Fire building deformation monitoring method and system based on air-ground remote sensing networking

Abstract

The invention provides a fire building deformation monitoring method and system based on an air-ground remote sensing network. The method comprises the following steps: obtaining radar images through a foundation deformation monitoring radar A, an unmanned aerial vehicle deformation monitoring radar B and an unmanned aerial vehicle deformation monitoring radar C; geocoding is carried out on remote sensing images acquired by all radars, and image coordinates of a building structure target in a radar slant range-azimuth polar coordinate system are mapped to local space three-dimensional coordinates; and iteratively resolving the three-dimensional deformation component and the deformation speed of the target according to radar distributed networking monitoring. According to the invention, high-precision monitoring can be carried out on three-dimensional deformation of a building structure target in a fire emergency rescue scene.

Description

Technical Field

[0001] The invention belongs to the field of remote sensing deformation monitoring of fire-affected buildings, and in particular relates to a method and system for monitoring deformation of fire-affected buildings based on air-ground remote sensing networking. Background Art

[0002] Fire-affected buildings face the current situation of rapid fire spread, difficulty in evacuating personnel, easy occurrence of secondary disasters such as gas leakage and collapse, and lack of safety monitoring means. The collapse of fire-affected buildings can easily cause serious consequences such as mass casualties, huge economic losses, and social panic. The process of fire fighting and rescue not only poses a huge threat to the lives of fire rescue personnel, but also brings huge pressure to the decision-making and implementation of fire rescue sites.

[0003] It was found in the test and fire scene observation that the deformation displacement and deformation rate of the building structure target can reflect the essential characteristics of the structure collapse. Therefore, the deformation of the structure target can be used as one of the main indicators for determining the risk of building collapse. Real-time and accurate acquisition of the three-dimensional deformation of the key structural targets of the fire-affected building is of great significance for the early warning of building collapse at the fire scene and ensuring the safety of rescue personnel.

[0004] However, although traditional deformation monitoring equipment can be used with the Internet of Things monitoring platform to conduct regular monitoring and early warning of building safety risks such as settlement, tilt, cracks, and vibration, it is not suitable for deployment in fire rescue scenarios. Laser displacement monitoring equipment has the advantages of high precision and long detection distance. Although it has integrated infrared temperature measurement, inclination, wireless transmission and other functions, it is still a "single point detection" and is easily weakened by strong natural light or thermal radiation and interfered by dense fog, smoke and other environments. Ground-based interferometric radar has the advantages of non-contact, large range, and high precision. In recent years, it has been effectively applied to the deformation and displacement measurement of actual fire scene structure targets. However, ground-based interferometric radar is limited by the monitoring angle of view and cannot obtain deformation information of key points on the top, and the search for temporary high points affects the rescue timeliness. On the other hand, the single radar monitoring method can only obtain the displacement results in the direction of the radar line of sight, and cannot perceive the three-dimensional spatial deformation situation of the fire building, which affects the effectiveness and reliability of the collapse warning.

[0005] In summary, the existing technology cannot meet the needs of real-time and accurate monitoring of the three-dimensional deformation of key structural targets in fire-affected buildings in fire rescue scenarios, and a new monitoring method and system are urgently needed to solve this problem. Summary of the invention

[0006] The purpose of the present invention is to propose a method and system for monitoring deformation of a fire-affected building based on air-ground remote sensing networking in response to the demand for three-dimensional deformation monitoring of the top structure target of a building at a fire rescue site.

[0007] The technical solution of the present invention is as follows: A method for monitoring deformation of a fire-affected building using an air-ground remote sensing network, characterized in that it comprises the following steps: The radar images are acquired through the ground deformation monitoring radar A, the UAV deformation monitoring radar B and the UAV deformation monitoring radar C; Geocoding the remote sensing images acquired by each radar, mapping the two-dimensional image coordinates of the building structure target in the radar slant range-azimuth polar coordinate system to three-dimensional coordinates in the local space; Iteratively calculate the target's three-dimensional deformation components and deformation speed based on radar distributed network monitoring; The deployment position of the UAV deformation monitoring radar C is determined by the following method: First, according to the right-hand rule of the coordinate system and Direction vector, combined with the deployed positions of ground-based deformation monitoring radar A and UAV deformation monitoring radar B, preliminarily determines the candidate position of UAV deformation monitoring radar C; The flight posture is adjusted in the vicinity of the candidate point. During the adjustment process, the three-dimensional transformation matrix is ​​calculated in real time. M The condition number of the transformation matrix M To evaluate the stability, when the transformation matrix M When reversibility is satisfied, the position is determined as the final deployment position of the UAV deformation monitoring radar C; The calculation of the three-dimensional transformation matrix M The condition number is specifically: , in, is the three-dimensional transformation matrix M The inverse matrix of .

