CN112289004A - River monitoring and early warning method and system - Google Patents
River monitoring and early warning method and system Download PDFInfo
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- CN112289004A CN112289004A CN202010963428.1A CN202010963428A CN112289004A CN 112289004 A CN112289004 A CN 112289004A CN 202010963428 A CN202010963428 A CN 202010963428A CN 112289004 A CN112289004 A CN 112289004A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/08—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water
- G08B21/084—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water by monitoring physical movement characteristics of the water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/0006—Indicating or recording presence, absence, or direction, of movement of fluids or of granulous or powder-like substances
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
Abstract
The application provides a river monitoring and early warning method and system, which belong to the technical field of monitoring, wherein the river monitoring and early warning method comprises the following steps: collecting water body information and floater information in the river reach, wherein the water body information comprises the flow velocity and the flow direction of the water body in the river reach, and the floater information comprises the azimuth and the speed of a floater in the river reach; dynamically tracking the floater based on the floater information to determine a target floater; determining the relative speed of a target floater based on the floater information and the water body information; and if the relative speed of the target floater is within a preset range, outputting early warning information to indicate that the runaway floater exists in the current river reach. The river monitoring and early warning method and system can track and monitor the floating objects on the river in real time, and report the situation in time when the floating objects are found out to be in an out-of-control state, so that relevant management departments can take treatment measures in time.
Description
Technical Field
The application belongs to the technical field of monitoring, and particularly relates to a river monitoring and early warning method and system.
Background
Under the influence of abnormal weather such as strong wind, heavy rain or flood, many large objects can be out of control and float along the river, such as large ships which are out of control due to the failure of the berth anchor, or other large objects brought into the river from the bank, etc. On one hand, the large-sized floating object floating on the river flows down under the influence of abnormal weather and is in an out-of-control state, and the large-sized floating object is easy to impact and damage the infrastructure, the water surface channel facility and the like at the downstream of the river under the driving of the flow velocity of the water body. On the other hand, under unusual weather, not only river bank facility department can lack the personnel of attending to, and river surface of water department also can make visual range little because of weather reason, and sight condition is difficult to observe with the naked eye, and at this moment, the large-scale floater out of control can be in unmanned supervision's state, moves along with the water flow direction is proper motion, leads to being difficult to tracking and handling it.
Disclosure of Invention
The invention aims to provide a river monitoring and early warning system and method, which can track and monitor floaters on a river in real time, and report the situation in time when the floaters are found out to be in an out-of-control state, so that relevant management departments can take treatment measures in time.
In order to achieve the above object, a first aspect of the present application provides a river monitoring and early warning method, including:
acquiring water body information and floater information in a river reach, wherein the water body information comprises the flow velocity and the flow direction of a water body in the river reach, and the floater information comprises the azimuth and the speed of each floater in the river reach;
dynamically tracking each floater based on the floater information to determine a target floater;
determining a relative velocity of the target float based on the float information and the water body information, wherein the relative velocity is a velocity of the target float relative to the water body;
and if the relative speed of the target floater is within a preset range, outputting early warning information to indicate that an uncontrolled floater exists in the current river reach.
Based on the first aspect of the present application, in a first possible implementation manner, after the collecting water information and floating object information in a river reach, the method further includes:
respectively describing the water body information and the floater information through a first coordinate system and a second coordinate system, wherein the first coordinate system is constructed based on the acquisition point position of the water body information, and the second coordinate system is constructed based on the acquisition point position of the floater information;
converting the water body information in the first coordinate system into the water body information in the second coordinate system;
the determining the relative speed of the floater based on the floater information and the water body information may specifically be: and determining the relative speed of the target floating object based on the water body information in the second coordinate system and the azimuth and the speed of the target floating object.
Based on the first possible implementation manner of the first aspect of the present application, in a second possible implementation manner, the dynamically tracking the floating object based on the floating object information to determine the target floating object includes:
carrying out false target identification on each floater based on a Kalman filtering algorithm and floater information acquired at different time points;
determining the target float based on the result of the false target identification.
In a third possible implementation manner, based on the second possible implementation manner of the first aspect of the present application, the determining the target float based on the result of the false target identification includes:
determining the detection times of each floating object based on the result of false target identification;
updating the tracking state of each floater based on the life cycle theory and the detection times of each floater;
and determining the floaters which are not lost in the tracking state in the floaters as target floaters.
