River channel bank collapse early warning method and device based on unmanned ship

Abstract

The invention relates to the technical field of river channel bank collapse early warning, and discloses a river channel bank collapse early warning method based on an unmanned ship, and the method comprises the following steps: controlling the unmanned ship to sail along a preset path; scanning coordinate point data of a river bank; converting the coordinate point data into a three-dimensional terrain model; positioning the time and the position of the obtained scanned coordinate point data; and analyzing the three-dimensional terrain models in different time periods, and giving an alarm when the terrain change in the three-dimensional terrain models exceeds a threshold value. The method comprises the following steps: firstly, controlling the unmanned ship to automatically sail along a preset path, and scanning coordinate point data of a river bank by using a laser scanning mechanism to obtain high-density point cloud; thirdly, converting the coordinate point data into a three-dimensional terrain model through an algorithm, and accurately positioning the time and position of each data point; and finally, analyzing the three-dimensional models in different time periods, calculating topographic changes, and when the changes exceed a set threshold value, triggering an alarm system.

Description

Technical Field

[0001] This invention relates to the field of riverbank collapse early warning technology, specifically to a riverbank collapse early warning method and device based on unmanned vessels. Background Technology

[0002] Riverbank collapse is a phenomenon in which the soil and rocks of a riverbank become unstable due to erosion by water flow and gravity, resulting in the collapse, fall, or landslide along the bank slope. It is common during the flood season or in areas with rapid water flow.

[0003] Traditional methods for monitoring riverbank collapse mainly rely on manual inspections, fixed sensor networks, or remote sensing technology, but these methods have significant limitations. Manual inspections are inefficient, have limited coverage, and cannot achieve real-time monitoring. In recent years, with the development of drone technology, some existing technologies have attempted to use drones for river monitoring. For example, some drone systems are equipped with lidar or cameras to monitor riverbanks.

[0004] However, due to the limited carrying capacity of drones, the size and weight of the equipment they can carry are restricted. The weight and size of the monitoring equipment they can carry are relatively small. Moreover, because drones need to lift the monitoring equipment into the air, their battery life is limited, making it impossible to monitor the riverbank for extended periods and in high frequency. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a method and device for early warning of riverbank collapse based on unmanned vessels, which solves the technical problems of low efficiency and limited coverage of manual inspections and the limited endurance of drones, making it impossible to monitor riverbanks for a long time and frequently.

[0006] To achieve the above-mentioned technical objectives, the present invention provides a method for early warning of riverbank collapse based on unmanned vessels, comprising: Control the unmanned vessel to navigate along a preset path; Scan the coordinate point data of the riverbank; Convert coordinate point data into a 3D terrain model; The time and location of the acquired scanned coordinate point data are determined; Analyze the 3D terrain model at different time periods, and issue an alarm when the terrain changes in the 3D terrain model exceed a threshold.

[0007] In one embodiment, the conversion of coordinate point data into a three-dimensional terrain model includes using a triangulation algorithm and interpolation method to generate a digital elevation model, and integrating geographic information system data for spatial analysis to ensure that the model accuracy is within ±0.1m.

[0008] In one embodiment, the step of analyzing three-dimensional terrain models over different time periods and triggering an alarm when the terrain changes in the three-dimensional terrain model exceed a threshold includes calculating the terrain change rate and triggering a tiered alarm when the change rate exceeds a set threshold.

[0009] The present invention also relates to a riverbank collapse early warning device based on an unmanned vessel, comprising: Unmanned boat; A laser scanning mechanism, installed on the unmanned vessel, is used to collect riverbank image data; A positioning mechanism is installed on the unmanned vessel to locate its position.

[0010] In one embodiment, the unmanned vessel includes two hulls, a fixed platform, and two thrusters. The two hulls are arranged parallel to each other and spaced apart. The fixed platform connects the two hulls, and the two thrusters are respectively connected to the two hulls. The laser scanning mechanism and the positioning mechanism are located on the unmanned vessel.

[0011] In one embodiment, the unmanned vessel-based riverbank collapse early warning device further includes: A height stabilization mechanism has a fixed end and a movable end. The fixed end of the height stabilization mechanism is connected to the unmanned vessel, and the movable end can maintain a set height. A rotary stabilizing mechanism has a fixed end and a rotary end. The fixed end of the rotary stabilizing mechanism is connected to the movable end of the height stabilizing mechanism. The rotary end of the rotary stabilizing mechanism can rotate relative to the fixed end of the rotary stabilizing mechanism about a first axis and can be maintained at a set circumferential position relative to the first axis. A first rotational stabilizing mechanism has a fixed end and a first rotating end. The fixed end of the first rotational stabilizing mechanism is connected to the movable end of the rotational stabilizing mechanism. The first rotating end of the first rotational stabilizing mechanism can rotate relative to the fixed end of the first rotational stabilizing mechanism about a second axis and can maintain a set circumferential position relative to the second axis. The second rotational stabilizing mechanism has a fixed end and a second rotating end. The fixed end of the second rotational stabilizing mechanism is connected to the movable end of the first rotational stabilizing mechanism. The second rotating end of the second rotational stabilizing mechanism can rotate relative to the fixed end of the second rotational stabilizing mechanism about a third axis and can be maintained at a set circumferential position relative to the third axis. The first axis, the second axis, and the third axis are perpendicular to each other, and the laser scanning mechanism is located at the second rotating end of the second rotational stabilizing mechanism.

