CN111122053B - Device and method for detecting early unstable leakage of small reservoir dam body - Google Patents
Device and method for detecting early unstable leakage of small reservoir dam body Download PDFInfo
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- CN111122053B CN111122053B CN202010003918.7A CN202010003918A CN111122053B CN 111122053 B CN111122053 B CN 111122053B CN 202010003918 A CN202010003918 A CN 202010003918A CN 111122053 B CN111122053 B CN 111122053B
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/002—Investigating fluid-tightness of structures by using thermal means
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
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Abstract
The invention relates to a device and a method for detecting early unstable leakage of a dam body of a small reservoir, wherein an unmanned aerial vehicle is used for carrying an infrared thermal imager to shoot a thermal image of the dam surface of the small reservoir, and whether the dam body leaks or not is judged based on a temperature field; if the dam body leaks, the flight parameters of the unmanned aerial vehicle and the photographing parameters of the thermal imager are recorded at the moment, the low-temperature/high-temperature region of the thermal image is identified, the area of the thermal image is calculated, the unmanned aerial vehicle is remotely controlled to fly to the position again after a proper time interval, the thermal image is photographed again, the area of the low-temperature/high-temperature region is calculated, and whether the leaking position is early unstable or not is judged by comparing the area of the low-temperature/high-temperature region twice before and after comparison. The method and the device can efficiently detect the early unstable leakage of the dam body of the small reservoir.
Description
Technical Field
The invention relates to the related field of dam leakage detection, in particular to a device and a method for detecting early unstable leakage of a small reservoir dam based on an unmanned aerial vehicle platform.
Background
Since the establishment of new China, 86992 reservoirs are built in China, wherein the small reservoir accounts for more than 90%. For historical reasons, small reservoirs in China have a series of problems of low engineering standard, poor construction quality, serious aging and overhauling, incomplete supporting facilities, lack of benign management system and mechanism and the like, so that the hidden danger of leakage of partial small reservoirs is serious. The discovery of leakage is a precondition for managing leakage hidden trouble, but at present, a large proportion of leakage still cannot be discovered in time, especially for small (2) type reservoirs, the main reasons are as follows:
(1) for small reservoirs, especially small (2) type reservoirs, the manual inspection method has low efficiency due to a large number, and cannot meet the requirement of general inspection in place;
(2) due to the fact that the vegetation is sparse in maintenance, a large number of vegetation usually grows on the downstream face of the dam body of the small reservoir, and due to the vegetation, leakage parts are covered, so that leakage points are difficult to find;
(3) the common leakage monitoring technology in large and medium reservoir dams needs to bury sensors and manually measure and read at regular intervals, and is rarely adopted in small reservoir dams, particularly in small (2) type reservoir dams for economic reasons.
Furthermore, the detection and discovery of early unsteady leakage from small reservoir dams is a further problem. The early unstable leakage is leakage at an early development stage and has the characteristic that the leakage quantity is gradually increased and the visible water flow cannot be formed. The early unstable leakage has higher risk and is discovered as soon as possible, thus having great significance.
For economic reasons, the most commonly adopted method for checking the leakage of the dam body of the small reservoir is a manual inspection method, which mainly depends on the eyesight of people and judges whether the dam body leaks or not by observing whether the dam face has obvious wet marks or not. The unstable leakage is identified by comparing the sizes of leakage ranges found by two or more successive rounds to judge whether the leakage is unstable leakage. This type of determination relies on human memory and feeling, is highly influenced by human beings, is inefficient, and can be found less early in time in practice.
The thermal imager is adopted to check leakage, such as basement leakage check, pipeline leakage check and the like, and the method is to manually shoot a thermal image, search a low-temperature point in the thermal image and judge the low-temperature point as a leakage point. The reason why the method cannot be used in the early unstable leakage detection of the small reservoir dam body is as follows:
(1) low efficiency, failing to meet the efficiency requirement: the small reservoir is large in quantity, and the regular inspection of the dam body by the arrangement personnel is difficult at present. Therefore, the efficiency of the new technology is higher than that of a manual inspection method and a method for manually shooting thermal images, and the efficiency is low.
