Terrain evolution reconnaissance method and system based on aeroelectromagnetism

Abstract

The invention is suitable for the technical field of topographic investigation, and particularly relates to a topographic evolution investigation method and system based on aeroelectromagnetism, and the method comprises the steps: delimiting a topographic evolution investigation area, segmenting the area into a plurality of blocks, collecting the aeroelectromagnetic data in each block through a preset aviation platform, and in each block, carrying out the data collection of the aeroelectromagnetic data; deploying a plurality of monitoring devices, creating a father node, and uploading the aviation electromagnetic data to the father node; and mounting child nodes in one-to-one correspondence with the monitoring devices in the father node, collecting original data of each block through the monitoring devices, and uploading the original data to the corresponding child nodes. According to the method, the balance tree is constructed, so that the influence of human activities, equipment calibration, data errors and the like on the aviation electromagnetic data can be eliminated, the data quality and accuracy are improved, misleading conclusions are reduced, and the accuracy of terrain evolution investigation is greatly improved, so that the terrain evolution and environmental problems can be accurately identified.

Description

Technical Field

[0001] The present invention relates to the technical field of terrain exploration, and particularly relates to a terrain evolution exploration method and system based on airborne electromagnetic. Background Art

[0002] Using airborne electromagnetic to explore terrain evolution means that by carrying electromagnetic detection equipment on an airplane or helicopter, emitting electromagnetic waves into the ground, and obtaining the response signals of the surface or subsurface media, the subsurface electrical structure information can be obtained to assist in studying the change process of the terrain in different geological periods; this method can penetrate the surface covering layer and detect the conductivity distribution of subsurface rock and soil masses, which helps to identify key elements of terrain evolution such as ancient river channels, faults, landslide bodies, and sediment boundaries.

[0003] The detection data of airborne electromagnetic is similar to a "current situation snapshot" and needs to cooperate with monitoring equipment to form a continuous and dynamic observation system for terrain evolution.

[0004] Therefore, "how to combine airborne electromagnetic with on-site monitoring equipment" is the technical problem to be solved by the present invention. Summary of the Invention

[0005] The purpose of the present invention is to provide a terrain evolution exploration method and system based on airborne electromagnetic to solve the problem of "how to combine airborne electromagnetic with on-site monitoring equipment" proposed in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions: A terrain evolution exploration method based on airborne electromagnetic, the method includes: Demarcate the exploration area of terrain evolution and divide it into several sub-blocks. Use a preset airborne platform to collect airborne electromagnetic data within each sub-block. In each sub-block, deploy several monitoring devices, create a parent node, and upload the airborne electromagnetic data to the parent node; Mount child nodes corresponding to the monitoring devices one by one to the parent node. Through the monitoring devices, collect the original data of each sub-block and upload the original data to the corresponding child nodes. Integrate the parent node and the child nodes to generate a balanced tree; Configure the fluctuation range of each child node, edit the evaluation rules of the original data, and determine whether there are risk features in the balanced tree. If so, intercept the status snapshot from the balanced tree and send it to a preset terminal, query the preset comparison table, traverse the risk level corresponding to the risk feature, where the comparison table consists of evaluation rule items and risk level items. Through the risk level, tilt the balanced tree to generate a verification instruction and send it to the airborne platform; After the aviation platform receives the verification instruction, it re-collects the airborne electromagnetic data to verify the risk characteristics. If the verification is passed, the risk characteristics are sent to the preset terminal. If the verification fails, a balance factor is created to correct the risk characteristics and reconstruct the balance tree.

[0007] Further, the steps of demarcating the investigation area of terrain evolution and dividing it into several sub-blocks, and using a preset aviation platform to collect the airborne electromagnetic data in each sub-block include: Establish the correspondence between the balance tree and the sub-blocks, and define the sub-block corresponding to the tilted balance tree as the target block; Set the boundary range of each sub-block, select test points, integrate the test points corresponding to the target block, generate an investigation task, and send it to the preset terminal.

