CN115793093B - Dam hidden disease diagnosis air-ground equipment - Google Patents
Dam hidden disease diagnosis air-ground equipment 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, a command shelter, a control terminal, an unmanned detection vehicle and an unmanned inspection machine, wherein the command shelter, the control terminal, the unmanned detection vehicle and the unmanned inspection machine are carried on the vehicle-mounted platform; the control terminal classifies the acquired data according to the data sources, marks coordinate labels through coordinate matching, and divides the data according to the length according to the coordinates; establishing a dam model based on the acquired point cloud data; and extracting abnormal region coordinates after identifying the abnormal region and mapping the abnormal region coordinates to a dyke model. 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 marking of coordinate labels, establish a mapping base through extracting the coordinates of the morphological control points of the dykes and dams, realize the visual display of hidden danger by combining the coordinate labels of all the data, and can rapidly and accurately evaluate the dangerous degree of hidden danger development and realize the precise allocation of emergency 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 embankment hidden disease risk investigation is still manual inspection, the labor intensity is high, the time consumption is long, and the sustainable development of technologies and equipment such as geophysical prospecting, remote sensing and the like provides an effective means for the efficient diagnosis and scientific early warning of embankment hidden disease risk. Through combining current geophysical prospecting, remote sensing equipment is simple with unmanned car, unmanned aerial vehicle, form the integrated form patrol and examine equipment and be current leading edge technique, realized operation unmanned to a certain extent, still there is obvious technical short board:
1) The unmanned aerial vehicle is limited by the remote control capability of unmanned equipment, professional personnel are required to carry out on-site inspection, personnel standing point operation and automatic inspection cannot be realized, unmanned aerial vehicles and unmanned aerial vehicles are required to be respectively operated, acquired information is not shared, and the cooperative capability is insufficient.
2) The whole process of original data acquisition, processing, interpretation and display is required to rely on manual reading, screening, migration and interpretation, the data flow link is split, the interpretation software is independent, the data formats are different, and the whole process of multi-source heterogeneous data cannot be integrally controlled, so that the data flow is slow.
3) The acquired data has high redundancy, key information is hidden in the data, the data is often 'same as one another' in a first sight, and the lack of an extraction method of main key characteristics leads to slower data calling response, lagged information display of the embankment performance visualization, and key characteristics related to the security of the embankment structure cannot be presented timely and prominently.
4) For the reasons, the data such as geophysical prospecting and remote sensing are difficult to be quickly associated, the comprehensive diagnosis level of the hidden danger of the dam is insufficient, and the corresponding dam risk judging criterion is lacking, so that the degree of danger of the hidden danger development cannot be accurately estimated, and the accurate allocation of emergency rescue resources is affected.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide the integrated equipment for diagnosing the hidden danger of the dam and the space.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
the integrated equipment for diagnosing the hidden danger of the dam and the air and ground comprises a vehicle-mounted platform and a command shelter carried on the vehicle-mounted platform, wherein the command shelter comprises a separated equipment room and an operation room;
a control terminal, a server and a first communication device of equipment among the equipment are arranged in the operation room;
the unmanned detection vehicle and the unmanned inspection machine are arranged in layers among the equipment;
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 avoidance device and a third communication device;
the equipment workflow is as follows:
the vehicle-mounted platform moves to the periphery of a dike section to be detected, an unmanned inspection machine is started to carry out navigation inspection on the dike according to a flight line, the infrared camera, the visible light camera, the laser scanning device and the shooting data, the point cloud data and the synchronous positioning data acquired by the second positioning device are transmitted to the server through the third communication device, the control terminal plans the driving path of the unmanned inspection vehicle according to the ground data transmitted by the unmanned inspection machine, the unmanned inspection vehicle is started to carry out navigation inspection on the dike according to the planned path, and the electromagnetic wave detection data, the shooting data and the synchronous positioning data acquired by the detection device, the shooting device and the first positioning device are transmitted to the server through the second communication device;
the control terminal classifies the data acquired by the server according to the data sources, marks coordinate labels through coordinate matching, and divides the data according to the length according to the coordinates; calling point cloud data, extracting coordinates of morphological control points based on an image edge algorithm, and establishing a dyke model; and calling the shooting data and the electromagnetic wave detection data of the infrared camera, identifying the temperature and the electromagnetic wave abnormal region, extracting the coordinates of the abnormal region, and mapping to a dam model.
