CN110646390A - Water surface oil stain monitoring system and method based on unmanned aerial vehicle platform - Google Patents
Water surface oil stain monitoring system and method based on unmanned aerial vehicle platform Download PDFInfo
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Abstract
The invention provides an oil stain monitoring system and method based on an unmanned aerial vehicle platform, which are used for solving the technical problem of lower monitoring accuracy in the prior art, the monitoring system comprises a ground processing terminal, an information acquisition module and an information processing module, the information acquisition module and the information processing module are carried on the unmanned aerial vehicle platform, and the method steps of the monitoring system are as follows: the unmanned aerial vehicle cruises above the water surface in the monitoring area; the information acquisition module acquires fluorescence information and image information; the information processing module processes and transmits the fluorescence information and the image information; the ground processing terminal analyzes the fluorescence data and the image data; and the ground processing terminal interactively displays the fluorescence data, the image data, the judgment result and the early warning information. The invention combines the fluorescence monitoring technology and the image monitoring technology, improves the monitoring accuracy and reduces the false alarm rate of the system.
Description
Technical Field
The invention belongs to the technical field of environmental monitoring, relates to an oil pollution monitoring system and method, and particularly relates to an oil pollution monitoring system and method based on an unmanned aerial vehicle platform.
Background
The water resource quantity of the everyone in China is in a lagging status in the world, and the protection of the water resource is urgent. Among them, oil contamination is one of the important causes of water contamination, and can cause irreparable influence on the environment. Meanwhile, if the aromatic hydrocarbon compounds in the oil stain are absorbed into the organism for a long time, the aromatic hydrocarbon compounds can cause irreversible damage to the organism. The pollution of the oil stains on the water surface is often characterized by paroxysmal property and rapid diffusion, and the ecological environment of the water area is greatly influenced. In order to reduce the harm of oil spillage to the water area environment to the maximum extent, the environment where oil spillage possibly occurs needs to be monitored in real time through an oil spillage monitoring device.
The existing water surface oil stain monitoring method can be divided into fixed-point monitoring and remote sensing monitoring, wherein the fixed-point monitoring method mainly comprises video monitoring and fluorescence induction monitoring, the video monitoring utilizes a camera to monitor the detected water surface, the fluorescence induction monitoring utilizes an ultraviolet light source or an infrared light source to emit ultraviolet or infrared light with specific wavelength to excite the oil spilling water surface to generate fluorescence, and a fluorescence signal sensor is utilized to receive a fluorescence signal of the water surface in a monitoring area. The fixed-point monitoring can be carried out at the initial stage of the oil spill accident and emergency treatment is carried out, but the method has a small monitoring range, cannot be used for monitoring large-area water areas, is greatly influenced by environmental factors, and has a high false alarm rate. The remote sensing monitoring is used for monitoring the environmental condition of a water area through a remote sensing platform, such as an oil spill remote sensing sensor carried by a satellite, and is used for positioning and tracking large-area oil pollution, but the remote sensing monitoring system has the defect of poor accuracy of the oil spill remote sensing sensor.
In order to improve the flexibility and accuracy of monitoring, systems and techniques exist that combine unmanned aerial vehicle platforms with optical detection. For example, a patent application with the application publication number of CN108376460A entitled "marine oil contamination monitoring system and method based on unmanned aerial vehicle and BP neural network" discloses a marine oil contamination monitoring system and method based on unmanned aerial vehicle and BP neural network, which is carried on an unmanned aerial vehicle, collects images, transmits the collected images into an image decomposition and data processing module, first decomposes the collected images RGB to obtain a training set and a learning set, the training set is used for training the constructed BP neural network, the learning set is used for learning the trained BP neural network to obtain a learning result, and finally transmits the learning result into an image oil contamination analysis module for judging whether to alarm. The system completely depends on images to judge whether oil stains exist, has high requirements on the environment, and cannot be applied to water surface oil stain monitoring all the day long. Meanwhile, the method is easily influenced by illumination, water surface ripples and the like in the environment, and has the defects of low monitoring accuracy and high false alarm rate.
