor monitoring result is merged with image monitoring result, facilitates understanding of the user more comprehensively to current ecological environment testing result.
Description
Technical field
The present invention relates to environmental monitoring field, and in particular to a kind of ecological environment intelligent monitor system.
Background technique
Ecological environment is always by problem concerned by people, and existing ecological environment detection is always by a small number of detection machines
Structure and company occupy, and become a kind of operation mode of the marketization.In existing detection technique, general environmental data collecting is logical
Artificial measuring instrument of holding on the spot is crossed to go detection and be sampled detection, the collected data of institute by being set in fixed test point
Do not have globality, cannot carry out realizing automatically detection and data well well while the detection of environment
It updates, and needs to spend a large amount of artificial and time.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of ecological environment intelligent monitor systems.
To achieve the above object, the present invention is realized especially by following technical scheme:
A kind of ecological environment intelligent monitor system, including
Sensor group is inside loaded in the crusing robot, is made of several sensor nodes, and area to be tested is used for
In environmental parameters data acquisition；
Image capture module is inside loaded on unmanned plane, the acquisition for area to be tested target image；
Travel region demarcating module carries out image denoising and image using bilateral filtering and piecewise linear transform algorithm respectively
Enhancing pretreatment；Image binaryzation processing, the form school district based on connected component are carried out using iteration self-adapting thresholding method
Characteristic of field removes the miscellaneous spot noise of small area, completes the identification of barrier position, and the length based on connected component boundary rectangle
Identification of the width than carrying out barrier shape and size, completes the calibration of crusing robot travel region；
Crusing robot path planning module, the calibration result based on travel region demarcating module carry out crusing robot row
The planning in path and unmanned plane operating path is walked, and sends crusing robot and unmanned plane for the path after the completion of planning；
Node networking module carries out sub-clustering to node, completes data for being sensor node and coordinator node networking
Transmission；
Data transmission module will collect after cluster interior nodes collect data first for the transmission of data in network
Data be sent to corresponding leader cluster node, then tidal data recovering to gateway node will be counted by gateway node through leader cluster node
Display and analysis processing are carried out according to handheld terminal is transferred to, and the result of analysis processing is carried out through the Internet transmission to server
Storage；
Data fusion module, for carrying out the fusion of data at the cluster head of handheld terminal using fuzzy nearness algorithm；
Data characteristics extraction module carries out the extraction of characteristic using MapReduce to the data for completing fusion treatment；
Ecological Environmental Evaluation module realizes current ecological environment feelings using trained support vector machines based on characteristic
The output of condition assessment result.
Further, in the crusing robot and unmanned plane in be loaded with GPS positioning module, for crusing robot,
The real-time positioning of unmanned plane position information exports.
Further, the crusing robot, unmanned plane module are detected by binocular vision sensor and laser radar
The complaint message of robot, and the posture information of itself is grasped by 3-dimensional digital attitude transducer, realize machine
The avoidance and obstacle detouring of people.
Further, further includes:
Image processing module, for completing the adjusting of target image angle, and the GPS positioning carried based on each sub-picture
Information and 3 d pose information complete the splicing of all images, obtain entire area image to be monitored；
Image tagged module, for environmental parameters data and Ecological Environmental Evaluation result will to be received with hyperlink
Formal notation on corresponding area image to be monitored, and will complete label image storage in corresponding database.
Further, further includes:
Image characteristics extraction module passes through depth convolution mould for area image to be monitored division not to be overlapped subregion
Type extracts the LBP feature of each sub-regions, forming region histogram, then each region histogram connected to be formed Enhanced feature to
Amount；
Image evaluation result output module carries out assessment result using nearest neighbor classifier based on the Enhanced feature vector
Output, to realize the identification of the targets such as vegetation, rubbish, river in area image to be monitored.
Further, the node networking module is the networking of zigbee terminal node and zigbee coordinator node.
Further, the crusing robot includes climbing robot and unmanned plane.
Further, it is equipped in the handheld terminal:
Prediction of Ecological Environment analysis module carries out region environment future hair based on preset BP neural network model
The prediction of situation is opened up, and exports prediction result；
Ecological environment Conjoint Analysis module, for for the Ecological Environmental Evaluation result that receives and image evaluation as a result,
The ecological environment for being conducive to improve the ecological environment is calculated using more grouping differential evolution algorithm optimizations and combines rectifying plan side
Case.
Further, after the handheld terminal uses the mode of cell phone application, user's registration to log in, by accessing server
The calling of data in permission can be achieved.
