A non-contact dam breach emergency monitoring method

Abstract

This invention discloses a non-contact emergency monitoring method for dam breaches, comprising a core monitoring drone, several auxiliary monitoring drones, and a data processing terminal connected to the core monitoring drone and the auxiliary monitoring drones via a self-organizing network relay communication. The data processing terminal is connected to a ground control center. The specific monitoring method includes the following steps: Step S1, equipment deployment; Step S2, synchronous monitoring; Step S3, data processing and flow calculation; Step S4, data feedback and emergency support. This invention employs multiple drones working collaboratively. The water depth monitoring drone flies close to the water surface to monitor the breach water depth and map the breach topographic cross-section. The flow velocity monitoring drone flies at low to medium altitudes to measure the breach flow velocity. The remaining auxiliary monitoring drones monitor the surrounding topography, water level, and inundation range of the breach, achieving non-contact synchronous monitoring of multiple parameters of the breach, ensuring the safety of monitoring personnel, and improving the efficiency, accuracy, and comprehensiveness of emergency monitoring.

Description

Technical Field

[0001] This invention relates to the field of dam safety monitoring technology, specifically a non-contact emergency monitoring method for dam breaches. Background Technology

[0002] As a core infrastructure for flood control and disaster reduction, the safety and stability of dikes are directly related to the safety of people's lives and property. When a dike breaches, rapid and accurate monitoring of key parameters such as the shape of the breach cross-section, water depth, flow velocity, flow rate, surrounding topography, water level difference, and inundation range is a crucial prerequisite for carrying out emergency rescue, disaster assessment, and disaster relief deployment.

[0003] Currently, monitoring of dam breach flow primarily employs both contact and non-contact measurement methods. Contact methods include wading measurements with current meters and buoy measurements. However, the water flow at breaches is turbulent and turbid, often carrying large amounts of silt, floating debris, and gravel. Contact measurements are not only difficult to operate and inefficient, but also pose safety hazards to personnel, failing to meet the timeliness and safety requirements of emergency monitoring. Existing non-contact measurement methods often rely on a single radar device, measuring only one parameter such as flow velocity or water depth, unable to simultaneously acquire the three core parameters of breach width, water depth, and flow velocity, resulting in insufficient flow calculation accuracy. Furthermore, existing methods do not simultaneously monitor the surrounding terrain, inundation area, and water level, failing to provide comprehensive data support for emergency rescue and hindering emergency decision-making in complex breach scenarios. In addition, some monitoring methods rely on fixed monitoring points, lacking flexibility and unable to adapt to emergency monitoring scenarios with breaches of varying locations and sizes, exhibiting significant limitations. Therefore, developing a non-contact emergency monitoring method that can quickly, safely, and accurately obtain multi-dimensional parameters of breaches has become an urgent need in the field of dam safety emergency monitoring. Summary of the Invention

[0004] The purpose of this invention is to provide a non-contact emergency monitoring method for dam breaches. This method employs multiple drones working collaboratively. A water depth monitoring drone flies close to the water surface to monitor the breach's water depth and map the breach's topographic cross-section. A flow velocity monitoring drone flies at low to medium altitudes to measure the flow velocity at the breach. Other auxiliary monitoring drones monitor the surrounding terrain, water level, and inundation range of the breach. This achieves non-contact, synchronous monitoring of multiple parameters of the breach, ensuring the safety of monitoring personnel and improving the efficiency, accuracy, and comprehensiveness of emergency monitoring. It solves the problems of poor safety, low efficiency, insufficient accuracy, limited monitoring parameters, and poor flexibility in dam breach emergency monitoring.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a non-contact emergency monitoring method for dam breaches, comprising a core monitoring drone, several auxiliary monitoring drones, and a data processing terminal connected to the core monitoring drone and the auxiliary monitoring drones via a self-organizing network relay communication. The core monitoring drone consists of a water depth monitoring drone and a current velocity monitoring drone, both of which are connected to the several auxiliary monitoring drones via a self-organizing network. The auxiliary monitoring drones are equipped with drone-borne lidar or drone-borne multispectral equipment. The data processing terminal is communicatively connected to a ground control center. The specific monitoring method includes the following steps:

[0006] Step S1, Equipment Deployment: Prepare water depth monitoring drones, current velocity monitoring drones, and several auxiliary monitoring drones. The water depth monitoring drones are equipped with ground penetrating radar and are mainly used to fly close to the water surface to measure water depth and map the underwater cross-section of the breach. The current velocity monitoring drones are equipped with radar current meters. The auxiliary monitoring drones are used to map the terrain and water level. Complete the equipment debugging of the water depth monitoring drones, current velocity monitoring drones, and several auxiliary monitoring drones to ensure that each drone flies stably and the monitoring equipment works normally. According to the location, scale, and monitoring requirements of the dam breach, set the flight altitude and flight route of each drone to ensure that the detection range of the water depth monitoring drones and current velocity monitoring drones covers the entire dam breach area, and the detection range of the auxiliary monitoring drones covers the preset area around the dam breach.

[0007] Step S2, Synchronous Monitoring: Control the water depth monitoring drone, the current velocity monitoring drone, and several auxiliary monitoring drones to take off synchronously or sequentially and arrive at the preset monitoring positions to carry out synchronous monitoring;

[0008] Step S3, Data Processing and Flow Calculation: A data processing terminal is set up. All UAVs transmit monitoring data to the data processing terminal in real time through the data transmission module. The data processing terminal receives the water depth data of the dam breach transmitted by the water depth monitoring UAV. Based on the starting distance and water depth, the cross-sectional area of ​​the dam breach is calculated. Combined with the flow velocity data from the radar current meter of the flow velocity monitoring UAV, the real-time flow of the dam breach cross-section is calculated strictly using the single-point method of the current meter. At the same time, the data processing terminal analyzes the lidar data and multispectral data transmitted by the auxiliary UAVs to generate a topographic report of the dam breach area, a water level change report, and a flooding range distribution map. The water level change report includes the water level difference between the upstream and downstream of the dam breach. Simultaneously, the ground-penetrating radar data and visualization results of the water depth monitoring are stored and displayed for subsequent data traceability and analysis.

[0009] Step S4, Data Feedback and Emergency Support: The data processing terminal synchronously feeds back monitoring data on the dam breach's flow rate, width, water depth, and velocity, as well as the surrounding terrain, water level, and inundation area, to the ground control center. Based on the received comprehensive monitoring data, command personnel can monitor the dam breach's dynamics and changes in the surrounding disaster situation in real time, providing comprehensive and accurate data support for emergency rescue deployment, personnel evacuation, disaster assessment, and decision-making. When it is necessary to increase the monitoring frequency, various drones can be operated to perform multiple rounds of repeated scanning measurements, and the changes before and after can be compared to provide a scientific basis for decision-making regarding dam breach sealing, dike reinforcement, and personnel evacuation.

[0010] Preferably, the pre-defined area around the dam breach in step S1 includes the terrain around the dam breach and the area that may be flooded.

[0011] Preferably, the synchronous monitoring in step S2 includes at least the following steps:

[0012] Step S2.1, Water Depth Monitoring: Control the water depth monitoring drone to hover directly above the breach section of the dam, with the preset hovering height of the drone being about 2 meters above the water surface and a flight speed of 0.5-3 m / s. Activate the detection radar to emit electromagnetic waves underwater, receive the echoes reflected from the water surface and the underwater riverbed, perform depth calculations, accurately obtain underwater topographic information, and combine it with GNSS information to determine the water depth value at the current location of the dam breach. The water depth monitoring drone continuously flies along the breach section of the dam to accurately obtain the underwater topographic information of the breach section and generate a depth waveline map.

[0013] Step S2.2, Flow velocity monitoring: Control the flow velocity monitoring drone to hover about 5 meters downstream of the dam breach, at a preset height of about 5 meters above the water surface of the breach, and maintain a safe distance from the water depth monitoring drone to avoid mutual interference. Activate the radar current meter to emit a high-frequency microwave signal to the water surface of the dam breach. Based on the Doppler effect, capture the frequency difference between the reflected signal and the emitted signal, and analyze the flow velocity of the water surface at the current velocity measuring vertical line of the breach. According to the shape or width of the breach cross section, set up one or more velocity measuring vertical lines, and monitor the water surface flow velocity of each velocity measuring vertical line in sequence. Combine the water depth data of each vertical line of the cross section of the depth measuring drone, and use the one-point water surface method of the current meter to calculate the flow rate of the breach cross section.