(2) The environment is complex, the misjudgment rate is high: the small reservoir dam body is easy to manage and maintain, the conditions of uneven pits, water accumulation, dampness, vegetation growth and the like generally exist, the places are often low-temperature points, and the misjudgment rate is high when the low-temperature points are judged to be leakage points according to the existing method. The seepage point can be judged only if the accumulated water on the downstream surface of the dam comes from the water in the reservoir, and the accumulated water on the downstream surface of the dam possibly comes from various reasons such as rainfall and the like.
(3) The ability to detect early unsteady leaks was not available: the dangerous unstable leakage is high, and the valuable is to find the unstable leakage in the early stage. The unstable leakage is leakage firstly, and as described in (1) and (2), the method of manually shooting the thermography finds that the leakage of the dam body of the small reservoir is low and has no capability of identifying the development stage of the leakage.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a device and a method for detecting early unstable leakage of a dam body of a small reservoir based on an unmanned aerial vehicle platform, wherein the unmanned aerial vehicle carries an inspection device to quickly and comprehensively inspect the downstream surface of the dam body, and a suspected leakage part is found by shooting the temperature field of the downstream surface of the dam body through a thermal infrared imager; further confirming whether the image is a leakage point or not by means of repeated flight and approaching to a photographed thermal image; and judging whether the early unstable leakage exists or not by re-flying at proper time intervals and shooting the temperature field of the leakage point and comparing the change of the area of the low-temperature/high-temperature area.
In order to achieve the technical purpose, the invention adopts the following technical scheme.
A method for detecting early unstable leakage of a small reservoir dam body comprises the following steps:
(1) carrying inspection equipment by using an unmanned aerial vehicle, comprehensively inspecting the downstream surface of the dam body, and shooting a thermal image of the downstream surface of the dam body by using a thermal infrared imager during inspection; air temperature t1Greater than reservoir water temperature t2The lowest temperature in the thermography is below a threshold t0Or t is1＜t2Maximum temperature in thermography higher than t0Alarming and recording the suspected leakage part; continuing to inspect until the inspection of the downstream surface of the whole dam body is completed; if the inspection is finished and no alarm sound exists, judging that the dam body does not leak, and finishing the inspection;
(2) repeatedly flying and approaching suspected leakage part to shoot thermal image again, if still meeting alarm condition, determining the part as leakage point, and calculating area (t) of low temperature region in thermal image1＞t2) Or high temperature region area (t)1＜t2)；
(3) And (3) resetting the temperature threshold value after the interval T, repeatedly flying again, shooting a thermal image close to the leakage point, calculating the area of the low-temperature/high-temperature region in the thermal image, comparing the change of the area of the low-temperature/high-temperature region in the steps (2) and (3), and judging whether the early unstable leakage exists.
As a further development of the invention, the temperature threshold t0Based on air temperature t1Reservoir water temperature t2Determining the vegetation state and the sunlight irradiation state on the surface of the dam body; the sunlight irradiation state comprises direct sunlight irradiation state with irradiation angle of + -30 deg., cloudy state, surface vegetation state comprising vegetation state and no vegetation state, and temperature threshold t0The calculation method is as follows:
t0＝k1t1-k2△t
△t＝(t1-t2)/2
wherein Δ t is the correction temperature; k is a radical of1As a solar radiation coefficient, direct irradiation state k1Value 1.1, bias illumination state k1Value 1.05, cloudy k1Taking the value of 1.0; k is a radical of2As the vegetation influence coefficient, there is a vegetation state k2Value 0.9, no vegetationState k2The value is 1.0.