[0008] Further, the steps of deploying a number of monitoring devices in each sub-block, creating a parent node, and uploading the airborne electromagnetic data to the parent node include: Configure the environmental data of each sub-block and set the data transmission mode of the monitoring devices; Build a relay network transmission architecture, select relay nodes, configure the status data of each monitoring device, and forward the status data to the relay nodes.

[0009] Further, the steps of integrating the parent node and the child nodes to generate a balance tree include: Establish the mapping between the balance tree and the sub-blocks, integrate the balance trees corresponding to all sub-blocks to generate a balance forest, and embed an incremental transmission mechanism; Generate an investigation report through the balance forest and the status snapshot, and send the investigation report to the preset terminal.

[0010] Further, the steps of tilting the balance tree through the risk level, generating a verification instruction, and sending it to the aviation platform include: Insert an inclination angle item into the comparison table. When the inclination angle is greater than the threshold, start a preset disposal plan; Locate the position of the target block, use the nearest neighbor algorithm to connect all the positions, generate an investigation route, and integrate it into the verification instruction.

[0011] Further, the steps of correcting the risk characteristics and reconstructing the balance tree include: Determine the time window of each balance factor and dynamically update the balance factor; Record the version of the status snapshot within the time window and create a version chain.

[0012] Further, the method further includes: Configure the weight values of each balanced tree and calculate the risk coefficient of the exploration area; Divide the risk coefficient into several levels, and each level corresponds to an emergency response rule.

[0013] Furthermore, the system includes: An upload module, used to delimit the exploration area of terrain evolution, divide it into several sub-blocks, use a preset aerial platform to collect the airborne electromagnetic data within each sub-block, deploy several monitoring devices in each sub-block, create a parent node, and upload the airborne electromagnetic data to the parent node; A generation module, used to mount child nodes corresponding to the monitoring devices one by one to the parent node, collect the raw data of each sub-block via the monitoring devices, and upload the raw data to the corresponding child nodes, integrate the parent node and the child nodes, and generate a balanced tree; A sending module, used to configure the fluctuation range of each child node, edit the evaluation rules of the raw data, determine whether there are risk features in the balanced tree, if so, extract the status snapshot from the balanced tree and send it to a preset terminal, query the preset comparison table, traverse the risk level corresponding to the risk feature, where the comparison table consists of evaluation rule items and risk level items, tilt the balanced tree via the risk level, generate a verification instruction, and send it to the aerial platform; A reconstruction module, used to re-collect the airborne electromagnetic data when the aerial platform receives the verification instruction, verify the risk feature, if the verification passes, send the risk feature to the preset terminal, if the verification fails, create a balance factor, correct the risk feature, and reconstruct the balanced tree.

[0014] Furthermore, the upload module includes: A definition unit, used to establish the correspondence between the balanced tree and the sub-block, and define the sub-block corresponding to the tilted balanced tree as the target block; A setting unit, used to set the boundary range of each sub-block, select test points, integrate the test points corresponding to the target block, generate an exploration task, and send it to a preset terminal; A configuration unit, used to configure the environmental data of each sub-block and set the data transmission method of the monitoring device; A forwarding unit, used to build a relay network transmission architecture, select relay nodes, configure the status data of each monitoring device, and forward the status data to the relay nodes.