Disclosure of Invention
The invention aims to provide a civil low-altitude oil pollution monitoring system and method based on an unmanned aerial vehicle platform, aiming at overcoming the defects in the prior art, and solving the technical problems of low monitoring accuracy, high false alarm rate and the like in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a surface of water greasy dirt monitoring system based on unmanned aerial vehicle platform, includes ground processing terminal, carries on information acquisition module and the information processing module on unmanned aerial vehicle platform, wherein:
the information acquisition module comprises a fluorescence information acquisition module and an image information acquisition module; the fluorescence information acquisition module comprises an ultraviolet light generation circuit, a photomultiplier tube reference voltage changing circuit and a fluorescence acquisition conversion circuit, and is used for acquiring fluorescence signals excited by ultraviolet light with specific wavelength emitted by the water surface of the monitoring area and transmitting the acquired fluorescence information to the information processing module; the image information acquisition module comprises a video camera and a video acquisition circuit and is used for acquiring the image information of the water surface of the monitoring area and transmitting the image information to the information processing module;
the information processing module comprises a fluorescence information processing module, an image information processing module and a data transmission module; the fluorescence information processing module is used for superposing the fluorescence information acquired by the fluorescence information acquisition module and transmitting the fluorescence data acquired by superposition to the data transmission module; the image information processing module is used for continuously shooting the water surface of the monitoring area collected by the image information collecting module, identifying a plurality of shot images of an oil stain target, and transmitting image data obtained by target identification and preprocessing to the data transmission module; the data transmission module is used for transmitting the fluorescence data and the image data to the ground processing terminal;
the ground processing terminal comprises an environmental information analysis module, a data comprehensive analysis module and an interactive display module; the environment information analysis module is used for calculating processing parameters and threshold values required by the data comprehensive analysis module by acquiring environment background information of the cruise monitoring area; the data comprehensive analysis module is used for performing cross validation on the fluorescence data and the image data, judging whether oil stains exist or not and generating an alarm index; and the interactive display module is used for displaying the fluorescence data, the image data, the judgment result, the early warning index and the environmental information in real time and providing access and setting of the fluorescence data, the image data, the parameter information, the threshold value and the system log.
A water surface oil stain monitoring method based on an unmanned aerial vehicle platform is realized by the following steps:
(1) the information acquisition module acquires fluorescence information and image information:
when the unmanned aerial vehicle is cruising at the height H above the water surface of the monitoring area, the fluorescence information acquisition module acquires fluorescence signals excited by ultraviolet light with specific wavelength emitted by the water surface of the monitoring area, performs A \ D conversion on the fluorescence signals, and then transmits N pieces of fluorescence information acquired by the A \ D conversion to the information processing module; meanwhile, the image information acquisition module continuously shoots the water surface of the monitored area and transmits M shot images to the information processing module, wherein H is less than or equal to 100 meters, N is greater than or equal to 100, and M is greater than or equal to 20 and less than or equal to 50;
(2) the information processing module processes and transmits the fluorescence information and the image information:
(2a) the fluorescence information processing module accumulates the N pieces of fluorescence information into fluorescence data and transmits the fluorescence data to the data transmission module, and meanwhile, the image information processing module performs target identification on the shot M images to obtain image data and transmits the image data to the data transmission module;
(2b) the data transmission module transmits the fluorescence data and the image data to a ground processing terminal;
(3) the ground processing terminal analyzes and displays the fluorescence data and the image data:
(3a) the environment information analysis module adopts a data processing algorithm, and generates processing parameters and a threshold value of the data comprehensive analysis module through environment background information of a cruise monitoring area comprising ultraviolet intensity, solar altitude and weather conditions;
(3b) the data comprehensive analysis module performs cross validation on the fluorescence data and the image data, judges whether oil stains exist or not and generates an alarm index;
(3c) the interactive display module displays the fluorescence data in real time, wherein the fluorescence data comprises fluorescence values and a time-varying trend graph of the fluorescence values, image data, a judgment result, early warning information and environmental information, and accesses and sets the fluorescence data, the image data, parameter information, a threshold value and a system log.
