CN117111178B - Dam hidden danger and dangerous situation air-ground water collaborative detection system and method - Google Patents
Dam hidden danger and dangerous situation air-ground water collaborative detection system and method Download PDFInfo
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Abstract
The invention relates to the technical field of positioning or existence detection by adopting reflection or reradiation of radio waves, and provides a system and a method for collaborative detection of dam hidden danger and dangerous space water, wherein the system for collaborative detection of dam hidden danger and dangerous space water comprises a detection vehicle, an unmanned aerial vehicle and a detection ship, the detection vehicle, the unmanned aerial vehicle and the detection ship are in wireless communication in a broadcast mode, a geological ultrasonic detector and a geological radar are arranged on the detection vehicle, an image detector, an infrared detector or a laser detector are arranged on the unmanned aerial vehicle, and an infrared detector, a laser detector and a radar detector are arranged on the detection ship; the detection vehicle, the unmanned aerial vehicle and the detection ship are provided with a GIS positioning device and a LoRa positioning communication module. The invention can effectively combine the advantages of various detection schemes based on the cooperative mode of the detection vehicle, the unmanned aerial vehicle and the detection ship, and can effectively and greatly improve the positioning precision of the unmanned aerial vehicle based on the cooperative mode, thereby ensuring the remarkable improvement of the detection effect of hidden danger and danger of the dykes and dams.
Description
Technical Field
The invention relates to a system and a method for collaborative detection of dam hidden danger and dangerous space water, belonging to the technical field of positioning or existence detection by adopting reflection or reradiation of radio waves.
Background
The detection of hidden danger and dangerous situation of the dam is generally carried out once before the flood season comes and after the flood season is finished, and meanwhile, the detection is carried out irregularly according to the needs in the flood season, and for the south area, the rainfall always maintains to the end of the flood season when the flood season comes and the positive value is reached.
In the prior art, the hidden danger and dangerous situation of the dam are detected by adopting a scheme of a detection vehicle, a scheme of a detection ship and a scheme of an unmanned aerial vehicle are adopted, but in the schemes, detection is carried out by adopting a single mode and matching with conventional monitoring equipment, the mode is single, and due to lack of cooperation, the accuracy of an automatic mode cannot be ensured, only manual operation can be carried out, and the other serious problem is that for detection, the mode of the unmanned aerial vehicle can obtain a larger detection range, so that the effect is optimal theoretically, but in practice, the requirements of the unmanned aerial vehicle on communication and positioning are extremely high, the determination effect of a GIS positioning system commonly adopted in the prior art on the height of the unmanned aerial vehicle is quite unsatisfactory, and the laser ranging and height determining scheme commonly adopted by the unmanned aerial vehicle cannot be used because of a water body under the unmanned aerial vehicle, so that the detection mode of the unmanned aerial vehicle is difficult to achieve the expected effect.
Disclosure of Invention
In order to solve the technical problems, the invention provides the system and the method for collaborative detection of the dam hidden danger and the dangerous space water, which are based on the collaborative mode of the detection vehicle, the unmanned aerial vehicle and the detection ship, can effectively combine the advantages of various detection schemes, and can effectively and greatly improve the positioning precision of the unmanned aerial vehicle based on the collaboration, thereby ensuring that the detection effect of the dam hidden danger and the dangerous situation is obviously improved.
The invention is realized by the following technical scheme.
The invention provides a dam hidden danger and dangerous situation air-ground water collaborative detection system, which comprises a detection vehicle, an unmanned aerial vehicle and a detection ship, wherein the detection vehicle, the unmanned aerial vehicle and the detection ship are in wireless communication in a broadcast mode, a geological ultrasonic detector and a geological radar are arranged on the detection vehicle, an image detector, an infrared detector or a laser detector are arranged on the unmanned aerial vehicle, and an infrared detector, a laser detector and a radar detector are arranged on the detection ship; the detection vehicle, the unmanned aerial vehicle and the detection ship are provided with a GIS positioning device and a LoRa positioning communication module; the unmanned aerial vehicle calculates the relative distance by acquiring the received signal intensity communicated with the probe vehicle and the probe ship LoRa, and then determines the height by combining with the GIS positioning information of the unmanned aerial vehicle; the detection vehicle runs on the road on the dam body, the detection ship runs on the water body under the dam, and the unmanned aerial vehicle flies along the downstream face of the dam body; there are the basic station about the dam body, have the communication base station of loRa location on the basic station to be used for assisting the height of confirm unmanned aerial vehicle.
