Hazard source inspection method, system, device, equipment, medium and product

Abstract

The application provides a dangerous source inspection method, system, device, equipment, medium and product. The method comprises the following steps: a client receives first sound wave information transmitted by a distributed optical fiber sound wave sensing device, and according to the first sound wave information, whether there is a dangerous source in a long linear structure or a protection area is investigated, when the dangerous source is investigated, position information of the dangerous source is obtained; the client transmits a first inspection signal carrying the position information to a target unmanned aerial vehicle base station device; wherein the target unmanned aerial vehicle base station device is the unmanned aerial vehicle base station device closest to the dangerous source among a plurality of unmanned aerial vehicle base station devices; the target unmanned aerial vehicle base station device is equipped with an unmanned aerial vehicle; and the client receives first inspection information of the dangerous source transmitted by the target unmanned aerial vehicle base station device. The method of the application realizes long-distance, low false alarm rate and high resolution detection of the dangerous source of the long linear structure, and quickly issues a warning and automatically takes corresponding measures, thereby ensuring the safe operation of the long linear structure.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of distributed sensing technology, in particular to a dangerous source inspection method, system, device, equipment, medium and product. BACKGROUND

[0002] With the steady growth of economy, the number of projects such as line reconstruction, road maintenance and building construction is increasing. It is inevitable that the work area of part of the projects will be close to long linear structures such as rail transit, pipeline transportation or road and bridge tunnel, which may pose a potential threat to the safe operation of the long linear structures. Therefore, a protection zone is usually set around the long linear structures, and the long linear structures and their protection zones need to be inspected to detect and eliminate various dangerous sources.

[0003] At present, the inspection work of the long linear structures and their protection zones mainly relies on manual means, which leads to the defects of high labor and time cost, limited detection range, insufficient resolution, high false alarm rate, and inability to timely and effectively locate and handle the dangerous sources, etc., and it is difficult to meet the increasingly complex safety operation guarantee requirements of the long linear structures. SUMMARY

[0004] The present application provides a dangerous source inspection method, system, device, equipment, medium and product, which realizes long-distance, low false alarm rate and high resolution detection of dangerous sources of long linear structures, and quickly issues early warnings and automatically takes countermeasures to ensure the safe operation of long linear structures.

[0005] The first aspect of the present application provides a dangerous source inspection method, which is applied to a client of a dangerous source inspection system, the dangerous source inspection system further comprising a distributed optical fiber acoustic wave sensing device and a plurality of unmanned aerial vehicle base station devices, and the method comprises:

[0006] receiving first acoustic wave information transmitted by the distributed optical fiber acoustic wave sensing device, and according to the first acoustic wave information, detecting whether there is a dangerous source in the long linear structure or the protection zone, and obtaining position information of the dangerous source when the dangerous source is detected;

[0007] transmitting a first inspection signal carrying the position information to a target unmanned aerial vehicle base station device; wherein the target unmanned aerial vehicle base station device is the unmanned aerial vehicle base station device closest to the dangerous source among the plurality of unmanned aerial vehicle base station devices; the target unmanned aerial vehicle base station device is equipped with an unmanned aerial vehicle, and the target unmanned aerial vehicle base station device is used to dispatch the unmanned aerial vehicle to inspect the dangerous source when the first inspection signal is received;

[0008] receiving first inspection information of the dangerous source transmitted by the target unmanned aerial vehicle base station device.

[0009] In a possible design, according to the first sound wave information, it is checked whether there is a dangerous source in the long linear structure or the protection area, when the dangerous source is checked, position information of the dangerous source is obtained, including:

[0010] According to the first sound wave information, an abnormal point is checked, and feature information, position information and operation type of the abnormal point are obtained;

[0011] According to the preset feature parameter database, sample matching is performed on the operation type, and a warning critical parameter value matched with the operation type is obtained;

[0012] When the position information indicates that the abnormal point is located in the long linear structure or the protection area, and / or the parameter value of the feature information is greater than the warning critical parameter value, the abnormal point is determined as the dangerous source.

[0013] In a possible design, according to the first sound wave information, an abnormal point is checked, and feature information, position information and operation type of the abnormal point are obtained, including:

[0014] According to the first sound wave information, the abnormal point is checked;

[0015] According to the first sound wave information, feature information of the abnormal point is obtained through a feature extraction algorithm, and position information of the abnormal point is obtained through a positioning algorithm based on a sound wave propagation characteristic according to the feature information and a preset geographic information system;

[0016] According to the first sound wave information, frequency spectrum information of the abnormal point is obtained through a frequency spectrum analysis algorithm, and an operation type matched with the frequency spectrum information is obtained through sample matching of the frequency spectrum information according to a preset frequency spectrum database.

[0017] In a possible design, the long linear structure is located underground or in a tunnel, and the protection area is located on the ground or outside the tunnel; the plurality of unmanned aerial vehicle base station devices include a plurality of first unmanned aerial vehicle base station devices arranged in the long linear structure, and a plurality of second unmanned aerial vehicle base station devices arranged outside the long linear structure;

[0018] The first inspection signal carrying the position information is transmitted to the target unmanned aerial vehicle base station device, including:

[0019] According to the position information, a relative distance between the dangerous source and the long linear structure is obtained;

[0020] When the operation type and the relative distance jointly indicate that the dangerous source is located in the long linear structure, the first inspection signal is transmitted to a third unmanned aerial vehicle base station device; the third unmanned aerial vehicle base station device is a first unmanned aerial vehicle base station device closest to the dangerous source in the plurality of first unmanned aerial vehicle base station devices;

[0021] When the operation type and the relative distance jointly indicate that the dangerous source is located in the protection area, a first inspection signal is transmitted to a fourth unmanned aerial vehicle base station device; the fourth unmanned aerial vehicle base station device is a second unmanned aerial vehicle base station device closest to the dangerous source among the plurality of second unmanned aerial vehicle base station devices.

[0022] In a possible design, after receiving the first acoustic wave information transmitted by the distributed optical fiber acoustic wave sensing device, the method further includes:

[0023] The first acoustic wave information is filtered through a filtering algorithm;

[0024] The filtered first acoustic wave information is denoised through a denoising algorithm;

[0025] The denoised first acoustic wave information is normalized through a normalization algorithm.

[0026] In a possible design, the dangerous source inspection system further includes a mobile terminal carried by an inspection personnel;

[0027] After receiving the first inspection information of the dangerous source transmitted by the target unmanned aerial vehicle base station device, the method further includes:

[0028] According to the first inspection information, second inspection information of the dangerous source is obtained;

[0029] A second inspection signal carrying the second inspection information is transmitted to the mobile terminal.

[0030] A second aspect of the present application provides a dangerous source inspection method, which is applied to a target unmanned aerial vehicle base station device of a dangerous source inspection system, the target unmanned aerial vehicle base station device is mounted with an unmanned aerial vehicle, and the dangerous source inspection system further includes a client terminal; the method includes:

[0031] When receiving a first inspection signal carrying position information transmitted by the client terminal, a flight path of the unmanned aerial vehicle is formulated according to the position information;

[0032] The unmanned aerial vehicle is dispatched to inspect a dangerous source indicated by the position information according to the flight path;

[0033] Third inspection information of the dangerous source transmitted by the unmanned aerial vehicle is received, and first inspection information of the dangerous source is obtained according to the third inspection information;

[0034] The first inspection information is transmitted to the client terminal.

[0035] In a possible design, the unmanned aerial vehicle is mounted with a distance measuring device, a positioning device, an observation device and an audio-visual alarm device;

[0036] The distance measuring device is used to measure a relative position relationship between the unmanned aerial vehicle and the dangerous source;

[0037] The positioning device is configured to measure the first spatial coordinates of the unmanned aerial vehicle;

[0038] The observation device is configured to capture visual materials of the dangerous source;

[0039] The audio-visual warning device is configured to perform audio-visual warning on the dangerous source according to the pre-stored warning information.

[0040] The third inspection information includes the relative position relationship, the first spatial coordinates and the visual materials.

[0041] In a possible design, the first inspection information of the dangerous source is obtained according to the third inspection information, and the first inspection information includes:

[0042] The second spatial coordinates of the dangerous source are obtained according to the relative position relationship and the first spatial coordinates;

[0043] The first inspection information is obtained according to the second spatial coordinates, the visual materials and the warning information.

[0044] A third aspect of the present application provides a dangerous source inspection method, which is applied to a distributed optical fiber acoustic wave sensing device of a dangerous source inspection system, the dangerous source inspection system further includes a client, and the method includes:

[0045] The long linear structure is continuously collected according to a preset collection frequency, and second acoustic wave information is obtained; the signal type of the second acoustic wave information is an optical signal;

[0046] The second acoustic wave information is subjected to digital signal conversion, and first acoustic wave information is obtained;

[0047] The first acoustic wave information is continuously transmitted to the client.

[0048] A fourth aspect of the present application provides a dangerous source inspection system, which includes a client, and a distributed optical fiber acoustic wave sensing device and a plurality of unmanned aerial vehicle base station devices which are in communication connection with the client respectively;

[0049] The client is configured to implement the dangerous source inspection method according to any one of the first aspect;

[0050] The distributed optical fiber acoustic wave sensing device is configured to implement the dangerous source inspection method according to any one of the second aspect;

[0051] Each unmanned aerial vehicle base station device is configured to implement the dangerous source inspection method according to the third aspect.

[0052] In a possible design, the distributed optical fiber acoustic wave sensing device includes:

[0053] A conversion end in communication connection with the client, and at least one sensing optical cable connected to the conversion end.

[0054] In a possible design, the long linear structure is located underground or in a tunnel, and the protection zone is located on the ground or outside the tunnel.

[0055] The number of sensing optical cables is three, which are bonded on both sides and the top of the long linear structure.

[0056] In a possible design, the system further comprises:

[0057] The mobile terminal is in communication connection with the client, and the mobile terminal is carried by the inspection personnel.

[0058] A fifth aspect of the present application provides a dangerous source inspection device, the dangerous source inspection device is located at the client of the dangerous source inspection system, the dangerous source inspection system further comprises a distributed optical fiber acoustic wave sensing device and a plurality of unmanned aerial vehicle base station devices, and the dangerous source inspection device comprises:

[0059] A dangerous source investigation module is configured to receive first acoustic wave information transmitted by the distributed optical fiber acoustic wave sensing device, and investigate whether there is a dangerous source in the long linear structure or the protection zone according to the first acoustic wave information, and obtain position information of the dangerous source when the dangerous source is investigated;

[0060] A first transmission module is configured to transmit a first inspection signal carrying the position information to a target unmanned aerial vehicle base station device, wherein the target unmanned aerial vehicle base station device is the unmanned aerial vehicle base station device closest to the dangerous source among the plurality of unmanned aerial vehicle base station devices, and the target unmanned aerial vehicle base station device is loaded with an unmanned aerial vehicle, and the target unmanned aerial vehicle base station device is configured to dispatch the unmanned aerial vehicle to inspect the dangerous source when the first inspection signal is received;

[0061] A second transmission module is configured to receive first inspection information of the dangerous source transmitted by the target unmanned aerial vehicle base station device.

[0062] A sixth aspect of the present application provides a dangerous source inspection device, the dangerous source inspection device is located at a target unmanned aerial vehicle base station device of a dangerous source inspection system, the target unmanned aerial vehicle base station device is loaded with an unmanned aerial vehicle, and the dangerous source inspection system further comprises a client, and the dangerous source inspection device comprises:

[0063] A path planning module is configured to plan a flight path of the unmanned aerial vehicle according to position information when a first inspection signal carrying the position information transmitted by the client is received;

[0064] An unmanned aerial vehicle dispatching module is configured to dispatch the unmanned aerial vehicle to inspect a dangerous source indicated by the position information according to the flight path;

[0065] A third transmission module is configured to receive third inspection information of the dangerous source transmitted by the unmanned aerial vehicle, and obtain the first inspection information of the dangerous source according to the third inspection information;

[0066] A fourth transmission module is configured to transmit the first inspection information to the client.

