Real-time tracking method and system for dammed lake outburst flood peak and flood propagation process

Abstract

The invention discloses a real-time tracking method and system for a dammed lake outburst flood peak and a flood propagation process, and the method comprises the steps: arranging a breach unmanned plane group and a plurality of river channel unmanned plane groups at preset points of a breach of a dammed body and a river channel at the downstream of the dammed body respectively before dammed lake outburst; each breach unmanned aerial vehicle group comprises a breach unmanned aerial vehicle, a breach control end and a breach processing end, each river channel unmanned aerial vehicle group comprises a river channel unmanned aerial vehicle, a river channel control end and a river channel processing end, and all the processing ends are correspondingly connected with a server; when the barrier lake breaks out, each control end controls the breach unmanned aerial vehicle and the river channel unmanned aerial vehicle to rise to the position above a target area, each control end transmits information collected in real time to the corresponding processing end in real time through a communication network, and each processing end processes the information and then transmits a signal to the server. Therefore, real-time tracking of the dammed lake outburst flood peak and the propagation process thereof is realized. According to the invention, non-contact measurement is realized, and monitoring personnel are prevented from directly entering a dangerous area, so that the personal safety of the monitoring personnel is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of emergency disposal of barrier lakes, and in particular to a method and system for real-time tracking of barrier lake outburst flood peaks and flood propagation processes. Background Art

[0002] Inducing discharge from a barrier lake through artificial intervention measures is an important means of emergency response to barrier lakes to reduce disasters and risks, but outburst floods will still occur. For high-risk barrier lakes with huge barrier volumes and huge storage capacities, abnormal outburst floods often occur. Accurately and quickly obtaining the peak flow process and flood propagation process is an important task to control abnormal outburst floods and reduce flood disasters. At present, existing hydrological stations are often used to establish an emergency monitoring station network to monitor water level changes and determine whether the flood peak has passed. However, the abnormal outburst floods of high-risk barrier lakes have fast flow rates, fierce rises, strong destructive power, and long propagation distances. Downstream hydrological stations and surrounding traffic roads are often damaged and unable to observe hydrological data such as flood levels and flood peaks. At the same time, it seriously threatens the personal safety of hydrological monitoring personnel and is difficult to track the outburst flood peak in real time. For example, after the Baige barrier lake burst under artificial intervention, the peak flow reached 30,000 m 3 / s, the flood standard exceeded the once-in-10,000-year level. The water level at the Yebatan hydrological station 50km downstream rose by 30m in more than two hours, and the self-recording water level gauge failed. The water level at the Batang hydrological station 190km downstream rose by more than 11m in one hour, and the hydrological station was flooded. The Benzilan hydrological station 380km downstream was flooded. The flood standard at the Tacheng hydrological station 480km downstream still exceeded the once-in-1,000-year level. Wherever the flood went, bridges, roads and other facilities were either submerged or destroyed.

[0003] For abnormal outburst floods from high-risk barrier lakes with fast flow, rapid rise, strong destructive power and long propagation distance, there is a high probability that monitoring facilities such as ground hydrological stations will be unusable because they are easily submerged and destroyed, which seriously threatens the personal safety of hydrological monitoring personnel. There is a lack of a method that can both ensure the personal safety of hydrological monitoring personnel and track the outburst flood peak and the flood propagation process in real time. Summary of the invention

[0004] In order to solve the above-mentioned technical problems, the purpose of the present invention is to provide a method and system for real-time tracking of the outburst flood peak and flood propagation process of a barrier lake based on drones. By adopting long-sustaining drones equipped with multiple sensor modules, breach tracking drones are deployed in the barrier lake reservoir area, and river monitoring drones are distributed along the downstream river section to form a chain drone group. Through the information transmission between the control end, the processing end and the server, the linkage and joint measurement can be realized to realize the real-time tracking of the outburst flood peak.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides a method for real-time tracking of a flood peak and flood propagation process of a barrier lake, comprising:

[0007] Before the barrier lake bursts, a breach drone group and multiple river channel drone groups are deployed at preset points of the breach of the barrier and the river channel downstream of the barrier. The breach drone group includes a breach drone, a breach control terminal and a breach processing terminal. Each river channel drone group includes a river channel drone, a river channel control terminal and a river channel processing terminal. All processing terminals are connected to one server.

