CN215643053U - Landslide safety monitoring device based on underwater submerged camera equipment - Google Patents
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Abstract
The utility model discloses a landslide safety monitoring device based on underwater photography equipment, which comprises: an underwater robot, an unmanned mother ship on the water surface and a ground control center; the unmanned mother ship on the water surface and the underwater robot are connected through a first wireless communication line; and the unmanned mother ship on the water surface is connected with the ground control center through a second wireless communication line. The underwater landslide monitoring and early warning system disclosed by the utility model is integrated by taking a shipborne underwater robot as a core, combining an underwater sonar and underwater binocular imaging positioning technology and adopting a wireless control and communication transmission system, so that the monitoring information of underwater landslide deformation and the signal acquisition, processing and analysis and wireless transmission requirements of environmental data are integrated, powerful support can be provided for the construction of a safety monitoring and early warning system of an underwater submerged slope body of a bank side slope and a landslide under complex geological conditions, and the underwater landslide monitoring and early warning system has important application value and engineering significance.
Description
Technical Field
The utility model belongs to the technical field of intelligent detection and real-time forecasting and early warning of geological disasters, and particularly relates to a landslide safety monitoring device based on underwater photography equipment.
Background
The deformed side slope and the landslide body of the reservoir area are mostly located in a high mountain canyon area with severe terrain, the internal geological structure is complex, the surrounding environment is complex, and the fluctuation height difference of the water level of the reservoir area is large, the front deformed part of most landslide bodies can be submerged below the water level along with the rising of the water level, so that the long-term accurate monitoring of the integral deformation of the wading landslide body becomes a very challenging work.
In the monitoring and early warning research of dealing with landslide disasters in reservoir areas, the satellite remote sensing and GPS positioning monitoring technologies which are widely applied at present are mostly suitable for deformation monitoring of landslide geologic bodies on water, the dependence on environmental factors such as weather, surrounding environment and satellite signal coverage of a monitoring target area is high, and the monitoring on physical quantities such as deformation of the underwater front edge part of a submerged landslide body due to water level storage expansion cannot be effectively carried out. Meanwhile, especially for the traction type landslide, the accurate monitoring of the deformation evolution rule of the front edge of the landslide body is crucial to the real-time prediction-early warning of the whole landslide, and in the existing related documents and research reports, no better solution and monitoring equipment are available at the present stage to well solve the problem of the continuous and accurate monitoring of the underwater landslide body deformation.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems, the utility model provides a landslide safety monitoring device based on underwater photography equipment, which overcomes the defect that the deformation and other physical quantities of an underwater submerged body cannot be continuously monitored by the conventional deformation monitoring technology based on remote sensing and GPS positioning technology due to the fact that part of geological bodies are submerged by reservoir water level accumulation.
In order to achieve the above object, the present invention provides a landslide safety monitoring device based on underwater photography equipment, comprising: an underwater robot, an unmanned mother ship on the water surface and a ground control center;
the unmanned mother ship on the water surface and the underwater robot are connected through a first wireless communication line; and the unmanned mother ship on the water surface is connected with the ground control center through a second wireless communication line.
Preferably, the underwater robot comprises: the robot comprises a robot body, an energy storage device, a target identification and positioning subsystem, an underwater environment sensing device, a wireless communication device and a power control subsystem;
an energy storage device is arranged in the robot body; the underwater environment sensing equipment and the wireless communication device are arranged above the robot body; a power control subsystem is arranged behind the robot body; and a target identification positioning subsystem is arranged in front of the robot body.
Preferably, the underwater environment sensing device comprises a water pressure sensor and a water temperature sensor, which are respectively used for measuring the water body temperature of the submergence depth and the current depth of the underwater robot.
Preferably, the target identification and positioning subsystem comprises airborne underwater binocular imaging equipment for shooting a scene of the identification target, determining coordinate information of the identification target and identifying surface deformation characteristics and macroscopic deformation characteristics of the waterslide body.
Preferably, the underwater robot is a submarine-type structure; the airborne underwater binocular imaging device comprises two underwater cameras, and imaging lenses of the two underwater cameras are on the same level line.
Preferably, the surface unmanned mother ship comprises: the system comprises a mother ship body, a shipborne array sonar device, a shipborne power control system, a shipborne GNSS positioning device, a data processing and transmitting device and a solar autonomous energy supply device;
the shipborne GNSS positioning device, the data processing and transmitting device and the solar autonomous energy supply device are arranged above the hull of the mother ship; the ship-borne power control system is arranged behind the hull of the mother ship; the shipborne array sonar device is arranged below the ship body of the mother ship.