As a preferred embodiment, the infrared camera and the visible light camera mounted on the unmanned inspection machine are infrared-visible light integrated cameras.
The cabin 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 supporting frame with a jacking function; and the side plates and the tail plates of the command shelter are unfolded after the supporting frame is lifted.
As a preferable implementation mode, the control terminal determines road conditions according to the point cloud data transmitted by the unmanned inspection machine, and comprises vegetation of plants and external collapse conditions for obstacle avoidance and planning of a running path of the unmanned detection vehicle.
As a preferred embodiment, the classifying according to the data source, marking coordinates by coordinate matching, and dividing the data according to the coordinates by length 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 according to the length.
As a preferred embodiment, the control terminal plans the flight route of the unmanned patrol machine by calling the electronic map, or manually controls the flight route by using the operation lever.
As a preferable implementation mode, the unmanned detection vehicle is a crawler-type chassis, and an equipment cabin is reserved in the crawler-type chassis and is used for placing a power supply device and a mobile control device; the upper part of the 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 photographing 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, the front 1 group is a universal wheel, and the rear 1 group is a directional wheel; the mechanical arm is used for discharging the detection device to drag behind the chassis or retracting the detection device to the support platform.
As a preferable implementation mode, the unmanned inspection machine is provided with a side hanging cradle head and a lower hanging cradle head, and an infrared camera and a visible light camera are mounted on the side hanging cradle head; a laser scanning device is mounted on the lower hanging cradle head; the second positioning device and the distance measuring device are mounted on the unmanned aerial vehicle carrier frame.
As a preferred embodiment, the coordinates of the outline of the abnormal region are extracted from the pseudo-color map formed by stacking the electromagnetic wave detection data.
In a preferred embodiment, after mapping the abnormal region coordinates to the dam model, the visible light image data acquired by the unmanned inspection machine and the unmanned detection vehicle are associated by the mark coordinates, and the disease risk judgment is assisted by combining the visible light image data.
As a preferred embodiment, the method further comprises the step of judging the risk degree of the dam risk based on the dam model:
(1) first-order risk: the dam model constructed by the point cloud directly shows deformation diseases including landslide, surface cracks and collapse;
(2) secondary risk: the dam back water slope seepage disease identified by infrared data has hidden dangers identified by unmanned detection vehicles at 1 place or above in the range that the linear distance of horizontal projection of a disease area is less than 50m, and the hidden dangers comprise rich water and incompact inside the dam;
(3) three-stage risk: hidden danger identified by unmanned detection vehicles comprises rich water and non-compactness in a dam; and no obvious leakage disease is found on the back water slope through the unmanned inspection machine;
when two or more than two stages of embankments exist at the same time, judging according to the highest disease risk level.
The dam hidden danger diagnosis air-ground integrated equipment can realize the whole process integrated control of multi-source heterogeneous data through the data interaction of the unmanned detection vehicle and the unmanned inspection machine, realize the rapid association of data such as geophysical prospecting, laser scanning and images through data classification, segmentation and marking of coordinate labels, establish a mapping base through extracting form control point coordinates, realize the visual display of hidden danger by combining the coordinate labels of all the data, quickly and accurately evaluate the dangerous degree of hidden danger development, and realize the precise allocation of emergency rescue resources.
Drawings
Fig. 1 is a schematic 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 structural diagram of the unmanned inspection machine.
Fig. 4 is a schematic diagram of data interaction of the unmanned probe vehicle and the unmanned inspection machine.
FIG. 5 is a schematic diagram of the working state of the dam hidden danger diagnosis air-ground integrated equipment.
Fig. 6 is a schematic diagram of a three-dimensional model of dike elevation built 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 of a visual presentation of hidden danger zones on a data mapping base.
Detailed Description
Example 1
This example illustrates the equipment structure and workflow of the present invention.
The utility model provides a dykes and dams hidden danger diagnosis air-ground integration equipment, includes on-vehicle platform and commander shelter, unmanned detection car (at least one) and unmanned inspection machine (at least one) that carry on-vehicle platform.