[0067] The seventh aspect of the present application provides a dangerous source inspection device, the dangerous source inspection device is a distributed optical fiber acoustic wave sensing device of a dangerous source inspection system, the dangerous source inspection system further comprises a client, and the dangerous source inspection device comprises:

[0068] an acoustic wave collecting module, configured to continuously collect the long linear structure according to a preset collecting frequency to obtain second acoustic wave information; the signal type of the second acoustic wave information is an optical signal;

[0069] a signal conversion module, configured to perform digital signal conversion on the second acoustic wave information to obtain first acoustic wave information;

[0070] a fifth transmission module, configured to continuously transmit the first acoustic wave information to the client.

[0071] The eighth aspect of the present application provides an electronic device, comprising a memory and a processor in communication connection with the memory;

[0072] the memory stores computer execution instructions;

[0073] the processor executes the computer execution instructions stored in the memory, and is used for realizing the dangerous source inspection method in any one of the first aspect, the second aspect or the third aspect.

[0074] The ninth aspect of the present application provides a computer readable storage medium, the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to realize the dangerous source inspection method in any one of the first aspect, the second aspect or the third aspect.

[0075] The tenth aspect of the present application provides a computer program product, comprising a computer program, and the computer program is executed by the processor to realize the dangerous source inspection method in any one of the first aspect, the second aspect or the third aspect.

[0076] The application provides a dangerous source inspection method, system, device, equipment, medium and product. The method comprises the following steps: a client receives first sound wave information transmitted by a distributed optical fiber sound wave sensing device, and accordinges to the first sound wave information, whether there is a dangerous source in a long linear structure or a protection area is investigated, and when the dangerous source is investigated, position information of the dangerous source is obtained; the client transmits a first inspection signal carrying the position information to a target unmanned aerial vehicle base station device; wherein the target unmanned aerial vehicle base station device is an unmanned aerial vehicle base station device closest to the dangerous source among a plurality of unmanned aerial vehicle base station devices; the target unmanned aerial vehicle base station device is equipped with an unmanned aerial vehicle; and the client receives first inspection information of the dangerous source transmitted by the target unmanned aerial vehicle base station device. The following technical effects are realized: through the long-distance transmission characteristic of the distributed optical fiber sound wave sensing device and the wide-range sensing capability of the DAS, long-distance detection of the dangerous source of the long linear structure is realized, and the problem of limited detection range when relying on manual inspection is solved; through real-time communication of the distributed optical fiber sound wave sensing device and the client, continuous detection of the dangerous source is realized, and the problem that the dangerous source cannot be positioned in time and effectively when relying on manual inspection is solved; when the dangerous source is investigated, the target unmanned aerial vehicle base station device dispatches the unmanned aerial vehicle to inspect the dangerous source indicated by the position information according to a flight path, rapid early warning and automatic response measures for the dangerous source inspection are realized, safe operation of the long linear structure is ensured, and the problems that the dangerous source cannot be processed in time and effectively and the labor and time cost are high when relying on manual inspection are solved. BRIEF DESCRIPTION OF DRAWINGS

[0077] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0078] Figure 1 A scene schematic diagram of a dangerous source inspection method provided by the embodiments of the application;

[0079] Figure 2 An architecture schematic diagram of a dangerous source inspection system provided by the embodiments of the application;

[0080] Figure 3 A flow schematic diagram of a dangerous source inspection method provided by the embodiments of the application Figure 1 ;

[0081] Figure 4 A flow schematic diagram of a dangerous source inspection method provided by the embodiments of the application Figure 2 ;

[0082] Figure 5A schematic diagram of sound wave information of a train running on a normal track is provided for an embodiment of the present application.

[0083] Figure 6 A first schematic diagram of sound wave information of a train running on a certain track is provided for an embodiment of the present application.

[0084] Figure 7 A schematic diagram of a structure of a dangerous source inspection system is provided for an embodiment of the present application.

[0085] Figure 8 A schematic diagram of a structure of a dangerous source inspection device is provided for an embodiment of the present application. Figure 1 ;

[0086] Figure 9 A schematic diagram of a structure of a dangerous source inspection device is provided for an embodiment of the present application. Figure 2 ;

[0087] Figure 10 A schematic diagram of a structure of a dangerous source inspection device is provided for an embodiment of the present application. Figure 3 ;

[0088] Figure 11 A schematic diagram of a structure of an electronic device is provided for an embodiment of the present application.

[0089] Reference signs:

[0090] 110 - subway; 111 - subway track; 112 - protection area;

[0091] 120 - dangerous source inspection system; 121 - client; 122 - distributed optical fiber sound wave sensing device; 1221 - conversion end; 1222 - sensing optical cable; 123 - unmanned aerial vehicle base station device; 1231 - unmanned aerial vehicle; 124 - mobile terminal; 125 - communication base station; 126 - switch; 127 - remote platform server;

[0092] 130 - foundation pit;

[0093] 810 - dangerous source investigation module; 820 - first transmission module; 830 - second transmission module;

[0094] 910 - path planning module; 920 - unmanned aerial vehicle dispatching module; 930 - third transmission module; 940 - fourth transmission module;

[0095] 1010 - sound wave collection module; 1020 - signal conversion module; 1030 - fifth transmission module;

[0096] 1110 - processor; 1120 - memory; 1130 - communication component; 1140 - bus. DETAILED DESCRIPTION

[0097] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, unless otherwise indicated, like numbers in the attached drawings refer to the same or similar elements. The following description of exemplary embodiments is not representative of all possible embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0098] In the present application, the terms "first", "second", and the like are used to distinguish between similar or identical items or elements having substantially the same function and role. Those skilled in the art will understand that the terms "first", "second", and the like do not limit the quantity and execution order, and the terms "first", "second", and the like do not necessarily mean different. It should be noted that the words "exemplary" or "for example" in the present application are used to indicate an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the use of the words "exemplary" or "for example" is intended to present the relevant concept in a specific manner. In the present application, "at least one" means one or more, and "multiple" means two or more.

[0099] It should be noted that "at the time of" in the present application can be at the moment a certain condition occurs, or within a certain period of time after a certain condition occurs, which is not specifically limited in the present application. In addition, the dangerous source inspection method provided in the present application is only an example, and the dangerous source inspection method can include more or less content. The user information (including but not limited to user equipment information and user personal information, etc.) and data (including but not limited to data for analysis, stored data, and displayed data, etc.) involved in one or more embodiments of the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards, and provide corresponding operation portal for user to choose authorization or refusal.

[0100] In order to clearly describe the technical solutions of the present application, the following briefly introduces some terms and technologies involved in the present application:

[0101] Long linear structure: refers to a structure with a long extension distance, such as rail transit, pipeline transportation and road and bridge tunnel, etc. Long linear structure usually spans a large geographical area and is an important part of transportation or infrastructure.

[0102] Rail transit: refers to a public transportation system that uses tracks as the guide for train operation. Rail transit includes subway, light rail, tram and railway, mainly for transporting people and goods.

[0103] Pipeline transportation refers to a transportation system that uses a network of pipelines to transport liquids or gases. Pipeline transportation can be used to transport resources such as oil, natural gas, or water.

[0104] Roads, bridges, and tunnels: These are important components of transportation or infrastructure. A road refers to a highway or roadway; a bridge is a structure that crosses an obstacle; and a tunnel is a tubular passageway that passes through mountains, water bodies, or other obstacles.

[0105] A protected area is a specific area designated to protect long, linear structures from damage or disturbance. Within a protected area, activities that may threaten the long, linear structure are restricted.

[0106] Hazard source: refers to the root cause or factor that may lead to damage, failure, or safety accidents in long linear structures. Hazard sources may include natural disasters, human sabotage, illegal construction, or other situations that may lead to structural defects or losses.

[0107] To clearly understand the technical solution of this application, the solutions of the prior art will be described in detail first.

[0108] With stable economic growth, the number of projects such as track renovation, road maintenance, and building construction is constantly increasing. Inevitably, some of these projects will be located near long, linear structures such as rail transit, pipelines, or tunnels and bridges, which may pose a potential threat to their safe operation. Taking subways as an example, various work activities frequently take place outside subway systems, such as construction or underground pipeline maintenance. Simultaneously, unauthorized intrusions, trackside damage during construction, and abnormal wheel-rail vibrations during long-term use are also common occurrences. These factors may threaten the safety of subway tracks. Therefore, protected areas are typically established around long, linear structures, and these structures and their protected areas are subject to regular inspections to identify and eliminate various hazards.

[0109] Currently, the inspection of long linear structures and their protected areas mainly relies on manual methods, which leads to shortcomings such as limited detection range, high false alarm rate, insufficient resolution, high manpower and time costs, and inability to locate and deal with hazards in a timely and effective manner. This makes it difficult to meet the increasingly complex safety operation and protection needs of long linear structures.

[0110] Therefore, how to provide a method, system, device, equipment, medium, and product for hazard source inspection that can achieve long-distance, low false alarm rate, and high-resolution detection, and can quickly issue early warnings and automatically take countermeasures for hazard sources, in order to ensure the safe operation of long linear structures, is an urgent problem to be solved in this application.

[0111] Therefore, in view of the above technical problems. In the research, it is found that in order to solve this problem, a distributed acoustic sensing (DAS) device and a UAV base station device are introduced into the long linear structure. The distributed acoustic sensing device quickly issues a warning for the hazard source, and the UAV base station device automatically takes countermeasures.

[0112] Specifically, the reason for the limited detection range is that the existing detection technology has limited coverage area and blind area, and it is difficult to timely discover external operation threats and illegal personnel intrusion that affect operation; the distributed fiber acoustic sensing device is laid along the long linear structure line, which expands the coverage area and realizes long-distance detection of the long linear structure.

[0113] The reason for the high false alarm rate is that the existing detection technology is prone to false alarms due to single judgment basis and lack of perfect analysis mechanism; the present application improves the reliability and effectiveness of the warning through spectrum analysis and warning critical parameter means, and realizes low false alarm rate detection of the long linear structure.

[0114] The reason for the insufficient resolution is that the existing detection technology cannot accurately capture the subtle changes and characteristics of the long linear structure related information, and cannot accurately identify the position information and operation type of the hazard source; the present application can identify the position information and operation type of the hazard source by means of DAS technology and spectrum analysis, and realize high-resolution detection of the long linear structure.

[0115] The reason for the high cost of manpower and time is that the existing detection technology is realized by manual inspection, which is greatly affected by subjective factors, cannot be real-time inspected at all times, and cannot detect hidden dangers; at the same time, the reason why the hazard source cannot be positioned and processed in time is that the existing detection technology cannot accurately position the hazard source, and relies on communication between inspection personnel, and the response to the hazard source is not timely; the present application replaces manual inspection by means of automatic detection and judgment, automatically activates unmanned aerial vehicle inspection, and timely transmits inspection information of the hazard source, in addition, the unmanned aerial vehicle can also automatically perform cruise inspection, distance measurement and audiovisual alarm, which realizes rapid warning and automatic countermeasures for the hazard source.

[0116] Based on the above creative findings, the technical scheme of the present application is proposed.

[0117] The application scenario of the hazard source inspection method provided by the present application is introduced below.

