[0025] Such as figure 1 As shown, the method for monitoring sewage discharge from a steel plant based on a drone of the present invention includes the following steps:
[0026] (10) Inspection of designated water areas: multi-rotor drones fly according to the planned route, collect millimeter wave radiation data and location information in the waters along the way, and the ground control center monitors abnormal signals to determine the location of the suspicious sewage area;
[0027] In the designated water area inspection step (10), the 8mm band millimeter wave radiometer carried by the drone is used to passively receive electromagnetic radiation from the water along the way, and to collect millimeter wave radiation data along the way.
[0028] (20) Detailed investigation of suspicious waters: perform a cone scan on the suspicious waters to obtain radiation data and location information of the waters, and take optical images of the waters. According to the radiation data, combined with the optical images, determine whether the place is a sewage point;
[0029] The (20) detailed investigation steps for suspicious waters include:
[0030] (21) Acquiring data: the millimeter wave radiometer and the optical camera work at the same time, the millimeter wave radiometer is used to perform a cone scan in the suspicious water area to obtain the millimeter wave radiation data of the suspicious water area, and the optical camera is used to capture the optical image of the water area, and the obtained data Store and transmit to the ground control center;
[0031] (22) Determine the pollution discharge point: compare the collected water body radiation data with the original model of the sewage data model, and combine the optical image with the UAV location information to determine whether the sewage discharge point is the place.
[0032] The specific steps are:
[0033] The measured millimeter-wave radiation data, that is, the antenna temperature, is inverted into the radiation brightness temperature, and compared and analyzed with the radiation data in the sewage database; the water radiation data and the optical image are combined and analyzed to determine whether the place is a sewage discharge point.
[0034] (30) Detailed investigation of the pollutant discharge point: Cone scan the determined discharge point, use the passive millimeter wave imaging system to obtain the radiation image of the water area, and store and transmit the obtained data to the ground control center;
[0035] (40) Comprehensive judgment and early warning: According to the collected radiation image of the sewage point, compare and analyze the sewage data model established in advance to determine the pollution level of the sewage point, save the radiation data, radiation image, and optical image of the sewage point. The pollution level of the pollution discharge point generates different early warning information and sends the determined discharge point information to the environmental protection department.
[0036] The (40) comprehensive judgment and early warning steps include:
[0037] (41) Judging the pollution level: compare and analyze the radiation image of the sewage point with the database model, and divide the pollution level of the sewage point;
[0038] The specific steps are:
[0039] The passive millimeter wave imaging system is used to obtain the millimeter wave radiation image of the sewage point, and the nonlinear wavelet transform threshold method is used to denoise, image enhancement and image restoration, and radiation image reconstruction. Compare and analyze the processed radiation image with image models of different pollution levels in the database, and delimit the pollution level range of the pollution discharge point. According to the level, different warning messages are generated and sent to the environmental protection department.
[0040] (42) Alarm: After determining the pollution level of the place, different warning messages are generated and sent to the environmental protection department. The information includes the specific location of the discharge point and the severity of the pollution;
[0041] (43) Data update: The radiation data, radiation images and optical images of the pollution discharge points obtained during this monitoring process are classified and summarized according to weather characteristics and pollution levels and stored in the database for update.
[0042] Such as figure 2 As shown, the present invention is a drone-based steel plant sewage discharge monitoring system, including: a drone monitoring terminal 1 and a ground control terminal 2.
[0043] The UAV monitoring terminal 1 is used to collect optical images, radiation data, radiation images, and location information of the designated water area, and transmit the collected data to the ground control center.
[0044] The ground control terminal 2 is used to analyze the received data along the way, determine the suspicious pollutant discharge area, control the drone for detailed investigation, and compare the optical image and radiation data obtained by the detailed investigation with the sewage data model to determine the pollutant discharge point; Scan the determined discharge points, analyze and compare the radiation images and optical images obtained in the detailed investigation with the sewage data model, determine the pollution level, send early warning information, and update the database;
[0045] The UAV monitoring terminal 1 and the ground control terminal 2 transmit optical images, UAV flight control information, and GPS information through wireless network signals, and transmit radiation data to the ground control terminal 2 through the Modbus network communication protocol.
[0046] Such as figure 2 As shown, the UAV monitoring terminal 1 includes:
[0047] Multi-rotor UAV 11 is used to carry various functional modules and work according to ground control information;
[0048] The GPS positioning module 12 is used to record the location information of the sewage point;
[0049] The camera module 13 is used to photograph the suspicious sewage area during the day;
[0050] Millimeter-wave radiometer 14, used to collect radiation data of waters, used to cone scan suspicious pollutant discharge areas and collect corresponding radiation data;
[0051] The storage module 15 is used to store millimeter wave radiation data, radiation images, optical images and location information along the way;
[0052] The air wireless data transmission module 16 is used to interact and transmit information with the ground wireless data transmission module 28, realize remote communication with the ground control center 21, transmit data, and receive flight control information.