The relative distance is calculated by the following formula:
D=10^((R 0 -R ssi )/(10⋅n))，
wherein R is 0 For calibrating the intensity, R is determined to be a fixed value by initialization before use ssi For received signal strength, n is the path loss coefficient, determined by the LoRa positioning communications of the probe car and the base station.
The path loss coefficient n is calculated according to the following formula:
n=(R 0 -R ssi )/(10⋅log 10 (D n ))，
wherein R is 0 For calibrating the intensity, R is determined to be a fixed value by initialization before use ssi For receiving signal strength, D n And the distance between the probe car and the base station is obtained through GIS positioning calculation.
And the inertial navigation device and the satellite positioning device are arranged on the detection vehicle, GIS positioning is performed through the inertial navigation device and the satellite positioning device, and the distance between the detection vehicle and the base station is calculated through the GIS positioning result and the GIS environment data.
The detection vehicle is provided with a lifting platform for fixing the unmanned aerial vehicle, and the unmanned aerial vehicle stays and is fixed on the lifting platform when the detection vehicle does not travel to a dam body.
The invention also provides a method for collaborative detection of dam hidden danger and dangerous space water, which adopts the system for collaborative detection of dam hidden danger and dangerous space water and comprises the following steps:
s1, initializing parameters: the method comprises the steps that a LoRa positioning communication module of a detection vehicle, an unmanned aerial vehicle and a detection ship is placed at the same position to initialize the calibration intensity, and then the detection vehicle, the unmanned aerial vehicle and the detection ship are respectively installed;
s2, planning a flight path: planning a flight route of the unmanned aerial vehicle according to the environmental data, enabling the flight route of the unmanned aerial vehicle to be equidistant and S-shaped along the downstream face of the dam body, writing the planned flight route into an execution sequence of the unmanned aerial vehicle, and taking off the unmanned aerial vehicle;
s3, synchronous travelling detection: the detection vehicle, the unmanned aerial vehicle and the detection ship synchronously travel on the same cross section of the dam body, travel from one end of the dam body to the other end of the dam body, and detect the dam body in the traveling process;
s4, stopping landing: and (5) travelling to the tail end of the dam body, stopping the detection vehicle, and landing the unmanned aerial vehicle on the detection vehicle.
In step S3, based on the GIS positioning information of the unmanned aerial vehicle, the unmanned aerial vehicle calculates the relative distance by acquiring the received signal strength of the LoRa communication with the probe vehicle and the probe ship, determines the height by combining with the GIS positioning information of the unmanned aerial vehicle, and determines the relative distance by the LoRa communication with the base station for correcting and rectifying the calculation process of the determined height.
The unmanned aerial vehicle determines the relative distance through the LoRa communication with the base station for correcting and rectifying the calculation process of the determined height, namely the unmanned aerial vehicle determines the deviation rectifying height through the LoRa communication with the detection ship and the base station, and compares the deviation rectifying height with the flying height for rectifying; the frequency of the determined flying height is 10-50 times of the frequency of the determined deviation-correcting height.
The invention has the beneficial effects that: based on the mode of detecting car, unmanned aerial vehicle and survey ship cooperation, can effectively combine the advantage of multiple detection scheme, can effectively promote unmanned aerial vehicle's positioning accuracy by a wide margin again based on cooperation simultaneously to ensure that dyke hidden danger and dangerous situation's detection effect is showing and promotes, more easily automated high accuracy realizes.
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FIG. 1 is a schematic illustration of the operation of at least one embodiment of the present invention;
FIG. 2 is a schematic flow chart of an embodiment of the present invention.
In the figure: 1-dam body, 2-dam lower water body, 3-left and right banks, 4-detection vehicle, 5-unmanned plane, 6-detection ship and 7-base station.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the above.
