Urban flood monitoring unmanned aerial vehicle, monitoring system and method based on remote sensing

Abstract

The invention discloses an urban flood monitoring unmanned aerial vehicle based on remote sensing, a monitoring system and a method, and the system comprises a remote sensing image collection module, a data analysis module, an emergency rescue module and a ground control processing center. Comprising an unmanned aerial vehicle, an auxiliary water surface floating mechanism, a water surface rescue robot, a long-distance thermal imaging monitoring mechanism and a dangerous substance protection mechanism. The unmanned aerial vehicle comprises a visual monitor and an unmanned aerial vehicle control box, the auxiliary water surface floating mechanism is arranged on the bottom end face of the unmanned aerial vehicle, and the auxiliary water surface floating mechanism comprises an auxiliary control device and a floating air bag assembly. Through the water surface rescue robot and the auxiliary water surface floating mechanism, when the unmanned aerial vehicle is stressed and falls to the water surface, the water surface rescue robot can control the unmanned aerial vehicle to run on the water surface, and after the unmanned aerial vehicle moves to a safe position, the unmanned aerial vehicle can take off again for monitoring operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of flood monitoring, and in particular relates to a remote sensing-based urban flood monitoring drone, a monitoring system and a method. Background Art

[0002] Remote sensing-based urban flood monitoring drones are used to quickly obtain disaster information, monitor water level changes in real time, and investigate dangerous situations. Combined with AI recognition systems and high-definition cameras, they can achieve 24-hour uninterrupted inspections. However, currently used monitoring drones have the following problems: When flood disasters occur, if there are strong winds, heavy rains, obstacle areas, etc., the drone is easily affected, causing it to be stressed and fall to the water surface, which in turn causes water to enter the interior. In severe cases, the equipment is scrapped and cannot take off again for monitoring operations.

[0003] When flood disasters occur, if the area is located in a chemical industrial park or a pesticide industrial park, the flood may carry industrial acidic wastewater containing chemical agents or pesticide residues. The acidic wastewater and pesticides will corrode the metal casing of the sensor and also cause harm to the health of trapped people, which reduces safety.

[0004] Drones' thermal imaging sensors can be used to detect the vital signs of trapped individuals. However, as distance increases, the resolution of thermal imaging decreases, and it may be impossible to distinguish between human heat sources and other heat sources. At long distances, it is also difficult to clearly determine a person's condition through thermal imaging, making it prone to misjudgment or omission.

[0005] Therefore, in response to the above technical problems, it is necessary to provide a remote sensing-based urban flood monitoring drone, monitoring system and method.

[0006] The information disclosed in this background technology section is only intended to enhance understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the Invention

[0007] The purpose of the present invention is to provide a remote sensing-based urban flood monitoring drone, monitoring system and method, which can solve the above problems.

[0008] In order to achieve the above object, a specific embodiment of the present invention provides the following technical solutions: The remote sensing-based urban flood monitoring drone system includes a remote sensing image acquisition module, a data analysis module, an emergency rescue module, and a ground control and processing center. The remote sensing image acquisition module stitches point cloud data images from multiple point cloud data sets into a synthetic point cloud data image. This synthetic point cloud data image is then aligned and visually compared with remote sensing images of land cover point cloud data in a geospatial data cloud database to determine the type of flooded terrain. Remote sensing images from multiple remote sensing image sets are then stitched into a synthetic remote sensing image. The synthetic remote sensing image is then used to determine the flooding range and depth for each terrain type. The data analysis module is connected to the remote sensing image acquisition module and aggregates the collected data to generate a three-dimensional image, creating a digital elevation model of the urban flood scene. The emergency rescue module is connected to the remote sensing image acquisition module and, through monitoring components, monitors the status of people trapped during flooding and responds accordingly based on their injuries. The remote sensing image acquisition module, data analysis module, and emergency rescue module of the ground control and processing center are all connected to the ground control and processing center, which receives, processes, and analyzes the data.

[0009] In one or more embodiments of the present invention, the specific steps of stitching the remote sensing images in the plurality of remote sensing image sets into a synthetic remote sensing image are: A SURF algorithm and an HSI color model are used to perform coarse matching on remote sensing images in a plurality of remote sensing image sets to obtain a plurality of coarse matches; a random sampling consistency algorithm is used to purify the plurality of coarse matching points to obtain a plurality of purified coarse matching points; a least squares method is used to perform fine matching on the plurality of purified coarse matching points to obtain a plurality of fine matching points; and based on the plurality of fine matching points, an interpolation method is used to splice the remote sensing images in the plurality of remote sensing image sets into a synthetic remote sensing image.

[0010] In one or more embodiments of the present invention, a remote sensing-based urban flood monitoring drone includes a drone, an auxiliary surface flotation mechanism, a surface rescue robot, a remote thermal imaging monitoring mechanism, and a hazardous material protection mechanism. The drone includes a visual monitor and a drone control box. The auxiliary surface flotation mechanism is located at the bottom end of the drone. The auxiliary surface flotation mechanism includes an auxiliary control device and a flotation airbag assembly, which is fixedly connected to the outer end of the auxiliary control device. The surface rescue robot is movably connected to the bottom end of the auxiliary surface flotation mechanism. The surface rescue robot includes a drive device and a second underwater propeller, one end of the drive device is fixedly connected to the bottom of the drone control box, and one end of the drive device is connected to the second underwater propeller. The remote thermal imaging monitoring mechanism is located between the auxiliary surface flotation mechanism and the drone control box. The remote thermal imaging monitoring mechanism includes a thermal imager, and a multi-axis motion device is provided between the thermal imager and the auxiliary surface flotation mechanism. The hazardous material protection mechanism is arranged on one side end face of the water surface rescue robot, and the hazardous material protection mechanism includes multiple protection tube assemblies, a gas delivery mechanism and an infusion protection mechanism. The multiple protection tube assemblies are distributed on multiple end faces of the driving device, and the multiple protection tube assemblies are connected to the gas delivery mechanism and the infusion protection mechanism.

