CN115793093A - Empty ground integrated equipment for diagnosing hidden danger of dam - Google Patents
Empty ground integrated equipment for diagnosing hidden danger of dam Download PDFInfo
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Abstract
The invention relates to dam hidden danger diagnosis air-ground integrated equipment, which comprises a vehicle-mounted platform, and a command shelter, a control terminal, an unmanned probe vehicle and an unmanned inspection machine which are carried on the vehicle-mounted platform; the control terminal classifies the acquired data according to data sources, marks coordinate labels through coordinate matching, and divides the data according to the coordinate and the length; establishing a dam model based on the acquired point cloud data; and extracting coordinates of the abnormal area to map to the dam model after the abnormal area is identified. The equipment can realize the integrated control of the whole process of multi-source heterogeneous data, realize the rapid association of data such as geophysical prospecting, laser scanning, images and the like through data classification, segmentation and coordinate label marking, establish a mapping base through extracting the coordinates of the control points of the dam form, realize the visual display of the hidden danger by combining the coordinate labels of all data, quickly and accurately evaluate the danger degree of the development of the hidden danger and realize the accurate allocation of emergency rescue resources.
Description
Technical Field
The invention belongs to the technical field of hidden danger detection, and particularly relates to dam hidden danger diagnosis air-ground integrated equipment.
Background
At present, the most common mode of the investigation of the hidden dangers of the dykes and dams still provides an effective means for manual inspection, the labor intensity is high, the time consumption is long, and the continuous development of technologies and equipment such as geophysical prospecting, remote sensing and the like provides efficient diagnosis and scientific early warning for the hidden dangers of the dykes and dams. Through combining the simple and unmanned car of geophysical prospecting, remote sensing equipment that will have now, unmanned car, unmanned aerial vehicle, the equipment of patrolling and examining that forms the integrated type of structure is current leading-edge technique, has realized the operation unmanned ization of operation to a certain extent, still has obvious technical stub:
1) Limited by the remote control capability of the unmanned equipment, the field inspection needs to be carried out by a professional along with operation, the personnel on-site operation and control and automatic inspection cannot be realized, unmanned vehicles and unmanned aerial vehicles need to be operated and controlled respectively, the acquired information is not shared, and the coordination capability is insufficient.
2) The whole process of acquiring, processing, interpreting and displaying the original data needs to depend on manual reading, screening, transferring and interpreting, the data circulation link is split, the interpreting software is independent, the data formats are different, the integrated control of the whole process of multi-source heterogeneous data cannot be realized, and the data circulation is slow.
3) The acquired data has high redundancy, the key information is hidden, the data is often viewed at the same time during data processing, and an extraction method of main key features is lacked, so that the data is slow in data retrieval response, the visual display information of the dike property is delayed, and the key features which concern the safety of the dike structure cannot be presented in time and prominently.
4) Due to the reasons, data such as geophysical prospecting and remote sensing are difficult to correlate quickly, the comprehensive diagnosis level of the hidden dangers of the dam is insufficient, and corresponding dike risk judgment criteria are lacked, so that the danger degree of the development of the hidden dangers cannot be evaluated accurately, and accurate allocation of emergency rescue resources is influenced.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide the empty space integrated equipment for diagnosing the hidden danger of the dam.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a dam hidden danger diagnosis air-ground integrated device comprises a vehicle-mounted platform and a command shelter carried on the vehicle-mounted platform, wherein the command shelter comprises an equipment room and an operation room which are separated;
a control terminal, a server and a first communication device of equipment in the equipment room are arranged in the operation room;
an unmanned detection vehicle and an unmanned inspection machine are arranged in the equipment room in a layered mode;
the unmanned detection vehicle is provided with a mobile control device, a detection device, a shooting device, a first positioning device and a second communication device; the unmanned inspection machine is provided with an infrared camera, a visible light camera, a laser scanning device, a second positioning device, a distance measuring device, an obstacle avoiding device and a third communication device;
the equipment work flow is as follows:
the method comprises the following steps that a vehicle-mounted platform moves to the periphery of a dike section to be detected, an unmanned inspection machine is started to enable the unmanned inspection machine to inspect the dike according to a flight line, shooting data, point cloud data and synchronous positioning data which are collected by an infrared camera, a visible light camera, a laser scanning device and a second positioning device are sent to a server through a third communication device, a control terminal plans a running path of an unmanned inspection vehicle according to ground data sent back by the unmanned inspection machine, the unmanned inspection vehicle is started to inspect the dike according to the planned path, and electromagnetic wave detection data, shooting data and synchronous positioning data which are collected by a detection device, a shooting device and a first positioning device are sent to the server through the second communication device;
the control terminal classifies the data acquired by the server according to data sources, marks coordinate labels through coordinate matching, and divides the data according to the coordinate and the length; calling point cloud data, extracting coordinates of morphological control points based on an image edge algorithm, and establishing a dam model; and calling the shooting data of the infrared camera and the electromagnetic wave detection data, identifying the abnormal region of the temperature and the electromagnetic wave, extracting the coordinates of the abnormal region, and mapping to the dam model.