1. Description of the functionality
The command shelter is a core carrier of the whole equipment, a standing point operation center for field operation, a communication hub and a data interaction platform. The command shelter can provide functions such as charging, maintenance and long-distance maneuver for the unmanned detection vehicle and the unmanned inspection machine, remotely commands the unmanned detection vehicle and the unmanned machine to develop on-site operation, analyzes and processes detection data, enables on-site operation conditions and the detection data to be communicated with a command center in real time, and realizes on-site diagnosis and response linkage of hidden danger of the dam.
The unmanned probe vehicle is equipped with a stepping electromagnetic wave detection device, a photographing device (a double-light camera) and a first positioning device. The detection, image and positioning data information can be transmitted back to the command shelter, so that the hidden danger inside the dykes and dams can be detected with high precision.
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 method can acquire the data of the embankment point cloud, and find out deformation dangerous cases such as landslide, bank collapse, collapse and the like; can obtain the back water slope temperature field information and find hidden troubles such as leakage water outlet points.
2. Structural composition
(1) Command shelter
The command shelter includes: chassis, support frame, shelter. The chassis is a high-mobility chassis and is a basic carrier of the whole equipment; the support frame is arranged below the carriage, and can jack up the command shelter by lifting to play a role in stabilizing the shelter, so that a temporary field control center and a data transmission hub are formed; the shelter body 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 an unmanned detection vehicle, the upper layer is provided with an unmanned inspection machine, the upper layer and the lower layer are provided with charging holes, and the equipment room is provided with a cleaning machine, so that the unmanned detection vehicle and the unmanned inspection machine can be charged and cleaned. The cabin top of the equipment room can be received in the top of the operation room, and the two sides and the rear cabin can be unfolded outwards to form a channel between the upper equipment and the lower equipment of the unmanned detection vehicle; after the cabin body is unfolded, no shielding exists above the equipment room, and the upper layer serves as an unmanned patrol machine parking apron. The instrument placement positions among the devices are all provided with sensing devices.
The operation room is provided with an operation desk (control terminal), a display device, a server and a first communication device, and the functions and the logic relations of the devices are as follows: the operation platform comprises an unmanned detection vehicle and an unmanned inspection machine operation rod/key, can operate the unmanned detection vehicle and the unmanned inspection machine for inspection operation, and can also plan tracks through an electronic map to operate the unmanned detection vehicle and the unmanned inspection machine for automatic inspection; the display device can display pictures such as live-action, detection/scanning data, an electronic map and the like transmitted by the unmanned detection vehicle and the unmanned inspection machine; the server is used for storing and transferring data such as live-action, detection/scanning data, position information and the like transmitted by the unmanned detection vehicle and the unmanned inspection machine; the first communication device can send operation instructions to the unmanned inspection machine and the unmanned detection vehicle through the radio station, and can also transmit information such as sound, images, data and the like through a mobile network, a satellite network and the like. The operation platform sends an operation instruction to the unmanned detection vehicle and the unmanned inspection machine through the first communication device, and controls the operation of the unmanned detection vehicle and the unmanned inspection machine; the unmanned detection vehicle and the unmanned inspection machine transmit detection/scanning/photographing/positioning data to the shelter through the second communication device and the third communication device in real time, and the detection/scanning/photographing/positioning data are stored in the server.
In addition, auxiliary facilities such as warning lights, night lights and the like are arranged on the shelter body of the shelter.
(2) Unmanned detection vehicle
The unmanned probe vehicle includes: chassis, power supply unit, mobile control device, second communication device, support platform, detection device, first positioner, video recording device.
The chassis is a crawler chassis, an equipment cabin is reserved in the chassis, and a power supply device and a mobile control device are arranged in the equipment cabin; the upper part of the chassis is provided with a bracket 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 bracket platform; the mechanical arm and the detection device are arranged below, the front group 1 is a universal wheel, and the rear group 1 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 towed when in operation; 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 bracket platform.