Based on the first aspect of the present application to any one possible implementation manner of the third possible implementation manner of the first aspect of the present application, in a fourth possible implementation manner, the acquiring water body information and floating object information in a river reach includes:
the method comprises the steps of collecting water body information and floating object information in the river reach based on a group of detection equipment deployed on one side of a river bank in the river reach, wherein the group of detection equipment comprises a speed meter and a radar.
Based on the fourth possible implementation manner of the first aspect of the present application, in a fifth possible implementation manner, the group of detection devices further includes: the camera is deployed on one side of the river bank in the river reach;
the outputting of the warning information includes:
acquiring video images related to the uncontrolled floaters in the river reach based on the camera;
and outputting the video image.
Based on the first aspect of the present application to any one possible implementation manner of the third possible implementation manner of the first aspect of the present application, in a sixth possible implementation manner, the acquiring water body information and floating object information in a river reach includes:
acquiring first water body information and first floating object information in the river reach based on a first group of detection equipment deployed on one side of a river bank in the river reach;
acquiring second water body information and second floating object information in the river reach based on a second group of detection equipment deployed on the other side of the river bank in the river reach; each group of the detection equipment comprises a velocimeter and a radar;
the dynamically tracking each of the floats based on the float information includes:
and dynamically tracking each of the floats based on the first float information and the second float information, respectively.
In a seventh possible implementation manner of the first aspect of the present invention, the determining the relative velocity of the target float based on the float information and the water body information includes:
taking the first water body information or the second water body information as final water body information;
determining a relative velocity of the target float based on the first float information, the second float information, and the final water body information.
The application second aspect provides a river monitoring early warning system, includes:
the system comprises a front-end detection device, a data acquisition device and a data processing device, wherein the front-end detection device is used for acquiring water body information and floater information in a river reach, the water body information comprises the flow velocity and the flow direction of water in the river reach, and the floater information comprises the azimuth and the speed of each floater in the river reach;
a backend management device to: dynamically tracking each floater based on the floater information to determine a target floater; determining a relative velocity of the target float based on the float information and the water body information, wherein the relative velocity is a velocity of the target float relative to the water body;
and the alarm device is used for outputting early warning information when the relative speed of the target floater is within a preset range so as to indicate that the current river reach has the runaway floater.
Based on the second aspect of the present application, in a first possible implementation manner, the front end detecting device includes two sets of detecting devices, and each set of the detecting devices includes:
the velocimeter is used for acquiring water body information in the river reach;
the radar is used for acquiring the information of the floating objects in the river reach;
the camera is used for acquiring video images related to the uncontrolled floater in the river reach;
wherein, two sets of above-mentioned detection equipment are deployed respectively in the both sides of the bank in above-mentioned river reach.
As can be seen from the above, the river monitoring and early warning method provided by the application includes the steps of firstly collecting water body information and floater information in a river reach, and dynamically tracking floaters based on the floater information to determine target floaters; then determining the relative speed of the target floater based on the floater information and the water body information; and if the relative speed of the target floater is within a preset range, outputting early warning information to indicate that the runaway floater exists in the current river reach. Because the water body information comprises the flow velocity and the flow direction of the water body in the river reach and the floater information comprises the azimuth and the speed of the floater in the river reach, the floater on the river can be tracked and monitored in real time based on the water body information and the floater information, and the condition can be reported in time when the floater is found to be in an out-of-control state, so that relevant management departments can take treatment measures in time.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of an embodiment of a river monitoring and early warning method provided by the present application;
fig. 2 is a schematic structural diagram of an embodiment of a river monitoring and early warning system provided by the present application;
fig. 3 is a schematic structural diagram of an embodiment of a back-end management device in the river monitoring and early warning system provided by the present application;
fig. 4 is a schematic structural diagram of an embodiment of a front-end detection device in the river monitoring and early warning system provided by the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways than those described herein, and it will be apparent to those of ordinary skill in the art that the present application is not limited by the specific embodiments disclosed below.