In a preferred embodiment, the infrared camera and the visible light camera mounted on the unmanned inspection machine are infrared-visible light integrated cameras.
The body of the command shelter is formed by taking a stainless steel pipe as a framework, taking an aluminum alloy plate as a shell and embedding a heat insulation material plate;
the command shelter is fixed on the vehicle-mounted platform through a support frame with a jacking function; and after the supporting frame is jacked, the side plate and the tail plate of the square cabin are commanded to be unfolded.
As a preferred embodiment, the control terminal determines road conditions including vegetation and external collapse conditions according to point cloud data transmitted back by the unmanned inspection machine, and plans a driving path of the unmanned probe vehicle.
As a preferred embodiment, the classifying by data source, labeling coordinates by coordinate matching, and segmenting data by length according to coordinates includes:
dividing the acquired data into point cloud data, visible light image data, electromagnetic wave detection data and infrared image data according to sources; acquiring coordinates of visible light image data, electromagnetic wave detection data and infrared image data through coordinate matching; and dividing the detection map, the visible light image data and the infrared image data according to the coordinates and the length.
In a preferred embodiment, the control terminal plans the flight path of the unmanned inspection machine by calling an electronic map or manually controls the flight path by using a joystick.
As a preferred embodiment, the unmanned probe vehicle is a crawler-type chassis, and an equipment cabin is reserved inside the crawler-type chassis and used for placing a power supply device and a mobile control device; the upper part of a chassis of the unmanned detection vehicle is provided with a double-layer support platform, the upper layer of the support platform is provided with a first positioning device, a shooting device and a second communication device, and the lower layer of the support platform is provided with a mechanical arm and a detection device; two groups of wheels are arranged at the bottom of the detection device, wherein the front 1 group is a universal wheel, and the rear 1 group is a directional wheel; the mechanical arm is used for releasing the detection device to be dragged behind the chassis or retracting the detection device to the support platform.
As a preferred embodiment, the unmanned inspection machine is provided with a side-mounted tripod head and a lower-mounted tripod head, and the side-mounted tripod head is used for mounting an infrared camera and a visible light camera; the laser scanning device is mounted on the lower mounting holder; and the second positioning device and the distance measuring device are mounted on the unmanned aerial vehicle carrier frame.
In a preferred embodiment, the coordinates of the contour of the abnormal region are extracted from a pseudo-color image formed by accumulating electromagnetic wave detection data.
As a preferred embodiment, after mapping the abnormal region coordinates to the dam model, the method further includes associating visible light image data acquired by the unmanned inspection machine and the unmanned inspection vehicle with the marked coordinates, and assisting the risk judgment by combining the visible light image data.
As a preferred embodiment, the method further comprises the step of determining the risk level of the dam risk based on the dam model:
(1) first-level risk: directly displaying deformation diseases including landslide, surface cracks and collapse by using a dam model constructed by point cloud;
(2) secondary risk: the method comprises the steps that (1) hidden dangers which are identified by an unmanned detection vehicle exist at 1 position and above within the range that the linear distance of horizontal projection of a disease area of a dam against a landslide leakage disease identified by infrared data is less than 50m, and the hidden dangers include that the interior of the dam is rich in water and not compact;
(3) third-level risk: hidden dangers identified by the unmanned detection vehicle comprise water enrichment and incompact inside the dam; and no obvious leakage disease is found on the backwater slope through an unmanned inspection machine;
and when two or more risks exist in a certain section of dike at the same time, judging according to the highest risk level.
The utility model provides a dykes and dams hidden danger diagnosis open space integration is equipped accessible unmanned probe vehicle, unmanned inspection machine's data interaction realizes multisource heterogeneous data overall process integrated control, realize the quick relevance of data such as geophysical prospecting, laser scanning, image through data classification, cut apart, mark coordinate label, establish mapping base through drawing the form control point coordinate, the coordinate label that combines each data realizes the visual show of hidden danger, can be quick, the dangerous degree of accurate aassessment hidden danger development, realize the accurate allotment of emergency rescue resources.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle-mounted platform and a command shelter carried on the vehicle-mounted platform.
Fig. 2 is a schematic structural view of the unmanned probe vehicle.
Fig. 3 is a schematic view of the structure of the unmanned inspection machine.
Fig. 4 is a schematic diagram of data interaction between an unmanned probe vehicle and an unmanned inspection machine.
Fig. 5 is a schematic view of the working state of the empty-ground integrated equipment for diagnosing hidden risks of the dam.
FIG. 6 is a schematic diagram of a three-dimensional model of the elevation of a dike constructed based on point cloud data.
Fig. 7 is a schematic diagram of infrared thermal imaging information of the unmanned inspection machine.
Fig. 8 is a pseudo-color image of an electromagnetic wave signal.
