Long-distance channel inspection monitoring system and method

Abstract

The invention relates to the technical field of water conservancy project inspection, in particular to a long-distance channel inspection monitoring system and method, which integrates an inspection mobile platform, information acquisition equipment and an information processing system and is equipped with an intelligent supply station. The inspection mobile platform stretches across two banks of a channel, drives a lifting system through an electric thread, and flexibly deploys a sensor underwater or high altitude to meet different inspection requirements. The information acquisition equipment integrates RTK, a 5G antenna, multiple sensors and the like, and realizes high-precision positioning, three-dimensional modeling and environment monitoring. And the information processing system fuses image recognition and multi-source data processing technologies to generate a visual inspection report. The intelligent supply station automatically completes tour inspection vehicle supply, system upgrading and hidden danger self-inspection, and long-term efficient operation is guaranteed. Through highly integrated and intelligent design, the inspection efficiency and data precision are remarkably improved, the system is widely applied to the fields of water conservancy, traffic and the like, remote monitoring and autonomous maintenance are achieved, the labor cost is reduced, and the safety management level is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of water conservancy project inspection, and in particular to a long-distance channel inspection monitoring system and method. Background Art

[0002] A channel is a typical long-distance linear structure. As an important water conservancy infrastructure, its design often spans a vast geographical area. It not only carries the allocation and transportation functions of water resources, but is also directly related to the safety and stability of agricultural irrigation, urban water supply, ecological water replenishment, flood control and drainage. This type of long-distance linear structure faces many challenges in operation and maintenance due to its unique structural characteristics, namely, long distance and being in the natural environment all year round. Channels often cross a variety of terrains and landforms such as mountains, rivers, and plains. The stability of different geological structures varies greatly, such as soft soil layers, karst areas, and landslides, which makes the geographical conditions of channel engineering complex and may pose a potential threat to the safety of channel structures. During the operation of the channel, it is necessary to deal with hydrological changes in different seasons and rainfall, including water level fluctuations, changes in water flow velocity, and siltation, which makes the hydrological conditions of the channel engineering complex. Changes in hydrological conditions not only affect the operation efficiency of the channel, but may also cause safety problems such as leakage, scouring, and erosion. Severe meteorological conditions have put forward higher requirements for the safe operation of the channel. Extreme weather, such as heavy rain, floods, ice and snow, high temperature and drought, pose a direct threat to the safe operation of the channel. Heavy rain may cause the channel to overload, while floods may destroy channel facilities; ice and snow coverage may affect the inspection line of sight and form ice floods; high temperature and drought may aggravate the development of channel leakage and cracks.

[0003] At present, channel inspection work mainly relies on two methods: manual inspection and safety monitoring system. However, both methods have certain limitations in practical applications. First, manual inspection can directly observe the channel status and obtain first-hand information, but its long time consumption and low efficiency have become problems that cannot be ignored. Inspectors need to walk or drive along the channel for a long distance, check each key node and potential risk area one by one, which consumes a lot of physical energy and greatly limits the frequency and scope of inspection. At the same time, the information collected during the manual inspection process is often mainly paper records or verbal communication, lacking an effective information coordination mechanism to support the rapid integration, analysis and sharing of data, thereby limiting the timeliness and accuracy of safety diagnosis. In the scenario of multi-department collaboration, this information island phenomenon is particularly prominent, and it is difficult to form an efficient safety management closed loop. In the face of emergency, the response speed of manual inspection is slow, it is difficult to take countermeasures quickly, and the safety of the inspectors themselves is also threatened by the environment. On the other hand, although the safety monitoring system has made up for the shortcomings of manual inspection to a certain extent, its coverage and application depth are still limited. Most of the current safety monitoring systems focus on real-time monitoring of individual typical sections, such as monitoring of key parameters such as water level, flow, leakage, slope displacement, etc. Although this point-based monitoring can capture some structural safety hazards, it is unable to cope with the widespread non-structural hazards along the channel, such as foreign body intrusion (such as floating objects, vegetation growth, etc.), ice accumulation, small animal nesting, etc., or monitoring of areas outside typical monitoring sections. Non-structural hazards are often sudden, hidden and unpredictable. If they are not discovered and handled in time, they may also have a serious impact on the safe operation of the channel.