[0011] In one or more embodiments of the present invention, the auxiliary surface floating mechanism further includes an automatic telescopic rod, which is located between the drone control box and the auxiliary control device, and the bottom end surface of the auxiliary control device is provided with a first underwater thruster.

[0012] In one or more embodiments of the present invention, the multi-axis mobile device includes a first mobile module and a second mobile module, one side end face of the first mobile module is fixedly connected to the bottom end face of the drone control box, the bottom of the drone control box is fixedly connected to the second mobile module, the second mobile module includes a telescopic rod, and one side end face of the telescopic rod is fixedly connected to the thermal imager.

[0013] In one or more embodiments of the present invention, the water surface rescue robot also includes an extended airbag assembly, the outer end face of the driving device is fixedly connected to the extended airbag assembly, the extended airbag assembly is provided with a groove matching a plurality of protective tube assemblies, the upper end face of the driving device is provided with an electromagnetic suction block, the bottom end face of the auxiliary control device is adhered with a patch, and the iron sheet is magnetically connected to the electromagnetic suction block.

[0014] In one or more embodiments of the present invention, an explosive launch device is provided on one side end face of the driving device, and a plurality of explosive bombs are stored in the explosive launch device. The bottom end face of the extended airbag assembly is movably connected to a first aid assembly, and the top end face of the first aid assembly is fixedly connected to an upper buckle, and the bottom end face of the extended airbag assembly is fixedly connected to a lower buckle matching the upper buckle, and the upper buckle is clamped to the lower buckle. An oxygen storage tank is provided in the driving device, and the oxygen storage tank is connected to the first aid assembly and the hazardous material protection mechanism.

[0015] In one or more embodiments of the present invention, the protective tube assembly includes a telescopic tube, a telescopic gas delivery tube and a telescopic infusion tube. The middle end face of the telescopic tube is fixedly connected to the telescopic infusion tube, the telescopic infusion tube is connected to the infusion protection mechanism, the outer end face of the telescopic tube located on the telescopic infusion tube is fixedly connected to the telescopic gas delivery tube, the telescopic gas delivery tube is connected to the gas delivery mechanism, and a sealing cover is installed on the upper end face of the protective tube assembly.

[0016] In one or more embodiments of the present invention, the gas delivery mechanism includes a vacuum pump, a gas storage tank, and a nozzle. The outer end face of the protective tube assembly is provided with a plurality of nozzles, and the plurality of nozzles are connected to a telescopic gas delivery tube. The other end face of the telescopic gas delivery tube is connected to the vacuum pump and the gas storage tank. A solenoid valve is provided between the vacuum pump, the gas storage tank, and the telescopic gas delivery tube. The drive device includes a master controller and a storage box. The master controller is located inside the storage box. The vacuum pump, gas storage tank, and liquid storage tank are all provided on one end face of the storage box. The infusion protection mechanism includes a plurality of liquid storage tanks and a plurality of second infusion tubes. The plurality of liquid storage tanks are all connected to the second infusion tube. The second infusion tube is connected to the telescopic infusion tube. A protective medium is connected to the plurality of liquid storage tanks. The protective medium includes a mixture of one or more of sodium hydroxide, calcium hydroxide, potassium permanganate, sodium hypochlorite, sodium bicarbonate, sodium hydroxide, and sodium carbonate.

[0017] A monitoring method for an urban flood monitoring drone monitoring system based on remote sensing includes the following steps: S1. Drone patrol: The drone will patrol above the disaster area, collect the inundation range and depth of each terrain type, and generate a digital elevation model for analysis by relevant personnel; S2. Search and rescue: Search and rescue trapped people through long-distance thermal imaging monitoring, help rescuers locate the rescuers and conduct follow-up rescue; S21. Surface search and rescue: If the UAV encounters a position that is not conducive to flight search and rescue, the surface rescue robot can be separated from the auxiliary surface floating mechanism. The surface rescue robot will operate on the water surface while the UAV continues to take off and monitor. S22. Hazardous environment treatment: When a drone encounters water pollution or hazardous chemical gas leakage, temporary remediation can be carried out through hazardous material protection agencies to temporarily rescue and protect the drone or trapped personnel; S23. Emergency response when falling into water: After the UAV falls to the ground due to the external environment, it can be moved to a safe location and take off again after being stabilized on the water surface by the water rescue robot.

[0018] Compared with the existing technology, the remote sensing-based urban flood monitoring drone, monitoring system and method of the present invention have the following benefits: 1. The surface rescue robot and the auxiliary surface floating mechanism are used to apply force to the UAV. When the UAV falls to the water surface, the surface rescue robot can control the UAV to operate on the water surface. After moving to a safe position, the UAV can take off again for monitoring operations.

[0019] 2. Through the hazardous material protection mechanism, neutralizing agents can be transported to multiple locations to neutralize industrial acid wastewater or pesticide residues in the water, reduce the hazards in the water, create a temporary safe environment, and provide protection for subsequent trapped people to be transferred to a safe location in time.