Fig. 9 is a schematic diagram for visually displaying hidden danger areas on a data mapping base.
Detailed Description
Example 1
This embodiment specifically illustrates the equipment structure and the work flow of the present invention.
An empty ground integrated equipment for diagnosing hidden risks of dams comprises a vehicle-mounted platform, a command shelter, at least one unmanned detection vehicle and at least one unmanned inspection machine, wherein the command shelter, the at least one unmanned detection vehicle and the at least one unmanned inspection machine are carried on the vehicle-mounted platform.
1. Description of the function
The command shelter is a core carrier of the whole set of equipment, a stationing point operation center of field operation, a communication hub and a data interaction platform. The command shelter can provide functions of charging, maintenance, remote maneuvering and the like for the unmanned detection vehicle and the unmanned inspection machine, remotely commands the unmanned detection vehicle and the unmanned inspection machine to carry out field operation, analyzes and processes detection data, enables the field operation condition and the detection data to be communicated with a command center in real time, and achieves field diagnosis and response linkage of hidden risks of the dam.
The unmanned probe vehicle carries a stepping electromagnetic wave probe, a camera (a dual-light camera) and a first positioning device. Data information such as detection, images and positioning can be transmitted back to the command shelter, and high-precision exploration of hidden dangers in the dam is achieved.
The unmanned inspection machine is provided with optical equipment such as a laser scanning device, an infrared-visible light integrated camera and the like. The point cloud data of the dike can be obtained, and deformation dangerous situations such as landslide, bank collapse, collapse and the like can be searched; the method can obtain the temperature field information of the backwater slope and search hidden dangers such as leakage water outlet points and the like.
2. Structural assembly
(1) Command shelter
The commander's shelter includes: chassis, support frame, shelter. The chassis is a high-mobility chassis and is a basic carrier of the whole set of equipment; the supporting frame is arranged below the carriage, and can jack up the command shelter by lifting, so that the effect of stabilizing the shelter is achieved, and a temporary field control center and a data transmission pivot are formed; the cabin body of the shelter is divided into an equipment room and an operation room.
The equipment room is divided into an upper layer and a lower layer, the lower layer is provided with the unmanned detection vehicle, the upper layer is provided with the unmanned inspection machine, the upper layer and the lower layer are provided with charging holes, and the cleaning machine is matched with a cleaning machine tool and can be used for charging and cleaning the unmanned detection vehicle and the unmanned inspection machine. The top of the cabin body of the equipment room can be retracted into the top of the operation room, and the cabin bodies on the two sides and the rear part can be unfolded outwards to form a channel between the upper equipment room and the lower equipment room of the unmanned detection vehicle; after the cabin body is unfolded, no shielding exists above the equipment room, and the upper layer is used as an unmanned inspection machine parking apron. The instrument arrangement positions of the equipment rooms are provided with sensing devices.
The operation room is provided with an operation table (control terminal), a display device, a server and a first communication device, and the functions and logic relations of the devices are as follows: the operation platform comprises an unmanned probe vehicle and an unmanned inspection machine operation rod/key, can operate the unmanned probe vehicle and the unmanned inspection machine for inspection operation, and can also plan a track through an electronic map and operate the unmanned probe vehicle and the unmanned inspection machine for automatic inspection; the display device can display the pictures such as the real scene, the detection/scanning data, the electronic map and the like which are transmitted back by the unmanned detection vehicle and the unmanned patrol machine; the server is used for storing and transferring data such as real scenes, detection/scanning data, position information and the like transmitted back by the unmanned detection vehicle and the unmanned patrol machine; the first communication device can send the operation instruction to the unmanned patrol machine and the unmanned probe vehicle through the radio station, and can also transmit information such as sound, pictures, data and the like through a mobile network, a satellite networking and the like. The operation platform sends an operation instruction to the unmanned probe vehicle and the unmanned inspection machine through the first communication device, and the operation of the unmanned probe vehicle and the unmanned inspection machine is controlled; the unmanned detection vehicle and the unmanned inspection machine transmit detection/scanning/shooting/positioning data back to the shelter through the second communication device and the third communication device in real time and store the data in the server.
In addition, the cabin body of the shelter is provided with auxiliary facilities such as warning lamps, night illuminating lamps and the like.
(2) Unmanned probe vehicle
The unmanned probe vehicle includes: the device comprises a chassis, a power supply device, a mobile control device, a second communication device, a support platform, a detection device, a first positioning device and a shooting device.
The chassis is a crawler-type chassis, an equipment cabin is reserved in the chassis, and a power supply device and a mobile control device are placed in the equipment cabin; the upper part of the chassis is provided with a support platform which is divided into an upper layer and a lower layer, and a first positioning device, a shooting device and a second communication device are arranged above the support platform; the lower part is provided with a mechanical arm and a detection device, the base of the detection device is provided with a front group and a rear group of 4 wheels, the front group is a universal wheel, and the rear group is a directional wheel. The mechanical arm can retract the detection device on the chassis, and the detection device can be placed behind the chassis to be dragged during work; the first positioning device is arranged above the bracket platform; the shooting device comprises 2 double-light cameras which are respectively arranged in front of and behind the support platform.