Further, reservoir water temperature t2At the temperature t of the air1Difference value | t of1-t2And | is greater than 2 ℃. When reservoir water temperature t2At the temperature t of the air1When the difference between the values is less than or equal to 2 ℃, it is difficult to distinguish whether the accumulated water or the moist water is water from the reservoir when the accumulated water or the moist water appears on the downstream surface of the dam body because the temperature difference is small.
As a further improvement of the invention, the reservoir water temperature t2The water body temperature at the position 50cm below the water surface and with the distance of more than 0.5m from the intersection line of the upstream surface of the dam body and the reservoir water surface is taken.
As a further improvement of the invention, when the alarm is given in the step (1), the flight parameters of the unmanned aerial vehicle are recorded, and the re-flying position of the unmanned aerial vehicle is controlled based on the recorded flight parameters;
and (2) recording the flight parameters of the unmanned aerial vehicle and the photographing parameters of the thermal infrared imager during alarming, and controlling the re-flying position of the unmanned aerial vehicle based on the recorded flight parameters and photographing parameters.
As a further improvement of the invention, in the step (1), an unmanned aerial vehicle inspection line is set, if the height H of the dam body is less than 10m, 1 aerial photographing line is set, the height of the unmanned aerial vehicle is adjusted, so that the photographing field of vision of the thermal infrared imager can cover the whole downstream surface of the dam body, and then the dam body is subjected to aerial photographing once along the axis direction of the dam, so that the inspection of the whole downstream surface of the dam body is completed; and if the height H of the dam body is more than or equal to 10m and less than 20m, setting 2 parallel aerial photographing lines, adjusting the height of the unmanned aerial vehicle, enabling the photographing visual fields of the 2 aerial photographing lines to cover the whole downstream surface of the dam body, and then carrying out aerial photographing for 2 times along the axis direction of the dam to finish the inspection of the whole downstream surface of the dam body.
As a further improvement of the method, a steel ruler is placed at a suspected leakage position/leakage point and used as a low-temperature/high-temperature area calculation reference; when the unmanned aerial vehicle is controlled to approach, the vertical distance between the unmanned aerial vehicle and the downstream surface of the dam body is 2-6m, and 3-4m is preferred; and when the unmanned plane flies again, the distance between the unmanned plane and the downstream surface of the dam body is consistent with that of the first flying again. Whether the leakage is early unstable leakage is determined based on the area change (ratio) of the low-temperature/high-temperature range twice during the missed approach and the repeated missed approach, and the ratio of the number of pixels of the high-temperature/low-temperature region twice before and after can be used for confirmation. The ruler is used as a length reference to calculate the area more accurately, misjudgment of results caused by deviation caused by the fact that the unmanned aerial vehicle cannot fly back accurately is avoided, at the moment, the length of the ruler in the thermography is equal to the total length of the ruler serving as the reference length, and the area of the low-temperature/high-temperature range is calculated by adopting an area integration method. Further, the total length of the straightedge is 10-50cm (non-graduated length), preferably 20-30 cm.
As a further development of the invention, t1＞t2When the temperature is lower than the preset temperature, the low-temperature area is determined as a thermal image with the value tminA range below the isotherm of +0.2 Δ t; t is t1＜t2When the temperature is higher than the preset temperature, the high-temperature area is the highest temperature t in the thermal imagemaxA range of +0.2 Δ t or more on the isotherm.
As a further improvement of the invention, in the non-flood season, the value of T is 2 h-8 h, preferably 4 h-6 h; in the flood season, the value of T is less than or equal to 2h, preferably 1 h.
As a further improvement of the invention, when the ratio of the area of the low-temperature/high-temperature region in the step (3) to the area of the low-temperature/high-temperature region in the step (2) is more than 1.1 and no obvious water is accumulated in the low-temperature/high-temperature region, the leakage position is determined to be early unstable leakage, the other situations are non-early unstable leakage, and if the obvious water is accumulated, the leakage position is determined to be dangerous leakage.