[0015] Furthermore, the generation module includes: An embedding unit, used to establish the mapping between the balanced tree and the sub-block, integrate the balanced trees corresponding to all sub-blocks, generate a balanced forest, and embed an incremental transmission mechanism; A sending unit, configured to generate an exploration report via the balanced forest and the status snapshot, and send the exploration report to a preset terminal.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: By dividing the exploration area into several sub-blocks, the data management efficiency can be improved, which is convenient for carrying out airborne electromagnetic measurement and ground monitoring in stages and with key points, optimizing resource allocation. By deploying monitoring devices, continuous monitoring of key areas can be carried out to capture terrain changes in real time, greatly improving the risk warning ability. By constructing a balanced tree, the influence on airborne electromagnetic data caused by human activities, equipment calibration, data errors, etc. can be eliminated, improving data quality and accuracy, reducing misleading conclusions, and greatly improving the accuracy of terrain evolution exploration, so as to accurately identify the key elements of terrain evolution and environmental problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flowchart of a method for terrain evolution exploration based on airborne electromagnetic provided by an embodiment of the present invention; Figure 2 It is a first sub-flowchart of a method for terrain evolution exploration based on airborne electromagnetic provided by an embodiment of the present invention; Figure 3 It is a second sub-flowchart of a method for terrain evolution exploration based on airborne electromagnetic provided by an embodiment of the present invention; Figure 4 It is a third sub-flowchart of a method for terrain evolution exploration based on airborne electromagnetic provided by an embodiment of the present invention; Figure 5 It is a fourth sub-flowchart of a method for terrain evolution exploration based on airborne electromagnetic provided by an embodiment of the present invention; Figure 6 It is a block diagram of the composition of a terrain evolution exploration system based on airborne electromagnetic provided by an embodiment of the present invention; Figure 7 It is a block diagram of the composition of an upload module in a terrain evolution exploration system based on airborne electromagnetic provided by an embodiment of the present invention; Figure 8 It is a block diagram of the composition of a generation module in a terrain evolution exploration system based on airborne electromagnetic provided by an embodiment of the present invention; Figure 9 It is a block diagram of the composition of a sending module in a terrain evolution exploration system based on airborne electromagnetic provided by an embodiment of the present invention; Figure 10 It is a block diagram of the composition of a reconstruction module in a terrain evolution exploration system based on airborne electromagnetic provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] In Embodiment 1, Figure 1 The implementation process of the terrain evolution survey method based on airborne electromagnetic provided by the embodiment of the present invention is shown, and the details are as follows: S100: Define the survey area of terrain evolution, divide it into several sub-blocks, use a preset airborne platform to collect airborne electromagnetic data within each sub-block, deploy several monitoring devices in each sub-block, create a parent node, and upload the airborne electromagnetic data to the parent node.

[0020] According to administrative divisions, natural boundaries (such as mountains and rivers), traffic conditions, and surface cover types, etc., define the area that needs to be surveyed for terrain evolution, that is, the survey area. The survey area should cover as much as possible the key sections where terrain changes may occur; divide the entire survey area into several sub-blocks according to a certain spatial scale and geographical features. The sub-blocks can be regular grids of fixed size or geomorphic units (such as a valley and a ridge, etc.); use a preset airborne platform (such as a manned aircraft) to fly over each sub-block in turn according to a fixed route, and collect the airborne electromagnetic data within the sub-block through the airborne electromagnetic detection equipment carried on the airborne platform; in this application, the airborne electromagnetic data can be used to analyze underground structures, electrical property changes, and terrain morphology evolution, etc., so as to provide important basis for geological disaster warning, land use planning, and environmental protection.

[0021] According to the actual survey resources, deploy several monitoring devices in the sub-blocks. The monitoring devices refer to ground devices used to monitor terrain evolution, such as electromagnetic sensors, ground stress monitors, or GNSS base stations, etc.; create a corresponding parent node for each sub-block. The parent node is mainly used to store the airborne electromagnetic data in the corresponding sub-block, and can also perform data processing and calculation, similar to the parent node in a binary tree, and upload the airborne electromagnetic data in the sub-block to the corresponding parent node.

[0022] S200: Mount child nodes corresponding to the monitoring devices one by one to the parent node. Through the monitoring devices, collect the original data of each sub-block, and upload the original data to the corresponding child nodes, and integrate the parent node and the child nodes to generate a balanced tree.

[0023] Create child nodes corresponding one by one to the monitoring devices, and mount the child nodes to the corresponding parent nodes according to the relative positions of the blocks and the monitoring devices. The child nodes are similar to the child nodes in a binary tree and are the same as their parent nodes. Continuously collect the original data by the monitoring devices at fixed time intervals or in an event-triggered manner. The original data includes displacement change values, stress and strain data, tilt angles, water pressures, water levels, electromagnetic signals, etc. Upload the original data to the corresponding child nodes through wired or wireless communication, and mount all the child nodes to the parent nodes to generate an AVL tree, where the AVL tree is a tree-like data structure, similar to a tree in nature, which will tilt when the original data is abnormal. When tilting occurs, use an aerial platform to re-survey the survey area to comprehensively diagnose whether there is an abnormality.