Example one
The embodiment of the application provides a river monitoring and early warning method, and as shown in fig. 1, the method comprises the following steps:
step 11: collecting water body information and floater information in the river reach;
the water body information includes the flow velocity and the flow direction of the water body in the river reach, and the floater information includes the azimuth and the speed of each floater in the river reach.
Specifically, the river reach may be an area to be monitored and early-warned in the river; the flow velocity and the flow direction of the water body can be the flow velocity and the flow direction of the surface of the water body in the river reach; the floaters can be large floaters such as ships or branches which are easy to impact on river downstream infrastructure or water surface channel facilities. Optionally, when the information of the floating objects in the river reach is collected, a collection range (i.e., a volume range of the floating objects) may be preset based on the width of the river reach, and the information of the floating objects in the collection range in the river reach is collected.
In one implementation, the collecting water body information and floating object information of the river reach may include: the method comprises the steps of collecting water body information and floating object information in the river reach based on a group of detection equipment deployed on one side of a river bank in the river reach, wherein the group of detection equipment comprises a speed meter and a radar.
Optionally, the above-mentioned tachymeter can be very high frequency radar tachymeter, and above-mentioned radar can be the millimeter wave radar, and above-mentioned millimeter wave radar deploys in the low reaches position of above-mentioned very high frequency radar tachymeter to survey the floater based on this millimeter wave radar based on the detection range of very high frequency radar tachymeter. Can realize the real-time supervision to water surface velocity of flow distribution through very high frequency radar velocimeter, can acquire the target name of water surface floater through the millimeter wave radar, the target distance, velocity of movement and direction angle carry out real-time supervision, and the millimeter wave radar can discern 64 at least dynamic targets simultaneously, the floater information of output can be arranged by far and near according to the target distance, and can carry out the scanning detection of low coverage and two kinds of modes of long distance simultaneously, the information of acquireing is more comprehensive accurate.
In another implementation, the collecting water body information and floating object information of the river reach may include: acquiring first water body information and first floating object information in the river reach based on a first group of detection equipment deployed on one side of a river bank in the river reach; acquiring second water body information and second floater information in the river reach based on a second group of detection equipment deployed on the other side of the river bank in the river reach; wherein, every group of above-mentioned detection equipment all includes tachymeter and radar.
In practical application, the deployment mode of the detection equipment can be adjusted according to the width of a river reach, and when the width of the river reach is within the detection range of the detection equipment (such as the river width is less than 200 m), only one group of detection equipment needs to be deployed on one side of a river bank; when the width of the river reach is out of the detection range of the detection equipment (such as the river width is 200m to 500m), a group of detection equipment can be arranged on each of two sides of the river bank, so that the comprehensive coverage of the width range of the river reach is realized; or, when the width of the river reach is much larger than the detection range of the detection device (for example, the river reach is more than 500m), besides that one group of detection devices are deployed at both sides of the river bank, one or more groups of detection devices can be deployed at corresponding positions in the middle of the surface of the water body, so that the comprehensive coverage of the width range of the river reach is realized. The monitoring floating island is arranged at a corresponding position in the middle of the surface of the water body and used for fixing the detection equipment in the middle of the surface of the water body, or the detection equipment can be fixed in the middle of the surface of the water body through fixing supports fixed on two sides of a river bank, and the position is not limited. Similarly, when the length of the river reach is within the detection range of the detection equipment, only one group of detection equipment needs to be deployed on one side of the river bank, and when the length of the river reach is outside the detection range of the detection equipment, multiple groups of detection equipment can be arranged at intervals on the same side of the river bank, so that the length range of the river reach is completely covered.
Step 12: dynamically tracking each floater based on the floater information to determine a target floater;
specifically, the radar can monitor the information of the floating objects in real time, so that different information of the floating objects can be collected at different time points, and the information of the floating objects can be updated in real time. By dynamically tracking each floater, false targets or overlapped targets possibly generated under the influence of water surface waves can be effectively filtered, and false target identification of each floater is realized. Meanwhile, when only the same floater is targeted, a plurality of dynamic targets of the same floater at different time points can be subjected to continuous identification processing.