[0012] In one embodiment, the height stabilization mechanism includes a float, a slider, and a lifting member. The float is disposed below the fixed platform, the slider is connected to the float and slides along the height direction, and the lifting member connects the float and the slider. The fixed end of the first rotational stabilizing mechanism is connected to the sliding member, and is connected to the fixed platform via the sliding member; The buoyancy of the float is balanced by the gravity of the sliding member, the lifting member, the first rotational stabilizing mechanism, and the second rotational stabilizing mechanism. The lifting member controls the sliding member to slide relative to the float, so that the laser scanning mechanism is maintained at a set height.

[0013] In one embodiment, the float is hollow inside and has an openable or closable filling port. The cross-section of the float along its length is streamlined. The float is composed of two upper and lower first curved surfaces, and the distance between the two first curved surfaces gradually increases in the direction close to the middle of the first curved surface.

[0014] In one embodiment, the unmanned vessel-based riverbank collapse early warning device further includes four measurement components, which are respectively disposed at the four corners of the fixed platform. Each measurement component includes a rotating component, a sensor, and a linear drive component. One end of the rotating component is rotatably connected to the fixed platform, and the sensor is fixed to the other end of the rotating component. The linear drive component is hinged to the rotating component and the fixed platform to drive the rotating component to rotate, so that the rotating component drives the sensor into or out of the water.

[0015] In one embodiment, the two sides of the rotating member along the forward direction are second curved surfaces. The ends of the two second curved surfaces facing the forward direction are connected and smoothly transitioned. The distance between the two second curved surfaces gradually increases along the direction close to the middle of the second curved surface. The ends of the two second curved surfaces away from the forward direction are connected and the included angle is an acute angle.

[0016] Compared with existing technologies, the advantages of this invention include: First, the method controls an unmanned vessel to automatically navigate along a preset path, using a laser scanning mechanism to scan the coordinate point data of the riverbank to obtain a high-density point cloud. Then, an algorithm converts the coordinate point data into a three-dimensional terrain model, and precisely locates the time and position of each data point. Finally, the three-dimensional model is analyzed over different time periods to calculate terrain changes; when the changes exceed a set threshold, an alarm system is triggered.

[0017] This method eliminates the need for manual on-site river inspections, avoiding the inefficiency and limited coverage of manual patrols. Through real-time data collection and analysis, it enables early detection of bank collapse risks, improving warning accuracy and reducing disaster losses. Furthermore, this method is applicable to various river environments, including narrow or turbulent areas, demonstrating high adaptability and reliability. Moreover, since this early warning method is based on unmanned surface vessels (USVs), which can carry equipment using their own buoyancy, it only requires operation to move the USV on the water surface. Its range is far greater than that of drones, and its carrying capacity is also significantly higher, enabling long-term, high-frequency monitoring of riverbanks. Attached Figure Description

[0018] Figure 1 This is a flowchart of the steps of the riverbank collapse early warning method based on unmanned vessels according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a riverbank collapse early warning device based on an unmanned vessel according to an embodiment of the present invention; Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle; Figure 4 This is a schematic diagram of the structure of a riverbank collapse early warning device based on an unmanned vessel according to an embodiment of the present invention; Figure 5 yes Figure 4 A magnified view of a portion of point B in the middle; Figure 6 This is a schematic diagram of the structure of a riverbank collapse early warning device based on an unmanned vessel according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the laser scanning mechanism, the height stabilization mechanism, the rotation stabilization mechanism, the first rotation stabilization mechanism, and the second rotation stabilization mechanism in a riverbank collapse early warning device based on an unmanned vessel according to an embodiment of the present invention. Figure 8 This is a cross-sectional view of the float and enclosure in a riverbank collapse early warning device based on an unmanned vessel according to an embodiment of the present invention. Figure 9 This is a cross-sectional view of the rotating component in the riverbank collapse early warning device based on an unmanned vessel according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: Unmanned surface vessel 1; hull 11; fixed platform 12; two thrusters 13; Laser scanning mechanism 2; Positioning mechanism 3; High-stability mechanism 4; float 41; first curved surface 41a; sliding member 42; lifting member 43; sealing member 44; sealing column 441; notch 441a; fixing ring 442; spring 443; 5. Rotation stabilizing mechanism; 51. Base; 52. First direct drive motor; 53. Rotation bracket; First rotational stabilizing mechanism 6; Second direct drive motor 61; First rotating support 62; Second rotational stabilizing mechanism 7; Third direct drive motor 71; Second rotating support 72; Measurement component 8; rotating component 81; sensor 82; linear drive component 83; second curved surface 81a. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0021] like Figure 1 As shown, Figure 1 This is a flowchart illustrating the steps of a riverbank collapse early warning method based on an unmanned vessel, as described in one embodiment. The present invention provides a riverbank collapse early warning method based on an unmanned vessel, comprising the following steps: Control the unmanned vessel to navigate along a preset path; Scan the coordinate point data of the riverbank; Convert coordinate point data into a 3D terrain model; The time and location of the acquired scanned coordinate point data are determined; Analyze the 3D terrain model at different time periods, and issue an alarm when the terrain changes in the 3D terrain model exceed a threshold.