The functions and logic relations of the devices are as follows: the chassis is a carrying foundation of the unmanned detection vehicle and has the functions of advancing, retreating, turning and the like; the power supply device is a rechargeable battery pack and supplies power to all devices of the unmanned probe vehicle; the control device controls the detection device to move on the upper part of the chassis and behind the chassis; the communication device is used for receiving an operation instruction sent by the command shelter and sending the position information, the detection data and the sound image of the unmanned patrol vehicle; the support platform is a space for placing the expansion equipment; the detection device acquires medium information below the patrol route through stepping electromagnetic waves, and can detect hidden trouble abnormalities such as rich water, incompact and cavities; the first positioning device obtains the spatial position coordinates through satellite positioning; the shooting device shoots front and back images. The communication device receives an operation instruction sent by the vehicle-mounted command shelter, the chassis is controlled to move forwards, backwards and turn by the movement control device, and the detection device is controlled to move above and behind the chassis; the detection device, the positioning device and the shooting device transmit detection data, position coordinates and real-time images to the control terminal through the second communication device; the power supply device supplies power to each power utilization device of the unmanned detection vehicle.
(3) Unmanned inspection machine
The unmanned inspection machine comprises an unmanned aerial vehicle carrier, a suspension holder, an infrared-visible light integrated camera, a laser scanning device, a second positioning device, a distance measuring device and a third communication device. The unmanned aerial vehicle carrier is a rotor unmanned aerial vehicle; the suspension holder comprises a side suspension holder and a lower suspension holder, wherein the side suspension holder is used for mounting the infrared-visible light integrated camera, and the lower suspension holder is used for mounting the laser scanning device; the second positioning device and the distance measuring device are mounted on the unmanned aerial vehicle carrier frame; the command shelter (vehicle-mounted terminal) can send commands to command the unmanned aerial vehicle to carry out patrol operation.
The functions and logic relations of the devices are as follows: the unmanned aerial vehicle carrier is a carrying foundation of the unmanned inspection machine and can supply power to all power utilization devices; the side-mounted tripod heads are mounted on the side surface of the unmanned aerial vehicle carrier, the bottom-mounted tripod heads are mounted below the unmanned aerial vehicle, and both the two tripod heads can rotate 360 degrees and have a damping function; the infrared-visible light camera can shoot and record an infrared thermal imaging picture and a visible light picture in real time; the laser scanning device can scan the dike point cloud picture; the third positioning device can acquire the absolute coordinate of the unmanned aerial vehicle through satellite positioning; the distance measuring device can measure the distance between the unmanned aerial vehicle and the embankment surface; the third communication device can transmit the positioning, scanning and shooting data of the unmanned aerial vehicle back to the vehicle-mounted command shelter; the command shelter can control all devices of the unmanned aerial vehicle to fly and carry to work, and can plan routes by means of an electronic map.
3. Workflow process
(1) And carrying an unmanned detection vehicle and an unmanned patrol machine in the command shelter to the periphery of the embankment section to be detected, and selecting a section with wide periphery and no communication signal interference to expand equipment.
1) And lifting the support frame to support the command shelter.
2) The cabin top of the equipment room is retracted into the top of the operation room, and the two sides and the rear cabin are unfolded outwards.
(2) Starting the equipment and devices. And checking whether the equipment is abnormal or not, and confirming the equipment state. Checking whether the electric quantity of the unmanned detection vehicle is sufficient and whether each device is normal; checking whether the electric quantity of the unmanned aerial vehicle is sufficient, whether the unmanned aerial vehicle carrier is intact and whether the functions of all devices are normal; the command shelter communication link is checked for integrity. The next step is performed after the above-mentioned problems are confirmed.
(3) And planning a routing inspection route. And planning the walking route of the unmanned inspection machine by calling an electronic map in the operation cabin or manually controlling the flying route by using an operation rod. This is because the dykes are located in the field, flight obstacles in the air are few, and the unmanned aerial vehicle is provided with an obstacle avoidance device (the unmanned aerial vehicle is provided with itself), and can plan flight.
(4) And (5) performing patrol operation. And starting the unmanned inspection machine to inspect the dam according to the flight line. The navigation route of the electronic map of the unmanned inspection machine, the image shot by the pan-tilt camera of the unmanned inspection machine, the image shot by the infrared camera of the unmanned inspection machine and the laser radar scanning data information of the unmanned inspection machine can be displayed in the display device of the operating room. The returned data is stored in the server in real time. In addition, the working conditions of the dam are confirmed according to point cloud data and images sent back by the unmanned inspection machine, the areas with dense vegetation, collapsed surfaces and the like are avoided, and the walking route of the unmanned inspection vehicle is planned. The unmanned detection vehicle carries out patrol inspection according to the planned route, and the electronic map walking route of the unmanned detection vehicle, the image shot by the front pan-tilt camera of the unmanned detection vehicle, the image shot by the rear pan-tilt camera of the unmanned detection vehicle and the data information returned by the detection equipment can be displayed in the picture of the display device of the operating room.