[0020] 3. Through the long-distance thermal imaging monitoring mechanism, the drone is affected by the current environment and can detect the situation of trapped people at a long distance. When close-range detection is impossible, the long-distance thermal imaging monitoring mechanism moves to the position close to the trapped people to conduct close-range detection of the trapped people. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 The structure of the urban flood monitoring drone based on remote sensing in one embodiment of the present invention is shown as follows: Figure 1 ; Figure 2 The structure of the urban flood monitoring drone based on remote sensing in one embodiment of the present invention is shown as follows: Figure 2 ; Figure 3 A cross-sectional view of a remote sensing-based urban flood monitoring drone according to an embodiment of the present invention; Figure 4 for Figure 3 Schematic diagram of the structure at A; Figure 5This is a schematic diagram of a first usage state of a remote sensing-based urban flood monitoring drone in one embodiment of the present invention; Figure 6 Schematic diagram of the structure at B of 5; Figure 7 This is a schematic diagram of a second usage state of a remote sensing-based urban flood monitoring drone in one embodiment of the present invention; Figure 8 This is a schematic diagram of a third usage state of a remote sensing-based urban flood monitoring drone according to an embodiment of the present invention; Figure 9 This is a schematic diagram of a fourth usage state of a remote sensing-based urban flood monitoring drone according to an embodiment of the present invention; Figure 10 This is a schematic diagram of a fifth usage state of a remote sensing-based urban flood monitoring drone according to an embodiment of the present invention; Figure 11 Schematic diagram of the structure at C of 10; Figure 12 This is a flow chart of a remote sensing-based urban flood monitoring drone monitoring system in one embodiment of the present invention; Description of main reference numerals: 1-UAV, 101-UAV control box, 102-landing gear, 103-airbag assembly, 2-auxiliary surface floating mechanism, 201-auxiliary control device, 202-floating airbag assembly, 203-automatic telescopic rod, 204-first underwater thruster, 3-surface rescue robot, 301-drive device, 302-extended airbag assembly, 303-groove, 304-electromagnetic suction block, 4-visual monitor, 5-long-range thermal imaging monitoring mechanism , 501-thermal imager, 502-first mobile module, 503-second mobile module, 5031-telescopic rod, 6-hazardous material protection mechanism, 601-protection tube assembly, 6011-telescopic tube, 6012-gas telescopic delivery tube, 6013-telescopic infusion tube, 602-sealing cover, 603-nozzle, 604-second thermal imager, 7-blasting launch device, 8-first aid component, 801-upper buckle, 9-second underwater propeller. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0024] like Figure 1As shown, the remote sensing-based urban flood monitoring drone, monitoring system and method in one embodiment of the present invention can realize that when the drone is subjected to force and falls to the water surface, the surface rescue robot 3 can control the drone to operate on the water surface, and after moving to a safe position, it can take off again to perform monitoring operations. The neutralizing agent can be delivered to multiple positions through the hazardous material protection mechanism 6 to neutralize the industrial acid wastewater or pesticide residues in the water, reduce the hazards in the water, create a temporary safety environment, and provide protection for the subsequent trapped personnel to be transferred to a safe position in time.

[0025] The remote sensing-based urban flood monitoring drone monitoring system includes a remote sensing image acquisition module, a data analysis module, an emergency rescue module and a ground control and processing center to monitor flooded areas, help rescue personnel understand the disaster situation, and take timely measures.

[0026] The remote sensing image acquisition module stitches point cloud data images from multiple point cloud data image sets into synthetic point cloud data images, performs image registration and intuitive comparison with the land cover point cloud data remote sensing images in the geospatial data cloud database to determine the flooded terrain type, stitches remote sensing images from multiple remote sensing image sets into synthetic remote sensing images, and determines the flooded range and flooded depth of each terrain type based on the synthetic remote sensing images.

[0027] The specific steps of stitching remote sensing images from multiple remote sensing image sets into a synthetic remote sensing image are as follows: The SURF algorithm and the HSI color model are used to perform coarse matching on the remote sensing images in multiple remote sensing image sets to obtain multiple coarse matches; the random sampling consistency algorithm is used to purify the multiple coarse matching points to obtain multiple purified coarse matching points; the least squares method is used to perform fine matching on the multiple purified coarse matching points to obtain multiple fine matching points; based on the multiple fine matching points, the interpolation method is used to splice the remote sensing images in the multiple remote sensing image sets into a synthetic remote sensing image.

[0028] The data analysis module is connected to the remote sensing image acquisition module to aggregate the collected data to generate three-dimensional stereo images and establish a digital elevation model of the urban flood scene.

[0029] The inundation range and depth for each terrain type are determined using synthetic remote sensing imagery. Using the three-dimensional stereo images, a quadratic surface fitting method is used for point-by-point interpolation to create a digital elevation model of the urban flooding scenario. This model is then compared with the pre-flood digital elevation model to ultimately determine the inundation range and depth for each terrain type, facilitating the understanding of the flood disaster situation for relevant personnel.

[0030] The emergency rescue module is connected to the remote sensing image acquisition module, and obtains the situation of people trapped during floods through the monitoring component. According to the current terrain conditions, the operator makes corresponding emergency measures to temporarily solve the plight of the trapped people and provide valuable time for subsequent rescue.

[0031] The remote sensing image acquisition module, data analysis module and emergency rescue module are all connected to the ground control and processing center, which is used to receive data and perform processing and analysis.