[0004] In addition, with the development of science and technology, a variety of channel safety monitoring technologies have been developed to meet the monitoring needs under different working conditions, but they still face challenges such as low data integration and insufficient intelligent analysis capabilities. There may be problems such as inconsistent data formats and incompatible interfaces between different monitoring systems, making it difficult to form a comprehensive channel safety risk assessment system. At the same time, for the large amount of monitoring data collected, there is a lack of efficient intelligent algorithms for in-depth mining and real-time analysis, which limits the early warning capability and emergency response speed of the monitoring system, making it impossible to form a comprehensive effect and play a synergistic advantage.

[0005] Therefore, existing channel monitoring methods have the disadvantages of low monitoring efficiency, lack of intelligence, real-time and automation, and cannot achieve all-weather and all-round monitoring of the entire channel and timely warning of potential risks. Summary of the invention

[0006] The present invention aims to provide a long-distance channel inspection and monitoring system and method. By integrating advanced information collection, processing and intelligent control technologies, it can solve the technical problems of low monitoring efficiency, lack of intelligence, real-time and automation in existing channel monitoring methods, realize real-time monitoring, efficient inspection and intelligent diagnosis of the entire channel, and improve the ability to discover channel operation risks and respond to emergencies.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0008] The present invention designs a long-distance channel inspection and monitoring system, comprising:

[0009] Inspection mobile platform, the inspection mobile platform has monitoring lifting function, power walking function, lighting function and cruise camera function;

[0010] Information collection equipment, which is arranged on the monitoring lifting platform of the inspection mobile platform and is flexibly configured according to the inspection task;

[0011] An information processing system, the information processing system is responsible for cruise control, equipment self-checking and monitoring data processing;

[0012] Intelligent supply station, used for automatic supply and maintenance of inspection vehicles.

[0013] As a preferred solution, the inspection mobile platform includes:

[0014] The monitoring lifting platform adopts an electric screw drive mechanism and has two lifting systems, which can be extended upward and downward respectively to meet the inspection needs at different heights;

[0015] Powered travel device, used to arrange the monitoring lifting platform, including wheels, frame, motor and independent power supply, and achieves precise movement by independently controlling the speed of the wheels on both sides;

[0016] The lighting system is integrated into the power travel device to provide the lighting and warning functions required for night operations;

[0017] Cruise cameras are arranged on both sides of the platform and above the wheels to identify the channel edge in real time and assist in walking trajectory control.

[0018] As a preferred solution, the information collection device includes:

[0019] RTK system, used to provide high-precision positioning and navigation;

[0020] 5G antennas to support high-speed data transmission;

[0021] Multi-lens sensors and LiDAR for 3D channel modeling and terrain mapping;

[0022] Inspection high-definition camera, used to transmit inspection images and take photos of key areas;

[0023] Underwater sonar, used to collect underwater terrain information;

[0024] Water level sensor, used to monitor water level.

[0025] Furthermore, the RTK system, 5G antenna, multi-lens sensor, lidar, and patrol high-definition camera are all arranged at the upper end of the monitoring lifting platform, the underwater sonar is arranged at the lower end of the monitoring lifting platform, and the water level sensor is arranged below the water surface.

[0026] As a preferred solution, the information processing system includes:

[0027] Cruise control system, which realizes automatic adjustment and control of inspection trajectory based on image recognition technology;

[0028] Equipment self-check system, regular health checks on patrol vehicles;

[0029] The monitoring data processing system integrates multi-source data processing algorithms to generate inspection reports.

[0030] As a preferred solution, the intelligent supply station includes an automatic docking device and a cable interface, through which the inspection vehicle and the supply station can be quickly docked.

[0031] The present invention also designs a monitoring method based on a long-distance channel inspection monitoring system, comprising the following steps:

[0032] The data collection layer receives raw data from the information collection device;

[0033] The data processing layer integrates multi-source data processing algorithms to model, process and analyze raw data;

[0034] Monitor data changes in real time through preset thresholds or machine learning models, identify abnormal conditions and issue warnings;

[0035] The application layer provides a user interaction interface, displays inspection results and alarm information, and supports remote monitoring and command issuance.