Compared with the prior art, the invention has the following advantages:
1. the invention combines the fluorescence monitoring technology and the image monitoring technology, judges whether the oil stain exists on the water surface of the monitored area or not by comparing the fluorescence data with the monitoring threshold value, identifies the acquired image, segments the image with the oil stain after identification, calculates the area of the oil stain and generates early warning information of the pollution degree of the oil stain.
2. According to the invention, through the intensity modulation of ultraviolet light and the change of the reference voltage of the photomultiplier, the background noise interference of a fluorescent signal is reduced, the sensitivity of the photomultiplier for acquiring the fluorescent signal is improved, and the influence of environmental factors on the monitoring accuracy is reduced.
3. According to the invention, the civil unmanned aerial vehicle platform and the oil stain detection platform are organically combined, so that the operation range of the existing oil stain detection system is expanded, and oil stain monitoring can be carried out in areas where personnel cannot reach.
4. According to the invention, the fluorescence data and the image data are subjected to cross validation, and meanwhile, the environmental background information is synthesized, so that the false alarm probability of oil pollution monitoring is reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the monitoring system of the present invention;
FIG. 2 is a flow chart of an implementation of the monitoring method of the present invention;
fig. 3 is a flow chart of image information processing implementation.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
Refer to fig. 1, a surface of water greasy dirt monitoring system based on unmanned aerial vehicle platform, including ground processing terminal, lift-launch information acquisition module and information processing module on the unmanned aerial vehicle platform, wherein:
the information acquisition module comprises a fluorescence information acquisition module and an image information acquisition module, wherein the fluorescence information acquisition module comprises an ultraviolet light generation circuit, a photomultiplier tube reference voltage changing circuit and a fluorescence acquisition conversion circuit, and is used for acquiring fluorescence signals excited by ultraviolet light with specific wavelength emitted by the water surface of a monitoring area and transmitting the acquired fluorescence information into the information processing module.
The ultraviolet light generating circuit is used for generating ultraviolet light with the wavelength of 365nm irradiating the water surface of the monitoring area through intensity modulation of the LED ultraviolet light source; because the LED has the advantages of low power consumption, high luminous efficiency and no electromagnetic interference, the 365nm band ultraviolet light source and the filter have low cost, and the ultraviolet light with the wavelength of 365nm is used as the excitation light source for optimal monitoring effect, the 365nm ultraviolet LED lamp is used as the ultraviolet light source, and the intensity of the LED ultraviolet light source is modulated aiming at the problem that the collected fluorescent signal is interfered by background noise.
The photomultiplier reference voltage changing circuit is used for changing the reference voltage of the photomultiplier, weak fluorescent signals are collected by changing the photomultiplier reference voltage, the sensitivity of the photomultiplier is high, the response speed of the photomultiplier is high, and the effect of collecting the fluorescent signals near 420nm is the best by adopting the photomultiplier produced by Kohamamatsu.
And the fluorescence acquisition and conversion circuit is used for acquiring fluorescence signals excited by ultraviolet light irradiated on the water surface of the monitoring area and transmitting fluorescence information acquired by A \ D conversion of the fluorescence signals into the information processing module.
And the image information acquisition module is used for acquiring the image information of the water surface of the monitoring area and transmitting the image information into the information processing module.
