CN111245945A - Marine oil spilling supervisory systems based on buoy and unmanned aerial vehicle control - Google Patents
Marine oil spilling supervisory systems based on buoy and unmanned aerial vehicle control Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
Abstract
The invention relates to a marine oil spill supervision system based on buoy and unmanned aerial vehicle monitoring. The system is accessed to three parts of data, namely acquisition data of a buoy, Pos data of an unmanned aerial vehicle and aerial video of the unmanned aerial vehicle in real time through a 4G data transmission technology, the Internet of things technology is introduced to publish the three parts of data to a cloud platform in real time, the data can be subscribed from the cloud platform and transmitted to a Web server, data interaction with a client application end is achieved, and storage, statistics, analysis and the like of spatial information and attribute information are achieved through a database storage technology. Therefore, the invention design of the system comprises design and construction of a system database, construction of a Web server and a cloud platform, design of a data transmission module and design and construction of a client application end according to requirements.
Description
Technical Field
The invention relates to a marine oil spill supervision system based on buoy and unmanned aerial vehicle monitoring, and relates to the technical field of IOT platforms, the technical field of video live broadcast services, the technical field of ArcGIS, the technical field of database storage, the technical field of 4G data transmission, server construction and other related fields.
Background
In recent years, the offshore oil spill accidents are increasing, the oil pollution is more and more serious, and the marine oil spill accidents become the chief culprit for damaging the environmental and marine ecological balance. Therefore, a great amount of manpower, financial resources and material resources are invested in the research of offshore oil spill monitoring technology in all countries in the world. At present, the tracking and monitoring means of offshore oil spill mainly comprise satellite remote sensing, aerial remote sensing, ship remote sensing, fixed point and ocean buoy tracking and the like, a single monitoring method has various characteristics, the satellite remote sensing technology has long observation period and low spatial resolution; the requirement of aerial remote sensing monitoring on weather and environment is high; the remote sensing monitoring of the ship requires that maritime personnel always participate, and the deep sea area has safety threat to the personnel; the fixed point monitoring range is too small; the condition of the oil spilling area can not be visually displayed by the buoy monitoring.
With the development of computer technology, network technology and sensor technology, the research and application of offshore oil spill monitoring technology in China make great progress, a marine environment three-dimensional monitoring network consisting of offshore monitoring stations, buoys, survey vessels, satellite smoke detection, aerial remote sensing and the like is gradually established, but a complete network with reasonable layout and advanced monitoring means is not formed, and partial monitoring tasks of partial monitoring stations are still manually read by using manual reading and simulation curves, so that the monitoring data are different from person to person, the objectivity is poor, the reading and the operation are inconvenient, particularly great difficulty is brought to the monitoring tasks at night or in severe weather, most of the monitoring technologies used are slow in data acquisition, the monitoring method is backward, the data timeliness is poor, and the continuity is poor. Therefore, a highly efficient communication network and an efficient data processing system are necessary to ensure real-time and continuous data.
By integrating the situation analysis, a three-dimensional monitoring method consisting of a buoy, an unmanned aerial vehicle and a monitoring station is designed, and a marine oil spill monitoring system based on ArcGIS electronic chart platform and Internet of things technology for real-time data transmission and sharing is designed, so that the three-dimensional monitoring and dynamic monitoring of an oil spill area can be realized by accessing buoy acquisition data and unmanned aerial vehicle aerial photography video in real time, the functions of data analysis, processing, statistics, query, storage and the like can be realized by utilizing the technical field of database storage, and the function of automatic alarm can be realized according to normal element indexes of the area. The system is an innovative technology for monitoring and controlling offshore oil spill, and can solve the problems of poor timeliness, poor continuity, poor real-time performance, incapability of sharing data and the like of the existing system. Therefore, the development of the offshore oil spill supervision system based on buoy and unmanned aerial vehicle monitoring is a novel, feasible and valuable project invention.
Disclosure of Invention
The technical scheme adopted by the invention is an offshore oil spill monitoring system based on buoy and unmanned aerial vehicle monitoring, the system is accessed to three parts of data, namely data acquired by a buoy, Pos data of an unmanned aerial vehicle and aerial video of the unmanned aerial vehicle in real time through a 4G data transmission technology, an Internet of things technology is introduced to publish the three parts of data to a cloud platform in real time, the data can be subscribed from the cloud platform and transmitted to a Web server, data interaction with a client application end is realized, and a database storage technology is adopted to realize storage, statistics, analysis and the like of spatial information and attribute information. Therefore, the invention design of the system comprises design and construction of a system database, construction of a Web server and a cloud platform, design of a data transmission module and design and construction of a client application end according to requirements.