[0053] The millimeter wave radiometer uses an 8mm band radiometer, of which the 8mm band uses a 368mm Cassegrain antenna with a beam width of 1.5°, a center frequency of 35GHz, a bandwidth of 2GHz, and a low-amp gain of 35dB.
[0054] The ground control terminal 2 includes:
[0055] The ground control center 21 is used to gather various functional modules to control the flight of the drone and the collection, transmission, analysis and update of data;
[0056] The drone control module 22 is used to control the flight of the drone;
[0057] The display module 23 is used to display water map, drone flight trajectory, optical image, radiation data, data analysis and comparison result, and pollutant discharge location;
[0058] The data processing module 24 includes radiation data processing and radiation image processing;
[0059] The radiation data processing is used to invert the measured millimeter wave radiation data, that is, the antenna temperature into the radiation brightness temperature, and extract the radiation data with temperature as the main indicator;
[0060] Among them, the radiation image processing is used to filter and denoise the collected millimeter-wave radiation images and reconstruct the radiation images;
[0061] The database model 25 includes a sewage radiation data model and a sewage image data model;
[0062] Among them, the sewage radiation data model includes millimeter wave radiation data and millimeter wave radiation images in the sewage field of a steel plant under simulated different weather and different time periods; including millimeter wave radiation data and millimeter wave radiation images measured in the actual sewage field of a steel plant; The model stores the sewage radiation characteristics obtained in real-time monitoring and is continuously updated;
[0063] Among them, the sewage image data model is an original image data model established by a series of optical images actually obtained in the sewage area of the steel plant and in different weather environments through the use of cameras; this model stores the sewage optical images obtained in real-time monitoring and is continuously updated;
[0064] The analysis and determination module 26 is used to analyze and compare the processed radiation data, radiation image, and optical image with the sewage radiation data model and sewage image data model, determine the location of the sewage from the steel plant, determine the pollution level, and send an early warning Information, update the database;
[0065] The early warning module 27 is used to generate different early warning information after determining the pollution level of the pollution discharge point of the steel plant, and immediately send the early warning information to the environmental protection department;
[0066] The ground data wireless data transmission module 28 is used to interact and transmit information with the air wireless data transmission module 16 to realize remote communication with the drone and the various devices on it, transmit control commands and receive the collected data and the drone location information;
[0067] The data update module 29 is used to classify and summarize the obtained millimeter wave radiation data, radiation images, and optical images according to weather characteristics and pollution levels and store them in a database for update.
[0068] The working process of the unmanned aerial vehicle-based steel plant sewage discharge monitoring system of the present invention is as follows:
[0069] Step 1: Perform high and low temperature calibration of the millimeter wave radiometer before the drone takes off.
[0070] Step 2: Start the drone, control the drone to fly to the designated water area, and inspect along the set track.
[0071] Step 3: Synchronously transmit the water radiation data along the way received by the millimeter wave radiometer and the position information of the drone flight to the ground control center.
[0072] Step 4: The ground control center compares the received water body radiation data with the normal water body radiation data. If there is an abnormality, issue an instruction to the drone to control it to perform a cone scan in the suspicious water area, take an optical image of the water area, save the data to the memory, and wirelessly transmit the collected millimeter wave radiation data to the ground through the Modbus network communication protocol. Transmit the captured optical images to the ground via wireless network signals.
[0073] Step 5: The ground control center processes water radiation data and optical images of suspicious waters to determine whether the place is a sewage discharge point. If yes, perform a cone scan on the determined discharge point, and store and transmit the acquired radiation image to the ground control center.
[0074] Step 6: The ground control center processes and analyzes the data, judges the pollution level of the discharge point, generates different early warning information and sends it to the environmental protection department, and saves the relevant data of the discharge point.
[0075] Step 7: If the spot is not a pollutant discharge point, the drone will continue to patrol along the set trajectory and repeat steps 3, 4, 5, and 6 until the inspection is over.
[0076] Step 8: The drone ends the inspection, returns to the ground control center, exports the data in the memory, and ends the work.
[0077] The ground control platform staff find and determine the specific location of the discharge water area through the real-time data obtained, and inform the environmental protection department of the location information so that the environmental protection department can order the manufacturer to stop the pollution in the shortest time, minimize the impact of pollution, and speed up the pollution control process.
[0078] The effect of the present invention is to adopt the method of drone equipped with millimeter wave radiometer to monitor the suspicious sewage field of the relevant steel plant with high precision all day and all day, and to obtain the location information and pollution level of sewage sneak discharge point in time and transmit it to the alarm platform, which is convenient The environmental protection department personnel handled and rectified in time. The invention continuously updates the database, and as the database is continuously improved, the efficiency of analysis and feedback will be continuously improved, which is more conducive to monitoring the illegal discharge of sewage from the steel plant.
[0079] The invention has a reasonable design, realizes the high-precision and high-efficiency monitoring function of the monitoring area, saves a lot of manpower and material resources, can realize the monitoring function under bad weather, and has important economic value and social significance for sewage treatment.