[0118] Figure 1 The scene diagram of the hazard source inspection method provided by the embodiment of the present application. It should be noted that, Figure 1The shown are only examples of scenarios to which the present application can be applied, to help those skilled in the art understand the technical content of the present application, but do not mean that the present application cannot be applied to other devices, systems, environments or scenarios.

[0119] Taking a long linear structure as a subway as an example, as shown in the figure, the application scenario includes a subway 110 and a dangerous source inspection system 120. Figure 1

[0120] The subway 110 includes a subway track 111 located underground, and a protection zone 112 located above the ground and arranged around the subway track 111. The specific range of the protection zone 112 is defined as an area extending a certain distance outside the outer line of the subway track 111 structure, for example, an area extending within 50 meters outside.

[0121] The dangerous source inspection system 120 includes a client 121, a distributed optical fiber acoustic wave sensing device 122, and a plurality of unmanned aerial vehicle base station devices 123, which are uniformly arranged along the subway track 111, and each of the unmanned aerial vehicle base station devices 123 is equipped with an unmanned aerial vehicle 1231.

[0122] The distributed optical fiber acoustic wave sensing device 122 is used to continuously collect acoustic wave information of the subway 110, and transmit the collected acoustic wave information to the client 121.

[0123] The client 121 can be a server providing various service support (only as an example). The client 121 can be equipped with various software and systems providing service support, such as a geographic information system (GIS) providing map service support, a feature parameter database providing job type sample matching, a spectrum database providing spectrum information sample matching, and software providing feature extraction algorithm, spectrum analysis algorithm, filtering algorithm, noise reduction algorithm and normalization algorithm. The client 121 is used to investigate whether there is a dangerous source in the subway track 111 or the protection zone 112 according to the acoustic wave information, and obtain the position information of the dangerous source when the dangerous source is investigated; the client 121 is also used to transmit an inspection signal to one unmanned aerial vehicle base station device 123 according to the position information of the dangerous source.

[0124] The unmanned aerial vehicle 1231 can be a fixed-wing unmanned aerial vehicle, a multi-rotor unmanned aerial vehicle or a unmanned helicopter, etc. The unmanned aerial vehicle base station device 123 receiving the inspection signal is used to dispatch the unmanned aerial vehicle 1231 to inspect the dangerous source.

[0125] ​For example, there is a building construction of a foundation pit 130 near the subway track 111, and the excavation of the foundation pit 130 may cause the deformation of the subway track 111 to exceed the design value. When the client 121 judges that the foundation pit 130 is a dangerous source, the client 121 selects the unmanned aerial vehicle base station device 123 closest to the foundation pit 130 to dispatch its unmanned aerial vehicle 1231 to conduct an inspection on the foundation pit 130.

[0126] In other application scenarios, the long linear structure can also be a rail transit such as a light rail, a tram, or a railway, a pipeline transportation such as an oil pipeline, a natural gas pipeline, or a water pipeline, or a road such as a highway, a road, a bridge, or a tunnel; and the dangerous source can be a construction site such as a digging operation, a drilling operation, or a demolition operation, or a personnel illegal intrusion or a rail abnormal vibration.

[0127] In a possible application scenario, the distributed optical fiber acoustic wave sensing device 122 includes a conversion end 1221 and at least one sensing optical cable 1222 connected to the conversion end 1221.

[0128] The conversion end 1221 is a high-performance signal acquisition device and is a data processing and analysis device of the distributed optical fiber acoustic wave sensing device 122, which is configured to collect acoustic wave information from the sensing optical cable 1222 and convert the acoustic wave information into a digital signal for subsequent processing and analysis. The conversion end 1221 is in communication connection with the client 121 in a wired or wireless manner, and is configured to transmit the collected acoustic wave information to the client 121. The sensing optical cable 1222 is arranged in the subway track 111 and is configured to continuously collect acoustic wave information of the subway 110.

[0129] In a possible application scenario, the dangerous source inspection system 120 further includes a mobile terminal 124, which is carried by an inspector.

[0130] The mobile terminal 124 can be a smart watch, a smart phone, or a tablet computer, and the client 121 transmits an inspection signal to the mobile terminal 124 according to the inspection information of the foundation pit 130 transmitted by the unmanned aerial vehicle base station device 123, so that the inspector can conduct an inspection on the foundation pit 130 according to the inspection signal.

[0131] In one possible application scenario, the hazard source inspection system 120 also includes a communication base station 125. The base station 125 is connected to the client 121, the converter 1221, the drone base station device 123, and the mobile terminal 124. The communication connection can be based on wireless communication technologies such as Satellite Communication Technology (SatCom), Mobile Communication Technology (MCT), or Radio Communication Technology (RCT), or it can be based on wired communication technologies such as Universal Serial Bus (USB), High Definition Multimedia Interface (HDMI), or network cable.

[0132] Figure 2 This is a schematic diagram of the architecture of a hazard source inspection system provided in an embodiment of this application. Figure 2 As shown, the system architecture of the hazard source inspection system includes: a client 121 deployed in a data center or duty room, and a mobile terminal 124 carried by inspection personnel; a conversion terminal 1221 deployed in a communication base station or communication equipment room, and at least one sensing optical cable 1222 deployed in a long linear structure, with each sensing optical cable 1222 connected to the conversion terminal 1221; multiple drone base station devices 123 evenly arranged along the long linear structure, each drone base station device 123 carrying a drone 1231; a switch 126 and a remote platform server 127 deployed in the communication equipment room or data center, with the client 121, conversion terminal 1221, drone base station device 123, and remote platform server 127 all connected to the switch 126. The remote platform server 127 is used to cooperate with the switch 126 to realize wireless communication of the hazard source inspection system, especially to realize wireless communication of the mobile terminal 124.

[0133] The technical solutions of this application will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0134] Figure 3 A flowchart illustrating the hazard source inspection method provided in this application embodiment. Figure 1 .like Figure 3As shown, in the embodiment of the present application, the execution subject can be a dangerous source inspection system, the dangerous source inspection system includes a client, a distributed optical fiber acoustic wave sensing device and a plurality of unmanned aerial vehicle base station devices, each unmanned aerial vehicle base station device is equipped with an unmanned aerial vehicle, and then the dangerous source inspection method provided by the embodiment of the present application includes the following steps:

[0135] S301, the distributed optical fiber acoustic wave sensing device continuously collects the long linear structure according to the preset collection frequency to obtain second acoustic wave information.

[0136] Specifically, the distributed optical fiber acoustic wave sensing device continuously collects the acoustic wave signal of the long linear structure according to the preset collection frequency, for example, several times per second, or other frequencies set according to actual needs, and obtains the second acoustic wave information according to the collected acoustic wave signal, wherein the subject of collection can be the sensing optical cable of the distributed optical fiber acoustic wave sensing device.

[0137] A sensing optical cable is an array of high-performance microphones, which can pick up acoustic and vibration signals at all positions on the optical fiber through backscattered Rayleigh scattering (RBS), so the signal type of the second acoustic wave information is an optical signal, which is transmitted through an optical fiber, has the advantages of large detection range, rich sensing information and resistance to harsh environment, and is suitable for transmission of acoustic wave information in long linear structures.

[0138] S302, the distributed optical fiber acoustic wave sensing device performs digital signal conversion on the second acoustic wave information to obtain first acoustic wave information.

[0139] Specifically, the distributed optical fiber acoustic wave sensing device is built-in with an optical-electric conversion module, or a conversion end, which converts the second acoustic wave information of the optical signal type into the first acoustic wave information of the digital signal type through photoelectric detection, signal amplification and analog-to-digital converter (ADC) technology and equipment, which is transmitted through wireless communication technology or wired communication technology, has the advantages of easy storage, processing and transmission, etc.

[0140] S303, the distributed optical fiber acoustic wave sensing device continuously transmits the first acoustic wave information to the client.

[0141] Specifically, once the first acoustic wave information is generated, the distributed optical fiber acoustic wave sensing device transmits the first acoustic wave information to the client in real time through a wireless communication network or a data connection line, so that the client can further process the data according to the first acoustic wave information. During the transmission of the first acoustic wave information, data compression and encryption technologies may be used to ensure the integrity and security of the data.

[0142] S304, the client receives the first acoustic wave information transmitted by the distributed optical fiber acoustic wave sensing device, and according to the first acoustic wave information, investigates whether there is a dangerous source in the long linear structure or the protection area, and obtains the position information of the dangerous source when the dangerous source is investigated.

[0143] Specifically, the dangerous source in the long linear structure or the protection area will cause vibration of the sensing optical cable, and then cause the backscattered light signal in the optical fiber to change. By detecting the change through the optical time domain reflection principle, real-time investigation and positioning of the dangerous source can be realized.

[0144] Therefore, after the client receives the first acoustic wave information, the first acoustic wave information will be analyzed and processed by using the built-in algorithm or software to identify whether there is an abnormal acoustic wave signal in the first acoustic wave information, and then to judge whether there is a dangerous source in the long linear structure or the protection area. When the dangerous source is investigated, the client will immediately obtain the position information of the dangerous source to provide coordinates and basis for subsequent inspection work; when the dangerous source is not investigated, the client will receive the first acoustic wave information transmitted next time, and repeat the above operation until the dangerous source is investigated.

[0145] Optionally, investigating whether there is a dangerous source in the long linear structure or the protection area, and calculating the position information of the investigated dangerous source, are executed by the distributed optical fiber acoustic wave sensing device. When the dangerous source is investigated, the distributed optical fiber acoustic wave sensing device transmits the first acoustic wave information carrying the position information to the client.

[0146] S305, the client transmits the first inspection signal carrying the position information to the target unmanned aerial vehicle base station device.

[0147] Specifically, when the client investigates the dangerous source, the client will calculate the unmanned aerial vehicle base station device closest to the dangerous source according to the relative position information between each unmanned aerial vehicle base station device and the dangerous source, and activate it as the target unmanned aerial vehicle base station device, wherein the target unmanned aerial vehicle base station device is the unmanned aerial vehicle base station device closest to the dangerous source among the plurality of unmanned aerial vehicle base station devices; the target unmanned aerial vehicle base station device is equipped with an unmanned aerial vehicle, and the target unmanned aerial vehicle base station device is used to dispatch the unmanned aerial vehicle to inspect the dangerous source when receiving the first inspection signal.

[0148] It can be understood that the target unmanned aerial vehicle base station device is the unmanned aerial vehicle base station device activated by the client, and the methods of different unmanned aerial vehicle base station devices dispatching their unmanned aerial vehicles to inspect the dangerous source are the same as each other.

[0149] S306, the target unmanned aerial vehicle base station device formulates a flight path of the unmanned aerial vehicle according to the position information when receiving the first inspection signal carrying the position information transmitted by the client.

[0150] Specifically, the target unmanned aerial base station device formulates a reasonable flight path for the unmanned aerial vehicle it carries according to the position information in the first inspection signal through a preset intelligent flight control algorithm, guides the unmanned aerial vehicle to fly to the area where the dangerous source is located quickly and accurately, and ensures that the unmanned aerial vehicle can arrive at the scene in time and carry out subsequent inspection and disposal work.

[0151] S307, the target unmanned aerial base station device dispatches the unmanned aerial vehicle to inspect the dangerous source indicated by the position information according to the flight path.

[0152] Specifically, the unmanned aerial vehicle can be equipped with ranging devices such as laser radars and millimeter wave radars, positioning devices such as global navigation satellite systems and inertial navigation systems, observation devices such as high-definition cameras and infrared thermal imagers, and audiovisual warning devices such as light emitting diode (LED) indicator lights, buzzers and microphones. The unmanned aerial vehicle flies to the area where the dangerous source is located according to the flight path, and inspects the dangerous source indicated by the position information from all directions and angles according to the above devices, and records the third inspection information of the dangerous source.