[0036] The advantages of the present invention are:

[0037] The present invention provides a patrol monitoring vehicle designed for long-distance water transfer channels and a matching intelligent patrol system, which can improve channel patrol efficiency, expand the monitoring range, enhance the ability to identify dangerous situations, and realize all-weather, intelligent patrol and emergency response.

[0038] (1) Efficient inspection: Automated and intelligent inspection methods greatly improve inspection efficiency and reduce labor costs.

[0039] (2) Comprehensive monitoring: Multi-dimensional information collection equipment covers the entire channel, adapts to different working conditions, reduces the underreporting of dangerous situations, and improves monitoring accuracy.

[0040] (3) Comprehensive linkage and intelligent diagnosis: The information processing system efficiently processes the collected data to achieve fast and accurate diagnosis of dangerous situations.

[0041] (4) Emergency Response: In emergency rescue operations, it can be used as a traffic path, transportation vehicle, and supply base to enhance emergency response capabilities.

[0042] (5) Environmental protection and energy saving: The design without hydraulic system reduces environmental pollution, and the intelligent supply station realizes efficient use of energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the inspection and monitoring system structure.

[0044] Figure 2 This is a schematic diagram of the working status of the inspection and monitoring system.

[0045] Figure 3 This is a schematic diagram of the layout of information collection equipment.

[0046] Figure 4 for Figure 3 Enlarged schematic diagram at A.

[0047] Figure 5 This is a schematic diagram of a smart supply station.

[0048] In the figure:

[0049] Inspection mobile platform 1, monitoring lifting platform 1.1, powered walking device 1.2, lighting system 1.3, cruise camera 1.4, information collection equipment 2, RTK system 2.1, 5G antenna 2.2, multi-lens sensor 2.3, laser radar 2.4, inspection high-definition camera 2.5, underwater sonar 2.6, water level sensor 2.7, information processing system 3, intelligent supply station 4, automatic docking device 4.1, cable interface 4.2. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] The present invention relates to a long-distance channel inspection and monitoring system and method, which provides a new type of inspection and monitoring means, which should have the characteristics of remote, intelligent, real-time and automatic, and can realize all-weather and all-round monitoring of the entire channel line, timely warn of potential risks, and provide strong guarantee for the safe operation of the channel. At the same time, through data analysis and mining technology, it can further optimize the daily management and maintenance strategy of the channel and improve the efficiency of resource utilization.

[0052] The present invention provides a long-distance channel inspection and monitoring system, comprising:

[0053] Inspection mobile platform 1, the inspection mobile platform has monitoring lifting function, power walking function, lighting function and cruise camera function;

[0054] Information collection equipment 2, which is flexibly configured according to the inspection task, including a high-precision positioning system, a 5G antenna, a multi-lens sensor, a lidar, a high-definition camera, an underwater sonar, a water level sensor, and a mobile weather station;

[0055] Information processing system 3, the information processing system is responsible for cruise control, equipment self-checking and monitoring data processing;

[0056] The intelligent supply station 4 is used for automatically supplying and maintaining the inspection vehicle.

[0057] The inspection mobile platform 1 comprises:

[0058] Monitoring lifting platform 1.1 adopts electric screw drive mechanism and has two lifting systems, which can be extended upward and downward respectively to meet the inspection needs at different heights;

[0059] Powered walking device 1.2, used to arrange the monitoring lifting platform, including wheels, frame, motor and independent power supply, and realizes precise movement by independently controlling the speed of the wheels on both sides;

[0060] Lighting system 1.3, integrated into the power travel device, provides lighting and warning functions required for night operations;

[0061] Cruise cameras 1.4 are arranged on both sides of the platform and above the wheels to identify the channel edge in real time and assist in walking trajectory control.