[0022] The process of scanning the riverbank to obtain coordinate point data can be achieved using a 3D laser scanner and / or a multibeam echo sounder. The time and location of the acquired coordinate point data can be determined using GPS (Global Positioning System) and IMU (Inertial Measurement Unit), or GNSS (Global Navigation Satellite System). For the aforementioned thresholds, changes in elevation or slope can be used. A low-level alarm is sent when the change in elevation or slope exceeds 0.1m, a medium-level alarm is sent when the change exceeds 0.3m, and a high-level alarm is sent when the change exceeds 0.5m. The alarm signals are transmitted to the terminal via a 4G communication module carried by the unmanned surface vessel for audible, visual, and vibration alarms.

[0023] The method first controls an unmanned surface vessel to navigate automatically along a preset path, using a laser scanning mechanism to scan the coordinate point data of the riverbank to obtain a high-density point cloud. Then, an algorithm converts the coordinate point data into a 3D terrain model, precisely locating the time and position of each data point. Finally, the 3D model is analyzed over different time periods to calculate terrain changes; when the changes exceed a set threshold, an alarm system is triggered.

[0024] This method eliminates the need for manual on-site river inspections, avoiding the inefficiency and limited coverage of manual patrols. Through real-time data collection and analysis, it enables early detection of bank collapse risks, improving warning accuracy and reducing disaster losses. Furthermore, this method is applicable to various river environments, including narrow or turbulent areas, demonstrating high adaptability and reliability. Moreover, since this early warning method is based on unmanned surface vessels (USVs), which can carry equipment using their own buoyancy, it only requires operation to move the USV on the water surface. Its range is far greater than that of drones, and its carrying capacity is also significantly higher, enabling long-term, high-frequency monitoring of riverbanks.

[0025] In one embodiment, converting coordinate point data into a three-dimensional terrain model includes using triangulation algorithms and interpolation methods to generate a digital elevation model, and integrating Geographic Information System (GLS) data for spatial analysis to ensure that the model accuracy is within ±0.1m.

[0026] The triangulation algorithm can be the Delaunay triangulation algorithm; the interpolation method is the Kriging interpolation method.

[0027] The above steps, through refined data processing, improve the accuracy and reliability of the terrain model and reduce the risk of false alarms. Geographic Information System (GLS) integration allows for the combination of multi-source data, enhancing environmental context analysis and making early warning decisions more scientific. Accuracy is controlled within ±0.1m, meeting engineering-grade requirements and supporting precise bank collapse risk assessment.

[0028] In one embodiment, the step of analyzing 3D terrain models over different time periods and triggering an alarm when terrain changes in the 3D terrain model exceed a threshold includes calculating the terrain change rate. When the change rate exceeds a set threshold, a tiered alarm is triggered. The terrain change rate can be calculated using an embedded processor, an industrial control computer, or by sending the data to the cloud via a communication module for processing. The elevation change is obtained by monitoring the difference between the elevation value of the same point at time point one and the elevation value at time point two. Slope is typically calculated as the ratio of the elevation difference between adjacent points to the horizontal distance; the slope change is obtained by monitoring the difference between the slope value of the same point at time point one and the slope value at time point two.

[0029] When analyzing terrain changes, the rate of change is calculated, such as the daily or weekly elevation change rate. When the rate of change exceeds a set threshold, the system triggers a tiered alarm. A low-level alarm is sent when the elevation or slope change is greater than 0.1m, a medium-level alarm is sent when the elevation or slope change is greater than 0.3m, and a high-level alarm is sent when a single elevation or slope change is greater than 0.5m.

[0030] Tiered alarms offer flexible response strategies, avoiding resource waste caused by excessive alarms. Change rate analysis enables earlier identification of accelerating deformation trends, improving warning timeliness. This mechanism is applicable to scenarios with different risk levels, enhancing the system's practicality and operability.

