CN112378386A - Unmanned aerial vehicle water conservancy hydrological flow measurement method - Google Patents

Unmanned aerial vehicle water conservancy hydrological flow measurement method Download PDF

Info

Publication number
CN112378386A
CN112378386A CN202011169716.6A CN202011169716A CN112378386A CN 112378386 A CN112378386 A CN 112378386A CN 202011169716 A CN202011169716 A CN 202011169716A CN 112378386 A CN112378386 A CN 112378386A
Authority
CN
China
Prior art keywords
flow
section
aerial vehicle
unmanned aerial
vertical line
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202011169716.6A
Other languages
Chinese (zh)
Inventor
叶永清
许伟强
钱敏
莫柯明
叶向阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZHEJIANG TIANYU INFORMATION TECHNOLOGY CO LTD
Original Assignee
ZHEJIANG TIANYU INFORMATION TECHNOLOGY CO LTD
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZHEJIANG TIANYU INFORMATION TECHNOLOGY CO LTD filed Critical ZHEJIANG TIANYU INFORMATION TECHNOLOGY CO LTD
Priority to CN202011169716.6A priority Critical patent/CN112378386A/en
Publication of CN112378386A publication Critical patent/CN112378386A/en
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measuring Volume Flow (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)

Abstract

The invention provides a water conservancy hydrological flow measurement method for an unmanned aerial vehicle, which comprises the following steps: s1, starting PC flow measurement software by a detector to set the measured section and each vertical line; s2, powering on the unmanned aerial vehicle by the detection personnel and the flying hand, and checking whether the voltage and the temperature-increasing cradle head are smooth and the communication with the ground is smooth; s3, controlling the unmanned aerial vehicle to take off by the flying hand, and flying the unmanned aerial vehicle to a position right above the starting point distance of the section of 0; s4, controlling the unmanned aerial vehicle to fly to the position right above the first vertical line along the direction vertical to the river by the flying hand, and hovering; s5, selecting the No. 1 vertical line by the ground PC flow measuring software, selecting the duration of the flow speed measurement (10S/60S/100S/300S), and clicking to measure the speed. The invention can divide the river section into 11 small end surfaces in advance to detect the vertical lines by matching the flows of S1, S2, S3, S4, S5, S6 and S7, and then flow calculation is carried out on the test data of each section by the ground PC flow measurement software to finish the flow test operation of each vertical line position.

