CN111060162A - Mountain torrent early warning monitoring system and method by utilizing unmanned aerial vehicle formation - Google Patents
Mountain torrent early warning monitoring system and method by utilizing unmanned aerial vehicle formation Download PDFInfo
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- CN111060162A CN111060162A CN202010068740.4A CN202010068740A CN111060162A CN 111060162 A CN111060162 A CN 111060162A CN 202010068740 A CN202010068740 A CN 202010068740A CN 111060162 A CN111060162 A CN 111060162A
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention provides a mountain torrent early warning monitoring system and method utilizing unmanned aerial vehicle formation, the system comprises a control center and a plurality of unmanned aerial vehicle devices in wireless communication connection with the control center, each unmanned aerial vehicle device comprises an unmanned aerial vehicle host, a sound monitoring device, an image monitoring device, a positioning device, a vibration monitoring device, a communication module and a laser radar device, wherein the sound monitoring device, the image monitoring device, the positioning device, the vibration monitoring device, the communication module and the laser radar device are connected with the unmanned aerial vehicle host; control center is used for controlling unmanned aerial vehicle equipment to carry out hydrology data acquisition according to surveying the route to river course and both sides mountain area, carries out mountain torrent risk analysis to confirm unmanned aerial vehicle equipment route and fixed monitoring point of cruising, when mountain torrent outbreak risk, unmanned aerial vehicle equipment is used for patrolling according to the route of cruising of confirming automatically, and descends at fixed monitoring point, when survey mountain torrent outbreak, control center in time sends the early warning of mountain torrent outbreak. The invention utilizes the characteristic of strong power of the unmanned aerial vehicle, can be deployed quickly and accurately, and saves a large amount of human resources.
Description
Technical Field
The invention relates to the technical field of mountain torrent disaster prevention and control, in particular to a mountain torrent early warning monitoring system and method utilizing unmanned aerial vehicle formation.
Background
In mountainous areas, torrential floods often occur due to the influence of various factors such as weather and terrain. The torrential flood is sudden and strong in damage, so that the torrential flood needs to be pre-warned, and the loss of personnel and property is avoided.
The existing mountain torrent early warning methods comprise satellite early warning, field equipment arrangement, manpower early warning and the like. The satellite early warning generally has less acquired information quantity and larger error; a large amount of manpower is consumed for deploying the equipment on site, and the equipment loss is relatively large; the manpower early warning mode needs to consume a large amount of manpower resources, and the early warning effect is low because a key area often lacks manpower.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a mountain torrent early warning and monitoring system and method by utilizing unmanned aerial vehicle formation, wherein accurate and rich hydrological information can be obtained by utilizing airborne equipment, and mountain torrent risks are early warned and monitored; the characteristics of strong power of the unmanned aerial vehicle are utilized, so that the rapid deployment and the accurate deployment can be realized, and a large amount of human resources are saved; utilize the advantage of unmanned aerial vehicle formation, can effectively cover early warning monitoring blind area, improve early warning efficiency.
The invention is realized by the following technical scheme:
a mountain torrent early warning monitoring system utilizing unmanned aerial vehicle formation comprises a control center and a plurality of unmanned aerial vehicle devices in wireless communication connection with the control center, wherein each unmanned aerial vehicle device comprises an unmanned aerial vehicle host, a sound monitoring device, an image monitoring device, a positioning device, a vibration monitoring device, a communication module and a laser radar device, wherein the sound monitoring device, the image monitoring device, the positioning device, the vibration monitoring device, the communication module and the laser radar device are connected with the unmanned aerial vehicle host; the laser radar device is used for obtaining a ground digital elevation model so as to determine a river channel section, a river channel length, mountain area on two sides of the river channel, greening rate, maximum water storage capacity on two sides of the river channel and current water storage capacity parameters of the mountain areas on two sides of the river channel, the control center is used for controlling the unmanned aerial vehicle equipment to collect hydrological data of the river channel and mountain areas on two sides according to a survey route, carrying out mountain torrent risk analysis and determining a cruising route and a fixed monitoring point of the unmanned aerial vehicle equipment, when the mountain torrent outbreak risk exists, the unmanned aerial vehicle equipment is used for automatically patrolling according to the determined cruising route and landing at the fixed monitoring point, the sound monitoring device, the image monitoring device, the positioning device and the vibration monitoring device are used for respectively collecting sound, image and vibration data, the collection result is transmitted to the control center through the communication module, and the control center analyzes the, and monitoring the real-time dynamics of the torrential flood, and when the torrential flood is determined, the control center timely sends out a torrential flood outbreak early warning.