[0062] The information collection device 2 comprises:

[0063] RTK system 2.1, used to provide high-precision positioning and navigation;

[0064] 5G antenna 2.2, to support high-speed data transmission;

[0065] Multi-lens sensor 2.3 and LiDAR 2.4 for 3D channel modeling and terrain mapping;

[0066] Inspection HD Camera 2.5, used to transmit inspection images and take photos of key areas;

[0067] Underwater sonar 2.6, used to collect underwater terrain information;

[0068] The water level sensor 2.7 is used to monitor the water level.

[0069] The information processing system 3 includes:

[0070] Cruise control system, which realizes automatic adjustment and control of inspection trajectory based on image recognition technology;

[0071] Equipment self-check system, regular health checks on patrol vehicles;

[0072] The monitoring data processing system integrates multi-source data processing algorithms to generate inspection reports.

[0073] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings.

[0074] like Figure 1 As shown, the present invention includes a patrol mobile platform 1, an information collection device 2, an information processing system 3, and an intelligent supply station 4.

[0075] like Figure 2 As shown, the inspection mobile platform 1 includes a monitoring lifting platform 1.1, a power walking device 1.2, a lighting system 1.3 and a cruise camera 1.4.

[0076] The monitoring lifting platform 1.1 is firmly connected to the frame of the power travel device 1.2, adopts an electric threaded drive mechanism, abandons the hydraulic system to avoid oil leakage pollution, and consists of two lifting systems, which are telescopic upward and downward respectively, so that various sensors at the end of the platform can be arranged underwater and in the air through telescopic. The information collection device 2 is installed on the monitoring lifting platform 1.1, and the height of the information collection device 2 is adjusted by the telescopic screw to meet different inspection needs. For example, the underwater sonar 2.6 can be extended underwater, or the multi-lens sensor 2.3 and the laser radar 2.4 can be raised to the air to optimize the shooting angle, and the modeling area can cover different elevations of horse trails.

[0077] The power travel device 1.2 consists of wheels, a frame, a motor and a power supply. The frame spans across the two sides of the channel to ensure stable support. By independently controlling the speed of the wheels on both sides, the inspection vehicle can move accurately along the channel axis, enhancing the terrain adaptability. The independent power supply supplies power to all electrical appliances including the travel device and the inspection platform.

[0078] The lighting system 1.3 is integrated on the power travel device 1.2, providing sufficient lighting for night operations and having a warning function to ensure operational safety.

[0079] The cruise cameras 1.4 are arranged on both sides of the platform and above the wheels to collect image information in front of the wheels. With the help of the cruise control system in the information processing system 3, the image recognition technology is used to identify the channel edge in real time to assist in walking trajectory control.

[0080] like Figure 3 , 4 As shown, the information collection equipment 2 can be configured according to the inspection task, including RTK system 2.1, 5G antenna 2.2, multi-lens sensor 2.3, lidar 2.4, high-definition camera 2.5, underwater sonar 2.6, water level sensor 2.7, mobile weather station and other equipment. The equipment is arranged on the monitoring lifting platform 1.1 according to the working conditions.

[0081] RTK (Real-Time Kinematic) is a real-time dynamic carrier phase differential technology, mainly used for satellite positioning measurement. RTK technology achieves high-precision positioning by processing the differential method of carrier phase observations of two measurement stations in real time, making data transmission more efficient and stable.

[0082] The RTK system 2.1 system is used to provide high-precision positioning and navigation to ensure the accuracy of the inspection data location information. It assists in identifying the location information of typical sections of existing safety monitoring and lays the foundation for comprehensive analysis of existing safety monitoring data.

[0083] 5G Antenna 2.2 supports high-speed data transmission, ensuring real-time transmission of data collected by the inspection vehicle and instructions from the information processing center, helping to achieve remote monitoring of inspection scenarios.

[0084] The multi-lens sensor 2.3 includes at least four image acquisition cameras in the front, back, left and right directions, which simultaneously capture the surrounding environment of the inspection vehicle for channel 3D modeling. Combined with the positioning data of the RTK system 2.1, detailed channel image information is constructed.