[0153] Optionally, the flight path is formulated by the client according to the position information. Then the client transmits the first inspection signal carrying the position information and the flight path to the target unmanned aerial base station device; when the target unmanned aerial base station device receives the first inspection signal carrying the position information and the flight path transmitted by the client, it dispatches the unmanned aerial vehicle to inspect the dangerous source indicated by the position information according to the flight path.

[0154] S308, the target unmanned aerial base station device receives the third inspection information of the dangerous source transmitted by the unmanned aerial vehicle, and obtains the first inspection information of the dangerous source according to the third inspection information.

[0155] Specifically, the unmanned aerial vehicle will transmit the third inspection information of the dangerous source collected back to the target unmanned aerial base station device. The third inspection information can be transmitted in real time, or can be transmitted in batches after the unmanned aerial vehicle returns to the target unmanned aerial base station device. The target unmanned aerial base station device processes and analyzes the third inspection information to obtain more detailed and accurate first inspection information.

[0156] S309, the target unmanned aerial base station device transmits the first inspection information to the client.

[0157] Optionally, the content of the first inspection information is the same as that of the third inspection information. Then the target unmanned aerial base station device transmits the third inspection information to the client.

[0158] S310, the client receives the first inspection information of the dangerous source transmitted by the target unmanned aerial base station device.

[0159] Specifically, after receiving the first inspection information transmitted by the target unmanned base station device, the client further analyzes and processes the first inspection information. For example, according to the inspection result, a corresponding response measure or plan is formulated to ensure the safe and stable operation of the long linear structure or the protection area. Meanwhile, the client can feed back the inspection result and the response measure to the inspection personnel, so that they can timely understand the situation and take corresponding actions.

[0160] The dangerous source inspection method provided by the embodiment of the application comprises the following steps: a client receives first sound wave information transmitted by a distributed optical fiber sound wave sensing device, and according to the first sound wave information, whether there is a dangerous source in a long linear structure or a protection area is investigated, and when a dangerous source is investigated, position information of the dangerous source is obtained; the client transmits a first inspection signal carrying the position information to a target unmanned base station device; the target unmanned base station device is the unmanned base station device closest to the dangerous source among a plurality of unmanned base station devices; the target unmanned base station device is equipped with an unmanned aerial vehicle; and the client receives first inspection information of the dangerous source transmitted by the target unmanned base station device. The following technical effects are achieved: through the long-distance transmission characteristic of the distributed optical fiber sound wave sensing device and the wide-range sensing capability of the DAS, long-distance detection of the dangerous source of the long linear structure is achieved, and the problem of limited detection range when relying on manual inspection is solved; through real-time communication of the distributed optical fiber sound wave sensing device and the client, continuous detection of the dangerous source is achieved, and the problem that the dangerous source cannot be positioned in time and effectively when relying on manual inspection is solved; when the dangerous source is investigated, the target unmanned base station device dispatches the unmanned aerial vehicle to inspect the dangerous source indicated by the position information according to a flight path, rapid early warning and automatic response measures for the dangerous source inspection are achieved, the safe operation of the long linear structure is ensured, and the problems of high labor cost and time cost and inability to effectively handle the dangerous source in time when relying on manual inspection are solved.

[0161] Figure 4 Flowchart of the dangerous source inspection method provided by the embodiment of the application Figure 2 Currently, the DAS technology has certain limitations, and its adaptability to the operation environment of the long linear structure under complex working conditions is poor. Only through the DAS, the position information of the dangerous source is detected, and the problems of insufficient position information resolution and inaccurate investigation of the dangerous source exist. In a possible design, as shown in Figure 4 , the dangerous source inspection method provided by the embodiment of the application is further refined on the basis of the dangerous source inspection method provided by the embodiment of the application. S304 comprises the following steps: Figure 3

[0162] ​S401, according to the first acoustic wave information, the abnormal point is found out.

[0163] Specifically, the client stores acoustic wave information of the long linear structure under various working conditions and normal operation. The first acoustic wave information is compared with the corresponding acoustic wave information. When there is a large difference in amplitude, frequency or other characteristics, or the difference exceeds the expected range, it can be determined that there may be a dangerous source in the long linear structure or the protection area. Since it is uncertain whether the dangerous source really exists and whether it will affect the operation of the long linear structure, the possible dangerous source is regarded as an abnormal point, and whether the abnormal point is a dangerous source is determined subsequently.

[0164] Taking the long linear structure as a subway as an example, Figure 5 The schematic diagram of acoustic wave information of the train running on the normal track provided by the embodiment of the application is shown in Figure 5 The client stores acoustic wave information of the train running on the normal track section of the subway. Figure 6 The schematic diagram of the first acoustic wave information of the train running on a certain track provided by the embodiment of the application is shown in Figure 6 The client receives the first acoustic wave information of the train running on a certain track section transmitted by the distributed optical fiber acoustic wave sensor, and compares the two acoustic wave information (the horizontal coordinate represents time in seconds, and the vertical coordinate represents amplitude in decibels). Figure 5 and Figure 6 The amplitude of the two has a large difference, and it is determined that there is an abnormal point in the track section, and the common wheel-rail diseases such as corrugation, empty hanging and fish scale injury of the track section need to be inspected.

[0165] S402, according to the first acoustic wave information, the feature information of the abnormal point is obtained by a feature extraction algorithm, and the position information of the abnormal point is obtained by a positioning algorithm based on the acoustic wave propagation characteristics according to the feature information and the pre-set geographic information system.

[0166] Specifically, the feature information of the first acoustic wave information needs to be extracted, including amplitude, frequency and waveform. These feature information can reflect the intensity, propagation speed and propagation direction of the first acoustic wave information. When extracting the feature information, the feature extraction algorithm can use digital signal processing technology, such as Fourier transform or wavelet transform, so as to facilitate subsequent time domain and frequency domain analysis of the first acoustic wave information.

[0167] After extracting the feature information, a suitable positioning algorithm needs to be selected, which can be absolute positioning method, relative positioning method or signal time difference based positioning method, etc. After selecting the appropriate positioning algorithm, the GIS location of the abnormal point needs to be calculated based on the feature information in combination with the GIS system. The GIS system can provide geographic spatial data, including terrain, topography and building distribution information, etc. By matching the abnormal point position calculated by the positioning algorithm with the geographic spatial data in the GIS system, the precise positioning of the abnormal point can be realized.

[0168] Further, the coordinate value calculated by the positioning algorithm can be converted into a geographic coordinate value in the GIS system, and then visualized in the GIS system. In this way, the position of the abnormal point on the map and its relative relationship with the surrounding geographical environment can be intuitively seen.

[0169] For example, by using a positioning algorithm based on the characteristics of sound wave propagation, the GIS location of the abnormal point is calculated and determined according to the differences in the characteristics of the sound wave signals collected at different positions. At the same time, the distance between the abnormal point and the subway track or the boundary of the protected area in the horizontal and vertical directions is located.

[0170] S403、According to the first sound wave information, the frequency spectrum information of the abnormal point is obtained by a frequency spectrum analysis algorithm, and the frequency spectrum information is matched with the sample in the preset frequency spectrum database to obtain the operation type matched with the frequency spectrum information.

[0171] Specifically, through high-precision data collection, advanced signal processing algorithms and spectrum analysis techniques, the client can finely analyze various sound wave information and external operation types (such as mechanical excavation, rammer operation, manual excavation, water flow disturbance or vehicle passing, etc.), capture subtle abnormal changes and feature information, and thus realize precise positioning of abnormal points, accurate determination of operation types and high-precision detection of long linear structure operation status.

[0172] The client extracts the frequency spectrum information of the abnormal point by a frequency spectrum analysis algorithm, and compares it with the samples in the preset frequency spectrum database. Through pattern recognition and machine learning classification techniques, the operation type corresponding to the abnormal point is automatically determined, and it is further determined whether it is a normal construction activity or an illegal intrusion or illegal construction that will affect the safe operation of the long linear structure. The identification of operation type improves the discrimination ability of different operation conditions, helps to improve the resolution of the method, reduces the misjudgment, and thus reduces the false alarm rate.

[0173] For example, the frequency spectrum database stores a large number of scene level (e.g. more than one million level) labeled sample model data. The client pre-learns and iterates the algorithm according to different influencing factors such as optical cable environment, vibration source type, burial depth and geology.

[0174] When the spectrum information is sample matched, the client uses a double-layer neural network algorithm to perform event identification, combines multi-dimensional feature extraction of the first sound wave information and a neural network model, and classifies and identifies the abnormal points. In the first layer network, time-frequency domain features are extracted, a support vector machine (SVM) machine learning algorithm is used to form multi-dimensional judgment, and the abnormal points are classified and identified in a large category; in the second layer network, a convolutional neural network (CNN) based on an attention mechanism is used for feature enhancement and multi-parameter fusion judgment, and the operation type of the abnormal points is subdivided and identified.

[0175] Optionally, the client is in communication connection with the analysis end, and the spectrum database and the algorithm for supporting operation type identification are deployed in the analysis end. Then the client transmits the spectrum information to the analysis end; the analysis end performs sample matching on the spectrum information according to the preset spectrum database, obtains an operation type matched with the spectrum information, and transmits the operation type to the client.

[0176] After the client investigates the abnormal points, the characteristic information, the location information and the operation type of the abnormal points according to the first sound wave information, S404 is continued to be executed.

[0177] S404, sample matching is performed on the operation type according to a preset characteristic parameter database, and a warning critical parameter value matched with the operation type is obtained.

[0178] S405, when the location information indicates that the abnormal point is located in a long linear structure or a protection zone, and / or the parameter value of the characteristic information is greater than the warning critical parameter value, the abnormal point is determined as a hazard source.

[0179] Specifically, the client compares and analyzes the parameter value of the characteristic information, such as the vibration intensity of the abnormal point, and the distance from the abnormal point to the protection zone, with the pre-set warning critical parameter value. If it is found that one or more parameter values exceed the corresponding warning critical parameter value, for example, the abnormal point is located in the protection zone (whether the abnormal point is located in the protection zone can be determined according to the GIS position of the abnormal point), and / or the vibration intensity of the external construction exceeds the safe vibration threshold value that the subway track can bear, it is immediately determined that there is a factor affecting the safe operation of the long linear structure, and the abnormal point is determined as a hazard source, and an emergency response mechanism is triggered, that is, a first inspection signal carrying the location information is transmitted to the target unmanned aerial vehicle base station device. Correspondingly, when the location information indicates that the abnormal point is located outside the protection zone, and the parameter value of the characteristic information is less than or equal to the warning critical parameter value, the abnormal point is not determined as a hazard source.

[0180] The technical effect of the embodiments of the present application is that: through the DAS technology, the feature extraction algorithm, the geographic information system and the spectrum analysis algorithm, the first sound wave information is analyzed, the subtle abnormal changes and feature information are captured, the position information and the operation type of the dangerous source are identified, the high-resolution detection of the long linear structure is realized, and the problem of insufficient resolution when relying on artificial means of inspection is solved; through the spectrum database and the feature parameter database, it is judged whether the abnormal point is a dangerous source, the accurate investigation of the dangerous source is realized, the false alarm situation caused by single index judgment or simple experience judgment is reduced, and the problem of high false alarm rate when relying on artificial means of inspection is solved; through the accurate investigation of the dangerous source, the work efficiency of the unmanned aerial vehicle and the inspection personnel is improved, and the manpower and time cost is further reduced.