(5) And returning to the home. The unmanned inspection machine returns to the equipment cabin and lands on the fixed machine position of the parking apron, and the induction charging device automatically charges the unmanned inspection machine. Before the unmanned detection vehicle returns to the equipment cabin, the detection device is retracted above the chassis, the unmanned detection vehicle returns to the equipment cabin, and the induction device automatically charges the unmanned detection vehicle.
(6) And (5) equipment maintenance. And wiping the lens, checking whether equipment is abnormal or not, and immediately checking if the equipment is abnormal.
(7) And (6) data processing. And processing the data returned by detection by using the server in the equipment room, and printing the result on site or transmitting the result to a remote end through a communication system. And (5) when the data is incomplete or is questioned, repeating the steps (3) to (7) for supplementary detection and analysis.
(8) And (5) closing the equipment. And closing the equipment cabin, withdrawing the supporting frame, and detecting the whole equipment to the next section.
The equipment controls the logical relationship of data acquisition and interaction of the terminal:
(1) Obtaining a layer: the unmanned detection vehicle and the unmanned inspection machine can return the detection/scanning/shooting/positioning data to the command shelter through the second communication module device and the third communication module device in real time and store the data in the server.
(2) Coordinating the layer: the unmanned inspection machine can determine vegetation and external collapse conditions according to the point cloud data acquired by the unmanned inspection machine before acquiring the data, avoid obstacles and plan a walking route of the unmanned inspection vehicle. And unifying the data acquired by the unmanned probe vehicle and the unmanned inspection machine through the position coordinates.
(3) And (3) a label layer: and classifying and segmenting the acquired data, and marking a type label and a coordinate label.
The specific operation comprises the following steps:
and (4) classification: the data sources include point cloud data, visible light image data, electromagnetic wave detection data and infrared image data.
And (3) dividing: and according to the coordinates and the length, dividing the electromagnetic wave detection data, the visible light image data and the infrared image data according to the length obtained in each 100m dyke section.
Coordinate label: and acquiring visible light image data, electromagnetic wave detection data and infrared image data through coordinate matching. And data are called subsequently mainly through coordinate tracing.
(4) Extraction layer: and calling point cloud data in the server, and extracting coordinates of morphological control points (points with abrupt elevation changes) such as front and rear slope feet, streets and bank tops of the dam based on an image edge algorithm. And calling infrared camera shooting data and electromagnetic wave detection data in the server, identifying abnormal areas of the temperature and the electromagnetic wave based on a machine learning algorithm, and extracting coordinates of the abnormal areas.
(5) A modeling layer: and establishing a visual model based on the extracted point cloud data.
(6) And mapping layer: and mapping the extracted abnormal region coordinates in different colors/line mapping according to the coordinate labels in a visualization model.
(7) And an access layer: in the visual model, if a live-action image is to be acquired, the corresponding image segment in the server is accessed according to the coordinate tag.
The data processing process of the equipment control terminal comprises the following steps:
(1) The unmanned inspection machine laser scanning device obtains point cloud (containing absolute three-dimensional coordinate information) on the surface of the dam, establishes a dam elevation model according to the point cloud data, and extracts coordinates of morphological control points such as the front and rear slope feet, the berm, the top of the dam and the like based on an image edge algorithm.
(2) And forming a simplified embankment three-dimensional model according to the form control point coordinates to be used as a data base for mapping the abnormal area.
(3) The method comprises the steps of obtaining an image of a surface temperature abnormal area of a dam backwater slope through infrared thermal imaging information of an unmanned inspection machine, extracting coordinates of the outline of the abnormal area in the image through a temperature threshold, wherein the temperature threshold can be set as a temperature extreme point, namely a low-temperature/high-temperature extreme area.
(4) And extracting the coordinates of the outline of the abnormal area according to the electromagnetic wave signal pseudo-color image obtained by the unmanned probe vehicle.
(5) The coordinate labels are associated with the live-action images (visible light images) obtained by the unmanned probe vehicle and the unmanned inspection machine.
(6) And (3) displaying the extracted coordinates in different colors on a data mapping base, so that the hidden danger area can be displayed visually and rapidly.
(7) The data mapping base and the segmented image data both comprise coordinate tags, and the live-action data stored in the server can be accessed through the coordinate tags.
The dam risk degree is determined based on the data base.
(1) First-level risk: deformation diseases directly displayed on a data base constructed by the point cloud include landslide, surface cracks and collapse. Such risks indicate that the dam has developed a structural dominant disease due to uneven settlement, development of internal hazards, and the like.