[0085] LiDAR 2.4 is not affected by vegetation or lighting conditions. It can achieve high-precision point cloud modeling in canal sections covered with plants and when operating at night, thereby improving the accuracy and adaptability of terrain surveying and mapping.

[0086] The patrol HD camera 2.5 is different from the cruise camera which is used to assist navigation. The patrol HD camera 2.5 can transmit patrol images and take photos of key areas.

[0087] Underwater sonar 2.6 is used to collect underwater terrain information of the channel and assist in the detection of underwater hidden dangers.

[0088] The water level sensor 2.7 uses an ultrasonic level meter to monitor the water level in the channel, and at the same time dynamically adjusts the height of the monitoring lifting platform to ensure that the underwater sound is included in the water.

[0089] The RTK system 2.1, 5G antenna 2.2, multi-lens sensor 2.3, laser radar 2.4, and patrol high-definition camera 2.5 are all arranged at the upper end of the monitoring lifting platform 1.1. The underwater sonar 2.6 is arranged at the lower end of the monitoring lifting platform 1.1. The water level sensor 2.7 is arranged below the water surface.

[0090] According to operational needs, sensors such as mobile weather stations can also be used. Mobile weather stations are used to collect meteorological data in the inspection area and provide environmental reference for inspection operations.

[0091] Information processing system 3 includes cruise control system, equipment self-checking system and monitoring data processing system. The hardware equipment required for the three systems can be directly arranged in the cabinet of the inspection vehicle or in the rear monitoring center station, and real-time data transmission can be achieved through 5G antennas.

[0092] The cruise control system is based on camera image recognition technology to achieve automatic adjustment and control of the inspection trajectory, ensuring that the inspection vehicle moves stably along the channel axis. At the same time, the height of the monitoring lifting platform is controlled according to the sensor data and the collection task plan to optimize the data collection quality.

[0093] The equipment self-check system regularly performs health checks on the patrol vehicle control system version, component life, etc., and cooperates with the smart supply station to complete system maintenance and upgrades.

[0094] The monitoring data processing system integrates multi-source data processing algorithms, processes the information collected by multi-lens sensors, lidar, underwater sonar and other equipment, performs full-section three-dimensional modeling, and converts the collected images, point clouds, sonar and other data into intuitive and easy-to-use inspection reports.

[0095] like Figure 5 As shown, the intelligent supply station 4 is mainly used for comprehensive supply of the patrol vehicle, including automatic completion of battery charging and discharging, system upgrade, low power mode setting and hidden danger self-checking and forecasting, etc., to ensure that the patrol vehicle is in the best working state for a long time. When the patrol vehicle stops at the supply station, the patrol vehicle and the supply station are quickly connected through the automatic docking device 4.1 using the cable interface 4.2, without manual intervention, and energy and data will be exchanged through the connecting cable.

[0096] The present invention also provides a monitoring method based on a long-distance channel inspection monitoring system, comprising the following steps:

[0097] The data collection layer receives raw data from the information collection device;

[0098] The data processing layer integrates multi-source data processing algorithms to model, process and analyze raw data;

[0099] Monitor data changes in real time through preset thresholds or machine learning models, identify abnormal conditions and issue warnings;

[0100] The application layer provides a user interaction interface, displays inspection results and alarm information, and supports remote monitoring and command issuance.

[0101] The long-distance channel inspection and monitoring vehicle of the present invention realizes comprehensive and intelligent inspection and monitoring of the channel through a highly integrated hardware system and advanced software algorithms. The software architecture and algorithm logic are as follows:

[0102] The software architecture includes data acquisition layer, data processing layer and application layer.

[0103] The data acquisition layer is mainly responsible for receiving raw data from various information acquisition devices, including images, point clouds, sonar signals, etc. The data comes from various information acquisition devices.

[0104] The data processing layer integrates algorithms such as image recognition, three-dimensional modeling, and terrain mapping to model, process, and analyze raw data, mainly relying on the data processing system.

[0105] The application layer mainly provides a user interaction interface, displays inspection results, alarm information and data analysis reports, supports remote monitoring and command issuance, and can be deployed in the rear operation monitoring center station.

