CN110570627B - Barrier disaster early warning device and monitoring early warning method based on captive balloon - Google Patents
Barrier disaster early warning device and monitoring early warning method based on captive balloon Download PDFInfo
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- CN110570627B CN110570627B CN201910565437.2A CN201910565437A CN110570627B CN 110570627 B CN110570627 B CN 110570627B CN 201910565437 A CN201910565437 A CN 201910565437A CN 110570627 B CN110570627 B CN 110570627B
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- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes
Abstract
The invention relates to a captive balloon-based damming disaster early warning device and a monitoring early warning method, and relates to the field of geological disaster early warning and monitoring. The device comprises a plurality of balloon observation devices which are provided with environment image acquisition devices, wherein the number of the balloon observation devices is a plurality, and the plurality of the balloon observation devices are respectively arranged in the region of a surveying barrier; the picture sampling is carried out on the damming condition in the investigation damming part area through balloon observation equipment, and disaster early warning is carried out through analysis. The invention provides a weir dam disaster early warning device and a monitoring early warning method based on captive balloons, which are improved aiming at the characteristics of remote weir dam disaster occurrence places, backward monitoring means, complex terrain, difficult arrangement and the like.
Description
Technical Field
The invention relates to a captive balloon-based damming disaster early warning device and a monitoring early warning method, and relates to the field of geological disaster early warning and monitoring.
Background
Landslide, rock fall, debris flow and other disasters often occur to the river bank in the mountainous area due to factors such as rainfall, snow melting, earthquakes and the like, the moving soil bodies form a damming body in the river channel, and upstream incoming water is accumulated into a damming lake under the obstruction of the damming body. As the anti-skid, anti-seepage and anti-impact capabilities of the barrier lake are often poor, the flood destructive power caused by the lake water which is accumulated once the barrier lake is burst is huge, and the downstream life and property are greatly influenced.
At present, the geological disasters are frequent all over the world, and large barrage lakes are formed. The extremely unstable bursting time of the dammed dam is difficult to predict, the existing coping strategy is to find early treatment, reduce the accumulation of the dammed lake and timely introduce water and discharge. As known by the applicant, the existing early warning method has the defects of time lag, lack of data during disaster and the like, and has certain difficulty in tracking after the disaster.
Disclosure of Invention
Aiming at the defects, the invention provides a monitoring and early warning method of a damming disaster early warning device based on a captive balloon.
The invention adopts the following technical scheme:
the invention relates to a captive balloon-based damming disaster early warning device, which comprises a plurality of balloon observation devices provided with environment image acquisition devices, wherein the balloon observation devices are respectively arranged in a damming part surveying area; the picture sampling is carried out on the damming condition in the investigation damming part area through balloon observation equipment, and disaster early warning is carried out through analysis.
The invention relates to a captive balloon-based damming disaster early warning device.A balloon observation device comprises an anchoring point, a rope, a suspension frame, a balloon, a solar panel, an electronic integration box, optical photographic equipment and a storage battery; the anchoring point is arranged on a surveying point set in a surveying dammed area, a hanging frame is arranged at the bottom end of the balloon, the hanging frame at the bottom end of the balloon is fixed on the anchoring point through a rope, a solar panel is arranged on the outer surface of the sphere of the balloon, and an optical photography device is arranged on the hanging frame;
the storage battery and the electronic integration box are arranged in the mounting frame, the storage battery supplies power to the optical photographic equipment and the electronic integration box, and the data output end of the optical photographic equipment is connected with the data receiving end of the electronic integration box; the solar panel charges the storage battery.
The invention relates to a captive balloon-based barrier disaster early warning device, which further comprises a gas tank and an electric control gas valve; the gas tank is connected with the inflation end of the balloon through an electric control gas valve; the electric control air valve is controlled by the electronic integration box.
