CN107449780A - Waterborne contaminant monitoring and pre-alarming method and system based on unmanned plane - Google Patents
Waterborne contaminant monitoring and pre-alarming method and system based on unmanned plane Download PDFInfo
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- CN107449780A CN107449780A CN201710519369.7A CN201710519369A CN107449780A CN 107449780 A CN107449780 A CN 107449780A CN 201710519369 A CN201710519369 A CN 201710519369A CN 107449780 A CN107449780 A CN 107449780A
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The present invention discloses a kind of waterborne contaminant monitoring and pre-alarming method and system based on unmanned plane；Method comprises the following steps：Data acquisition, image acquisition, feature extraction, category identification and pollution prewarning；Monitoring and warning system includes unmanned plane monitoring platform (1), for being generally investigated monitoring waters, pinpointing detailed survey and in real time monitoring；Ground control cabinet (2), for controlling the working condition of unmanned plane monitoring platform (1), polluted water region is determined, extracts characteristics of image, generates pollution prewarning；The ground control cabinet (2) is connected with unmanned plane monitoring platform (1) by remote wireless network signal.The waterborne contaminant monitoring and pre-alarming method and system based on unmanned plane of the present invention, round-the-clock, all weather operations, monitoring accuracy are high.
Description
Technical field
The invention belongs to waterborne contaminant monitoring, early warning technology field, particularly a kind of round-the-clock, round-the-clock, monitoring essence
Spend the monitoring and pre-alarming method of the high waterborne contaminant based on unmanned plane and realize the monitoring and warning system of this method.
Background technology
Nearly ten years, the marine pollution problem getting worse in lake, great sudden water pollution event takes place frequently, not only to life
State environment causes immeasurable destruction, has also triggered a certain degree of society panic.The marine pollution in lake is once sent out
It is raw, it is exactly zonal big problem, the vegetation of surrounding, animal, the even whole ecosphere of resident can all be affected.So must
The monitoring and early warning to marine pollution must be strengthened.
At present, China has progressively carried out the monitoring to marine pollution.Test point is set up at the water body scene seriously polluted
It is the monitoring method of most original, but due to being based on personal monitoring, it is often not prompt enough and accurate.In addition, satellite remote sensing
Technical monitoring also gradually grows up in recent years, has instantaneity and broad perspectives using satellite remote sensing technology monitoring marine pollution,
But the resolution ratio of satellite remote sensing technology and accuracy need to be improved, if moreover, bad weather is run into, due to visible ray
It is interfered with infrared ray, the degree of accuracy of satellite remote sensing technology can substantially reduce.
In a word, the problem of prior art is present be：Waterborne contaminant monitoring and warning is easily influenceed by weather, and monitoring accuracy is low.
The content of the invention
It is round-the-clock, complete it is an object of the invention to provide a kind of waterborne contaminant monitoring and pre-alarming method based on unmanned plane
Weather works, and monitoring accuracy is high.
Another object of the present invention is to provide a kind of waterborne contaminant monitoring and warning system based on unmanned plane.
The technical solution for realizing the object of the invention is：
A kind of waterborne contaminant monitoring and pre-alarming method based on unmanned plane, it is characterised in that comprise the following steps：
(10) data acquisition：Unmanned plane flies above monitoring waters along setting path, gathers millimeter-wave radiation number on the way
According to and waterborne contaminant positional information, obtain radiation data；
(20) image obtains：According to the radiation data and its positional information of waterborne contaminant, primarily determine that emphasis monitors water
Domain, unmanned plane is hovered in emphasis monitoring waters, cone is carried out to the waters and sweeps to obtain the radiation image in the waters, is shot simultaneously
The optical imagery in the waters；
(30) feature extraction：Radiation image is handled, and with optical imagery comparative analysis, determine waterborne contaminant
Distribution, contaminated sites, pollution level, realize the real-time monitoring to waters；
(40) category identification：Ground control cabinet is analyzed optical imagery, determines the species of pollutant.
(50) pollution prewarning：By confirming distribution, contaminated sites, pollution level and the species of waterborne contaminant,
When marine pollution reaches early warning threshold values, pollution prewarning is generated.
The technical solution for realizing another object of the present invention is：
A kind of waterborne contaminant monitoring and warning system based on unmanned plane, including：
Unmanned plane monitoring platform 1, for being generally investigated monitoring waters, pinpointing detailed survey and in real time monitoring；
Ground control cabinet 2, for controlling the working condition of unmanned plane monitoring platform 1, polluted water region is determined, extracts image
Feature, generate pollution prewarning；
The ground control cabinet 2 is connected with unmanned plane monitoring platform 1 by remote wireless network signal.