[0008] When a barrier lake bursts, each control terminal controls the breach drone and river channel drone to rise above the target area. Each control terminal transmits the real-time collected information to the corresponding processing terminal through the communication network. After processing, each processing terminal transmits the signal to the server, thus realizing real-time tracking of the flood peak and its propagation process of the barrier lake burst flood.

[0009] Preferably, before the barrier lake bursts, each control end controls the breach drone and the river channel drone to rise above the target area to obtain information data of the target area before the burst, and then quickly build a three-dimensional model of the target area on each processing end.

[0010] Further preferably, the target area information data includes: an oblique image of the target area before the breach occurs, topographic measurement data, water surface velocity, and water surface elevation; and the method for each processing end to quickly construct a three-dimensional model of the target area includes: based on oblique photography technology, using the acquired oblique image, supplemented by topographic measurement data, so as to quickly construct a three-dimensional model of the target area.

[0011] Preferably, when the barrier lake bursts, the breach control terminal controls the breach drone to rise above the breach in the target area of ​​the reservoir, collects information data of the target area in real time, and transmits it to the breach processing terminal in real time through the communication network. After processing by the breach processing terminal, the peak volume of the breach and its occurrence time are obtained;

[0012] When the breach processing end monitors the occurrence of a flood peak, the breach processing end transmits a signal to the server, which records the information and transmits the flood peak occurrence time and flow information to the first river channel processing end; after receiving the signal, the first river channel processing end records the information and controls the first river channel drone to rise above the target area of ​​the river channel through the first river channel control end in a timely manner, collects information data of the target area in real time, and transmits it to the first river channel processing end in real time through the communication network. After processing by the first river channel processing end, the flood peak volume and occurrence time of the target river channel flow section are obtained;

[0013] When the first river channel processing end monitors the occurrence of a flood peak, the first river channel processing end transmits a signal to the server, which records the information and transmits the flood peak occurrence time and flow information to the second river channel processing end; after receiving the signal, the second river channel processing end records the information and controls the second river channel UAV to rise above the target area of ​​the river channel through the second river channel control end in a timely manner, collects information data of the target area in real time, and transmits it to the second river channel processing end in real time through the communication network. After processing by the second river channel processing end, the flood peak volume and occurrence time of the target river channel flow section are obtained;

[0014] And so on, until all drones are released.

[0015] Further preferably, the processing method at the breach processing end or the river channel processing end is: by comparing images at different time periods, the three-dimensional model is updated in real time to obtain the shape change of the breach section of the barrier lake or the target river channel section; then the measured water surface elevation is superimposed on the three-dimensional model to obtain the increased flow area of ​​the breach or the target river channel flow section; then the measured water surface velocity is used, combined with the velocity distribution model and the water flow area to calculate the flow rate, thereby realizing real-time monitoring of the flow rate of the breach or the target river channel section, and drawing a flood flow-time curve, which can be used to monitor the flood peak volume and occurrence time of the breach or the target river channel flow section.

[0016] Further preferably, for emergency response special situation 1, if the breach drone cannot feed back information to the server, a manual method is used to transmit the estimated peak flow and occurrence time information to the server when a possible flood peak is monitored, and the server transmits the information to the first river channel processing end.

[0017] Further preferably, for emergency response special situation 2, if a river drone cannot feedback information to the corresponding processing end, or the processing end cannot feedback information to the server, that is, a local information interruption occurs, the processing end is skipped, and the server passes the acquired information to the next river drone, and releases the next river drone in a timely manner.