The invention has the following advantages:
Based on the planning of crusing robot walking path, crusing robot may be implemented to ecological environment in area to be tested
The automatic collection of parameter, it is easy to use；Sensor monitoring result is merged with image monitoring result, is facilitating user more
While adding comprehensively understanding to current ecological environment testing result, checked convenient for the data call in later period.
Detailed description of the invention
Fig. 1 is a kind of system block diagram of ecological environment intelligent monitor system of the embodiment of the present invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1, the embodiment of the invention provides a kind of ecological environment intelligent monitor systems, including transmitted by data
Module connected crusing robot and handheld terminal, the crusing robot include climbing robot and unmanned plane, described to creep
Robot and unmanned plane in be loaded with sensor group, be made of several sensor nodes, for the ecology in area to be tested
The acquisition of ambient parameter data；It is inside loaded with node networking module, for being sensor node and coordinator node networking, to node
Sub-clustering is carried out, the transmission of data is completed；And on the unmanned plane in be loaded with an image capture module, be used for area to be tested target
The acquisition of image；Using the mode of cell phone application, after user's registration logs in, data in permission can be realized by accessing server
It calls, is inside equipped with:
Travel region demarcating module carries out image denoising and image using bilateral filtering and piecewise linear transform algorithm respectively
Enhancing pretreatment；Image binaryzation processing, the form school district based on connected component are carried out using iteration self-adapting thresholding method
Characteristic of field removes the miscellaneous spot noise of small area, completes the identification of barrier position, and the length based on connected component boundary rectangle
Identification of the width than carrying out barrier shape and size, completes the calibration of crusing robot travel region；
Crusing robot path planning module, the calibration result based on travel region demarcating module carry out crusing robot row
The planning in path and unmanned plane operating path is walked, and sends crusing robot and unmanned plane for the path after the completion of planning；
Data fusion module, for carrying out the fusion of data at the cluster head of handheld terminal using fuzzy nearness algorithm；
Data characteristics extraction module carries out the extraction of characteristic using MapReduce to the data for completing fusion treatment；
Ecological Environmental Evaluation module realizes current ecological environment feelings using trained support vector machines based on characteristic
The output of condition assessment result；
Image processing module, for completing the adjusting of target image angle, and the GPS positioning carried based on each sub-picture
Information and 3 d pose information complete the splicing of all images, obtain entire area image to be monitored；Described image processing module
The deflection angle that each image is determined according to the corresponding 3 d pose data of each image, then according to the deflection angle of each image
Degree repaints each image, when drafting, calculates the supplement deflection angle of each image according to the deflection angle of each image first
Degree；Then each image is repainted according to the supplement deflection angle of each image；
Image tagged module, for environmental parameters data and Ecological Environmental Evaluation result will to be received with hyperlink
Formal notation on corresponding area image to be monitored, and will complete label image storage in corresponding database.
Image characteristics extraction module passes through depth convolution mould for area image to be monitored division not to be overlapped subregion
Type extracts the LBP feature of each sub-regions, forming region histogram, then each region histogram connected to be formed Enhanced feature to
Amount；
Image evaluation result output module carries out assessment result using nearest neighbor classifier based on the Enhanced feature vector
Output, to realize the identification of the targets such as vegetation, rubbish, river in area image to be monitored.
Prediction of Ecological Environment analysis module carries out region environment future hair based on preset BP neural network model
The prediction of situation is opened up, and exports prediction result；
Ecological environment Conjoint Analysis module, for for the Ecological Environmental Evaluation result that receives and image evaluation as a result,
The ecological environment for being conducive to improve the ecological environment is calculated using more grouping differential evolution algorithm optimizations and combines rectifying plan side
Case；
Central processing unit, for coordinating above-mentioned module work.
In the present embodiment, transmission of the data transmission module for data in network, when cluster interior nodes collect data
Afterwards, corresponding leader cluster node is sent by collected data first, then through leader cluster node by tidal data recovering to gateway node,
Handheld terminal is transferred data to by gateway node and carries out display and analysis processing, and the result of analysis processing is passed through internet
Server is transported to be stored；
It is interior in the crusing robot and unmanned plane to be loaded with GPS positioning module in the present embodiment, it is used for inspection machine
The real-time positioning output of people, unmanned plane position information.The crusing robot, unmanned plane module are sensed by binocular vision
Device and laser radar detect the complaint message of robot, and grasp itself by 3-dimensional digital attitude transducer
Posture information realizes the avoidance and obstacle detouring of robot.