The functions and logic relationships 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 chargeable battery pack and supplies power to each device of the unmanned detection vehicle; the control device controls the detection device to move at the upper part of the chassis and at the rear of the chassis; the communication device is used for receiving the 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 expansion equipment; the detection device acquires medium information below the inspection path through stepping electromagnetic waves, so that hidden danger anomalies such as rich water, incompact, holes and the like can be detected; the first positioning device acquires the space position coordinates of the first positioning device through satellite positioning; the photographing device photographs the front and rear images. The communication device receives an operation instruction sent by the vehicle-mounted command shelter, controls the chassis to move forwards, backwards and turn through the movement control device, and controls the detection device to move above the chassis 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 cradle head, 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 hanging cradle head comprises a side hanging cradle head and a lower hanging cradle head, wherein the side hanging cradle head is used for mounting an infrared-visible light integrated camera, and the lower hanging cradle head is used for mounting a laser scanning device; the second positioning device and the ranging device are mounted on the unmanned aerial vehicle carrier frame; the command shelter (vehicle-mounted terminal) can command the unmanned aerial vehicle to patrol by sending a command.
The functions and logic relationships of the devices are as follows: the unmanned aerial vehicle carrier is a carrying foundation of the unmanned inspection machine and can supply power for all the electric devices; the side-hanging cradle head is mounted on the side surface of the unmanned aerial vehicle carrier, the bottom-hanging cradle head is mounted below the unmanned aerial vehicle, and both cradle heads can rotate 360 degrees, so that the shock-absorbing function is realized; the infrared-visible light camera can record infrared thermal imaging pictures and visible light pictures in real time; the laser scanning device can scan the dyke point cloud picture; the third positioning device can acquire absolute coordinates of the unmanned aerial vehicle through satellite positioning; the distance measuring device can measure the distance between the unmanned plane and the dike surface; the third communication device can transmit the positioning, scanning and recording data of the unmanned aerial vehicle back to the vehicle-mounted command shelter; the command shelter can control each device of unmanned aerial vehicle flight and mount work to can carry out the route planning with the help of the electronic map.
3. Workflow process
(1) And the command shelter is internally provided with an unmanned detection vehicle and an unmanned inspection machine to the periphery of the embankment section to be detected, and the section with the periphery being clear and without communication signal interference is selected to be unfolded.
1) 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) Each equipment and device is started. Checking whether the equipment is abnormal or not, and confirming the state of the equipment. Checking whether the electric quantity of the unmanned detection vehicle is sufficient or not and whether all devices are normal or not; checking whether the electric quantity of the unmanned inspection machine is sufficient, whether the unmanned machine carrier is good, and whether the functions of the devices are normal; checking whether the communication link of the command shelter is complete. After confirming the above problems, the next step is performed.
(3) And (5) routing inspection route planning. And planning a walking route of the unmanned inspection machine by calling the electronic map in the operation cabin, or manually controlling a flight route by using an operation rod. This is because the embankment is open-air, the flight obstacle is few in the sky, and unmanned aerial vehicle installs and keeps away barrier device (unmanned aerial vehicle is from taking), can plan the flight.
(4) And (5) inspection operation. Starting the unmanned inspection machine to enable the unmanned inspection machine to carry out navigation inspection on the dykes and dams according to the flight line. The operation room display device can display navigation routes of the electronic map of the unmanned patrol machine, images shot by a cradle head camera of the unmanned patrol machine, images shot by an infrared camera of the unmanned patrol machine and laser radar scanning data information of the unmanned patrol machine. The returned data is stored in the server in real time. In addition, the working condition of the dam is confirmed according to the point cloud data and the images transmitted by the unmanned inspection machine, areas such as thick vegetation, appearance collapse and the like are avoided, and the walking route of the unmanned inspection vehicle is planned. The unmanned detection vehicle can carry out dike inspection and danger inspection according to the planned route, and the image shot by the front tripod head camera of the unmanned detection vehicle, the image shot by the rear tripod head camera of the unmanned detection vehicle and the data information returned by the detection equipment can be displayed in the picture of the operation room display device.
(5) Returning home. And returning the unmanned inspection machine to the equipment cabin, landing to the fixed machine position of the parking apron, and automatically charging the unmanned inspection machine by the induction charging device. Before the unmanned detection vehicle returns to the equipment cabin, the detection device is retracted above the chassis, and the unmanned detection vehicle returns to the equipment cabin, so that the induction device can automatically charge the unmanned detection vehicle.