[0018] Preferably, the server can also superimpose the real-time video of the drone on the GIS map through real-time geographic video technology, dynamically displaying the drone's field of view of all monitoring sections of the river; or, superimpose the three-dimensional model of the reservoir area and river channel on the GIS map through BIM+GIS technology, and display the flow situation of the target area in real time through three-dimensional images; or, use the flood flow-time data of each monitoring section to make real-time corrections to the flood peak forecast model of the barrier lake outburst.

[0019] The present invention provides a system for real-time tracking of the flood peak and flood propagation process of the barrier lake, the system comprising:

[0020] The breach drone group includes a breach drone, a breach control terminal and a breach processing terminal. The breach control terminal is used to control the flight of the breach drone and transmit the data information obtained by the breach drone to the breach processing terminal in real time for processing through the communication network;

[0021] River channel drone group: multiple river channel drone groups are deployed along the extension direction of the river channel. Each river channel drone group includes a river channel drone, a river channel control terminal and a river channel processing terminal. The river channel control terminal is used to control the flight of the river channel drone and use the communication network to transmit the data information obtained by the river channel drone to the river channel processing terminal in real time for processing;

[0022] Server, the server is connected with the breach processing end and all river channel processing end signals.

[0023] Preferably, the breach drone or river channel drone is equipped with a positioning and measurement module, an oblique photography module and a radar flow measurement module. The positioning and measurement module is used to realize the terrain measurement of the target area, the oblique photography module is used to obtain the oblique image of the target area to provide data for subsequent three-dimensional modeling, and the radar flow measurement module is used to collect water surface flow velocity and water surface elevation information.

[0024] Compared with the prior art, the method and system for real-time tracking of the flood peak and flood propagation process of the barrier lake provided by the present invention have the following significant advantages and beneficial effects:

[0025] (1) The present invention uses a drone for data collection, realizes non-contact measurement, and avoids monitoring personnel from directly entering dangerous areas, thereby ensuring the personal safety of monitoring personnel.

[0026] (2) The breach and river data are collected in real time by drones, quickly transmitted to the processing end for processing, and then uploaded to the server, thus achieving real-time tracking of the flood peak of the barrier lake and its propagation process, improving the accuracy and timeliness of the data.

[0027] (3) The distributed deployment architecture in which one control end corresponds to one processing end and all processing ends correspond to one server can solve the problem that the control end cannot directly transmit data to the server due to the long river distance, thereby improving the flexibility and scalability of the system.

[0028] (4) A distributed processing strategy is adopted to process the information data collected by the drone at the processing end and then transmit the processed data to the server, which reduces the information processing load of the server and is conducive to improving the efficiency of emergency response.

[0029] (5) The use of a distributed deployment architecture allows the server to be placed in an area with good environmental conditions and good communication signals, thus avoiding the situation in which local conditions affect the overall situation when emergencies occur in harsh environments during emergency response (such as individual river drones or processing terminals failing to work, transmit information, and cannot be replaced).

[0030] (6) In the event that the drone or processing end is unable to provide feedback, an emergency solution for manual intervention and skipping interruption points is provided to ensure the reliability and stability of the system.

[0031] (7) The server integrates real-time geographic video technology, BIM+GIS technology, and real-time correction of forecast models. It can dynamically display the monitoring status of river sections, correct the forecast model in real time, and provide comprehensive and accurate information support for emergency decision-making.

[0032] (8) The present invention is not only applicable to the real-time tracking of flood peaks of barrier lake outbursts, but can also be extended to other types of flood monitoring and early warning systems, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the scene arrangement of the real-time tracking system of the outburst flood peak and flood propagation process of the barrier lake of the present invention.

[0034] Figure 2 This is a schematic diagram of the distributed layout architecture of the real-time tracking system for the outburst flood peak and flood propagation process of the barrier lake of the present invention.