The invention relates to a captive balloon-based barrier disaster early warning device, wherein a microprocessor, a wireless communication module, a flight attitude measurement module and a global positioning module are arranged in an electronic integration box;
the optical photographic equipment comprises visible light photographic equipment and infrared photographic equipment;
the microprocessor and the wireless communication module perform data bidirectional transmission, and the microprocessor and signals of the flight attitude measurement module, the global positioning module and the optical photographic equipment perform data bidirectional transmission;
the wireless communication module transmits data to the data center through the external antenna; the external antenna is arranged on the outer wall of the mounting frame.
According to the barrier disaster early warning device based on the captive balloon, the mounting frame is of a cylindrical structure, and the visible light photographing equipment and the infrared photographing equipment are arranged along the outer circumferential surface of the mounting frame of the cylindrical structure.
According to the damming disaster early warning device based on the captive balloon, the solar panel is located on the outer circumferential surface of the top of the balloon and is annularly arranged.
The invention discloses a monitoring and early warning method of a captive balloon-based damming disaster early warning device, which comprises the following early warning steps:
step one, selecting a damming part to be surveyed, selecting a position where a river turn exceeds 15 degrees as a main control point in the damming part, adding secondary control points between the main control points to enable the distance between the control points to be smaller than 300m, and selecting rock mass stabilizing hard-solid positions on two banks of the main control points as anchoring points.
Secondly, installing corresponding balloon observation equipment at the anchoring point, and fixing the lifted balloon on the anchoring nail point by adopting a rope;
thirdly, acquiring image data of a surveying dam plug part by using optical photographic equipment, and transmitting the acquired image data to a data processing center through a wireless communication module by the balloon observation equipment after being lifted off;
comparing and analyzing the image data obtained by the balloon observation equipment with historical data by the data processing center, sending out early warning if major change is found, and calling out different time point data in near and far periods for system management personnel;
the historical data comprises original data and secondary data processed by a data center, and the secondary data at least comprises a digital elevation model, a digital ortho-image and a textured three-dimensional grid model;
and fifthly, after the early warning of the data center is sent out, the shooting time interval is encrypted by the camera equipment on the balloon platform, and data are transmitted back to the data center.
And sixthly, removing the disaster, and enabling the system to enter an early warning discovery state again.
The invention relates to a monitoring and early warning method of a captive balloon-based damming disaster early warning device, which comprises the following steps of:
1) matching N similar pictures from the historical images according to the time t, the position information X, Y, Z and the posture information alpha, beta and gamma; the selected picture is cut into 2n equal-sized blocks, and the average chroma C of each block is calculatedi，
The average chroma of a single picture is calculated by:
and then the chroma variance is calculated by the following formula:
wherein N is 2-degree N ═ log of fractional number N2N；
2) Predicting an average chroma predicted value by regression of N pictures and time t according to the average chroma and the chroma variance obtained in the step 1) through the following formula
And a chrominance variance prediction value sc pre
And chroma variance predictionsc pre
In the formula A1、A2、A3、A4、A5、A6To be evaluated for the coefficient of the term of the power function, B1、B2To be evaluated for logarithmic coefficient, C1、C2Is a undetermined value of the sine-term coefficient, omega1、ω2Is a period undetermined value of the sine item,
for the initial angle of the sine term to be determined, D1、D2Is a constant term coefficient undetermined value.
3) Predicting the average chroma
And a chrominance variance prediction value sc preAccording to a threshold coefficient K1、K2Average chroma with newly acquired picture
And the chrominance variance scAnd (6) comparing. If it is not
And sc＜K2sc preIf so, no abnormity exists in the picture; otherwise, judging that the area has landslide, collapse or damming and sending an alarm if the area has significant landform change.
According to the monitoring and early warning method of the captive balloon-based damming disaster early warning device, in the second step, the length of the rope is calculated according to the following formula
L＝min(Kσy/Υ，D)，
In the formula, K is the safety coefficient determined based on the local maximum wind level, sigmayIs the tensile yield strength of the cord, y is the deadweight per unit length of the cord, D is the diameter of the area to be monitored or the distance from the adjacent point of disposition。
Advantageous effects
The invention provides a weir dam disaster early warning device and a monitoring early warning method based on captive balloons, which are improved aiming at the characteristics of remote weir dam disaster occurrence places, backward monitoring means, complex terrain, difficult arrangement and the like.
