Automatic monitoring system and monitoring method for large-range ice and snow melting

Abstract

The invention discloses an automatic monitoring system and method for large-range ice and snow melting. A central data processing module of the monitoring system is used for data receiving, data processing and data processing result display; the GPS positioning module adopts a high-precision GNSS receiver and is used for accurately positioning the monitoring system; the binocular positioning module adopts a self-heating camera and a depth estimation algorithm and is used for monitoring large-range ice and snow ablation, snow accumulation, sedimentation and drifting conditions; the data acquisition module is used for monitoring the photovoltaic energy supply condition of the system and the weather condition of the snow surface; the clean energy power supply module is used for providing a stable 24V direct-current power supply for other modules; the temperature control module is used for adjusting the system internal temperature. The system can carry out long-time unattended monitoring in an extreme environment, has the characteristics of high precision, high automation degree and miniaturization, and is suitable for monitoring a large-range ice and snow melting state and surrounding weather conditions.

Description

Technical Field

[0001] The invention relates to a large-scale ice and snow melting automatic monitoring system and monitoring method, belonging to the technical field of automatic monitoring. Background Art

[0002] Monitoring of snow and ice melting is of great significance in polar and cold regions, especially the collection of information such as snow accumulation, snow surface characteristics, snow layer sedimentation, drift and melting, which not only helps scientific research, but also provides decision-making support for snow area management. However, traditional snow melting monitoring methods mainly rely on manual observation, which is not only labor-intensive and time-consuming, but also causes unnecessary interference to the snow layer due to human activities, thus affecting the accuracy of the data. In addition, the polar regions have harsh weather and complex environments, and manual monitoring has great safety risks and difficulties.

[0003] In recent years, non-contact visual measurement technology has developed rapidly, especially in ice and snow environments. Non-contact monitoring can effectively avoid human interference and use binocular stereo cameras and depth measurement technology to obtain three-dimensional image data to achieve accurate monitoring of a large range of snow surfaces. At the same time, combined with the global positioning system (GPS) technology, the global positioning of the snow layer and the tracking of feature points can be achieved, providing accurate spatial coordinates for the detection of snow melting, drift and sedimentation. In addition, traditional energy supply methods in polar environments are difficult to maintain long-term monitoring work. The application of clean energy, such as photovoltaic power supply, is not only in line with the concept of sustainable development, but also can provide stable electricity in extreme environments. Especially in cold environments, maintaining the appropriate operating temperature of the equipment through the temperature control module can ensure that the system can continue to work unattended for a long time, thereby improving the reliability and efficiency of monitoring.

[0004] Therefore, how to use advanced visual measurement technology, GPS positioning and clean energy to build an automatic monitoring system for ice and snow melting that can operate autonomously for a long time has become an important direction of technological development. Such a system can provide efficient and accurate melting monitoring solutions, and has polar adaptability and meteorological environment data collection capabilities, providing comprehensive support for snow area management and meteorological warnings. Summary of the invention

[0005] The purpose of the present invention is to propose an automated monitoring system and method for large-scale ice and snow melting, so as to realize the automated collection of image data, snow surface point cloud data, snow surface feature positioning data and surrounding meteorological data of large-scale ice and snow melting status through visual non-contact measurement under long-term unmanned conditions.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A large-scale ice and snow melting automatic monitoring system and monitoring method, including: a central data processing module, a GPS positioning module, a binocular positioning monitoring module, a data acquisition module, a clean energy power supply module and a temperature control module; the GPS positioning module, the binocular positioning monitoring module and the data acquisition module are all connected to the central data processor in two-way communication, and the clean energy power supply module is connected to the central data processing module, the GPS positioning module, the data acquisition module and the temperature control module; wherein the central data processing module is used for data reception, data processing and data processing result display; the GPS positioning module is used for accurately locating the monitoring system; the binocular positioning module is used for monitoring large-scale ice and snow melting, snow accumulation, sedimentation and snow layer drift; the data acquisition module is used for monitoring the system photovoltaic power supply and the meteorological conditions of the snow surface; the clean energy power supply module is used for supplying energy to other modules; the temperature control module is used for adjusting the internal temperature of the system.