[0035] In the figure: 1. Mountain; 2. Dammed lake; 3. Dammed body; 4. Dammed body breach; 5. River channel downstream of the dammed body; 601. UAV No. 0; 602. Control terminal No. 0; 603. Processing terminal No. 0; 701. UAV No. 1; 702. Control terminal No. 1; 703. Processing terminal No. 1; 801. UAV No. 2; 802. Control terminal No. 2; 803. Processing terminal No. 2; 901. UAV No. n; 902. Control terminal No. n; 903. Processing terminal No. n; 10. Server. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the preferred implementation scheme of the present invention is described below in conjunction with specific embodiments. However, it should be understood that the drawings are only used for exemplary description and cannot be understood as a limitation on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. The positional relationship described in the drawings is only for exemplary description and cannot be understood as a limitation on this patent.

[0037] The following is combined with Figure 1-2 The present invention is further described in detail, and a method and system for real-time tracking of the flood peak and flood propagation process of a barrier lake outburst are explained.

[0038] Example 1

[0039] like Figure 1 and 2 As shown, this embodiment provides a method for real-time tracking of the flood peak and flood propagation process of a barrier lake outburst, including:

[0040] (1) Before the barrier lake 2 bursts, a breach drone group and a river channel drone group are deployed; the breach drone is numbered as drone No. 0 601 and deployed at the preset breach 4 of the barrier body; the breach control terminal and breach treatment terminal used in conjunction with drone No. 0 601 are numbered as control terminal No. 0 602 and treatment terminal No. 0 603, respectively; the river channel drones are numbered as drone No. 1 701, drone No. 2 801, ... drone No. n 901 in sequence according to the flow direction of the river channel 5 downstream of the barrier body; the river channel control terminal and river channel treatment terminal used in conjunction with drone No. 1 701 are numbered as control terminal No. 1 702 and treatment terminal No. 1 703, respectively; the river channel control terminal and river channel treatment terminal used in conjunction with drone No. 2 801 are numbered as control terminal No. 2 802 and treatment terminal No. 2 803, respectively; the river channel control terminal and river channel treatment terminal used in conjunction with drone No. n 901 are numbered as control terminal No. n 902 and treatment terminal No. n 903, respectively. The deployment points are determined comprehensively according to the length of the river, surrounding environmental conditions, and communication conditions (for example, for a 500km-long river, a river drone can be initially deployed at 50-100km intervals, and then the deployment spacing can be adjusted according to the surrounding environmental conditions and communication conditions. The distances between river drones are not required to be equidistant); after each deployment is completed, the breach drone and the river drone can be raised to a certain height above the target river section through each control end to obtain information data of the target area before the breach, such as oblique images of the target area before the breach, topographic measurement data, water surface flow velocity, water surface elevation and other information. Then, based on the oblique photography technology, each processing end uses the acquired oblique images supplemented by topographic measurement data to quickly build a three-dimensional model of the target area.

[0041] (2) When the barrier lake 2 breaks (the barrier body overflows), the No. 0 drone 601 at the breach is released through the No. 0 control terminal 602, and rises to a certain height above the target area of ​​the reservoir area, and records and photographs in real time, collects the target area's tilted image, topographic measurement data, water surface velocity, water surface elevation and other information; transmits the information to the No. 0 processing terminal 603 in real time through the communication network (existing communication network or emergency communication network), and updates the three-dimensional model in real time by comparing the images of different time periods on the No. 0 processing terminal 603 to obtain the shape change of the breach section of the barrier lake; then, the measured water surface elevation is superimposed on the three-dimensional model to obtain the increased flow area A0 of the river flow section; then, the measured water surface velocity is combined with the velocity distribution model and the water flow area to calculate the flow Q0. In this way, the real-time monitoring of the breach flow is realized, and the "flood flow-time" curve is drawn, which can be used to monitor the peak volume of the breach and its occurrence time.