[0032] like Figures 1-11 As shown, a remote sensing-based urban flood monitoring drone includes a drone 1, an auxiliary surface floatation mechanism 2, a surface rescue robot 3, a long-range thermal imaging monitoring mechanism 5, and a hazardous material protection mechanism 6. If the drone 1 falls into the water due to environmental influences while flying over the city for monitoring, the surface rescue robot 3 can help the drone 1 float on the water, preventing it from falling and thus preventing damage. The surface rescue robot 3 can also separate from the drone 1, moving on the water surface while the hazardous material protection mechanism 6 performs surface rescue operations. The auxiliary surface floatation mechanism 2 can temporarily help the drone 1 float on the water surface after falling into the water, allowing it to take off and cruise again. The long-range thermal imaging monitoring mechanism 5 allows the drone 1 to approach trapped individuals and monitor their vital signs even when the drone 1 itself is unable to detect them from a distance.

[0033] The drone 1 includes a visual monitoring device 4 and a drone control box 101. The drone 1 monitors urban flooding and records images through the visual monitoring device 4. The drone control box 101 is used for overall control.

[0034] Preferably, Figure 9 As shown, the top end face of the drone 1 is fixedly connected with an airbag assembly 103, which is used to protect the drone. When encountering falling debris during flight, the airbag assembly 103 can be quickly activated to inflate and expand to cover the rotor of the drone 1, protecting the entire drone, protecting its outer end face, and reducing the damage caused by external factors.

[0035] like Figure 1-8 As shown, the auxiliary water surface floating mechanism 2 is arranged on the bottom end face of the drone 1. The auxiliary water surface floating mechanism 2 includes an auxiliary control device 201, an automatic telescopic rod 203 and a floating airbag assembly 202. The automatic telescopic rod 203 is located between the drone control box 101 and the auxiliary control device 201. The lifting and lowering of the auxiliary control device 201 is controlled by the automatic telescopic rod 203. The auxiliary control device 201 is originally located at the middle end face of the drone 1. The auxiliary control device 201 is used for overall control.

[0036] The floating airbag assembly 202 is fixedly connected to the outer end surface of the auxiliary control device 201. The floating airbag assembly 202 surrounds the outer end surface of the auxiliary control device 201. When the drone 1 falls into the water, the auxiliary water surface floating mechanism 2 is quickly driven to control the automatic telescopic rod 203 to descend to be parallel to the landing gear 102. The floating airbag assembly 202 is activated and quickly inflated and expanded to help the drone 1 float on the water surface. After the drone 1 is stable, the drone 1 starts to take off for subsequent monitoring.

[0037] Preferably, a first underwater thruster 204 is provided on the bottom end surface of the auxiliary control device 201, and the first underwater thruster 204 drives the auxiliary control device 201 to move forward on the water surface, helping the drone 1 to move to a safe take-off position on the water surface for take-off.

[0038] The water surface rescue robot 3 is movably connected to the bottom end face of the auxiliary water surface floating mechanism 2. The water surface rescue robot 3 includes a driving device 301 and a second underwater propeller 9. One side end face of the driving device 301 is fixedly connected to the bottom of the drone control box 101. One side end face of the driving device 301 is connected to the second underwater propeller 9. The driving device 301 and the bottom end face of the landing gear 102 are at the same horizontal plane. When the drone 1 is affected by the external environment and falls into the water surface, the driving device 301 controls the drone 1 to move on the water surface through the second underwater propeller 9, which can help the drone 1 move to a safe position for takeoff. At the same time, it also meets the situation that when the drone cannot monitor certain positions in the air and can only monitor on the water surface, the drone can perform monitoring operations on the water surface through the water surface rescue robot 3.

[0039] The surface rescue robot 3 also includes an extension airbag assembly 302, which is fixedly connected to the outer end surface of the driving device 301. When the surface rescue robot 3 is disconnected from the auxiliary surface floating mechanism 2 and is operating alone on the water surface to search and rescue personnel, if the surface rescue robot 3 detects through the second thermal imager 604 that the trapped person is in a critical condition and cannot swim or move forward independently, the extension airbag assembly 302 is activated and begins to expand outward to a larger area, allowing the rescued person to climb above the driving device 301. With the support of the extension airbag assembly 302, the trapped person can lie on the driving device 301 and move forward to a safe location for subsequent rescue. The second underwater propeller 9 can drive the driving device 301 forward to a safe location. If the second underwater propeller 9 is insufficient to propel it forward, the extension airbag assembly 302 can also ensure that the person can rest on the driving device 301 and wait for subsequent rescue. Of course, the person can also rely on his own power to glide forward. At the same time, a voice prompt module is provided on the driving device 301 to help the rescued personnel to relieve their emotions and inform them how to operate the current equipment.

[0040] An electromagnetic block 304 is mounted on the upper end of the drive unit 301, and a patch is bonded to the lower end of the auxiliary control unit 201. The iron sheet is magnetically connected to the electromagnetic block 304. The electromagnetic block 304 controls the connection between the water rescue robot 3 and the auxiliary surface flotation mechanism 2, and can also disconnect them depending on the situation.

[0041] The bottom end face of the extended airbag assembly 302 is movably connected to the first aid assembly 8, the top end face of the first aid assembly 8 is fixedly connected to the upper buckle 801, the bottom end face of the extended airbag assembly 302 is fixedly connected to the lower buckle matching the upper buckle 801, the upper buckle 801 is engaged with the lower buckle, so that the first aid assembly 8 is fixed to the bottom of the extended airbag assembly 302, and an air outlet is provided on one side end face of the upper buckle 801, and an oxygen storage tank is provided in the driving device 301, which is connected to the first aid assembly 8 and the hazardous material protection mechanism 6 through an oxygen delivery pipe.