According to the captive balloon-based barrier disaster early warning device and the monitoring early warning method, equipment used in the method has the ad hoc network communication capacity and has the advantages of being fast in construction and good in disaster recovery capacity; the height of the captive balloon is controlled, so that the monitoring range can be adjusted; compared with the arrangement of ground monitoring, the method can reduce the number of monitoring points, avoid dangerous terrains and avoid a large amount of dangerous operation; the multiband shooting equipment can realize all-weather monitoring and ensure the real-time performance of early warning and monitoring; the solar energy is used to enable the method to have long-term adaptability in the area without energy supply; the early warning monitoring system provided by the method enables each flow to be connected smoothly, information transfer is rapid and accurate, disaster finding time is shortened, and more data references are provided for management personnel.
Drawings
FIG. 1 is a schematic diagram of the construction of a balloon observation device of the present invention;
FIG. 2 is a schematic view of the balloon arrangement of the present invention;
FIG. 3 is a schematic diagram of a processing module of the present invention;
FIG. 4 is a flow chart of a monitoring and early warning method of the present invention;
in the figure, 0 is a stable and hard part of a rock body, 1 is an anchoring point, 2 is a rope, 3 is a hanging frame, 4 is a balloon, 5 is a solar panel, 6 is a storage battery, 7 is an electronic integrated box, 8 is a gas cylinder, 9 is an antenna, and 10 is optical photographing equipment.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
As shown in fig. 1: a kind of damming calamity early warning device based on captive balloon, the apparatus includes several balloon observation equipments carrying environmental image acquisition unit, the ball observation equipment is several, the several said ball observation equipment is arranged in surveying the area of damming portion separately; the picture sampling is carried out on the damming condition in the investigation damming part area through balloon observation equipment, and disaster early warning is carried out through analysis.
The balloon 4 of the balloon observation device is provided with a high-strength air bag, a hanging frame 3 is arranged at the bottom of the balloon 4, and a solar panel 5 is arranged at the top of the balloon 4 in a surrounding mode. The storage battery 6, the electronic integration box 7 and the gas cylinder 8 are arranged in the hanging frame 3, the plurality of optical photographing devices 10 are annularly arranged on the annular protruding portion outside the hanging frame 3, the communication antenna is arranged outside the cylinder wall of the hanging frame 3, and the bottom of the hanging frame 3 is connected with the rope 2. The solar panel 5 charges the storage battery 6, and the storage battery 6 supplies power for the electronic integration box 7 and the optical photographing device 10. The electronic integrated box 7 comprises a wireless communication module, a microprocessor, a positioning receiving module and an attitude recording module.
The optical photographing device 10 has a pan-tilt stabilizing function, and the working wavelength band of the optical photographing device 10 comprises visible light and infrared wavelength bands, and the electronic integration box 7 can control and adjust the action angle and complete a photographing instruction. The balloon 4 is inflated by the electronic integration box 7 through the electronic control air valve by the air bottle 8. The visible light photographic equipment and the infrared photographic equipment are multiple and are arranged in an array form, and the similar equipment uses different photographic angles to cover the whole circumference of the ground.
As shown in fig. 2: and (3) taking the position where the river turn exceeds 15' in multiple areas such as landslides, rock falls, debris flows and the like as a main control point, and adding secondary control points among the main control points to enable the distance between the control points to be smaller than 300 m. And (3) selecting a rock mass stable and hard position 0 as an anchoring point 1 at the two control points, and bonding the periphery of the anchor rod by a weight or gel material. The exposed end of the anchor rod is tied with a light rope 2, the material of the rope 2 should meet the requirements of rope strength and density, the light high-strength material is selected, and the length of the rope is calculated by the following formula
L＝min(Kσy/Υ，D)，
In the formula, K is the safety coefficient determined based on the local maximum wind level, sigmayIs the tensile yield strength of the cord, γ is the deadweight per unit length of the cord, and D is the diameter of the area to be monitored or the distance from the adjacent deployment point.