Preferably, the number of the shipborne array sonar devices is 4, and the number is respectively as follows: the system comprises a first array sonar device, a second array sonar device, a third array sonar device and a fourth array sonar device;
the bottom of the mother ship body is a tetragon with the side length of L; the first array sonar device, the second array sonar device, the third array sonar device and the fourth array sonar device are respectively arranged at the 4 vertexes of the tetragon.
Preferably, the number of the shipborne GNSS positioning devices is 1, the shipborne GNSS positioning devices are arranged at the center of a bottom tetragon of the ship body of the mother ship and are used for measuring the position information of the current unmanned mother ship on the water surface under a geodetic coordinate system by combining a GPS navigation system and a Beidou system.
The utility model has the beneficial effects that:
(1) the utility model provides three-dimensional coordinates and related environmental factor monitoring for a deformation monitoring identification target of an underwater landslide geologic body, realizes the accurate positioning of the underwater monitoring target and the real-time monitoring of the related environmental factor and the surface macroscopic deformation characteristic of the underwater landslide body by applying the currently developed relatively mature underwater robot equipment and combining an underwater sonar positioning technology and a binocular imaging positioning principle, and provides powerful support for the construction of a safety monitoring and early warning system of the underwater submerged slope body of a bank side slope and a landslide under complex geological conditions;
(2) the solar autonomous function device of the unmanned mother ship device of the underwater landslide monitoring device of the separated ship-borne underwater robot can autonomously supply power to the mother ship and the underwater robot, so that the equipment maintenance difficulty is greatly reduced; no cable is connected between the underwater robot and the mother ship, and whether a vision system of the underwater robot can guide ground control personnel to remotely control the equipment to submerge to the optimal monitoring position or not, so that great convenience is provided for the movement range and the monitoring work of the underwater robot.
(3) The whole set of equipment integrates the position information of the underwater monitoring target and the signal acquisition, storage, processing analysis and transmission of environmental water temperature data, and the solar power generation and energy storage device is adopted to supply power for the equipment autonomously, so that the underwater monitoring system can continuously monitor the surface deformation characteristics and macroscopic deformation characteristics of the bank side slope and the underwater target point of the landslide and the underwater landslide body in the high mountain and canyon region, has the advantages of all weather and high precision, and has important application value and engineering significance for the safety monitoring and analysis of the bank geotechnical side slope engineering under the complex geological conditions.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is an overall schematic view of an underwater landslide monitoring apparatus based on an underwater photography device of the present invention;
FIG. 2 is a schematic diagram of the geometrical relationship between the array sonar at the bottom of the mother ship and the target;
FIG. 3 is a schematic diagram of the correspondence relationship of the target recognition coordinate system of the underwater robot in the present invention;
fig. 4 is a schematic view of the spatial coordinate positioning of the binocular imaging apparatus of the present invention.
The system comprises a 1-mother ship body, a 2-shipborne array sonar device, a 3-shipborne power control system, a 4-shipborne GNSS positioning device, a 5-data processing and transmitting device, a 6-solar autonomous energy supply device, a 7-robot body, an 8-energy storage device, a 9-target identification positioning subsystem, 10-underwater environment sensing equipment, an 11-wireless communication device, a 12-power control subsystem, a 13-first array sonar device, a 14-second array sonar device, a 15-third array sonar device and a 16-fourth array sonar device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
The sonar technology utilizes the characteristic that the attenuation of sound waves in the process of underwater propagation is small, uses the sound waves to measure and observe in water, and detects through the echo reflected by an obstacle or a target in the process of underwater propagation of signals. Because the target information is stored in the echo, the existence of the target is judged according to the received echo signal, and physical parameters such as the distance, the direction, the speed and the like of the target are measured or estimated. The binocular vision is a vision system simulating human eyes, two cameras are used for shooting according to different angles to obtain two images of the same measured target at the same moment based on a parallax idea, and then the position deviation between corresponding points on the two images is utilized to obtain a positioning algorithm of the three-dimensional space position information of the measured target. The utility model applies the relatively mature underwater robot equipment developed at present, combines the underwater sonar positioning technology and the binocular imaging positioning principle, realizes the precise positioning of the underwater monitoring target and the real-time monitoring of relevant environmental factors, and can be applied to the continuous safety monitoring and early warning research of underwater submerged slopes of bank slopes and landslides under complex geological conditions.