[0042] Specifically, when the search and rescue personnel of the surface rescue robot 3 find that people are trapped, or when the personnel are moving forward on the driving device 301, if the current people are in a state of oxygen scarcity or there is toxic gas in the air and they urgently need oxygen for temporary rescue and relief, the personnel can apply downward force from the extended airbag assembly 302 to remove the first aid assembly 8 from the extended airbag assembly 302, and the personnel inhale oxygen through the air outlet to relieve the current symptoms.

[0043] A blasting launch device 7 is provided on one end face of the driving device 301. A plurality of explosive bombs are stored in the blasting launch device 7. Low buildings, billboards, and street lamp poles in the city may tilt after being soaked in floods, forming a "low-altitude obstacle belt". Affected by other factors, other routes cannot pass through, and the drone cannot pass through the current roadblock. When the drone 1 detects that there are no people in the current area, the drone 1 enters the safe launch area and launches explosive bombs through the blasting launch device 7 to blast the current obstacle, helping the drone 1 to quickly pass the current obstacle and carry out inspection work.

[0044] Preferably, the explosive bomb is a small explosive bomb.

[0045] The long-distance thermal imaging monitoring mechanism 5 is arranged between the auxiliary water surface floating mechanism 2 and the drone control box 101. The long-distance thermal imaging monitoring mechanism 5 includes a thermal imager 501. A multi-axis moving device is arranged between the thermal imager 501 and the auxiliary water surface floating mechanism 2. The multi-axis moving device controls the thermal imager 501 to move in multiple directions, and the status of the person can be clearly judged from a long distance through thermal imaging, such as whether he is conscious or whether he has obvious external injuries.

[0046] Furthermore, the multi-axis moving device includes a first moving module 502 and a second moving module 503. One side end face of the first moving module 502 is fixedly connected to the bottom end face of the drone control box 101. Preferably, the first moving module 502 is a first cylinder, and the first cylinder includes a first telescopic rod. The first cylinder controls the up and down movement of the first telescopic rod, and the first telescopic rod is connected to the thermal imager 501 to control the up and down movement of the thermal imager 501.

[0047] The bottom of the drone control box 101 is fixedly connected to the second mobile module 503, and the second mobile module 503 includes a telescopic rod 5031. Preferably, the second mobile module 503 is a second cylinder, and the second cylinder includes a telescopic rod 5031 and a connecting plate. The first telescopic rod is fixedly connected to the connecting plate, and one end face of the connecting plate is fixedly connected to the second cylinder. The second cylinder drives the telescopic rod 5031 to extend and retract, and one end face of the telescopic rod 5031 is fixedly connected to the thermal imager 501, so that the telescopic rod 5031 drives the thermal imager 501 to move in the front and rear directions.

[0048] Specifically, when the drone encounters a low-altitude obstacle area during daily aircraft monitoring, or when the drone is investigating the situation of personnel and is unable to accurately determine the situation of the personnel at the current location due to the distance, the long-distance thermal imaging monitoring mechanism 5 can be activated, and the first mobile module 502 controls the thermal imager 501 to move up and down, and the second mobile module 503 controls the thermal imager 501 to move left and right to adapt the thermal imager 501 to go deep into the position that needs to be investigated and close to the position of the personnel, so as to accurately determine the current situation of the personnel and make targeted rescue.

[0049] like Figures 1-6 As shown, the hazardous material protection mechanism 6 is arranged on one side end face of the water surface rescue robot 3. The hazardous material protection mechanism 6 includes multiple protection tube assemblies 601, a gas delivery mechanism and an infusion protection mechanism. The multiple protection tube assemblies 601 are distributed on multiple end faces of the driving device 301. The multiple protection tube assemblies 601 are connected to the gas delivery mechanism and the infusion protection mechanism, so that the drone 1 can enter the chemical industrial park or the pesticide industrial park during the inspection process, resulting in industrial acidic wastewater containing chemical agents or pesticide residues carried in the flood, such as acidic wastewater with a pH value of <4, which will corrode the metal shell of the sensor and also cause harm to the health of the trapped personnel. The hazardous material protection mechanism 6 can temporarily reduce the harm, temporarily protect the drone 1 or the health of the personnel, and help the personnel to escape quickly.

[0050] The extension airbag assembly 302 is provided with a groove 303 that matches multiple protection tube assemblies 601, so that when the extension airbag assembly 302 is inflated to increase the area, the protection tube assembly 601 located on the water surface rescue robot 3 will not affect the operation of the extension airbag assembly 302.

[0051] The protective tube assembly 601 includes a telescopic tube 6011, a telescopic gas delivery tube 6012 and a telescopic infusion tube 6013. The middle end face of the telescopic tube 6011 is fixedly connected to the telescopic infusion tube 6013, and the telescopic infusion tube 6013 is connected to the infusion protection mechanism. The chemical agents in the sewage are neutralized through the infusion protection mechanism to reduce their harm.

[0052] It is worth noting that because protective tube assembly 601 is a telescopic tube, both the telescopic gas delivery tube 6012 and the telescopic liquid infusion tube 6013 are retractable pipes. They extend and retract with the extension and retraction of protective tube assembly 601. When hazardous materials need to be processed, protective tube assembly 601 can be controlled to extend and retract to a certain distance to spray neutralizing agents or absorb hazardous gases, thereby reducing the current hazard. Multiple protective tube assemblies 601 are staggered. When protective tube assembly 601 is extended and retracted to process hazardous materials, multiple protective tube assemblies 601 can be controlled to operate in different positions, expanding the processing range and improving processing efficiency.