[0024] S300: Configure the fluctuation range of each child node, edit the evaluation rules for the original data, and determine whether there are risk characteristics in the AVL tree. If so, extract the status snapshot from the AVL tree and send it to a preset terminal, query the preset comparison table, traverse the risk level corresponding to the risk characteristics, where the comparison table consists of evaluation rule items and risk level items. Tilt the AVL tree according to the risk level to generate a verification instruction and send it to the aerial platform.

[0025] Set the upper and lower threshold values according to the historical values or business characteristics of the original data in the child nodes and configure the fluctuation range. Each child node corresponds to a fluctuation range. Determine the evaluation rules for the original data in each child node. For example, construct the evaluation rules by setting indicators such as the ratio of deviation from the mean, change rate, and abnormal frequency. The evaluation rules are the evaluation methods for the original data. Find the child nodes that may be abnormal, that is, the risk characteristics, from the AVL tree according to the evaluation rules and the fluctuation range.

[0026] For example, a displacement monitoring device corresponding to a certain child node detects that its block has displaced 32 millimeters within 24 hours, exceeding the normal fluctuation range (±10 millimeters) set for this child node. And according to the evaluation rule (if the displacement exceeds 20 millimeters within 24 hours, it indicates that there is a risk of collapse for this block), then the child node corresponding to this displacement monitoring device is defined as a risk feature; a status snapshot of each parent node and child node under the balance tree at the current moment is intercepted. The status snapshot includes not only the original data and airborne electromagnetic data reported by the monitoring devices corresponding to each block, but also data deviation situations and timestamps, etc.; the status snapshot is sent to a preset terminal, where the preset terminal can be a remote monitoring center or an emergency command platform, or can also be the terminal of the organizational personnel for terrain evolution investigation; according to the risk feature and the original data corresponding to the risk feature, the corresponding risk level is determined (such as extremely high level I, high level II, medium level III, and low level IV), where the higher the risk level, the more intense the terrain evolution and the greater the potential safety hazard; each evaluation rule corresponds to a risk level, and the corresponding relationship between the two is stored in a comparison table; if the risk level reaches a certain level, the balance tree is tilted; a verification instruction is triggered and a takeoff reminder is pushed to the airborne platform. The verification instruction at least includes the location of the risk feature, the risk level, relevant data indicators, and verification operations to be performed, etc. The airborne platform is used to re-collect airborne electromagnetic data to comprehensively verify the investigation area.

[0027] S400: When the airborne platform receives the verification instruction, it re-collects airborne electromagnetic data to verify the risk feature. If the verification is passed, the risk feature is sent to the preset terminal. If the verification fails, a balance factor is created to correct the risk feature and reconstruct the balance tree.

[0028] If the verification is passed, that is, there is indeed a risk feature in the investigation area, the risk feature is sent to the preset terminal. If the verification fails, that is, the terrain change in the investigation area is due to human activities or natural environment, which belongs to normal terrain evolution, a balance factor can be inserted into the balance tree to make the balance tree regain balance.

[0029] Continue to elaborate on the example in S300. Due to heavy rain, the block has displaced 32 millimeters within 24 hours, which belongs to normal terrain evolution and there is no need to re-conduct airborne electromagnetic detection. Then a balance factor is inserted into the corresponding child node. The balance factor is a weight value, and the data stored in the child node is 32 millimeters. The balance factor is set to 0.8, and the weight values of other child nodes are 1. The displacement data in this child node is updated using the product of 32 * 0.8.

[0030] In Embodiment 2, Figure 2The implementation process of the terrain evolution survey method and system based on airborne electromagnetic provided by the embodiments of the present invention is shown. The steps of delineating the survey area of terrain evolution, dividing it into several blocks, and using a preset airborne platform to collect airborne electromagnetic data in each block are described in detail as follows: S101: Establish the correspondence between the balanced tree and the blocks, and define the block corresponding to the tilted balanced tree as the target block.

