CN115965347A - River channel patrol management method, system, electronic device and storage medium - Google Patents
River channel patrol management method, system, electronic device and storage medium Download PDFInfo
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- CN115965347A CN115965347A CN202310098637.8A CN202310098637A CN115965347A CN 115965347 A CN115965347 A CN 115965347A CN 202310098637 A CN202310098637 A CN 202310098637A CN 115965347 A CN115965347 A CN 115965347A
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Abstract
The application relates to a method, a system, an electronic device and a storage medium for river patrol management, wherein the method comprises the following steps: the cloud system sends a task command to the unmanned aerial vehicle system, and the unmanned aerial vehicle system controls the unmanned aerial vehicle to execute the inspection task; the unmanned aerial vehicle and the monitoring equipment acquire river channel information and feed the information back to the cloud system; and the cloud system performs data analysis on the acquired river channel information, acquires abnormal information and identifies and judges the abnormal information. Through this application, solved the problem that river course fortune dimension and river course patrol treatment inefficiency, improved the managerial efficiency.
Description
Technical Field
The application relates to the technical field of internet of things, in particular to a method, a system, an electronic device and a storage medium for river patrol management.
Background
With the large-scale popularization of the river growth control in China, the enthusiasm of the whole population for participating in river regulation and supervision is increased unprecedentedly. However, the traditional river routing inspection is based on manpower walking and vehicle routing inspection, a lot of time is spent on river routing inspection, and river dead corners and dead zones which are inconvenient to reach by many vehicles, ships and personnel cannot be effectively inspected, so that the efficiency is very low. In addition, the patrolled river patrol log is mostly written by paper, so that a large amount of labor cost is consumed, and errors are easy to occur.
In view of the above problems, it is urgently needed to provide a solution for improving the operation and maintenance of the river and the efficiency of river patrol management.
Disclosure of Invention
The embodiment of the application provides a river channel patrol management method, a river channel patrol management system, an electronic device and a storage medium, and aims to at least solve the problems of low river channel operation and maintenance and low river channel patrol treatment efficiency in the related technology.
In a first aspect, an embodiment of the present application provides a method for river patrol management, which is applied to a river patrol management system, where the system includes a cloud system, an unmanned aerial vehicle system, and a monitoring device, and the method includes:
the cloud system sends a task command to the unmanned aerial vehicle system, and the unmanned aerial vehicle system controls the unmanned aerial vehicle to execute an inspection task;
the unmanned aerial vehicle and the monitoring equipment acquire river channel information and feed the information back to the cloud system;
and the cloud system performs data analysis on the acquired river channel information, acquires abnormal information, and identifies and judges the abnormal information.
In some embodiments, the drone system controlling the drone to perform inspection tasks includes:
and regulating and controlling the patrol gesture of the unmanned aerial vehicle in real time according to weather conditions, the electric quantity condition of the unmanned aerial vehicle and different patrol modes.
In some of these embodiments, the drone system controlling the drone to perform the inspection task further includes:
and the unmanned aerial vehicle automatically samples according to the set patrol route or sampling coordinate points.
In some embodiments, the acquiring, by the drone and the monitoring device, the river channel information includes:
the unmanned aerial vehicle carries out multi-view angle three-dimensional investigation on the river channel, shoots river channel water regime images through a camera and stores the images in a database;
the unmanned aerial vehicle is used for patrolling and shooting images of a drain outlet of a river channel through a loaded infrared camera, and fast tracing the illegal sewage discharge;
the unmanned aerial vehicle monitors the water quality and the river bank vegetation environment through the loaded spectrum analyzer.
In some of these embodiments, monitoring water quality and riparian vegetation environment comprises:
and acquiring river channel water body information, carrying out qualitative analysis on the acquired water body information through a statistical analysis algorithm, and judging the pollution types, the pollution source spatial distribution and the pollution degrees of the water bodies in different areas.