Therefore, referring to fig. 1, the present application provides a landslide safety monitoring device based on underwater diving equipment, comprising: an underwater robot, an unmanned mother ship on the water surface and a ground control center; the water surface unmanned mother ship is used for determining the coordinate information of the underwater robot relative to the water surface unmanned mother ship and positioning the current position of the water surface unmanned mother ship; the underwater robot is used for determining the coordinates of the underwater identification target and transmitting the coordinates to the unmanned mother ship on the water surface; the unmanned mother ship on the water surface and the underwater robot are connected through a first wireless communication line; and the unmanned mother ship on the water surface is connected with the ground control center through a second wireless communication line.
The underwater robot is a submarine type structure, comprising: the robot comprises a robot body 7, an energy storage device 8, a target identification positioning subsystem 9, an underwater environment sensing device 10, a wireless communication device 11 and a power control subsystem 12;
an energy storage device 8 is arranged inside the robot body 7; the underwater environment sensing equipment 10 and the wireless communication device 11 are arranged above the robot body 7; a power control subsystem 12 is arranged behind the robot body 7; and a target recognition positioning subsystem 9 is arranged in front of the robot body 7.
The robot body 7 is used for bearing various devices and systems of the underwater robot; the target recognition positioning subsystem 9 is used for acquiring first space coordinate information of an underwater identification target relative to the underwater robot; the underwater environment sensing device 10 is used for acquiring water temperature and water pressure data around the current underwater robot; the wireless communication device 11 establishes a first wireless communication link with the water surface unmanned mother ship for transmitting instructions and monitoring data between the underwater robot and the water surface unmanned mother ship; the power control subsystem 12 is used for driving the underwater robot to submerge into the effective visual range of the airborne underwater imaging equipment and the underwater robot to recover.
The underwater environment sensing device 10 includes a water pressure sensor and a water temperature sensor, which are respectively used for measuring the submergence depth of the underwater robot and the water temperature of the current depth.
The target recognition positioning subsystem 9 comprises airborne underwater binocular imaging equipment, namely two underwater cameras, wherein imaging lenses of the two underwater cameras are on the same level line and are used for shooting a marked target scene, determining coordinate information of a marked target and recognizing surface deformation characteristics and macroscopic deformation characteristics (such as rock body cracking, crack distribution and the like) of a water landslide body.
The unmanned mother ship on water surface includes: the system comprises a mother ship body 1, a shipborne array sonar device 2, a shipborne power control system 3, a shipborne GNSS positioning device 4, a data processing and transmitting device 5 and a solar autonomous energy supply device 6;
the shipborne GNSS positioning device 4, the data processing and transmitting device 5 and the solar autonomous energy supply device 6 are arranged above the mother ship body 1; the ship-borne power control system 3 is arranged behind the mother ship body 1; the shipborne array sonar device 2 is arranged below the mother ship body 1.
The mother ship body 1 is used for bearing various devices and systems of the underwater robot; the shipborne array sonar device 2 is used for acquiring second coordinate information of the underwater robot relative to the mother ship; the shipborne power system 3 is used for driving a mother ship to run to a specified monitoring water area; the shipborne GNSS positioning device 4 is used for acquiring current third geodetic coordinate information of the mother ship; the data processing and transmitting device 5 performs coordinate conversion according to the received third geodetic coordinate information of the current mother ship, the second coordinate information of the underwater robot relative to the mother ship and the first coordinate information of the underwater target relative to the underwater robot to obtain the geodetic coordinates of the underwater identification target; a second wireless communication link is established between the data processing and transmitting device 5 and the ground control center and is used for transmitting instructions and monitoring data between the mother ship and the ground control center; the solar energy autonomous energy supply device 6 provides required electric energy for the whole set of monitoring equipment of the mother ship and the underwater robot.
Wherein, 2 numbers of on-board array sonar device are 4, are respectively: a first array sonar device 13, a second array sonar device 14, a third array sonar device 15, and a fourth array sonar device 16;
the bottom of the mother ship body 1 is a tetragon with the side length of L; the first array sonar device 13, the second array sonar device 14, the third array sonar device 15, and the fourth array sonar device 16 are provided at 4 vertexes of the tetragon, respectively.
4 numbers of the shipborne GNSS positioning devices are 1, the shipborne GNSS positioning devices are arranged at the centers of the four equilateral bottoms of the ship body 1 of the mother ship and used for determining the current position information of the unmanned mother ship on the water surface under the geodetic coordinate system by combining a GPS navigation system and a Beidou system.