In one implementation, when the acquiring of the water information and the floater information of the river reach includes acquiring first water information and first floater information in the river reach based on a first set of detection devices deployed on one side of a bank in the river reach, and acquiring second water information and second floater information in the river reach based on a second set of detection devices deployed on the other side of the bank in the river reach, the dynamically tracking of each floater based on the floater information may include: and dynamically tracking each floater based on the first floater information and the second floater information respectively so as to realize dynamic tracking of each floater at different positions in the river reach.
Optionally, the dynamically tracking the floating object based on the floating object information to determine the target floating object specifically may include: carrying out false target identification on each floater based on a Kalman filtering algorithm and floater information acquired at different time points; determining the target float based on the result of the false target identification.
Specifically, the kalman filtering algorithm obtains different orientations and speeds of each floater at different time points based on the floater information acquired without the time points; the continuation relation of the floaters can be estimated based on different orientations and speeds of the floaters at different time points so as to determine whether the floaters are effective floaters (target floaters) capable of being detected continuously and eliminate false floaters which cannot be detected continuously.
Optionally, the determining the target floating object based on the result of the false target identification includes: determining the detection times of each floating object based on the result of false target identification; updating the tracking state of each floater based on the life cycle theory and the detection times of each floater; and determining the floaters which are not lost in the tracking state in the floaters as target floaters.
Specifically, when the kalman filter algorithm is used to estimate the continuation relation of the float information collected at the unused time point, the detection times and the interval time of each float may be obtained, where the detection times may include the continuous detection times and the erroneous detection times. The detection times and the intervals can determine the time interval of each time the floating object is detected and whether the floating object can be detected continuously. Furthermore, by presetting a casualty threshold value and a target threshold value, each floating object with detection times within different threshold values is defined as different tracking states, and the floating object with continuous detection times not within the casualty threshold value range after real-time updating is determined as the target floating object.
In practical application, the tracking state of each floater can be defined as forming, updating, continuing, waiting, disappearing and the like according to the continuous detection times of each floater based on the life cycle theory. Specifically, when the information of a certain floating object is obtained for the first time, the tracking state of the floating object is defined as formation; when the continuous detection times of a certain floater are stably updated, namely the floater can be continuously and stably detected, defining the tracking state of the floater as updating; when the continuous detection times of a certain floater are within a first target threshold value, namely, the number of false detection times is small, the tracking state of the floater is defined as stable; when the continuous detection times of a certain floater are within a second target threshold value, namely, the number of false detection times and target loss exist for a few times, defining the tracking state of the floater as waiting; when the continuous detection times of a certain floater are within the extinction threshold value, namely the continuous detection times are in error and the target is lost, the tracking state of the floater is defined as extinction. The definition of the tracking state of each floating object may be adjusted according to the actual situation, and is not limited herein. By combining the Kalman filtering algorithm and the life cycle theory, the multi-target dynamic tracking of each floater is realized, and the target floater is effectively determined.
Step 13: determining a relative velocity of the target float based on the float information and the water body information;
wherein the relative velocity is a velocity of the target float relative to the body of water.
Optionally, after the step 11 of collecting the information of the floating objects and the information of the water body, the method further includes: respectively describing the water body information and the floater information through a first coordinate system and a second coordinate system, wherein the first coordinate system is constructed based on the acquisition point position of the water body information, and the second coordinate system is constructed based on the acquisition point position of the floater information; and converting the water body information in the first coordinate system into the water body information in the second coordinate system through projection transformation. The water body information in the second coordinate system may be used as background feature information, and the background feature information may further include observation time corresponding to the water body information in the second coordinate system.
Further, the determining the relative speed of the floater based on the floater information and the water body information may specifically be: and determining the relative speed of the target floating object based on the water body information (namely background flow velocity information) in the second coordinate system, the azimuth and the speed of the target floating object (namely floating object information). Specifically, a preset range can be predetermined through background flow rate information; and determining the speed of the floater relative to the water flow speed at the corresponding time point by combining the floater information.