In some embodiments, the cloud system performs data analysis on the acquired river information, and acquiring the abnormal information includes:
the cloud system reads the acquired river channel image information and records and acquires the area and the area coordinates of the river channel;
and carrying out image processing on the acquired river channel image through Python, comparing and analyzing the processed image with image information in a database, judging whether an abnormal condition exists, and if so, identifying and positioning the place where the abnormal condition occurs through the area coordinate and the longitude and latitude information of the abnormal river channel image and alarming and pushing.
In some embodiments, after making the identification determination of the anomaly information, the method includes:
and the cloud system takes different management measures for the abnormal conditions of the river channel according to actual requirements.
In a second aspect, the embodiment of the present application provides a system for river patrol management, the system includes a cloud system, an unmanned aerial vehicle system and a monitoring device,
the cloud system sends a task command to the unmanned aerial vehicle system, and the unmanned aerial vehicle system controls the unmanned aerial vehicle to execute an inspection task;
the unmanned aerial vehicle and the monitoring equipment acquire river channel information and feed the information back to the cloud system;
and the cloud system performs data analysis on the acquired river channel information, acquires abnormal information, and identifies and judges the abnormal information.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor, when executing the computer program, implements the method according to the first aspect.
In a fourth aspect, embodiments of the present application provide a storage medium, on which a computer program is stored, where the program is executed by a processor to implement the method according to the first aspect.
Compared with the related art, the river patrol management method provided by the embodiment of the application is applied to a river patrol management system, the system comprises a cloud system, an unmanned aerial vehicle system and monitoring equipment, wherein the cloud system sends a task command to the unmanned aerial vehicle system, and the unmanned aerial vehicle system controls the unmanned aerial vehicle to execute a patrol task; the unmanned aerial vehicle and the monitoring equipment acquire river channel information and feed the information back to the cloud system; and the cloud system performs data analysis on the acquired river channel information, acquires abnormal information and identifies and judges the abnormal information.
The river channel information monitoring management platform is built on the basis of technologies such as the Internet of things, the mobile communication technology and the cloud computing, the water system management is used as a core, and functions such as river channel water quality and water level monitoring, river channel video monitoring, alarm information management, intelligent river channel inspection, report statistical analysis, river reach working platform and supervision, examination and evaluation can be achieved. Finally, the purposes of promoting the restoration of the ecological environment of rivers and lakes, comprehensively improving the water quality and the environment of the rivers and promoting the coordinated development of the economic society and the ecological environment are achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a system for river patrol management according to an embodiment of the present application;
fig. 2 is a flowchart of a method for river patrol management according to an embodiment of the present application;
fig. 3 is a schematic diagram of an internal structure of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The embodiment also provides a system for river patrol management, fig. 1 is a structural diagram of the system for river patrol management according to the embodiment of the application, and as shown in fig. 1, the system comprises a cloud system, an unmanned aerial vehicle system and monitoring equipment; the cloud system is mainly responsible for receiving and issuing tasks and managing and analyzing task data, specifically, the management center is responsible for sending the tasks, and after the cloud system acquires the tasks, the tasks reach the current staff of the mobile client, so that related tasks are executed, and the data state is monitored in real time. The unmanned aerial vehicle system consists of an unmanned aerial vehicle, an unmanned aerial vehicle airport and a flight control module, wherein the unmanned aerial vehicle can realize the functions of autonomous flight, fine patrol, accurate landing, high-definition camera shooting and the like; the unmanned aerial vehicle airport is responsible for controlling the lifting and falling of the unmanned aerial vehicle, automatic charging, automatic endurance, automatic recovery and accurate recovery; the flight control module is responsible for flight route planning, flight data analysis, flight task assignment, unmanned aerial vehicle fault alarm analysis and the like. Monitoring facilities carries in unmanned aerial vehicle, can carry on different monitoring facilities according to the actual demand, realizes the monitoring inspection to the river course. It should be noted that the monitoring devices in the embodiments of the present application include, but are not limited to, an infrared camera and a spectrum analyzer.