Based on the device, the landslide safety monitoring device based on underwater photography equipment is positioned, and the working process comprises the following steps:
firstly, an unmanned mother ship on the water surface transmits a moving operation instruction to an underwater robot by using a wireless communication device 11, and a power control subsystem 12 drives the underwater robot to submerge into an effective visual range of airborne underwater binocular imaging equipment;
secondly, the underwater robot acquires the current water temperature and water pressure data around the underwater robot by using the underwater environment sensing equipment 10, and simultaneously identifies the surface deformation characteristic and the macroscopic deformation characteristic of the underwater landslide body by using the target identification positioning subsystem 9; then, based on a binocular imaging principle and a water pressure meter, first space coordinate information of the identification target relative to the underwater robot is obtained, and the coordinate information and underwater environment monitoring information are transmitted to the water surface unmanned mother ship through a wireless communication device 11;
thirdly, the water surface unmanned mother ship acquires second space coordinate information of the underwater robot relative to the water surface unmanned mother ship by using a ship-borne array sonar device 2 at the bottom of the ship; meanwhile, third space coordinate information of the unmanned mother ship on the water surface relative to a geodetic coordinate system is obtained by combining a shipborne GNSS positioning device 4 on the top of the ship, and coordinate conversion is carried out on the first space coordinate information, the second space coordinate information and the third space coordinate information by using a data processing and transmitting device 5, so that fourth space coordinate information of the underwater landslide mark target relative to the geodetic coordinate system is obtained;
the second space coordinate information is sonar reflection signals, signal emission time and waveform phase difference between the reflection signals and emitted signals which are emitted and collected by the shipborne array sonar device 2, and then the second space coordinate information of the current underwater robot is rapidly optimized and solved by a mixed frog-leaping optimization algorithm through corresponding geometric relations and boundary constraint conditions; referring to fig. 3, specifically, the following steps are performed:
the geodetic coordinate information of the current mother ship can be positioned based on the onboard GNSS positioning device on the mother ship is (x)0,y0,z0)。
Referring to fig. 2, four active sonars are arranged on an equilateral tetragon with the side length of L at the bottom of a mother ship, and the four sonar devices are arranged on a horizontal stationary water surface by taking a projection point of GNSS equipment on the water surface as a center to ensure that the sonar equipment is on a horizontal plane; the four sonar equipment are numbered as 13, 14, 15 and 16 clockwise, emit sonar signals to the area where the underwater robot is located and receive reflected signals respectively, and record the time difference between the received reflected signals and the emitted signals as Ti(i 13, …,16), the distance from the underwater robot to the corresponding sonar equipment can be expressed as: si＝c*Ti＝Si'+c*ni(i-13, …,16) wherein: siIs the distance between the underwater robot and the No. i sonari' is the actual distance from the underwater robot to No. i sonar, c is the propagation speed of sound wave in water (1.5Km/s), niThe noise introduced for signal recording can be generally regarded as independent and same distribution, and the variance is sigma2White gaussian noise.
The method comprises the steps of obtaining the measurement distance between an underwater target and each sonar based on sonar reflection signals, further determining constraint conditions and an objective function of a mixed frog-leaping optimization algorithm, taking a projection point of GNSS equipment on the water surface as a coordinate origin O (0,0,0) to create a coordinate system, taking a projection point P1 coordinate of an underwater robot in the coordinate system as (x, y,0), and performing the constraint conditions on x and y in the mixed frog-leaping optimization algorithm as follows:
according to the geometric law, the actual distance S between the underwater robot and each sonar equipmenti' can be expressed as:
in the formula, h is measured by the water pressure of the device on the underwater robot to measure the current depth, so that the solved coordinates (x, y) can be converted into an extremum optimization problem:
wherein the optimization algorithm objective function can be expressed as:
fi(x,y)＝1/[(Si'-Si)T(Si'-Si)]
and 4, step 4: solving the extremum optimization problem by using a mixed frog-leaping algorithm, setting the initial population number of frogs to be 100, dividing the initial population number into 10 factor groups, each group comprises 10 individuals, updating the iteration number to be 100, and performing iterative optimization to obtain the objective function fiThe (x, y) global minimum coordinate (x, y) is the projection coordinate of the underwater robot on the established coordinate system, so the coordinate of the underwater robot relative to the mother ship can be expressed as (x, y)1,y1,-h)。
And the fourth space coordinate information is calibrated through the airborne underwater binocular imaging equipment to obtain the corresponding relation among a world coordinate system, a camera coordinate system and a pixel coordinate system, and then the shooting matrix of the camera and the projection point coordinates of the calibration point on the left image and the right image are obtained to obtain the space coordinate information of the identification target under the geodetic coordinate system. The space coordinate positioning method based on the airborne underwater binocular imaging device is characterized in that after an underwater target is photographed and imaged by a binocular camera, the three-dimensional positioning of the underwater target is completed according to a photographing matrix of the camera and projection points of space points in two images, and four coordinate systems are respectively established: a World Coordinate System (WCS), a Camera Coordinate System (CCS), an Image Coordinate System (ICS), and a Pixel Coordinate System (PCS), and the coordinate system correspondence is shown in fig. 3.