[0042] (3) When the processing terminal 0 603 detects the occurrence of a flood peak, the processing terminal 0 603 transmits a signal to the server 10, and the server 10 records the information and transmits the flood peak occurrence time, flow rate and other information to the processing terminal 1 703; after receiving the signal, the processing terminal 1 703 records the information and timely controls the river channel UAV 1 701 through the control terminal 1 702 to rise to a certain height above the target area of ​​the river channel, and records and photographs the target area in real time, collects the oblique image, topographic measurement data, water surface velocity, water surface elevation and other information; transmits the information to the processing terminal 1 703 in real time through the communication network, and updates the three-dimensional model in real time by comparing the images at different time periods on the processing terminal 1 703 to obtain the shape change of the target river channel section of the barrier lake; then, the measured water surface elevation is superimposed on the three-dimensional model to obtain the increased flow area A1 of the target river channel flow section; then, the measured water surface velocity is combined with the velocity distribution model and the water flow area to calculate the flow rate Q1. This enables real-time monitoring of the flow rate of the target river section, and a "flood flow-time" curve is drawn, which can be used to monitor the peak flow rate and occurrence time of the target river section.

[0043] (4) When the No. 1 processing terminal 703 detects a flood peak, the No. 1 processing terminal 703 transmits a signal to the server 10, and the server 10 records the information and transmits the flood peak time, flow rate and other information to the No. 2 processing terminal 803; after receiving the signal, the No. 2 processing terminal records the information and timely controls the No. 2 river drone 801 through the No. 2 control terminal 802 to rise to a certain height above the target area of ​​the river channel, record and photograph in real time, and collect the target area oblique image, topographic measurement data, water surface velocity, water surface elevation and other information; transmit the information to the No. 2 processing terminal 803 in real time through the communication network, and update the three-dimensional model in real time by comparing the images at different time periods on the No. 2 processing terminal 803 to obtain the shape change of the target river channel section of the barrier lake; then use the measured water surface elevation to superimpose it on the three-dimensional model to obtain the increased flow area A2 of the target river channel flow section; then use the measured water surface velocity, combined with the velocity distribution model and the water flow area to calculate the flow rate Q2. This enables real-time monitoring of the flow rate of the target river section, and a "flood flow-time" curve is drawn, which can be used to monitor the peak flow rate and occurrence time of the target river section.

[0044] (5) And so on, until all drones are released.

[0045] (6) The server records in real time the information such as the time of occurrence and flow of the flood peak transmitted by each processing end, thus achieving real-time tracking of the flood peak and its propagation process of the outburst flood of the barrier lake.

[0046] For emergency handling special situation 1, if the breach drone No. 0 601 is unable to feed back information to the server 10, then a manual method is used to transmit the estimated peak flow, occurrence time and other information to the server when a possible flood peak is detected, and the server 10 transmits the information to the processing terminal No. 1 703.

[0047] For emergency response special situation 2, if a river drone cannot feed back information to the corresponding processing end, or the processing end cannot feed back information to the server, that is, a local information interruption occurs, the processing end will be skipped, and the server will pass the acquired information to the next river drone and release the next river drone in a timely manner.

[0048] In addition to receiving information from the processing end and transmitting information to the processing end, the server can also overlay the real-time video of the drone on the GIS map through real-time geographic video technology, dynamically displaying the drone's field of view of all monitoring sections of the river section; it can also overlay the three-dimensional model of the reservoir area and river channel on the GIS map through BIM+GIS technology, and display the flow conditions of the target area in real time through three-dimensional images; it can also use the "flood flow-time" data of each monitoring section to improve the accuracy of the forecast of the flood peak of the outburst of the barrier lake by real-time correction of the forecast model of the outburst flood peak of the barrier lake.

[0049] Example 2

[0050] This embodiment provides a system for real-time tracking of the flood peak and flood propagation process of the barrier lake burst described in Example 1, the system includes a breach drone group, a river drone group, and a server.

[0051] The breach drone group includes a breach drone, a breach control terminal and a breach processing terminal. The breach control terminal is used to control the flight of the breach drone and use the communication network to transmit the data information obtained by the breach drone to the breach processing terminal in real time for processing; there are multiple river channel drone groups deployed along the extension direction of the river channel, and each river channel drone group includes a river channel drone, a river channel control terminal and a river channel processing terminal. The river channel control terminal is used to control the flight of the river channel drone and use the communication network to transmit the data information obtained by the river channel drone to the river channel processing terminal in real time for processing; the server is signal-connected with the breach processing terminal and all river channel processing terminals.