The information processing module comprises a fluorescence information processing module, an image information processing module and a data transmission module, and the fluorescence information processing module is used for superposing the fluorescence information acquired by the fluorescence information acquisition module and transmitting the fluorescence data acquired by superposition to the data transmission module; the image information processing module is used for continuously shooting the water surface of the monitoring area collected by the image information collecting module, carrying out oil stain target recognition and image segmentation on a plurality of shot images, and transmitting image data obtained by the target recognition and the image segmentation to the data transmission module; the data transmission module is used for transmitting the fluorescence data and the image data to a ground processing terminal, the information processing module adopts a ZYNQ processor and comprises a PS system and a PL system, wherein: the PS system uses an ARM processor; the PL system uses FPGA for operation acceleration. The PS system and the PL system communicate using an AXI protocol bus.
The ground processing terminal comprises an environmental information analysis module, a data comprehensive analysis module and an interactive display module; the environment information analysis module is used for calculating processing parameters and threshold values required by the data comprehensive analysis module by acquiring environment background information of the cruise monitoring area; the data comprehensive analysis module is used for performing cross validation on the fluorescence data and the image data, judging whether oil stains exist or not and generating an alarm index; and the interactive display module is used for displaying the fluorescence data, the image data, the judgment result, the early warning index and the environmental information in real time and providing access and setting of the fluorescence data, the image data, the parameter information, the threshold value and the system log.
Referring to fig. 2, the monitoring method of the water surface oil stain monitoring system based on the unmanned aerial vehicle platform comprises the following steps:
(1) the information acquisition module acquires fluorescence information and image information:
when the cruising height is higher than H, the fluorescent information acquisition module can not acquire weak fluorescent signals, different monitoring distances influence the fluorescent signal intensity in the experiment, the working conditions on different distances are tested, the fluorescent information acquisition module acquires the fluorescent signal intensity, the intensity is represented by voltage, the smaller the obtained monitoring distance is, the larger the fluorescent signal intensity is, and the smaller the monitoring distance is, the larger the fluorescent signal intensity change is. When the unmanned aerial vehicle is cruising away from the monitoring area water surface height to H, the fluorescence information acquisition module acquires fluorescence signals excited by a 365nm ultraviolet LED light source on the monitoring area water surface, the fluorescence information acquisition adopts a photomultiplier sensor, and the photomultiplier is suitable for detecting weak fluorescence signals and is a vacuum electronic device for converting the light signals into electric signals. The method has the advantages of high sensitivity, large receiving area, small internal dark current and high response speed. The light source adopts an ultraviolet LED with the central wavelength. Therefore, whether oil spill occurs or not can be judged by detecting the fluorescence intensity near 420 nm. And the fluorescence signal is A \ D converted by a 16-bit analog-to-digital converter, an analog-to-digital conversion chip adopted by the A \ D conversion is ADS1605, the chip is a 16-bit analog-to-digital converter, and has the advantages of high precision, high conversion rate and wide dynamic range, the detection of the fluorescence information acquisition module on the weak fluorescence signal is met, and then N fluorescence information acquired by the A \ D conversion is transmitted to the information processing module. Meanwhile, the image information acquisition module continuously shoots the water surface of the monitored area and transmits a plurality of shot images to the information processing module, wherein H is less than or equal to 100M, N is greater than or equal to 100, and M is greater than or equal to 20 and less than or equal to 50; in the invention, H is set to be 20m, so that information can be acquired and the safety of equipment can be ensured, and N is set to be 500, so that the influence of an extreme value on fluorescence data can be avoided, and the false alarm rate of a monitoring system is reduced; set up M50 for, can satisfy image information acquisition module collection and cruise monitoring area image information and carry out greasy dirt discernment, avoid appearing the greasy dirt and leak the inspection.