[0008] Furthermore, the UAV deformation monitoring radar B is arranged at a position parallel to the vertical direction of the target building structure affected by the fire.

[0009] Furthermore, the calculation formula of the deformation speed is: , in, is the three-dimensional deformation speed of the building structure target, is the position of the building structure after deformation, is the initial position of the building structure, t It is the radar monitoring sampling period.

[0010] The present invention also provides a fire-affected building deformation monitoring system based on air-ground remote sensing networking, comprising a foundation deformation monitoring radar A, an unmanned aerial vehicle deformation monitoring radar B and an unmanned aerial vehicle deformation monitoring radar C; the foundation deformation monitoring radar A is composed of a displacement monitoring module, an auxiliary function module, an infrared thermal imaging module, an intelligent control platform, and a power supply module; the unmanned aerial vehicle deformation monitoring radar B and the unmanned aerial vehicle deformation monitoring radar C are composed of a displacement monitoring module, an auxiliary function module, and a power supply module.

[0011] Furthermore, the displacement monitoring module includes an all-solid-state RF transceiver submodule, a high-speed data acquisition and processing submodule, and an MCU control submodule. The all-solid-state RF transceiver submodule is used to transmit and receive frequency-modulated continuous wave RF signals, the high-speed data acquisition and processing submodule is used for analog-to-digital sampling of target echo complex signals, and the MCU control submodule is used to send control instructions and receive information from various modules. The auxiliary function module includes a view acquisition submodule, a posture monitoring submodule, and a wireless transmission submodule. The posture monitoring submodule uses the Beidou satellite navigation system for positioning; the wireless transmission submodule is used to send monitoring data to the intelligent control platform; the posture monitoring submodule is used to; The intelligent control platform is used to send clock synchronization signals, receive monitoring data from the radar displacement monitoring module and the auxiliary function module in real time, and iteratively optimize the three-dimensional transformation matrix according to the radar posture data to complete the three-dimensional deformation decomposition of the building structure target; The infrared thermal imaging module is used to monitor the temperature distribution of the fire-affected building in real time, and present the temperature differences of different parts of the building through thermal imaging technology.

[0012] Furthermore, the power supply module is used to supply power to each module of the ground deformation monitoring radar A, the UAV deformation monitoring radar B and the UAV deformation monitoring radar C.

[0013] Compared with the prior art, the present invention has the following advantages: First, it adopts a networking method that combines the ground deformation monitoring radar A with the UAV deformation monitoring radars B and C to achieve all-round and multi-angle monitoring of the fire-affected buildings. It not only utilizes the stability of the ground-based radar, but also gives full play to the maneuverability and flexibility of the UAV radar, overcoming the single-point detection limitations of traditional monitoring equipment. Secondly, the three-dimensional deformation processing method in the system can accurately solve the three-dimensional deformation components in the local space coordinate system and calculate the three-dimensional deformation speed based on the radar's measurement data through precise formulas and iterative algorithms, providing quantitative and accurate data for evaluating the deformation state of the building structure. Furthermore, by controlling the line of sight of the UAV deformation monitoring radar B so that it is approximately parallel to the Z axis of the space coordinate system, the accurate acquisition of the vertical deformation information of the building structure target is guaranteed. For the layout position of the UAV deformation monitoring radar C, a unique determination method is used, namely based on the right-hand criterion of the coordinate system and The direction vector is combined with the position of the deployed radar to preliminarily determine the candidate point, and the flight posture is adjusted in the adjacent area. At the same time, according to the three-dimensional transformation matrix M The condition number is used to evaluate its stability and ensure that the matrix is ​​reversible, thereby ensuring the scientificity and reliability of the monitoring points and improving the accuracy of the monitoring results. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings generally illustrate various embodiments by way of example and not limitation, and together with the description and claims, serve to illustrate the embodiments of the invention. Where appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

[0015] Figure 1 The schematic diagram of the air-to-ground remote sensing network monitoring of the present invention is shown; Figure 2 A schematic diagram of a monitoring system of the present invention is shown; Figure 3 A schematic diagram of the three-dimensional deformation processing flow of the present invention is shown. DETAILED DESCRIPTION

[0016] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0017] like Figure 1-Figure 2As shown, an embodiment of the present invention provides a fire-affected building deformation monitoring system based on air-ground remote sensing networking, including a foundation deformation monitoring radar A, an unmanned aerial vehicle deformation monitoring radar B and an unmanned aerial vehicle deformation monitoring radar C; the foundation deformation monitoring radar A is composed of a displacement monitoring module, an auxiliary function module, an infrared thermal imaging module, an intelligent control platform, and a power supply module; the unmanned aerial vehicle deformation monitoring radar B and the unmanned aerial vehicle deformation monitoring radar C are composed of a displacement monitoring module, an auxiliary function module, and a power supply module.