[0052] The breach drone or river drone is equipped with a positioning and measurement module (such as an RTK module), an oblique photography module, and a radar flow measurement module. The positioning and measurement module is used to measure the topography of the target area, the oblique photography module is used to obtain oblique images of the target area to provide data for subsequent three-dimensional modeling, and the radar flow measurement module is used to collect water surface flow velocity and water surface elevation information. Among them, the specific structure and working principle of the positioning and measurement module, the oblique photography module, and the radar flow measurement module can be selected conventionally in the field.

[0053] In summary, the present invention realizes real-time and accurate tracking of the flood peak and flood propagation process of the barrier lake through innovative UAV monitoring technology and distributed deployment architecture, provides strong technical support for emergency decision-making, and has significant social and economic benefits.

[0054] According to the description and drawings of the present invention, those skilled in the art can easily manufacture or use the method and system for real-time tracking of the outburst flood peak and flood propagation process of a barrier lake of the present invention, and can produce the positive effects recorded in the present invention.

[0055] Unless otherwise specified, in the present invention, the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicating orientation or positional relationships are based on the orientation or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the orientation or positional relationship in the present invention are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood in conjunction with the drawings and according to specific circumstances.

[0056] Unless otherwise clearly specified and limited, in the present invention, the terms "disposed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] The above is only a preferred embodiment of the present invention, but the present invention is not limited to the above specific embodiments. Those skilled in the art may make some modifications, supplements or use similar methods instead without departing from the principle of the present invention, which should also be regarded as the protection scope of the present invention.

Claims

1. A method for real-time tracking of flood peak and flood propagation process of barrier lake outburst, characterized in that: include: Before the barrier lake bursts, a breach drone group and multiple river channel drone groups are deployed at preset points of the breach of the barrier and the river channel downstream of the barrier. The breach drone group includes a breach drone, a breach control terminal and a breach processing terminal. Each river channel drone group includes a river channel drone, a river channel control terminal and a river channel processing terminal. All processing terminals are connected to one server. When a barrier lake bursts, each control terminal controls the breach drone and river channel drone to rise above the target area. Each control terminal transmits the real-time collected information to the corresponding processing terminal through the communication network. After processing, each processing terminal transmits the signal to the server, thus realizing real-time tracking of the flood peak and its propagation process of the barrier lake burst flood.

2. The method for real-time tracking of flood peak and flood propagation process of barrier lake outburst according to claim 1, characterized in that: Before the barrier lake bursts, the breach drone and river channel drone are raised to above the target area through the control of each control terminal to obtain information data of the target area before the burst, and then a three-dimensional model of the target area is quickly constructed on each processing terminal.

3. The method for real-time tracking of flood peak and flood propagation process of barrier lake outburst according to claim 2 is characterized by: The target area information data includes: oblique images of the target area before the breach occurs, topographic measurement data, water surface velocity, and water surface elevation; the method for each processing end to quickly construct a three-dimensional model of the target area includes: based on oblique photography technology, using the acquired oblique images, supplemented by topographic measurement data, to quickly construct a three-dimensional model of the target area.

4. The method for real-time tracking of flood peak and flood propagation process of barrier lake outburst according to claim 1, characterized in that: When the barrier lake bursts, the breach control terminal controls the breach drone to rise above the breach in the target area of ​​the reservoir, collects information data of the target area in real time, and transmits it to the breach processing terminal in real time through the communication network. After processing by the breach processing terminal, the peak volume of the breach and its occurrence time are obtained; When the breach processing end monitors the occurrence of a flood peak, the breach processing end transmits a signal to the server, which records the information and transmits the flood peak occurrence time and flow information to the first river channel processing end; after receiving the signal, the first river channel processing end records the information and controls the first river channel drone to rise above the target area of ​​the river channel through the first river channel control end in a timely manner, collects information data of the target area in real time, and transmits it to the first river channel processing end in real time through the communication network. After processing by the first river channel processing end, the flood peak volume and occurrence time of the target river channel flow section are obtained; When the first river channel processing end monitors the occurrence of a flood peak, the first river channel processing end transmits a signal to the server, which records the information and transmits the flood peak occurrence time and flow information to the second river channel processing end; after receiving the signal, the second river channel processing end records the information and controls the second river channel UAV to rise above the target area of ​​the river channel through the second river channel control end in a timely manner, collects information data of the target area in real time, and transmits it to the second river channel processing end in real time through the communication network. After processing by the second river channel processing end, the flood peak volume and occurrence time of the target river channel flow section are obtained; And so on, until all drones are released.

