A dam breach detection method based on amphibious drone

Abstract

The present invention discloses a dam breach detection method based on an amphibious unmanned aerial vehicle, comprising the following steps: S1. photographing and acquiring first information of the breach; S2. analyzing the first information of the breach, planning a detection path, and reasonably improving detection efficiency; S3. acquiring underwater information of the breach and second information of the breach; S4. comparing and analyzing the first information of the breach and the second information of the breach, and predicting the water collapse information of the breach. The present invention combines a drone equipped with ADCP, a multi-beam depth sounder, and a camera device, and controls the drone to move in suspension and floating, so as to realize monitoring and detection of possible breaches in the dam in a manner with the lowest energy consumption. The method has the advantages of simple operation, high detection accuracy, and strong adaptability, and can be widely used in the fields of dam flood control, water conservancy projects, etc., and provides effective technical support for dam safety monitoring and early warning.

Description

Technical Field

[0001] The invention belongs to the technical field of water conservancy facility maintenance, and in particular relates to a dam breach detection method based on an amphibious unmanned aerial vehicle. Background Art

[0002] When a dam breach occurs, it is crucial to detect it in time and take effective measures for rescue. However, most of the existing dam breach detection methods rely on manual inspections and monitoring equipment, which have certain limitations. Especially at night or in bad weather conditions, the difficulty and danger of manual inspections increase, and the accuracy and reliability of monitoring equipment are also affected to a certain extent. Therefore, the development of a dam breach detection method based on an amphibious drone has high practical value and realistic significance. Summary of the invention

[0003] In order to overcome the deficiencies in the prior art, the present invention provides a dam breach detection method based on an amphibious unmanned aerial vehicle, which has strong safety and reliability, and comprehensive detection data and high accuracy.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solution: a dam breach detection method based on an amphibious drone comprises the following steps:

[0005] S1. Take photos to obtain the first information of the breach;

[0006] S2. Analyze the first information of the breach, plan the detection path, and reasonably improve the detection efficiency;

[0007] S3. Obtaining underwater information of the breach and second information of the breach;

[0008] S4. Compare and analyze the first information and the second information of the breach, and predict the water collapse information of the breach.

[0009] Preferably, step S1 specifically includes the following contents:

[0010] Controlling an amphibious UAV equipped with a multi-beam depth sounder, an acoustic Doppler current profiler, and a camera device, flying the UAV to the flood control surface of the dam, and controlling the UAV to fly and collect information along the width direction of the dam, and obtaining first information by shooting, the first information including gap information and flow channel information;

[0011] During the flight of the drone, the flood-control side of the dam is photographed to identify and obtain gap information, including the location and shape of the gap;

[0012] After obtaining all the gap information, the drone is controlled to move and shoot in the direction of the gap. During this process, the flow channel information corresponding to the gap can be obtained, and the flow channel information corresponding to all the gap information can be traversed to obtain the flow channel information, including the flow channel shape and length.

[0013] Preferably, step S2 specifically includes the following contents:

[0014] The detection path includes a regional path and a moving path. After actually acquiring the first information, in most cases, there are multiple gap information and corresponding flow channel information on the dam;

[0015] The gap information and flow channel information are summarized in a unified direction to obtain the gap position set {q1, q2, q3, ... qn} and the flow channel position set {l1, l2, l3, ..., ln}, and then the gap positions and flow channel positions are connected in a specified order to form a detection area path: q1-l1-l2-q2-q3-l3-... qn- ln;

[0016] Secondly, it is necessary to further plan the specific moving path of the UAV in each area. By analyzing the gap information and the flow channel information, the shapes of the gap and the flow channel can be obtained, so as to calculate the center lines of the gap and the flow channel in the length direction. The center lines of the interconnected gaps and flow channels are continuous, and the unconnected gaps and flow channels connect the endpoints of the center line of the previous flow channel with the endpoints of the center line of the next flow channel, and the endpoints of the center line of the previous gap with the endpoints of the center line of the next gap, thereby forming a complete, continuous, unidirectional moving path.

[0017] Preferably, step S3 specifically includes the following contents:

[0018] First, the water flow velocity of the current gap or flow channel is obtained. In the actual detection process, both efficiency and energy consumption need to be taken into account. When the UAV is moving along the moving path, the fixed platform of the UAV swing frame enters the water, thereby realizing the contact water flow velocity measurement. At the same time, the air flow velocity is detected by the wind force detection device carried by the UAV, and the kinetic energy required for the UAV to navigate on the water surface and in the air is calculated to determine whether the UAV is suspended or landed on the water surface. That is, when the water flow velocity is higher than the set threshold, the UAV moves in a suspended manner to collect underwater information and the second information; conversely, when the water flow velocity is lower than the set threshold, the UAV moves in a floating manner to collect underwater information and the second information;

[0019] The underwater information is collected by a multi-beam echo sounder, and the underwater information includes the shape and size of the breach underwater. The second information is collected by a camera device, and the second information is the shape and size of the breach above water.

