A river channel inspection method based on infrared and visible light intelligent identification

Abstract

The embodiment of the present application discloses a river inspection method based on infrared and visible light intelligent identification, which comprises: sending a sensing measurement process establishment request message to an infrared thermal imaging monitoring terminal by a visible light monitoring terminal; after receiving the sensing measurement process establishment request message, the infrared thermal imaging monitoring terminal sends a sensing measurement process establishment response message to the visible light monitoring terminal to establish a sensing measurement process; after the sensing measurement process is successfully established, the visible light monitoring terminal and the infrared thermal imaging monitoring terminal execute the sensing measurement process according to the sensing measurement configuration parameters negotiated by both parties to form a measurement report; the measurement report is sent to a monitoring management platform; the monitoring management platform obtains a sensing result according to the measurement report, which is used to judge whether a person entering the monitoring area is detected. The river inspection method based on infrared and visible light intelligent identification can realize real-time inspection of each area of the river.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of river inspection, in particular to a river inspection method based on infrared and visible light intelligent identification. BACKGROUND

[0002] At present, the river inspection methods mainly include manual inspection and unmanned aerial vehicle inspection. However, the existing manual inspection and unmanned aerial vehicle inspection cannot realize real-time inspection of each region of the river. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application discloses a river inspection method based on infrared and visible light intelligent identification.

[0004] The river inspection method based on infrared and visible light intelligent identification comprises the following steps:

[0005] The visible light monitoring terminal sends a sensing measurement process establishment request message to the infrared thermal imaging monitoring terminal; the infrared thermal imaging monitoring terminal sends a sensing measurement process establishment response message to the visible light monitoring terminal after receiving the sensing measurement process establishment request message; the sensing measurement process between the visible light monitoring terminal and the infrared thermal imaging monitoring terminal is established, and the process is uniquely identified by a sensing measurement process identifier; after the sensing measurement process is successfully established, the visible light monitoring terminal and the infrared thermal imaging monitoring terminal execute the sensing measurement process according to the sensing measurement configuration parameters negotiated by both parties, and form a measurement report; the measurement report is sent to the monitoring management platform through a wireless communication network; the monitoring management platform obtains a sensing result according to the measurement report, which is used to determine whether a person is detected entering the monitoring area.

[0006] According to one preferred embodiment of the present application, the monitoring management platform sends an event notification message to the visible light monitoring terminal when the sensing result indicates that a person is detected entering; the visible light monitoring terminal receives the event notification message, and if the parameter time information contained in the event notification message indicates that a person is found entering, the visible light monitoring terminal sends a sensing measurement process update request message to the infrared thermal imaging monitoring terminal; the sensing measurement process update request message contains a period control factor; the infrared thermal imaging monitoring terminal receives the sensing measurement process update request message, and sends a sensing measurement process update response message to the visible light monitoring terminal to confirm that the sensing period is changed according to the period control factor; thereafter, the visible light monitoring terminal and the infrared thermal imaging monitoring terminal calculate a new wireless sensing period according to the period control factor, execute the sensing measurement process according to the new wireless sensing period, and send a new sensing measurement result to the monitoring management platform.

[0007] According to one preferred embodiment of the present application, the monitoring management platform calculates the distance d0 and the azimuth angle a0 between the monitoring area entered by the person and the visible light monitoring terminal or the infrared thermal imaging monitoring terminal according to the new sensing measurement result; when the warning confirmation condition is met, the monitoring management platform sets the sensing state as the person state, calculates the position entered by the person according to the position information of the visible light monitoring terminal or the infrared thermal imaging monitoring terminal, d0 and a0, and sends the warning confirmation instruction to the visible light monitoring terminal or the infrared thermal imaging monitoring terminal according to the current time and the predefined time period corresponding to the day and night.

[0008] According to one preferred embodiment of the present application, after receiving the warning confirmation instruction, the visible light monitoring terminal adjusts the monitoring range through the driving of the holder according to the position entered by the person, and performs image recognition after the adjustment to determine whether there is a person entering, and sends the warning confirmation response message to the monitoring management platform after confirming that there is a person entering in the monitoring range.