[0031] like Figure 2 As shown, the present invention also relates to a riverbank collapse early warning device based on an unmanned vessel, including an unmanned vessel 1, a laser scanning mechanism 2 and a positioning mechanism 3. The laser scanning mechanism 2 is installed on the unmanned vessel 1 and is used to collect riverbank image data; the positioning mechanism 3 is installed on the unmanned vessel 1 and is used to locate the position of the unmanned vessel 1.

[0032] Among them, the laser scanning mechanism 2 is LiDAR (Light Laser Detection and Ranging), and the positioning mechanism 3 can be GPS (Global Positioning System) and IMU (Inertial Measurement Unit), etc. The fusion of GPS and IMU adopts Kalman filtering.

[0033] Specifically, the device includes an unmanned surface vessel (USV) platform 1, a laser scanning mechanism 2, and a positioning mechanism 3. When the USV 1 is navigating, the laser scanning mechanism 2 collects point cloud data of the riverbank, and the positioning mechanism 3 records the position and attitude of the hull 11 in real time to ensure the spatiotemporal consistency of the data. The data is processed through edge computing devices and transmitted to the monitoring center, or it can be remotely transmitted to the cloud for edge computing processing.

[0034] Laser scanning provides high-resolution data, and positioning mechanism 3 ensures data accuracy, enabling the device to efficiently replace traditional monitoring methods and making it suitable for long-term operation in complex river environments.

[0035] It should be understood that the unmanned vessel 1 can be Yunzhou Intelligent M80, SE40, Huawi 3 Pro, Huawi 6, etc.

[0036] It should be understood that the unmanned vessel 1 can be powered by a battery, which can also power the navigation and measurement equipment on board. Alternatively, the battery can be combined with a generator. The unmanned vessel 1 has sufficient carrying capacity to install a generator. When the generator is working, it charges the battery, which can greatly extend the range of the unmanned vessel 1. Moreover, the generator technology is relatively mature and low-cost. Refueling can quickly replenish the energy of the unmanned vessel 1, avoiding the impact of charging on the monitoring of the unmanned vessel 1. Alternatively, the battery can be combined with a fuel cell. The fuel cell burns fuel and generates electricity, which can charge the battery and extend the range of the unmanned vessel 1.

[0037] like Figure 2 As shown, in one embodiment, the unmanned vessel 1 includes two hulls 11, a fixed platform 12 and two thrusters 13. The two hulls 11 are arranged in parallel and spaced apart. The fixed platform 12 connects the two hulls 11 and the two thrusters 13 are respectively connected to the two hulls 11. A laser scanning mechanism 2 and a positioning mechanism 3 are disposed on the unmanned vessel 1.

[0038] The unmanned surface vessel 1 adopts a catamaran design, with two parallel hulls 11 set apart and connected by a fixed platform 12 to provide stability. Two thrusters 13 are installed on the hulls 11 respectively and are independently controlled to achieve flexible navigation. The laser scanning mechanism 2 and the positioning mechanism 3 are installed on the fixed platform 12 to ensure that the sensor's field of view covers both banks. The catamaran design enhances wave resistance and balance, reduces swaying during navigation, and improves the quality of data acquisition. The independent control of the thrusters 13 allows for fine-tuning of the course.

[0039] It should be understood that the thruster 13 can be a propeller thruster or a water jet thruster. Forward movement and turning can be achieved by controlling the rotation speed of the two thrusters 13. Alternatively, a steering rudder can be added to the hull 11 to control the direction of steering. The laser scanning mechanism 2 can be directly fixed to the fixed platform 12 or indirectly fixed to the fixed platform 12 through other structures.

[0040] When the unmanned vessel 1 navigates in a river, it may experience up-and-down movement, rolling, pitching, and twisting around the vertical direction due to the influence of water flow and air currents. Therefore, such as Figure 4 , Figure 5 and Figure 7As shown, in one embodiment, the riverbank collapse early warning device based on the unmanned vessel 1 further includes a height stabilization mechanism 4, a rotational stabilization mechanism 5, a first rotational stabilization mechanism 6, and a second rotational stabilization mechanism 7. The height stabilization mechanism 4 has a fixed end and a movable end. The fixed end of the height stabilization mechanism 4 is connected to the unmanned vessel 1, and the movable end can maintain a set height. The rotational stabilization mechanism 5 has a fixed end and a rotating end. The fixed end of the rotational stabilization mechanism 5 is connected to the movable end of the height stabilization mechanism 4, and the rotating end of the rotational stabilization mechanism 5 can rotate relative to the fixed end of the rotational stabilization mechanism 5 around a first axis and can maintain a set circumferential position relative to the first axis. The first rotational stabilization mechanism 6 has a fixed end and a first rotating end. The fixed end of mechanism 6 is connected to the movable end of rotary stabilizing mechanism 5. The first rotating end of the first rotary stabilizing mechanism 6 can rotate relative to the fixed end of the first rotary stabilizing mechanism 6 around the second axis and can maintain a set circumferential position relative to the second axis. The second rotary stabilizing mechanism 7 has a fixed end and a second rotating end. The fixed end of the second rotary stabilizing mechanism 7 is connected to the movable end of the first rotary stabilizing mechanism 6. The second rotating end of the second rotary stabilizing mechanism 7 can rotate relative to the fixed end of the second rotary stabilizing mechanism 7 around the third axis and can maintain a set circumferential position relative to the third axis. The first axis, the second axis, and the third axis are perpendicular to each other. The laser scanning mechanism 2 is disposed at the second rotating end of the second rotary stabilizing mechanism 7.