Description

Unmanned aerial vehicle water conservancy hydrological flow measurement method
Technical Field
The invention relates to the field of hydraulic engineering, in particular to a water conservancy hydrological flow measurement method for an unmanned aerial vehicle.
Background
With the development of modern science and technology, river flow testing methods show diversified trends in recent years, technological innovation means are continuously updated, particularly for flood control emergency rescue flow testing, the traditional flow measuring means and equipment cannot meet the requirements of informatization development and emergency rescue, when a river is in a flood period, the traditional flow measuring equipment such as cableway lead fish cannot be launched into the water for operation, in addition, when the river flow rate is more than 2m/s, a navigation type ADCP remote control ship cannot safely carry out flow testing, the safety of equipment and personnel cannot be guaranteed, and the existing hydrologic flow velocity and flow monitoring method cannot carry out accurate radar detection on flow by using an unmanned aerial vehicle radar wave flow measuring system in the implementation process, is not suitable for flood control emergency rescue flow testing, and cannot timely cope with emergency situations.
Therefore, it is necessary to provide a method for measuring the flow of the water conservancy and hydrology of the unmanned aerial vehicle to solve the technical problems.
Disclosure of Invention
The invention provides a water conservancy hydrological flow measuring method for an unmanned aerial vehicle, which solves the problem that the traditional mode cannot measure the hydrological flow in real time when the river flow rate is more than 2 m/s.
In order to solve the technical problem, the water conservancy hydrological flow measurement method of the unmanned aerial vehicle provided by the invention comprises the following steps:
s1, starting PC flow measurement software by a detector to set the measured section and each vertical line;
s2, powering on the unmanned aerial vehicle by the detection personnel and the flying hand, and checking whether the voltage and the temperature-increasing cradle head are smooth and the communication with the ground is smooth;
s3, controlling the unmanned aerial vehicle to take off by the flying hand, and flying the unmanned aerial vehicle to a position right above the starting point distance of the section of 0;
s4, controlling the unmanned aerial vehicle to fly to the position right above the first vertical line along the direction vertical to the river by the flying hand, and hovering;
s5, selecting a No. 1 vertical line by the ground PC flow measuring software, selecting the duration of flow speed measurement (10S/60S/100S/300S), and clicking to measure the speed;
s6, when the speed measurement is finished, the radar flow meter wirelessly transmits flow speed data to ground equipment, a flyer flies the unmanned aerial vehicle to the position right above a second vertical line, the speed measurement is started according to the flow speed test mode of the first vertical line, and the flow speed test of all vertical lines is finished by analogy;
and S7, the unmanned aerial vehicle is controlled by the flight arm to return to the ground, the flow calculation is automatically completed by the ground PC flow measurement software, and the excel file is automatically stored.
Preferably, in step S1, as shown in fig. 1: the number of the vertical lines of the detected river current measuring section is 10, the area of the current measuring section area is divided into 11 small sections, and the 11 small sections are respectively a section 1, a section 2, a section 3, a section 4, a section 5, a section 6, a section 7, a section 8, a section 9, a section 10 and a section 11.
Preferably, in the step S1, the average flow velocity V of the vertical line on each vertical linen is hung downSurface velocity V measured by radar current meter at measuring point for unmanned aerial vehiclen tableThe product of the water surface flow rate coefficient k, namely: vn is hung down= Vn tableK, where n represents the corresponding vertical sequence number.
Preferably, in step S1, the calculation rule of the flow rate of each of the 11 cross sections is as follows:
Figure 772656DEST_PATH_IMAGE002
Figure DEST_PATH_IMAGE004
wherein m ranges from 2 to 10, SmFor correspondingly small cross-sectional areas, P1 and P2 are shore indices.
Preferably, in step S1, as shown in fig. 2, the bank coefficient ranges from 0.67 to 0.75 in the case of the slope bank where the water depth is uniformly reduced to 0, 0.8 and 0.9 in the case of the steep bank being uneven and smooth, and 0.6 in the case of the dead bank at the interface between the dead water and the running water.
Preferably, when the unmanned aerial vehicle radar wave flow measurement system works, 2 workers are needed on the spot, wherein 1 worker operates the unmanned aerial vehicle to act as a flying hand, and the other worker operates the ground equipment of the unmanned aerial vehicle to perform flow test.
Preferably, in steps S5, S6, and S7, as shown in fig. 4, the flow measurement software matched with the ground mobile terminal of the unmanned aerial vehicle airborne radar flow measurement system and the wireless radar current meter in the air are used in a matched one-to-one manner, the flow measurement software can manually perform point tracing to set a flow measurement section or introduce the section into the software, if the section is to be introduced into the flow measurement software, section information needs to be obtained in advance, a corresponding TXT text file is generated to perform section introduction, the software pops up a section introduction dialog box by clicking an "introduction" button, as shown in fig. 5, corresponding section information is selected, and as shown in fig. 6, a main interface of the flow measurement software displays a test station, a tester, weather, measurement parameters, and a flow measurement section, and as shown in fig. 6, site, tester, and weather information can be edited.