[0053] Preferably, the material of the telescopic gas delivery tube 6012 and the telescopic infusion tube 6013 is any one of stainless steel, TPE, PTFEA lining, and silicone, and the material of the protective tube assembly 601 is stainless steel.

[0054] Furthermore, the driving device 301 includes a main controller and a storage box. The main controller is located in the storage box and is used to control the operation and drive of the water rescue robot 3. The vacuum pump, gas storage tank, and liquid storage tank are all arranged on one end surface of the storage box. The infusion protection mechanism includes multiple liquid storage tanks and multiple second infusion tubes. The multiple liquid storage tanks are all connected to the second infusion tubes, which are connected to the telescopic infusion tube 6013. The multiple liquid storage tanks are connected to a protective medium. When the drone discovers hazardous chemicals in the sewage during its patrol, and there are trapped people at the current location, the sewage needs to be treated to reduce the threat to the trapped people. The protective medium is delivered from the liquid storage tanks to the second infusion tubes and the telescopic infusion tube 6013 to neutralize the sewage in the flood and reduce the threat. Once the threat is reduced, the seriously injured trapped person can climb onto the surface of the water and, driven by the second underwater thruster 9, leave the trapped area and enter a safe area.

[0055] The protective medium includes a mixture of one or more of sodium hydroxide, calcium hydroxide, potassium permanganate, sodium hypochlorite, sodium bicarbonate, and sodium carbonate.

[0056] Specifically, during flooding, chemical plants are prone to chemical leaks, which can carry industrial wastewater with them. For example, acidic wastewater with a pH value below 4 can corrode the metal housing of sensors. Therefore, a neutralizing agent is delivered through the infusion protection mechanism to neutralize the chemicals in the floodwater, mitigating the risk to the water supply.

[0057] Sodium carbonate is the preferred protective medium. It has good solubility, a moderate reaction rate, and is easily controlled. It also neutralizes various strong acids in floodwaters, producing carbon dioxide gas during the neutralization process. This process has a strong buffering capacity and is less likely to cause drastic pH fluctuations or excessive increases. For example, acidic wastewater contains hydrogen chloride, which can cause mucosal irritation at best, chemical burns, pulmonary edema, or even death at worst. Therefore, sodium carbonate is stored in one of the liquid storage tanks. This sodium carbonate reacts with the hydrogen chloride in the floodwaters to produce carbon dioxide and water.

[0058] Of course, sodium bicarbonate is also suitable for treating acidic sewage. The core of its neutralization reaction with acidic sewage is that the dissociated bicarbonate ions combine with the hydrogen ions in the acid, reducing the acidity of the sewage by consuming H⁺ and making the pH value tend to neutral.

[0059] Agricultural areas in cities are also prone to pesticide leaks. Pesticide residues, such as organophosphorus, may penetrate into sealants and cause electrical short circuits. Some pesticides can also easily cause harm to the human body.

[0060] The protective medium is preferably potassium permanganate. Under acidic or neutral conditions, potassium permanganate can oxidize the sulfide group -S- in organic phosphorus to the sulfone group -SO2-, or directly break the phosphoester bond to produce a phosphoric acid derivative. Potassium permanganate can decompose a variety of organic pesticides.

[0061] Sodium hydroxide: Strong alkalinity, can efficiently hydrolyze organophosphorus and pyrethroid pesticides, and is often used for industrial-grade agricultural product pretreatment.

[0062] Sodium hypochlorite releases active chlorine to oxidize the unsaturated bonds in organophosphorus molecules, such as carbon-carbon double bonds, causing them to lose their ability to inhibit cholinesterase.

[0063] Calcium hydroxide indirectly reduces the harm of pesticides by adjusting the pH value of the environment, promoting the degradation of pesticides or destroying their toxic structures. Its mechanism of action varies depending on the type of pesticide. The core is to use the strong alkalinity of calcium hydroxide. It is worth noting that when the drone 1 is conducting monitoring, the corresponding neutralizing agent can be selected according to the specific chemical substances produced by the monitored chemical plant or pesticide factory, and the originally stored liquids in multiple liquid storage tanks can be replaced with corresponding neutralizing agents to neutralize the sewage in the flood. During the search and rescue process of the drone 1, the hazardous material protection mechanism 6 can be used to distribute neutralizing agents to the surrounding area to reduce hazards, help trapped people alleviate the current threat in time, and carry out subsequent rescue.

[0064] The telescopic tube 6011 is located on the outer end surface of the telescopic infusion tube 6013 and is fixedly connected to the telescopic gas delivery tube 6012. The telescopic gas delivery tube 6012 is connected to the gas delivery mechanism. Furthermore, the gas delivery mechanism includes a vacuum pump, a gas storage tank and a nozzle 603. A plurality of nozzles 603 are provided on the outer end face of the protective tube assembly 601. The plurality of nozzles 603 are connected to the telescopic gas delivery tube 6012. The other end face of the telescopic gas delivery tube 6012 is connected to the vacuum pump and the gas storage tank. An electromagnetic valve is provided between the vacuum pump, the gas storage tank and the telescopic gas delivery tube 6012 to output vacuum through the vacuum pump, and deliver the vacuum to the plurality of nozzles 603 through the telescopic gas delivery tube 6012 to adsorb dangerous gases in the external environment and deliver them to the gas storage tank for storage.