Specifically, after the detection device is fixed at a corresponding position on a river bank, the position parameters of the radars and the speed meters in each group of detection devices are respectively obtained, the position parameters of each radar or speed meter are used as acquisition points of corresponding floater information or water body information, a corresponding first coordinate system or a second coordinate system is constructed based on each position parameter, the first coordinate system and the second coordinate system constructed based on the position parameters of the radars and the speed meters in each group of detection devices correspond to each other one by one, namely, in a group of detection devices, the floater information obtained by each radar and the speed meter corresponds to corresponding background characteristic information, so that the information detected by the radars and the speed meters in each group of detection devices is subjected to fusion analysis. The position parameters may include plane coordinate information, elevation coordinate information, distance information, reference azimuth information, and the like of the radar or the velocimeter.
In one implementation, when the acquiring the water information and the float information of the river reach includes acquiring first water information and first float information in the river reach based on a first set of detection devices deployed on one side of a bank in the river reach and acquiring second water information and second float information in the river reach based on a second set of detection devices deployed on the other side of the bank in the river reach, the determining the relative speed of the target float based on the float information and the water information includes: taking the first water body information or the second water body information as final water body information; determining a relative velocity of the target float based on the first float information, the second float information, and the final water body information.
Optionally, the background flow rate information may further include: monitoring a data reliability index; the reliability index of the monitoring data can be calculated based on the distance information and the detection range of the velocimeter corresponding to the first coordinate system, and is used for judging the monitoring reliability of the velocimeter corresponding to the first coordinate system. When two groups of detection equipment are respectively deployed on two banks of the river reach, respectively constructing two first coordinate systems based on position parameters of two speed meters on the two banks of the river reach, wherein the two first coordinate systems are used for respectively describing first water body information and second water body information; and calculating to obtain a first monitoring data reliability index and a second monitoring data reliability index respectively based on the two first coordinate systems, and obtaining corresponding first background flow rate information and second background flow rate information based on the first monitoring data reliability index and the second monitoring data reliability index.
Further, the taking the first water information or the second water information as final water information includes: and performing accepting and rejecting analysis on the two monitoring data reliability indexes, selecting one monitoring data reliability index as a final monitoring data reliability index, and taking background flow rate information corresponding to the final monitoring data reliability index as final background flow rate information. Determining the relative velocity of the target float based on the float information and the water information may include: determining a relative velocity of the target float based on the first float information, the second float information, and the final background flow velocity information. When the two monitoring data reliability indexes are subjected to accepting or rejecting analysis, the monitoring data reliability index with high reliability can be preferentially selected as the final monitoring data reliability index, or when the two monitoring data reliability indexes are close to each other, the weighted average value of the two monitoring data reliability indexes can be calculated as the final monitoring data reliability index.
Step 14: and if the relative speed of the target floater is within a preset range, outputting early warning information to indicate that an uncontrolled floater exists in the current river reach.
Specifically, when the relative speed of the target floating object is within a preset range, alarm information is output to a rear-end management platform or a terminal device and the like, so that corresponding workers are prompted in time, and emergency treatment measures are taken in time.
Optionally, the group of detecting devices further includes: the camera is deployed on one side of the river bank in the river reach; the outputting the warning information may further include: acquiring video images related to the uncontrolled floaters in the river reach based on the camera; and outputting the video image. The camera can be configured with a control function, and the control function realizes remote control of the camera through voice or information commands so as to visually track the position of the floater and collect corresponding video images. Wherein, can every detection equipment of group all set up a camera, perhaps, also can the same camera of multiunit detection equipment sharing, as long as can guarantee that the monitoring range of camera can realize the comprehensive cover to the river reach internal water body scope, do not restrict here.
Optionally, the group of detecting devices further includes: the auxiliary lighting equipment is used for performing auxiliary lighting under abnormal weather conditions, and can be configured with a control function, and the control function realizes remote control over the auxiliary lighting equipment through voice or information commands, namely remote control over the lighting direction or the lighting starting time of the light, so as to assist the camera in acquiring video images of the floating object.
As can be seen from the above, in the river monitoring and early warning method provided by the embodiment of the application, water body information and floater information in a river reach are collected at first, and a floater is dynamically tracked based on the floater information to determine a target floater; then determining the relative speed of the target floater based on the floater information and the water body information; and if the relative speed of the target floater is within a preset range, outputting early warning information to indicate that the runaway floater exists in the current river reach. Because the water body information comprises the flow velocity and the flow direction of the water body in the river reach and the floater information comprises the azimuth and the speed of the floater in the river reach, the floater on the river can be tracked and monitored in real time based on the water body information and the floater information, and the condition can be reported in time when the floater is found to be in an out-of-control state, so that relevant management departments can take treatment measures in time.