[0041] The laser scanning mechanism 2 is fixed to the fixed platform 12 by a height stabilization mechanism 4, a rotational stabilization mechanism 5, a first rotational stabilization mechanism 6, and a second rotational stabilization mechanism 7. The height stabilization mechanism 4 maintains the set height of the laser scanning mechanism 2, the rotational stabilization mechanism 5 allows rotation around the first axis, and the first and second rotational stabilization mechanisms 7 rotate around the second and third axes respectively. The three axes are perpendicular to each other, forming a multi-degree-of-freedom stabilization system. This system can maintain the stability of the laser scanning laser around the first, second, and third axes, and can overcome the up-and-down undulations, rolls, pitches, and twists around the vertical direction that may occur when the unmanned vessel 1 is navigating in the river. This allows the laser scanning mechanism 2 to collect coordinate point data of the riverbank according to the set direction.

[0042] A multi-stage stabilization mechanism compensates for the hull's roll, pitch, and yaw in waves, ensuring that sensors remain aligned with the target area and reducing data jitter. This design improves the accuracy of the digital elevation model to ±0.05m, supporting high-precision early warning. The mechanism's adaptive adjustment reduces human intervention and is suitable for long-term automated monitoring.

[0043] It should be understood that the height stabilization mechanism 4 can adjust the height in real time based on IMU data, such as PID (Proportional Integral Derivative) control. This dynamic response can compensate for the up-and-down changes of the hull 11 caused by waves, ensuring that various devices can maintain optimal working conditions under different conditions.

[0044] However, the weights of the height stabilizing mechanism 4, the rotary stabilizing mechanism 5, the first rotary stabilizing mechanism 6, and the second rotary stabilizing mechanism 7 directly act on the height stabilizing mechanism 4, placing a significant load on it and greatly affecting its response speed. Therefore, such as Figure 7 As shown, in one embodiment, the height stabilization mechanism 4 includes a float 41, a slider 42, and a lifting member 43. The float 41 is disposed below the fixed platform 12. The slider 42 is connected to the float 41 and slides along the height direction. The lifting member 43 connects the float 41 and the slider 42. The fixed end of the first rotational stabilization mechanism 6 is connected to the slider 42 and connected to the fixed platform 12 via the slider 42. The buoyancy of the float 41 is balanced by the gravity of the slider 42, the lifting member 43, the first rotational stabilization mechanism 6, and the second rotational stabilization mechanism 7. The lifting member 43 controls the slider 42 to slide relative to the float 41, thereby maintaining the laser scanning mechanism 2 at a set height. The lifting member 43 can be a linear motor, an electric push rod, etc.

[0045] The float 41 provides buoyancy, balancing the gravity of the sliding member 42, the lifting member 43, and the stabilizing mechanism. The lifting member 43 controls the sliding member 42 to slide along the float 41, thereby adjusting the height of the laser scanning mechanism 2. For example, when the hull 11 sinks, the lifting member 43 drives the sliding member 42 upward to compensate for the height change; when the hull 11 rises, the lifting member 43 drives the sliding member 42 downward to compensate for the height change. The float 41 and the height of the laser scanning laser are stabilized, acting as a stable buoyancy platform, effectively suppressing the roll, pitch, and yaw of the hull 11 in waves or turbulence. This reduces the overall sway amplitude of the hull 11, making navigation smoother and thus reducing laser scanning laser jitter.

[0046] The gravity of the laser scanning mechanism 2, the rotary stabilizing mechanism 5, the first rotary stabilizing mechanism 6, the second rotary stabilizing mechanism 7, and the sliding member 42 directly acts on the float 41, and the buoyancy of the float 41 is balanced with the gravity of the laser scanning laser, the rotary stabilizing mechanism 5, the first rotary stabilizing mechanism 6, the second rotary stabilizing mechanism 7, and the sliding member 42, thus avoiding the direct action of gravity on the lifting member 43. When the lifting member 43 drives the laser scanning mechanism 2 to rise and fall, only a small amount of power is needed to drive the laser scanning mechanism 2 to rise and fall; moreover, it can avoid the load acting directly on the lifting member 43, reducing the load acting on the lifting member 43.