The invention also aims to provide a device for detecting the early unstable leakage of the dam body of the small reservoir, which is realized based on the following technical scheme:
a device for detecting early unstable leakage of a small reservoir dam body comprises an unmanned aerial vehicle, a thermal infrared imager, a distance measuring device, a straight steel ruler and a ground remote control console;
the unmanned aerial vehicle is used for inspection, and a thermal infrared imager and a distance measuring device are carried on the unmanned aerial vehicle;
the thermal infrared imager is used for shooting a thermal image of the downstream surface of the dam body;
the distance measuring device is used for measuring the vertical distance between the unmanned aerial vehicle and the downstream surface of the dam body;
the steel ruler is placed at a suspected leakage position/leakage point and used as a length reference for calculating the area of a low-temperature/high-temperature area;
the ground remote control console is used for controlling the flight of the unmanned aerial vehicle and the shooting of the thermal infrared imager; a temperature alarm module and a low-temperature/high-temperature area integral module are arranged in the ground remote control console; the temperature alarm module acquires a thermal image in which the lowest temperature is lower than a set temperature threshold (air temperature t)1Greater than reservoir water temperature t2) Or the maximum temperature is higher than a set temperature threshold (air temperature t)1< temperature t of reservoir Water2) Alarming and recording current flight parameters of the unmanned aerial vehicle and photographing parameters of the thermal infrared imager;
the low-temperature/high-temperature area integrating module acquires a thermograph, and calculates the area of a low-temperature/high-temperature area in the thermograph by taking the steel ruler as a length reference.
The method and the device have the following beneficial effects:
(1) the efficiency is high: the unmanned aerial vehicle is used for carrying the thermal infrared imager, and the automatic alarm module is arranged, so that the inspection of the small reservoir dam body in a long distance, a large visual field, a fast and maneuvering way is realized, compared with manual pedestrian inspection, the efficiency is improved by more than 5 times, and the method is particularly suitable for the leakage inspection of the small reservoir dam body with large quantity and wide range;
(2) the accuracy is high: the difference value of the reservoir water temperature and the air temperature is taken as a main parameter of the leakage judging condition, and the influence of sunshine and vegetation is considered, so that the essential characteristic of the dam body leakage is grasped; the reliability of the identification of the leakage points is further improved by recording the flight parameters of the suspected leakage points, automatically re-flying, approaching to photographing and verifying the alarm conditions again; the area of the low-temperature/high-temperature region is calculated by automatically identifying the low-temperature/high-temperature region, so that the leakage influence range is determined, and an important basis is provided for evaluating the safety condition of the dam body;
(3) and shooting the temperature field of the leakage part again by flying again at proper time intervals, calculating the change of the area of the low-temperature/high-temperature area, and judging whether the leakage part is early unstable leakage or not. The method and the device provide a means for efficiently finding the early unstable leakage of the dam body of the small reservoir.
Drawings
FIG. 1 is a schematic diagram of a device for finding early unstable leakage of a small reservoir dam based on an unmanned aerial vehicle platform;
fig. 2 is a visible light image and a thermal image of typical dam body leakage, where a is the visible light image, b is a thermal image of a leakage point photographed during fly-back, and c is a thermal image of the leakage point photographed during fly-back again.
In the figure: 1. an unmanned aerial vehicle; 2. a thermal infrared imager; 3. a ground remote control station; 4. the downstream surface of the dam body; 5. suspected leakage points and leakage points on the dam body; 6. a temperature alarm module; 7. a low/high temperature region area integration module; 8. a distance measuring device; 9. a straight steel ruler.
Detailed Description
The technical solution of the present invention is further illustrated by the following specific examples.