The fluorescence information acquisition module in the step (1) acquires fluorescence signals excited by ultraviolet light with specific wavelength emitted by the water surface of the monitoring area, and the implementation steps are as follows:
(1a) an ultraviolet light generating circuit in the fluorescence information acquisition module modulates the intensity of the 365nm ultraviolet LED to generate 365nm ultraviolet light irradiating the water surface of the monitored area;
(1b) and a photomultiplier reference voltage changing circuit for changing the reference voltage of the photomultiplier through a multiplexer according to the amount of light entering the photomultiplier, wherein the amount of light entering the photomultiplier is large during daytime monitoring, and the multiplexer selects the reference voltage of 0.8v or less. When monitoring at night, the light entering amount of the photomultiplier is small, and the multi-path selector selects the reference voltage of more than 0.8 v;
(1c) when the incident ultraviolet light irradiates the fluorescent substance, the electron absorption energy in the fluorescent substance molecule carries out energy level transition, and the electron in the excited state is unstable, so that the energy can be released to return to the original state, fluorescence can be generated in the process of releasing the energy, the fluorescence acquisition and conversion circuit acquires the fluorescence signal excited by the ultraviolet light irradiating the water surface of the monitoring area, and transmits the fluorescence information acquired by A \ D conversion of the fluorescence signal to the information processing module.
(2) The information processing module processes and transmits the fluorescence information and the image information:
(2a) in order to avoid the influence of extreme fluorescence information on the oil stain judgment result, the fluorescence information processing module accumulates N pieces of fluorescence information into fluorescence data and transmits the fluorescence data to the data transmission module, and meanwhile, the image information processing module processes a plurality of shot images into image data and transmits the image data to the data transmission module:
the image information processing module in the step (2a) processes a plurality of shot images into image data, and the implementation steps are as follows:
(2a1) the image information processing module adopts a YOLO V3 algorithm to identify 50 shot images, including graying, compression, convolution operation, pooling operation, normalization, non-maximum suppression and display, so as to obtain the confidence of the image with oil stains; in the experiment, when the input image is 320 × 320 images, the running speed is 22ms, the accuracy is 28.2mAP, and the identification of the oil stain image in the cruising process of the unmanned aerial vehicle can be completely met
(2a2) The image information processing module grays each image with oil stains and performs median filtering on the obtained grayscale images to obtain filtered images; and compressing the image data to obtain image data and transmitting the image data to a data transmission module.
(2b) And the data transmission module transmits the fluorescence data and the image data to the ground processing terminal.
(3) The ground processing terminal analyzes and displays the fluorescence data and the image data:
(3a) the environment information analysis module adopts a data processing algorithm, generates processing parameters and a threshold value of the data comprehensive analysis module through environment background information of a cruise monitoring area comprising ultraviolet intensity, solar altitude and weather condition, in an experiment, the ultraviolet intensity, the solar altitude and the weather condition are three main factors influencing the processing parameters and the threshold value, the sunlight at noon is strong, a higher monitoring threshold value is needed, the influence of solar radiation is avoided at night, and a lower monitoring threshold value is needed; the solar radiation is stronger in sunny days and needs a higher monitoring threshold, and the solar radiation is weaker in cloudy days and needs a lower monitoring threshold; the summer ultraviolet intensity is much higher than in winter, so a higher monitoring threshold is needed in summer and a lower monitoring threshold is needed in winter;
(3b) the data comprehensive analysis module carries out cross validation on the fluorescence data and the image data, judges whether oil stains exist or not, and generates alarm information, and the implementation steps are as follows:
(3b1) the data analysis module obtains an oil pollution index P (f (X, th)) from the fluorescence data X and a threshold th, wherein P is more than or equal to 0 and less than or equal to 1, and f is a mapping function;
(3b2) the data analysis module divides the acquired image data by adopting a genetic algorithm and combining with environmental background information to obtain image data marked with an oil stain area S;
(3b3) the data analysis module generates oil pollution degree information including oil pollution type, oil pollution thickness, oil pollution area and oil pollution grade through an oil pollution index P and an oil pollution area S;
(3b4) when the oil pollution level reaches a preset level, generating early warning information;
(3b) the data comprehensive analysis module performs cross validation on the fluorescence data and the image data, judges whether oil stains exist or not and generates an alarm index; reminding a user of oil spill through a short message, wherein the function is realized through a short message API service provided by aggregated data, the service allows the user to set a short message template by himself, and when oil spill occurs, a short message is automatically sent to a mobile phone of a monitoring person;
(3c) the interactive display module displays the fluorescence data in real time, wherein the fluorescence data comprises fluorescence values and a time-varying trend graph of the fluorescence values, image data, a judgment result, early warning information and environmental information, and accesses and sets the fluorescence data, the image data, parameter information, a threshold value and a system log. The monitoring log is mainly used for recording historical oil spilling information through a table, the historical oil spilling information comprises information such as oil spilling time, names of monitoring personnel, telephone, weather conditions, ultraviolet intensity, oil spilling processing conditions and the like, and related information can be set according to user requirements.