(6) And (5) maintaining equipment. And wiping the lens, checking whether the equipment is abnormal or not, and immediately checking if the equipment is abnormal.
(7) And (5) data processing. The data returned from the detection is processed by the server in the equipment cabin, and the result is printed on site or transmitted to a far end through a communication system. And (3) repeating the steps (3) - (7) when the data is imperfect or has a doubt, and performing supplementary detection and analysis.
(8) The equipment is closed. Closing the equipment cabin, withdrawing the supporting frame, and leading the whole vehicle equipment to go to the next detection section.
Logical relation of equipment control terminal data acquisition and interaction:
(1) Acquisition layer: the unmanned detection vehicle and the unmanned inspection machine conduct the detection/scanning/photographing/positioning data to the command shelter through the second communication module device and the third communication module device in real time, and store the detection/scanning/photographing/positioning data in the server.
(2) Synergistic layer: before the unmanned inspection machine acquires data, vegetation and external collapse conditions of the vegetation can be determined according to the acquired point cloud data, obstacle avoidance is performed, and an unmanned detection vehicle walking route is planned. And unifying the data acquired by the unmanned detection vehicle and the unmanned inspection machine through the position coordinates.
(3) Label layer: classifying and dividing the acquired data, and marking type labels and coordinate labels.
The specific operation comprises the following steps:
classification: the data source comprises point cloud data, visible light image data, electromagnetic wave detection data and infrared image data.
Segmentation: the electromagnetic wave detection data, the visible light image data and the infrared image data are divided according to the coordinates and the length obtained in each 100m dike section.
Coordinate label: and obtaining visible light image data, electromagnetic wave detection data and infrared image data through coordinate matching. The data is subsequently called mainly by coordinate tracing.
(4) Extraction layer: and (3) invoking point cloud data in a server, and extracting coordinates of morphological control points (points with abrupt elevation) such as front and rear slope feet, horse roads, dike tops and the like of the dikes based on an image edge algorithm. And calling the infrared camera shooting data and the electromagnetic wave detection data in the server, identifying temperature and electromagnetic wave abnormal areas based on a machine learning algorithm, and extracting abnormal area coordinates.
(5) Modeling layer: and establishing a visual model based on the extracted point cloud data.
(6) Mapping layer: and mapping the extracted abnormal region coordinates in different colors/lines according to the coordinate labels in a visual model.
(7) Access layer: in the visual model, if the live-action image is to be acquired, accessing the corresponding image fragment in the server according to the coordinate label.
The data processing process of the equipment control terminal comprises the following steps:
(1) The laser scanning device of the unmanned inspection machine acquires the point cloud (containing absolute three-dimensional coordinate information) on the surface of the embankment, establishes an embankment elevation model according to the point cloud data, and extracts coordinates of morphological control points such as front and rear slope feet, a horse road, a embankment top and the like of the embankment based on an image edge algorithm.
(2) And forming a simplified embankment three-dimensional model according to the form control point coordinates, and taking the simplified embankment three-dimensional model as a data base for mapping the abnormal region.
(3) And acquiring an image of an abnormal region of the surface temperature of the back water slope of the dam through infrared thermal imaging information of the unmanned inspection machine, extracting coordinates of an outline of the abnormal region 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 region.
(4) And extracting coordinates of the outline of the abnormal region according to the electromagnetic wave signal pseudo-color image obtained by the unmanned detection vehicle.
(5) And the coordinate labels are associated with live-action images (visible light images) obtained by the unmanned detection vehicle and the unmanned inspection machine.
(6) And (3) displaying the extracted coordinates of the step (2) and the step (3) in different colors on a data mapping base, so that hidden danger areas are quickly and visually displayed.
(7) The data mapping base and the segmented image data both comprise coordinate tags, and live-action data stored in the server can be accessed through the coordinate tags.
And judging the degree of dam risk based on the data base.
(1) First-order risk: the data base constructed by the point cloud directly shows deformation diseases including landslide, surface cracks and collapse. Such risks indicate that the dike has formed structural dominant diseases due to uneven settlement, internal hidden trouble development and the like.