As shown in fig. 1 and 2, the method for discovering the early unstable leakage of the small reservoir dam based on the unmanned aerial vehicle platform comprises the following steps:
(1) preparation for inspection
The inspection task is to inspect whether the dam body of a small reservoir dam has leakage or not, and if the leakage exists, whether the leakage is early unstable leakage or not needs to be judged. The dam height is 6 m. Determining a takeoff position as a left shoulder of the dam body according to the requirement of the inspection task; the inspection line is used for inspecting the left shoulder and the right shoulder of the dam body, and the inspection of the whole dam body is completed at one time; the height of the unmanned aerial vehicle during inspection is 12m, and the visual field of the thermal imager can cover the downstream surface of the whole dam body; the landing position is the right shoulder of the dam body.
Measurement of air temperature t by an air temperature meter1Measuring the water body temperature t at a position which is 0.6m away from the intersection line of the upstream surface of the dam body and the reservoir water surface and 50cm below the water surface by a thermometer at 25 DEG C215 ℃ is set; the weather condition is cloudy day, and the solar radiation coefficient k1Taking the value as 1.0; checking the vegetation state of the downstream surface 4 of the dam body as the vegetation state and the vegetation influence coefficient k2Taking the value as 0.9; Δ t ═ t (t)1-t2) The temperature threshold of the alarm is set to t when the temperature is 5 DEG C0＝k1t1-k2△t＝20.5℃。
(2) Inspection tour
The remote control unmanned aerial vehicle 1 rises to the inspection height from the takeoff position, so that the shooting view field of the thermal infrared imager 2 can cover the whole downstream surface 4 of the dam body, and then the dam body downstream surface 4 is subjected to aerial photography once from left to right, and the inspection of the whole dam body downstream surface 4 is completed. In the inspection process, the temperature alarm module 6 reads t in each thermal image frame in real timeminCalculating an alarm condition, and if an alarm sound is emitted at the position 5, determining the position 5 as a suspected leakage point, and automatically recording the flight parameters of the unmanned aerial vehicle 1 at the moment; then, the inspection is continued, the inspection of the downstream surface 4 of the whole dam body is completed, and no alarm sound is emitted again.
(3) Fly-back
According to the recorded flight parameters of the unmanned aerial vehicle 1 at the suspected leakage point 5, the unmanned aerial vehicle flies back to the suspected leakage point 5, a steel ruler 9 is placed at the position to control the unmanned aerial vehicle 1 to approach, the distance between the unmanned aerial vehicle and the downstream surface of the dam body is accurately measured through a distance measuring device 8, and the vertical distance between the unmanned aerial vehicle and the downstream surface of the dam body is 3.5m through feedback adjustment. The photo is then hovered over. Through the photographed thermograph, the part still meets the alarm condition through the verification of the temperature alarm module 6, the part is determined to be a leakage point, the flight parameters and the photographing parameters of the unmanned aerial vehicle 1 are recorded at the moment, and the low-temperature region S is identified through the low-temperature/high-temperature region area integration module 71As shown in FIG. 2(b), the area A of the low temperature region is calculated with reference to the length of the straightedge 91。
The low-temperature region is the lowest temperature t in the thermal imageminThe range below the isotherm at +1 ℃.
(4) Fly over again
Measuring the air temperature t again 4h after the distance re-flight is finished1When the sun irradiation state is determined to be still cloudy at 26 ℃, the Δ t is recalculated to 5.5 ℃. Then controlling the unmanned aerial vehicle 1 to fly to the leakage point 5 again according to the flight parameters and the photographing parameters of the position of the leakage point 5 recorded during fly-back, placing a steel ruler 9 at the position, adjusting the unmanned aerial vehicle to enable the vertical distance between the unmanned aerial vehicle and the downstream surface of the dam body to be still 3.5m, hovering and photographing, and then passing through the area of the low-temperature/high-temperature areaIntegration module 7 identifies low temperature region S2The area A of the low temperature region is calculated with reference to the length of the straightedge 9 as shown in FIG. 2(c)2。
The low-temperature region is the lowest temperature t in the thermal imageminA range of +1.1 ℃ isotherm or less.