The first embodiment of the invention relates to a dam hidden danger and dangerous situation air-ground water collaborative detection system shown in fig. 1, which comprises a detection vehicle 4, an unmanned aerial vehicle 5 and a detection ship 6, wherein the detection vehicle 4, the unmanned aerial vehicle 5 and the detection ship 6 are in wireless communication in a broadcast mode, a geological ultrasonic detector and a geological radar are arranged on the detection vehicle 4, an image detector, an infrared detector or a laser detector are arranged on the unmanned aerial vehicle 5, and an infrared detector, a laser detector and a radar detector are arranged on the detection ship 6; the detection vehicle 4, the unmanned aerial vehicle 5 and the detection ship 6 are respectively provided with a GIS positioning device and a LoRa positioning communication module; after the unmanned aerial vehicle 5 calculates the relative distance by acquiring the received signal intensity communicated with the detection vehicle 4 and the detection ship 6LoRa, the unmanned aerial vehicle 5 is combined with GIS positioning information to determine the height; the detection vehicle 4 runs on the road of the dam body 1, the detection ship 6 runs on the water body 2 under the dam, and the unmanned aerial vehicle 5 flies along the downstream surface of the dam body 1.
The broadcast mode is a communication mode of 'one pair of all', and all nodes can receive all information.
For the manner of determining the flying height of the unmanned aerial vehicle 5, see the four-point space positioning method mentioned in three-dimensional space positioning algorithm based on four-node RSSI (Dai Chenchong, etc., computer measurement and control, 2016 (1 st year)), the main principle is that for each point, equidistant spheres in a space can be drawn by acquiring the distance between the corresponding point and the unmanned aerial vehicle, and the intersection points of the four equidistant spheres are the space positioning of the unmanned aerial vehicle. Based on the basic thought of the equidistant spheres, in the present application, the unmanned aerial vehicle 5 can acquire a plane coordinate based on a GIS positioning device (beidou positioning or GPS positioning, or other geographic coordinate positioning systems), according to which a vertical line can be drawn for three-dimensional space positioning of the unmanned aerial vehicle 5, at this time, a distance between the unmanned aerial vehicle 5 and the probe vehicle 4 is acquired, equidistant spheres with the probe vehicle 4 as a center of sphere can be drawn, a distance between the unmanned aerial vehicle 5 and the probe ship 6 is acquired, equidistant spheres with the probe ship 6 as a center of sphere can be drawn, the intersection point between any one of the two equidistant spheres and the vertical line is 2, but only one of the three intersection points of the two equidistant spheres and the vertical line is the three-dimensional space positioning of the unmanned aerial vehicle 5, and because the plane coordinate (x, y) in the three-dimensional space positioning is directly acquired and utilized based on the GIS positioning device, and is actually calculated according to the distance, which is the height of the unmanned aerial vehicle 5 (i.e. the height on the vertical line).
Therefore, the detection vehicle 4 can play a good role in positioning a reference when running on the dam body 1, the detection ship 6 can play a good auxiliary role when running in the under-dam water body 2, and especially on the premise that the plane position of the unmanned aerial vehicle 5 is determined through GIS positioning, the relative distance between the detection vehicle 4 and the detection ship 6 relative to the unmanned aerial vehicle 5 can be known to accurately determine the height of the unmanned aerial vehicle 5, and in a scene that the distance is approximately 1-10 km and relatively wide in the dam body, loRa communication is the optimal choice for measuring the relative distance (based on RSSI value ranging in LoRa communication) for the mobile object of the unmanned aerial vehicle 5, so that the unmanned aerial vehicle 5 can accurately determine the space position and the maximum detection efficiency can be exerted.
In practice, since the unmanned aerial vehicle 5 needs to fly along the downstream face of the dam 1 (generally, curved flight to achieve coverage), the overall flight time is long, and therefore, the balance of the load and the endurance of the unmanned aerial vehicle 5 needs to be considered, the detectors carried by the unmanned aerial vehicle 5 generally select at most two types of image detectors, infrared detectors or laser detectors, in most cases, only the image detectors are selected, and at this time, it is necessary to carry all the image type detectors by the detection vessel 6 to complement other detection images.