The balloon 4 is tethered to the anchorage point 1 by the tether 2 and the balloon 4 is inflated to the air ready for incorporation into the system.
As shown in fig. 4: the invention provides a captive balloon-based damming disaster early warning method which comprises the following steps:
selecting a position where the river turning exceeds 15 degrees as a main control point, adding secondary control points between the main control points to enable the distance between the control points to be smaller than 300m, and selecting rock mass stable and hard positions as anchoring points at the two control points. The anchoring points are mechanically or manually tamped into the anchor rods, and the periphery of the anchor rods is pressed or bonded by gel materials;
selecting a balloon with high air bag strength and installing a hanging frame in the step three, hanging a solar panel, a storage battery, wireless communication equipment, visible light photographic equipment, infrared photographic equipment, a microprocessor, a global positioning module and a posture recording module on the hanging frame, and remaining the balloon on the anchoring point in the step one through the rope in the step two; the balloon is mounted with a standby cylinder for emergency air supplement. The solar panel is hung on the frame in a surrounding mode to cope with the influence of the change of the balloon attitude on the power generation efficiency. The key module of the wireless communication equipment needs to be subjected to double backup, the transmitting power at least covers 4 adjacent arrangement points, and the wireless communication equipment has the functions of self-networking and communication relay.
Thirdly, inflating and lifting the balloon, starting a microcomputer, networking the wireless communication, photographing by using a photographing device at intervals, recording positioning and posture, and transmitting the positioning and posture to a data processing center through a wireless network; the method comprises the steps of collecting images and recording an image time stamp t, a position point X, Y, Z and attitude angles alpha, beta and gamma;
and step four, the data processing center processes the real-time data and compares the real-time data with historical data to determine whether large topographic changes occur. If the important change is found, an early warning is sent out, and data of different time points in the near and far periods are called for system management personnel.
The image comparison method comprises the following steps:
(1) according to the time t, the position information X, Y, Z and the posture information alpha, beta and gamma, the cluster historical images are matched to obtain N similar pictures. Slicing the selected picture into 2nThe average chroma c of each small block is calculatediThereby calculating the average chroma of a single picture
And chroma variance
(2) On the basis of the step (1), according to the time t and the average chroma of the N pictures
And the chrominance variance scAccording to
And
predicting the average chroma predicted value by regression
And a chrominance variance prediction value sc pre。
Predicting the average chroma
And a chrominance variance prediction value sc preAccording to a threshold coefficient K1、K2Average chroma with newly acquired picture
And the chrominance variance scAnd (6) comparing. If it is not
And sc＜K2sc preIf so, no abnormity exists in the picture; otherwise, the area has remarkable landform changes such as landslide, collapse or damming, and the like, and sends out an alarm.
(3) Estimating the volume, and classifying the historical data and the latest acquired data into long-term data (before 1 month from the event), short-term data (from 1 month from the event) and latest data (from the event to the latest) after confirming that the damming disaster occurs. And respectively submitting the long-term data, the short-term data and the latest data to three-dimensional reconstruction software to reconstruct a digital elevation model, a digital ortho-image and a textured three-dimensional grid model in a corresponding period.
Dividing the long-term, short-term and latest digital elevation model into N blocks according to horizontal projection, and calculating the average elevation H of each blocki latest、Hi near term、Hi long term. The damming body volume is calculated as follows:
in the formula A0For the start boundary of the region to be integrated, A1The end boundary of the region to be integrated, dx and dy are integration step length in the integration region, i is the identification number of each discrete block after integration discretization, AreaiThe discretized horizontal projected area of each discrete block is integrated.