Using (u, v) to represent the number of rows and columns of pixel points in the corresponding storage matrix, establishing a u-v coordinate system in the pixel coordinate system by using OP as an origin, and using O in the image coordinate system1For the origin, the x-axis and y-axis are established parallel to the coordinate axes in the pixel coordinate system u-v, assuming that any point in the image has a length of 1/dx and 1/dy in the image coordinate system. Meanwhile, a coordinate axis path x parallel to the horizontal axis and the vertical axis in the image coordinate system is established in the camera coordinate systemcAnd ycThen, the transformation matrix of the pixel coordinate system corresponding to the camera coordinate system is:
wherein f is the focal length of the imaging camera, and A is the parameter matrix inside the camera. x is the number ofwAxis, ywAxis and zwForming a world coordinate system, and associating the world coordinate system with a camera coordinate system by using an external parameter matrix M, wherein P1 is ═ xw,yw,zw,1]And P2 ═ xc,yc,zc,1]Respectively representing the homogeneous coordinates of the point P in a world coordinate system and a camera coordinate system, wherein the mapping matrix of the image coordinate system and the world coordinate system is as follows: z is a radical ofcQ ═ AMP1, where Q ═ u, v,1]TIs the homogeneous coordinate of the point P on the pixel coordinate system.
The left camera and the right camera of the binocular imaging device are calibrated simultaneously, a schematic diagram of binocular imaging of the same identification object is shown in fig. 4, internal and external parameters of the two cameras are sequentially obtained, structural parameters of a system are calibrated simultaneously, and optical centers O of the left camera and the right camera are keptLAnd ORAt the same height, OLAnd ORThe inter-distance is the baseline distance B. Let it be assumed that the point P is denoted P in the camera coordinate systems of the left and right camerasL＝(xL,xL) And PR＝(xR,xR) And is a pair of exact match points, then the identified target point P coordinate in the binocular imaging system may be expressed as:
where f is the focal length of the imaging camera and d is the parallax of the left and right cameras.
Based on the focal length f of the camera, the base line distance B and the parallax d, depth information of a space point can be obtained by combining geometric calculation, after stereo matching is realized by a stereo matching method based on characteristics, the three-dimensional coordinate (x) of a space identification point P in a world coordinate system can be realized by a mapping relation P2 (MP 1) between a camera coordinate system and a world coordinate system in a binocular vision principle2,y2,z2) And the coordinate of the underwater identification target relative to the underwater robot is (x)2,y2,z2)。
The current geodetic coordinate of the device is obtained by connecting a GNSS receiver arranged above the mother ship with a GPS satellite to be (x)0,y0,z0) (ii) a The coordinates of the underwater robot relative to the mother ship are obtained by solving through a mixed frog-leaping optimization algorithm after the array sonar device transmits and receives sonar signals for measurement (x)1,y1-h); positioning and identifying the underwater landslide body identification target based on an underwater binocular imaging device to obtain the coordinate (x) of the underwater identification target relative to the underwater robot2,y2,z2) Obtaining the three-dimensional coordinate (x) of the underwater identification target after coordinate conversion0+x1+x2,y0+y1+y2,z0-h+z2)。
And fourthly, based on a network communication technology, the unmanned mother ship on the water surface transmits the current time, fourth space coordinate information of the current underwater identification target, water temperature data, water pressure data, surface deformation characteristics of an underwater landslide body and macroscopic deformation characteristics to a data center system among ground control centers, and then the data center system establishes a corresponding displacement and environmental factor monitoring time sequence for establishing a bank slope integral deformation prediction and early warning system.
The method is characterized in that the current time, coordinate data of an underwater monitoring target, macroscopic deformation characteristics of the surface of an underwater landslide body and water temperature data are transmitted to a data center system at fixed intervals of 1 hour based on a network communication technology, and the data center system establishes corresponding displacement and environmental water temperature time sequences for subsequent prediction-early warning analysis and research.
