Amphibious drone system for breach detection of dikes

Abstract

This invention discloses an amphibious unmanned aerial vehicle (UAV) system for detecting dam breaches. The system includes a UAV body and a swing platform mounted beneath the UAV body. The swing platform is equipped with a multibeam echo sounder, an acoustic Doppler current profiler, and a camera. The UAV body includes a flight unit and a navigation unit. The flight unit includes a shell and several flight propulsion devices evenly arranged around the shell. The navigation unit is mounted on the lower side of the shell via a support frame, and the swing platform is mounted on the support frame. This invention combines the UAV with an ADCP (Advanced Divergence Profiler), a multibeam echo sounder, and a camera, controlling the UAV to monitor and detect potential dam breaches through hovering and floating movements with minimal energy consumption. It offers advantages such as ease of operation, high detection accuracy, and strong adaptability, and can be widely applied in fields such as dam flood control and water conservancy projects, providing effective technical support for dam safety monitoring and early warning.

Description

Technical Field

[0001] This invention belongs to the field of water conservancy facility maintenance technology, specifically relating to an amphibious unmanned aerial vehicle system for detecting dam breaches. Background Technology

[0002] When a dam breach occurs, timely detection and effective emergency response are crucial. However, existing dam breach detection methods mostly rely on manual inspections and monitoring equipment, which have certain limitations. Especially at night or in inclement weather conditions, the difficulty and danger of manual inspections increase, and the accuracy and reliability of monitoring equipment are also affected. Therefore, developing an amphibious unmanned aerial vehicle (UAV) system for dam breach detection has high practical value and real-world significance. Summary of the Invention

[0003] In order to overcome the shortcomings of the existing technology, this invention provides an amphibious unmanned aerial vehicle system for detecting dam breaches, which is safe, reliable, provides comprehensive and accurate detection data.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: an amphibious unmanned aerial vehicle (UAV) system for detecting dam breaches, comprising a UAV body and a swing platform disposed below the UAV body, wherein a multibeam echo sounder, an acoustic Doppler current profiler, and a camera device are mounted on the swing platform; the UAV body comprises a flight unit and a navigation unit, the flight unit comprising a shell and a plurality of flight power devices evenly arranged around the shell, the navigation unit being disposed on the lower side of the shell via a support frame, and the swing platform being disposed on the support frame.

[0005] Preferably, the navigation unit includes two symmetrically arranged floating boats. The support frame includes two lower crossbars arranged in the left-right direction. The left ends of the two lower crossbars are fixedly connected to two connectors on the top of the left floating boat, and the right ends of the two lower crossbars are fixedly connected to two connectors on the top of the right floating boat. The left and right sides of the two lower crossbars are connected by a lower longitudinal bar. Two inclined tie rods are connected to the lower longitudinal bar on the left and the lower longitudinal bar on the right, respectively. The upper ends of the four tie rods are fixedly connected to the bottom of the hull.

[0006] Preferably, an upper crossbar parallel to the lower crossbar is fixed between the two front tie rods. The swing platform includes two swing rods that are vertically and rotatably connected to the lower crossbar. One end of the two swing rods is provided with a fixed platform. A multibeam echo sounder and an acoustic Doppler current profiler are provided on the fixed platform. A camera device is provided at the other end of the two swing rods. The upper crossbar is connected to a power device for driving the swing rods to rotate. The power device is a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder. The power output end of the power device is connected to the two swing rods through a connecting rod.

[0007] Preferably, the swing arm bends downward at the upper crossbar to form an obtuse angle structure.

[0008] The specific working process of the amphibious unmanned aerial vehicle system for dam breach detection of the present invention, using the above technical solution, includes the following steps: S1. Acquiring first information about the breach: The amphibious drone of this invention is controlled to fly to the flood-resistant side of the dam, and the drone is controlled to fly along the width of the dam and collect information. First information is acquired by taking pictures through the camera device. The first information includes breach information and flow channel information. During the flight of the amphibious drone, the breach information is identified and acquired by taking pictures of the flood-resistant side of the dam. The breach information includes the location and shape of the breach. After acquiring all the breach information, the drone is controlled to move and take pictures in sequence along the direction of the breach. During this process, the flow channel information corresponding to the breach can be acquired, and the flow channel information corresponding to all the breach information can be acquired by traversing and acquiring the flow channel information, which includes the shape and length of the flow channel.