[0018] The displacement monitoring module includes a full solid-state RF transceiver submodule, a high-speed data acquisition and processing submodule, and an MCU control submodule. The full solid-state RF transceiver submodule is used to transmit and receive frequency modulated continuous wave RF signals, the high-speed data acquisition and processing submodule is used for analog-to-digital sampling of target echo complex signals, and the MCU control submodule is used to send control instructions and receive information from various modules; The auxiliary function module includes a view acquisition submodule, a posture monitoring submodule, and a wireless transmission submodule. The posture monitoring submodule uses the Beidou satellite navigation system for positioning; the wireless transmission submodule is used to send monitoring data to the intelligent control platform; the posture monitoring submodule is used to; The intelligent control platform is used to send clock synchronization signals, receive monitoring data from the radar displacement monitoring module and the auxiliary function module in real time, and iteratively optimize the three-dimensional transformation matrix according to the radar posture data to complete the three-dimensional deformation decomposition of the building structure target; The infrared thermal imaging module is used to monitor the temperature distribution of the fire-affected building in real time, and present the temperature differences of different parts of the building through thermal imaging technology.

[0019] The power supply module is used to supply power to each module of the ground deformation monitoring radar A, the UAV deformation monitoring radar B and the UAV deformation monitoring radar C.

[0020] On the other hand, the present invention also provides a method for processing three-dimensional deformation of a fire-affected building using an air-ground remote sensing network: In the first step, the equivalent phase center coordinates of the ground-based deformation monitoring radar A, the UAV deformation monitoring radar B, and the UAV deformation monitoring radar C are set as , and , where each coordinate value is the measurement result of the total station (or the measurement result of the 3D laser scanner), expressed as follows (1) Set up The starting vector of the coordinates of the key structural target points of a building is , whose coordinate values ​​are the measurement results of the total station or the 3D laser scanner), expressed as: (2) In the second step, the measured values ​​of the three deformation monitoring radars are known to be , , , solve , satisfying the following equations (3) About , and The ternary function It can be expressed as (4) Then there is (5) The third step is to assume that the displacement of the target between two consecutive measurements is small, that is is a small quantity, then the ternary function can be Perform Taylor expansion, retain the first-order terms, and ignore higher-order infinitesimals. At the same time, set three constants , , They are: (6) The system of equations to be solved is expressed as a matrix: (7) Step 4: Set ,make The matrix composed of the first-order Taylor expansion values ​​at is M ,have (8) The new position of the target after the move can be obtained by using the coordinates of the three radars, the coordinates of the target point and the three displacement measurements. for: (9) in, is the starting vector of the target point coordinates of the key structure of the building, d To monitor the radar measurements, M is a three-dimensional transformation matrix.

[0021] like Figure 3 As shown, the present invention provides a method for monitoring deformation of a fire-affected building using an air-ground remote sensing network, comprising the following steps: In the first step, after the fire rescue team arrives at the building fire scene, they first deploy the foundation deformation monitoring radar A; The second step is to make the UAV deformation monitoring radar B fly above the target building structure affected by the fire, so that its line of sight monitoring direction is approximately parallel to the Z axis of the space coordinate system; The third step is to dispatch the UAV deformation monitoring radar C to the monitoring point according to the principle of air-ground remote sensing networking. The relevant principles are as follows: According to the right-hand rule of the coordinate system and Direction vector, preliminarily determined the monitoring point C of the UAV deformation monitoring radar, but due to the actual monitoring conditions at the fire scene, the monitoring range of the UAV deformation monitoring radar C may be difficult to cover the main structural targets on the top of the building.

[0022] In order to decompose the three-dimensional deformation components of the building structure target, the new constraint condition that must be guaranteed is the three-dimensional transformation matrix M Reversible. Reversible matrix M condition number It is used to describe the sensitivity of a linear system to error disturbances, thereby measuring the stability of a linear system. If the condition number of the matrix is ​​large, even a small change in the linear system variables will cause drastic changes in the solution of the linear system.

[0023] Adjust the posture in the vicinity of the initial point, and adjust the transformation matrix according to the conditional value. M After evaluation, the C monitoring point of the UAV deformation monitoring radar was finally determined.