The weir dam height is calculated as follows:
the area of the covered area of the damming body is calculated according to the following formula:
wherein Sum indicates that the summation function completes the summation of N single terms; if and else are used for indicating that the condition conversion function is realized to be the value after if, otherwise, the value after else is the value after else.
(4) Determining the disaster grade according to a threshold value;
respectively comparing the volume V, the height H and the coverage area A of the weir plug in the step (3) with a preset threshold value Vcr、Hcr、AcrComparing and determining the grade of the damming; vcrIs the volume threshold value of a weir dam, HcrIs the height threshold of the weir dam, AcrIs the area threshold of the coverage area of the damming body.
(5) Submitting the latest acquired data to three-dimensional reconstruction software to reconstruct a digital elevation model, a digital ortho-image and a textured three-dimensional grid model in a corresponding period for tracking and monitoring;
updating the volume V of the weir plug according to the formula in the step (4)The ith updateWeir plug height HThe ith updateArea A of the coverage area of the weir damThe ith updateAre respectively according to a threshold coefficient KV、KH、KAComparing with the last updated value;
if VThe ith update＜KvVI-1 th update、HThe ith update＜KHHI-1 th update、AThe ith update＜KAAI-1 th updateThe weir body is not abnormal; otherwise secondary covering, disintegration or local destabilization occurs.
In the formula KVIs the threshold coefficient, K, of the volume change of the weir damHHigh variation threshold coefficient of weir dam, KAThe area of the coverage area of the damming body changes by a threshold coefficient.
And step five, processing the real-time data by the data processing center, and comparing historical data to determine whether large topographic change occurs. If the important change is found, an early warning is sent out, and data of different time points in the near and far periods are called for system management personnel.
The historical data comprises original data and secondary data processed by a data center, and the secondary data at least comprises a digital elevation model, a digital ortho-image and a textured three-dimensional grid model; the data center compares newly received data with historical data, and if the data index mutation is found, an early warning signal is sent to a system administrator, historical data is called out, and a signal of encryption monitoring frequency is sent to a captive balloon platform returning abnormal data.
And step six, after the early warning of the data center is sent out, the shooting time interval is encrypted by the camera equipment on the balloon platform, the acquired data is cached in the microprocessor on the captive balloon platform, and the data is attempted to be transmitted to the data center through a wireless communication network.
And seventhly, continuously monitoring the real-time progress of the system during the disaster, and enabling the captive balloon platform to enter an early warning discovery state again after the disaster is relieved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The utility model provides a dammed disaster early warning device based on captive balloon which characterized in that: the device comprises a plurality of balloon observation devices with environment image acquisition devices, wherein the balloon observation devices are respectively arranged in a surveying damming part area; carrying out photo sampling on the damming condition in the investigation damming part area through balloon observation equipment, and carrying out disaster early warning through analysis;
the early warning steps are as follows:
step one, selecting a damming part to be surveyed, wherein the damming part selects a position where a river turn exceeds 15 degrees as a main control point, secondary control points are added between the main control points to enable the distance between the control points to be smaller than 300m, and rock mass stable hard and solid positions are selected as anchoring points on two banks of the main control points and the secondary control points;
secondly, installing corresponding balloon observation equipment at the anchoring point, and fixing the lifted balloon on the anchoring nail point by adopting a rope;
thirdly, acquiring image data of a surveying dam plug part by using optical photographic equipment, and transmitting the acquired image data to a data processing center through a wireless communication module by the balloon observation equipment after being lifted off;
comparing and analyzing the image data obtained by the balloon observation equipment with historical data by the data processing center, sending out early warning if major change is found, and calling out data of different time points in a near period and a far period for system management personnel;
the historical data comprises original data and secondary data processed by a data center, and the secondary data at least comprises a digital elevation model, a digital ortho-image and a textured three-dimensional grid model;