The utility model provides a landslide safety monitoring device and a landslide safety positioning method based on underwater photography equipment, aiming at overcoming the defect that the conventional deformation monitoring technology based on remote sensing and GPS positioning technology cannot continuously monitor the deformation and other physical quantities of an underwater submerged body due to the fact that the water level in a reservoir area is accumulated and swells to submerge part of geological bodies. The underwater landslide monitoring and early warning system is integrated by taking a shipborne underwater robot as a core, combining an underwater sonar and an underwater binocular imaging positioning technology and adopting a wireless control and communication system to realize integration of signal acquisition, processing analysis and wireless transmission requirements of monitoring information and environmental data of underwater landslide, can provide powerful support for construction of a safety monitoring and early warning system of an underwater submerged slope body of a bank side slope and a landslide under complex geological conditions, and has important application value and engineering significance.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (8)
1. A landslide safety monitoring device based on underwater photography equipment is characterized by comprising: an underwater robot, an unmanned mother ship on the water surface and a ground control center;
the unmanned mother ship on the water surface and the underwater robot are connected through a first wireless communication line; and the unmanned mother ship on the water surface is connected with the ground control center through a second wireless communication line.
2. The underwater diving equipment-based landslide safety monitoring device of claim 1, wherein said underwater robot comprises: the robot comprises a robot body (7), an energy storage device (8), a target identification and positioning subsystem (9), underwater environment sensing equipment (10), a wireless communication device (11) and a power control subsystem (12);
an energy storage device (8) is arranged in the robot body (7); the underwater environment sensing equipment (10) and the wireless communication device (11) are arranged above the robot body (7); a power control subsystem (12) is arranged behind the robot body (7); and a target recognition positioning subsystem (9) is arranged in front of the robot body (7).
3. The underwater diving equipment-based landslide safety monitoring device according to claim 2, wherein the underwater environment sensing device (10) comprises a water pressure sensor and a water temperature sensor for determining the water temperature of the diving depth and the current depth of the underwater robot, respectively.
4. The landslide safety monitoring device based on underwater diving equipment as claimed in claim 2, wherein the target identification and positioning subsystem (9) comprises an onboard underwater binocular imaging device for shooting a scene of a marked target, determining coordinate information of the marked target and identifying surface deformation characteristics and macroscopic deformation characteristics of a waterslide body.
5. The underwater diving equipment-based landslide safety monitoring device of claim 4, wherein said underwater robot is a submarine-type structure; the airborne underwater binocular imaging device comprises two underwater cameras, and imaging lenses of the two underwater cameras are on the same level line.
6. The underwater diving equipment-based landslide safety monitoring device of claim 1, wherein said mother unmanned surface vessel comprises: the system comprises a mother ship body (1), a shipborne array sonar device (2), a shipborne power control system (3), a shipborne GNSS positioning device (4), a data processing and transmitting device (5) and a solar autonomous energy supply device (6);
the shipborne GNSS positioning device (4), the data processing and transmitting device (5) and the solar autonomous energy supply device (6) are arranged above the mother ship body (1); the ship-borne power control system (3) is arranged behind the mother ship body (1); the shipborne array sonar device (2) is arranged below the mother ship body (1).
7. The landslide safety monitoring device based on underwater diving equipment as claimed in claim 6, wherein the number of the shipborne array sonar devices (2) is 4, and the number is respectively as follows: the system comprises a first array sonar device (13), a second array sonar device (14), a third array sonar device (15) and a fourth array sonar device (16);
the bottom of the mother ship body (1) is a tetragon with the side length of L; the first array sonar device (13), the second array sonar device (14), the third array sonar device (15) and the fourth array sonar device (16) are respectively arranged at the 4 vertexes of the tetragon.
8. The landslide safety monitoring device based on underwater photography equipment according to claim 7, wherein the number of the shipborne GNSS positioning devices (4) is 1, and the shipborne GNSS positioning devices are arranged at the center of the bottom tetragon of the mother ship body (1) and are used for measuring the position information of the current unmanned mother ship on the water surface under the geodetic coordinate system by combining a GPS navigation system and a Beidou system.
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| CN202120833879.3U CN215643053U (en) | 2021-04-22 | 2021-04-22 | Landslide safety monitoring device based on underwater submerged camera equipment |
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| CN113138364B (en) * | 2021-04-22 | 2024-07-16 | 华能澜沧江水电股份有限公司 | Landslide safety monitoring device and positioning method based on underwater diving equipment |
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