[0009] S2. Analyze the first information of the breach, plan the detection path, and reasonably improve the detection efficiency. Specifically, the detection path includes the regional path and the movement path. After actually obtaining the first information, there are usually multiple gap information and corresponding flow channel information on the dam. By summarizing the gap and channel information in a unified direction, we obtain the gap location set {q1,q2,q3,...qn} and the channel location set {l1,l2,l3,...,ln}. Then, we connect the gap and channel locations sequentially according to a specified pattern to form the detection area path: q1-l1-l2-q2-q3-l3-... qn-ln; Secondly, it is necessary to further plan the specific movement path of the UAV in each area. By analyzing the gap information and flow channel information, the shape of the gap and flow channel can be obtained, thereby calculating the center line of the gap and flow channel in the length direction. The center lines of the gaps and flow channels that are connected to each other are continuous, while the gaps and flow channels that are not connected are connected by connecting the endpoints of the center lines of the previous flow channel to the endpoints of the center lines of the next flow channel, and connecting the endpoints of the center lines of the previous gaps to the endpoints of the center lines of the next gaps, thereby forming a complete and continuous unidirectional movement path.

[0010] S3. Acquiring underwater information and secondary information about the breach: First, obtain the water flow velocity at the current breach or channel. In actual detection, efficiency and energy consumption need to be considered. When the UAV moves along the path, the power unit extends and drives the swing arm to rotate around the lower horizontal bar as the center line through the linkage. The fixed platform rotates downward and enters the water. The multibeam echo sounder and acoustic Doppler current profiler set on the fixed platform perform contact measurement of the water flow velocity. The camera device at the other end of the swing arm is raised to a high position above the water surface to collect information such as shooting and recording. At the same time, the air flow velocity is detected by the wind detection device on the UAV. 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 hovering or landing on the water surface. That is, when the water flow velocity is higher than the set threshold, the UAV hovers and moves to collect underwater information and secondary information; conversely, when the water flow velocity is lower than the set threshold, the UAV floats and moves to collect underwater information and secondary information. The underwater information, including the shape and size of the breach underwater, is collected by a multibeam echo sounder. The second information, which is the shape and size of the breach above water, is collected by a camera device.

[0011] S4. By combining the first information, the second information, and the underwater information, all information on the breach in the dam is collected and compared and analyzed to achieve efficient and stable dam breach detection and monitoring.

[0012] By adopting the above technical solution, the beneficial effects of the present invention are as follows: 1. The amphibious unmanned aerial vehicle system for dam breach detection of the present invention acquires first information about the breach by taking pictures, analyzes the first information to plan the detection path, and then acquires underwater information and second information about the breach. By comparing and analyzing the first information and the second information, the system predicts the above-water collapse information of the breach, thereby achieving comprehensive detection and prediction of dam breaches and improving the accuracy and timeliness of dam breach detection.

[0013] 2. By using drones equipped with multibeam echo sounders or acoustic Doppler current profilers (ADCP), high-precision measurements of underwater topography can be achieved, underwater information about the breach can be obtained, and more accurate data support can be provided for predicting the breach's surface collapse.

[0014] 3. By using drones to collect underwater information and secondary information through hovering or floating movement, reliable detection data can be obtained under different water depths and current velocities, improving the adaptability and reliability of the detection.

[0015] 4. The dam breach detection method and system of the present invention have the advantages of simple operation, high detection accuracy and strong adaptability. They can be widely used in the fields of dam flood control and water conservancy projects, providing effective technical support for dam safety monitoring and early warning.