Specifically, the cloud system sends a task command to an unmanned aerial vehicle airport of the unmanned aerial vehicle system, the unmanned aerial vehicle airport controls the unmanned aerial vehicle to fly, route planning is carried out through a flight control module, and related routing inspection tasks are executed according to a planned route; the unmanned aerial vehicle and the carried monitoring equipment acquire river channel information and feed the acquired information back to the cloud system;
and finally, the cloud system performs data analysis on the acquired river channel information, acquires abnormal information and identifies and judges the abnormal information.
Through the system, the problems of low river channel operation and maintenance and low river channel patrol treatment efficiency in the related technology are solved, and river channel patrol efficiency is improved.
It should be noted that, for a specific example in this embodiment, reference may be made to the example described in the following embodiment and optional implementation in the river patrol management method, and details of this embodiment are not described herein again.
The embodiment provides a method for river patrol management, which is applied to the above system for river patrol management, and fig. 2 is a flowchart of a method for river patrol management according to an embodiment of the present application, and as shown in fig. 2, the flow includes the following steps:
step S201, the cloud system sends a task command to the unmanned aerial vehicle system, and the unmanned aerial vehicle system controls the unmanned aerial vehicle to execute an inspection task;
preferably, in this embodiment, the management center of the cloud system creates a task, and sends the task to the unmanned aerial vehicle airport of the unmanned aerial vehicle system through the mobile platform, and the unmanned aerial vehicle airport controls the unmanned aerial vehicle to take off, and the flight control module performs route planning according to the task content and controls the unmanned aerial vehicle to execute the related routing inspection task.
In some of these embodiments, the drone system controlling the drone to perform the inspection task includes:
the unmanned aerial vehicle system intelligently selects an inspection route, a turning back route and an inspection height according to weather conditions, the electric quantity condition of the unmanned aerial vehicle and different inspection modes, so that the inspection posture of the unmanned aerial vehicle can be regulated and controlled in real time. For example, when the wind power exceeds 3 levels, a navigation route with low flying height can be selected preferentially, and the attitude of the unmanned aerial vehicle, such as the deflection, the pitching and the focal length of a cloud platform, can be set according to the wind power state, so that the real-time regulation and control of the air route of the unmanned aerial vehicle are realized. It should be noted that, the method and the device can simultaneously support the setting of a plurality of patrol routes, and can abolish inapplicable patrol routes.
In some of these embodiments, the drone system controlling the drone to perform the inspection task further includes:
unmanned aerial vehicle carries out automatic sampling along the patrol sampling route that flight control module set up, perhaps, according to the river bank coordinate and the distance that have set for along the way, unmanned aerial vehicle flies to predetermineeing the coordinate and carries out automatic sampling, and the sample of acquireing can be sent to cloud system and carry out the analysis monitoring.
Step S202, the unmanned aerial vehicle and the monitoring equipment acquire river channel information and feed the information back to a cloud system;
preferably, in the embodiment, the unmanned aerial vehicle carries out remote, multi-directional and multi-view three-dimensional investigation on the river channel, shoots the river channel water regime image through the camera and stores the image in the database; therefore, the water regime data information in the database can be perfected, and the river patrol efficiency and the treatment level can be greatly improved.
In some of them embodiments, unmanned aerial vehicle observes the invisible heat radiation of all object transmission or reflection in river course through the infrared camera who loads, learns the sewage different with the infrared reflection of normal river fast, and the sewage blowdown image of taking the river course drain patrols to discharge sewage to the violation and carry out quick traceability.
In some of the embodiments, because different quality of water spectral reflectivity is different, unmanned aerial vehicle accessible loading spectral analyser monitors water quality, detects whether the water is polluted, issues the improvement report, also can monitor the river bank vegetation, monitors the whole ecological environment in river course. Preferably, when the water quality of the water body and the riverbank vegetation environment are monitored, the river channel water body information is obtained, qualitative analysis is carried out on the obtained water body information through a statistical analysis algorithm, and the pollution types, the pollution source spatial distribution and the pollution degree of the water body in different areas are judged, so that the industries, the areas and the regions needing important treatment are determined. In addition, the pollution area can be locked according to the transmitted imaging graph, so that a pollution source distribution graph, an improvement project distribution graph, a pollution pipe network distribution graph and the like are drawn, visual management of inspection results is formed according to the drawn distribution graph, and the management efficiency is improved.