Further, the sound monitoring device comprises a microphone.
Furthermore, the positioning device is a GPS or Beidou positioning device.
Further, the vibration monitoring device includes an acceleration sensor.
Further, the LIDAR device employs a LIDAR system.
A mountain torrent early warning monitoring method using unmanned aerial vehicle formation is carried out by adopting the system, and the method comprises the following steps:
the method comprises the following steps of firstly, constructing a ground digital elevation model, and determining river channel sections, river channel lengths, mountain areas on two sides of a river channel, greening rates, maximum water storage capacity on two sides of the river channel and current water storage capacity parameters of the mountains on two sides of the river channel;
secondly, the control center sends out a plurality of unmanned aerial vehicle devices to form an unmanned aerial vehicle formation, the river channel is patrolled at regular time, the water quantity of the river channel is monitored, and the current water storage quantity parameters of mountains on two sides of the river channel are updated;
thirdly, when receiving a heavy rain early warning report through a weather station, the control center calculates the probability and the strength of torrential flood outbreak according to the predicted precipitation, the maximum water storage capacity of the mountains at two sides of the river channel and the current water storage capacity parameter, and sends out early warning information in advance;
and step four, after the control center receives the heavy rain early warning information through the meteorological station, the control center sends out an unmanned aerial vehicle formation to carry out fixed monitoring and early warning on the river channel.
Further, the fourth step specifically includes:
the control center controls the unmanned aerial vehicle equipment to patrol along the planned cruising route, lands at a preset fixed monitoring point of the unmanned aerial vehicle equipment, collects sound, image and vibration data of a peripheral area through a sound monitoring device, an image monitoring device and a vibration monitoring device respectively, and transmits the collection result back to the control center through a communication module;
the control center analyzes the collected sound, image and vibration data, monitors the real-time dynamics of the mountain torrent outbreak, and timely sends out the mountain torrent outbreak early warning when the mountain torrent outbreak is determined.
Further, communication module among the unmanned aerial vehicle equipment includes mobile communication equipment and WLAN equipment, mobile communication equipment is used for the communication between unmanned aerial vehicle equipment and the mobile communication basic station, WLAN equipment is used for the communication between the unmanned aerial vehicle equipment, constitute wireless ad hoc network between each communication module of unmanned aerial vehicle equipment, when the unable control center of connecting of communication module of certain unmanned aerial vehicle equipment, the communication module that uses other unmanned aerial vehicle equipment is connected with the control center for the relay node.
Further, the adjacent unmanned aerial vehicle equipment obtains the flow velocity of the torrential flood by monitoring the arrival time of the torrential flood, then obtains the estimated time of the torrential flood reaching the downstream by utilizing the distance information of the downstream, and the control center timely informs the estimated time of the torrential flood reaching the downstream to the related downstream area so as to improve the early warning efficiency and quality.
Further, the torrential flood early warning method in the fourth step comprises the step that the control center informs related regional personnel in a wireless communication mode, or the unmanned aerial vehicle equipment is controlled to follow a valley or reach a designated region, the related regional personnel are reminded in a sound or light mode, and the torrential flood is noticed and avoided.
According to the invention, the airborne equipment can be used for acquiring accurate and rich hydrological information such as vibration, images and sounds, early warning and monitoring mountain torrent risks, and meanwhile, a fixed monitoring point is provided, and automatic monitoring is carried out in three modes of automatic cruise and manual control, so that the characteristic of strong power of the unmanned aerial vehicle is utilized, rapid deployment and accurate deployment can be realized, fixed deployment can be realized, the power consumption is saved, and the monitoring time and efficiency are improved; by utilizing the advantages of unmanned aerial vehicle formation, the early warning monitoring blind area can be effectively covered, and the early warning efficiency is improved; the mobile communication and the WLAN Mesh ad hoc network technology are combined, so that the communication quality is improved.
Drawings
Fig. 1 is a schematic structural diagram of a mountain torrent early warning and monitoring system utilizing unmanned aerial vehicle formation according to the present invention;
fig. 2 is a schematic view of monitoring point arrangement when the invention is used for early warning monitoring.
In the figure: 10-unmanned aerial vehicle equipment, 11-unmanned aerial vehicle host computer, 12-sound monitoring devices, 13-image monitoring devices, 14-positioner, 15-vibration monitoring devices, 16-communication module, 17-laser radar device, 20-control center.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a mountain torrent early warning and monitoring system using unmanned aerial vehicle formation, including a control center 20 and a plurality of unmanned aerial vehicle devices 10 wirelessly connected to the control center 20. The control center 20 is located in a safe area or high land without risk of a mountain torrent for managing, maintaining and controlling the unmanned aerial vehicle device 10.