Compared with prior art, its remarkable advantage is the present invention：
1st, not by weather influences during day：Passive millimeter wave penetration capacity is strong, and the present invention uses 3mm radiant images, not by day
Gas and the influence of period, can round-the-clock, the situation of round-the-clock monitoring aquatic vegetation；
2nd, monitoring accuracy is high：The present invention using general census by the way of fixed point monitoring is combined, not only efficiency high, and
And precision is also high；Millimeter-wave image is handled using morphological images, edge is extracted using Canny detectors, required for obtaining
Polluted water region image information.
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is the flow chart of the waterborne contaminant monitoring and pre-alarming method of the invention based on unmanned plane.
Fig. 2 is the structural representation of the waterborne contaminant monitoring and warning system of the invention based on unmanned plane.
In figure, 1 unmanned plane monitoring platform, 2 ground control cabinets,
11 unmanned planes, 12 GPS modules, 13 camera modules, 14 3mm radiometers, 15 image capture modules, 16 storages
Device, 17 on-air radio transport modules,
21 flight control modules, 22 image analysis modules, 23 display modules, 24 floristic analysing modules, 25 ground without
Line transport module, 26 pollution prewarning modules.
Embodiment
As shown in figure 1, the waterborne contaminant monitoring and pre-alarming method of the invention based on unmanned plane, comprises the following steps：
(10) data acquisition：Unmanned plane flies above monitoring waters along setting path, gathers millimeter-wave radiation number on the way
According to and waterborne contaminant positional information, obtain radiation data；
In (10) data collection steps, millimeter amplitude on the way is gathered using the 3mm wave bands radiometer of UAV flight
Penetrate data.
In (10) data collection steps, the radiation data of waterborne contaminant is by radiation data on the way with advance establishing
The Millimeter Wave Radiometric Characteristic data of typical waterborne contaminant compare and obtained.
(20) image obtains：According to the radiation data and its positional information of waterborne contaminant, primarily determine that emphasis monitors water
Domain, unmanned plane is hovered in emphasis monitoring waters, cone is carried out to the waters and sweeps to obtain the radiation image in the waters, is shot simultaneously
The optical imagery in the waters；
(30) feature extraction：Radiation image is handled, and with optical imagery comparative analysis, determine waterborne contaminant
Distribution, contaminated sites, pollution level, realize the real-time monitoring to waters；
(30) characteristic extraction step includes：
(31) radiometric characteristic control：Millimeter-wave radiometric image is handled using the watershed algorithm of control marker character,
Then feature extraction is carried out to image, obtains the radiation data of waterborne contaminant.
An inner marker symbol set (inside for being in each object of interest) and an external label can be passed through
Symbol set (is included among background).These marker characters can be that segmentation picture strip carrys out priori.
(32) image comparison is analyzed：Obtained radiation data is analyzed with optical imagery, obtains marine pollution
Distribution, contaminated sites, the pollution level of thing.
(40) category identification：Ground control cabinet is analyzed optical imagery, determines the species of pollutant.
(50) pollution prewarning：By confirming distribution, contaminated sites, pollution level and the species of waterborne contaminant,
When marine pollution reaches early warning threshold values, pollution prewarning is generated.
As shown in Fig. 2 the waterborne contaminant monitoring and warning system of the invention based on unmanned plane, including：
Unmanned plane monitoring platform 1, for being generally investigated monitoring waters, pinpointing detailed survey and in real time monitoring；
Ground control cabinet 2, for controlling the working condition of unmanned plane monitoring platform 1, polluted water region is determined, extracts image
Feature, generate pollution prewarning；
The ground control cabinet 2 is connected with unmanned plane monitoring platform 1 by remote wireless network signal.
As shown in Fig. 2 the unmanned plane monitoring platform 1 includes：
Unmanned plane 11, for carrying various functions module, setting path flies, hovered in polluted water region；
GPS module 12, for obtaining the positional information of waterborne contaminant；
Camera module 13, for shooting the optical imagery in emphasis monitoring waters；
3mm radiometers 14, the millimeter-wave radiation data of the waterborne contaminant for gathering monitoring waters；
Image capture module (15), the radiation image of the waterborne contaminant for gathering emphasis monitoring waters；
Memory 16, for storing millimeter-wave radiation data, radiation image and optical imagery on the way；
On-air radio transport module 17, for the telecommunication of ground control cabinet 2, transmit data and flight directive；
As shown in Fig. 2 the ground control cabinet 2 includes:
Flight control modules 21, for monitoring waters according to setting path or emphasis, produce flight directive；
Image analysis module (22), is handled radiation image, and with optical imagery comparative analysis, determine marine pollution
Distribution, contaminated sites, the pollution level of thing, and according to the radiation data and positional information of waterborne contaminant, just slightly judge
Emphasis monitors waters；
Display module 23, for show waters map, unmanned plane during flying track, radiometric characteristic control result, optical imagery,
Distribution, contaminated sites, the pollution level of waterborne contaminant.