[0047] Dynamic height adjustment ensures stable operation of the laser scanning laser under different water levels or wave conditions, avoiding data distortion; the buoyancy and gravity balance design reduces energy consumption, extends battery life, and is simple and reliable.

[0048] It should be understood that the slewing stabilizing mechanism 5, the first rotational stabilizing mechanism 6, and the second rotational stabilizing mechanism 7 can be direct-drive motors connected in sequence, or they can be a combination of a direct-drive motor and a motor bracket.

[0049] like Figure 4 , Figure 5 and Figure 7 As shown, in one embodiment, the rotary stabilizing mechanism 5 includes a base 51, a first direct drive motor 52, and a rotary support 53. The base 51 is connected to a sliding member 42, the first direct drive motor 52 is fixed to the base 51, and the rotary support 53 is connected to the rotor of the first direct drive motor 52. The first rotary stabilizing mechanism 6 includes a second direct drive motor 61 and a first rotary support 62. The second direct drive motor 61 is fixed to the rotary support 53. One side of the first rotary support 62 is connected to the rotor of the second direct drive motor 61, and the other side of the first rotary support 62 is rotatably connected to the rotary support 53. The second rotary stabilizing mechanism 7 includes a third direct drive motor 71 and a second rotary support 72. The third direct drive motor 71 is fixed to the first rotary support 62. One side of the second rotary support 72 is connected to the rotor of the third direct drive motor 71, and the other side is rotatably connected to the first rotary support 62. The laser scanning mechanism 2 is fixed to the second rotary support 72. The rotation axes of the rotary support 53, the first rotary support 62, and the second rotary support 72 are perpendicular to each other. The driving component in the lifting member 43 is equipped with servo control, enabling closed-loop control in the time and height direction with the IMU sensor. The direct drive motor is a servo motor, which can realize data closed-loop control. It can also be replaced by a combination of encoder motor and gear reducer or belt drive mechanism. The IMU sensor is fixed to the second rotating bracket 72. The IMU sensor can detect the three-dimensional attitude changes of the laser scanning mechanism 2 in real time, including the up and down movement, displacement and attitude deviation of the hull 11. This dynamic data is transmitted to the control unit in real time. The control unit (MCU) controls the lifting member 43, the first direct drive motor 52, the second direct drive motor 61 and the third direct drive motor 71 to compensate for height, displacement and deviation. A linear displacement restart can also be added between the sliding member 42 and the float 41 to detect the height displacement between the sliding member 42 and the float 41 in real time and provide position feedback for the lifting member 43. Attitude control and height control can be performed simultaneously, or attitude compensation can be performed first and then height compensation.

[0050] The first, second, and third direct-drive motors 71 provide high torque and direct drive, with their rotation axes perpendicular to each other, ensuring that the mechanism can independently compensate for the rolling, pitching, and yawing motions of the hull 11. For example, when the hull 11 rolls in waves, the second rotational stabilization mechanism 7 adjusts the second rotating support 72 via the third direct-drive motor 71 to keep the laser scanning mechanism 2 horizontal; similarly, the other mechanisms handle pitching and yaw motions.

[0051] This multi-degree-of-freedom stabilization mechanism controls the displacement error of the laser scanning mechanism 2 to the millimeter level, ensuring the accuracy of the digital elevation model generation. After reducing data jitter, the detection of riverbank cracks or erosion marks is more accurate, reducing the risk of false alarms and supporting high-reliability early warning.

[0052] The direct-drive motor has a high response frequency and adjusts the bracket angle in real time based on IMU sensor data. For example, when the IMU detects the pitch of the hull 11, the second direct-drive motor 61 immediately drives the first rotating bracket 62 to rotate to compensate for the motion. To further improve the adjustment accuracy, the adjustment strategy can be optimized by combining a PID algorithm to achieve predictive stability, or real-time adjustment based on IMU sensor data can be used.

[0053] It should be understood that the float 41 can be a solid floating structure or other buoyant structures.

[0054] like Figure 8 As shown, in one embodiment, the float 41 is hollow inside and has an opening or closing filling port. The cross-section of the float 41 along its length is streamlined. The float 41 is composed of two upper and lower first curved surfaces 41a. The distance between the two first curved surfaces 41a gradually increases in the direction close to the middle of the first curved surface 41a.