Unmanned aerial vehicle equipment 10 includes unmanned aerial vehicle host computer 11, the sound monitoring devices 12 who is connected with unmanned aerial vehicle host computer 11, image monitoring devices 13, positioner 14, vibration monitoring devices 15, communication module 16, laser radar device 17.
The control center 20 is configured to control the unmanned aerial vehicle device 10 to perform hydrological data acquisition on the river channel and the mountain areas on both sides according to the survey route, perform mountain torrent risk analysis (specifically, calculate the probability and intensity of mountain torrent outbreak according to the predicted precipitation, the maximum water storage amount of the mountain bodies on both sides of the river channel and the current water storage amount parameters, and send out early warning information in advance), and determine the unmanned aerial vehicle device cruising route and the fixed monitoring point; when there is the torrential flood risk, unmanned aerial vehicle equipment 10 is used for patrolling according to the automation of definite route of cruising to descend at fixed monitoring point, sound monitoring devices 12, image monitoring devices 13, vibration monitoring devices 15 are used for carrying out the collection of sound, image and vibration data respectively, and will gather the result and pass through communication module 16 and transmit control center 20 back.
Under the condition of good weather, the control center 20 acquires hydrological data of the river channel and mountain areas on two sides by controlling the unmanned aerial vehicle device 10 or performing site survey according to the survey route, analyzes the risk of mountain torrents, and determines the cruising route of the unmanned aerial vehicle device and a fixed monitoring point (as shown in fig. 2). The drone device 10 or site survey route described includes a survey of the entire mountain area and a survey of the valley route.
The hydrological data comprises geographical information (such as elevation, area and the like) of mountainous areas, valley distribution (such as valley length, two-bank vegetation distribution, water mark elevation and the like), vegetation information, hydrological meteorological data of the past year and the like.
The cruising route of the unmanned aerial vehicle device refers to the lines of rivers and valleys with the risk of torrential flood outbreak, and can be positioned and determined by the positioning device 14 in the unmanned aerial vehicle device 10. When there is a risk of a torrential flood, the drone device 10 can automatically patrol along a planned cruising route, automatically monitoring the risk.
Unmanned aerial vehicle equipment fixed monitoring point is used for when having the torrential flood risk, and unmanned aerial vehicle equipment falls at fixed monitoring point, conveniently carries out long-time monitoring to key region and key region. The fixed monitoring points may be provided in plurality along the river. The fixed monitoring points are arranged beside rivers, and a high platform can be built by using reinforced concrete, so that the risk of flood flooding is avoided. The size of fixed monitoring point 1 ~ 2 square meters can for park unmanned aerial vehicle equipment in the torrential flood monitoring. The distance between the fixed monitoring points is not too far, monitoring blind areas are reduced as much as possible, and the distance is generally set to be about 500m to 1000 m; too close is not suitable, and waste is avoided; a plurality of key areas and key areas may be provided.
The embodiment of the invention also provides a mountain torrent early warning and monitoring method by utilizing unmanned aerial vehicle formation, which is carried out by adopting the system, and the method comprises the following steps:
the method comprises the following steps of firstly, constructing a ground digital elevation model, and determining parameters such as a river cross section, a river length, mountain areas on two sides of the river, a greening rate, maximum water storage capacity on two sides of the river, current water storage capacity of the mountains on two sides of the river and the like; in the ground digital elevation model, virtual reservoirs can be assumed to be arranged on two sides of a river channel, and the reservoirs have parameters such as maximum water storage capacity, current water storage capacity and area. At intervals, the parameters of the virtual reservoirs are different, and the river channel is formed by connecting a plurality of virtual reservoirs in series. If the mountain areas on the two sides of the river channel are large and the greening rate is high, the maximum water storage capacity is large. On the contrary, if the mountain areas on the two sides of the river channel are small and the greening rate is low, the maximum water storage amount is small.
Secondly, the control center 20 sends a plurality of unmanned aerial vehicle devices 10 to form an unmanned aerial vehicle formation, regularly patrols the river channel, monitors the water quantity of the river channel, and updates parameters such as the current water storage quantity of mountains on two sides of the river channel;
by monitoring the amount of the river water, the maximum water storage amount and the current water storage amount of the virtual reservoir can be estimated. If the rain does not fall for a long time, the current water storage capacity is continuously reduced; if the water quantity of the river channel is always stable and large, the maximum water storage quantity is large.