the comparison analysis method of the image data obtained by the balloon observation equipment and the original image data is as follows:
1) matching N similar pictures from the historical images according to the time t, the position information X, Y, Z and the posture information alpha, beta and gamma; slicing the selected picture into 2nThe average chroma C of each small block is calculatedi，
The average chroma of a single picture is calculated by:
and then the chroma variance is calculated by the following formula:
wherein N is 2-degree N ═ log of fractional number N2N；
2) Predicting an average chroma predicted value by regressing N pictures and time t according to the average chroma and the chroma variance obtained in the step 1) through the following formula
And a chrominance variance prediction value sc pre
And a chrominance variance prediction value sc pre
In the formula A1、A2、A3、A4、A5、A6To be evaluated for the coefficient of the term of the power function, B1、B2To be evaluated for logarithmic coefficient, C1、C2Is a undetermined value of the sine-term coefficient, omega1、ω2Is a period undetermined value of the sine item,
for the initial angle of the sine term to be determined, D1、D2Is a constant parameter undetermined value;
3) predicting the average chroma
And a chrominance variance prediction value sc preAccording to a threshold coefficient K1、K2Average chroma with newly acquired picture
And the chrominance variance scBy contrast, if
And sc<K2sc preIf so, no abnormity exists in the picture; otherwise, judging that the area has landslide, collapse or damming and remarkable landform change, and sending an alarm;
fifthly, after the early warning of the data center is sent out, the shooting time interval is encrypted by the camera equipment on the balloon platform, and data are transmitted back to the data center;
and sixthly, removing the disaster, and enabling the system to enter an early warning discovery state again.
2. A captive balloon-based damming hazard early warning apparatus as claimed in claim 1, wherein: the balloon observation equipment comprises an anchoring point, a rope, a hanging frame, a balloon, a solar panel, an electronic integration box, optical photographic equipment and a storage battery; the anchoring point is arranged on a surveying point set in a surveying dammed area, a hanging frame is arranged at the bottom end of the balloon, the hanging frame at the bottom end of the balloon is fixed on the anchoring point through a rope, a solar panel is arranged on the outer surface of the sphere of the balloon, and an optical photography device is arranged on the hanging frame;
the storage battery and the electronic integration box are arranged in the mounting frame, the storage battery supplies power to the optical photographic equipment and the electronic integration box, and the data output end of the optical photographic equipment is connected with the data receiving end of the electronic integration box; the solar panel charges the storage battery.
3. A captive balloon-based damming hazard early warning apparatus as claimed in claim 2, wherein: the device also comprises a gas tank and an electric control gas valve; the gas tank is connected with the inflation end of the balloon through an electric control gas valve; the electric control air valve is controlled by the electronic integration box.
4. A captive balloon-based damming hazard early warning apparatus as claimed in claim 3, wherein: the electronic integration box is internally provided with a micro processor, a wireless communication module, a flight attitude measurement module and a global positioning module;
the optical photographic equipment comprises visible light photographic equipment and infrared photographic equipment;
the microprocessor and the wireless communication module perform data bidirectional transmission, and the microprocessor and signals of the flight attitude measurement module, the global positioning module and the optical photographic equipment perform data bidirectional transmission;
the wireless communication module transmits data to the data center through the external antenna; the external antenna is arranged on the outer wall of the mounting frame.
5. A captive balloon-based damming hazard early warning apparatus as claimed in claim 4, wherein: the mounting frame is of a cylindrical structure, and the visible light photographing equipment and the infrared photographing equipment are arranged along the outer circumferential surface of the mounting frame of the cylindrical structure.
6. A captive balloon-based damming hazard early warning apparatus as claimed in claim 2, wherein: the solar panel is positioned on the outer circumferential surface of the top of the balloon and is annularly arranged.
7. A captive balloon-based damming hazard early warning apparatus as claimed in claim 1, wherein: in the second step, the length of the rope is calculated by the following formula
L＝m-n(Kσ0/Υ,D)，
In the formula, K is the safety coefficient determined based on the local maximum wind level, sigma0Is the tensile yield strength of the cord, γ is the deadweight per unit length of the cord, and D is the diameter of the area to be monitored or the distance from the adjacent deployment point.
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