In the present embodiment, the node networking module is the networking of zigbee terminal node and zigbee coordinator node.
It is worth noting that, a timing module is equipped in this specific implementation unmanned plane, for realizing opening automatically for camera
It closes, thus the case where avoiding former and later two image generation area from being overlapped.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of ecological environment intelligent monitor system characterized by comprising
Sensor group, is inside loaded in crusing robot, is made of several sensor nodes, for the ecology in area to be tested
The acquisition of ambient parameter data；
Image capture module is inside loaded on unmanned plane, the acquisition for area to be tested target image；
Travel region demarcating module carries out image denoising and image enhancement using bilateral filtering and piecewise linear transform algorithm respectively
Pretreatment；Image binaryzation processing is carried out using iteration self-adapting thresholding method, the morphology area based on connected component is special
The sign removal miscellaneous spot noise of small area, completes the identification of barrier position, and the length-width ratio based on connected component boundary rectangle
The identification of barrier shape and size is carried out, the calibration of crusing robot travel region is completed；
Crusing robot path planning module, the calibration result based on travel region demarcating module carry out crusing robot walking road
The planning of diameter and unmanned plane operating path, and crusing robot and unmanned plane are sent by the path after the completion of planning；
Node networking module carries out sub-clustering to node, completes the biography of data for being sensor node and coordinator node networking
It is defeated；
Data transmission module, for the transmission of data in network, after cluster interior nodes collect data, first by collected number
According to corresponding leader cluster node is sent to, then through leader cluster node by tidal data recovering to gateway node, data are passed by gateway node
It is defeated to carry out display and analysis processing to handheld terminal, and the result of analysis processing is stored up through the Internet transmission to server
It deposits；
Data fusion module, for carrying out the fusion of data at the cluster head of handheld terminal using fuzzy nearness algorithm；
Data characteristics extraction module carries out the extraction of characteristic using MapReduce to the data for completing fusion treatment；
Ecological Environmental Evaluation module realizes that current ecological environment situation is commented using trained support vector machines based on characteristic
Estimate the output of result.
2. a kind of ecological environment intelligent monitor system as described in claim 1, which is characterized in that the crusing robot and nothing
It is man-machine it is interior in be loaded with GPS positioning module, for crusing robot, unmanned plane position information real-time positioning output.
3. a kind of ecological environment intelligent monitor system as described in claim 1, which is characterized in that the crusing robot, nothing
Man-machine module detects the complaint message of robot by binocular vision sensor and laser radar, and passes through three-dimensional
Digital attitude transducer grasps the posture information of itself, realizes the avoidance and obstacle detouring of robot.
4. a kind of ecological environment intelligent monitor system as described in claim 1, which is characterized in that further include:
Image processing module, for completing the adjusting of target image angle, and the GPS positioning information carried based on each sub-picture
The splicing that all images are completed with 3 d pose information obtains entire area image to be monitored；
Image tagged module, for environmental parameters data and Ecological Environmental Evaluation result will to be received with the shape of hyperlink
Formula marks on corresponding area image to be monitored, and will complete the image storage of label in corresponding database.
5. a kind of ecological environment intelligent monitor system as described in claim 1, which is characterized in that further include:
Image characteristics extraction module is mentioned for area image to be monitored division not to be overlapped subregion by depth convolution model
The LBP feature of each sub-regions, forming region histogram are taken, then connects each region histogram to form Enhanced feature vector；
Image evaluation result output module carries out the defeated of assessment result using nearest neighbor classifier based on the Enhanced feature vector
Out, to realize the identification of vegetation, rubbish, river in area image to be monitored.
6. a kind of ecological environment intelligent monitor system as described in claim 1, which is characterized in that the node networking module is
The networking of zigbee terminal node and zigbee coordinator node.
7. a kind of ecological environment intelligent monitor system as described in claim 1, which is characterized in that the crusing robot includes
Climbing robot and unmanned plane.
8. a kind of ecological environment intelligent monitor system as described in claim 1, which is characterized in that set in the handheld terminal
Have:
Prediction of Ecological Environment analysis module carries out the region environment future development feelings based on preset BP neural network model
The prediction of condition, and export prediction result；
Ecological environment Conjoint Analysis module, for for the Ecological Environmental Evaluation result that receives and image evaluation as a result, using
The ecological environment joint rectifying plan scheme for being conducive to improve the ecological environment is calculated in more grouping differential evolution algorithm optimizations.
9. a kind of ecological environment intelligent monitor system as described in claim 1, which is characterized in that the handheld terminal uses hand
The mode of machine APP after user's registration logs in, can realize the calling of data in permission by accessing server.