[0181] When the long linear structure is located in the underground or the tunnel, and the protection area is located on the ground or outside the tunnel, the long linear structure will face the problem of environmental closure and limited signal transmission. When the unmanned aerial vehicle base station device is arranged in the long linear structure, and the dangerous source is located in the protection area, or the unmanned aerial vehicle base station device is arranged outside the long linear structure (which can be located in the protection area or outside the protection area), and the dangerous source is located in the long linear structure, the unmanned aerial vehicle can be located in the communication blind area of the unmanned aerial vehicle base station device, the stability and reliability of the communication network will be reduced; at the same time, the unmanned aerial vehicle needs to detour to the communication place of the long linear structure and the protection area, and the work efficiency of the unmanned aerial vehicle will also be reduced. In a possible design, based on the above technical problems, the embodiments of the present application propose the following technical solutions: the plurality of unmanned aerial vehicle base station devices include a plurality of first unmanned aerial vehicle base station devices arranged in the long linear structure, and a plurality of second unmanned aerial vehicle base station devices arranged outside the long linear structure, so as to improve the stability, reliability and work efficiency of the unmanned aerial vehicle.

[0182] S305, the client transmits the first inspection signal carrying the position information to the target unmanned aerial vehicle base station device, including the following steps:

[0183] According to the position information, the relative distance between the dangerous source and the long linear structure is obtained;

[0184] When the operation type and the relative distance jointly indicate that the dangerous source is located in the long linear structure, the first inspection signal is transmitted to the third unmanned aerial vehicle base station device; wherein the third unmanned aerial vehicle base station device is the first unmanned aerial vehicle base station device closest to the dangerous source among the plurality of first unmanned aerial vehicle base station devices;

[0185] When the operation type and the relative distance jointly indicate that the dangerous source is located in the protection area, the first inspection signal is transmitted to the fourth unmanned aerial vehicle base station device; wherein the fourth unmanned aerial vehicle base station device is the second unmanned aerial vehicle base station device closest to the dangerous source among the plurality of second unmanned aerial vehicle base station devices.

[0186] Specifically, the client calculates the Euclidean distance between the dangerous source and the long-line structure according to the position information of the dangerous source, i.e., the relative distance.

[0187] If the operation type of the dangerous source and the relative distance both indicate that the dangerous source is located in the long-line structure, the client needs to transmit the first inspection signal to the nearest third unmanned aerial vehicle base station device located in the long-line structure; if the operation type of the dangerous source and the relative distance both indicate that the dangerous source is located in the protected area, the client needs to transmit the first inspection signal to the nearest fourth unmanned aerial vehicle base station device located in the protected area. The third unmanned aerial vehicle base station device or the fourth unmanned aerial vehicle base station device formulates a flight path of an unmanned aerial vehicle according to the position information carried by the first inspection signal, and dispatches the unmanned aerial vehicle to inspect the dangerous source indicated by the position information according to the flight path; when receiving the third inspection information of the dangerous source transmitted by the unmanned aerial vehicle, the third unmanned aerial vehicle base station device or the fourth unmanned aerial vehicle base station device obtains the first inspection information of the dangerous source according to the third inspection information, and transmits the first inspection information to the client.

[0188] Optionally, the position information of the dangerous source is calculated according to a geographic information system, and the client determines the GIS position of the dangerous source according to the position information, and determines whether the dangerous source is located in the long-line structure or the protected area according to the respective GIS positions of the dangerous source, the long-line structure and the protected area.

[0189] The technical effect of the embodiment of the application is that when the long-line structure is located underground or in a tunnel, the target unmanned aerial vehicle base station device is determined from the plurality of first unmanned aerial vehicle base station devices arranged in the long-line structure and the plurality of second unmanned aerial vehicle base station devices arranged outside the long-line structure according to the position of the dangerous source, thereby improving the stability, reliability and working efficiency of the unmanned aerial vehicle.

[0190] The first acoustic wave information has the problems of including a clutter signal and poor signal quality. In a possible design, based on the above technical problems, the embodiment of the application proposes the following technical solution: the first acoustic wave information is preprocessed to eliminate the clutter signal and improve the signal quality.

[0191] After receiving the first acoustic wave information transmitted by the distributed optical fiber acoustic wave sensing device in S304, the method further includes:

[0192] The first acoustic wave information is filtered through a filtering algorithm, the filtered first acoustic wave information is de-noised through a de-noising algorithm, and the de-noised first acoustic wave information is normalized through a normalization algorithm.

[0193] Specifically, the client pre-processes the received first acoustic wave information of the type of digital signal.

[0194] Firstly, during data collection, the distributed optical fiber acoustic wave sensing device and the client may be subject to electromagnetic interference from other electronic devices or natural phenomena, which can generate unnecessary clutter signals; at the same time, the environment itself may also generate noise, such as temperature changes and mechanical vibrations, which will be reflected in the digital signal and become a factor affecting data quality; therefore, through the filtering algorithm, the clutter signals can be effectively removed, reducing their interference with subsequent data analysis. The filtering algorithm can be amplitude limiting filtering algorithm, median filtering algorithm, mean filtering algorithm or recursive average filtering algorithm, etc.

[0195] Secondly, the noise reduction algorithm can further reduce the noise component in the first acoustic wave information, making it clearer and more accurate, therefore, through the noise reduction algorithm, the purity of the first acoustic wave information is improved, ensuring the accuracy and reliability of the subsequent analysis results. The filtering algorithm can be wavelet threshold denoising or sliding average method, etc.

[0196] Finally, data collected from different sources or at different times may have different numerical ranges and scales, and normalization processing can convert these data to the same numerical range, therefore, through the normalization algorithm, they can be compared and analyzed under the same standard. At the same time, the normalized first acoustic wave information is easier to perform feature extraction and machine learning. For the former, all features are on the same scale, making the comparison and combination between features more intuitive and effective; for the latter, normalization helps to reduce the computational complexity and convergence time of machine learning algorithms. The normalization algorithm can be linear normalization algorithm or Z-score standardization algorithm, etc.

[0197] The technical effect of the embodiment of the application is that the first acoustic wave information is processed through the filtering algorithm, the noise reduction algorithm and the normalization algorithm, eliminating the clutter signals in the first acoustic wave information and improving the signal quality of the first acoustic wave information.

[0198] Generally speaking, the unmanned aerial vehicle only carries positioning equipment and observation equipment, and can only realize observation of the dangerous source, but cannot realize fine measurement and warning of the dangerous source, resulting in low automation degree of the unmanned aerial vehicle in inspecting the dangerous source. In a possible design, based on the above technical problem, the embodiment of the application proposes the following technical solution: the ranging device is used to finely measure the dangerous source, and the audio-visual warning device is used to warn the dangerous source. Then the unmanned aerial vehicle carries the ranging device, the positioning device, the observation equipment and the audio-visual warning device;

[0199] The ranging device is used to measure the relative position relationship between the unmanned aerial vehicle and the dangerous source;

[0200] The positioning device is used to measure the first spatial coordinates of the unmanned aerial vehicle;

[0201] The observation equipment is used to shoot visual materials of the dangerous source;

[0202] The audio-visual warning device is used for audio-visual warning of the danger source according to the pre-stored warning information.

[0203] The third inspection information comprises the relative position relationship, the first spatial coordinate and the visual material.

[0204] Specifically, during the unmanned aerial vehicle inspection flight, the relative position relationship between the unmanned aerial vehicle and the danger source is calculated by the ranging device carried by the unmanned aerial vehicle, including the relative distance and the relative direction, and the first spatial coordinate of the unmanned aerial vehicle is calculated by the positioning device carried by the unmanned aerial vehicle, so as to provide accurate distance parameters for subsequent operations such as warning and disposal.

[0205] Optionally, the ranging device can be a visual measurement device, or the unmanned aerial vehicle realizes measurement of the relative position relationship through an observation device. Specifically, the unmanned aerial vehicle obtains image information of the surrounding environment and the danger source in real time, and measures the relative position relationship through image analysis and stereo vision measurement.

[0206] When the unmanned aerial vehicle flies to the vicinity of the danger source and reaches the preset warning trigger distance, the audio-visual warning device carried by the unmanned aerial vehicle is started, and the danger source is audio-visually warned according to the pre-stored warning information. Specifically, instructions such as stopping illegal behavior or leaving the protected area are conveyed through voice, light and picture, so as to realize effective warning in audio-visual. For example, pre-recorded warning voice such as "This is a subway protection area, your behavior has violated relevant regulations, please stop immediately and leave" is played to the illegal operation personnel, and the LED light is blinked, so as to realize audio-visual warning of the illegal operation personnel. Optionally, the target unmanned aerial vehicle base station device or the unmanned aerial vehicle stores a plurality of warning information, and selects appropriate warning information for warning according to the operation type of the danger source.

[0207] The unmanned aerial vehicle transmits the third inspection information carrying the relative position relationship, the first spatial coordinate and the visual material to the target unmanned aerial vehicle base station device, so that the target unmanned aerial vehicle base station device processes and analyzes the third inspection information to obtain the first inspection information.

[0208] The technical effect of the embodiment of the application is that the relative position relationship is measured by the ranging device, the audio-visual warning device is used for audio-visual warning of the danger source, and the third inspection information is obtained according to the relative position relationship, the first spatial coordinate and the visual material, so as to improve the automation degree of the unmanned aerial vehicle in inspecting the danger source.

[0209] DAS technology has certain limitations, and its adaptability to complex operating environments of long linear structures is poor, which may lead to inaccurate location information of hazards detected by DAS. In one possible design, based on the above-mentioned technical problems, this application proposes the following technical solution: Correcting the location information carried in the first inspection signal according to the corrected location information of the hazard source indicated by the relative positional relationship.

[0210] Based on the third inspection information, S308 obtains the first inspection information for the hazard source, including:

[0211] Based on the relative positional relationship and the first spatial coordinates, the second spatial coordinates of the hazard source are obtained;

[0212] Based on the second spatial coordinates, visual materials, and alarm information, the first inspection information is obtained.

[0213] Specifically, the relative positional relationship refers to the relative position between the drone and the hazard source, and the first spatial coordinate refers to the absolute position of the drone. Based on the relative positional relationship and the first spatial coordinate, the absolute position of the hazard source, i.e., the second spatial coordinate, can be obtained.

[0214] After obtaining the second spatial coordinates, the target drone base station device transmits the first inspection information, which includes the second spatial coordinates, visual materials, and alarm information, to the client.

[0215] Optionally, the client corrects the location information of the hazard source based on the second spatial coordinates. The correction method can be to replace the location information with the second spatial coordinates, or, if the two are different, to generate indication information to indicate that the location of the hazard source is inaccurate, and then feed back the second spatial coordinates, location information and indication information to the inspection personnel.

[0216] Optionally, if the location information is obtained from a geographic information system, the client will convert the second spatial coordinates into GIS coordinates.

[0217] The technical effect of this application embodiment is that the second spatial coordinates of the hazard source are obtained based on the relative positional relationship and the first spatial coordinates, thereby improving the accuracy of the hazard source's location information.

[0218] In certain complex operating conditions, such as when unauthorized personnel or intruders ignore drone warnings, or when long linear structures develop structural defects requiring maintenance by inspection personnel, drones cannot independently complete hazard inspections and require the cooperation of inspection personnel. In one possible design, based on the aforementioned technical problems, this application proposes the following technical solution: the hazard inspection system also includes a mobile terminal carried by the inspection personnel. The mobile terminal provides feedback on the drone's inspection results to the inspection personnel, facilitating secondary inspections of the hazard sources.

[0219] After the client receives the first inspection information of the dangerous source transmitted by the target unmanned base station device, the method further includes:

[0220] According to the first inspection information, the second inspection information of the dangerous source is obtained, and a second inspection signal carrying the second inspection information is transmitted to the mobile terminal.