[0031] Each block corresponds to a parent node. Using the parent node and the child nodes mounted thereon, a balanced tree is constructed; in other words, each block corresponds to a balanced tree. The tilted balanced tree is found, and the block corresponding to this balanced tree is defined as the target block.

[0032] S102: Set the boundary range of each block, select test points, integrate the test points corresponding to the target block, generate a survey task, and send it to a preset terminal.

[0033] According to the geomorphic features, administrative divisions, or existing monitoring networks, etc., set the boundary range of each block to ensure no overlap between the blocks; according to the actual monitoring requirements, select test points within the boundary range. When the airborne platform reaches the test points, use the airborne electromagnetic detection equipment carried thereon to collect airborne electromagnetic data; when the blocks to be surveyed are determined, use the test points in the blocks to generate a survey task and send it to a preset terminal; for example, the task number of a certain survey task: TASK-2025-A05, test points: TP-A05-01, TP-B01-21, TP-C05-03, flight altitude: 300 meters.

[0034] In Embodiment 3, Figure 2 The implementation process of the terrain evolution survey method based on airborne electromagnetic provided by the embodiments of the present invention is shown. The steps of deploying several monitoring devices in each block, creating a parent node, and uploading the airborne electromagnetic data to the parent node are described in detail as follows: S103: Configure the environmental data of each block and set the data transmission method of the monitoring devices.

[0035] Determine the environmental data of each block, such as geological type, terrain undulation characteristics, hydrological conditions, historical landslide or settlement records, and meteorological data, etc., and set the data transmission method of each monitoring device; for example, for the monitoring devices within the signal coverage range, the cellular network method can be used for transmission, and for those located in remote or complex terrain areas, a low-power wide area network can be configured.

[0036] S104: Construct a relay network transmission architecture, select relay nodes, configure the status data of each monitoring device, and forward the status data to the relay nodes.

[0037] Construct a relay network transmission architecture within the exploration area. The relay network transmission architecture refers to data transmission through multiple relay nodes. According to factors such as terrain elevation difference, signal strength, power availability, and distance from monitoring devices, relay nodes are selected, and the original data and status data (such as power level, signal strength, operation duration, and cache occupancy) collected by the monitoring devices are sent to the relay nodes, and then forwarded to a preset terminal through the relay network transmission architecture.

[0038] In Embodiment 4, Figure 3 The implementation process of the terrain evolution exploration method based on airborne electromagnetic provided by the embodiment of the present invention is shown. The steps of integrating the parent node and the child node to generate a balanced tree are described in detail as follows: S201: Establish a mapping between the balanced tree and the blocks, integrate the balanced trees corresponding to all blocks to generate a balanced forest, and embed an incremental transmission mechanism.

[0039] Each block corresponds to a balanced tree. Integrate the balanced trees corresponding to all blocks to generate a balanced forest. A balanced forest refers to a set of balanced trees. The balanced forest can efficiently manage monitoring data through a distributed data structure, facilitating the improvement of data query, analysis, and expansion capabilities during subsequent analysis, transmission, and early warning. Since most terrains do not change violently, the airborne electromagnetic data and the original data do not change significantly either. Therefore, the incremental transmission mechanism is used to update the balanced forest. The incremental transmission mechanism refers to only updating the differential data, and the differential data can be displacement increment, tilt angle change rate, and electromagnetic intensity mutation, etc.

[0040] S202: Generate an exploration report via the balanced forest and the status snapshot, and send the exploration report to a preset terminal.

[0041] Integrate the status snapshots of all balanced trees in the balanced forest and write them into a preset template to generate an exploration report, and send the exploration report to a preset terminal.

[0042] In Embodiment 5, Figure 4 The implementation process of the terrain evolution exploration method based on airborne electromagnetic provided by the embodiment of the present invention is shown. The steps of tilting the balanced tree via the risk level to generate a verification instruction and sending it to the airborne platform are described in detail as follows: S301: Insert a tilt angle item into the comparison table. When the tilt angle is greater than the threshold, start a preset disposal plan.

[0043] Quantify the tilt angle of the balanced tree. In other words, different evaluation rules correspond to different tilt angles. When the tilt angle is greater than the preset threshold, start a disposal plan, where the disposal plan can be to organize personnel to evacuate.