[0009] According to one preferred embodiment of the present application, after receiving the warning confirmation instruction, the infrared thermal imaging monitoring terminal adjusts the monitoring range through the driving of the holder according to the position entered by the person, and collects infrared thermal imaging data after the adjustment; determines whether there is a person entering according to the infrared thermal imaging data; and sends the warning confirmation response message to the monitoring management platform after confirming that there is a person entering in the monitoring range.

[0010] According to one preferred embodiment of the present application, after receiving the warning confirmation response message, if the warning confirmation response message contains an indication that there is a person entering, the monitoring management platform sends a warning notification to the administrator or triggers a coastal sound and light alarm.

[0011] According to one preferred embodiment of the present application, the sensing measurement process establishment request message contains the sensing measurement configuration parameter; wherein the sensing measurement configuration parameter contains the following sub-parameters:

[0012] The sensing measurement process identifier is used to identify the established sensing measurement process;

[0013] The resource allocation information for sending the sensing signal is used to inform the infrared thermal imaging monitoring terminal of the frequency band, channel, subcarrier number or frequency resource block number that can be used for sending the sensing signal;

[0014] The infrared thermal imaging monitoring terminal role information is used to inform the infrared thermal imaging monitoring terminal whether to act as a sender or a receiver of the sensing signal in the sensing measurement process;

[0015] And

[0016] The wireless sensing period is used to indicate the period of sending the sensing signal.

[0017] According to a preferred embodiment of the present application, when the infrared thermal imaging monitoring terminal role information indicates that the infrared thermal imaging monitoring terminal is a sensing measurement signal sender:

[0018] The infrared thermal imaging monitoring terminal sends an NDPA message to the visible light monitoring terminal, and the NDPA message contains resource allocation information and signal transmission power; after sending the NDPA message and waiting for a SIFS duration, the infrared thermal imaging monitoring terminal periodically sends a sensing signal to the visible light monitoring terminal according to a wireless sensing period;

[0019] After receiving the NDPA message and waiting for a SIFS duration, the visible light monitoring terminal periodically receives a sensing signal on the resource indicated by the resource allocation information in the NDPA message according to a wireless sensing period, and obtains a measurement result according to the received sensing signal, the measurement result being a channel frequency response of a wireless channel between the visible light monitoring terminal and the infrared thermal imaging monitoring terminal;

[0020] The visible light monitoring terminal further calculates a normalized power factor according to the signal transmission power in the received NDPA message;

[0021] The visible light monitoring terminal sends a measurement report to the monitoring management platform through a wireless communication network, the measurement report containing a sensing measurement process identifier, a measurement result, a normalized power factor, and location information of the visible light monitoring terminal.

[0022] According to a preferred embodiment of the present application, when the infrared thermal imaging monitoring terminal role information indicates that the visible light monitoring terminal is a sensing measurement signal receiver:

[0023] The visible light monitoring terminal sends a trigger message to the infrared thermal imaging monitoring terminal;

[0024] After receiving the trigger message, if a parameter message type value in the trigger message is a polling message and the infrared thermal imaging monitoring terminal is in an idle state without receiving or sending data, the infrared thermal imaging monitoring terminal sends a response message to the visible light monitoring terminal; if the parameter message type value in the trigger message is a polling message and the infrared thermal imaging monitoring terminal is receiving or sending data, the infrared thermal imaging monitoring terminal sends a response message to the visible light monitoring terminal after waiting for the receiving or sending data to end and entering an idle state;

[0025] After receiving the response message and waiting for a SIFS duration, the visible light monitoring terminal sends a trigger message to the infrared thermal imaging monitoring terminal;

[0026] After receiving the trigger message, if a message type in the trigger message is a sensing measurement message, the infrared thermal imaging monitoring terminal periodically sends a sensing signal to the visible light monitoring terminal according to a wireless sensing period after waiting for a SIFS duration;

[0027] The visible light monitoring terminal waits for a SIFS duration after sending the trigger message, receives the sensing signal periodically on the resource indicated by the resource allocation information in the trigger message according to the wireless sensing period, and obtains the measurement result according to the received sensing signal measurement, and calculates the normalized power factor;

[0028] The sensing measurement process identifier, the measurement result, the normalized power factor and the location information of the visible light monitoring terminal are sent to the monitoring management platform as the measurement report through the wireless communication network.