[0221] Specifically, the client further analyzes and processes the first inspection information, for example, integrates the previously obtained first sound wave information, feature information, location information, and operation type of the dangerous source, and flight trajectory and alarm information of the unmanned aerial vehicle, and obtains the second inspection information of the dangerous source. Then, the client transmits a second inspection signal carrying the second inspection information to the mobile terminal through short message, push, or telephone, etc., and feeds back the second inspection information to the inspection personnel, so as to ensure that the inspection personnel can know and timely rush to the dangerous source for processing in the first time, and improve the timeliness and effectiveness of the response.

[0222] Optionally, the inspection personnel and the operation and maintenance personnel of the client can view the live picture of the dangerous source through the display device in real time, intuitively understand the on-site situation, realize real-time feedback of information, and provide visual basis for subsequent on-site disposal.

[0223] The technical effect of the embodiment of the present application is that the second inspection signal carrying the second inspection information is transmitted to the mobile terminal, and the secondary inspection of the dangerous source by the inspection personnel is realized.

[0224] The embodiment of the present application also provides a dangerous source inspection system, Figure 7 The structure diagram of the dangerous source inspection system provided by the embodiment of the present application is shown in Figure 7 The dangerous source inspection system includes a client 121, and a distributed optical fiber sound wave sensing device 122 and a plurality of unmanned base station devices 123 which are respectively in communication connection with the client 121;

[0225] The client 121, the distributed optical fiber sound wave sensing device 122, and each unmanned base station device 123 are all used to realize the dangerous source inspection method of the above-mentioned embodiment.

[0226] The dangerous source inspection system provided by the embodiment of the present application can execute Figure 3 The implementation principle and technical effect are similar to those of the method embodiment shown in Figure 3 The embodiment of the present application will not be described again.

[0227] In a possible design, the distributed optical fiber sound wave sensing device includes:

[0228] A conversion end in communication connection with the client, and at least one sensing optical cable accessing the conversion end.

[0229] In a possible design, the long linear structure is located underground or in a tunnel, and the protection area is located on the ground or outside the tunnel.

[0230] The number of sensing optical cables is three, which are glued to the two sides and the top of the long linear structure.

[0231] Specifically, when the long linear structure is located underground or in a tunnel, and the protection area is located on the ground or outside the tunnel, in order to ensure the comprehensiveness and accuracy of detection, three sensing optical cables are usually used, which are glued to the two sides and the top of the long linear structure.

[0232] Three sensing optical cables are selected to provide multiple detection perspectives and data redundancy, so that even if one of the optical cables fails or the signal quality decreases, the other two optical cables can still provide effective detection data, thereby ensuring the reliability and stability of the first acoustic wave information. Gluing to the two sides and the top of the long linear structure is to comprehensively cover all key parts of the long linear structure. Gluing the sensing optical cables to the two sides can capture acoustic wave signals on the two sides of the structure, such as lateral deformation and crack expansion, and other types of hazards; at the same time, gluing another sensing optical cable to the top can capture acoustic wave signals on the top of the structure, such as movement, collapse, and other types of hazards of the soil or rock above.

[0233] Optionally, the sensing optical cables can also be laid in the protection area.

[0234] The technical effect of the embodiment of the application is that three sensing optical cables are used to adapt to the long linear structure located underground or in a tunnel, and comprehensive first acoustic wave information is provided.

[0235] In a possible design, the distributed optical fiber acoustic wave sensing device further comprises:

[0236] The mobile terminal is in communication connection with the client, and the mobile terminal is carried by the inspection personnel.

[0237] Optionally, before the devices of the hazard source inspection system execute the hazard source inspection method, the devices are deployed.

[0238] Firstly, the distributed optical fiber acoustic sensing device is deployed. According to the trend and length of the long linear structure, and the range of the protection zone, and the like, the sensing optical cable is laid along the two sides of the long linear structure and the key positions of the protection zone boundary, and the like, to ensure that the sensing optical cable covers the area where various dangerous sources may exist, and to form a distributed optical fiber acoustic sensing network based on DAS. The laying of the optical fiber needs to ensure that it is stable and can effectively sense external acoustic signals. Then, the laid sensing optical cable is connected to the conversion end, and the conversion end is placed in a suitable communication base station or communication room, and the corresponding parameters such as signal acquisition frequency and sampling accuracy are configured, so that the conversion end can stably and accurately collect external acoustic signals, and convert the acoustic signals into first acoustic information of a digital signal type for transmission.

[0239] Secondly, the unmanned aerial vehicle base station device is deployed. A plurality of unmanned aerial vehicle base station devices are arranged along the long linear structure, and the site selection needs to consider factors such as coverage range, power supply condition and communication convenience. Each unmanned aerial vehicle base station device is equipped with an unmanned aerial vehicle that can automatically take off and land. Then, the charging equipment and communication module of the unmanned aerial vehicle base station device are debugged to ensure that the unmanned aerial vehicle can be normally charged and transmit information. At the same time, the unmanned aerial vehicle base station devices are connected with the client to ensure smooth information interaction.

[0240] Finally, the client is deployed. The corresponding systems and software are installed and configured in the client, including geographic information system, characteristic parameter database, frequency spectrum database, and software providing characteristic extraction algorithm, frequency spectrum analysis algorithm, filtering algorithm, noise reduction algorithm and normalization algorithm. The various systems and software are well adapted to the interface to realize cooperative work.

[0241] Taking a long linear structure as a railway as an example, the following is a specific case provided by the embodiment of the present application.

[0242] The railway includes a railway track located above the ground, and a protection zone located above the ground and arranged around the railway track. The dangerous source inspection system includes a client, a distributed optical fiber acoustic sensing device, a plurality of unmanned aerial vehicle base station devices and a mobile terminal; wherein the distributed optical fiber acoustic sensing device includes a conversion end in communication connection with the client, and at least one sensing optical cable connected to the conversion end; the plurality of unmanned aerial vehicle base station devices are uniformly arranged along the railway track, and each unmanned aerial vehicle base station device is equipped with an unmanned aerial vehicle; the mobile terminal is carried by an inspection personnel. Further, the number of sensing optical cables is two, and the sensing optical cables are bonded on both sides of the railway track.

[0243] For example, the railway track may have structural defects, which may cause abnormal vibration of the wheel and rail when the train passes. The dangerous source inspection method provided by the embodiment includes the following steps:

[0244] S501, the distributed optical fiber acoustic wave sensing device continuously collects the railway track according to the collection frequency, and converts the collected second acoustic wave information into a digital signal to obtain first acoustic wave information.

[0245] S502, the client pre-processes the first acoustic wave information through a filtering algorithm, a noise reduction algorithm and a normalization algorithm, and according to the pre-processed first acoustic wave information, through a feature extraction algorithm, a spectrum analysis algorithm, and a pre-set geographic information system and spectrum database, the dangerous source is investigated to obtain the characteristic information, position information and operation type of the dangerous source.

[0246] S503, the client transmits a first inspection signal carrying position information to a target unmanned aerial vehicle base station device. The target unmanned aerial vehicle base station device is the unmanned aerial vehicle base station device closest to the dangerous source among the plurality of unmanned aerial vehicle base station devices.

[0247] S504, the target unmanned aerial vehicle base station device formulates a flight path of the unmanned aerial vehicle according to the position information, and dispatches the unmanned aerial vehicle to inspect the dangerous source indicated by the position information according to the flight path.

[0248] S505, the target unmanned aerial vehicle base station device receives third inspection information of the dangerous source transmitted by the unmanned aerial vehicle, and obtains first inspection information of the dangerous source according to the third inspection information.

[0249] S506, the client receives the first inspection information transmitted by the target unmanned aerial vehicle base station device, and obtains second inspection information of the dangerous source according to the first inspection information.

[0250] S507, the client transmits a second inspection signal carrying the second inspection information to the mobile terminal.

[0251] Taking a long linear structure as a natural gas pipeline as an example, the following is a specific case provided by the embodiment of the application.

[0252] The natural gas pipeline includes a transmission pipeline located below the ground, and a protection zone located above the ground and arranged around the transmission pipeline. The dangerous source inspection system includes a client, a distributed optical fiber acoustic wave sensing device, a plurality of unmanned aerial vehicle base station devices and a mobile terminal; wherein the distributed optical fiber acoustic wave sensing device includes a conversion end in communication connection with the client, and at least one sensing optical cable connected to the conversion end; the plurality of unmanned aerial vehicle base station devices are uniformly arranged along the transmission pipeline, and each unmanned aerial vehicle base station device is equipped with an unmanned aerial vehicle; the mobile terminal is carried by an inspection personnel. Further, the number of sensing optical cables is three, and the sensing optical cables are glued to the two sides and the top of the transmission pipeline.

[0253] For example, there is a construction near the transmission pipeline for road hardening, which may cause damage to the transmission pipeline during road hardening. Based on this, the dangerous source inspection method provided in this embodiment is similar to the above-mentioned embodiments, and this embodiment will not be described again.

[0254] Taking a long linear structure as an expressway, the following is a specific case provided by the embodiment of the application.

[0255] The expressway includes a tunnel section and a protection zone located outside the tunnel and arranged around the tunnel section. The dangerous source inspection system includes a client, a distributed optical fiber acoustic wave sensing device, a plurality of unmanned aerial vehicle base station devices, and a mobile terminal; wherein the distributed optical fiber acoustic wave sensing device includes a conversion end in communication connection with the client, and at least one sensing optical cable connected to the conversion end; the plurality of unmanned aerial vehicle base station devices include a plurality of first unmanned aerial vehicle base station devices arranged in the tunnel section and a plurality of second unmanned aerial vehicle base station devices arranged outside the tunnel section, each first unmanned aerial vehicle base station device and each second unmanned aerial vehicle base station device are equipped with an unmanned aerial vehicle; the mobile terminal is carried by an inspection personnel. Further, the number of sensing optical cables is three, and the sensing optical cables are glued to the two sides and the top of the tunnel section.

[0256] For example, there is illegal intrusion of personnel near the tunnel section, which may threaten the personal safety of the illegal intruders when vehicles pass by. Based on this, the dangerous source inspection method provided in this embodiment is similar to the above-mentioned embodiments, and this embodiment will not be described again.

[0257] Figure 8 The structure of the dangerous source inspection device provided in the embodiment of the application Figure 1 As shown in Figure 8 In the embodiment of the application, the dangerous source inspection device is located at the client of the dangerous source inspection system, and the dangerous source inspection system further includes a distributed optical fiber acoustic wave sensing device and a plurality of unmanned aerial vehicle base station devices. The dangerous source inspection device includes:

[0258] The dangerous source investigation module 810 is configured to receive the first acoustic wave information transmitted by the distributed optical fiber acoustic wave sensing device, and investigate whether there is a dangerous source in the long linear structure or the protection zone according to the first acoustic wave information. When a dangerous source is found, the position information of the dangerous source is obtained;

[0259] The first transmission module 820 is configured to transmit a first inspection signal carrying the position information to a target unmanned aerial vehicle base station device; wherein the target unmanned aerial vehicle base station device is the unmanned aerial vehicle base station device closest to the dangerous source among the plurality of unmanned aerial vehicle base station devices; the target unmanned aerial vehicle base station device is equipped with an unmanned aerial vehicle, and the target unmanned aerial vehicle base station device is configured to dispatch the unmanned aerial vehicle to inspect the dangerous source when the first inspection signal is received;

[0260] The second transmission module 830 is configured to receive first inspection information of the dangerous source transmitted by the target unmanned base station device.

[0261] The dangerous source inspection device provided in the embodiments of the present application can perform Figure 3 The technical solutions of the method embodiments shown in the drawings have similar implementation principles and technical effects with Figure 3 The method embodiments shown in the drawings are similar, and the embodiments of the present application will not be described again.