(2) Secondary risk: the dam back water slope leakage disease identified by the infrared data has hidden troubles of water enrichment, incompact and the like in 1 or more dams identified by unmanned detection vehicles within the range that the linear distance of horizontal projection of a disease area is less than 50 m. Such a risk indicates that there is a leak path inside the dike in this area and that it has escaped from the back water slope.
(3) Three-stage risk: hidden dangers such as rich water, incompact and the like in the dam are identified by the unmanned detection vehicle, and obvious seepage diseases are not found on the back water slope through the unmanned inspection machine. Such risks indicate that the inside of the dam in the area has hidden troubles such as incompact, loose and the like, but no obvious leakage channel is developed.
When two or more than two stages of embankments exist at the same time, judging according to the highest disease risk level.
Grading of risks: the first grade of risk is higher than the second grade of risk, and the second grade of risk is higher than the third grade of risk.
Example 2
The present embodiment provides a specific equipment composition and workflow case.
(1) Command shelter
In the embodiment, the command shelter chassis 1-1 is a Dongfeng flat-head 6 multiplied by 6 off-road truck chassis; the supporting frame 1-2 adopts 2 hydraulic supporting legs; the cabin body 1-3 is formed by customizing stainless steel pipes as a framework, aluminum alloy plates as a shell and embedded heat insulation material plates. The shelter is divided into an operation room and an equipment room, wherein a 4k high-definition display screen 1-4, an operation desk, a cabinet 1-5 and a seat 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; the shelter is internally provided with a 4G whole network router 1-8 which is connected with the server 1-7 to realize remote communication. As in fig. 1.
The equipment room is divided into an upper layer and a lower layer, the lower layer is provided with an unmanned detection vehicle 2, the upper layer is provided with an unmanned inspection machine 3, 220V charging holes 1-9 are reserved on the upper layer and the lower layer, and the equipment room is provided with a blower and a foam cleaning machine 1-10. The cabin top plate between the devices is retracted and released through the hydraulic guide rail, and the two sides and the rear cabin can be outwards unfolded to form a channel between the upper device and the lower device of the unmanned detection vehicle; after the cabin body is unfolded, no shielding exists above the equipment room, and the upper layer serves as an unmanned patrol machine parking apron. The device room instruments are provided with limit sensing devices 1-11 at the positions, and after the unmanned detection vehicle and the unmanned inspection machine are in place, the device room instruments can be charged, cleaned and the like. Warning lamps 1-12 are arranged on the side face of the shelter body of the shelter.
(2) Unmanned detection vehicle
The unmanned probe vehicle includes: chassis 2-1, power supply unit 2-2, mobile control unit 2-3, support platform 2-4, arm 2-5, detection device 2-6, camera device 2-7, second communication device 2-8, first positioner 2-9.
The chassis 2-1 is a crawler chassis, an equipment cabin is reserved in the chassis, and a power supply device 2-2 and a mobile control device 2-3 are arranged in the equipment cabin; the upper part of the chassis is provided with a bracket platform 2-4 which is made of galvanized sheet material and is divided into an upper layer and a lower layer. The camera device 2-7, the second communication device 2-8 and the first positioning device 2-9 are arranged above, the second communication device 2-8 adopts a wifi communication antenna, the first positioning device 2-9 is middle sea RTK V2 type equipment, the camera device 2-7 adopts 2 high-definition double-light cameras, and the camera device is respectively arranged in front of and behind a support platform. 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 of 4 wheels 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 on the chassis, and the detection device can be placed behind the chassis to drag when in operation; the first positioning device is mounted above the support platform. As in fig. 2.
(3) Unmanned inspection machine
The unmanned inspection machine comprises an unmanned aerial vehicle carrier 3-1, a suspension 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 cradle head 3-2 comprises a side hanging cradle head and a lower hanging cradle head, wherein the side hanging cradle head is used for mounting an infrared-visible light integrated camera, and the lower hanging cradle head is used for mounting 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 patrol by sending instructions. As in fig. 3.
The 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 runs to the periphery of a certain embankment section 4 (pile numbers K0+000-K5+ 000, 5 kilometers in total) to be probed, the vehicle-mounted command shelter 1 is in place, hydraulic support legs are lifted, and the equipment shelter body is unfolded.