Example two
The embodiment of the application provides that fig. 2 shows a schematic structural diagram of a river monitoring and early warning system provided by the embodiment of the application.
Specifically, referring to fig. 2, the river monitoring and early warning system includes a front-end detection device 21, a rear-end management device 22 and an alarm device 23;
a front end detection device 21, configured to collect water information and floater information in a river reach, where the water information includes a flow velocity and a flow direction of a water body in the river reach, and the floater information includes an azimuth and a speed of each floater in the river reach;
a backend management device 22 to: dynamically tracking each floater based on the floater information to determine a target floater; determining a relative velocity of the target float based on the float information and the water body information, wherein the relative velocity is a velocity of the target float relative to the water body;
and the alarm device 23 is configured to output early warning information to indicate that an uncontrolled floating object exists in the current river reach when the relative speed of the target floating object is within a preset range.
Optionally, the back-end management device 22 may be a management platform built for software, or the management server directly implements the function of the back-end management device 22, and sends the result to the terminal platform for display. The front end detection device 21, the rear end management device 22 and the alarm device 23 are connected in communication, wherein the communication may be performed through a wired manner or through a wireless manner, and the communication is not limited herein.
Optionally, as shown in fig. 3, the backend management apparatus 22 may include a data receiving module 221, a data processing module 222, a dynamic tracking module 223, and a fusion analysis module 224.
After the rear end management device 22 receives the water information and the floating object information of the river reach acquired by the front end detection device 21 through the data receiving module 221, the data processing module 222 describes the water information and the floating object information through a first coordinate system and a second coordinate system, respectively, and converts the water information in the first coordinate system into the water information in the second coordinate system, wherein the first coordinate system is constructed based on the acquisition point positions of the water information, and the second coordinate system is constructed based on the acquisition point positions of the floating object information.
The dynamic tracking module 223 dynamically tracks the respective floats based on the information of the floats received by the data receiving module 221 to determine a target float. Optionally, the dynamic tracking module 223 performs false target identification on each of the floats based on a kalman filter algorithm and information of the floats acquired at different time points; determining the target float based on the result of the false target identification.
Further, the dynamic tracking module 223 may further determine the detection times of each of the floats based on the result of the false target identification when the target float is determined based on the result of the false target identification; updating the tracking state of each floater based on the life cycle theory and the detection times of each floater; and determining the floaters which are not lost in the tracking state in the floaters as target floaters.
The fusion analysis module 224 determines the relative velocity of the target floating object based on the water information in the second coordinate system, the orientation and the velocity of the target floating object.
Optionally, as shown in fig. 4, the front end detecting device 21 includes at least one set of detecting devices 211, and each set of detecting devices 211 includes:
a velocimeter 2111 for collecting the water body information in the river reach;
a radar 2112 for collecting information of the floating objects in the river reach;
a camera 2113 for acquiring video images related to the uncontrolled float in the river reach;
when the front-end detecting device 21 includes a group of detecting devices 211, the group of detecting devices 211 may be deployed on any side of the river reach to collect corresponding information; when the front-end detecting device 21 includes two sets of the detecting devices 211, the two sets of the detecting devices 211 may be respectively disposed at two sides of a river bank in the river reach to acquire corresponding information.
Optionally, when the front end detecting device 21 includes two groups of detecting devices 211, the dynamic tracking module 223 dynamically tracks each of the floats based on first float information and second float information collected by the two groups of detecting devices 211, respectively; the fusion analysis module 224 is configured to use the first water information or the second water information as final water information; and determining a relative velocity of the target float based on the first float information, the second float information, and the final water body information.
Optionally, above-mentioned tachymeter 2111 is very high frequency radar tachymeter, above-mentioned radar 2112 is the millimeter wave radar, can realize the real-time supervision to water surface velocity of flow distribution through very high frequency radar tachymeter, can acquire water surface floater A's target name through the millimeter wave radar, the target distance, velocity of motion and direction angle carry out real-time supervision, and this millimeter wave radar can discern 64 at least dynamic targets simultaneously, the floater information of output can be arranged by far and near according to the target distance, and can carry out the scanning detection of low coverage and two kinds of modes of long distance simultaneously, the information of acquireing is more comprehensive accurate.