And step three, when receiving the heavy rain early warning alarm through the weather station, the control center 20 calculates the probability and the strength of the torrential flood according to the estimated precipitation, the maximum water storage capacity of the mountains on the two sides of the river channel, the current water storage capacity and other parameters, and sends out early warning information in advance.
When a heavy rain warning alarm is received, the water quantity can be estimated according to precipitation information and mountain areas on two sides of the river channel, then the probability and the strength of torrential flood outbreak can be estimated according to the maximum water storage quantity of virtual reservoirs on two sides of the river channel, and warning information is sent out. If the maximum water storage capacity is small, the current water storage capacity is large, and the precipitation is large, the probability of mountain torrents outbreak is high. On the contrary, if the maximum water storage capacity is large, the current water storage capacity is small, and the precipitation is small, the probability of the mountain torrents outbreak is low.
And step four, after the control center 20 receives the heavy rain early warning information through the meteorological station, the control center 20 sends out an unmanned aerial vehicle formation to carry out fixed monitoring and early warning on the river channel.
The fourth step is specifically as follows:
the control center 20 controls the unmanned aerial vehicle device 10 to patrol along the planned cruising route, land at a preset fixed monitoring point of the unmanned aerial vehicle device, respectively collect sound, image and vibration data of the peripheral area through the sound monitoring device 12, the image monitoring device 13 and the vibration monitoring device 15, and transmits the collected result to the control center 20 through the communication module 16;
the control center 20 analyzes the collected sound, image and vibration data, monitors the real-time dynamics of the mountain torrent outbreak, and when the mountain torrent outbreak is determined, the control center 20 timely sends out a mountain torrent outbreak early warning to timely inform people.
The communication module 16 in the drone device 10 includes a mobile communication device for communication between the drone device 10 and a mobile communication base station and a WLAN device for communication between the drone device 10. When the signals of some unmanned aerial vehicle devices 10 are not good in mountainous mobile communication base stations and mobile communication is difficult, the unmanned aerial vehicle devices can be combined with the WLAN devices, and particularly, the WLAN Mesh technology is adopted, so that the communication quality and the early warning efficiency are improved.
The area with the danger of mountain torrents outbreak is generally located in the mountain area, and the position is remote, and the mobile communication base station is few, and the signal is usually not good. Only the mobile communication equipment is probably incapable of being connected with the mobile communication base station, and the communication quality can be greatly improved by combining the mobile communication and the WLAN Mesh ad hoc network technology. The WLAN Mesh ad hoc network technology is a mature technology at present, and commercial products have been released by each large communication manufacturer. By using the WLAN Mesh ad hoc network technology, a plurality of WLAN nodes can form a wireless Mesh network, and any one node can send and receive signals and communicate with the outside. When a certain node can not communicate with the outside, the node can automatically route to a nearby node which can communicate to communicate. Therefore, when the WLAN Mesh ad hoc network technology is used, as long as one node in the network can communicate with the outside, all nodes in the network can perform relay and outside communication through the node.
In the mountain torrent early warning mode, the control center 20 can control the unmanned aerial vehicle device 10 to follow a river valley or to a designated area besides notifying personnel in the relevant area in a conventional communication mode, and remind the personnel in the relevant area in a sound or light mode to avoid and prevent mountain torrents.
The conventional communication mode refers to wireless communication modes such as television, broadcast, mobile communication and the like. However, these methods have many disadvantages, such as power failure, failure of conventional communication equipment, or people at night having a rest, failure of communication, or failure of communication equipment. This time, can control unmanned aerial vehicle equipment 10 and down or appointed region along the river valley to relevant regional personnel are initiatively reminded in modes such as high decibel loudspeaker or red yellow light, take care of taking precautions against mountain torrents. The early warning mode can well fill the defects of the conventional early warning mode, improve the early warning efficiency and protect the property safety of people.
In the mountain torrent early warning mode, the adjacent unmanned aerial vehicle devices 10 can obtain the flow velocity of the mountain torrents by monitoring the arrival time of the mountain torrents, and then obtain the estimated time of the mountain torrents reaching the downstream by using the distance information with the downstream. The control center 20 can inform the downstream related area of the predicted time of the torrential flood arriving at the downstream in time, and the early warning efficiency and quality are improved.