[0014] Step S2.3, Surrounding Monitoring: Operate several auxiliary monitoring drones, among which the auxiliary drones equipped with lidar will perform a comprehensive scan of the terrain around the dam breach, capture terrain elevation data, and simultaneously monitor water level changes around the dam breach, generating terrain elevation maps and water surface lines. The auxiliary drones equipped with multispectral equipment will take pictures and monitor the area around the dam breach, identify the water and land boundaries through multispectral imaging technology, accurately delineate the flooded area, and capture the dynamic changes of the flooded area, dam piping inspection, and personnel search in real time.

[0015] Preferably, both the water depth monitoring drone and the flow velocity monitoring drone are multi-rotor drones, which can flexibly adjust their hovering position according to the changes in water flow at the dam breach to ensure measurement accuracy.

[0016] Preferably, the auxiliary monitoring drone is a multi-rotor drone or a lightweight fixed-wing drone. The auxiliary monitoring drone equipped with a drone-borne lidar is used for high-precision terrain and water level monitoring, while the auxiliary monitoring drone equipped with a drone-borne multispectral device is used for large-scale flood monitoring, dike piping inspection, and personnel search.

[0017] Preferably, the UAV-borne lidar is a high-frequency lidar with a ranging accuracy of no less than ±5cm, which can accurately capture the terrain elevation data and water level changes around the dam breach and generate a high-precision terrain model.

[0018] Preferably, the UAV-borne multispectral device employs multi-band imaging technology, covering the visible and near-infrared light bands, enabling it to quickly distinguish between water and land, accurately delineate the flooded area, and identify the distribution of obstacles within the flooded area.

[0019] Preferably, the core monitoring drone and several auxiliary monitoring drones are each equipped with an independent data transmission module to ensure that monitoring data is transmitted to the data processing terminal in real time and stably, with a transmission delay of no more than 10 seconds, thus meeting the timeliness requirements of emergency monitoring.

[0020] Preferably, the data transmission module is a 4G / 5G wireless transmission module, a data transmission and image transmission radio, or a satellite transmission module. The data transmission module is self-organizing to ensure anti-interference and long-distance transmission.

[0021] Preferably, the data processing terminal has data storage, parsing, and visualization functions, and can simultaneously display all monitoring parameters, dynamic change curves, and visualization results after ground penetrating radar data processing, making it easy for monitoring personnel to quickly and intuitively grasp the monitoring situation.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. This invention provides a non-contact emergency monitoring method for dam breaches, comprising a core monitoring drone, several auxiliary monitoring drones, and a data processing terminal connected to the core monitoring drone and the auxiliary monitoring drones via a self-organizing network relay communication. The core monitoring drone consists of a water depth monitoring drone and a flow velocity monitoring drone. The auxiliary monitoring drones are equipped with drone-borne lidar or drone-borne multispectral equipment. The specific monitoring method includes the following steps: Step S1, equipment deployment; Step S2, synchronous monitoring; Step S3, data processing and flow calculation; Step S4, data feedback and emergency support. By employing the above-mentioned emergency monitoring method to monitor dam breaches, it achieves high safety, efficiency, and accuracy. Regarding high safety: it adopts a completely non-contact monitoring method, with all monitoring equipment mounted on drones... The system eliminates the need for monitoring personnel to wade through the water, effectively avoiding personal safety hazards posed by turbulent water flow and floating debris at the breach site, ensuring a safe and controllable emergency monitoring process. Regarding efficiency: multiple drones are used for collaborative monitoring. The core drone simultaneously measures the breach's water depth and flow velocity, while several auxiliary drones simultaneously monitor the surrounding terrain, water level, and inundation area, achieving simultaneous collection of multiple parameters and significantly improving the efficiency of emergency monitoring to meet the timeliness requirements of breach emergency monitoring. Regarding accuracy: two independent core drones are used to measure water depth and flow velocity separately, avoiding mutual interference caused by a single drone carrying multiple devices. Combined with the precise measurement capabilities of ground-penetrating radar and radar current meters, the accuracy of breach flow calculation is effectively improved. Furthermore, the application of drone-borne lidar and multispectral equipment ensures the accuracy of monitoring the surrounding terrain and inundation area.