[0106] The main algorithm logic includes image recognition algorithm, three-dimensional modeling algorithm, terrain mapping algorithm, and anomaly monitoring algorithm.

[0107] The image recognition algorithm is based on deep learning technology to identify channel edges and assist in the inspection vehicle’s trajectory control.

[0108] The 3D modeling algorithm combines the RTK system 2.1 positioning and the multi-lens sensor 2.3 data to construct a 3D model of the channel, supporting multi-angle viewing and analysis.

[0109] The topographic mapping algorithm uses LiDAR 2.5 and underwater sonar 2.6 data to generate high-precision channel topographic maps and underwater topographic maps.

[0110] The function of the anomaly detection algorithm is to monitor data changes in real time, identify abnormal conditions through preset thresholds or machine learning models, and issue timely warnings.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A long-distance channel inspection and monitoring system, characterized in that: include: A patrol inspection mobile platform (1), wherein the patrol inspection mobile platform has a monitoring lifting function, a powered walking function, a lighting function, and a patrol camera function; Information collection equipment (2), the information collection equipment is arranged on the monitoring lifting platform of the inspection mobile platform and is flexibly configured according to the inspection task; An information processing system (3), which is responsible for cruise control, equipment self-checking and monitoring data processing; The intelligent supply station (4) is used for automatically supplying and maintaining the inspection vehicle.

2. A long distance channel inspection and monitoring system according to claim 1, characterized in that: The inspection mobile platform (1) comprises: The monitoring lifting platform (1.1) adopts an electric screw drive mechanism and has two lifting systems, which can be extended upward and downward respectively to meet the inspection needs at different heights; The power travel device (1.2) is used to arrange the monitoring lifting platform, including wheels, a frame, a motor and an independent power supply, and can achieve precise movement by independently controlling the speed of the wheels on both sides; Lighting system (1.3), integrated into the power travel device, provides lighting and warning functions required for night operations; Cruise cameras (1.4) are arranged on both sides of the platform and above the wheels to identify the channel edge in real time and assist in walking trajectory control.

3. A long-distance channel inspection and monitoring system according to claim 2, characterized in that: The information collection device (2) comprises: RTK system (2.1), used to provide high-precision positioning and navigation; 5G antenna (2.2) to support high-speed data transmission; Multi-lens sensors (2.3) and LiDAR (2.4) for three-dimensional channel modeling and terrain mapping; Inspection HD camera (2.5), used to transmit inspection images and take photos of key areas; Underwater sonar (2.6), used to collect underwater terrain information; The water level sensor (2.7) is used to monitor the water level.

4. A long-distance channel inspection and monitoring system according to claim 3, characterized in that: The RTK system (2.1), the 5G antenna (2.2), the multi-lens sensor (2.3), the laser radar (2.4), and the inspection high-definition camera (2.5) are all arranged at the upper end of the monitoring lifting platform (1.1), the underwater sonar (2.6) is arranged at the lower end of the monitoring lifting platform (1.1), and the water level sensor (2.7) is arranged below the water surface.

5. A long-distance channel inspection and monitoring system according to claim 1, characterized in that: The information processing system (3) comprises: Cruise control system, which realizes automatic adjustment and control of inspection trajectory based on image recognition technology; Equipment self-check system, regular health checks on patrol vehicles; The monitoring data processing system integrates multi-source data processing algorithms to generate inspection reports.

6. A long-distance channel inspection and monitoring system according to claim 1, characterized in that: The intelligent supply station (4) comprises an automatic docking device (4.1) and a cable interface (4.2), and rapid docking between the inspection vehicle and the supply station is achieved through the automatic docking device (4.1) and the cable interface (4.2).

7. A monitoring method for a long-distance channel inspection and monitoring system according to any one of claims 1 to 6, characterized in that: The following steps are involved: The data collection layer receives raw data from the information collection device; The data processing layer integrates multi-source data processing algorithms to model, process and analyze raw data; Monitor data changes in real time through preset thresholds or machine learning models, identify abnormal conditions and issue warnings; The application layer provides a user interaction interface, displays inspection results and alarm information, and supports remote monitoring and command issuance.

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