Preferably, in steps S5, S6 and S7, the measurement parameters include water level, slope coefficients of left and right banks, water surface flow rate coefficients of corresponding vertical lines, vertical line numbers, and speed measurement duration of surface flow rate of each vertical line, and the like, by selecting a vertical line number, setting a water surface flow rate coefficient and corresponding speed measurement duration time, and clicking a "speed measurement" button, the surface flow rate test of the current vertical line is started, and after all vertical lines are tested, clicking a "test result storage" button, the software can automatically generate a flow statistics report and store the report, and can export the report at any time, and perform data reorganization and archiving.
Compared with the related technology, the water conservancy hydrological flow measurement method of the unmanned aerial vehicle has the following beneficial effects:
the invention provides a method for measuring water conservancy hydrological flow of an unmanned aerial vehicle,
1. according to the invention, through the flow coordination of S1, S2, S3, S4, S5, S6 and S7, a river section can be divided into 11 small end faces in advance for vertical line detection, then flow calculation is carried out on test data of each section through ground PC flow measurement software, flow test operation of each vertical line position is completed, the accuracy of flow test of the river section is improved, when the flow velocity of a river is more than 2m/S, an unmanned aerial vehicle radar wave flow measurement system is used for carrying out accurate radar detection on flow tests, the method is suitable for emergency flood emergency rescue flow measurement, and emergency situations can be dealt with in time;
2. according to the invention, the detected river flow measuring section can be divided into detection areas by dividing the vertical lines of the river flow measuring section into 10 lines and dividing the vertical lines into 11 small sections, and each area can be accurately tested, so that the overall test accuracy of the detected river flow measuring section is improved, and the V is adoptedn is hung down= Vn tableK, the test data of the unmanned aerial vehicle to each perpendicular line region can be accurately calculated, the river region data of each small end face can be accurately calculated through respective small section flow calculation rules of 11 sections, so that the accurate data of the whole river section can be obtained, the situation that the whole error of the river section data is overlarge and misjudgment is caused to a tester can be avoided, different bank coefficients can be obtained according to the section flows of different conditions through the relation between the section flows and the bank coefficients, data references of different conditions are provided for the tester, the matched flow measurement software of the ground mobile terminal of the unmanned aerial vehicle-mounted radar flow measurement system and an aerial wireless radar flow rate meter are matched one to one for use, systematic operation can be performed on the information fed back by each section, meanwhile, the tester can conveniently perform application operation on software equipment, and the measurement parameters comprise water level, left bank slope coefficients, right bank slope coefficients and corresponding perpendicular line water surface flow rate coefficients, The section information data can be comprehensively collected and operated by the aid of the vertical line number, the surface velocity measuring duration of each vertical line and the like, so that comprehensive detection results are obtained.
Drawings
Fig. 1 is a schematic view of a flow measurement section of a preferred embodiment of a water conservancy hydrological flow measurement method for an unmanned aerial vehicle provided by the invention;
FIG. 2 is a table of bank coefficients of the water conservancy hydrological flow measurement method of the unmanned aerial vehicle shown in FIG. 1;
fig. 3 is a flow chart of the operation of the water conservancy hydrological flow measurement method of the unmanned aerial vehicle shown in fig. 1;
FIG. 4 is a schematic interface diagram of the water conservancy hydrological flow measurement method of the unmanned aerial vehicle shown in FIG. 1;
FIG. 5 is a schematic view of an interface of the water conservancy hydrological flow measurement method of the unmanned aerial vehicle shown in FIG. 1;
fig. 6 is an interface schematic diagram of the water conservancy hydrological flow measurement method of the unmanned aerial vehicle shown in fig. 1.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6 in combination, in which fig. 1 is a schematic cross-sectional view illustrating a flow measurement of a preferred embodiment of a method for measuring water conservancy hydrological flow of an unmanned aerial vehicle according to the present invention; FIG. 2 is a table of bank coefficients of the water conservancy hydrological flow measurement method of the unmanned aerial vehicle shown in FIG. 1; fig. 3 is a working flow chart of the water conservancy hydrological flow measurement method of the unmanned aerial vehicle shown in fig. 1. The water conservancy hydrological flow measuring method of the unmanned aerial vehicle comprises the following steps:
s1, starting PC flow measurement software by a detector to set the measured section and each vertical line;
s2, powering on the unmanned aerial vehicle by the detection personnel and the flying hand, and checking whether the voltage and the temperature-increasing cradle head are smooth and the communication with the ground is smooth;
s3, controlling the unmanned aerial vehicle to take off by the flying hand, and flying the unmanned aerial vehicle to a position right above the starting point distance of the section of 0;
s4, controlling the unmanned aerial vehicle to fly to the position right above the first vertical line along the direction vertical to the river by the flying hand, and hovering;
s5, selecting a No. 1 vertical line by the ground PC flow measuring software, selecting the duration of flow speed measurement (10S/60S/100S/300S), and clicking to measure the speed;