It is important if accurate torrential currents can be achieved for the downstream time. When torrential flood outbreak, the velocity of flow of torrential flood just can be worked out to two adjacent unmanned aerial vehicle monitoring points through the time of record torrential flood process, the distance that combines between two adjacent unmanned aerial vehicle monitoring points. And the expected time of the torrential flood reaching a certain area can be calculated by combining the distance from the certain downstream area to the monitoring point of the unmanned aerial vehicle, so that the early warning efficiency and the early warning quality can be greatly improved.
Through the statistics to the velocity of flow of all adjacent unmanned aerial vehicle monitoring points along the river course, can revise the accuracy of torrential flood velocity of flow, further improve the accuracy of torrential flood arrival certain regional estimated time in low reaches, further improve early warning quality.
The above description is only an 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 (10)
1. The utility model provides an utilize mountain torrent early warning monitoring system of unmanned aerial vehicle formation which characterized in that: the unmanned aerial vehicle system comprises a control center (20) and a plurality of unmanned aerial vehicle devices (10) in wireless communication connection with the control center (20), wherein each unmanned aerial vehicle device (10) comprises an unmanned aerial vehicle host (11), a sound monitoring device (12) connected with the unmanned aerial vehicle host (11), an image monitoring device (13), a positioning device (14), a vibration monitoring device (15), a communication module (16) and a laser radar device (17); the system comprises a laser radar device (17), a control center (20), an unmanned aerial vehicle device (10), a sound monitoring device (12), an image monitoring device (13), a positioning device (14) and a vibration monitoring device (15), wherein the laser radar device (17) is used for obtaining a ground digital elevation model so as to determine a river channel section, a river channel length, mountain body areas on two sides of the river channel, a greening rate, maximum water storage capacity on two sides of the river channel and current water storage capacity parameters of mountain bodies on two sides of the river channel, the control center (20) is used for controlling the unmanned aerial vehicle device (10) to collect hydrological data of the river channel and mountain areas on two sides according to a survey route, carrying out mountain flood risk analysis and determining a cruising route and a fixed monitoring point of the unmanned aerial vehicle device, when a risk of mountain flood outbreak occurs, the unmanned aerial vehicle device (10) is used for automatically patrolling according to the determined cruising route and landing at the fixed, the control center (20) analyzes the collected sound, image and vibration data, monitors the real-time dynamics of the mountain torrent outbreak, and when the mountain torrent outbreak is determined, the control center (20) sends out early warning of the mountain torrent outbreak in time.
2. The mountain torrent early warning monitoring system using unmanned aerial vehicle formation of claim 1, wherein: the sound monitoring device (12) comprises a microphone.
3. The mountain torrent early warning monitoring system using unmanned aerial vehicle formation of claim 1, wherein: the positioning device (14) is a GPS or Beidou positioning device.
4. The mountain torrent early warning monitoring system using unmanned aerial vehicle formation of claim 1, wherein: the vibration monitoring device (15) comprises an acceleration sensor.
5. The mountain torrent early warning monitoring system using unmanned aerial vehicle formation of claim 1, wherein: the LIDAR device (17) employs a LIDAR system.
6. The mountain torrent early warning and monitoring method by utilizing unmanned aerial vehicle formation is characterized by comprising the following steps of: performed using the system of any of claims 1-5, the method comprising the steps of:
the method comprises the following steps of firstly, constructing a ground digital elevation model, and determining river channel sections, river channel lengths, mountain areas on two sides of a river channel, greening rates, maximum water storage capacity on two sides of the river channel and current water storage capacity parameters of the mountains on two sides of the river channel;
secondly, the control center (20) sends a plurality of unmanned aerial vehicle devices (10) to form an unmanned aerial vehicle formation, the river channel is patrolled at regular time, the water quantity of the river channel is monitored, and the current water storage quantity parameters of mountains on two sides of the river channel are updated;
thirdly, when receiving a heavy rain early warning report through a weather station, the control center (20) calculates the probability and the strength of torrential flood outbreak according to the predicted precipitation, the maximum water storage capacity of mountains on two sides of the river channel and the current water storage capacity parameters, and sends out early warning information in advance;
and step four, after the control center (20) receives the heavy rain early warning information through the meteorological station, the control center (20) sends out the unmanned aerial vehicle formation to carry out fixed monitoring and early warning on the river channel.