The above description and examples are only preferred embodiments of the present invention and should not be construed as limiting the present invention, it will be obvious to those skilled in the art that various modifications and changes in form and detail may be made based on the principle and construction of the present invention after understanding the content and design principle of the present invention, but such modifications and changes based on the inventive concept are still within the scope of the appended claims.
Claims (5)
1. The utility model provides a surface of water greasy dirt monitoring system based on unmanned aerial vehicle platform, a serial communication port, including ground processing terminal, carry on information acquisition module and information processing module on unmanned aerial vehicle platform, wherein:
the information acquisition module comprises a fluorescence information acquisition module and an image information acquisition module; the fluorescence information acquisition module comprises an ultraviolet light generation circuit, a photomultiplier tube reference voltage changing circuit and a fluorescence acquisition conversion circuit, and is used for acquiring fluorescence signals excited by ultraviolet light with specific wavelength emitted by the water surface of the monitoring area and transmitting the acquired fluorescence information to the information processing module; the image information acquisition module comprises a video camera and a video acquisition circuit and is used for acquiring the image information of the water surface of the monitoring area and transmitting the image information to the information processing module;
the information processing module comprises a fluorescence information processing module, an image information processing module and a data transmission module; the fluorescence information processing module is used for superposing the fluorescence information acquired by the fluorescence information acquisition module and transmitting the fluorescence data acquired by superposition to the data transmission module; the image information processing module is used for continuously shooting the water surface of the monitoring area collected by the image information collecting module, identifying a plurality of shot images of an oil stain target, and transmitting image data obtained by target identification and preprocessing to the data transmission module; the data transmission module is used for transmitting the fluorescence data and the image data to the ground processing terminal;
the ground processing terminal comprises an environmental information analysis module, a data comprehensive analysis module and an interactive display module; the environment information analysis module is used for calculating processing parameters and threshold values required by the data comprehensive analysis module by acquiring environment background information of the cruise monitoring area; the data comprehensive analysis module is used for performing cross validation on the fluorescence data and the image data, judging whether oil stains exist or not and generating an alarm index; and the interactive display module is used for displaying the fluorescence data, the image data, the judgment result, the early warning index and the environmental information in real time and providing access and setting of the fluorescence data, the image data, the parameter information, the threshold value and the system log.