(2) Secondary risk: the hidden dangers of rich water, incompact and the like in the interior of the dam identified by the unmanned detection vehicle exist at 1 position or more within the range that the linear distance of horizontal projection of a dam backwater slope leakage disease area is less than 50m through infrared data identification. Such a risk means that a leak path exists inside the dike in this area and has escaped through the slope of the back water.
(3) Third-level risk: hidden dangers such as water enrichment and incompact inside the dam identified by the unmanned detection vehicle are avoided, and obvious seepage diseases are not found on a backwater slope through the unmanned inspection machine. Such risks indicate that the interior of the dam in the area has the hidden dangers of incompact, looseness and the like, but a remarkable leakage channel is not developed yet.
And when two or more risks exist in a certain section of dike at the same time, judging according to the highest risk level.
Grading the disease risk: the first-level risk level is higher than the second-level risk level, which is higher than the third-level risk level.
Example 2
The present embodiment provides a specific equipment composition and workflow case.
(1) Command shelter
In the embodiment, a dongfeng flat head 6 multiplied by 6 off-road truck chassis is selected as a command shelter chassis 1-1; the support frame 1-2 adopts 2 hydraulic support legs; the cabin body 1-3 is formed by customizing a stainless steel pipe as a framework, an aluminum alloy plate as a shell and an embedded heat insulation material plate. The shelter is divided into an operation room and an equipment room, a 4k high-definition display screen 1-4, an operation table, a cabinet 1-5 and seats 1-6 are embedded in the operation room, and a server 1-7 is installed in the cabinet and used for storing and analyzing data; 4G full-network access routers 1-8 are installed in the shelter and connected with the servers 1-7 to realize remote communication. As shown in fig. 1.
The equipment room is divided into an upper layer and a lower layer, wherein the lower layer is provided with an unmanned probe vehicle 2, the upper layer is provided with an unmanned inspection machine 3, the upper layer and the lower layer are provided with 220V charging holes 1-9 and are provided with a blower and a foam cleaning machine 1-10. A cabin body top plate of the equipment room is retracted through a hydraulic guide rail, and both sides and the rear cabin body can be unfolded outwards to form a channel between an upper equipment room and a lower equipment room of the unmanned detection vehicle; after the cabin body is unfolded, no shielding exists above the equipment room, and the upper layer is used as an unmanned inspection machine parking apron. The instrument arrangement positions of the equipment room are provided with limit sensing devices 1-11, and after the unmanned detection vehicle and the unmanned inspection machine are in place, the unmanned detection vehicle and the unmanned inspection machine can perform charging, cleaning and other work. Warning lights 1-12 are arranged on the side surface of the shelter body.
(2) Unmanned probe vehicle
The unmanned probe vehicle includes: the device comprises a chassis 2-1, a power supply device 2-2, a mobile control device 2-3, a support platform 2-4, a mechanical arm 2-5, a detection device 2-6, a shooting device 2-7, a second communication device 2-8 and a first positioning device 2-9.
The chassis 2-1 is a crawler-type chassis, an equipment cabin is reserved in the chassis, and a power supply device 2-2 and a mobile control device 2-3 are placed in the equipment cabin; the upper part of the chassis is provided with support platforms 2-4 which are made of galvanized plates and divided into an upper layer and a lower layer. The shooting and recording device 2-7, the second communication device 2-8 and the first positioning device 2-9 are installed above the support platform, the second communication device 2-8 selects a wifi communication antenna, the first positioning device 2-9 is a Zhonghaida RTK V2 type device, and the shooting and recording device 2-7 selects 2 high-definition double-light cameras which are installed in front of and behind the support platform respectively. The lower part is provided with a mechanical arm 2-5 and a detection device 2-6, the detection device comprises a detection device 2-6-1 and a base, the base is provided with a front group and a rear group of 4 wheels, the front group 1 is a universal wheel 2-6-2, and the rear group 1 is a directional wheel 2-6-3. The mechanical arm 2-5 can retract the detection device 2-6 to the chassis, and the detection device can be placed behind the chassis to be dragged during work; the first positioning device is arranged above the support platform. As shown in fig. 2.
(3) Unmanned inspection machine
The unmanned inspection machine comprises an unmanned aerial vehicle carrier 3-1, a hanging cradle head 3-2, an infrared-visible light integrated camera 3-3, a laser scanning device 3-4, a distance measuring device 3-5, a second positioning device 3-6 and a third communication device 3-7. The unmanned aerial vehicle carrier 3-1 is a 4-rotor unmanned aerial vehicle; the hanging tripod head 3-2 comprises a side hanging tripod head and a lower hanging tripod head, the side hanging tripod head is used for hanging an infrared-visible light integrated camera, and the lower hanging tripod head is used for hanging a laser scanning device 3-4; the second positioning device 3-6 and the distance measuring device 3-5 are mounted on the unmanned aerial vehicle carrier frame; the vehicle-mounted command shelter can command the unmanned aerial vehicle to carry out patrol operation through sending instructions. As shown in fig. 3.