[0024] 2. The non-contact emergency monitoring method for dam breaches in this invention also has the following effects:

[0025] 1) Comprehensive monitoring: It breaks through the limitation of existing methods that monitor only one parameter. It can not only accurately monitor the core parameters of the breach, such as flow rate, width, water depth and flow velocity, but also simultaneously monitor the surrounding topography, water level changes and flooding range, providing comprehensive data support for emergency rescue decision-making and solving the problem of incomplete data support in existing methods.

[0026] 2) High flexibility: Multiple drones can flexibly adjust their flight altitude and route according to the location, scale and terrain conditions of the breach, adapting to different types and scales of dam breach monitoring scenarios. They are not limited by terrain or water flow conditions and have a wide range of applications.

[0027] 3) Convenient operation: The layout of each drone is reasonable and the debugging is simple. Monitoring personnel can complete the operation after simple training. The data processing terminal realizes automated analysis and visualization display, which is convenient for rapid deployment in emergency scenarios. Attached Figure Description

[0028] Figure 1 This is a block diagram illustrating the principle of the present invention;

[0029] Figure 2 This is a flowchart of the emergency monitoring method for dam breaches according to the present invention.

[0030] The reference numerals and names in the figure are as follows:

[0031] 1. Core monitoring UAV; 11. Water depth monitoring UAV; 12. Current velocity monitoring UAV; 2. Auxiliary monitoring UAV; 21. UAV-borne lidar; 22. UAV-borne multispectral equipment; 3. Data processing terminal; 4. Ground control center. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] In the description of the embodiments of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0035] Please see Figure 1The present invention provides an embodiment of a non-contact emergency monitoring method for dam breaches, comprising a core monitoring drone 1, several auxiliary monitoring drones 2, and a data processing terminal 3 connected to the core monitoring drone 1 and the several auxiliary monitoring drones 2 via a self-organizing network relay communication. The core monitoring drone 1 consists of a water depth monitoring drone 11 and a flow velocity monitoring drone 12. Both the water depth monitoring drone 11 and the flow velocity monitoring drone 12 are connected to the several auxiliary monitoring drones 2 via a self-organizing network. The several auxiliary monitoring drones 2 are equipped with drone-borne lidar 21 or drone-borne multispectral equipment 22. The data processing terminal 3 is communicatively connected to a ground control center 4.

[0036] Please see Figure 1 and Figure 2 The emergency monitoring method for dam breaches in this invention includes the following steps:

[0037] Step S1, Equipment Deployment: Prepare a water depth monitoring drone 11, a current velocity monitoring drone 12, and several auxiliary monitoring drones 2. The water depth monitoring drone 11 is equipped with a ground penetrating radar and is mainly used to fly close to the water surface to measure water depth and map the underwater cross-section of the breach. The current velocity monitoring drone 12 is equipped with a radar current meter. The auxiliary monitoring drones 2 are used to map the terrain and water level. Complete the equipment debugging of the water depth monitoring drone 11, the current velocity monitoring drone 12, and the several auxiliary monitoring drones 2 to ensure that each drone flies stably and the monitoring equipment works normally. According to the location, scale, and monitoring requirements of the dam breach, set the flight altitude and flight route of each drone to ensure that the detection range of the water depth monitoring drone 11 and the current velocity monitoring drone 12 covers the entire dam breach area, and the detection range of the auxiliary monitoring drones 2 covers the preset area around the dam breach.