By comparison, A2/A1＝0.98<1.1, if no obvious water is accumulated at the position, judging that the position is a leakage point but does not belong to early unstable leakage.
The unmanned aerial vehicle 1 is a Dajiang M210V2 type unmanned aerial vehicle, the thermal infrared imager 2 is a Dajiang XT2 type thermal imager, and the ground remote control station 3 is used for controlling the flight of the unmanned aerial vehicle 1 and the shooting of the thermal infrared imager 2; the ground remote control station 3 also comprises a temperature alarm module 6 and a low-temperature/high-temperature area integral module 7, wherein a thermal image is obtained, and when the lowest temperature in the thermal image is lower than a set temperature threshold value, the alarm module gives an alarm and records the current flight parameters of the unmanned aerial vehicle and the photographing parameters of the thermal infrared imager; the low-temperature/high-temperature area integrating module 7 acquires a thermograph, the area of a low-temperature area in the thermograph is calculated by taking the straight steel ruler as a length reference, and the total length of the straight steel ruler is 20 cm.
In this embodiment: the precision of the thermometer is 0.01 ℃, the measuring range is-20 ℃ to 100 ℃, and the thermometer is used for measuring and recording temperature difference.
The thermal infrared imager 2 is used for shooting the temperature field of the downstream surface of the dam body, and the temperature resolution is 0.05 ℃.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications made according to the scope of the present invention should be covered by the claims of the present invention.
Claims (11)
1. A method for detecting early unstable leakage of a small reservoir dam body is characterized by comprising the following steps:
(1) the unmanned aerial vehicle is used for carrying inspection equipment, the downstream surface of the dam body is comprehensively inspected, and the dam body is shot through the thermal infrared imager during inspectionA thermographic image of the downstream face; air temperature t1Greater than reservoir water temperature t2The lowest temperature in the thermal image is lower than a set threshold value t0Or t is1＜t2Maximum temperature in thermography higher than t0Alarming and recording the suspected leakage part;
(2) repeatedly flying and approaching suspected leakage part to shoot thermal image again, if still meeting alarm condition, determining the part as leakage point, and calculating t1＞t2Area of low temperature region in the temporal thermal map or t1＜t2Area of high temperature zone;
(3) after the interval of T time, resetting the temperature threshold, re-flying and shooting a thermal image close to the leakage point, calculating the area of the low-temperature/high-temperature region in the thermal image, comparing the change of the area of the low-temperature/high-temperature region in the steps (2) and (3), and judging whether the early unstable leakage exists; and (3) when the ratio of the area of the low-temperature/high-temperature region in the step (3) to the area of the low-temperature/high-temperature region in the step (2) is greater than 1.1 and no obvious water is accumulated in the low-temperature/high-temperature region, judging that the leakage point is early unstable leakage.
2. Method according to claim 1, characterized in that the temperature threshold t is0Based on air temperature t1Reservoir water temperature t2Determining the vegetation state and the sunlight irradiation state on the surface of the dam body; the sunlight irradiation state comprises direct sunlight irradiation state with irradiation angle of + -30 deg., cloudy state, surface vegetation state comprising vegetation state and no vegetation state, and temperature threshold t0The calculation method is as follows:
t0＝k1t1-k2Δt
Δt＝(t1-t2)/2
wherein Δ t is the correction temperature; k is a radical of1As a solar radiation coefficient, direct irradiation state k1Value 1.1, bias illumination state k1Value 1.05, cloudy k1Taking the value of 1.0; k is a radical of2As the vegetation influence coefficient, there is a vegetation state k2Value 0.9, no vegetation state k2The value is 1.0.
3. The method of claim 2, wherein the reservoir water temperature t2And (4) taking the water body temperature at the position which is more than 0.5m away from the intersection line of the upstream surface of the dam body and the reservoir water surface and is 50cm below the water surface.