[0044] S302: Locate the position of the target block, use the nearest neighbor algorithm to connect all the positions, generate a survey route, and integrate it into the verification instruction.

[0045] Define the divided blocks corresponding to the tilted balanced tree as target blocks, determine the position of each target block, use the nearest neighbor algorithm to sequentially connect all the determined positions to generate a survey route, and use an aerial platform to conduct a re-survey.

[0046] In Embodiment 6, Figure 5 The implementation process of the terrain evolution survey method based on airborne electromagnetic provided by the embodiment of the present invention is shown. The steps of modifying the risk characteristics and reconstructing the balanced tree are described in detail as follows: S401: Determine the time window of each balance factor and dynamically update the balance factor.

[0047] In the process of adjusting the original data with the balance factor, the balance factor is not immutable. Each balance factor corresponds to a time window, which consists of a start time and an end time. When the end time is reached, the balance factor is dynamically updated using the most recent airborne electromagnetic data.

[0048] S402: Record the version of the state snapshot within the time window and create a version chain.

[0049] Record the state snapshot under each time window in the form of a version, integrate the versions corresponding to all time windows to generate a version chain; the version chain refers to a set of multiple versions organized in chronological order.

[0050] In Embodiment 7, different from Embodiment 1, in the embodiment of the present invention, the method further includes: Configure the weight value of each balanced tree and calculate the risk coefficient of the survey area; Divide the risk coefficient into several levels, and each level corresponds to an emergency response rule.

[0051] Configure a corresponding weight value for each child node in the balanced tree. The larger the weight value, the greater the risk of the block corresponding to the child node; multiply the weight value of each child node by the original data of the child node to obtain the risk coefficient of the child node, and add up the risk coefficients of all child nodes to obtain the risk coefficient of the survey area; divide the risk coefficient into multiple intervals, that is, levels, and each interval corresponds to an emergency response rule; for example, an emergency response rule is: increase the airborne electromagnetic monitoring frequency.

[0052] Figure 6The block diagram of the composition structure of the terrain evolution survey system based on airborne electromagnetic provided by the embodiment of the present invention is shown. The terrain evolution survey system 1 based on airborne electromagnetic includes: An upload module 11, configured to delimit the survey area of terrain evolution, divide it into several sub-blocks, use a preset airborne platform to collect airborne electromagnetic data within each sub-block, deploy several monitoring devices in each sub-block, create a parent node, and upload the airborne electromagnetic data to the parent node; A generation module 12, configured to calculate the number of monitoring devices, mount child nodes corresponding to the monitoring devices one by one to the parent node, collect the original data of each sub-block via the monitoring devices, and upload the original data to the corresponding child nodes, and integrate the parent node and the child nodes to generate a balanced tree; A sending module 13, configured to configure the fluctuation range of each child node, edit the evaluation rules of the original data, determine whether there are risk features in the balanced tree, if so, extract the status snapshot from the balanced tree and send it to a preset terminal, query a preset comparison table, traverse the risk level corresponding to the risk features, where the comparison table consists of evaluation rule items and risk level items, and tilt the balanced tree via the risk level to generate a verification instruction and send it to the airborne platform; A reconstruction module 14, configured to, when the airborne platform receives the verification instruction, re-collect the airborne electromagnetic data, verify the risk features, if the verification passes, send the risk features to the preset terminal, if the verification fails, create a balance factor, correct the risk features, and reconstruct the balanced tree.

[0053] Figure 7 The block diagram of the composition structure of the terrain evolution survey system based on airborne electromagnetic provided by the embodiment of the present invention is shown. The upload module 11 includes: A definition unit 111, configured to establish the corresponding relationship between the balanced tree and the sub-blocks, and define the sub-blocks corresponding to the tilted balanced tree as target blocks; A setting unit 112, configured to set the boundary range of each sub-block, select test points, integrate the test points corresponding to the target blocks, generate a survey task, and send it to a preset terminal; A configuration unit 113, configured to configure the environmental data of each sub-block and set the data transmission mode of the monitoring devices; A forwarding unit 114, configured to build a relay network transmission architecture, select relay nodes, configure the status data of each monitoring device, and forward the status data to the relay nodes.