[0038] Step S2, Synchronous Monitoring: Control the water depth monitoring drone 11, the current velocity monitoring drone 12, and several auxiliary monitoring drones 2 to take off synchronously or sequentially and arrive at the preset monitoring position to carry out synchronous monitoring;

[0039] Step S3, Data Processing and Flow Calculation: Set up data processing terminal 3. All UAVs transmit monitoring data to data processing terminal 3 in real time through the data transmission module. Data processing terminal 3 receives the water depth data of the dam breach transmitted by water depth monitoring UAV 11. Based on the starting distance and water depth, it calculates the cross-sectional area of ​​the dam breach. Combined with the flow velocity data from the radar current meter of flow velocity monitoring UAV 12, it strictly uses the single-point method of the current meter water surface to calculate the real-time flow of the dam breach cross-section. At the same time, the data processing terminal analyzes the lidar data and multispectral data transmitted by auxiliary UAV 2 to generate a topographic report of the dam breach surrounding terrain, a water level change report, and a flooding range distribution map. The water level change report includes the water level difference between the upstream and downstream of the dam breach. Simultaneously, it stores and displays the ground-penetrating radar processing data and visualization results of water depth monitoring for subsequent data traceability and analysis.

[0040] Step S4, Data Feedback and Emergency Support: Data processing terminal 3 synchronously feeds back monitoring data on the dam breach flow rate, width, water depth, flow velocity, surrounding topography, water level, and inundation range to ground control center 4. Command personnel can monitor the dynamics of the dam breach and changes in the surrounding disaster situation in real time based on the received comprehensive monitoring data, providing comprehensive and accurate data support for emergency rescue deployment, personnel evacuation, disaster assessment, and decision-making. When it is necessary to increase the monitoring frequency, various drones can be operated to perform multiple rounds of repeated scanning measurements, and the changes before and after can be compared to provide a scientific basis for decision-making on dam breach sealing, dike reinforcement, and personnel evacuation.

[0041] Specifically, the pre-defined area around the dam breach in step S1 includes the terrain around the dam breach and the area that may be flooded.

[0042] Specifically, the synchronous monitoring in step S2 includes at least the following steps:

[0043] Step S2.1, Water Depth Monitoring: Control the water depth monitoring UAV 11 to hover directly above the breach section of the dam, with the preset hovering height of the water depth monitoring UAV 11 being about 2 meters above the water surface and the flight speed being 0.5-3 m / s. Activate the detection radar to emit electromagnetic waves underwater, receive the echoes reflected from the water surface and the underwater riverbed, perform depth calculations, accurately obtain underwater topographic information, and combine it with GNSS information to determine the water depth value at the current location of the dam breach. The water depth monitoring UAV 11 continuously flies along the dam breach section to accurately obtain the underwater topographic information of the dam breach section and generate a depth waveline map.

[0044] Step S2.2, Flow velocity monitoring: Control the flow velocity monitoring drone 12 to hover about 5 meters downstream of the dam breach, at a preset height of about 5 meters above the water surface of the breach, and maintain a safe distance from the water depth monitoring drone 11 to avoid mutual interference. Activate the radar current meter to emit a high-frequency microwave signal to the water surface of the dam breach. Based on the Doppler effect, capture the frequency difference between the reflected signal and the emitted signal, and analyze the flow velocity of the water surface at the current velocity measuring vertical line of the breach. According to the shape or width of the breach cross-section, set up one or more velocity measuring vertical lines, and monitor the water surface flow velocity of each velocity measuring vertical line in sequence. Combine the water depth data of each vertical line of the cross-section of the depth measuring drone, and use the one-point water surface method of the current meter to calculate the flow rate of the breach cross-section.

[0045] Step S2.3, Surrounding Monitoring: Operate several auxiliary monitoring drones 2, among which the auxiliary drones 2 equipped with drone-borne lidar perform a comprehensive scan of the terrain around the dam breach, capture terrain elevation data, simultaneously monitor water level changes around the dam breach, and generate terrain elevation maps and water surface lines. The auxiliary drones 2 equipped with drone-borne multispectral equipment take pictures and monitor the area around the dam breach, identify the water and land boundaries through multispectral imaging technology, accurately delineate the flooded area, and capture the dynamic changes of the flooded area, dam piping inspection, and personnel search in real time.