Designing and constructing a system database: the construction of the database is not only the basis of system development, but also the premise of whether the offshore oil spill monitoring work can be rapidly carried out. According to actual requirements, the system uses a large amount of spatial data (monitoring station distribution and administrative division) and non-spatial data (also called attribute data (collected data, buoy information, user information and the like)), so that the design of the database is logically divided into a spatial database and a non-spatial database. The spatial database adopts ArcSDE + SQLServer, and mainly comprises vector data and raster data, wherein the vector data comprises point data, line data and surface data, the point data is basically monitoring points, residential points and the like, the line data is mostly road and water system distribution data, and sea area maps, administrative division maps and the like belong to the surface data. The non-spatial database adopts MySQL and consists of a user and a conventional monitoring database. The user database needs to perform authority distribution on different operation authority requirements of different login personnel, and the authority distribution can be divided into the following four tables: user information table (user), system role table (role), permission table (permission), and mapping table (role _ permission) for role to permission interactions. The conventional monitoring database stores 9 tables: the system comprises an oil _ task specific monitoring task table, a station _ basic specific monitoring station information table, a distribution _ basic specific monitoring area information table, a buoys _ basic specific buoy basic information table, a buoys _ lay _ record specific buoy launching table, a buoys _ lay _ data buoy specific monitoring element table, an uav _ basic specific unmanned aerial vehicle information table, a uav _ deploy _ record specific unmanned aerial vehicle configuration table and a uav _ pos unmanned aerial vehicle pos table.
Designing and building a Web server and a cloud platform: the traditional server function is basically completed by the Web server, and no matter whether multi-user login, multi-buoy acquisition and multi-unmanned aerial vehicle flight are borne by the Web server, the pressure of the server is greatly increased, the real-time performance of data transmission is reduced, and the stereoscopic impression of the user on remote monitoring of an oil spilling area is reduced. The server unit designed by the invention is composed of the Web server and the cloud platform, the Web server is responsible for receiving request information sent by the Web browser of the client and forwarding the request information to the cloud platform, and the cloud platform is responsible for accessing, publishing, subscribing and the like of the three parts of monitoring data, so that the construction technology of the traditional server is innovated, the innovation point of the system is increased, and good experience is provided for users.
Designing a data transmission module: the buoy acquisition data and unmanned aerial vehicle Pos data sent by the monitoring station cannot be issued to the cloud platform through a 4G transmission technology, and the client application end only supports the languages of Html, Js and Css, the cloud platform only supports C + +, Java and cannot subscribe data from the cloud platform, so that the module is designed to serve as a hub for data transmission, and the system is a difficult point for development. This module includes three functions: data forwarding, data access and data storage. The data that the monitoring station sent through 4G transmission technology is inserted through the data forwarding function to analyze out buoy data collection and unmanned aerial vehicle Pos data respectively, every buoy, every unmanned aerial vehicle all need bind a virtual equipment of cloud platform, and framing again releases data to the cloud platform. And data are requested to read from the cloud platform through a data access function, and are broadcasted to the client application terminal for displaying. And the monitoring data is stored in a corresponding data table of the database in real time through a data storage function.
Designing and building a client application end: the system is a J2EE system based on a B/S framework, and is a management platform for a user to remotely monitor an oil spill area and visually operate database data. The system comprises a monitoring task management unit, a real-time monitoring management unit, a historical monitoring management unit, a data statistics and analysis unit, a user management unit and the like. The monitoring task management unit is used for creating, deleting and inquiring monitoring tasks for laying the buoy by a user according to the need of the user, so that the laying, retrieving, configuring, maintaining and the like of the buoy are remotely commanded; the real-time monitoring management unit comprises the functions of displaying geographic information of a buoy monitoring area, displaying a buoy moving track, displaying real-time monitoring data, automatically alarming for oil spilling and the like, so that a user can remotely check parameters such as weather, water quality, oil spilling and the like of a buoy monitoring water area and can check real-time positioning of the monitoring water area, and when the monitored oil film thickness exceeds the standard, automatic alarming is carried out, so that the user is reminded to take effective measures in time; the historical monitoring management unit comprises functions of displaying historical monitoring data of the buoy, displaying geographic information of a historical monitoring area, displaying a historical moving track and the like, and is mainly convenient for a user to check the condition of a past monitored water area and can check the moving track and previous monitoring parameters before the buoy; the data statistics and analysis unit is used for counting and sorting the monitoring data, such as counting the number of buoys thrown in a certain period of time, the number of buoys in a certain area, the change of the oil film thickness in a certain period of time and the like, and the data are finally displayed in four modes, namely a pie chart, a bar chart, a broken line chart and a table. Therefore, the user can check the monitoring data more intuitively; the user management unit can realize the functions of registration, login, authority management and the like of the user, thereby not only enhancing the safety of the system, but also protecting the information of the user.