[0055] To achieve buoyancy balance of the float 41, in this embodiment, different amounts of fluid are injected into the filling port so that the buoyancy of the float 41 is exactly equal to the weight of the sliding member 42, the lifting member 43, the first rotational stabilizing mechanism 6, and the second rotational stabilizing mechanism 7. The filling port allows for flexible buoyancy adjustment to adapt to different load conditions. By controlling the float 41 to be submerged in the water, the streamlined design of the float 41 reduces the navigation resistance caused by the float 41. By setting the upper and lower surfaces of the float 41 as two first curved surfaces 41a, and the distance between the two first curved surfaces 41a gradually increases along the direction close to the middle of the first curved surface 41a, the flow resistance of the float 41 in the forward direction is relatively small, while the swaying resistance of the float 41 in the direction perpendicular to the forward direction of the float 41 is greater. The resistance of the float 41 further stabilizes the unmanned vessel 1 and suppresses the rolling of the unmanned vessel 1.

[0056] In order to add or remove fluid into the float 41, for this purpose, such as Figure 8As shown, in one embodiment, the float 41 has a filling port at the top and a drain port at the bottom. The drain port and the filling port are coaxially arranged. The height stabilization mechanism 4 also includes a sealing member 44, which includes a sealing post 441, a fixing ring 442, and a spring 443. The sealing post 441 is slidably inserted into the filling port and the drain port. The outer wall of the sealing post 441 has a notch 441a along the axial direction. The outer diameter of the sealing post 441 matches the filling port and the drain port. The fixing ring 442 is built into the float 41 and fixedly sleeved on the sealing post 441. The spring 443 connects the sealing post 441 and the float 41. The float 41 provides the elastic force for the sealing post 441 to maintain the sealing of the filling port and the drain port. When the sealing post 441 slides downward, the sealing post 441 first disengages from the filling port and continues to slide downward. The notch 441a connects the interior of the float 41, the drain port, and the exterior. The sealing column 441 can be sealed by fitting with the filling port and the drain port, or by using a sealing ring.

[0057] When it is necessary to add counterweight fluid to the float 41, press the sealing column 441 to move it downwards until it disengages from the filling port. At this point, counterweight fluid can be injected into the float 41 through the filling port. When it is necessary to discharge the counterweight fluid from the float 41, continue to press the sealing column 441 until the notch 441a slides past the drain port. At this point, the counterweight fluid in the float 41 can be discharged through the notch 441a and the drain port. Release the sealing column 441, and it will reset under the action of the spring 443. The filling and draining of the float 41 can be achieved by pressing a single sealing column 441.

[0058] In order to measure the flow velocity and other data of water bodies, for this purpose, such as Figure 2 and Figure 3 As shown, in one embodiment, the riverbank collapse early warning device based on the unmanned vessel 1 further includes four measurement components 8, which are respectively disposed at the four corners of the fixed platform 12. Each measurement component 8 includes a rotating member 81, a sensor 82, and a linear drive. One end of the rotating member 81 is rotatably connected to the fixed platform 12, and the sensor 82 is fixed to the other end of the rotating member 81. The linear drive 83 is hinged to the rotating member 81 and the fixed platform 12, and is used to drive the rotating member 81 to rotate, so that the rotating member 81 drives the sensor 82 into or out of the water. The sensor 82 can be one or a combination of multiple of the following: a high-definition camera, an infrared camera, a current meter, GPS, an IMU, a water quality sensor, or a terrain sensor 82; the linear drive 83 can be a linear motor or an electric actuator, etc.

[0059] In this embodiment, when it is necessary to measure some data of the water body, the linear drive is activated, which drives the rotating component 81 to rotate. The rotating component 81 drives the sensor 82 to rotate, so that the sensor 82 extends into the water body, and some data of the water body is detected through the water body that extends into the sensor 82.

[0060] To reduce the drag caused by the rotating component 81 on the forward movement of the unmanned vessel 1, therefore, as follows: Figure 9 As shown, in one embodiment, the two sides of the rotating member 81 along the forward direction are second curved surfaces 81a. The two second curved surfaces 81a are connected at the ends facing the forward direction and have a smooth transition. The distance between the two second curved surfaces 81a gradually increases along the direction close to the middle of the second curved surface 81a. The ends of the two second curved surfaces 81a away from the forward direction are connected and the included angle is an acute angle.

[0061] In this embodiment, the cross-section of the rotating member 81 along the forward direction is set to the above-mentioned teardrop shape. The teardrop-shaped cross-section reduces water resistance and eddies, making the sensor 82 enter and exit the water smoothly and reducing interference with the navigation of the ship 11.

[0062] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for early warning of riverbank collapse based on unmanned vessels, characterized in that, Includes the following steps: Control the unmanned vessel to navigate along a preset path; Scan the coordinate point data of the riverbank; Convert coordinate point data into a 3D terrain model; The time and location of the acquired scanned coordinate point data are determined; Analyze the 3D terrain model at different time periods, and issue an alarm when the terrain changes in the 3D terrain model exceed a threshold.