[0020] Preferably, step S4 specifically includes the following contents: combining the first information, the second information and the underwater information, aggregating and acquiring all the information of the breach on the dam for comparative analysis, and realizing efficient and stable detection and monitoring of the breach on the dam.

[0021] By adopting the above technical solution, the beneficial effects of the present invention are:

[0022] 1. The dam breach detection method based on an amphibious UAV of the present invention obtains first information of the breach by shooting, analyzes the first information to plan a detection path, then obtains underwater information and second information of the breach, compares and analyzes the first information and the second information, and predicts the above-water collapse information of the breach, thereby achieving comprehensive detection and prediction of the dam breach and improving the accuracy and timeliness of dam breach detection.

[0023] 2. By using drones equipped with multi-beam echo sounders or ADCP and other equipment, high-precision measurements of underwater terrain can be achieved, underwater information of breaches can be obtained, and more accurate data support can be provided for predicting water collapse information of breaches.

[0024] 3. By collecting underwater information and secondary information through the suspension or floating movement of the drone, reliable detection data can be obtained under different water depths and flow conditions, improving the adaptability and reliability of detection.

[0025] 4. The dam breach detection method and system of the present invention have the advantages of simple operation, high detection accuracy, strong adaptability, etc., and can be widely used in the fields of dam flood control, water conservancy projects, etc., providing effective technical support for dam safety monitoring and early warning.

[0026] In summary, the present invention combines a drone equipped with ADCP, a multi-beam depth sounder and a camera device, and controls the drone to move in a suspended and floating manner, so as to monitor and detect possible breaches in the dam with the lowest energy consumption. The drone has the advantages of simple operation, high detection accuracy, and strong adaptability. The drone can be widely used in the fields of dam flood control, water conservancy projects, etc., and can provide effective technical support for dam safety monitoring and early warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram showing the flood control surface of the dam.

[0029] Figure 2 A schematic diagram showing the detection path at the dam breach (the dotted line is the movement path). DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The dam breach detection method based on an amphibious unmanned aerial vehicle of the present invention comprises the following steps:

[0032] S1. Take photos to obtain the first information of the breach;

[0033] S2. Analyze the first information of the breach, plan the detection path, and reasonably improve the detection efficiency;

[0034] S3. Obtaining underwater information of the breach and second information of the breach;

[0035] S4. Compare and analyze the first information and the second information of the breach, and predict the water collapse information of the breach.

[0036] Preferably, step S1 specifically includes the following contents:

[0037] Controlling an amphibious UAV equipped with a multi-beam depth sounder, an acoustic Doppler current profiler (ADCP) and a camera device, flying the UAV to the flood control surface of the dam, and controlling the UAV to fly and collect information along the width direction of the dam, and obtaining first information by shooting, the first information including gap information and flow channel information;

[0038] During the flight of the drone, the flood-control side of the dam is photographed to identify and obtain gap information, including the location and shape of the gap;

[0039] After obtaining all the gap information, the drone is controlled to move and shoot in the direction of the gap. During this process, the flow channel information corresponding to the gap can be obtained, and the flow channel information corresponding to all the gap information can be traversed to obtain the flow channel information, including the flow channel shape and length.

[0040] Preferably, step S2 specifically includes the following contents:

[0041] The detection path includes a regional path and a moving path. After actually acquiring the first information, in most cases, there are multiple gap information and corresponding flow channel information on the dam;

[0042] The gap information and flow channel information are summarized in a unified direction to obtain the gap position set {q1, q2, q3, ... qn} and the flow channel position set {l1, l2, l3, ..., ln}, and then the gap positions and flow channel positions are connected in a specified order to form a detection area path: q1-l1-l2-q2-q3-l3-... qn- ln;

[0043] Secondly, it is necessary to further plan the specific moving path of the UAV in each area. By analyzing the gap information and the flow channel information, the shapes of the gap and the flow channel can be obtained, so as to calculate the center lines of the gap and the flow channel in the length direction. The center lines of the interconnected gaps and flow channels are continuous, and the unconnected gaps and flow channels connect the endpoints of the center line of the previous flow channel with the endpoints of the center line of the next flow channel, and the endpoints of the center line of the previous gap with the endpoints of the center line of the next gap, thereby forming a complete, continuous, unidirectional moving path.