s6, when the speed measurement is finished, the radar flow meter wirelessly transmits flow speed data to ground equipment, a flyer flies the unmanned aerial vehicle to the position right above a second vertical line, the speed measurement is started according to the flow speed test mode of the first vertical line, and the flow speed test of all vertical lines is finished by analogy;
and S7, the unmanned aerial vehicle is controlled by the flight arm to return to the ground, the flow calculation is automatically completed by the ground PC flow measurement software, and the excel file is automatically stored.
In step S1, as shown in fig. 1: the vertical lines of the detected river flow measuring section are 10, the area of the flow measuring section area is divided into 11 small sections, the 11 small sections are respectively divided into a section 1, a section 2, a section 3, a section 4, a section 5, a section 6, a section 7, a section 8, a section 9, a section 10 and a section 11, the detection area of the detected river flow measuring section can be divided, accurate test is carried out on each area, and therefore the overall test accuracy of the detected river flow measuring section is improved.
The average flow velocity V of the vertical lines on each vertical line in the step S1n is hung downSurface velocity V measured by radar current meter at measuring point for unmanned aerial vehiclen tableThe product of the water surface flow rate coefficient k, namely: vn is hung down= Vn tableK, wherein n represents the corresponding perpendicular serial number, but accurate calculation unmanned aerial vehicle is to the regional test data of every perpendicular.
In step S1, the calculation rule of the flow rate of each of the 11 sections is as follows:
Figure 329277DEST_PATH_IMAGE002
Figure 125326DEST_PATH_IMAGE004
wherein m ranges from 2 to 10, SmFor corresponding small section areas, P1 and P2 are bank coefficients, and river region data of each small end face are accurately calculated, so that accurate data of the whole river section are obtained, and the situation that the whole error of the river section data is too large, and misjudgment is caused to a tester is avoided.
In step S1, as shown in fig. 2, under the condition of the slope bank where the water depth is uniformly reduced to 0, the bank coefficient ranges from 0.67 to 0.75, under the condition of the steep bank being uneven and smooth, the bank coefficients are 0.8 and 0.9, respectively, and under the condition of the dead water at the junction between the dead water and the running water, the bank coefficient is 0.6, so that different bank coefficients can be obtained according to the section flows under different conditions, and data references under different conditions are provided for the tester.
When the unmanned aerial vehicle radar wave flow measurement system works, 2 workers are needed on the spot, wherein 1 worker controls the unmanned aerial vehicle to serve as a flying hand, the other worker operates the ground equipment of the unmanned aerial vehicle to perform flow test, two testers can conveniently perform reasonable division of labor, and the test efficiency of the section is improved.
In the steps S5, S6, and S7, as shown in fig. 4, the flow measurement software matched with the ground mobile terminal of the unmanned aerial vehicle airborne radar flow measurement system and the wireless radar current meter in the air are used in a matched one-to-one manner, the flow measurement software can manually set a flow measurement section or introduce the section into the flow measurement software, if the section is to be introduced into the flow measurement software, the section information needs to be obtained in advance, and generates a corresponding TXT text file, the section can be imported, the 'import' button is clicked, the software can pop up a section import dialog box, as shown in fig. 5, the corresponding section information is selected, and the main interface of the flow measurement software displays the test site, the tester, the weather, the measurement parameters and the flow measurement section, as shown in fig. 6, the system can edit site, tester and weather information, can perform system operation on information fed back by each section, and is convenient for the tester to operate software equipment.
In steps S5, S6 and S7, the measurement parameters include water level, slope coefficients of left and right banks, water surface flow rate coefficients of corresponding vertical lines, vertical line numbers, and speed measurement duration of surface flow rate of each vertical line, etc., by selecting a vertical line number, setting a water surface flow rate coefficient and corresponding speed measurement duration time, and clicking a speed measurement button, a surface flow rate test of a current vertical line is started, and after all vertical lines are tested, clicking a test result storage button, software can automatically generate and store a flow statistics report, can export at any time, perform data reorganization and archiving, can comprehensively acquire and operate section information data, and thereby obtain a comprehensive detection result.
Compared with the related technology, the water conservancy hydrological flow measurement method of the unmanned aerial vehicle has the following beneficial effects:
according to the invention, through the matching of the processes of S1, S2, S3, S4, S5, S6 and S7, the river section can be divided into 11 small end surfaces in advance for vertical line detection, then the flow calculation is carried out on the test data of each section through the ground PC flow measurement software, the flow test operation of each vertical line position is completed, the accuracy of the flow test of the river section is improved, and when the flow rate of the river is more than 2m/S, the accurate radar detection is carried out on the flow test by using the unmanned aerial vehicle radar wave flow measurement system, so that the system is suitable for emergency flood emergency rescue flow measurement and can timely cope with emergency situations.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (8)