5. The method for real-time tracking of flood peak and flood propagation process of barrier lake outburst according to claim 4 is characterized by: The processing method at the breach processing end or the river channel processing end is as follows: by comparing images at different time periods, the three-dimensional model is updated in real time to obtain the shape change of the breach section of the landslide body or the target river channel section; then the measured water surface elevation is superimposed on the three-dimensional model to obtain the increased flow area of ​​the breach or target river channel flow section; then the measured water surface velocity is used, combined with the velocity distribution model and the water flow area to calculate the flow rate, thereby realizing real-time monitoring of the flow rate of the breach or target river channel section, and drawing a flood flow-time curve, which can be used to monitor the flood peak volume and occurrence time of the breach or target river channel flow section.

6. The method for real-time tracking of flood peak and flood propagation process of barrier lake outburst according to claim 4, characterized in that: For special emergency response situation 1, if the breach drone cannot feed back information to the server, manual methods are used to transmit the estimated peak flow and occurrence time information to the server when a possible flood peak is monitored, and the server transmits the information to the first river channel processing end.

7. The method for real-time tracking of flood peak and flood propagation process of barrier lake outburst according to claim 4, characterized in that: For emergency response special situation 2, if a river drone cannot feed back information to the corresponding processing end, or the processing end cannot feed back information to the server, that is, a local information interruption occurs, the processing end will be skipped, and the server will pass the acquired information to the next river drone and release the next river drone in a timely manner.

8. The system of the method for real-time tracking of the flood peak and flood propagation process of the barrier lake according to claim 1, characterized in that: The server can also use real-time geographic video technology to overlay the drone's real-time video on the GIS map, dynamically displaying the drone's view of all monitoring sections of the river; or, through BIM+GIS technology, overlay the three-dimensional model of the reservoir area and river channel on the GIS map, and display the flow conditions of the target area in real time through three-dimensional images; or, use the flood flow-time data of each monitoring section to make real-time corrections to the flood peak forecast model of the barrier lake outburst.

9. A system applied to the method for real-time tracking of the flood peak and flood propagation process of a barrier lake as claimed in any one of claims 1 to 8, characterized in that: The system comprises: The breach drone group includes a breach drone, a breach control terminal and a breach processing terminal. The breach control terminal is used to control the flight of the breach drone and transmit the data information obtained by the breach drone to the breach processing terminal in real time for processing through the communication network; River channel drone group: multiple river channel drone groups are deployed along the extension direction of the river channel. Each river channel drone group includes a river channel drone, a river channel control terminal and a river channel processing terminal. The river channel control terminal is used to control the flight of the river channel drone and use the communication network to transmit the data information obtained by the river channel drone to the river channel processing terminal in real time for processing; Server, the server is connected with the breach processing end and all river channel processing end signals.

10. The system of the method for real-time tracking of the flood peak and flood propagation process of the barrier lake according to claim 9, characterized in that: Breach drones or river channel drones are equipped with positioning and measurement modules, oblique photography modules and radar flow measurement modules. The positioning and measurement module is used to realize terrain measurement of the target area, the oblique photography module is used to obtain oblique images of the target area to provide data for subsequent three-dimensional modeling, and the radar flow measurement module is used to collect water surface flow velocity and water surface elevation information.

Images