2. A water surface oil stain monitoring method based on an unmanned aerial vehicle platform is characterized by comprising the following steps:
(1) the information acquisition module acquires fluorescence information and image information:
when the unmanned aerial vehicle is cruising at the height H above the water surface of the monitoring area, the fluorescence information acquisition module acquires fluorescence signals excited by ultraviolet light with specific wavelength emitted by the water surface of the monitoring area, performs A \ D conversion on the fluorescence signals, and then transmits N pieces of fluorescence information acquired by the A \ D conversion to the information processing module; meanwhile, the image information acquisition module continuously shoots the water surface of the monitored area and transmits M shot images to the information processing module, wherein H is less than or equal to 100 meters, N is greater than or equal to 100, and M is greater than or equal to 20 and less than or equal to 50;
(2) the information processing module processes and transmits the fluorescence information and the image information:
(2a) the fluorescence information processing module accumulates the N pieces of fluorescence information into fluorescence data and transmits the fluorescence data to the data transmission module, and meanwhile, the image information processing module performs target identification on the shot M images to obtain image data and transmits the image data to the data transmission module;
(2b) the data transmission module transmits the fluorescence data and the image data to a ground processing terminal;
(3) the ground processing terminal analyzes and displays the fluorescence data and the image data:
(3a) the environment information analysis module adopts a data processing algorithm, and generates processing parameters and a threshold value of the data comprehensive analysis module through environment background information of a cruise monitoring area comprising ultraviolet intensity, solar altitude and weather conditions;
(3b) the data comprehensive analysis module performs cross validation on the fluorescence data and the image data, judges whether oil stains exist or not and generates an alarm index;
(3c) the interactive display module displays the fluorescence data in real time, wherein the fluorescence data comprises fluorescence values and a time-varying trend graph of the fluorescence values, image data, a judgment result, early warning information and environmental information, and accesses and sets the fluorescence data, the image data, parameter information, a threshold value and a system log.
3. The unmanned aerial vehicle platform-based water surface oil contamination monitoring method according to claim 2, wherein the fluorescence information acquisition module in the step (1) acquires a fluorescence signal excited by ultraviolet light with a specific wavelength emitted by a water surface of the monitoring area, and the method comprises the following steps:
(1a) an ultraviolet light generating circuit in the fluorescence information acquisition module modulates the intensity of ultraviolet light to generate ultraviolet light with specific wavelength irradiating the water surface of the monitoring area;
(1b) the photomultiplier reference voltage changing circuit automatically changes the photomultiplier reference voltage according to the environmental information;
(1c) the fluorescence acquisition and conversion circuit acquires a fluorescence signal excited by ultraviolet light irradiated on the water surface of the monitoring area, and transmits fluorescence information acquired by A \ D conversion of the fluorescence signal to the information processing module.
4. The unmanned aerial vehicle platform-based water surface oil contamination monitoring method according to claim 2, wherein the image information processing module in the step (2a) processes the shot M images into image data, and the implementation steps are as follows:
(2a1) the image information processing module adopts a YOLO V3 algorithm to identify the shot M images, including graying, compression, convolution operation, pooling operation, normalization, non-maximum suppression and display, so as to obtain the confidence coefficient of the image with oil stains;
(2a2) the image information processing module grays each image with oil stains and performs median filtering on the obtained grayscale images to obtain filtered images; and compressing the image data to obtain image data and transmitting the image data to a data transmission module.
5. The unmanned aerial vehicle platform-based water surface oil contamination monitoring method according to claim 2, wherein the data comprehensive analysis module in the step (3b) performs cross validation on the fluorescence data and the image data, judges whether oil contamination exists or not, and generates alarm information according to the following implementation steps:
(3b1) the data analysis module obtains an oil pollution index P (f (X, th)) from the fluorescence data X and a threshold th, wherein P is more than or equal to 0 and less than or equal to 1, and f is a mapping function;
(3b2) the data analysis module divides the acquired image data by adopting a genetic algorithm and combining with environmental background information to obtain image data marked with an oil stain area S;
(3b3) the data analysis module generates oil pollution degree information including oil pollution type, oil pollution thickness, oil pollution area and oil pollution grade through an oil pollution index P and an oil pollution area S;
(3b4) and when the oil pollution level reaches a preset level, generating early warning information.
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| CN113378700A (en) * | 2021-06-08 | 2021-09-10 | 四川农业大学 | Grassland rat damage dynamic monitoring method based on unmanned aerial vehicle aerial image |
| CN116071689A (en) * | 2023-03-07 | 2023-05-05 | 四川三思德科技有限公司 | Water source water quality on-line monitoring method and system based on lora technology |
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