(2) And checking whether the electric quantity of the unmanned detection vehicle and the unmanned inspection machine is sufficient or not and whether all modules are normal or not. The operator is in place and opens the server and the console.
(3) And planning the walking routes of the unmanned detection vehicle and the unmanned inspection machine through an electronic map in the operation cabin.
(4) Starting the unmanned inspection machine and the unmanned detection vehicle. The unmanned inspection machine automatically marks the flying spot as a landing place, performs flight inspection operation according to a planned route, and transmits collected laser point cloud data (embankment deformation), infrared image data (embankment surface temperature field), visible light image data and position information back to the vehicle-mounted command shelter, displays the vehicle-mounted command shelter on a display device in real time, and stores the vehicle-mounted command shelter in a server. According to the data transmitted by the unmanned inspection machine, the unmanned detection vehicle difficult-to-travel areas such as pit, luxuriant vegetation, steep gradient and the like are avoided, and the detection route is planned. And the mechanical arm of the unmanned detection vehicle is unfolded, the detection device is towed at the rear, and detection is performed according to the planned walking route. The detection data, the visible light images and the position information acquired by the unmanned detection vehicle are transmitted back to the command shelter and displayed on the display device in real time, and are stored in the server. As in fig. 5.
(5) After the inspection is finished, the unmanned inspection machine returns to the landing point, and the unmanned detection vehicle returns to the equipment cabin through the mechanical arm retracting detection device. The induction charging device automatically charges the induction charging device.
(6) Technicians use blowers and foam washers to clean equipment.
(7) And according to the returned data, utilizing the data interaction platform for use.
1) And dividing the acquired data and marking the coordinate label.
2) And (3) establishing a dike elevation three-dimensional model based on the point cloud data (figure 6), and extracting coordinates of morphological control points such as front and rear slope feet, dike tops and the like of the dike based on an image edge algorithm.
3) And acquiring an image of an abnormal area of the surface temperature of the back water slope of the dam through infrared thermal imaging information (figure 7) of the unmanned inspection machine, and extracting coordinates of an outline of the abnormal area in the image.
4) And extracting the coordinates of the outline of the abnormal region according to the electromagnetic wave signal obtained by the unmanned detection vehicle and the electromagnetic wave signal pseudo-color chart (figure 8).
5) And forming a simplified embankment three-dimensional model according to the control point coordinates, and taking the simplified embankment three-dimensional model as a data base for mapping the abnormal region.
6) And displaying the areas with abnormal coordinates in different colors on the data mapping base, so that the hidden danger areas are quickly visualized and displayed. (FIG. 9)
7) The data mapping base and the data mapping base each contain a coordinate tag through which live-action data stored in the server can be accessed. (8) And evaluating the embankment according to the embankment risk diagnosis criterion provided by the application.
1) And judging that landslide exists on the back surface of K3+650-K4+020 in the embankment section (K0+000-K5+000) probed at the time according to a three-dimensional model of the embankment formed by laser scanning data and combining with a visible light photographic image. The rest of the surface cracks, collapse and other deformation risks are not found. 2) According to infrared thermal imaging information of the unmanned inspection machine, 1 leakage and escape area exists near the position K1+ 035.
3) According to detection data acquired by an unmanned detection vehicle, leakage hidden danger exists at the positions of the mileage K1+010-K1+035 and the mileage K1+060-K1+085.
4) According to the risk classification principle proposed by the application:
k0+000 to K1+000: no risk of illness.
K1+000 to K1+100: secondary risk. The dam back water slope seepage disease identified by the infrared data exists in the range that the linear distance of the horizontal projection of the disease area is less than 50m, and the disease such as water enrichment in 2 places of the dam identified by the unmanned detection vehicle exists. Such a risk indicates that there is a leak path inside the dike in this area and that it has escaped from the back water slope. Comprehensively judging the dike as a second-class danger dike segment.
K1+100 to K3+600: no risk of illness.
K3+600 to K4+100: first-level risk.
K4+100 to K5+000: no risk of illness.