[0007] Furthermore, it also includes an electrical cabinet, which is filled with insulation material; the electrical cabinet has a double-door structure, including an outer door and an inner door; the outer door is equipped with a 5mm thick plexiglass visual window for observing the industrial display installed on the inner door; the central data processor, the 24V voltage regulator module and MPPT controller of the clean energy power supply module, as well as the battery part, the electrical data acquisition part of the data acquisition module and the temperature control module are all located inside the electrical cabinet; the GPS positioning module and the meteorological data acquisition part of the data acquisition module are both located on the surface of the electrical cabinet shell; the photovoltaic power supply part and the binocular depth estimation module of the clean energy power supply module are both located outside the electrical cabinet and are connected to the inside of the electrical cabinet through cold-resistant cables.

[0008] Furthermore, the central data processing module includes an industrial computer and an RS485 hub; the industrial computer is used for data reception, data processing and data processing result display; the RS485 hub is connected to the data acquisition module to expand the serial port data transmission capability of the industrial computer.

[0009] Furthermore, the industrial computer has multiple types of interfaces and can receive multiple types of data; the industrial computer has a high-performance processor and a graphics processing module and can process multiple types of data in real time; the industrial computer is connected to an industrial-grade display screen and can display data collection and processing results in real time.

[0010] Furthermore, the GPS positioning module adopts a high-precision GNSS receiver for accurately positioning the monitoring system.

[0011] Furthermore, the data acquisition module includes an electrical data acquisition module and a meteorological data acquisition module; the electrical data acquisition module includes a current transmitter and a voltage transmitter, which collect current and voltage data of the photovoltaic panel for monitoring the photovoltaic energy supply; the meteorological data acquisition module includes an irradiance sensor and a temperature and humidity sensor, which collect meteorological data for monitoring the meteorological environment.

[0012] Furthermore, the clean energy power supply module includes a photovoltaic power supply module, an MPPT controller, a low-temperature ternary lithium battery and a 24V voltage stabilizing module; the photovoltaic power supply module, the MPPT controller, the low-temperature ternary lithium battery and the 24V voltage stabilizing module are connected in sequence to provide a stable 24V DC power supply to other modules.

[0013] Furthermore, the photovoltaic energy supply module fully considers the lighting patterns and mechanical structure stability of the polar regions, and consists of three 200W photovoltaic panels embedded in three faces of the triangular prism frame to achieve 24-hour efficient energy supply.

[0014] Furthermore, the temperature control module includes a heater and a temperature controller; the heater is located in the cabin away from the battery to prevent the battery temperature from being too high; the temperature controller adopts a PID algorithm to ensure that the temperature changes within an appropriate range.

[0015] A method for automatically monitoring large-scale ice and snow melting comprises the following steps: Step 1: Install the binocular positioning monitoring module and connect the self-heating binocular camera and industrial computer; Step 2: Run the binocular image acquisition program; Step 3: Run the binocular stereo calibration program; Step 4: Run the binocular depth estimation program; Step 5: Run the coordinate conversion program, and use the binocular positioning data and GPS positioning data to convert the position data of the characteristic points of large-scale ice and snow melting relative to the monitoring system into the position relative to the GPS base station, which is used to monitor large-scale ice and snow melting, snow accumulation, sedimentation and snow drift.