[0046] Specifically, both the water depth monitoring drone 11 and the flow velocity monitoring drone 12 are multi-rotor drones, which can flexibly adjust their hovering position according to the changes in water flow at the dam breach to ensure measurement accuracy.

[0047] Specifically, the auxiliary monitoring drone 2 is a multi-rotor drone or a lightweight fixed-wing drone. The auxiliary monitoring drone 2 equipped with a drone-borne lidar 21 is used for high-precision terrain and water level monitoring, while the auxiliary monitoring drone 2 equipped with a drone-borne multispectral device 22 is used for large-scale flood monitoring, dike piping inspection, and personnel search.

[0048] Specifically, the UAV-borne lidar 21 uses a high-frequency lidar with a ranging accuracy of no less than ±5cm, which can accurately capture the terrain elevation data and water level changes around the dam breach and generate a high-precision terrain model.

[0049] Specifically, the UAV-borne multispectral device 22 employs multi-band imaging technology, covering the visible and near-infrared light bands, enabling it to quickly distinguish between water and land, accurately delineate the flooded area, and identify the distribution of obstacles within the flooded area.

[0050] Specifically, the core monitoring drone 1 and several auxiliary monitoring drones 2 are each equipped with an independent data transmission module to ensure that the monitoring data is transmitted to the data processing terminal 3 in real time and stably, with a transmission delay of no more than 10 seconds, meeting the timeliness requirements of emergency monitoring. The data transmission module is a 4G / 5G wireless transmission module, a data transmission and image transmission radio, or a satellite transmission module. The data transmission module is self-organizing to ensure anti-interference and long-distance transmission.

[0051] Specifically, the data processing terminal 3 has data storage, parsing, and visualization functions, and can simultaneously display all monitoring parameters, dynamic change curves, and visualization results after ground-penetrating radar data processing, making it easy for monitoring personnel to quickly and intuitively grasp the monitoring situation.

[0052] 4) Please refer to again Figure 1 and Figure 2 The core monitoring drone 1 and several auxiliary monitoring drones 2 in this invention are based on existing technologies and will not be described in detail here. By adopting the above-mentioned non-contact monitoring method, the monitoring equipment is mounted on the drone during the monitoring process, eliminating the need for monitoring personnel to wade through the water. This effectively avoids the personal safety hazards caused by the rapid water flow and floating objects at the breach, ensuring the safety and controllability of the emergency monitoring process. Multiple drones are used for collaborative monitoring. The core drone simultaneously completes the measurement of water depth and flow velocity at the breach, while several auxiliary drones simultaneously monitor the surrounding terrain, water level, and inundation range. This multi-parameter synchronous acquisition significantly improves the efficiency of emergency monitoring and meets the timeliness requirements of breach emergency monitoring. Using two independent core drones to measure water depth and flow velocity separately avoids the mutual interference caused by a single drone carrying multiple devices. Combined with the precise measurement capabilities of ground-penetrating radar and radar current meter, this effectively improves the measurement of the breach flow rate. The application of UAV-borne lidar and multispectral equipment ensures accurate monitoring of the surrounding terrain and inundation range. This monitoring method overcomes the limitations of existing methods that rely on single monitoring parameters. It can not only accurately monitor core parameters such as breach flow, width, water depth, and flow velocity, but also simultaneously monitor the surrounding terrain, water level changes, and inundation range, providing comprehensive data support for emergency rescue decisions and solving the problem of incomplete data support in existing methods. Furthermore, multiple UAVs can flexibly adjust their flight altitude and routes according to the location, scale, and terrain conditions of the breach, adapting to different types and scales of dam breach monitoring scenarios. It is not limited by terrain or water flow conditions and has a wide range of applications. The UAV equipment is rationally arranged and easy to debug; monitoring personnel can operate it after simple training. The data processing terminal achieves automated analysis and visualization, facilitating rapid deployment in emergency scenarios and making it worthy of widespread application.