[0065] Furthermore, when the drone finds during the inspection that the trapped person is in an environment where there is a large amount of chemical gas leakage in the current air, if the scope is small, the nozzle 603 can be used to absorb the gas and store it in the gas storage tank. When the leakage scope is large, after the nozzle 603 absorbs the chemical gas, one of the protective pipe assemblies 601 is started to extend the pipe length to a safe distance away from the current position. After there is no person at the current position, the chemical gas is absorbed by the vacuum pump and transported to the opposite side protective pipe assembly 601, and discharged into the air at a safe position through multiple nozzles 603 of the opposite side protective pipe assembly 601, thereby evacuating the dangerous gas from the current position to ensure that the trapped person is in a safe environment. At the same time, the oxygen storage tank can be connected to the gas telescopic delivery pipe 6012 in the protective pipe assembly 601 through the oxygen delivery pipe to deliver oxygen to the current environment, helping the trapped person to breathe fresh oxygen and relieve current symptoms.

[0066] A sealing cover 602 is installed on the upper end face of the protection tube assembly 601 , and the sealing cover 602 seals the protection tube assembly 601 . When the drone needs to be inspected, the sealing cover 602 can be opened for use.

[0067] A monitoring method for an urban flood monitoring drone monitoring system based on remote sensing includes the following steps: S1. Drone patrol: The drone will patrol above the disaster area and collect the inundation range and depth of each terrain type through the remote sensing-based urban flood monitoring drone monitoring system, generating a digital elevation model for analysis by relevant personnel; S2, search and rescue: Use the long-range thermal imaging monitoring mechanism 5 to search for trapped people in flooded areas, help rescuers locate the rescuers, and carry out subsequent rescue; S21, Surface Search and Rescue: When the UAV is affected by the external environment and the current location is not suitable for flight search and rescue, the surface rescue robot 3 can be separated from the auxiliary surface floating mechanism 2. The surface rescue robot 3 performs search and rescue on the water surface, while the UAV 1 continues to take off and monitor; S22. Hazardous environment treatment: When the drone 1 encounters water pollution or hazardous chemical gas leakage, the hazardous material protection mechanism 6 can be used for temporary remediation. The gas delivery mechanism adsorbs and removes hazardous gases in the air, and the infusion protection mechanism neutralizes the acidic sewage in the flood to reduce the harm. Temporary rescue and protection of the drone 1 or trapped personnel can be carried out. S23. Emergency handling of falling into water: After the UAV falls to the ground due to the influence of the external environment, it can be moved to a safe position and take off again after being stabilized on the water surface by the water surface rescue robot 3. When the water surface rescue robot 3 and the auxiliary water surface floating mechanism 2 have been separated, the UAV 1 falls, and the auxiliary water surface floating mechanism 2 can help the UAV 1 float on the water surface. After the UAV 1 is stabilized, the UAV 1 starts to take off for subsequent monitoring.

[0068] It will be apparent to those skilled in the art that the present disclosure is not limited to the details of the exemplary embodiments described above and that the present disclosure can be implemented in other specific forms without departing from the spirit or essential characteristics of the present disclosure. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present disclosure is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present disclosure. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0069] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. The remote sensing-based urban flood monitoring drone monitoring system is characterized by: Includes: Remote sensing image acquisition module: stitching point cloud data images from multiple point cloud data image sets into a synthetic point cloud data image, performing image registration and intuitive comparison between the synthetic point cloud data image and the land cover point cloud data remote sensing image in the geospatial data cloud database to determine the submerged terrain type, stitching remote sensing images from multiple remote sensing image sets into a synthetic remote sensing image, and determining the submerged range and submerged depth of each terrain type based on the synthetic remote sensing image; Data analysis module: connects to the remote sensing image acquisition module, aggregates the collected data to generate three-dimensional stereo images, and establishes a digital elevation model of the urban flood scene; Emergency rescue module: Connects to the remote sensing image acquisition module and uses the monitoring component to obtain information about people trapped during floods, and takes corresponding measures based on the injuries; Ground control processing center: The remote sensing image acquisition module, data analysis module and emergency rescue module are all connected to the ground control processing center, which is used to receive data and perform processing and analysis.

2. The remote sensing-based urban flood monitoring drone monitoring system according to claim 1 is characterized in that: The specific steps of stitching the remote sensing images in the plurality of remote sensing image sets into a synthetic remote sensing image are: A SURF algorithm and an HSI color model are used to perform coarse matching on remote sensing images in a plurality of remote sensing image sets to obtain a plurality of coarse matches; a random sampling consistency algorithm is used to purify the plurality of coarse matching points to obtain a plurality of purified coarse matching points; a least squares method is used to perform fine matching on the plurality of purified coarse matching points to obtain a plurality of fine matching points; and based on the plurality of fine matching points, an interpolation method is used to splice the remote sensing images in the plurality of remote sensing image sets into a synthetic remote sensing image.