[0029] According to a preferred embodiment of the present application, when the infrared thermal imaging monitoring terminal role information indicates that the visible light monitoring terminal is the sensing measurement signal receiver:

[0030] The visible light monitoring terminal sends a trigger message to the infrared thermal imaging monitoring terminal;

[0031] After receiving the trigger message, if the message type is a polling message and the infrared thermal imaging monitoring terminal is in an idle state, the infrared thermal imaging monitoring terminal sends a response message to the visible light monitoring terminal, and if the message type is a polling message and the infrared thermal imaging monitoring terminal is receiving or sending data, the infrared thermal imaging monitoring terminal sends a response message to the visible light monitoring terminal after waiting for the end of the data receiving or sending and entering the idle state;

[0032] After receiving the response message, the visible light monitoring terminal waits for a SIFS duration, and sends an NDPA message to the infrared thermal imaging monitoring terminal;

[0033] After sending the NDPA message, the visible light monitoring terminal waits for a SIFS duration, and periodically sends the sensing signal to the infrared thermal imaging monitoring terminal according to the wireless sensing period;

[0034] After receiving the NDPA message, the infrared thermal imaging monitoring terminal waits for a SIFS duration, receives the sensing signal periodically on the resource indicated by the resource allocation information in the trigger message according to the wireless sensing period, and obtains the measurement result according to the received sensing signal measurement, and calculates the normalized power factor;

[0035] The sensing measurement process identifier, the measurement result, the normalized power factor and the location information of the infrared thermal imaging monitoring terminal are sent to the monitoring management platform as the measurement report through the wireless communication network.

[0036] The above one or more technical solutions in the river inspection method based on infrared and visible light intelligent identification provided by the embodiments of the present application at least have one of the following technical effects:

[0037] The river inspection method based on infrared and visible light intelligent identification of the embodiments of the present application can realize real-time inspection of each region of the river. DETAILED DESCRIPTION

[0038] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0039] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0040] The embodiment of the present application discloses a river inspection method based on infrared and visible light intelligent identification.

[0041] The river inspection method based on infrared and visible light intelligent identification can comprise:

[0042] The visible light monitoring terminal sends a sensing measurement process establishment request message to the infrared thermal imaging monitoring terminal, and the sensing measurement process establishment request message contains the following parameters: sensing measurement configuration parameters, wherein the sensing measurement configuration parameters contain the following sub-parameters:

[0043] Sensing measurement process identifier, used to identify the established sensing measurement process;

[0044] Resource allocation information for sending sensing signals, used to inform the infrared thermal imaging monitoring terminal of the frequency band, channel, sub-carrier number, or frequency resource block number that can be used for sending sensing signals;

[0045] Infrared thermal imaging monitoring terminal role information, used to inform the infrared thermal imaging monitoring terminal whether to act as a sender or a receiver of sensing signals in the sensing measurement process;

[0046] Wireless sensing period, used to indicate the period of sending sensing signals;

[0047] After the infrared thermal imaging monitoring terminal receives the sensing measurement process establishment request message, the infrared thermal imaging monitoring terminal sends a sensing measurement process establishment response message to the visible light monitoring terminal; the response message also includes the sensing measurement process identifier, indicating the response to the sensing measurement process requested by the visible light monitoring terminal before;

[0048] After the visible light monitoring terminal receives the sensing measurement process establishment response message, the sensing measurement process between the visible light monitoring terminal and the infrared thermal imaging monitoring terminal is successfully established, and the process is uniquely identified by the sensing measurement process identifier. After the sensing measurement process is successfully established, the visible light monitoring terminal and the infrared thermal imaging monitoring terminal can execute the sensing measurement process according to the sensing measurement configuration parameters negotiated by both parties;

[0049] When the infrared thermal imaging monitoring terminal role information indicates that the infrared thermal imaging monitoring terminal is a sensing measurement signal sender, the method specifically comprises the following steps:

[0050] The infrared thermal imaging monitoring terminal sends an NDPA (Null Data Packet Announcement) message to the visible light monitoring terminal, and the message contains resource allocation information and signal transmission power; the resource allocation information is used to indicate the resource used for sending the sensing signal, and is set according to the resource allocation information of the sensing signal in the sensing measurement configuration parameter, and the specific mode is to set the same resource as the resource indicated by the resource allocation information of the sensing signal, or to set a subset of the resource indicated by the resource allocation information of the sensing signal; the signal transmission power is used to indicate the power used for transmitting the sensing signal; after sending the NDPA message, the infrared thermal imaging monitoring terminal waits for a SIFS time length, and then periodically sends the sensing signal to the visible light monitoring terminal according to the wireless sensing period;

[0051] After receiving the NDPA message, the visible light monitoring terminal waits for a SIFS time length, and then periodically receives the sensing signal on the resource indicated by the resource allocation information in the NDPA message according to the wireless sensing period, and obtains a measurement result according to the received sensing signal; the measurement result is the channel frequency response of the wireless channel between the visible light monitoring terminal and the infrared thermal imaging monitoring terminal;

[0052] The visible light monitoring terminal further calculates a normalized power factor according to the signal transmission power in the received NDPA message, and the calculation method can be:

[0053] Ipower=TXpower / MXpower;

[0054] Wherein, Ipower represents the normalized power factor;

[0055] TXpower represents the signal transmission power in the message;

[0056] MXpower represents the maximum transmission power of the device; it is assumed in the present application that the maximum transmission power of the visible light monitoring terminal and the infrared thermal imaging monitoring terminal is the same;

[0057] The visible light monitoring terminal sends the sensing measurement process identifier, the measurement result, the normalized power factor and the position information of the visible light monitoring terminal to the monitoring management platform as a measurement report through a wireless communication network; in the present application, the position information of the device can be three-dimensional coordinates relative to a certain origin, can be a distance and an azimuth angle relative to a certain origin, or can be longitude, latitude and height;

[0058] When the infrared thermal imaging monitoring terminal role information indicates that the visible light monitoring terminal is a sensing measurement signal receiver, the method specifically comprises the following steps:

[0059] The visible light monitoring terminal sends a trigger message to the infrared thermal imaging monitoring terminal, and the trigger message contains:

[0060] Message type: the type of the trigger message, set as a polling message;

[0061] After receiving the trigger message, if the message type value in the trigger message is a polling message and the infrared thermal imaging monitoring terminal is in an idle state without receiving or sending data, the infrared thermal imaging monitoring terminal sends a response message to the visible light monitoring terminal; if the message type value in the trigger message is a polling message and the infrared thermal imaging monitoring terminal is receiving or sending data, the infrared thermal imaging monitoring terminal waits until the receiving or sending data ends and the infrared thermal imaging monitoring terminal enters an idle state, and then sends a response message to the visible light monitoring terminal. The response message is used to indicate that the infrared thermal imaging monitoring terminal is in an idle state and can perform sensing measurement.

[0062] After receiving the response message, the visible light monitoring terminal waits for a SIFS duration, and then sends a trigger message to the infrared thermal imaging monitoring terminal. The trigger message contains:

[0063] Message type: the type of the trigger message, set as a sensing measurement message;

[0064] Resource allocation information: used to indicate the resources used for sending the sensing signal, set according to the resource allocation information for sending the sensing signal in the sensing measurement configuration parameter, specifically, set as the same resources as the resources indicated by the resource allocation information for sending the sensing signal, or set as a subset of the resources indicated by the resource allocation information for sending the sensing signal;

[0065] Signal transmission power: used to indicate the power used for transmitting the sensing signal;

[0066] After receiving the trigger message, if the message type in the trigger message is a sensing measurement message, the infrared thermal imaging monitoring terminal waits for a SIFS duration, and then periodically sends a sensing signal to the visible light monitoring terminal according to the wireless sensing period.

[0067] After sending the trigger message, the visible light monitoring terminal waits for a SIFS duration, periodically receives the sensing signal on the resources indicated by the resource allocation information in the trigger message according to the wireless sensing period, and obtains measurement results according to the received sensing signal. The visible light monitoring terminal calculates a normalized power factor, and sends a measurement report to the monitoring management platform through the wireless communication network, where the measurement report contains the sensing measurement process identifier, the measurement results, the normalized power factor, and the location information of the visible light monitoring terminal.