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| CN110299030A (en) * | 2019-06-28 | 2019-10-01 | 汉王科技股份有限公司 | Handheld terminal, aircraft and its airspace measurement method, control method |
| CN110414696A (en) * | 2019-07-29 | 2019-11-05 | 武汉同济物业管理有限公司 | A kind of engineering equipment installation security hidden danger maintenance system |
| CN110470959A (en) * | 2019-08-27 | 2019-11-19 | 东北电力大学 | A kind of switch cabinet comprehensive on-line monitoring analysis platform |
| CN110618703A (en) * | 2019-10-23 | 2019-12-27 | 西南林业大学 | Portable indoor environmental pollution detecting system |
| CN111298419A (en) * | 2020-03-24 | 2020-06-19 | 天水师范学院 | Be used for aerobics exercises formation trainer |
| CN112051876A (en) * | 2020-09-10 | 2020-12-08 | 南京信息工程大学 | Intelligent ecological monitoring system based on light-carried radio frequency fusion |
| CN112526909A (en) * | 2020-12-02 | 2021-03-19 | 中国农业科学院农业信息研究所 | Wisdom agricultural equipment system based on thing networking |
| CN112884454A (en) * | 2021-03-20 | 2021-06-01 | 南阳理工学院 | River and lake water ecological environment monitoring system based on Internet of things |
| CN112947460A (en) * | 2021-03-01 | 2021-06-11 | 北京玄马知能科技有限公司 | Automatic route presetting planning method for inspection robot based on laser point cloud model |
| CN113781676A (en) * | 2021-09-15 | 2021-12-10 | 北京顺造科技有限公司 | Security protection system of patrolling and examining based on four-footed robot and unmanned aerial vehicle |
| CN114330858A (en) * | 2021-12-23 | 2022-04-12 | 广东贝源检测技术股份有限公司 | Evaluation system of water ecological environment |
| CN115081252A (en) * | 2022-08-16 | 2022-09-20 | 中国航空工业集团公司西安飞机设计研究所 | Correction method for climbing performance data of multi-configuration airplane |
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| CN110299030A (en) * | 2019-06-28 | 2019-10-01 | 汉王科技股份有限公司 | Handheld terminal, aircraft and its airspace measurement method, control method |
| CN110414696A (en) * | 2019-07-29 | 2019-11-05 | 武汉同济物业管理有限公司 | A kind of engineering equipment installation security hidden danger maintenance system |
| CN110470959A (en) * | 2019-08-27 | 2019-11-19 | 东北电力大学 | A kind of switch cabinet comprehensive on-line monitoring analysis platform |
| CN110618703A (en) * | 2019-10-23 | 2019-12-27 | 西南林业大学 | Portable indoor environmental pollution detecting system |
| CN111298419A (en) * | 2020-03-24 | 2020-06-19 | 天水师范学院 | Be used for aerobics exercises formation trainer |
| CN112051876A (en) * | 2020-09-10 | 2020-12-08 | 南京信息工程大学 | Intelligent ecological monitoring system based on light-carried radio frequency fusion |
| CN112526909A (en) * | 2020-12-02 | 2021-03-19 | 中国农业科学院农业信息研究所 | Wisdom agricultural equipment system based on thing networking |
| CN112947460A (en) * | 2021-03-01 | 2021-06-11 | 北京玄马知能科技有限公司 | Automatic route presetting planning method for inspection robot based on laser point cloud model |
| CN112884454A (en) * | 2021-03-20 | 2021-06-01 | 南阳理工学院 | River and lake water ecological environment monitoring system based on Internet of things |
| CN113781676A (en) * | 2021-09-15 | 2021-12-10 | 北京顺造科技有限公司 | Security protection system of patrolling and examining based on four-footed robot and unmanned aerial vehicle |
| CN114330858A (en) * | 2021-12-23 | 2022-04-12 | 广东贝源检测技术股份有限公司 | Evaluation system of water ecological environment |
| CN115081252A (en) * | 2022-08-16 | 2022-09-20 | 中国航空工业集团公司西安飞机设计研究所 | Correction method for climbing performance data of multi-configuration airplane |
| CN115081252B (en) * | 2022-08-16 | 2022-12-06 | 中国航空工业集团公司西安飞机设计研究所 | Correction method for climbing performance data of multi-configuration airplane |
| CN116295604A (en) * | 2023-01-04 | 2023-06-23 | 中铁十一局集团有限公司 | Intelligent dust real-time monitoring and control system |
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