Optionally, the radar 2112 is disposed downstream of the velocimeter 2111, and the camera 2113 is disposed downstream of the radar 2112. The camera 2113 may also be configured with a control function, and the control function implements remote control of the camera 2113 through voice or information commands, so as to visually track the position of the float a and acquire a corresponding video image.
Optionally, each set of the detecting device 211 may further include: and auxiliary lighting equipment (not shown in the figure) for auxiliary lighting in abnormal weather conditions, wherein the auxiliary lighting equipment can be configured with a control function, and the control function can realize remote control of the auxiliary lighting equipment through voice or information commands, namely remote control of the lighting direction or the lighting starting time and the like so as to assist the camera 2113 in carrying out video image acquisition on the floating object A.
Alternatively, the front-end detection device 21 may be powered by solar energy, or may be powered by other methods, which is not limited herein.
In practical applications, the deployment mode of the detection device 211 can be adjusted according to the width of the river reach, and when the width of the river reach is within the detection range of the detection device 211 (for example, the river width is less than 200 m), only one group of detection devices 211 needs to be deployed on one side of the river bank; when the width of the river reach is outside the detection range of the detection device 211 (for example, the river reach is 200m to 500m), a group of detection devices 211 can be deployed at both sides of the river bank, so that the width range of the river reach can be completely covered; or, when the width of the river reach is much larger than the detection range of the detection device 211 (for example, the river width is more than 500m), in addition to deploying one group of detection devices 211 on both sides of the river bank, one or more groups of detection devices 211 can be deployed at corresponding positions in the middle of the surface of the water body, so as to realize the comprehensive coverage of the width range of the river reach. The monitoring floating island is arranged at a corresponding position in the middle of the water surface and used for fixing the detection device 211 in the middle of the water surface, or the detection device 211 can be fixed in the middle of the water surface through fixing supports fixed on two sides of a river bank, and the position is not limited. Similarly, when the length of the river reach is within the detection range of the detection device 211, only one group of detection device 211 needs to be deployed on one side of the river bank, and when the length of the river reach is outside the detection range of the detection device 211, multiple groups of detection devices 211 can be arranged at intervals on the same side of the river bank, so that the length range of the river reach can be fully covered.
As can be seen from the above, in the river monitoring and early warning system provided in the embodiment of the present application, water information and floater information in a river reach are collected through the front end management device 21; dynamically tracking the floater A through the back-end management device 22 based on the floater information to determine a target floater; then determining the relative speed of the target floater based on the floater information and the water body information; if the relative speed of the target floater is within the preset range, outputting early warning information through the warning device 23 to indicate that the uncontrolled floater exists in the current river reach. Because the water body information comprises the flow velocity and the flow direction of the water body in the river reach and the floater information comprises the azimuth and the speed of the floater in the river reach, the floater A on the river can be tracked and monitored in real time based on the water body information and the floater information, and the condition is reported in time when the floater A is found to be in an out-of-control state, so that relevant management departments can take treatment measures in time.
It should be understood that the above-described integrated units/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above may be implemented by a computer program, which may be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer readable medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc. It should be noted that the contents contained in the computer-readable storage medium can be increased or decreased as required by legislation and patent practice in the jurisdiction.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be apparent to those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and partitions are merely illustrated as examples, and in practical applications, the above functions may be distributed as needed and performed by different functional units and partitions, that is, the internal structure of the apparatus may be partitioned into different functional units or partitions, so as to perform all or part of the functions described above. Each functional unit and unit in the embodiments may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The units in the system and the specific working processes of the units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
It should be noted that, the methods and the details thereof provided by the foregoing embodiments may be combined with the apparatuses and devices provided by the embodiments, which are referred to each other and are not described again.