[0053] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A non-contact emergency monitoring method for dam breaches, characterized in that: The system includes a core monitoring drone (1), several auxiliary monitoring drones (2), and a data processing terminal (3) that is communicatively connected to the core monitoring drone (1) and the several auxiliary monitoring drones (2). The core monitoring drone (1) consists of a water depth monitoring drone (11) and a current velocity monitoring drone (12). Both the water depth monitoring drone (11) and the current velocity monitoring drone (12) are connected to the several auxiliary monitoring drones (2) in a self-organizing network. The several auxiliary monitoring drones (2) are equipped with drone-borne lidar (21) or drone-borne multispectral equipment (22). The data processing terminal (3) is communicatively connected to the ground control center (4). The specific monitoring method includes the following steps: Step S1, Equipment Deployment: Prepare a water depth monitoring drone (11), a flow velocity monitoring drone (12), and several auxiliary monitoring drones (2). The water depth monitoring drone (11) is equipped with a ground penetrating radar. The water depth monitoring drone (11) is mainly used to fly close to the water surface to measure the water depth and map the underwater cross section of the breach. The flow velocity monitoring drone (12) is equipped with a radar current meter. The auxiliary monitoring drones (2) are used to map the terrain and water level. Complete the equipment debugging of the water depth monitoring drone (11), the flow velocity monitoring drone (12), and several auxiliary monitoring drones (2) to ensure that each drone flies stably and the monitoring equipment works normally. According to the location, scale, and monitoring requirements of the dam breach, set the flight altitude and flight route of each drone to ensure that the detection range of the water depth monitoring drone (11) and the flow velocity monitoring drone (12) covers the entire dam breach area and the detection range of the auxiliary monitoring drones (2) covers the preset area around the dam breach. Step S2, Synchronous Monitoring: Control the water depth monitoring drone (11), the current velocity monitoring drone (12) and several auxiliary monitoring drones (2) to take off synchronously or sequentially and arrive at the preset monitoring position to carry out synchronous monitoring; Step S3, Data Processing and Flow Calculation: Set up a data processing terminal (3). All UAVs transmit monitoring data to the data processing terminal (3) in real time through the data transmission module. The data processing terminal (3) receives the water depth data of the dam breach transmitted by the water depth monitoring UAV (11). It calculates the cross-sectional area of ​​the dam breach based on the starting distance and water depth. Then, it combines the flow velocity data of the radar current meter of the flow velocity monitoring UAV (12) and strictly uses the one-point method of the flow meter water surface to calculate the real-time flow of the dam breach cross-section. At the same time, the data processing terminal analyzes the lidar data and multispectral data transmitted by the auxiliary UAV (2) to generate a topographic report, a water level change report and a flooding range distribution map around the dam breach. The water level change report includes the water level difference between the upstream and downstream of the dam breach. Simultaneously, it stores and displays the ground-penetrating radar processing data and visualization results of the water depth monitoring, which is convenient for subsequent data tracing and analysis. Step S4, Data Feedback and Emergency Support: The data processing terminal (3) synchronously feeds back the monitoring data of the dam breach flow rate, width, water depth, flow velocity, and surrounding topography, water level, and inundation range to the ground control center (4). Based on the received comprehensive monitoring data, the command personnel can keep abreast of the dam breach dynamics and changes in the surrounding disaster situation in real time, providing comprehensive and accurate data support for emergency rescue deployment, personnel transfer, disaster assessment, and decision-making. When it is necessary to increase the monitoring frequency, the drones can be operated to perform multiple rounds of repeated scanning measurements. The changes before and after can be compared to provide a scientific basis for decision-making on dam breach sealing, dike reinforcement, and personnel transfer.

2. The non-contact emergency monitoring method for dam breaches according to claim 1, characterized in that: The pre-defined area around the dam breach in step S1 includes the terrain around the dam breach and the area that may be flooded.