The second embodiment of the present invention is substantially the same as the first embodiment, and is mainly characterized in that base stations 7 are arranged on the left and right banks 3 of the dam body 1, and the base stations 7 are provided with a LoRa positioning communication base station for assisting in determining the height of the unmanned aerial vehicle 5.
As the RSSI value in the LoRa communication has errors, the error problem is solved in most cases by adopting a filtering mode, but obviously, the introduction of more positioning base points is a better way for solving the error problem, and the communication base station arranged along the coast of the dam body 1 is the existing equipment commonly existing in the existing dam at present, and the addition of the LoRa positioning communication base station in the base station can reduce the hardware cost to the greatest extent.
Further, the detection vehicle 4 is provided with a lifting platform for fixing the unmanned aerial vehicle 5, and the unmanned aerial vehicle 5 stays and is fixed on the lifting platform when the detection vehicle 4 does not travel to the dam 1. Compared with a detection ship, the vehicle is better in quiescence when in stopping, and the platform arranged on the vehicle is safer, more stable and more reliable in load problem.
The third embodiment of the present invention is substantially the same as the first embodiment, and mainly includes determining the height of the unmanned aerial vehicle 5 by acquiring the received signal strength calculation distance of the LoRa communication and then combining the GIS positioning information of the unmanned aerial vehicle 5.
Further, the relative distance is calculated by the following formula:
D=10^((R 0 -R ssi )/(10⋅n))，
wherein R is 0 For calibrating the intensity, R is determined to be a fixed value by initialization before use ssi For received signal strength, n is the path loss coefficient, determined by the LoRa positioning communications of probe car 4 and base station 7.
Generally, another way of calculating the distance through LoRa communication available in the prior art is that after one end sends out a LoRa communication data packet, waits for the other end to respond, at this time, generates an sending time, generates a receiving time after receiving the data packet responded by the other end, subtracts the response time of the other end (i.e. the time when the other end sends out from receiving the response) obtained in the multiple test processes based on the sending time and the receiving time, and obtains a bidirectional transmission time, and multiplies the bidirectional transmission time by 0.5 times of the speed of light to obtain the distance between the one end and the other end. This approach is also applicable in the present application, but since in the application scenario of the present application, the three-dimensional coordinates of the probe car 4 and the base station 7 are easily determined (the probe car 4 travels strictly along the dam), the path loss coefficient is easily known, and thus the acquisition distance is not the same as the above-mentioned direct acquisition of the received signal strength R SSI The method is convenient and quick.
Further, the path loss coefficient n is calculated according to the following formula:
n=(R 0 -R ssi )/(10⋅log 10 (D n ))，
wherein R is 0 For calibrating the intensity, R is determined to be a fixed value by initialization before use ssi For receiving signal strength, D n For detecting the vehicle 4 and the base station 7The distance between the two is obtained through GIS positioning calculation.
In most scenes, the path loss coefficient is preset with a fixed value according to the table lookup after the weather condition is known, and the mode is convenient and quick but has poor accuracy. In the invention, the determined value is obtained through calculation in the initialization, so that the weather condition and the weather condition are not required to be known, and a more accurate result can be obtained based on the actual condition.
Further, the probe car 4 is provided with an inertial navigation device and a satellite positioning device, GIS positioning is performed through the inertial navigation device and the satellite positioning device, and the distance between the probe car 4 and the base station 7 is calculated through the GIS positioning result and the GIS environment data.
It is easy to see that this embodiment is a preferred solution for determining the fly height by realizing the LoRa communication, and in practice there are other solutions such as a solution for obtaining the relative distance by calculating the echo time, but it is obvious that the accuracy is not as high as in the above-mentioned solution.