[0044] Preferably, step S3 specifically includes the following contents:

[0045] First, obtain the water flow velocity of the current gap or flow channel. In the actual detection process, it is necessary to balance efficiency and energy consumption. When the drone is performing actions along the moving path, such as Figure 1 and 2 As shown, the fixed platform of the UAV swing frame enters the water, thereby realizing the contact water flow velocity measurement, and at the same time, the air flow velocity is detected by the wind force detection device carried by the UAV, and the kinetic energy required for the UAV to navigate on the water surface and in the air is calculated to obtain, so as to determine whether the UAV is suspended or landed on the water surface. That is, when the water flow velocity is higher than the set threshold, the UAV moves in a suspended manner to collect underwater information and the second information; on the contrary, when the water flow velocity is lower than the set threshold, the UAV moves in a floating manner to collect underwater information and the second information;

[0046] The underwater information is collected by a multi-beam echo sounder, and the underwater information includes the shape and size of the breach underwater. The second information is collected by a camera device, and the second information is the shape and size of the breach above water.

[0047] Preferably, step S4 specifically includes the following contents: combining the first information, the second information and the underwater information, aggregating and acquiring all the information of the breach on the dam for comparative analysis, and realizing efficient and stable detection and monitoring of the breach on the dam.

[0048] The above embodiments illustrate the basic principles and features of the present invention, but the above only illustrates the preferred embodiments of the present invention and is not limited to the embodiments. Under the inspiration of this patent, a person skilled in the art can make many forms of deformation and improvement without departing from the scope of protection of the present invention and the claims, which are all within the protection scope of the present invention. Therefore, the patent and protection scope of the present invention shall be subject to the attached claims.

Claims

1. A dam breach detection method based on an amphibious UAV, characterized by: The following steps are involved: S1. Take photos to obtain the first information of the breach; S2. Analyze the first information of the breach, plan the detection path, and reasonably improve the detection efficiency; S3. Obtaining underwater information of the breach and second information of the breach; S4. Compare and analyze the first information and the second information of the breach, and predict the water collapse information of the breach; Step S1 specifically includes the following contents: Controlling an amphibious UAV equipped with a multi-beam depth sounder, an acoustic Doppler current profiler, and a camera device, flying the UAV to the flood control surface of the dam, and controlling the UAV to fly and collect information along the width direction of the dam, and obtaining first information by shooting, the first information including gap information and flow channel information; During the flight of the drone, the flood-control side of the dam is photographed to identify and obtain gap information, including the location and shape of the gap; After obtaining all the gap information, the drone is controlled to move and shoot in the direction of the gap. During this process, the flow channel information corresponding to the gap can be obtained, and the flow channel information corresponding to all the gap information can be traversed to obtain the flow channel information, including the flow channel shape and length; Step S2 specifically includes the following contents: The detection path includes a regional path and a moving path. After actually acquiring the first information, in most cases, there are multiple gap information and corresponding flow channel information on the dam; The gap information and flow channel information are summarized in a unified direction to obtain the gap position set {q1, q2, q3, ... qn} and the flow channel position set {l1, l2, l3, ..., ln}, and then the gap positions and flow channel positions are connected in a specified order to form a detection area path: q1-l1-l2-q2-q3-l3-... qn- ln; Secondly, it is necessary to further plan the specific movement path of the drone in each area. By analyzing the gap information and the flow channel information, the shapes of the gap and the flow channel can be obtained, so as to calculate the center lines of the gap and the flow channel in the length direction. The center lines of the gaps and flow channels that are connected to each other are continuous, and the end points of the center line of the previous flow channel are connected to the end points of the center line of the next flow channel between the gaps and the flow channels that are not connected, and the end points of the center line of the previous gap are connected to the end points of the center line of the next gap, so as to form a complete, continuous and unidirectional movement path; Step S3 specifically includes the following contents: First, the water flow velocity of the current gap or flow channel is obtained. In the actual detection process, both efficiency and energy consumption need to be taken into account. When the UAV is moving along the moving path, the fixed platform of the UAV swing frame enters the water, thereby realizing the contact water flow velocity measurement. At the same time, the air flow velocity is detected by the wind force detection device carried by the UAV, and the kinetic energy required for the UAV to navigate on the water surface and in the air is calculated to determine whether the UAV is suspended or landed on the water surface. That is, when the water flow velocity is higher than the set threshold, the UAV moves in a suspended manner to collect underwater information and the second information; conversely, when the water flow velocity is lower than the set threshold, the UAV moves in a floating manner to collect underwater information and the second information; The underwater information is collected by a multi-beam echo sounder, and the underwater information includes the shape and size of the breach underwater. The second information is collected by a camera device, and the second information is the shape and size of the breach above water.

2. The dam breach detection method based on an amphibious drone according to claim 1 is characterized in that: Step S4 specifically includes the following contents: By combining the first information, the second information and the underwater information, all the information on the breach on the dam is summarized and obtained for comparative analysis, so as to achieve efficient and stable detection and monitoring of the dam breach.

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