[0016] In summary, this invention combines an unmanned aerial vehicle (UAV) equipped with an ADCP, a multibeam echo sounder, and a camera device. By controlling the UAV to move in a hovering or floating manner, it can monitor and detect potential breaches in dikes with minimal energy consumption. It has the advantages of simple operation, high detection accuracy, and strong adaptability, and can be widely used in fields such as flood control and water conservancy projects, providing effective technical support for dike safety monitoring and early warning. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of the present invention after the flight unit has been disassembled.

[0020] Figure 3 This is a schematic diagram used to illustrate the flood-resistant surface of a dam.

[0021] Figure 4 This is a schematic diagram used to illustrate the detection path at the breach of a dam (the dashed line represents the movement path). Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] like Figure 1 and 2 As shown, the amphibious unmanned aerial vehicle (UAV) system for detecting dam breaches of the present invention includes a UAV body and a swing platform disposed below the UAV body. A multibeam echo sounder, an acoustic Doppler current profiler, and a camera device 2 are installed on the swing platform. The UAV body includes a flight unit and a navigation unit. The flight unit includes a shell 3 and a plurality of flight power units 4 evenly arranged around the shell 3. The navigation unit is disposed on the lower side of the shell 3 via a support frame, and the swing platform is disposed on the support frame.

[0024] The navigation unit includes two symmetrically arranged floating boats 5. The support frame includes two lower horizontal bars 6 arranged in the left and right directions. The left ends of the two lower horizontal bars 6 are fixedly connected to two connectors on the top of the left floating boat 5, and the right ends of the two lower horizontal bars 6 are fixedly connected to two connectors on the top of the right floating boat 5. The left and right sides of the two lower horizontal bars 6 are connected by a lower longitudinal bar 7. Two inclined tie rods 8 are connected to the lower longitudinal bar 7 on the left and the lower longitudinal bar 7 on the right. The upper ends of the four tie rods 8 are fixedly connected to the bottom of the hull 3.

[0025] An upper crossbar 9, parallel to the lower crossbar 6, is fixed between the two front tie rods 8. The swing platform includes two swing rods 10 that are vertically and rotatably connected to the lower crossbar 6. A fixed platform 11 is provided at one end of the two swing rods 10. A multibeam echo sounder and an acoustic Doppler current profiler are provided on the fixed platform 11. A camera device 2 is provided at the other end of the two swing rods 10. A power device 12 for driving the swing rods 10 to rotate is connected to the upper crossbar 9. The power device 12 is a cylinder, hydraulic cylinder or electric cylinder. The power output end of the power device 12 is connected to the two swing rods 10 through a connecting rod.

[0026] The swing arm 10 bends downward at the upper crossbar 9 to form an obtuse angle structure.

[0027] The specific working process of the amphibious unmanned aerial vehicle system for dam breach detection of the present invention includes the following steps: S1. Acquiring first information about the breach: The amphibious drone of this invention is controlled to fly to the flood-resistant side of the dam, and the drone is controlled to fly along the width of the dam and collect information. The first information is acquired by the camera device 2, which includes breach information and flow channel information. During the flight of the amphibious drone, the breach information is identified by shooting the flood-resistant side of the dam. The breach information includes the location and shape of the breach. After acquiring all the breach information, the drone is controlled to move and shoot along the direction of the breach in sequence. During this process, the flow channel information corresponding to the breach can be acquired, and the flow channel information corresponding to all the breach information can be acquired by traversing and acquiring the flow channel information, which includes the shape and length of the flow channel.

[0028] S2. Analyze the first information of the breach, plan the detection path, and reasonably improve the detection efficiency. Specifically, the detection path includes the regional path and the movement path. After actually obtaining the first information, there are usually multiple gap information and corresponding flow channel information on the dam. By summarizing the gap and channel information in a unified direction, we obtain the gap location set {q1,q2,q3,...qn} and the channel location set {l1,l2,l3,...,ln}. Then, we connect the gap and channel locations sequentially according to a specified pattern to form the detection area path: q1-l1-l2-q2-q3-l3-... qn-ln; Secondly, it is necessary to further plan the specific movement path of the UAV in each area. By analyzing the gap information and flow channel information, the shape of the gap and flow channel can be obtained, thereby calculating the center line of the gap and flow channel in the length direction. The center lines of the gaps and flow channels that are connected to each other are continuous, while the gaps and flow channels that are not connected are connected by connecting the endpoints of the center lines of the previous flow channel to the endpoints of the center lines of the next flow channel, and connecting the endpoints of the center lines of the previous gaps to the endpoints of the center lines of the next gaps, thereby forming a complete and continuous unidirectional movement path.