[0016] The beneficial effects of the present invention are as follows: (1) The manual monitoring of snow melting is not only time-consuming and labor-intensive, but also causes additional impacts on the snow surface due to human activities. The present invention uses a visual non-contact measurement positioning algorithm and GPS positioning to provide a more accurate, safer and more efficient global positioning monitoring solution for the melting of ice and snow; (2) The present invention not only monitors the snow surface, but also monitors the surrounding meteorological environment of the polar snow surface, providing meteorological warnings for snow surface management personnel; (3) The present invention is powered by clean energy and can be unmanned for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1It is a structural schematic diagram of a large-scale ice and snow melting automatic monitoring system proposed by the present invention.

[0018] Figure 2 It is a schematic diagram of an algorithm for a large-scale automated monitoring method for ice and snow melting proposed in the present invention. DETAILED DESCRIPTION

[0019] The technical solution provided by the present invention will be described in detail below in conjunction with specific embodiments. It should be understood that the following specific implementation methods are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0020] like Figure 1 As shown, the present invention discloses a large-scale automatic monitoring system for ice and snow melting, comprising: An electrical cabinet, wherein the interior of the electrical cabinet is filled with insulation material; the electrical cabinet is a double-door structure, including an outer door and an inner door; a 5mm thick plexiglass visual window is installed on the outer door for observing the industrial display installed on the inner door; the central data processor, the 24V voltage regulator module and MPPT controller of the clean energy power supply module, as well as the battery part, the electrical data acquisition part of the data acquisition module and the temperature control module are all located inside the electrical cabinet; the GPS positioning module and the meteorological data acquisition part of the data acquisition module are both located on the surface of the electrical cabinet shell; the photovoltaic power supply part and the binocular depth estimation module of the clean energy power supply module are both located outside the electrical cabinet and are connected to the inside of the electrical cabinet through cold-resistant cables; the central data processing module is used for data reception, data processing and display of data processing results.

[0021] In this embodiment, the GPS positioning module adopts a high-precision GNSS receiver for accurately positioning the monitoring system; the binocular positioning module adopts a self-heating camera and a depth estimation algorithm for monitoring large-scale ice and snow melting, snow accumulation, sedimentation and snow drift; the data acquisition module is used to monitor the system's photovoltaic power supply and the meteorological conditions of the snow surface; the clean energy power supply module includes a photovoltaic power supply module, an MPPT controller, a low-temperature ternary lithium battery and a 24V voltage regulator module, which is used to provide a stable 24V DC power supply to other modules; the temperature control module is used to adjust the internal temperature of the system.

[0022] like Figure 2 As shown, corresponding to the above method, the embodiment of the present invention also discloses a large-scale automatic monitoring method for ice and snow melting, including the following steps: Step 1: Install the binocular positioning monitoring module and connect the self-heating binocular camera and industrial computer; Step 2: Run the binocular image acquisition program; Step 3: Run the binocular stereo calibration program; Step 4: Run the binocular depth estimation program; Step 5: Run the coordinate conversion program, and use the binocular positioning data and GPS positioning data to convert the position data of the characteristic points of large-scale ice and snow melting relative to the monitoring system into the position relative to the GPS base station, which is used to monitor large-scale ice and snow melting, snow accumulation, sedimentation and snow drift.

[0023] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical solutions composed of any combination of the above-mentioned technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A large-scale automatic monitoring system for ice and snow melting, characterized in that: include: Central data processing module, GPS positioning module, binocular positioning monitoring module, data acquisition module, clean energy power supply module and temperature control module; the GPS positioning module, binocular positioning monitoring module and data acquisition module are all connected to the central data processor in two-way communication, and the clean energy power supply module is connected to the central data processing module, GPS positioning module, data acquisition module and temperature control module, wherein the central data processing module is used for data reception, data processing and data processing result display; the GPS positioning module is used for accurate positioning monitoring system; the binocular positioning module is used for monitoring surface ablation, snow accumulation and drift of large-scale ice and snow melting; the data acquisition module is used for monitoring the photovoltaic power supply of the system and the meteorological conditions of the snow surface; the clean energy power supply module is used for supplying energy to other modules; the temperature control module is used for adjusting the internal temperature of the system.