[0068] When the infrared thermal imaging monitoring terminal role information indicates that the visible light monitoring terminal serves as a sensing measurement signal receiver, the infrared thermal imaging monitoring terminal can also be specifically:

[0069] The visible light monitoring terminal sends a trigger message to the infrared thermal imaging monitoring terminal, and the trigger message contains:

[0070] Message type: the type of the trigger message, set as a polling message;

[0071] After receiving the trigger message, if the message type is a polling message and the infrared thermal imaging monitoring terminal is in an idle state, the infrared thermal imaging monitoring terminal sends a response message to the visible light monitoring terminal; if the message type is a polling message and the infrared thermal imaging monitoring terminal is receiving or sending data, the infrared thermal imaging monitoring terminal waits until the receiving or sending data ends and the infrared thermal imaging monitoring terminal enters an idle state, and then sends a response message to the visible light monitoring terminal. The response message is used to indicate that the infrared thermal imaging monitoring terminal is in an idle state and can perform sensing measurement.

[0072] After receiving the response message, the visible light monitoring terminal waits for a SIFS duration, and sends an NDPA message to the infrared thermal imaging monitoring terminal. The NDPA message contains:

[0073] Resource allocation information: used to indicate the resource used for sending the sensing signal, which is set according to the resource allocation information of the sensing signal in the sensing measurement configuration parameter. Specifically, the resource allocation information is set as the same resource as the resource indicated by the resource allocation information of the sensing signal, or is set as a subset of the resource indicated by the resource allocation information of the sensing signal.

[0074] Signal transmission power: used to indicate the power used for transmitting the sensing signal.

[0075] After sending the NDPA message, the visible light monitoring terminal waits for a SIFS duration, and periodically sends the sensing signal to the infrared thermal imaging monitoring terminal according to the wireless sensing period.

[0076] After receiving the NDPA message, the infrared thermal imaging monitoring terminal waits for a SIFS, periodically receives the sensing signal on the resource indicated by the resource allocation information in the trigger message according to the wireless sensing period, and obtains measurement results according to the received sensing signal. The infrared thermal imaging monitoring terminal calculates a normalized power factor, and sends a measurement report containing the sensing measurement process identifier, the measurement results, the normalized power factor, and the location information of the infrared thermal imaging monitoring terminal to the monitoring management platform through the wireless communication network.

[0077] The monitoring management platform receives the measurement report, calculates the normalized channel frequency response amplitude according to the amplitude value of the channel frequency response in the sensing measurement result and the normalized power factor, and then performs denoising, feature extraction, and classification and recognition calculation according to the normalized channel frequency response amplitude and the phase value of the channel frequency response in the measurement result to obtain a sensing result for judging whether a person has entered the monitoring area; the detection principle is that, through the sending of signals between two devices, the amplitude and phase difference of the multipath signals received on different subcarriers are different when a person enters or does not enter, and the classification and recognition of the calculation result by combining a pre-set sample or a machine learning method can obtain the sensing result of whether a person has entered;

[0078] When the sensing result indicates that a person has entered, the monitoring management platform sends an event notification message to the visible light monitoring terminal; the event notification message contains:

[0079] Sensing measurement process identifier: used for identifying the sensing measurement process established between the visible light monitoring terminal and the infrared thermal imaging monitoring terminal;

[0080] Event information: used for indicating that a person has been found to enter;

[0081] After the visible light monitoring terminal receives the event notification message, if the parameter time information contained in the event notification message indicates that a person has been found to enter, the visible light monitoring terminal sends a sensing measurement process update request message to the infrared thermal imaging monitoring terminal; the sensing measurement process update request message contains a period control factor; wherein, the period control factor is used to control the visible light monitoring terminal and the infrared thermal imaging monitoring terminal to increase the frequency of sensing measurement after a person has been found to enter, that is, to shorten the sensing period; for example, if the period control factor is set to 0.5, the sensing period is shortened by half;