Compared with the prior art, the invention has the following advantages:
the invention improves the efficiency of remote monitoring and management of offshore oil spill, directly reflects the whole process of drift and diffusion change of the oil spill, and effectively improves the capability of handling oil spill accidents. The buoy collects, marks and sends the oil spilling data all day long, effectively and automatically, and the current situation of the oil spilling area of the unmanned aerial vehicle is taken by plane uninterruptedly, so that the defect of a single monitoring mode is greatly overcome. In addition, the system introduces an ArcGIS-based electronic chart, an advanced Internet of things technology, an effective database management technology and the like, and the scientificity, the rationality and the innovation of the system are further improved. The electronic chart can display dynamic flight tracks of the buoy and the unmanned aerial vehicle in real time, the advanced internet of things technology can live aerial videos on site in real time, the stereoscopy of site monitoring tasks is guaranteed, the continuity of transmitted data is guaranteed through effective database management technology, and data can be effectively analyzed and managed. In conclusion, the system is a Web system with good user experience and good interactivity.
Drawings
FIG. 1 is a diagram of a system design;
FIG. 2 is a flowchart of the operation of SpringMVC;
FIG. 3 is a logical diagram of a conventional database;
FIG. 4 is a block diagram of a data forwarding function;
FIG. 5 is a block diagram of a data access function;
FIG. 6 is a diagram of an interface design for a Web browser client;
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The design scheme of the system is shown in fig. 1, and the whole system is composed of a Web browser client, a Web server, a cloud platform, a database server and a data transmission module which are distributed on the Internet.
The construction design of the Web server and the cloud platform is as follows:
the part mainly comprises a Web server and a cloud platform. The Web server is a bridge for communication between the system client and the application servers, and mainly works to receive request information sent by the Web browser client and forward the request information to each application server, and the application servers process the client requests and then return processing results to the client, so that the response to the client is completed. The method mainly comprises the steps of reading information from a spatial database, processing requests on aspects of monitoring task information, buoy history monitoring data, user information query and the like, and returning processing results to a client. The execution flow of SpringMVC is shown in fig. 2. When the monitoring task is executed, namely when the monitoring station sends data, the cloud platform can work. The main work is as follows: the cloud platform can directly access video data and respond the video to the client; and the buoy acquisition data and the unmanned aerial vehicle Pos data need to be forwarded to the cloud platform by the data transmission module, and the cloud platform stores the data into the database and responds to the client through the data transmission module.
Designing and building a database:
the database server only comprises an oil spill monitoring non-spatial database and an electronic chart spatial database. The electronic chart space database mainly stores electronic chart space data, and the oil spill monitoring non-space database mainly stores conventional monitoring data, users and other attribute information. The user database has fewer tables and simpler logic, and the drawing is not shown here. The conventional monitoring database is shown in fig. 4, which shows the logical relationship between tables, and almost every table has a foreign key for querying the index, so as to accelerate the query rate and improve the response time of the user.