The fourth embodiment of the invention relates to a method for collaborative detection of dam hidden danger and dangerous space water, which adopts the first to third embodiments and comprises the following steps:
s1, initializing parameters: the LoRa positioning communication modules of the detection vehicle 4, the unmanned aerial vehicle 5 and the detection ship 6 are placed at the same position to initialize the calibration intensity, and then are respectively arranged on the detection vehicle 4, the unmanned aerial vehicle 5 and the detection ship 6;
s2, planning a flight path: planning a flight route of the unmanned aerial vehicle 5 according to the environmental data, enabling the flight route of the unmanned aerial vehicle 5 to be equidistant and S-shaped along the downstream face of the dam 1, writing the planned flight route into an execution sequence of the unmanned aerial vehicle 5, and taking off the unmanned aerial vehicle 5;
s3, synchronous travelling detection: the detection vehicle 4, the unmanned aerial vehicle 5 and the detection ship 6 synchronously travel on the same cross section of the dam body 1, travel from one end of the dam body 1 to the other end, and detect the dam body 1 in the traveling process;
s4, stopping landing: traveling to the end of the dam 1, the probe vehicle 4 stops until the unmanned aerial vehicle 5 lands on the probe vehicle 4.
Therefore, by adopting the mode of synchronously advancing on the same cross section of the dam body 1, the detection vehicle 4 can be arranged in the image of the unmanned aerial vehicle 5, and the position of the detection vehicle 4 on the dam body is determined based on the geographical information of the dam body, so that the position of the detection vehicle 4 can be easily and accurately determined based on the time stamp, the accuracy can reach 0.01m, and the alignment processing of data is easier due to the determination reference (namely the detection vehicle 4) when the image of the unmanned aerial vehicle 5 is analyzed at the later stage.
It is easy to understand that in the above step S2, the flight path of the unmanned aerial vehicle 5 is planned, which aims to make the flight path of the unmanned aerial vehicle 5 equidistant along the downstream face of the dam 1, and according to the common knowledge in the prior art, typically, the unmanned aerial vehicle flight path planning method, device and electronic equipment with constraint conditions disclosed in the chinese patent with application number CN202210799939.3, the flight path of the unmanned aerial vehicle 5 needs to obtain airspace environment data to construct an airspace grid model, and as a network-connected unmanned aerial vehicle flight path planning and flight path smoothing method and device disclosed in the chinese patent with application number CN202111235008.2, the flight environment data including natural environment data and unmanned aerial vehicle flight performance data are set first for the unmanned aerial vehicle flight path planning. Because the core of the present application is not how to plan the flight path of the unmanned aerial vehicle 5, and, on the possible flight path of the unmanned aerial vehicle 5, whether the physical structure data such as the dam shape structure, the geographical terrain, etc. and the climate data such as the temperature, the humidity, the visibility, etc. or the performance data such as the maximum acceleration, the maximum speed, etc. of the unmanned aerial vehicle are all easy to obtain, any technical scheme known in the prior art can be adopted for planning the flight path of the unmanned aerial vehicle 5, and the corresponding environmental data can be determined according to the adopted technical scheme known in the prior art.
In step S3, based on the GIS positioning information of the unmanned aerial vehicle 5, the unmanned aerial vehicle 5 calculates the relative distance by acquiring the received signal intensity communicated with the probe vehicle 4 and the probe ship 6, and then determines the altitude by combining with the GIS positioning information of the unmanned aerial vehicle 5, and determines the relative distance by communicating with the LoRa of the base station 7, so as to correct and rectify the calculation process of the determined altitude.
Further, the unmanned aerial vehicle 5 determines the relative distance through the LoRa communication with the base station 7 for correcting and rectifying the calculation process of the determined height, namely the unmanned aerial vehicle 5 determines the deviation rectifying height through the LoRa communication with the probe ship 6 and the base station 7, and compares the deviation rectifying height with the flying height for rectifying; the frequency of the determined flying height is 10-50 times of the frequency of the determined deviation-correcting height.
In general, the frequency of determining the fly height is set to 10 times/s, i.e., 600 times/m, and the frequency of determining the deviation-correcting height is set to 12 times/m, i.e., 5 s.