[0029] S3. Obtain underwater information about the breach and secondary information about the breach: First, obtain the current water flow velocity at the breach or channel. In actual detection, efficiency and energy consumption need to be considered, such as... Figure 3 and 4 As shown, when the UAV moves along the path, the power unit 12 extends and drives the swing arm 10 to rotate around the horizontal bar 6 as the center line via the connecting rod. The fixed platform 11 rotates downward and enters the water. The multibeam echo sounder and acoustic Doppler current profiler installed on the fixed platform 11 measure the water flow velocity in contact. The camera device 2 at the other end of the swing arm 10 is raised to a high position above the water surface to collect information such as shooting and recording. At the same time, the wind detection device on the UAV detects the air flow velocity and calculates the kinetic energy required for the UAV to navigate on the water and in the air, thereby determining whether the UAV is hovering or landing on the water. That is, when the water flow velocity is higher than the set threshold, the UAV hovers and moves to collect underwater information and second information; conversely, when the water flow velocity is lower than the set threshold, the UAV floats and moves to collect underwater information and second information. The underwater information, including the shape and size of the breach underwater, is collected by a multibeam echo sounder. The second information, which is the shape and size of the breach above water, is collected by a camera device 2.

[0030] S4. By combining the first information, the second information, and the underwater information, all information on the breach in the dam is collected and compared and analyzed to achieve efficient and stable dam breach detection and monitoring.

[0031] The above embodiments illustrate the basic principles and features of the present invention, but are merely preferred embodiments and are not limited to these embodiments. Those skilled in the art, inspired by this patent, can make many modifications and improvements without departing from the spirit and scope of the claims, all of which fall within the scope of protection of the present invention. Therefore, the scope of this patent and its protection should be determined by the appended claims.

Claims

1. An amphibious drone system for breach detection of embankments, characterized in that: It includes the UAV body and a swing platform located below the UAV body. The swing platform is equipped with a multibeam echo sounder, an acoustic Doppler current profiler, and a camera device. The UAV body includes a flight unit and a navigation unit. The flight unit includes a shell and several flight power units evenly arranged around the shell. The navigation unit is located on the lower side of the shell via a support frame. The swing platform is located on the support frame. The navigation unit includes two symmetrically arranged floating boats. The support frame includes two lower horizontal bars arranged in the left and right directions. The left ends of the two lower horizontal bars are fixedly connected to two connectors on the top of the left floating boat, and the right ends of the two lower horizontal bars are fixedly connected to two connectors on the top of the right floating boat. The left and right sides of the two lower horizontal bars are connected by a lower longitudinal bar. Two inclined tie rods are connected to the lower longitudinal bar on the left and the lower longitudinal bar on the right, respectively. The upper ends of the four tie rods are fixedly connected to the bottom of the hull. An upper crossbar parallel to the lower crossbar is fixed between the two front tie rods. The swing platform includes two swing rods that are vertically and rotatably connected to the lower crossbar. One end of each swing rod is provided with a fixed platform. A multibeam echo sounder and an acoustic Doppler current profiler are mounted on the fixed platform. A camera device is mounted on the other end of the two swing rods. The upper crossbar is connected to a power device for driving the swing rods to rotate. The power device is a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder. The power output end of the power device is connected to the two swing rods through a connecting rod.

2. The amphibious drone system for breach detection of embankments according to claim 1, characterized in that: The swing arm bends downward at the upper crossbar to form an obtuse angle structure.

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