3. A remote sensing-based urban flood monitoring drone, applied to the remote sensing-based urban flood monitoring drone monitoring system according to claims 1-2, characterized in that: Includes: UAV, including a visual monitoring device and a UAV control box; An auxiliary water surface floating mechanism is provided on the bottom end surface of the UAV, and the auxiliary water surface floating mechanism includes an auxiliary control device and a floating airbag assembly, and the floating airbag assembly is fixedly connected to the outer end surface of the auxiliary control device; A surface rescue robot is movably connected to the bottom end surface of the auxiliary surface floating mechanism, and the surface rescue robot includes a driving device and a second underwater propeller. One end surface of the driving device is fixedly connected to the bottom of the drone control box, and one end surface of the driving device is connected to the second underwater propeller. A long-distance thermal imaging monitoring mechanism is provided between the auxiliary water surface floating mechanism and the UAV control box. The long-distance thermal imaging monitoring mechanism includes a thermal imager. A multi-axis moving device is provided between the thermal imager and the auxiliary water surface floating mechanism. The hazardous material protection mechanism is arranged on one side end face of the water surface rescue robot. The hazardous material protection mechanism includes multiple protection tube assemblies, a gas delivery mechanism and an infusion protection mechanism. The multiple protection tube assemblies are distributed on multiple end faces of the driving device, and the multiple protection tube assemblies are connected to the gas delivery mechanism and the infusion protection mechanism.

4. The remote sensing-based urban flood monitoring drone according to claim 3, characterized in that: The auxiliary water surface floating mechanism also includes an automatic telescopic rod, which is located between the drone control box and the auxiliary control device. The bottom end surface of the auxiliary control device is provided with a first underwater propeller.

5. The remote sensing-based urban flood monitoring drone according to claim 4, characterized in that: The multi-axis mobile device includes a first mobile module and a second mobile module. One side end face of the first mobile module is fixedly connected to the bottom end face of the drone control box. The bottom of the drone control box is fixedly connected to the second mobile module. The second mobile module includes a telescopic rod. One side end face of the telescopic rod is fixedly connected to the thermal imager.

6. The remote sensing-based urban flood monitoring drone according to claim 3 or 5, characterized in that: The water surface rescue robot also includes an extension airbag assembly. The outer end face of the driving device is fixedly connected to the extension airbag assembly. The extension airbag assembly is provided with a groove that matches multiple protective tube assemblies. The upper end face of the driving device is provided with an electromagnetic suction block. The bottom end face of the auxiliary control device is adhered with a patch, and the iron sheet is magnetically connected to the electromagnetic suction block.

7. The remote sensing-based urban flood monitoring drone according to claim 6, characterized in that: An explosive launch device is provided on one side end face of the driving device, and a plurality of explosive bombs are stored in the explosive launch device. The bottom end face of the extended airbag assembly is movably connected to a first aid assembly, and the top end face of the first aid assembly is fixedly connected to an upper buckle. The bottom end face of the extended airbag assembly is fixedly connected to a lower buckle matching the upper buckle, and the upper buckle is clamped to the lower buckle. An oxygen storage tank is provided in the driving device, and the oxygen storage tank is connected to the first aid assembly and the hazardous material protection mechanism.

8. The remote sensing-based urban flood monitoring drone according to claim 7, characterized in that: The protective tube assembly includes a telescopic tube, a telescopic gas delivery tube and a telescopic infusion tube. The middle end face inside the telescopic tube is fixedly connected to the telescopic infusion tube, and the telescopic infusion tube is connected to the infusion protection mechanism. The outer end face of the telescopic tube located on the telescopic infusion tube is fixedly connected to the telescopic gas delivery tube, and the telescopic gas delivery tube is connected to the gas delivery mechanism. A sealing cover is installed on the upper end face of the protective tube assembly.

9. The remote sensing-based urban flood monitoring drone according to claim 8, characterized in that: The gas delivery mechanism includes a vacuum pump, a gas storage tank and a nozzle. The outer end face of the protective tube assembly is provided with a plurality of nozzles. The plurality of nozzles are connected to a telescopic gas delivery pipe. The other end face of the telescopic gas delivery pipe is connected to the vacuum pump and the gas storage tank. A solenoid valve is provided between the vacuum pump, the gas storage tank and the telescopic gas delivery pipe. The driving device includes a main controller and a storage box. The main controller is located in the storage box. The vacuum pump, the gas storage tank and the liquid storage tank are all provided on one end face of the storage box. The infusion protection mechanism includes multiple liquid storage tanks and multiple second infusion tubes. The multiple liquid storage tanks are all connected to the second infusion tubes, and the second infusion tubes are connected to the telescopic infusion tube. The multiple liquid storage tanks are connected to a protective medium, and the protective medium includes a mixture of one or more of sodium hydroxide, calcium hydroxide, potassium permanganate, sodium hypochlorite, sodium bicarbonate, sodium hydroxide, and sodium carbonate.

10. The remote sensing-based urban flood monitoring drone according to claim 8, characterized in that: The gas delivery mechanism includes a vacuum pump, a gas storage tank and a nozzle. The outer end face of the protective tube assembly is provided with a plurality of nozzles. The plurality of nozzles are connected to a telescopic gas delivery pipe. The other end face of the telescopic gas delivery pipe is connected to the vacuum pump and the gas storage tank. A solenoid valve is provided between the vacuum pump, the gas storage tank and the telescopic gas delivery pipe. The driving device includes a main controller and a storage box. The main controller is located in the storage box. The vacuum pump, the gas storage tank and the liquid storage tank are all provided on one end face of the storage box. The infusion protection mechanism includes multiple liquid storage tanks and multiple second infusion tubes. The multiple liquid storage tanks are all connected to the second infusion tubes, and the second infusion tubes are connected to the telescopic infusion tube. The multiple liquid storage tanks are connected to a protective medium, and the protective medium includes a mixture of one or more of sodium hydroxide, calcium hydroxide, potassium permanganate, sodium hypochlorite, sodium bicarbonate, sodium hydroxide, and sodium carbonate.

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