In step S203, the cloud system performs data analysis on the acquired river information, acquires abnormal information, and identifies and determines the abnormal information.
Preferably, the cloud system firstly reads the river channel image information collected in the above steps, and records and obtains the area and the area coordinates of the river channel.
Then, carrying out image processing on the acquired river channel image through Python, and specifically comprising the following steps: in this embodiment, a most commonly used image processing third party library PIL is used to analyze and process a river image, and after the processing is finished, an image-based open method is used to load an image file, where three attributes of the image file are displayed, and are: format, size and mode, wherein the format is an image identification format or source, and if the image is not read from a file, none is returned; size is the width and height of the image, in pixels; mode is the color mode of the image, L represents a grayscale image, and RGB represents a true color image. The loaded image file can be processed by calling different methods or modules of image class, including image display, image storage, image copy and paste, image scaling and rotation, image color conversion, image filtering and enhancement, and sequential image processing.
And then, comparing and analyzing the processed image with image information in a database, judging whether an abnormal situation exists in the river channel, and if so, identifying and positioning the place where the abnormal situation occurs through the area coordinates and the longitude and latitude information of the abnormal river channel image and giving an alarm for pushing. For example, the images shot by the unmanned aerial vehicle in real time are compared with the sand collecting ship in the cloud system, if the similarity between the object in the images and the sand collecting ship is more than 90%, the illegal sand collecting ship in the shooting site can be judged, at the moment, the specific position is identified and positioned, the system alarms and pushes, and illegal behaviors can be effectively prevented. Meanwhile, the cloud system can also be used for fitting the water pollution condition by combining the image and the information of the abnormal area and drawing a water color electronic image. Wherein, good water colors include: dark brown, tawny (mainly diatom), pale green (mainly green algae), emerald green; the color of the dangerous water comprises: green turbidity (cyan, dark green), red turbidity (dark red ), white turbidity (milky white), and the like.
In some embodiments, after the abnormal information is identified and determined, the cloud system takes different management measures for the abnormal situation of the river channel according to actual requirements. For example, adopt unmanned aerial vehicle digital voice broadcasting megaphone, shout the dispersion, perhaps shoot through the camera and collect evidence for subsequent punishment evidence.
Through the steps S201 to S203, a set of river information monitoring management platform is constructed based on technologies such as internet of things, mobile communication technology, cloud computing and the like and with water system management as a core. The problem of river course fortune dimension and river course patrol treatment inefficiency is solved, managerial efficiency and river course ecological environment have been improved.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
It should be noted that each of the above systems may be a functional module or a program module, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
The present embodiment also provides an electronic device, comprising a memory having a computer program stored therein and a processor configured to run the computer program to perform the steps of any of the method embodiments described above.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
In addition, in combination with the method for river patrol management in the foregoing embodiments, the embodiments of the present application may provide a storage medium to implement. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any one of the methods for river patrol management in the above embodiments.
In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method for river patrol management. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
In one embodiment, fig. 3 is a schematic diagram of an internal structure of an electronic device according to an embodiment of the present application, and as shown in fig. 3, there is provided an electronic device, which may be a server, and its internal structure diagram may be as shown in fig. 3. The electronic device includes a processor, a network interface, an internal memory, and a non-volatile memory, which stores an operating system, a computer program, and a database, connected by an internal bus. The processor is used for providing calculation and control capabilities, the network interface is used for being connected and communicated with an external terminal through a network, the internal memory is used for providing an environment for an operating system and the running of a computer program, the computer program is executed by the processor to realize a river channel patrol management method, and the database is used for storing data.