(9) The equipment is closed. Closing the equipment cabin, withdrawing the supporting frame, and leading the whole vehicle equipment to go to the next detection section.
Claims (5)
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 a separated equipment room and an operation room; 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 supporting frame with a jacking function; the side plates and the tail plates of the command shelter are unfolded after the supporting frame is lifted;
a control terminal, a server and a first communication device of equipment among the equipment are arranged in the operation room;
the unmanned detection vehicle and the unmanned inspection machine are arranged in layers among the equipment;
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 avoidance device and a third communication device;
the equipment workflow is as follows:
the vehicle-mounted platform moves to the periphery of a dike section to be detected, an unmanned inspection machine is started to inspect the dike according to a flight line, the shot data, the point cloud data and the synchronous positioning data acquired by the infrared camera, the visible light camera, the laser scanning device and the second positioning device are transmitted to the server through the third communication device, the control terminal determines road conditions according to the point cloud data transmitted by the unmanned inspection machine, the road conditions comprise vegetation of plants and external collapse conditions, obstacle avoidance is performed, a running path of the unmanned inspection vehicle is planned, the unmanned inspection vehicle is started to inspect the dike according to the planned path, and the electromagnetic wave detection data, the shot data and the synchronous positioning data acquired by the detection device, the shooting and recording device and the first positioning device are transmitted to the server through the second communication device;
the control terminal classifies the data acquired by the server according to the data sources, marks coordinate tags through coordinate matching, and divides the data according to the length according to the coordinates, and the control terminal 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; dividing electromagnetic wave detection data, visible light image data and infrared image data according to the coordinates according to the length;
calling point cloud data, extracting coordinates of morphological control points based on an image edge algorithm, and establishing a dyke model; the form control points refer to elevation mutation points of the dykes and dams, and comprise front and rear slope feet, a horse road and a dyke top of the dykes and dams; invoking the shooting data and the electromagnetic wave detection data of an infrared camera, identifying temperature and electromagnetic wave abnormal areas, extracting coordinates of the abnormal areas, and mapping to a dam model; after mapping the abnormal region coordinates to the dyke model, accessing visible light image data acquired by the unmanned inspection machine and the unmanned detection vehicle through the mark coordinates, and combining the visible light image data to assist in disease risk diagnosis;
the diagnosis result is judged based on the degree and type of the risk mapped in the dam model:
(1) first-order risk: the dam model constructed by the point cloud directly shows deformation diseases including landslide, surface cracks and collapse;
(2) secondary risk: the dam back water slope seepage disease identified by infrared data has hidden dangers identified by unmanned detection vehicles at 1 place or above in the range that the linear distance of horizontal projection of a disease area is less than 50m, and the hidden dangers comprise rich water and incompact inside the dam;
(3) three-stage risk: hidden danger identified by unmanned detection vehicles comprises rich water and non-compactness in a dam; and no obvious leakage disease is found on the back water slope through the unmanned inspection machine;
when two or more than two stages of embankments exist at the same time, judging according to the highest disease risk level.
2. The apparatus of claim 1, wherein the control terminal plans the unmanned patrol machine flight route by calling an electronic map, or manually controls the flight route using a joystick.
3. The device according to claim 1, wherein the unmanned detection vehicle is a crawler chassis, and an equipment cabin is reserved in the crawler chassis and is used for placing a power supply device and a movement control device; the upper part of the 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 photographing 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, the front 1 group is a universal wheel, and the rear 1 group is a directional wheel; the mechanical arm is used for dragging the detection device to the rear of the chassis or retracting the detection device to the bracket platform.
4. The device of claim 1, wherein the unmanned inspection machine is provided with a side-hanging cradle head and a lower-hanging cradle head, and an infrared camera and a visible light camera are mounted on the side-hanging cradle head; a laser scanning device is mounted on the lower hanging cradle head; the second positioning device and the distance measuring device are mounted on the unmanned aerial vehicle carrier frame.
5. The apparatus according to claim 1, wherein coordinates of an outline of the abnormal region are extracted from a pseudo-color map in which electromagnetic wave detection data is piled up.
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| CN117348022B (en) * | 2023-09-26 | 2024-05-24 | 长安大学 | Landslide trailing edge crack identification method based on multi-source data |
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