[0024] The fourth step is to perform high-precision geocoding of deformation monitoring radar remote sensing images, mapping the two-dimensional image coordinates of the building structure target in the radar slant range-azimuth polar coordinate system to three-dimensional coordinates in the local space; The fifth step is to iteratively solve the three-dimensional deformation components in the target local coordinate system according to the relative position in space, and calculate the three-dimensional deformation speed ,Right now: (10) in, is the three-dimensional deformation speed of the building structure target, is the position of the building structure after deformation, is the initial position of the building structure, t It is the radar monitoring sampling period.

[0025] Finally, the results are uploaded to the monitoring and early warning cloud platform in real time.

[0026] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for monitoring deformation of a fire-affected building using an air-ground remote sensing network, characterized in that: The following steps are involved: The radar images are acquired through the ground deformation monitoring radar A, the UAV deformation monitoring radar B and the UAV deformation monitoring radar C; Geocoding the remote sensing images acquired by each radar, mapping the two-dimensional image coordinates of the building structure target in the radar slant range-azimuth polar coordinate system to three-dimensional coordinates in the local space; Iteratively calculate the target's three-dimensional deformation components and deformation speed based on radar distributed network monitoring; The deployment position of the UAV deformation monitoring radar C is determined by the following method: First, according to the right-hand rule of the coordinate system and Direction vector, combined with the deployed positions of ground-based deformation monitoring radar A and UAV deformation monitoring radar B, preliminarily determines the candidate position of UAV deformation monitoring radar C; The flight posture is adjusted in the vicinity of the candidate point. During the adjustment process, the three-dimensional transformation matrix is ​​calculated in real time. M The condition number of the transformation matrix M To evaluate the stability, when the transformation matrix M When reversibility is satisfied, the position is determined as the final deployment position of the UAV deformation monitoring radar C; The calculation of the three-dimensional transformation matrix M The condition number is specifically: ， in, is the three-dimensional transformation matrix M The inverse matrix of .

2. The method for monitoring deformation of a fire-affected building by air-ground remote sensing networking according to claim 1, characterized in that: The UAV deformation monitoring radar B is arranged at a position parallel to the vertical direction of the fire-affected building structure target.

3. The method for monitoring deformation of a fire-affected building by air-ground remote sensing networking according to claim 1, characterized in that: The calculation formula of the deformation speed is: ， in, is the three-dimensional deformation speed of the building structure target, is the position of the building structure after deformation, is the initial position of the building structure, t It is the radar monitoring sampling period.

4. A fire-affected building deformation monitoring system based on air-ground remote sensing networking, characterized in that: It includes a ground deformation monitoring radar A, a UAV deformation monitoring radar B and a UAV deformation monitoring radar C; the ground deformation monitoring radar A is composed of a displacement monitoring module, an auxiliary function module, an infrared thermal imaging module, an intelligent control platform, and a power supply module; the UAV deformation monitoring radar B and the UAV deformation monitoring radar C are composed of a displacement monitoring module, an auxiliary function module, and a power supply module.

5. The fire-affected building deformation monitoring system based on air-ground remote sensing networking according to claim 4 is characterized in that: The displacement monitoring module includes a full solid-state RF transceiver submodule, a high-speed data acquisition and processing submodule, and an MCU control submodule. The full solid-state RF transceiver submodule is used to transmit and receive frequency modulated continuous wave RF signals, the high-speed data acquisition and processing submodule is used for analog-to-digital sampling of target echo complex signals, and the MCU control submodule is used to send control instructions and receive information from various modules. The auxiliary function module includes a view acquisition submodule, a posture monitoring submodule, and a wireless transmission submodule. The posture monitoring submodule uses the Beidou satellite navigation system for positioning; the wireless transmission submodule is used to send monitoring data to the intelligent control platform; the posture monitoring submodule is used to; The intelligent control platform is used to send clock synchronization signals, receive monitoring data from the radar displacement monitoring module and the auxiliary function module in real time, and iteratively optimize the three-dimensional transformation matrix according to the radar posture data to complete the three-dimensional deformation decomposition of the building structure target; The infrared thermal imaging module is used to monitor the temperature distribution of the fire-affected building in real time, and present the temperature differences of different parts of the building through thermal imaging technology.

6. The fire-affected building deformation monitoring system based on air-ground remote sensing networking according to claim 4 is characterized in that: The power supply module is used to provide power supply for the ground deformation monitoring radar A, the UAV deformation monitoring radar B and the UAV deformation monitoring radar C.

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