CN110044337A - A kind of the unmanned plane monitoring method and system of urban flooding scene - Google Patents
A kind of the unmanned plane monitoring method and system of urban flooding scene Download PDFInfo
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- CN110044337A CN110044337A CN201910355077.3A CN201910355077A CN110044337A CN 110044337 A CN110044337 A CN 110044337A CN 201910355077 A CN201910355077 A CN 201910355077A CN 110044337 A CN110044337 A CN 110044337A
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
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Abstract
The invention discloses a kind of unmanned plane monitoring method of urban flooding scene and systems.The monitoring method includes the following steps: panoramic video and inclination image that urban flooding scene is obtained using unmanned plane monitoring system；And it is further, according to inclination image, in conjunction with the digital elevation model before flood, obtain the submergence ratio and depth of immersion in city, the actual scene for being obtained the flood degree of each region in city in real time using the panoramic video is realized and timely provides Urban Flood Waterlogging information comprehensively.
Description
Technical field
The present invention relates to flood monitor field, in particular to the unmanned plane monitoring method of a kind of urban flooding scene and it is
System.
Background technique
Flood, one of a few the Nature disasters in the world, seriously threatens the security of the lives and property of the mankind, influences social steady
Fixed and development.It is either large or small because the uniqueness of geological conditions distribution, there is a large amount of big flood every year in China, it removes sand
Outside desert, extreme drought and extremely frigid zones, about 2/3 land area all various degrees and different types of flood and waterlog
Evil: eastern region often suffers from the attack of flood caused by storm tide in flood season (the annual 6-9 month)；Mountainous region, hills and plateau
Then often because of heavy rain mountain torrents and mud-rock flow can occur for area；The Yellow River, the rivers such as Song Hua River can also cause flood because of ice slush sometimes；
There is snowmelt flood when the ground such as Xinjiang, Qinghai, Tibet；Reservoir dam failure and artificial repentant dike cause dike breach, caused flood
Also it happens occasionally.
Urban Flood Waterlogging mainly includes two types: outer flood and waterlogging.The flash flood due to caused by heavy rain, snow melt etc.
Or rivers are spread unchecked, and be the main source of flood outside city such as the Wuhan in middle and lower reach of Yangtze River Plain are the severely afflicated areas of every annual flood；And
Urban waterlogging is more then to cause water on urban streets excessively to be concentrated, street evolves into since urban rainwater outflow is obstructed
" river ".The origin cause of formation of outer flood and waterlogging all covers a variety of factors, and mainly include two class factors: natural cause and mankind's activity are made
With.
For the monitoring of flood, traditional mode by artificial means monitoring disaster-stricken situation, not only inefficiency,
It is time-consuming and laborious, and many places can not monitor on the spot, moreover flood monitoring often faces rainstorm weather threat, and monitoring is appointed
Business can not be unfolded, and the development of nearly half a century satellite technology solves the above puzzlement, applied geography information, global location, distant
Sense, can be with General Promotion drainage waterlogging prevention level of digital.
In flood, understand big flood situation in time to make policymaker accurate, it is desirable to provide comprehensively, it is accurate and
Quick information, such as the damage the condition of a disaster information such as DEM, submergence ratio, settlement place and the house of flooded area, road and bridge etc.
Monitoring index, but flood is often short duration, and flood-fighting need of work is carried out rapidly, and various satellite sensors are often
Each performs its own functions, each advantageous, also respectively has deficiency, therefore can not provide comprehensive information in a short time.
Summary of the invention
The object of the present invention is to provide a kind of unmanned plane monitoring method of urban flooding scene and system, with comprehensively timely
Urban Flood Waterlogging information is provided.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of unmanned plane monitoring method of urban flooding scene, and the monitoring method includes the following steps:
The panoramic video and inclination image of urban flooding scene are obtained using unmanned plane monitoring system；
Utilize the inclination video generation 3 D stereoscopic image；
The digital elevation model of urban flooding scene is established according to the 3 D stereoscopic image；
Digital elevation model before obtaining flood；
The digital elevation model and the digital elevation model before flood for comparing the urban flooding scene obtain city
Submergence ratio and depth of immersion；
Obtain the actual scene of the flood degree of each region in city in real time using the panoramic video.
Optionally, described to utilize the inclination video generation 3 D stereoscopic image, it specifically includes:
According to oblique photograph measuring technique, the inclination video generation 3 D stereoscopic image is utilized.
Optionally, the digital elevation model that urban flooding scene is established according to the 3 D stereoscopic image, it is specific to wrap
It includes: according to the 3 D stereoscopic image, point-by-point interpolation being carried out using conicoid fitting, establishes the number of urban flooding scene
Elevation model.
Optionally, the digital elevation model that urban flooding scene is established according to the 3 D stereoscopic image, later also
Include:
The SAR image and point cloud data image of urban flooding scene are obtained using unmanned plane monitoring system；
According to the SAR image and point cloud data image, the digital elevation model of the urban flooding scene is corrected.