Designing a data transmission module:
the design of the model is a bridge for building a cloud platform, wherein the cloud platform is accessed to monitoring station data, stores the data in a database and transmits the data to a client. According to the requirement analysis, the module has the functions of data forwarding, data access and data storage. The following functions will be described in detail:
the data forwarding function: the module can receive unmanned aerial vehicle Pos data and buoy's collection data that oil spilling monitoring station sent through 4G transmission technology is outside to forward data to the cloud IOT platform in real time. As shown in fig. 4, the module has the following functions according to the requirement: data access processing, data display + user interaction, UDP communication, and data release. The module is jointly developed by Java and QT, a data display and user interaction interface are designed by the QT and packaged into an exe, the data transmission with the Ali cloud IOT platform is realized by packaging an exe executable program by the Java, and the two exes are communicated through UDP. Before the monitoring task is executed, serial port numbers and baud rates (the default is 115200) are set, each buoy and each unmanned aerial vehicle are bound with a virtual device of an Ali cloud IOT platform, data sent by an oil spill monitoring station can be received, the data are forwarded to the cloud platform, and then the data can be issued to the IOT platform. In order to ensure the reliability of UDP communication, a communication protocol is also designed for communication between two UDP, for example, { qjType: Connected, qjData { } } tells Java encapsulated exe to complete the authentication of the virtual device.
Data access function: the function can subscribe data from the cloud platform in real time, the data are broadcast to the Web monitoring subsystem through the NodeJS server in real time, and finally a track is displayed on the electronic chart. The module has according to the demand: the system comprises functions of data subscription, encapsulation of socket.io client, database driving, data publishing, encapsulation of NodeJs server, data broadcasting and the like. The function is jointly developed by Java and NodeJS, authentication of the Ali cloud equipment, data subscription, encapsulation of a socket Io client and database driving are completed by using Java language, encapsulation of a server is completed by using NodeJs language, and functions of data analysis, broadcasting and the like are realized. The initial design is that data is subscribed and displayed from a cloud platform at a browser end, but the browser end only supports Html, Js, css and the like, and the cloud platform only supports java, c + + and the like, so that the function is designed and used for data transfer.
Designing a Web browser client:
as shown in fig. 6, the interface diagram of the Web browser client is shown, the system uses Html, CSS technology and JSP technology to create a front-end visual interface, provides logic implementation for the front-end interface by using JavaScript technology, and refers to ArcGIS technology to perform electronic chart function display, thereby implementing real-time monitoring, task management, history monitoring, routing inspection management, data statistics, user management, and the like. The real-time monitoring function module has real-time data display and real-time video display, and the GPS information of the buoy and the unmanned aerial vehicle can be displayed on an electronic chart, so that a user can conveniently monitor the field dynamically and three-dimensionally. Historical monitoring is the viewing of historical monitoring task data, and comprises the display of a historical track and the playback of a historical video. Task management is to monitor creation, query, modification, deletion and the like of task information. The data statistics is to edit the attribute information, the monitoring data and the layer element, store the data in a database and mutually search the map element attribute data space data, and can not only inquire the attribute information by virtue of the selection of sites on the map, but also display the corresponding sites by virtue of the establishment of monitoring information inquiry conditions. The bright spot and difficulty of the client design is the electronic chart design based on ArcGIS, which will be introduced below.
ArcGIS-based electronic chart design:
the electronic chart data release function is realized by utilizing an ArcGIS Server platform, and the electronic chart data is the middle edition chart data. The design of the function is divided into the following steps: the method comprises the steps of electronic chart data processing, application of an automatic symbolization middle edition chart tool, release of chart data resources by utilizing ArcGIS Maritime Charting for Server, and creation of html to access the chart data resources by utilizing ArcGIS JavaScript API.
The electronic chart data processing is the basis of the electronic chart publishing function and is the premise of correct publishing. Firstly, defining a projection coordinate system for the middle-edition marine map data, then transforming the marine map data projection coordinate system into a geographic coordinate system, then converting a middle-edition electronic marine map data model (. shp file) into a Geodatabase data model and importing the Geodatabase data model into a spatial database, and finally performing spatial data cutting and splicing processing on the marine map data in the spatial database so as to be used by the system.
Application of the automatic symbolization middle version chart tool: because ArcGIS does not provide specialized chart filling symbols per se, in order to meet the requirement of making specialized electronic charts, a symbol library meeting the requirement of drawing the specialized electronic charts needs to be made according to the middle-edition electronic chart display standard. The chart data of the system is symbolized and stored as a. mxd file in ArcMap, the chart space information is issued in the form of a. mxd document, and the automatic symbolization middle edition chart tool completes the function of symbolizing the chart data.
And (3) release of the electronic chart: maritime Charting is an extension of the SOE technology of ArcGIS Server, and the published marine map service protocols are OGC WMS and Rest protocols. WMS is a dynamic mapping service that must not perform as well as slicing services if updates are not considered. Firstly, configuring an SOE component, opening ArcGIS Server by using a browser, selecting 'expansion' on a 'site' label, clicking 'add expansion', and then pointing to a Maritimeserver. Then configuring a self directory structure of the Maritime; after configuration, the.000 file is copied to the bottom of the datasets directory and then accessed.