2. The riverbank collapse early warning method based on unmanned vessels according to claim 1, characterized in that, The process of converting coordinate point data into a three-dimensional terrain model includes using triangulation algorithms and interpolation methods to generate a digital elevation model, and integrating geographic information system data for spatial analysis to ensure that the model accuracy is within ±0.1m.

3. The riverbank collapse early warning method based on unmanned vessels according to claim 1, characterized in that, The step of analyzing the three-dimensional terrain model at different time periods and triggering an alarm when the terrain change in the three-dimensional terrain model exceeds a threshold includes calculating the terrain change rate and triggering a graded alarm when the change rate exceeds a set threshold.

4. A riverbank collapse early warning device based on an unmanned vessel, characterized in that, include: Unmanned boat; A laser scanning mechanism, installed on the unmanned vessel, is used to collect riverbank image data; A positioning mechanism is installed on the unmanned vessel to determine its position.

5. The riverbank collapse early warning device based on an unmanned vessel according to claim 4, characterized in that, The unmanned vessel includes two hulls, a fixed platform, and two thrusters. The two hulls are arranged in parallel and spaced apart. The fixed platform connects the two hulls, and the two thrusters are respectively connected to the two hulls. The laser scanning mechanism and the positioning mechanism are located on the unmanned vessel.

6. The riverbank collapse early warning device based on an unmanned vessel according to claim 5, characterized in that, The unmanned vessel-based riverbank collapse early warning device also includes: A height stabilization mechanism has a fixed end and a movable end. The fixed end of the height stabilization mechanism is connected to the unmanned vessel, and the movable end can maintain a set height. A rotary stabilizing mechanism has a fixed end and a rotary end. The fixed end of the rotary stabilizing mechanism is connected to the movable end of the height stabilizing mechanism. The rotary end of the rotary stabilizing mechanism can rotate relative to the fixed end of the rotary stabilizing mechanism about a first axis and can be maintained at a set circumferential position relative to the first axis. A first rotational stabilizing mechanism has a fixed end and a first rotating end. The fixed end of the first rotational stabilizing mechanism is connected to the movable end of the rotational stabilizing mechanism. The first rotating end of the first rotational stabilizing mechanism can rotate relative to the fixed end of the first rotational stabilizing mechanism about a second axis and can maintain a set circumferential position relative to the second axis. The second rotational stabilizing mechanism has a fixed end and a second rotating end. The fixed end of the second rotational stabilizing mechanism is connected to the movable end of the first rotational stabilizing mechanism. The second rotating end of the second rotational stabilizing mechanism can rotate relative to the fixed end of the second rotational stabilizing mechanism about a third axis and can be maintained at a set circumferential position relative to the third axis. The first axis, the second axis, and the third axis are perpendicular to each other, and the laser scanning mechanism is located at the second rotating end of the second rotation stabilizing mechanism.

7. The riverbank collapse early warning device based on an unmanned vessel according to claim 6, characterized in that, The height stabilization mechanism includes a float, a sliding member, and a lifting member. The float is disposed below the fixed platform. The sliding member is connected to the float and is slidably connected to the float along the height direction. The lifting member connects the float and the sliding member. The fixed end of the first rotational stabilizing mechanism is connected to the sliding member, and is connected to the fixed platform via the sliding member; The buoyancy of the float is balanced by the gravity of the sliding member, the lifting member, the first rotational stabilizing mechanism, and the second rotational stabilizing mechanism. The lifting member controls the sliding member to slide relative to the float, so that the laser scanning mechanism is maintained at a set height.

8. The riverbank collapse early warning device based on an unmanned vessel according to claim 7, characterized in that, The float is hollow inside and has an opening or closing filling port. The cross-section of the float along its length is streamlined. The float is composed of two upper and lower first curved surfaces, and the distance between the two first curved surfaces gradually increases in the direction close to the middle of the first curved surface.

9. The riverbank collapse early warning device based on an unmanned vessel according to claim 7, characterized in that, The unmanned vessel-based riverbank collapse early warning device also includes four measurement components, which are respectively set at the four corners of the fixed platform. Each measurement component includes a rotating component, a sensor, and a linear drive component. One end of the rotating component is rotatably connected to the fixed platform, and the sensor is fixed to the other end of the rotating component. The linear drive component is hinged to the rotating component and the fixed platform to drive the rotating component to rotate, so that the rotating component drives the sensor into or out of the water.

10. The riverbank collapse early warning device based on an unmanned vessel according to claim 9, characterized in that, The two sides of the rotating component along the forward direction are second curved surfaces. The two second curved surfaces are connected at the ends facing the forward direction and have a smooth transition. The distance between the two second curved surfaces gradually increases along the direction close to the middle of the second curved surface. The two second curved surfaces are connected at the ends away from the forward direction and have an acute angle between them.

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