Those skilled in the art will appreciate that the architecture shown in fig. 3 is a block diagram of only a portion of the architecture associated with the subject application, and does not constitute a limitation on the electronic devices to which the subject application may be applied, and that a particular electronic device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be understood by those skilled in the art that various technical features of the above-described embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described, however, so long as there is no contradiction between the combinations of the technical features, they should be considered as being within the scope of the present description.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a river course patrol management's method, is applied to among river course patrol management system, its characterized in that, the system includes high in the clouds system, unmanned aerial vehicle system and monitoring facilities, the method includes:
the cloud system sends a task command to the unmanned aerial vehicle system, and the unmanned aerial vehicle system controls the unmanned aerial vehicle to execute an inspection task;
the unmanned aerial vehicle and the monitoring equipment acquire river channel information and feed the information back to the cloud system;
and the cloud system performs data analysis on the acquired river channel information, acquires abnormal information, and identifies and judges the abnormal information.
2. The method of claim 1, wherein the drone system controlling the drone to perform the inspection task comprises:
and regulating and controlling the patrol gesture of the unmanned aerial vehicle in real time according to weather conditions, the electric quantity condition of the unmanned aerial vehicle and different patrol modes.
3. The method of claim 1, wherein the drone system controlling the drone to perform the inspection task further comprises:
and the unmanned aerial vehicle automatically samples according to the set patrol route or sampling coordinate points.
4. The method of claim 1, wherein the obtaining of the river information by the drone and the monitoring device comprises:
the unmanned aerial vehicle carries out multi-view angle three-dimensional investigation on the river channel, shoots river channel water regime images through a camera and stores the images in a database;
the unmanned aerial vehicle is used for patrolling and shooting images of a drain outlet of a river channel through a loaded infrared camera, and fast tracing the illegal sewage discharge;
the unmanned aerial vehicle monitors the water quality and the river bank vegetation environment through the loaded spectrum analyzer.
5. The method of claim 4, wherein monitoring water quality and riparian vegetation environment comprises:
and acquiring river channel water body information, carrying out qualitative analysis on the acquired water body information through a statistical analysis algorithm, and judging the pollution types, the pollution source spatial distribution and the pollution degrees of the water bodies in different areas.
6. The method of claim 1, wherein the cloud system performs data analysis on the acquired river information, and acquiring abnormal information comprises:
the cloud system reads the acquired river channel image information and records and acquires the area and the area coordinates of the river channel;
and carrying out image processing on the acquired river channel image through Python, comparing and analyzing the processed image with image information in a database, judging whether an abnormal condition exists, and if so, identifying and positioning the place where the abnormal condition occurs through the area coordinate and the longitude and latitude information of the abnormal river channel image and alarming and pushing.
7. The method according to claim 1, wherein after the identification determination of the abnormality information, the method comprises:
and the cloud system takes different management measures for the abnormal conditions of the river channel according to actual requirements.
8. A system for patrol management of a river channel is characterized by comprising a cloud system, an unmanned aerial vehicle system and monitoring equipment,
the cloud system sends a task command to the unmanned aerial vehicle system, and the unmanned aerial vehicle system controls the unmanned aerial vehicle to execute an inspection task;
the unmanned aerial vehicle and the monitoring equipment acquire river channel information and feed the information back to the cloud system;
and the cloud system performs data analysis on the acquired river channel information, acquires abnormal information, and identifies and judges the abnormal information.
9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 7.
10. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any one of claims 1 to 7 when executed.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117311395A (en) * | 2023-11-30 | 2023-12-29 | 国家海洋环境监测中心 | Unmanned aerial vehicle path planning method and system for pollution inspection in river channel |
| CN118010952A (en) * | 2024-04-08 | 2024-05-10 | 山西冶金岩土工程勘察有限公司 | Ecological management system for river channel |
-
2023
- 2023-02-10 CN CN202310098637.8A patent/CN115965347A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117311395A (en) * | 2023-11-30 | 2023-12-29 | 国家海洋环境监测中心 | Unmanned aerial vehicle path planning method and system for pollution inspection in river channel |
| CN117311395B (en) * | 2023-11-30 | 2024-02-23 | 国家海洋环境监测中心 | Unmanned aerial vehicle path planning method and system for pollution inspection in river channel |
| CN118010952A (en) * | 2024-04-08 | 2024-05-10 | 山西冶金岩土工程勘察有限公司 | Ecological management system for river channel |
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