[0262] Meanwhile, the dangerous source inspection device provided in the embodiments of the present application is further refined on the basis of the dangerous source inspection device provided in the previous application embodiment.

[0263] In a possible design, the dangerous source investigation module 810 includes:

[0264] The first abnormal point investigation module is configured to investigate an abnormal point and feature information, position information and operation type of the abnormal point according to the first sound wave information.

[0265] The type matching module is configured to perform sample matching on the operation type according to the preset feature parameter database to obtain a pre-warning critical parameter value matched with the operation type.

[0266] The dangerous source determination module is configured to determine the abnormal point as a dangerous source when the position information indicates that the abnormal point is located in a long linear structure or a protection area, and / or the parameter value of the feature information is greater than the pre-warning critical parameter value.

[0267] In a possible design, the first abnormal point investigation module includes:

[0268] The second abnormal point investigation module is configured to investigate an abnormal point according to the first sound wave information.

[0269] The first calculation module is configured to obtain feature information of the abnormal point by a feature extraction algorithm according to the first sound wave information, and obtain position information of the abnormal point by a positioning algorithm based on sound wave propagation characteristics according to the feature information and a preset geographic information system.

[0270] The second calculation module is configured to obtain frequency spectrum information of the abnormal point by a frequency spectrum analysis algorithm according to the first sound wave information, and perform sample matching on the frequency spectrum information according to a preset frequency spectrum database to obtain an operation type matched with the frequency spectrum information.

[0271] In a possible design, the long linear structure is located in the underground or the tunnel, and the protection area is located on the ground or outside the tunnel; the plurality of unmanned base station devices include a plurality of first unmanned base station devices arranged in the long linear structure and a plurality of second unmanned base station devices arranged outside the long linear structure.

[0272] The first transmission module 820 comprises:

[0273] The distance determination module is configured to obtain a relative distance between the dangerous source and the long-line structure according to the position information.

[0274] The distance judgment module is configured to transmit a first inspection signal to a third unmanned aerial vehicle base station device when the operation type and the relative distance jointly indicate that the dangerous source is located in the long-line structure; the third unmanned aerial vehicle base station device is the closest first unmanned aerial vehicle base station device to the dangerous source among the plurality of first unmanned aerial vehicle base station devices; and transmit the first inspection signal to a fourth unmanned aerial vehicle base station device when the operation type and the relative distance jointly indicate that the dangerous source is located in the protection area; the fourth unmanned aerial vehicle base station device is the closest second unmanned aerial vehicle base station device to the dangerous source among the plurality of second unmanned aerial vehicle base station devices.

[0275] In a possible design, the dangerous source inspection device further comprises:

[0276] The filtering module is configured to filter the first sound wave information through a filtering algorithm.

[0277] The noise reduction module is configured to reduce noise of the filtered first sound wave information through a noise reduction algorithm.

[0278] The normalization module is configured to perform normalization processing on the noise-reduced first sound wave information through a normalization algorithm.

[0279] In a possible design, the dangerous source inspection system further comprises a mobile terminal, which is carried by an inspection personnel.

[0280] The dangerous source inspection device further comprises:

[0281] The inspection information first determination module is configured to obtain second inspection information of the dangerous source according to the first inspection information.

[0282] The sixth transmission module is configured to transmit a second inspection signal carrying the second inspection information to the mobile terminal.

[0283] The dangerous source inspection device provided by the embodiments of the present application can perform Figure 3 to Figure 4 The technical solutions of the method embodiments shown in the drawings have similar implementation principles and technical effects to the method embodiments shown in the drawings, and details are not described herein. Figure 3 to Figure 4 The technical solutions of the method embodiments shown in the drawings have similar implementation principles and technical effects to the method embodiments shown in the drawings, and details are not described herein.

[0284] Figure 9 The structure of the dangerous source inspection device provided by the embodiments of the present application is shown in Figure 2 As shown in Figure 9As shown, in the embodiment of the present application, the dangerous source inspection device is located in the target unmanned aerial vehicle base station device of the dangerous source inspection system, the target unmanned aerial vehicle base station device is loaded with an unmanned aerial vehicle, the dangerous source inspection system further includes a client, and then the dangerous source inspection device includes:

[0285] The path planning module 910 is configured to plan a flight path of the unmanned aerial vehicle according to the position information when receiving the first inspection signal carrying the position information transmitted by the client;

[0286] The unmanned aerial vehicle dispatching module 920 is configured to dispatch the unmanned aerial vehicle to inspect the dangerous source indicated by the position information according to the flight path;

[0287] The third transmission module 930 is configured to receive the third inspection information of the dangerous source transmitted by the unmanned aerial vehicle, and obtain the first inspection information of the dangerous source according to the third inspection information;

[0288] The fourth transmission module 940 is configured to transmit the first inspection information to the client.

[0289] The dangerous source inspection device provided by the embodiment of the present application can perform Figure 3 The technical scheme of the method embodiment, the implementation principle and the technical effects are similar to those of the dangerous source inspection device embodiment, and details are not repeated here. Figure 3

[0290] Meanwhile, the dangerous source inspection device provided by the embodiment of the present application is further refined on the basis of the dangerous source inspection device provided by the previous application embodiment.

[0291] In a possible design, the unmanned aerial vehicle is loaded with a ranging device, a positioning device, an observation device and an audio-visual alarm device;

[0292] The ranging device is configured to measure the relative position relationship between the unmanned aerial vehicle and the dangerous source;

[0293] The positioning device is configured to measure the first spatial coordinates of the unmanned aerial vehicle;

[0294] The observation device is configured to shoot visual materials of the dangerous source;

[0295] The audio-visual alarm device is configured to perform audio-visual alarm on the dangerous source according to the pre-stored alarm information;

[0296] Then, the third inspection information includes the relative position relationship, the first spatial coordinates and the visual materials.

[0297] In a possible design, the third transmission module 930 includes:

[0298] The coordinate determination module is configured to obtain the second spatial coordinates of the dangerous source according to the relative position relationship and the first spatial coordinates; ​

[0299] The second inspection information determination module is used to obtain the first inspection information based on the second spatial coordinates, visual materials, and alarm information.

[0300] The hazardous source inspection device provided in this application embodiment can perform... Figure 3 to Figure 4 The technical solution of the method embodiment shown has the same implementation principle and technical effect as... Figure 3 to Figure 4 The method embodiments shown are similar, and will not be described again in the embodiments of this application.

[0301] Figure 10 Schematic diagram of the structure of the hazard source inspection device provided in the embodiments of this application Figure 3 ,like Figure 10 As shown in the embodiment of this application, the hazard source inspection device is located in the distributed fiber optic acoustic wave sensing device of the hazard source inspection system. The hazard source inspection system also includes a client. Therefore, the hazard source inspection device includes:

[0302] The acoustic wave acquisition module 1010 is used to continuously acquire data from the long linear structure according to a preset acquisition frequency to obtain second acoustic wave information; the signal type of the second acoustic wave information is an optical signal.

[0303] The signal conversion module 1020 is used to perform digital signal conversion on the second acoustic wave information to obtain the first acoustic wave information;

[0304] The fifth transmission module 1030 is used to continuously transmit the first acoustic wave information to the client.

[0305] The hazard source inspection device provided in this application embodiment can perform... Figure 3 The technical solution of the method embodiment shown has the same implementation principle and technical effect as... Figure 3 The method embodiments shown are similar, and will not be described again in the embodiments of this application.

[0306] This application also provides an electronic device. Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 11 As shown, the electronic device includes at least one processor 1110 and a memory 1120. The electronic device also includes a communication component 1130. The processor 1110, memory 1120, and communication component 1130 are connected via a bus 1140.

[0307] In the specific implementation process, at least one processor 1110 executes computer execution instructions stored in memory 1120, so that at least one processor 1110 is used to implement the hazard source inspection method of the above embodiment.

[0308] The specific implementation process of processor 1110 can be found in the above method embodiments, and its implementation principle and technical effect are similar. The embodiments of this application will not be repeated here.

[0309] In the above embodiments, it should be understood that the processor 1110 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like. The steps of the method disclosed in combination with the application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0310] The memory 1120 can include a high-speed RAM memory, and can also include a non-volatile storage NVM, such as at least one disk memory.

[0311] The bus 1140 can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. The bus 1140 can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, the bus 1140 in the drawings of the present application does not limit to only one bus or one type of bus.

[0312] The functions implemented by the electronic device and the master device described above are introduced for the scheme provided by the embodiments of the present application. It can be understood that the electronic device or the master device contains the hardware structure and / or software module corresponding to the execution of each function in order to implement the above functions. The units and algorithm steps of each example described in combination with the embodiments disclosed in the embodiments of the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solution of the embodiments of the present application.

[0313] The embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores computer execution instructions. When the computer execution instructions are executed by a processor, the computer execution instructions are used to implement the dangerous source inspection method of the above embodiment. In the specific implementation of the dangerous source inspection method, each module can be implemented as the processor.

[0314] The readable storage medium can be implemented by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0315] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a host device.

[0316] The embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the computer program is used to implement the dangerous source inspection method of the above embodiment.

[0317] The computer program is stored in a readable storage medium. At least one processor can read the computer program from the readable storage medium, and the at least one processor executes the computer program to perform the scheme provided by any of the above embodiments.

[0318] Those skilled in the art can understand that all or part of the steps of the above embodiments can be completed by program instruction related hardware. The above program can be stored in a computer readable storage medium. When the program is executed, the program executes the steps of the above method embodiments; and the above storage medium includes ROM, RAM, magnetic disk or optical disk and various storage medium that can store program codes.

[0319] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments, and the above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A dangerous source inspection method, characterized in that, The method is applied to a client of a hazard source inspection system, the hazard source inspection system further comprising a distributed optical fiber acoustic wave sensing device and a plurality of unmanned aerial vehicle base station devices, and the method comprises: receiving first acoustic wave information transmitted by the distributed optical fiber acoustic wave sensing device, and according to the first acoustic wave information, investigating whether there is a hazard source in a long linear structure or a protection area, and obtaining position information of the hazard source when the hazard source is investigated; transmitting a first inspection signal carrying the position information to a target unmanned aerial vehicle base station device; wherein the target unmanned aerial vehicle base station device is the unmanned aerial vehicle base station device closest to the hazard source among the plurality of unmanned aerial vehicle base station devices; the target unmanned aerial vehicle base station device is equipped with an unmanned aerial vehicle, and the target unmanned aerial vehicle base station device is configured to dispatch the unmanned aerial vehicle to inspect the hazard source when the first inspection signal is received; receiving first inspection information of the hazard source transmitted by the target unmanned aerial vehicle base station device; According to the first acoustic wave information, the investigation of whether there is a hazard source in a long linear structure or a protection area, and the position information of the hazard source when the hazard source is investigated, comprises: investigating an abnormal point according to the first acoustic wave information; According to the first acoustic wave information, the feature information of the abnormal point is obtained through a feature extraction algorithm, and the position information of the abnormal point is obtained through a positioning algorithm based on acoustic wave propagation characteristics according to the feature information and a pre-set geographic information system; According to the first acoustic wave information, the frequency spectrum information of the abnormal point is obtained through a frequency spectrum analysis algorithm, and the operation type matched with the frequency spectrum information is obtained through sample matching of the frequency spectrum information according to a pre-set frequency spectrum database; According to a pre-set feature parameter database, the operation type is matched with the pre-warning critical parameter value through sample matching; When the position information indicates that the abnormal point is located in the long linear structure or the protection area, and / or the parameter value of the feature information is greater than the pre-warning critical parameter value, the abnormal point is determined as the hazard source.