Those of ordinary skill in the art would appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described apparatus/device embodiments are merely illustrative, and for example, the above-described unit or division of units is only one type of division of logical functions, and the actual implementation may be achieved by another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A river monitoring and early warning method is characterized by comprising the following steps:
acquiring water body information and floater information in a river reach, wherein the water body information comprises the flow velocity and the flow direction of a water body in the river reach, and the floater information comprises the azimuth and the speed of each floater in the river reach;
dynamically tracking each floater based on the floater information to determine a target floater;
determining a relative velocity of the target float based on the float information and the water body information, wherein the relative velocity is a velocity of the target float relative to the water body;
and if the relative speed of the target floater is within a preset range, outputting early warning information to indicate that an out-of-control floater exists in the current river reach.
2. The river monitoring and early warning method as claimed in claim 1, wherein the step of collecting the river information and the floating object information in the river reach further comprises the following steps:
respectively describing the water body information and the floater information through a first coordinate system and a second coordinate system, wherein the first coordinate system is constructed based on the acquisition point position of the water body information, and the second coordinate system is constructed based on the acquisition point position of the floater information;
converting the water body information in the first coordinate system into water body information in the second coordinate system;
the determining the relative speed of the floater based on the floater information and the water body information specifically comprises: and determining the relative speed of the target floater based on the water body information in the second coordinate system, the azimuth and the speed of the target floater.
3. A river monitoring and pre-warning method as claimed in claim 2, wherein the dynamically tracking the float based on the float information to determine a target float comprises:
carrying out false target identification on each floater based on a Kalman filtering algorithm and floater information acquired at different time points;
determining the target float based on a result of the false target identification.
4. A river monitoring and early warning method as claimed in claim 3, wherein the determining the target floating object based on the result of the false target recognition comprises:
determining the detection times of each floater based on the result of false target identification;
updating the tracking state of each floater based on the life cycle theory and the detection times of each floater;
and determining the floaters which are not disappeared in the tracking state in the floaters as target floaters.
5. The river monitoring and early warning method as claimed in any one of claims 1 to 4, wherein the acquiring of the water body information and the floating object information in the river reach comprises:
the method comprises the steps that water body information and floater information in a river reach are collected based on a set of detection equipment deployed on one side of a river bank in the river reach, wherein the detection equipment comprises a speed meter and a radar.
6. The river monitoring and early warning method according to claim 5, wherein the set of detection devices further comprises: the camera is deployed on one side of a river bank in the river reach;
the outputting of the warning information includes:
acquiring video images related to the uncontrolled floaters in the river reach based on the camera;
and outputting the video image.
7. The river monitoring and early warning method as claimed in any one of claims 1 to 4, wherein the acquiring of the water body information and the floating object information in the river reach comprises:
acquiring first water body information and first floating object information in the river reach based on a first group of detection equipment deployed on one side of a river bank in the river reach;
acquiring second water body information and second floater information in the river reach based on a second group of detection equipment deployed on the other side of the river bank in the river reach; each group of detection equipment comprises a velometer and a radar;
the dynamically tracking each float based on the float information comprises:
dynamically tracking the floats based on the first float information and the second float information, respectively.
8. A river monitoring and pre-warning method as claimed in claim 7, wherein the determining the relative velocity of the target float based on the float information and the water body information comprises:
taking the first water body information or the second water body information as final water body information;
determining a relative velocity of the target float based on the first float information, the second float information, and the final water information.
9. A river monitoring and early warning system, comprising:
the system comprises a front-end detection device, a data acquisition device and a data processing device, wherein the front-end detection device is used for acquiring water body information and floater information in a river reach, the water body information comprises the flow velocity and the flow direction of water in the river reach, and the floater information comprises the azimuth and the speed of each floater in the river reach;
a backend management device to: dynamically tracking each floater based on the floater information to determine a target floater; determining a relative velocity of the target float based on the float information and the water body information, wherein the relative velocity is a velocity of the target float relative to the water body;
and the alarm device is used for outputting early warning information when the relative speed of the target floater is within a preset range so as to indicate that the current river reach is provided with the uncontrolled floater.
10. A river monitoring and early warning system as claimed in claim 9, wherein the front end detection device comprises two sets of detection devices, each set of detection device comprises:
the velocimeter is used for acquiring water body information in the river reach;
the radar is used for acquiring the information of the floating objects in the river reach;
the camera is used for acquiring video images related to the uncontrolled floater in the river reach;
and the two groups of detection equipment are respectively deployed at two sides of a river bank in the river reach.
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