[0082] After the infrared thermal imaging monitoring terminal receives the sensing measurement process update request message, the infrared thermal imaging monitoring terminal sends a sensing measurement process update response message to the visible light monitoring terminal to confirm that the sensing period is changed according to the period control factor; thereafter, the visible light monitoring terminal and the infrared thermal imaging monitoring terminal calculate a new wireless sensing period according to the period control factor, perform a sensing measurement process according to the new wireless sensing period, and send a sensing measurement result to the monitoring management platform;

[0083] The monitoring management platform calculates the distance d0 and the azimuth angle a0 between the person entering and the visible light monitoring terminal or the infrared thermal imaging monitoring terminal according to the sensing measurement result; the detection principle is that, through the sending of signals between two devices, when a person enters at different positions, the reflection path of the signal changes, the amplitude and phase difference of the multipath signals received on different subcarriers are different, and the classification and recognition of the calculation result by combining a pre-set sample or a machine learning method can obtain the position of whether a person has entered.

[0084] When the warning confirmation condition is met, the monitoring management platform sets the sensing state as the person state, calculates the position of the person entering according to the position information, d0 and a0 of the visible light monitoring terminal or the infrared thermal imaging monitoring terminal, sends the warning confirmation instruction to the visible light monitoring terminal or the infrared thermal imaging monitoring terminal according to the current time and the time period corresponding to the day and night defined in advance, if the current time is in the day time period, sends the warning confirmation instruction to the visible light monitoring terminal, if the current time is in the night time period, sends the warning confirmation instruction to the infrared thermal imaging monitoring terminal. The warning confirmation condition can be set as needed. For example, a threshold value can be set, and when the detection value is greater than the set value, the warning confirmation condition is met.

[0085] In addition, each visible light monitoring terminal and infrared thermal imaging monitoring terminal base is equipped with a cloud platform device, which can rotate 360° and adjust the up and down pitch angle;

[0086] After receiving the warning confirmation instruction, the visible light monitoring terminal adjusts the monitoring range through the driving of the cloud platform according to the position of the person entering, and performs image recognition after adjustment to determine whether there is a person entering, and sends a warning confirmation response message to the monitoring management platform after confirming whether there is a person entering in the monitoring range, which contains an indication of whether there is a person entering;

[0087] After receiving the warning confirmation instruction, the infrared thermal imaging monitoring terminal adjusts the monitoring range through the driving of the cloud platform according to the position of the person entering, and collects infrared thermal imaging data after adjustment, the infrared thermal imaging data can obtain the outline of the object according to the temperature of the object, and the temperature of the person entering is different from the environment temperature and the temperature of the electric power tower, so the outline can be identified after being obtained, thereby determining whether it is the outline of the person entering, thereby determining whether there is a person entering, and sending a warning confirmation response message to the monitoring management platform after confirming whether there is a person entering in the monitoring range, which contains an indication of whether there is a person entering;

[0088] After receiving the warning confirmation response message, if the warning confirmation response message contains an indication that there is a person entering, the monitoring management platform sends a warning notification to the administrator, or triggers a coastal sound and light alarm.

[0089] The riverway inspection method based on infrared and visible light intelligent identification of the application can be applied in a riverway inspection system based on infrared and visible light intelligent identification, and applied in a hydropower station monitoring platform.

[0090] The river inspection system based on infrared and visible light intelligent identification comprises a monitoring terminal and a monitoring management platform, wherein the monitoring terminal comprises a visible light monitoring terminal and an infrared thermal imaging monitoring terminal; the visible light monitoring terminal and the infrared thermal imaging monitoring terminal are adjacently and alternately arranged, wherein the visible light monitoring terminal comprises a wireless sensing module, and the infrared thermal imaging monitoring terminal comprises a wireless sensing response module.

[0091] Illustratively, the visible light monitoring terminal can adopt a visible light monitoring camera, and the infrared thermal imaging monitoring terminal can adopt an infrared thermal imaging monitoring camera.

[0092] It should be noted that all features disclosed in this specification, or all steps of any method or process disclosed, can be combined in any combination, except where features or steps are mutually exclusive.