1. An unmanned aerial vehicle water conservancy hydrological flow measurement method is characterized by comprising the following steps:
s1, starting PC flow measurement software by a detector to set the measured section and each vertical line;
s2, powering on the unmanned aerial vehicle by the detection personnel and the flying hand, and checking whether the voltage and the temperature-increasing cradle head are smooth and the communication with the ground is smooth;
s3, controlling the unmanned aerial vehicle to take off by the flying hand, and flying the unmanned aerial vehicle to a position right above the starting point distance of the section of 0;
s4, controlling the unmanned aerial vehicle to fly to the position right above the first vertical line along the direction vertical to the river by the flying hand, and hovering;
s5, selecting a No. 1 vertical line by the ground PC flow measuring software, selecting the duration of flow speed measurement (10S/60S/100S/300S), and clicking to measure the speed;
s6, when the speed measurement is finished, the radar flow meter wirelessly transmits flow speed data to ground equipment, a flyer flies the unmanned aerial vehicle to the position right above a second vertical line, the speed measurement is started according to the flow speed test mode of the first vertical line, and the flow speed test of all vertical lines is finished by analogy;
and S7, the unmanned aerial vehicle is controlled by the flight arm to return to the ground, the flow calculation is automatically completed by the ground PC flow measurement software, and the excel file is automatically stored.
2. The method for measuring the water conservancy hydrological flow of the unmanned aerial vehicle of claim 1, wherein in the step S1, as shown in fig. 1: the number of the vertical lines of the detected river current measuring section is 10, the area of the current measuring section area is divided into 11 small sections, and the 11 small sections are respectively a section 1, a section 2, a section 3, a section 4, a section 5, a section 6, a section 7, a section 8, a section 9, a section 10 and a section 11.
3. The method for measuring the water conservancy hydrological flow of unmanned aerial vehicle of claim 1, wherein in the step S1, the average velocity V of the vertical line on each vertical line isn is hung downSurface velocity V measured by radar current meter at measuring point for unmanned aerial vehiclen tableThe product of the water surface flow rate coefficient k, namely: vn is hung down= Vn tableK, where n represents the corresponding vertical sequence number.
4. The method for measuring the water conservancy hydrological flow of the unmanned aerial vehicle of claim 1, wherein in the step S1, the calculation rules of the flow of each of the 11 sections are as follows:
Figure 679251DEST_PATH_IMAGE001
Figure 415125DEST_PATH_IMAGE002
wherein m ranges from 2 to 10, SmFor correspondingly small cross-sectional areas, P1 and P2 are shore indices.
5. The method for measuring the water conservancy hydrological flow of the unmanned aerial vehicle of claim 4, wherein in step S1, as shown in FIG. 2, the bank coefficients range from 0.67 to 0.75 in case of slope bank where the water depth becomes even shallow to 0, 0.8 and 0.9 in case of uneven and smooth steep bank, and 0.6 in case of dead bank at the interface of dead water and running water.
6. The unmanned aerial vehicle water conservancy hydrological flow measurement method of claim 1, wherein the unmanned aerial vehicle radar wave flow measurement system is operated by 2 workers on site, wherein 1 worker operates the unmanned aerial vehicle to act as a flyer, and the other worker operates ground equipment of the unmanned aerial vehicle to perform flow measurement.
7. The method for measuring the water conservancy hydrological flow of unmanned aerial vehicle of claim 1, wherein in steps S5, S6 and S7, as shown in fig. 4, the flow measurement software matched with the ground mobile terminal of the unmanned aerial vehicle airborne radar flow measurement system and the wireless radar current meter in the air are used in a matched one-to-one manner, the flow measurement software can manually set a flow measurement section by tracing points or lead the section into the software, if the section is led into the flow measurement software, the section information needs to be obtained in advance, and generates a corresponding TXT text file, the section can be imported, the 'import' button is clicked, the software can pop up a section import dialog box, as shown in fig. 5, the corresponding section information is selected, and the main interface of the flow measurement software displays the test site, the tester, the weather, the measurement parameters, and the flow measurement section, as shown in fig. 6, the site, the tester, and the weather information can be edited.
8. The unmanned aerial vehicle water conservancy hydrological flow measurement method of claim 7, wherein in steps S5, S6 and S7, the measurement parameters include water level, slope coefficients of the left and right banks, water surface flow rate coefficients of corresponding vertical lines, vertical line numbers, speed measurement duration of surface flow rate of each vertical line, and the like, and by selecting a vertical line number, setting a water surface flow rate coefficient and corresponding speed measurement duration time, clicking a "speed measurement" button, the surface flow rate test at the current vertical line is started, and after all vertical lines are tested, clicking a "test result storage" button, software automatically generates and stores a flow statistics report, and can export the report at any time, and complete data compilation and filing are performed.
CN202011169716.6A 2020-10-28 2020-10-28 Unmanned aerial vehicle water conservancy hydrological flow measurement method Withdrawn CN112378386A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011169716.6A CN112378386A (en) 2020-10-28 2020-10-28 Unmanned aerial vehicle water conservancy hydrological flow measurement method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011169716.6A CN112378386A (en) 2020-10-28 2020-10-28 Unmanned aerial vehicle water conservancy hydrological flow measurement method