2. The large-scale ice and snow melting automatic monitoring system according to claim 1 is characterized in that: It also includes an electrical cabinet, which is filled with insulation material; the electrical cabinet has a double-door structure, including an outer door and an inner door; the outer door is equipped with a 5mm thick plexiglass visual window for observing the industrial display installed on the inner door; the central data processor, the 24V voltage regulator module and MPPT controller of the clean energy power supply module, as well as the battery part, the electrical data acquisition part of the data acquisition module and the temperature control module are all located inside the electrical cabinet; the GPS positioning module and the meteorological data acquisition part of the data acquisition module are both located on the surface of the electrical cabinet shell; the photovoltaic power supply part and the binocular depth estimation module of the clean energy power supply module are both located outside the electrical cabinet and are connected to the inside of the electrical cabinet through cold-resistant cables.

3. The large-scale ice and snow melting automatic monitoring system according to claim 1 is characterized in that: The central data processing module includes an industrial computer and an RS485 hub; the industrial computer is used for data reception, data processing and data processing result display; the RS485 hub is connected to the data acquisition module to expand the serial port data transmission capability of the industrial computer.

4. The large-scale automatic monitoring system for ice and snow melting according to claim 3 is characterized in that: The industrial computer has multiple types of interfaces and can receive multiple types of data; the industrial computer has a high-performance processor and a graphics processing module and can process multiple types of data in real time; the industrial computer is connected to an industrial-grade display screen and can display data collection and processing results in real time.

5. The large-scale automatic monitoring system for ice and snow melting according to claim 1 is characterized in that: The GPS positioning module uses a high-precision GNSS receiver to accurately locate the monitoring system.

6. The large-scale automatic monitoring system for ice and snow melting according to claim 1 is characterized in that: The data acquisition module includes an electrical data acquisition module and a meteorological data acquisition module; the electrical data acquisition module includes a current transmitter and a voltage transmitter, which collect current and voltage data of the photovoltaic panel for monitoring the photovoltaic energy supply; the meteorological data acquisition module includes an irradiance sensor and a temperature and humidity sensor, which collect meteorological data for monitoring the meteorological environment of large-scale ice and snow melting.

7. The large-scale automatic monitoring system for ice and snow melting according to claim 1 is characterized in that: The clean energy power supply module includes a photovoltaic power supply module, an MPPT controller, a low-temperature ternary lithium battery and a 24V voltage stabilizing module; the photovoltaic power supply module, the MPPT controller, the low-temperature ternary lithium battery and the 24V voltage stabilizing module are connected in sequence to provide a stable 24V DC power supply to other modules.

8. The large-scale automatic monitoring system for ice and snow melting according to claim 7 is characterized in that: The photovoltaic energy supply module fully considers the lighting patterns and mechanical structure stability of the polar regions, and consists of three 200W photovoltaic panels embedded in three faces of the triangular column frame to achieve 24-hour efficient energy supply.

9. The large-scale automatic monitoring system for ice and snow melting according to claim 1 is characterized in that: The temperature control module includes a heater and a temperature controller; the heater is located in the cabin away from the battery to prevent the battery temperature from being too high; the temperature controller adopts a PID algorithm to ensure that the temperature changes within an appropriate range.

10. A method for automated monitoring of large-scale ice and snow melting, characterized in that: The system according to any one of claims 1 to 9 comprises the following steps: Step 1: Install the binocular positioning monitoring module and connect the self-heating binocular camera and industrial computer; Step 2: Run the binocular image acquisition program; Step 3: Run the binocular stereo calibration program; Step 4: Run the binocular depth estimation program; Step 5: Run the coordinate conversion program, and use the binocular positioning data and GPS positioning data to convert the position data of the characteristic points of large-scale ice and snow melting relative to the monitoring system into the position relative to the GPS base station, which is used to monitor large-scale ice and snow melting, snow accumulation, sedimentation and snow drift.

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