4. The method according to claim 1, wherein when the step (1) alarms, flight parameters of the unmanned aerial vehicle are recorded, and the flying position of the unmanned aerial vehicle is controlled based on the recorded flight parameters;
and (2) recording the flight parameters of the unmanned aerial vehicle and the photographing parameters of the thermal infrared imager during alarming, and controlling the re-flying position of the unmanned aerial vehicle based on the recorded flight parameters and photographing parameters.
5. The method according to claim 1, wherein in the step (1), an unmanned aerial vehicle inspection route is set, if the height H of the dam body is less than 10m, 1 inspection route is set, the height of the unmanned aerial vehicle is adjusted, so that the shooting view field of the thermal infrared imager can cover the whole downstream surface of the dam body, and then the thermal infrared imager takes a photo along the axial direction of the dam once to finish the inspection of the whole downstream surface of the dam body; and if the height H of the dam body is more than or equal to 10m and less than 20m, setting 2 parallel aerial photographing lines, adjusting the height of the unmanned aerial vehicle, enabling the photographing visual fields of the 2 aerial photographing lines to cover the whole downstream surface of the dam body, and then carrying out aerial photographing for 2 times along the axis direction of the dam to finish the inspection of the whole downstream surface of the dam body.
6. A method according to claim 1, characterised by placing a steel ruler at the suspected leak site/leak point as a low/high temperature area calculation reference; the vertical distance between the unmanned aerial vehicle and the downstream surface of the dam body is 2-6m, preferably 3-4 m; when the unmanned plane flies again, the distance between the unmanned plane and the downstream surface of the dam body is consistent with that of the first flying again.
7. The method according to claim 6, characterized in that the vertical distance of the drone from the downstream face of the dam is 3-4 m.
8. Method according to claim 2, characterized in that t is t1＞t2When the temperature is in the low temperature region, the numerical value in the thermal image is the lowest temperature t in the thermal imageminA range of +0.2 Δ t or less on the isotherm; t is t1＜t2When the temperature is higher than the preset temperature, the high-temperature area is the highest temperature t in the thermal imagemaxA range of +0.2 Δ t or more in the isotherm.
9. The method according to claim 1, wherein in the flood season, the T takes a value of 2 h-8 h; in the flood season, the value of T is less than or equal to 2 h.
10. The method according to claim 9, wherein in the flood season, the value of T is 4 h-6 h; and in the flood season, the value of T is 1 h.
11. The device for detecting the early unstable leakage of the dam body of the small reservoir is characterized by comprising an unmanned aerial vehicle, a thermal infrared imager, a distance measuring device, a straight steel ruler and a ground remote control console;
the unmanned aerial vehicle is used for inspection, and a thermal infrared imager and a distance measuring device are carried on the unmanned aerial vehicle;
the thermal infrared imager is used for shooting a thermal image of the downstream surface of the dam body;
the distance measuring device is used for measuring the vertical distance between the unmanned aerial vehicle and the downstream surface of the dam body;
the steel ruler is placed at a suspected leakage position/leakage point and used as a length reference for calculating the area of a low-temperature/high-temperature area;
the ground remote control console is used for controlling the flight of the unmanned aerial vehicle and the shooting of the thermal infrared imager; a temperature alarm module and a low-temperature/high-temperature area integral module are arranged in the ground remote control console; the temperature alarm module acquires a thermal image at an air temperature t1Greater than reservoir water temperature t2The lowest temperature in the thermal image is lower than a set temperature threshold; or air temperature t1< temperature t of reservoir Water2When the highest temperature is higher than a set temperature threshold value, alarming and recording current flight parameters of the unmanned aerial vehicle and photographing parameters of the thermal infrared imager;
the low-temperature/high-temperature area integrating module acquires a thermograph, and calculates the area of a low-temperature/high-temperature area in the thermograph by taking the steel ruler as a length reference.
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