[0093] In addition, the above specific embodiments are exemplary, and those skilled in the art can think of various solutions under the inspiration of the disclosure of the present application, and these solutions also belong to the disclosed range of the present application and fall within the protection scope of the present application. Those skilled in the art should understand that the present application specification is illustrative and does not constitute a limitation on the claims. The protection scope of the present application is defined by the claims and their equivalents.

Claims

1. A river inspection method based on infrared and visible light intelligent recognition, characterized in that, It includes: The visible light monitoring terminal sends a sensing measurement process establishment request message to the infrared thermal imaging monitoring terminal. After receiving the sensing measurement process establishment request message, the infrared thermal imaging monitoring terminal sends a sensing measurement process establishment response message to the visible light monitoring terminal; thus establishing a sensing measurement process between the visible light monitoring terminal and the infrared thermal imaging monitoring terminal, and uniquely identifying the process through the sensing measurement process identifier. After the sensing and measurement process is successfully established, the visible light monitoring terminal and the infrared thermal imaging monitoring terminal execute the sensing and measurement process according to the sensing and measurement configuration parameters agreed upon by both parties, and generate a measurement report. The measurement report is sent to the monitoring and management platform via a wireless communication network; The monitoring and management platform obtains the perception results based on the measurement report, which is used to determine whether someone has been detected entering the monitored area; When the sensing results indicate that someone has entered, the monitoring management platform sends an event notification message to the visible light monitoring terminal. After receiving an event notification message, if the time information in the event notification message indicates that someone has entered, the visible light monitoring terminal sends a sensing measurement process update request message to the infrared thermal imaging monitoring terminal; the sensing measurement process update request message contains a periodic control factor. After receiving the sensing measurement process update request message, the infrared thermal imaging monitoring terminal sends a sensing measurement process update response message to the visible light monitoring terminal to confirm the change of the sensing period according to the period control factor. After that, the visible light monitoring terminal and the infrared thermal imaging monitoring terminal calculate the new wireless sensing cycle according to the cycle control factor, execute the sensing measurement process according to the new wireless sensing cycle, and send the new sensing measurement results to the monitoring management platform. The monitoring and management platform calculates the distance d0 and azimuth angle α0 between the monitored area where someone has entered and the visible light monitoring terminal or infrared thermal imaging monitoring terminal based on the new sensing measurement results. When the warning confirmation conditions are met, the monitoring management platform sets the perception status to "occupied" and calculates the location of the person entering based on the location information of the visible light monitoring terminal or the infrared thermal imaging monitoring terminal, d0 and α0. It then sends a warning confirmation command to the visible light monitoring terminal or the infrared thermal imaging monitoring terminal according to the current time and the predefined time periods corresponding to day and night. After receiving a warning confirmation command, the visible light monitoring terminal adjusts the monitoring range according to the location of the person entering through the PTZ drive, and performs image recognition after adjustment to determine whether someone has entered. After confirming that someone has entered the monitoring range, it sends a warning confirmation response message to the monitoring management platform. The perception measurement process establishment request message contains parameters for perception measurement configuration; these parameters include the following sub-parameters: Sensing measurement process identifier, used to identify the established sensing measurement process; Resource allocation information for transmitting sensing signals is used to inform the infrared thermal imaging monitoring terminal of the frequency band, channel, subcarrier number, or frequency resource block number that can be used to transmit sensing signals. The role information of the infrared thermal imaging monitoring terminal is used to inform whether the infrared thermal imaging monitoring terminal is the sender or receiver of the sensing signal in the sensing and measurement process. as well as Wireless sensing period, used to indicate the period during which sensing signals are transmitted.

2. The river inspection method based on infrared and visible light intelligent recognition according to claim 1, characterized in that, After receiving a warning confirmation command, the infrared thermal imaging monitoring terminal adjusts the monitoring range according to the location of the person entering through the pan-tilt-zoom (PTZ) mechanism, and then collects infrared thermal imaging data. Based on the infrared thermal imaging data, it determines whether someone has entered the monitoring range. After confirming that someone has entered the monitoring range, it sends a warning confirmation response message to the monitoring management platform.

3. The river inspection method based on infrared and visible light intelligent identification according to claim 1 or 2, characterized in that, Upon receiving a warning confirmation response message, if the warning confirmation response message contains an indication that someone has entered, the monitoring and management platform will send a warning notification to the administrator or trigger a coastal audible and visual alarm.