[0054] Figure 8 The block diagram of the composition structure of the terrain evolution survey system based on airborne electromagnetic provided by the embodiment of the present invention is shown. The generation module 12 includes: An embedding unit 121, configured to establish a mapping between a balanced tree and chunks, integrate the balanced trees corresponding to all chunks to generate a balanced forest, and embed an incremental transmission mechanism; A sending unit 122, configured to generate an inspection report via the balanced forest and the status snapshot, and send the inspection report to a preset terminal.

[0055] Figure 9 The block diagram of the composition structure of the terrain evolution inspection system based on airborne electromagnetic provided by an embodiment of the present invention is shown. The sending module 13 includes: A starting unit 131, configured to insert an inclination angle item into the comparison table, and start a preset handling scheme when the inclination angle is greater than a threshold; An integrating unit 132, configured to locate the position of the target block, connect all the positions by using the nearest neighbor algorithm to generate an inspection route, and integrate it into the verification instruction.

[0056] Figure 10 The block diagram of the composition structure of the terrain evolution inspection system based on airborne electromagnetic provided by an embodiment of the present invention is shown. The reconstruction module 14 includes: An updating unit 141, configured to determine the time window of each balance factor and dynamically update the balance factor; A creating unit 142, configured to record the version of the status snapshot within the time window and create a version chain.

[0057] Among them, the uploading module 11 is mainly used to complete step S100, the generating module 12 is mainly used to complete step S200, the sending module 13 is mainly used to complete step S300, and the reconstruction module 14 is mainly used to complete step S400; The defining unit 111 is mainly used to complete step S101, the setting unit 112 is mainly used to complete step S102, the configuring unit 113 is mainly used to complete step S103, and the forwarding unit 114 is mainly used to complete step S104; The embedding unit 121 is mainly used to complete step S201, and the sending unit 122 is mainly used to complete step S202; The starting unit 131 is mainly used to complete step S301, and the integrating unit 132 is mainly used to complete step S302; The updating unit 141 is mainly used to complete step S401, and the creating unit 142 is mainly used to complete step S402.

[0058] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0059] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

[0060] The foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A terrain evolution investigation method based on airborne electromagnetic, characterized in that, The method includes: Defining an investigation area for terrain evolution and dividing it into several sub-blocks, using a preset aerial platform to collect airborne electromagnetic data within each sub-block. In each sub-block, deploying several monitoring devices, creating a parent node, and uploading the airborne electromagnetic data to the parent node; Mounting child nodes corresponding one by one to the monitoring devices to the parent node. Through the monitoring devices, collecting the original data of each sub-block and uploading the original data to the corresponding child nodes, integrating the parent node and the child nodes to generate a balanced tree; Configuring the fluctuation range of each child node, editing the evaluation rules for the original data, and determining whether there are risk features in the balanced tree. If so, extracting a status snapshot from the balanced tree and sending it to a preset terminal, querying a preset comparison table, traversing the risk level corresponding to the risk feature, where the comparison table consists of evaluation rule items and risk level items. Through the risk level, tilting the balanced tree to generate a verification instruction and sending it to the aerial platform; When the aerial platform receives the verification instruction, recollecting the airborne electromagnetic data to verify the risk feature. If the verification passes, sending the risk feature to the preset terminal. If the verification fails, creating a balance factor, correcting the risk feature, and reconstructing the balanced tree.

2. The terrain evolution survey method based on airborne electromagnetic according to claim 1, wherein, The step of defining an investigation area for terrain evolution and dividing it into several sub-blocks, using a preset aerial platform to collect airborne electromagnetic data within each sub-block includes: Establishing the correspondence between the balanced tree and the sub-blocks, and defining the sub-block corresponding to the tilted balanced tree as the target block; Setting the boundary range of each sub-block, selecting test points, integrating the test points corresponding to the target block to generate an investigation task, and sending it to a preset terminal.