3. The non-contact emergency monitoring method for dam breaches according to claim 1, characterized in that: The synchronous monitoring in step S2 includes at least the following steps: Step S2.1, Water depth monitoring: Control the water depth monitoring drone (11) to hover directly above the breach section of the dam, and the preset hovering height of the water depth monitoring drone (11) is about 2 meters above the water surface, with a flight speed of 0.5-3 m / s. Start the detection radar, emit electromagnetic waves underwater, receive the echoes reflected from the water surface and the underwater riverbed, perform depth calculation, accurately obtain underwater topographic information, combine with GNSS information, determine the water depth value at the current location of the dam breach, and the water depth monitoring drone (11) flies continuously along the breach section of the dam to accurately obtain the underwater topographic information of the breach section of the dam and generate a depth wave map; Step S2.2, Flow velocity monitoring: Control the flow velocity monitoring drone (12) to hover about 5 meters downstream of the dam breach, about 5 meters above the breach water surface, and maintain a safe distance from the water depth monitoring drone (11) to avoid mutual interference. Start the radar current meter and transmit a high-frequency microwave signal to the surface of the dam breach water flow. Based on the Doppler effect, capture the frequency difference between the reflected signal and the transmitted signal, and analyze the flow velocity of the water surface at the current velocity measuring vertical line of the breach. According to the shape or width of the breach cross section, set up one or more velocity measuring vertical lines, and monitor the water surface flow velocity of each velocity measuring vertical line in sequence. Combine the water depth data of each vertical line of the cross section of the depth measuring drone, and use the flow meter water surface one-point method to calculate the flow rate of the breach cross section. Step S2.3, Surrounding Monitoring: Control several auxiliary monitoring drones (2), among which the auxiliary drone (2) equipped with a lidar on the drone will scan the terrain around the breach of the dike in all directions, capture terrain elevation data, monitor the water level changes around the breach of the dike in real time, and generate terrain elevation map and water surface line. The auxiliary drone (2) equipped with a multispectral device on the drone will take pictures and monitor the area around the breach of the dike. Through multispectral imaging technology, the boundary between the water body and the land will be identified, the flooding range will be accurately delineated, and the dynamic changes of the flooded area, dike piping inspection and personnel search will be captured in real time.

4. The non-contact emergency monitoring method for dam breaches according to claim 1, characterized in that: The water depth monitoring UAV (11) and flow velocity monitoring UAV (12) are both multi-rotor UAVs, which can flexibly adjust their hovering position according to the changes in water flow at the dam breach to ensure measurement accuracy.

5. The non-contact emergency monitoring method for dam breaches according to claim 1, characterized in that: The auxiliary monitoring drone (2) is a multi-rotor drone or a light fixed-wing drone. The auxiliary monitoring drone (2) equipped with a drone-borne lidar (21) is used for high-precision terrain and water level monitoring, and the auxiliary monitoring drone (2) equipped with a drone-borne multispectral device (22) is used for large-scale flood monitoring, dike piping inspection and personnel search.

6. The non-contact emergency monitoring method for dam breaches according to claim 1, characterized in that: The UAV-borne lidar (21) uses a high-frequency lidar with a ranging accuracy of no less than ±5cm. It can accurately capture the terrain elevation data and water level changes around the breach of the dam and generate a high-precision terrain model.

7. The non-contact emergency monitoring method for dam breaches according to claim 1, characterized in that: The UAV-borne multispectral device (22) uses multi-band imaging technology, covering the visible light and near-infrared light bands. It can quickly distinguish between water and land, accurately delineate the flooded area, and identify the distribution of obstacles within the flooded area.

8. The non-contact emergency monitoring method for dam breaches according to claim 1, characterized in that: The core monitoring drone (1) and several auxiliary monitoring drones (2) are equipped with independent data transmission modules to ensure that the monitoring data is transmitted to the data processing terminal (3) in real time and stably, with a transmission delay of no more than 10 seconds, thus meeting the timeliness requirements of emergency monitoring.

9. A non-contact emergency monitoring method for dam breaches according to claim 8, characterized in that: The data transmission module is a 4G / 5G wireless transmission module, a data transmission and image transmission radio, or a satellite transmission module. The data transmission module is self-organizing and ensures anti-interference and long-distance transmission.

10. The non-contact emergency monitoring method for dam breaches according to claim 1, characterized in that: The data processing terminal (3) has data storage, analysis and visualization functions. It can simultaneously display all monitoring parameters, dynamic change curves and visualization results after ground-penetrating radar data processing, which makes it easy for monitoring personnel to quickly and intuitively grasp the monitoring situation.

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