Claims (1)
1. Marine oil spilling supervisory systems based on buoy and unmanned aerial vehicle control, its characterized in that: the system is accessed to three parts of data, namely acquisition data of a buoy, Pos data of an unmanned aerial vehicle and aerial video of the unmanned aerial vehicle in real time through a 4G data transmission technology, the Internet of things technology is introduced to release the three parts of data to a cloud platform in real time, the data can be subscribed from the cloud platform and transmitted to a Web server, data interaction with a client application end is realized, and a database storage technology is adopted to realize storage, statistics and analysis of spatial information and attribute information;
the method comprises the steps of designing and building a system database, building a Web server and a cloud platform, designing a data transmission module and designing and building a client application end;
designing and constructing a system database: the design of the database is logically divided into a spatial database and a non-spatial database; the spatial database adopts ArcSDE + SQL Server, and comprises vector data and raster data, wherein the vector data comprises point data, line data and surface data, the point data comprises monitoring points and residential points, the line data comprises road and water system distribution data, and the surface data comprises a sea area map and an administrative area map;
the non-spatial database adopts MySQL and consists of a user and a conventional monitoring database; the user database needs to perform authority distribution on different operation authority requirements of different login personnel, and the authority distribution is divided into the following four tables: a user information table (user), a system role table (role), a permission table (permission), and a mapping table (role _ permission) for role and permission interaction;
the conventional monitoring database stores 9 tables: a specific monitoring task table of oil _ task, a specific monitoring site information table of station _ basic, a specific monitoring area information table of distribution _ basic, a specific buoy basic information table of buoys _ basic, a specific buoy launching table of buoys _ lay _ record, a specific monitoring element table of buoys _ lay _ data buoy, a specific unmanned aerial vehicle information table of uav _ basic, a specific unmanned aerial vehicle configuration table of uav _ deploy _ record, and a pos table of uav _ pos unmanned aerial vehicle;
designing and building a Web server and a cloud platform: the server unit consists of a Web server and a cloud platform, wherein the Web server is responsible for receiving request information sent by a client Web browser and forwarding the request information to the cloud platform, and the cloud platform is responsible for accessing, publishing and subscribing the three monitoring data;
designing a data transmission module: this module includes three functions: data forwarding, data access and data storage; accessing data sent by a monitoring station through a 4G transmission technology through a data forwarding function, analyzing buoy acquisition data and unmanned aerial vehicle Pos data respectively, binding a virtual device of a cloud platform to each buoy and each unmanned aerial vehicle, and framing again to release the data to the cloud platform; data are requested to read from the cloud platform through a data access function, and the data are broadcasted to a client application end to be displayed; monitoring data are stored in a corresponding data table of a database in real time through a data storage function;
designing and building a client application end: the J2EE system based on the B/S architecture comprises a monitoring task management unit, a real-time monitoring management unit, a history monitoring management unit, a data statistics and analysis unit and a user management unit;
the monitoring task management unit is used for creating, deleting and inquiring monitoring tasks of the buoys laid by the monitoring task management unit, so that the laying, retrieving, configuring and maintaining of the buoys are remotely commanded; the real-time monitoring management unit comprises geographic information display of a buoy monitoring area, display of a buoy moving track, real-time monitoring data display and automatic oil spill alarm, so that a user can remotely check weather, water quality and oil spill of a buoy monitoring water area and can also check real-time positioning of the monitoring water area, and when the monitored oil film thickness exceeds the standard, the real-time monitoring management unit can automatically alarm, so that the user is reminded to take effective measures in time; the historical monitoring management unit comprises functions of displaying historical monitoring data of the buoy, displaying geographic information of a historical monitoring area, displaying a historical moving track and the like, and is convenient for a user to check the condition of a past monitored water area and can check the moving track and previous monitoring parameters before the buoy; the data statistics and analysis unit is used for counting and sorting the monitoring data.
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| CN113703703A (en) * | 2021-08-23 | 2021-11-26 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle data display method, device, equipment and storage medium |
| CN113840116A (en) * | 2021-09-10 | 2021-12-24 | 北京工业大学 | Oil and gas pipeline abnormal condition inspection system based on deep learning |
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