3. The terrain evolution survey method based on airborne electromagnetic according to claim 2, wherein, The step of deploying several monitoring devices in each sub-block, creating a parent node, and uploading the airborne electromagnetic data to the parent node includes: Configuring the environmental data of each sub-block and setting the data transmission method of the monitoring devices; Constructing a relay network transmission architecture, selecting relay nodes, configuring the status data of each monitoring device, and forwarding the status data to the relay nodes.

4. The terrain evolution survey method based on airborne electromagnetic according to claim 3, wherein, The step of integrating the parent node and the child nodes to generate a balanced tree includes: Establishing the mapping between the balanced tree and the sub-blocks, integrating the balanced trees corresponding to all sub-blocks to generate a balanced forest, and embedding an incremental transmission mechanism; Generating an investigation report through the balanced forest and the status snapshot, and sending the investigation report to a preset terminal.

5. The method for terrain evolution investigation based on airborne electromagnetic according to claim 2, characterized in that, The step of tilting the balanced tree through the risk level to generate a verification instruction and sending it to the aerial platform includes: Inserting a tilt angle item into the comparison table. When the tilt angle is greater than the threshold, starting a preset handling scheme; Locating the position of the target block, using the nearest neighbor algorithm to connect all positions to generate an investigation route, and integrating it into the verification instruction.

6. The terrain evolution survey method based on airborne electromagnetic as claimed in claim 1, wherein The step of correcting the risk feature and reconstructing the balanced tree includes: Determining the time window of each balance factor and dynamically updating the balance factor; Recording the version of the status snapshot within the time window and creating a version chain.

7. The terrain evolution survey method based on airborne electromagnetic according to claim 4, characterized in that The method further includes: Configuring the weight value of each balanced tree and calculating the risk coefficient of the exploration area; Dividing the risk coefficient into several levels, where each level corresponds to an emergency response rule.

8. An airborne electromagnetic-based terrain evolution investigation system, characterized in that, The system includes: An upload module, which is used to delimit the exploration area of terrain evolution, divide it into several sub-blocks, use a preset aerial platform to collect the airborne electromagnetic data in each sub-block, deploy several monitoring devices in each sub-block, create a parent node, and upload the airborne electromagnetic data to the parent node; A generation module, which is used to mount child nodes corresponding to the monitoring devices one by one to the parent node, collect the raw data of each sub-block through the monitoring devices, and upload the raw data to the corresponding child nodes, and integrate the parent node and the child nodes to generate a balanced tree; A sending module, which is used to configure the fluctuation range of each child node, edit the evaluation rules of the raw data, judge whether there are risk features in the balanced tree, if so, extract the status snapshot from the balanced tree and send it to a preset terminal, query the preset comparison table, traverse the risk level corresponding to the risk feature, where the comparison table consists of an evaluation rule item and a risk level item, tilt the balanced tree through the risk level, generate a verification instruction, and send it to the aerial platform; A reconstruction module, which is used to re-collect the airborne electromagnetic data when the aerial platform receives the verification instruction, verify the risk feature, if the verification passes, send the risk feature to the preset terminal, if the verification fails, create a balance factor, correct the risk feature, and reconstruct the balanced tree.

9. The terrain evolution exploration system based on airborne electromagnetic according to claim 8, characterized in that, The upload module includes: A definition unit, which is used to establish the correspondence between the balanced tree and the sub-block, and define the sub-block corresponding to the tilted balanced tree as the target block; A setting unit, which is used to set the boundary range of each sub-block, select test points, integrate the test points corresponding to the target block, generate an exploration task, and send it to a preset terminal; A configuration unit, which is used to configure the environmental data of each sub-block and set the data transmission mode of the monitoring device; A forwarding unit, which is used to construct a relay network transmission architecture, select relay nodes, configure the status data of each monitoring device, and forward the status data to the relay nodes.

10. The terrain evolution exploration system based on airborne electromagnetic according to claim 9, characterized in that, The generation module includes: An embedding unit, which is used to establish the mapping between the balanced tree and the sub-block, integrate the balanced trees corresponding to all sub-blocks to generate a balanced forest, and embed an incremental transmission mechanism; A distribution unit, which is used to generate an exploration report through the balanced forest and the status snapshot, and distribute the exploration report to a preset terminal.

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