This law also provides a kind of unmanned plane monitoring system of urban flooding scene, and the monitoring system includes:
Unmanned plane, panoramic video camera, oblique photograph aerial mapping camera, wireless data transfer module and ground control and
Data processing centre；
The panoramic video camera, the oblique photograph aerial mapping camera, the wireless data transfer module are respectively provided with
On the unmanned plane；
The ground control and data processing centre are connect by wireless data transfer module with the unmanned plane, for controlling
Make the flight of the unmanned plane；
The panoramic video camera and the oblique photograph aerial mapping camera pass through respectively wireless data transfer module with
Ground control and data processing centre's connection are respectively used to obtain panoramic video and tilt image, and by the aphorama
Frequency and the inclination image are sent to the ground by the wireless data transfer module and control and data processing centre；
The ground control and data processing centre are also used to obtain city according to the panoramic video and the inclination image
The actual scene of the submergence ratio in city, depth of immersion and the flood degree of each region in city.
Optionally, the unmanned plane monitoring system further includes synthetic aperture radar and laser radar；
The synthetic aperture radar and the laser radar are arranged on the unmanned plane, and respectively by described wireless
Data transmission module is controlled with the ground and data processing centre connect.
Optionally, the synthetic aperture radar is Mini-SAR.
Optionally, the oblique photograph aerial mapping camera includes 5 camera lens.
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 urban flooding scene and systems.The monitoring method includes such as
Lower step: the panoramic video and inclination image of urban flooding scene are obtained using unmanned plane monitoring system；And it is further, according to
It tilts image and in conjunction with the digital elevation model before flood obtains the submergence ratio and depth of immersion in city, using described complete
Scape video obtains the actual scene of the flood degree of each region in city in real time, realizes and timely provides city comprehensively
Flood information.
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 urban flooding scene provided by the invention；
Fig. 2 is that a kind of unmanned plane of urban flooding 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 urban flooding scene and system, with comprehensively timely
Urban Flood Waterlogging information is provided.
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, the present invention provides a kind of unmanned plane monitoring method of urban flooding scene, the monitoring method includes
Following steps:
Step 101, the panoramic video and inclination image of urban flooding scene are obtained using unmanned plane monitoring system；Step
102, utilize the inclination video generation 3 D stereoscopic image；Specifically, utilizing the inclination according to oblique photograph measuring technique
Video generation 3 D stereoscopic image.
Step 103, the digital elevation model that urban flooding scene is established according to the 3 D stereoscopic image, specifically includes:
According to the 3 D stereoscopic image, point-by-point interpolation is carried out using conicoid fitting, the number for establishing urban flooding scene is high
Journey model, specifically includes: firstly, being filtered to 3 D stereoscopic image, obtaining filtered 3 D stereoscopic image；According to
Filtered 3 D stereoscopic image carries out point-by-point interpolation using conicoid fitting, generates the digital elevation of urban flooding scene
Model.
Step 104, the digital elevation model before flood is obtained, for the number height made according to satellite data
Journey model can obtain in geographical spatial data cloud database.
Step 105, the digital elevation model and the digital elevation model before flood for comparing the urban flooding scene,
Obtain the submergence ratio and depth of immersion in city.
Step 106, the actual field of the flood degree of each region in city is obtained in real time using the panoramic video
Scape.
The number of urban flooding scene is established described in step 103 according to the point cloud data image and the 3 D stereoscopic image
Word elevation model, later further include: the SAR image and point cloud data shadow of urban flooding scene are obtained using unmanned plane monitoring system
Picture；According to the SAR image and point cloud data image, the digital elevation model of the urban flooding scene is corrected.
As shown in Fig. 2, the present invention also provides a kind of unmanned planes of urban flooding scene to monitor system, the monitoring system packet
It includes:
Unmanned plane 1, panoramic video camera 2, oblique photograph aerial mapping camera 3, laser radar 4, wireless data transmission mould
Block 5, ground control and data processing centre 6 and synthetic aperture radar 7；
The panoramic video camera 2, the oblique photograph aerial mapping camera 3, the laser radar 4 and the no line number
It is arranged on the unmanned plane 1 according to transmission module 5；
The ground control and data processing centre 6 are connect by wireless data transfer module 5 with the unmanned plane 1, are used
In the flight for controlling the unmanned plane 1；
The panoramic video camera 2, the oblique photograph aerial mapping camera 3 and the laser radar 4 pass through nothing respectively
Line data transmission module is controlled with the ground and data processing centre connect, and is respectively used to obtain panoramic video, inclination image
With point cloud data image, and the panoramic video, the inclination image and the point cloud data image are passed through into the no line number
The ground control and data processing centre 6 are sent to according to transmission module 5；
Ground control and data processing centre 6 are also used to according to the panoramic video, the inclination image and described
Point cloud data image obtains the reality of the submergence ratio in city, depth of immersion and the flood degree of each region in city
Scene.