7. The method for early warning and monitoring of mountain torrents by using unmanned aerial vehicle formation as claimed in claim 6, wherein: the fourth step specifically comprises:
the control center (20) controls the unmanned aerial vehicle equipment (10) to patrol along the planned cruising route, land at a preset fixed monitoring point of the unmanned aerial vehicle equipment, respectively collects sound, images and vibration data of a peripheral area through a sound monitoring device (12), an image monitoring device (13) and a vibration monitoring device (15), and transmits the collection result back to the control center (20) through a communication module (16);
the control center (20) analyzes the collected sound, image and vibration data, monitors the real-time dynamics of the mountain torrent outbreak, and when the mountain torrent outbreak is determined, the control center (20) sends out early warning of the mountain torrent outbreak in time.
8. The method for early warning and monitoring of mountain torrents by using unmanned aerial vehicle formation as claimed in claim 6, wherein: communication module (16) in unmanned aerial vehicle equipment (10) includes mobile communication equipment and WLAN equipment, mobile communication equipment is used for the communication between unmanned aerial vehicle equipment (10) and the mobile communication basic station, WLAN equipment is used for the communication between unmanned aerial vehicle equipment (10), constitute wireless ad hoc network between each communication module (16) of unmanned aerial vehicle equipment (10), when communication module (16) of certain unmanned aerial vehicle equipment (10) can't connect control center (20), use communication module (16) of other unmanned aerial vehicle equipment (10) to be connected with control center (20) as the relay node.
9. The method for early warning and monitoring of mountain torrents by using unmanned aerial vehicle formation as claimed in claim 6, wherein: the adjacent unmanned aerial vehicle equipment (10) obtains the flow velocity of the torrential flood by monitoring the arrival time of the torrential flood, then obtains the expected arrival time of the torrential flood at the downstream by utilizing the distance information between the unmanned aerial vehicle equipment and the downstream, and the control center (20) timely informs the expected arrival time of the torrential flood at the downstream to a downstream related area so as to improve the early warning efficiency and quality.
10. The method for early warning and monitoring of mountain torrents by using unmanned aerial vehicle formation as claimed in claim 6, wherein: the torrential flood early warning method in the fourth step comprises the step that the control center (20) informs related regional personnel in a wireless communication mode, or the unmanned aerial vehicle equipment (10) is controlled to remind the related regional personnel in a sound or light mode along a valley or to a designated region, so that people can avoid and prevent the torrential flood.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111426810A (en) * | 2020-05-11 | 2020-07-17 | 河海大学 | Air-space-ground-integration-oriented water environment monitoring system deployment method |
| CN112146615A (en) * | 2020-09-23 | 2020-12-29 | 招商局重庆交通科研设计院有限公司 | Slope monitoring method based on multiple unmanned aerial vehicles |
| CN112188429A (en) * | 2020-10-09 | 2021-01-05 | 北京邮电大学 | Ground data processing and collecting method, electronic equipment and storage medium |
| CN112633256A (en) * | 2021-01-27 | 2021-04-09 | 河南浩宇空间数据科技有限责任公司 | Hydrology test system based on laser radar point cloud technology |
| CN113296530A (en) * | 2021-05-06 | 2021-08-24 | 浙江极客桥智能装备股份有限公司 | Control method, system, terminal and medium based on multiple groups of unmanned aerial vehicles |
| CN113485415A (en) * | 2021-06-28 | 2021-10-08 | 中交遥感载荷(江苏)科技有限公司 | Rescue and disaster relief method based on unmanned aerial vehicle system and unmanned aerial vehicle system thereof |
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- 2020-01-21 CN CN202010068740.4A patent/CN111060162A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111426810A (en) * | 2020-05-11 | 2020-07-17 | 河海大学 | Air-space-ground-integration-oriented water environment monitoring system deployment method |
| CN112146615A (en) * | 2020-09-23 | 2020-12-29 | 招商局重庆交通科研设计院有限公司 | Slope monitoring method based on multiple unmanned aerial vehicles |
| CN112188429A (en) * | 2020-10-09 | 2021-01-05 | 北京邮电大学 | Ground data processing and collecting method, electronic equipment and storage medium |
| CN112633256A (en) * | 2021-01-27 | 2021-04-09 | 河南浩宇空间数据科技有限责任公司 | Hydrology test system based on laser radar point cloud technology |
| CN113296530A (en) * | 2021-05-06 | 2021-08-24 | 浙江极客桥智能装备股份有限公司 | Control method, system, terminal and medium based on multiple groups of unmanned aerial vehicles |
| CN113485415A (en) * | 2021-06-28 | 2021-10-08 | 中交遥感载荷(江苏)科技有限公司 | Rescue and disaster relief method based on unmanned aerial vehicle system and unmanned aerial vehicle system thereof |
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