4. The river inspection method based on infrared and visible light intelligent recognition according to claim 1, characterized in that, When the infrared thermal imaging monitoring terminal role information indicates that the infrared thermal imaging monitoring terminal is acting as the transmitter of sensing and measurement signals: The infrared thermal imaging monitoring terminal sends an NDPA message to the visible light monitoring terminal. The NDPA message contains resource allocation information and signal transmission power. After sending the NDPA message and waiting for the SIFS duration, the terminal periodically sends sensing signals to the visible light monitoring terminal according to the wireless sensing cycle. After receiving the NDPA message and waiting for the SIFS duration, the visible light monitoring terminal periodically receives sensing signals on the resources indicated by the resource allocation information in the NDPA message according to the wireless sensing cycle, and obtains the measurement results based on the received sensing signals. The measurement results are the channel frequency response of the wireless channel between the visible light monitoring terminal and the infrared thermal imaging monitoring terminal. The visible light monitoring terminal also calculates the normalized power factor based on the signal transmission power in the received NDPA message; The visible light monitoring terminal sends the sensing measurement process identifier, measurement results, normalized power factor, and location information of the visible light monitoring terminal as a measurement report to the monitoring and management platform via a wireless communication network.

5. The river inspection method based on infrared and visible light intelligent recognition according to claim 1, characterized in that, When the infrared thermal imaging monitoring terminal's role information indicates that the visible light monitoring terminal is acting as the receiver of sensing and measurement signals: The visible light monitoring terminal sends a trigger message to the infrared thermal imaging monitoring terminal; After receiving a trigger message, if the infrared thermal imaging monitoring terminal is in a polling state and is neither receiving nor sending data, it sends a response message to the visible light monitoring terminal; if the parameter message type is a polling message and it is receiving or sending data, it waits for the data transmission and reception to finish and enters an idle state before sending a response message to the visible light monitoring terminal. After receiving the response message and waiting for the SIFS duration, the visible light monitoring terminal sends a trigger message to the infrared thermal imaging monitoring terminal. After receiving a trigger message, if the message type is a sensing measurement message, the infrared thermal imaging monitoring terminal waits for the SIFS duration and then periodically sends sensing signals to the visible light monitoring terminal according to the wireless sensing cycle. After sending a trigger message, the visible light monitoring terminal waits for the SIFS duration, periodically receives sensing signals on the resources indicated by the resource allocation information in the trigger message according to the wireless sensing cycle, and obtains measurement results based on the received sensing signals, and calculates the normalized power factor. The sensing measurement process identifier, measurement results, normalized power factor, and location information of the visible light monitoring terminal are sent as a measurement report to the monitoring and management platform via a wireless communication network.

6. The river inspection method based on infrared and visible light intelligent recognition according to claim 1, characterized in that, When the infrared thermal imaging monitoring terminal's role information indicates that the visible light monitoring terminal is acting as the receiver of sensing and measurement signals: The visible light monitoring terminal sends a trigger message to the infrared thermal imaging monitoring terminal; After receiving a trigger message, if the infrared thermal imaging monitoring terminal is a polling message and is in an idle state, it sends a response message to the visible light monitoring terminal. If the message type is a polling message and it is receiving or sending data, it waits for the data transmission and reception to end and enters an idle state before sending a response message to the visible light monitoring terminal. After receiving the response message, the visible light monitoring terminal waits for the SIFS duration and then sends an NDPA message to the infrared thermal imaging monitoring terminal. After sending the NDPA message, the visible light monitoring terminal waits for the SIFS duration and periodically sends sensing signals to the infrared thermal imaging monitoring terminal according to the wireless sensing cycle. After receiving the NDPA message, the infrared thermal imaging monitoring terminal waits for the SIFS duration, periodically receives sensing signals on the resources indicated by the resource allocation information in the trigger message according to the wireless sensing cycle, and obtains the measurement results based on the received sensing signals, and calculates the normalized power factor. The sensing measurement process identifier, measurement results, normalized power factor, and location information of the infrared thermal imaging monitoring terminal are sent as a measurement report to the monitoring and management platform via a wireless communication network.