Publications (1)

Publication Number Publication Date
CN112378386A true CN112378386A (en) 2021-02-19

Family

ID=74576203

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011169716.6A Withdrawn CN112378386A (en) 2020-10-28 2020-10-28 Unmanned aerial vehicle water conservancy hydrological flow measurement method

Country Status (1)

Country Link
CN (1) CN112378386A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114001718A (en) * 2021-10-12 2022-02-01 山东华特智慧科技有限公司 Hydrological monitoring method and system based on intelligent flow measuring robot
CN116399305A (en) * 2023-06-08 2023-07-07 广东省水文局惠州水文分局 ADCP (automatic dependent control protocol) current measurement result on-site warehouse entry and self-correction method based on cloud platform
CN116976679A (en) * 2023-09-20 2023-10-31 航天宏图信息技术股份有限公司 Dam break early warning method and device for barrier lake, electronic equipment and readable storage medium

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114001718A (en) * 2021-10-12 2022-02-01 山东华特智慧科技有限公司 Hydrological monitoring method and system based on intelligent flow measuring robot
CN116399305A (en) * 2023-06-08 2023-07-07 广东省水文局惠州水文分局 ADCP (automatic dependent control protocol) current measurement result on-site warehouse entry and self-correction method based on cloud platform
CN116976679A (en) * 2023-09-20 2023-10-31 航天宏图信息技术股份有限公司 Dam break early warning method and device for barrier lake, electronic equipment and readable storage medium
CN116976679B (en) * 2023-09-20 2023-12-29 航天宏图信息技术股份有限公司 Dam break early warning method and device for barrier lake, electronic equipment and readable storage medium

Similar Documents

Publication Publication Date Title
CN112378386A (en) Unmanned aerial vehicle water conservancy hydrological flow measurement method
CN109630902B (en) Natural gas pipe network leakage detection method, storage medium and terminal equipment
CN104202086A (en) Optical cable fault location method
CN110807571A (en) Building engineering quality control system based on combination of 3d laser sensing and BIM
CN113189615A (en) Method for inspecting power transmission line by using vertical take-off and landing fixed wing unmanned aerial vehicle
CN109164470A (en) The method and computation of real-time high-precision deformation monitoring in a kind of boring construction
CN103984355A (en) Routing inspection flying robot and overhead power line distance prediction and maintaining method
CN108594847A (en) A kind of autocontrol method of power transmission line unmanned machine laser radar modeling
US11531833B2 (en) Creating a ground control point file using an existing landmark shown in images
CN104732103A (en) Evaluation method for electric transmission line orientated forest fire approaching risk
CN104749659A (en) Automatic meteorological station on-site checking instrument and method
CN103837196A (en) Tailings pond dry beach parameter monitoring system and method
CN105445729A (en) Unmanned aerial vehicle flight three-dimensional track precision detection method and system
CN111241660B (en) Civil engineering experiment detection system and method based on cloud computing technology
CN110470210A (en) A kind of tall and big frame body verticality monitoring system and method based on global position system
CN109857782A (en) A kind of Monitor of Logging Data Processing System
CN105372650A (en) Unmanned aerial vehicle flight path precision detection method and device
CN109307504A (en) A kind of superelevation frame body stability in-situ monitoring method
CN115982954A (en) Power transmission line three-dimensional simulation model construction system and model construction method
CN110196601A (en) Unmanned aerial vehicle (UAV) control method, apparatus, system and computer readable storage medium
CN109695260A (en) High Side Slope of Highway inspection method based on unmanned plane
CN206504730U (en) A kind of identification flow measuring system based on flight carrier
CN104359458A (en) Method for performing geologic and topographic measurement by utilizing High One quad-rotor plane
CN104715346A (en) Power transmission line-orientated mountain fire approaching risk estimation system
CN103729334B (en) Digital building model (DBM) based transmission line house demolition quantity calculating method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication

Application publication date: 20210219

WW01 Invention patent application withdrawn after publication