The synthetic aperture radar 7 is arranged on the unmanned plane, and by the wireless data transfer module with it is described
Ground control and data processing centre's connection.The synthetic aperture radar 7 can be at night or harsh weather, and it is clear to obtain
City SAR image to correct the digital elevation model of urban flooding scene, overcome oblique photograph aerial mapping camera to be shot
Condition influence cause obtain obliquity effects it is of low quality, caused by urban flooding scene digital elevation model inaccuracy
Technological deficiency improves the precision of the digital elevation model of urban flooding scene.
Wherein, the panoramic video camera is that high definition monitors video camera；Oblique photograph aerial mapping camera is lightweight
High-precision wide covers oblique photograph aerial mapping camera, including 5 camera lens；Laser radar is high-precision lightweight laser thunder
It reaches；Synthetic aperture radar is small-sized InSAR, i.e. Mini-SAR；Unmanned plane is small-sized unmanned plane.Unmanned plane prison of the invention
The parameter of each component devices of examining system is as shown in table 1.
The parameter of each component devices of the unmanned plane monitoring system of 1 urban flooding scene of table
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 urban flooding scene and systems.The monitoring method includes such as
Lower step: the point cloud data image, panoramic video and inclination image of urban flooding scene are obtained using unmanned plane monitoring system；And
Further, flooding for city is obtained in conjunction with the digital elevation model before flood according to point cloud data image, inclination image
Do not have range and depth of immersion, obtains the actual field of the flood degree of each region in city in real time using the panoramic video
Scape realizes and timely provides Urban Flood Waterlogging information comprehensively.Each embodiment in this specification is retouched in a progressive manner
It states, each embodiment focuses on the differences from other embodiments, the same or similar parts in each embodiment
It may refer to each other.For the system disclosed in the embodiment, since it is corresponded to the methods disclosed in the examples, so description
It is fairly simple, reference may be made to the description of the method.
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 (8)
1. a kind of unmanned plane monitoring method of urban flooding scene, which is characterized in that the monitoring method includes the following steps:
The panoramic video and inclination image of urban flooding scene are obtained using unmanned plane monitoring system；
Utilize the inclination video generation 3 D stereoscopic image；
The digital elevation model of urban flooding scene is established according to the 3 D stereoscopic image；
Digital elevation model before obtaining flood；
The digital elevation model and the digital elevation model before flood for comparing the urban flooding scene, obtain flooding for city
Do not have range and depth of immersion；
Obtain the actual scene of the flood degree of each region in city in real time using the panoramic video.
2. a kind of unmanned plane monitoring method of urban flooding scene according to claim 1, which is characterized in that the utilization
The inclination video generation 3 D stereoscopic image, specifically includes:
According to oblique photograph measuring technique, the inclination video generation 3 D stereoscopic image is utilized.
3. a kind of unmanned plane monitoring method of urban flooding scene according to claim 1, which is characterized in that the basis
The 3 D stereoscopic image establishes the digital elevation model of urban flooding scene, specifically includes: according to the 3 D stereoscopic image,
Point-by-point interpolation is carried out using conicoid fitting, establishes the digital elevation model of urban flooding scene.
4. a kind of unmanned plane monitoring method of urban flooding scene according to claim 1, which is characterized in that the basis
The 3 D stereoscopic image establishes the digital elevation model of urban flooding scene, later further include:
The SAR image and point cloud data image of urban flooding scene are obtained using unmanned plane monitoring system；
According to the SAR image and point cloud data image, the digital elevation model of the urban flooding scene is corrected.
5. the unmanned plane of urban flooding scene a kind of monitors system, which is characterized in that the monitoring system includes:
Unmanned plane, panoramic video camera, oblique photograph aerial mapping camera, wireless data transfer module and ground control and data
Processing center；
The panoramic video camera, the oblique photograph aerial mapping camera and the wireless data transfer module are arranged at institute
It states on unmanned plane；
The ground control and data processing centre are connect by wireless data transfer module with the unmanned plane, for controlling
State the flight of unmanned plane；
The panoramic video camera and the oblique photograph aerial mapping camera pass through respectively wireless data transfer module with it is described
Ground control and data processing centre's connection are respectively used to obtain panoramic video and tilt image, and by the panoramic video and
The inclination image is sent to the ground control and data processing centre by the wireless data transfer module；
The ground control and data processing centre are also used to obtain city according to the panoramic video and the inclination image
The actual scene of the flood degree of submergence ratio, depth of immersion and each region in city.
6. the unmanned plane of urban flooding scene according to claim 5 monitors system, which is characterized in that the unmanned plane prison
Examining system further includes synthetic aperture radar and laser radar；
The synthetic aperture radar and the laser radar are arranged on the unmanned plane, and pass through the wireless data respectively
Transmission module is controlled with the ground and data processing centre connect.
7. the unmanned plane of urban flooding scene according to claim 6 monitors system, which is characterized in that the synthetic aperture
Radar is Mini-SAR.
8. the unmanned plane of urban flooding scene according to claim 5 monitors system, which is characterized in that the oblique photograph
Aerial mapping camera includes 5 camera lens.
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