2. The method of claim 1, wherein, The long linear structure is located underground or in a tunnel, and the protection area is located on the ground or outside the tunnel; the plurality of unmanned aerial vehicle base station devices comprises a plurality of first unmanned aerial vehicle base station devices arranged in the long linear structure and a plurality of second unmanned aerial vehicle base station devices arranged outside the long linear structure; According to the position information, the relative distance between the hazard source and the long linear structure is obtained; When the operation type and the relative distance jointly indicate that the hazard source is located in the long linear structure, the first inspection signal is transmitted to a third unmanned aerial vehicle base station device; wherein the third unmanned aerial vehicle base station device is the first unmanned aerial vehicle base station device closest to the hazard source among the plurality of first unmanned aerial vehicle base station devices; ​ transmit the first inspection signal to a fourth unmanned aerial base station device when the operation type and the relative distance jointly indicate that the dangerous source is located in the protection zone; wherein the fourth unmanned aerial base station device is the second unmanned aerial base station device closest to the dangerous source among the plurality of second unmanned aerial base station devices.

3. The method of claim 1, wherein, After receiving the first acoustic wave information transmitted by the distributed optical fiber acoustic wave sensing device, the method further comprises: filtering the first acoustic wave information through a filtering algorithm; de-noising the filtered first acoustic wave information through a de-noising algorithm; normalizing the de-noised first acoustic wave information through a normalization algorithm.

4. The method of claim 1, wherein, The dangerous source inspection system further comprises a mobile terminal carried by an inspection personnel; After receiving the first inspection information of the dangerous source transmitted by the target unmanned aerial base station device, the method further comprises: obtaining second inspection information of the dangerous source according to the first inspection information; transmitting a second inspection signal carrying the second inspection information to the mobile terminal.

5. A method of inspecting a hazard source, characterized by, The method is applied to a target unmanned aerial base station device of a dangerous source inspection system, the target unmanned aerial base station device is equipped with a drone, and the dangerous source inspection system further comprises a client, and the method comprises: when receiving a first inspection signal carrying position information of a dangerous source transmitted by the client, formulating a flight path of the drone according to the position information; dispatching the drone to inspect the dangerous source indicated by the position information according to the flight path; receiving third inspection information of the dangerous source transmitted by the drone, and obtaining first inspection information of the dangerous source according to the third inspection information; transmitting the first inspection information to the client; wherein the dangerous source is an abnormal point whose position information is located in a long linear structure or a protection zone, and / or whose characteristic information has a parameter value greater than a pre-warning critical parameter value matched with an operation type matched with the spectral information; wherein the abnormal point is obtained by the client through investigation based on first acoustic wave information; the characteristic information of the abnormal point is obtained by the client through a feature extraction algorithm based on the first acoustic wave information; the position information of the abnormal point is obtained by the client through a positioning algorithm based on acoustic wave propagation characteristics based on the characteristic information and a pre-set geographic information system; the spectral information is obtained by the client through a spectral analysis algorithm based on the first acoustic wave information; the operation type matched with the spectral information is obtained by the client through sample matching of the spectral information based on a pre-set spectral database; and the pre-warning critical parameter value matched with the operation type is obtained by the client through sample matching of the operation type based on a pre-set characteristic parameter database.

6. The method of claim 5, wherein, The drone is equipped with a ranging device, a positioning device, an observation device, and a visual and auditory warning device; The ranging device is used to measure the relative position relationship between the drone and the dangerous source; The positioning device is used to measure the first spatial coordinates of the drone; The observation device is used to shoot visual materials of the dangerous source; The audio-visual warning device is used for audio-visual warning of the dangerous source according to the pre-stored warning information. The third inspection information includes the relative position relationship, the first spatial coordinates and the visual material.

7. The method of claim 6, wherein, The first inspection information of the dangerous source is obtained according to the third inspection information, including: The second spatial coordinates of the dangerous source are obtained according to the relative position relationship and the first spatial coordinates. The first inspection information is obtained according to the second spatial coordinates, the visual material and the warning information.

8. A method of inspecting a hazard source, characterized by, The method is applied to a distributed optical fiber acoustic wave sensing device of a dangerous source inspection system, and the dangerous source inspection system further includes a client, and the method includes: According to a preset acquisition frequency, the long linear structure is continuously acquired to obtain second acoustic wave information; the signal type of the second acoustic wave information is an optical signal; The second acoustic wave information is subjected to digital signal conversion to obtain first acoustic wave information; The first acoustic wave information is continuously transmitted to the client, so that the client can find an abnormal point according to the first acoustic wave information; according to the first acoustic wave information, feature extraction algorithm is used to obtain feature information of the abnormal point, and according to the feature information and a pre-set geographic information system, a positioning algorithm based on acoustic wave propagation characteristics is used to obtain position information of the abnormal point; according to the first acoustic wave information, a frequency spectrum analysis algorithm is used to obtain frequency spectrum information of the abnormal point, and a pre-set frequency spectrum database is used for sample matching of the frequency spectrum information to obtain an operation type matched with the frequency spectrum information; a pre-set feature parameter database is used for sample matching of the operation type to obtain a pre-warning critical parameter value matched with the operation type; when the position information indicates that the abnormal point is located in the long linear structure or a protection area, and / or a parameter value of the feature information is greater than the pre-warning critical parameter value, the abnormal point is determined as the dangerous source.

9. A hazardous source inspection system, comprising: The dangerous source inspection system includes a client, and a distributed optical fiber acoustic wave sensing device and a plurality of unmanned aerial vehicle base station devices which are in communication connection with the client; The client is used to implement the dangerous source inspection method according to any one of claims 1 to 4; The distributed optical fiber acoustic wave sensing device is used to implement the dangerous source inspection method according to claim 8; Each of the unmanned aerial vehicle base station devices is used to implement the dangerous source inspection method according to any one of claims 5 to 7.

10. The hazardous source inspection system of claim 9, wherein, The distributed optical fiber acoustic wave sensing device includes: A conversion end in communication connection with the client, and at least one sensing optical cable connected to the conversion end.

11. The hazardous source inspection system of claim 10, wherein, The long linear structure is located underground or in a tunnel, and the protection area is located on the ground or outside the tunnel. The number of sensing optical cables is three, and the sensing optical cables are glued to two sides and a top of the long linear structure.

12. The hazardous source inspection system of claim 9, wherein, Further including: A mobile end in communication connection with the client, and the mobile end is carried by an inspection personnel.

13. A hazardous source inspection apparatus, comprising: The dangerous source inspection device is located at a client of a dangerous source inspection system, the dangerous source inspection system further includes a distributed optical fiber acoustic wave sensing device and a plurality of unmanned aerial vehicle base station devices, and the dangerous source inspection device includes: The danger source investigation module is configured to receive first sound wave information transmitted by the distributed optical fiber sound wave sensing device, and investigate whether there is a danger source in a long linear structure or a protection area according to the first sound wave information. When the danger source is investigated, position information of the danger source is obtained. The first transmission module is configured to transmit a first inspection signal carrying the position information to a target unmanned base station device. The target unmanned base station device is the unmanned base station device closest to the danger source among the plurality of unmanned base station devices. The target unmanned base station device is equipped with an unmanned aerial vehicle. When the first inspection signal is received, the target unmanned base station device is configured to dispatch the unmanned aerial vehicle to inspect the danger source. The second transmission module is configured to receive first inspection information of the danger source transmitted by the target unmanned base station device. The danger source investigation module is configured to obtain an abnormal point according to the first sound wave information. Feature information of the abnormal point is obtained by a feature extraction algorithm according to the first sound wave information. Position information of the abnormal point is obtained by a positioning algorithm based on sound wave propagation characteristics according to the feature information and a preconfigured geographic information system. Frequency spectrum information of the abnormal point is obtained by a frequency spectrum analysis algorithm according to the first sound wave information. An operation type matching the frequency spectrum information is obtained by sample matching of the frequency spectrum information according to a preconfigured frequency spectrum database. A prewarning critical parameter value matching the operation type is obtained by sample matching of the operation type according to a preconfigured feature parameter database. When the position information indicates that the abnormal point is located in the long linear structure or the protection area, and / or a parameter value of the feature information is greater than the prewarning critical parameter value, the abnormal point is determined as the danger source.

14. A hazardous source inspection apparatus, comprising: The danger source inspection device is located in a target unmanned base station device of a danger source inspection system. The target unmanned base station device is equipped with an unmanned aerial vehicle. The danger source inspection system further includes a client. The danger source inspection device includes: The path planning module is configured to plan a flight path of the UAV according to the position information when receiving the first inspection signal transmitted by the client and carrying the position information of the hazard source; wherein the hazard source is an abnormal point whose position information is located in a long linear structure or a protection area, and / or an abnormal point whose parameter value of feature information is greater than a warning critical parameter value matched with an operation type matched with the spectrum information; wherein the abnormal point is obtained by the client according to the first sound wave information; the feature information of the abnormal point is obtained by the client according to the first sound wave information and through a feature extraction algorithm; the position information of the abnormal point is obtained by the client according to the feature information and a preset geographic information system and through a positioning algorithm based on sound wave propagation characteristics; the spectrum information is obtained by the client according to the first sound wave information and through a spectrum analysis algorithm; the operation type matched with the spectrum information is obtained by the client by performing sample matching on the spectrum information according to a preset spectrum database; and the warning critical parameter value matched with the operation type is obtained by the client by performing sample matching on the operation type according to a preset feature parameter database; The UAV dispatching module is configured to dispatch the UAV to inspect the hazard source indicated by the position information according to the flight path; The third transmission module is configured to receive third inspection information of the hazard source transmitted by the UAV, and obtain first inspection information of the hazard source according to the third inspection information; The fourth transmission module is configured to transmit the first inspection information to the client.

15. A hazardous source inspection apparatus, comprising: The hazard source inspection device is located in a distributed optical fiber sound wave sensing device of a hazard source inspection system, and the hazard source inspection system further includes a client, so that the hazard source inspection device includes: The sound wave collecting module is configured to continuously collect the long linear structure according to a preset collecting frequency to obtain second sound wave information; and the signal type of the second sound wave information is an optical signal; The signal conversion module is configured to perform digital signal conversion on the second sound wave information to obtain first sound wave information; and The fifth transmission module is configured to continuously transmit the first sound wave information to the client, so that the client locates the abnormal point according to the first sound wave information; according to the first sound wave information, the feature information of the abnormal point is obtained through a feature extraction algorithm, and the position information of the abnormal point is obtained through a positioning algorithm based on the sound wave propagation characteristics according to the feature information and a preset geographic information system; according to the first sound wave information, the frequency spectrum information of the abnormal point is obtained through a frequency spectrum analysis algorithm, and the operation type matched with the frequency spectrum information is obtained by sample matching of the frequency spectrum information according to a preset frequency spectrum database; according to the preset feature parameter database, the operation type is sample matched to obtain the early warning critical parameter value matched with the operation type; when the position information indicates that the abnormal point is located in the long linear structure or the protection area, and / or the parameter value of the feature information is greater than the early warning critical parameter value, the abnormal point is determined as the danger source.

16. An electronic device, comprising: Comprise: a processor, and a memory connected with the processor in communication; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory, and is configured to implement the danger source inspection method according to any one of claims 1 to 4, any one of claims 5 to 7, or claim 8.

17. A computer readable storage medium characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the danger source inspection method according to any one of claims 1 to 4, any one of claims 5 to 7, or claim 8.

18. A computer program product, characterised in that, The computer program is executed by the processor to implement the danger source inspection method according to any one of claims 1 to 4, any one of claims 5 to 7, or claim 8.

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