Claims (5)
1. The utility model provides a dykes and dams hidden danger and dangerous situation air-ground water collaborative detection system which characterized in that: the system comprises a detection vehicle (4), an unmanned aerial vehicle (5) and a detection ship (6), wherein the detection vehicle (4), the unmanned aerial vehicle (5) and the detection ship (6) are in wireless communication in a broadcast mode; the detection vehicle (4), the unmanned aerial vehicle (5) and the detection ship (6) are provided with a GIS positioning device and a LoRa positioning communication module; the unmanned aerial vehicle (5) calculates the relative distance by acquiring the received signal intensity communicated with the detection vehicle (4) and the detection ship (6) and then combines the GIS positioning information of the unmanned aerial vehicle (5) to determine the height; the detection vehicle (4) runs on the road of the dam body (1), the detection ship (6) runs on the water body (2) under the dam, and the unmanned aerial vehicle (5) flies along the downstream surface of the dam body (1); base stations (7) are arranged on the left bank (3) and the right bank (3) of the dam body (1), and LoRa positioning communication base stations are arranged on the base stations (7) and used for assisting in determining the height of the unmanned aerial vehicle (5); the relative distance is calculated by the following formula:
D=10^((R 0 -R ssi )/(10⋅n))，
wherein R is 0 For calibrating the intensity, R is determined to be a fixed value by initialization before use ssi For receiving signal intensity, n is a path loss coefficient, and is determined through LoRa positioning communication of the probe vehicle (4) and the base station (7);
the path loss coefficient n is calculated by the following formula:
n=(R 0 -R ssi )/(10⋅log 10 (D n ))，
wherein R is 0 To calibrateIntensity, R, is determined to be a fixed value by initialization before use ssi For receiving signal strength, D n The distance between the detection vehicle (4) and the base station (7) is obtained through GIS positioning calculation.
2. The dam hidden danger and dangerous situation air-ground water cooperative detection system according to claim 1, wherein: the inertial navigation device and the satellite positioning device are arranged on the detection vehicle (4), GIS positioning is carried out through the inertial navigation device and the satellite positioning device, and the distance between the detection vehicle (4) and the base station (7) is calculated through the GIS positioning result and the GIS environment data.
3. The dam hidden danger and dangerous situation air-ground water cooperative detection system according to claim 1, wherein: the detection vehicle (4) is provided with a lifting platform for fixing the unmanned aerial vehicle (5), and the unmanned aerial vehicle (5) stays and is fixed on the lifting platform when the detection vehicle (4) does not travel to the dam body (1).
4. A method for cooperatively detecting hidden danger and dangerous situation air-ground water of a dam is characterized in that: the dam hidden danger and dangerous situation air-ground water collaborative detection system according to any one of claims 1-3, comprising the following steps:
s1, initializing parameters: the method comprises the steps that LoRa positioning communication modules of a detection vehicle (4), an unmanned aerial vehicle (5) and a detection ship (6) are placed at the same position to initialize the calibration intensity, and then are respectively arranged on the detection vehicle (4), the unmanned aerial vehicle (5) and the detection ship (6);
s2, planning a flight path: planning a flight route of the unmanned aerial vehicle (5) according to the environmental data, enabling the flight route of the unmanned aerial vehicle (5) to be equidistant and S-shaped along the downstream surface of the dam body (1), writing the planned flight route into an execution sequence of the unmanned aerial vehicle (5), and taking off the unmanned aerial vehicle (5);
s3, synchronous travelling detection: the detection vehicle (4), the unmanned aerial vehicle (5) and the detection ship (6) synchronously travel on the same cross section of the dam body (1), travel from one end of the dam body (1) to the other end, and detect the dam body (1) in the traveling process; the unmanned aerial vehicle (5) calculates the relative distance by acquiring the received signal intensity communicated with the detection vehicle (4) and the detection ship (6), then determines the height by combining the GIS positioning information of the unmanned aerial vehicle (5), and determines the distance by communicating with the LoRa of the base station (7) for correcting and rectifying the calculation process of the determined height;
s4, stopping landing: and the unmanned aerial vehicle (5) is stopped when the unmanned aerial vehicle moves to the tail end of the dam body (1), and the detection vehicle (4) drops on the detection vehicle (4).
5. The method for collaborative detection of dam hidden danger and dangerous space water according to claim 4, wherein the method comprises the following steps: the unmanned aerial vehicle (5) determines the distance through the LoRa communication with the base station (7) for correcting and rectifying the calculation process of the determined height, namely the unmanned aerial vehicle (5) determines the deviation rectifying height through the LoRa communication with the detection ship (6) and the base station (7), and compares the deviation rectifying height with the flying height for rectifying; the frequency of the determined flying height is 10-50 times of the frequency of the determined deviation-correcting height.
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