Data acquisition and interaction of the unmanned probe vehicle and the unmanned inspection machine are shown in fig. 4.
(1) The whole set of equipment is driven to the periphery of a certain dike section 4 (pile number K0+000 to K5+000, 5 kilometers in total) to be explored, the vehicle-mounted command shelter 1 is put in place, the hydraulic support legs are lifted, and the cabin body of the equipment cabin is unfolded.
(2) And checking whether the electric quantity of the unmanned detection vehicle and the unmanned inspection machine is sufficient and whether each module is normal. The operator room personnel are in position and open the server and the console.
(3) And planning the walking routes of the unmanned probe vehicle and the unmanned patrol machine in the operation cabin through an electronic map.
(4) And starting the unmanned patrol machine and the unmanned probe vehicle. The unmanned inspection machine automatically marks a flying point as a landing point, performs flight inspection operation according to a planned air route, transmits collected laser point cloud data (dike deformation), infrared image data (dike surface temperature field), visible light image data and position information back to the vehicle-mounted command shelter, displays the laser point cloud data, the infrared image data and the visible light image data on a display device in real time, and stores the laser point cloud data, the infrared image data and the position information in the server. According to the data transmitted back by the unmanned inspection machine, the areas with difficulty in driving of the unmanned inspection vehicle, such as pits, luxurious vegetation, gradient and steepness, are avoided, and the detection route is planned. And (4) unfolding the mechanical arm of the unmanned detection vehicle, dragging the detection device to the rear, and detecting according to the planned walking route. The detection data, the visible light images and the position information collected by the unmanned detection vehicle are transmitted back to the command shelter, displayed on the display device in real time and stored in the server. As shown in fig. 5.
(5) After the patrol is finished, the unmanned patrol machine returns to the landing point, and the unmanned detection vehicle withdraws the detection device through the mechanical arm and returns to the equipment cabin. The induction charging device automatically charges the induction charging device.
(6) The technician uses a blower and a foam washer to clean the equipment.
(7) And using the data interaction platform according to the returned data.
1) And dividing the acquired data and marking a coordinate label.
2) And establishing a dike elevation three-dimensional model (figure 6) according to the point cloud data, and extracting coordinates of morphological control points such as front and rear slope feet, a dike top and the like of the dike based on an image edge algorithm.
3) And acquiring an image of the abnormal region of the surface temperature of the dam backwater slope through infrared thermal imaging information (figure 7) of the unmanned inspection machine, and extracting coordinates of the outline of the abnormal region in the image.
4) The coordinates of the outline of the abnormal region are extracted from the electromagnetic wave signal obtained by the unmanned probe vehicle according to the electromagnetic wave signal pseudo-color image (fig. 8).
5) And forming a simplified embankment three-dimensional model according to the control point coordinates, and using the simplified embankment three-dimensional model as a data base for mapping the abnormal area.
6) And displaying the area of the abnormal coordinates in different colors on the data mapping base, so that the hidden danger area can be displayed visually and rapidly. (FIG. 9)
7) The data mapping base and the data mapping base both comprise coordinate tags, and the live-action data stored in the server can be accessed through the coordinate tags. (8) And evaluating the section of the dike according to the dike risk diagnosis criterion provided by the application.
1) According to a dike three-dimensional model formed by laser scanning data and the judgment of a visible light photographic image, a landslide exists on the back surface of K3+650 to K4+020 in the dike segment (K0 +000 to K5+ 000) explored at this time. And deformation risks such as surface cracks, collapse and the like are not found in the rest of the materials. 2) According to the infrared thermal imaging information of the unmanned inspection machine, a leakage area at 1 position exists near the position of the mileage K1+ 035.
3) According to detection data obtained by an unmanned detection vehicle, potential leakage hazards exist in the positions of the mileage K1+010 to K1+035 and the mileage K1+060 to K1+ 085.
4) According to the risk classification principle proposed by the application:
k0+000 to K1+000: has no risk.
K1+000 to K1+100: and (5) secondary risk. The diseases such as seepage of the dam backwater slope identified by infrared data exist in 2 positions identified by an unmanned detection vehicle within the range that the linear distance of the horizontal projection of the disease area is less than 50 m. Such a risk indicates that a leak path exists inside the dike in the area and has escaped through the back water slope. Comprehensively judging the section of the dike to be a second-class danger dike section.
K1+100 to K3+600: has no risk.
K3+600 to K4+100: first-class risk.
K4+100 to K5+000: has no risk.
(9) And (5) closing the equipment. And closing the equipment cabin, withdrawing the supporting frame, and detecting the whole equipment to the next section.
Claims (10)
1. The dam hidden danger diagnosis air-ground integrated equipment is characterized by comprising a vehicle-mounted platform and a command shelter carried on the vehicle-mounted platform, wherein the command shelter comprises an equipment room and an operation room which are separated;
a control terminal, a server and a first communication device of equipment in the equipment room are arranged in the operation room;
an unmanned probe vehicle and an unmanned inspection machine are arranged in the equipment room in a layered mode;
the unmanned detection vehicle is provided with a mobile control device, a detection device, a shooting device, a first positioning device and a second communication device; the unmanned inspection machine is provided with an infrared camera, a visible light camera, a laser scanning device, a second positioning device, a distance measuring device, an obstacle avoiding device and a third communication device;
the equipment work flow is as follows:
the method comprises the following steps that a vehicle-mounted platform moves to the periphery of a dike section to be detected, an unmanned inspection machine is started to enable the unmanned inspection machine to inspect the dike according to a flight line, shooting data, point cloud data and synchronous positioning data which are collected by an infrared camera, a visible light camera, a laser scanning device and a second positioning device are sent to a server through a third communication device, a control terminal plans a running path of an unmanned inspection vehicle according to ground data sent back by the unmanned inspection machine, the unmanned inspection vehicle is started to inspect the dike according to the planned path, and electromagnetic wave detection data, shooting data and synchronous positioning data which are collected by a detection device, a shooting device and a first positioning device are sent to the server through the second communication device;
the control terminal classifies the data acquired by the server according to data sources, marks coordinate labels through coordinate matching, and divides the data according to the coordinate and the length; calling point cloud data, extracting coordinates of morphological control points based on an image edge algorithm, and establishing a dam model; and calling infrared camera shooting data and electromagnetic wave detection data, identifying abnormal areas of temperature and electromagnetic waves, extracting coordinates of the abnormal areas, and mapping to the dam model.
2. The kit of claim 1, wherein the body of the command shelter is made of stainless steel tube as a framework, aluminum alloy plate as an outer shell, and heat insulation material plate embedded;
the command shelter is fixed on the vehicle-mounted platform through a support frame with a jacking function; and after the supporting frame is jacked, the side plate and the tail plate of the square cabin are commanded to be unfolded.
3. The equipment of claim 1, wherein the control terminal determines road conditions including vegetation and external collapse conditions according to point cloud data transmitted back by the unmanned inspection machine, and plans a driving path of the unmanned inspection vehicle.
4. The apparatus of claim 1, wherein the sorting by data source, labeling coordinate tags by coordinate matching, and segmenting data by length according to coordinates comprises:
dividing the acquired data into point cloud data, visible light image data, electromagnetic wave detection data and infrared image data according to sources; acquiring coordinates of visible light image data, electromagnetic wave detection data and infrared image data through coordinate matching; and dividing the electromagnetic wave detection data, the visible light image data and the infrared image data according to the coordinates according to the length.
5. The apparatus of claim 1, wherein the control terminal plans the unmanned inspection machine flight path by calling up an electronic map, or manually controls the flight path using a joystick.
6. The equipment of claim 1, wherein the unmanned detection vehicle is a crawler-type chassis, and an equipment cabin is reserved inside the crawler-type chassis and used for placing a power supply device and a mobile control device; the upper part of a chassis of the unmanned detection vehicle is provided with a double-layer support platform, the upper layer of the support platform is provided with a first positioning device, a shooting device and a second communication device, and the lower layer of the support platform is provided with a mechanical arm and a detection device; two groups of wheels are arranged at the bottom of the detection device, wherein the front 1 group is a universal wheel, and the rear 1 group is a directional wheel; the mechanical arm is used for releasing the detection device to be dragged behind the chassis or retracting the detection device to the support platform.
7. The equipment according to claim 1, wherein the unmanned inspection machine is provided with a side-mounted holder and a lower-mounted holder, and the side-mounted holder is mounted with an infrared camera and a visible light camera; the laser scanning device is mounted on the lower mounting holder; and the second positioning device and the distance measuring device are mounted on the unmanned aerial vehicle carrier frame.
8. The kit of claim 1, wherein the coordinates of the outline of the abnormal area are extracted from a pseudo color image formed by accumulating electromagnetic wave detection data.
9. The equipment of claim 1, further comprising associating visible light image data acquired by the unmanned inspection machine and the unmanned probe vehicle by the marked coordinates after mapping the abnormal region coordinates to the dam model, and assisting in the risk judgment by combining the visible light image data.
10. The apparatus of claim 1, further comprising determining a dam risk level based on the dam model:
(1) first-order risk: directly displaying deformation diseases including landslide, surface cracks and collapse by using a dam model constructed by point cloud;
(2) secondary risk: the infrared data is used for identifying seepage diseases of the dam landslide, and in the range that the linear distance of the horizontal projection of a disease area is less than 50m, 1 or more hidden dangers identified by an unmanned detection vehicle exist, including water enrichment and incompact inside the dam;
(3) third-level risk: hidden dangers identified by the unmanned detection vehicle comprise water enrichment and incompact inside the dam; no obvious seepage disease is found on the backwater slope through an unmanned inspection machine;
and when two or more risks exist in a certain section of dike at the same time, judging according to the highest risk level.
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