Floristic analysing module 24, is analyzed optical imagery, determines the species of waterborne contaminant.
Ground-based wireless transmissions module 25, for the telecommunication of unmanned plane monitoring platform 1, receive data and send flight and refer to
Order；
Pollution prewarning module 26, for generating early warning, the decision-making section for correlation provides foundation.
The present invention uses 3mm radiant images, is not influenceed by weather and period, can round-the-clock, the round-the-clock aquatic plant of monitoring
The situation of quilt；Using general census by the way of fixed point monitoring is combined, not only efficiency high, and precision is also high；Using form
Image procossing millimeter-wave image is learned, edge is extracted using Canny detectors, obtains required polluted water region image information.
Claims (7)
1. a kind of waterborne contaminant monitoring and pre-alarming method based on unmanned plane, it is characterised in that comprise the following steps：
(10) data acquisition：Unmanned plane flies along setting path above monitoring waters, collection on the way millimeter-wave radiation data and
The positional information of waterborne contaminant, obtains radiation data；
(20) image obtains：According to the radiation data and its positional information of waterborne contaminant, primarily determine that emphasis monitors waters, make
Unmanned plane is hovered in emphasis monitoring waters, and cone is carried out to the waters and sweeps to obtain the radiation image in the waters, while shoots the waters
Optical imagery；
(30) feature extraction：Radiation image is handled, and with optical imagery comparative analysis, determine the distribution of waterborne contaminant
Scope, contaminated sites, pollution level, realize the real-time monitoring to waters；
(40) category identification：Ground control cabinet is analyzed optical imagery, determines the species of pollutant.
(50) pollution prewarning：By confirming distribution, contaminated sites, pollution level and the species of waterborne contaminant, work as water
When face is polluteed up to early warning threshold values, pollution prewarning is generated.
2. monitoring and pre-alarming method according to claim 1, it is characterised in that：
In (10) data collection steps, millimeter-wave radiation number on the way is gathered using the 3mm wave bands radiometer of UAV flight
According to.
3. monitoring and pre-alarming method according to claim 1, it is characterised in that：
In (10) data collection steps, the radiation data of waterborne contaminant is by radiation data on the way and the typical case that establishes in advance
The Millimeter Wave Radiometric Characteristic data of waterborne contaminant compare and obtained.
4. monitoring according to claim 1 and method for early warning, it is characterised in that (30) characteristic extraction step includes：
(31) radiometric characteristic control：Millimeter-wave radiometric image is handled using the watershed algorithm of control marker character, then
Feature extraction is carried out to image, obtains the radiation data of waterborne contaminant.
(32) image comparison is analyzed：Obtained radiation data is analyzed with optical imagery, obtains waterborne contaminant
Distribution, contaminated sites, pollution level.
A kind of 5. waterborne contaminant monitoring and warning system based on unmanned plane, it is characterised in that including：
Unmanned plane monitoring platform (1), for being generally investigated monitoring waters, pinpointing detailed survey and in real time monitoring；
Ground control cabinet (2), for controlling the working condition of unmanned plane monitoring platform (1), determine polluted water region, extraction image spy
Sign, generate pollution prewarning；
The ground control cabinet (2) is connected with unmanned plane monitoring platform (1) by remote wireless network signal.
6. monitoring and warning system according to claim 5, it is characterised in that the unmanned plane monitoring platform (1) includes：
Unmanned plane (11), for carrying various functions module, setting path flies, hovered in polluted water region；
GPS module (12), for obtaining the positional information of waterborne contaminant；
Camera module (13), for shooting the optical imagery in emphasis monitoring waters；
3mm radiometers (14), the millimeter-wave radiation data of the waterborne contaminant for gathering monitoring waters；
Image capture module (15), the radiation image of the waterborne contaminant for gathering emphasis monitoring waters；
Memory (16), for storing millimeter-wave radiation data, radiation image and optical imagery on the way；
On-air radio transport module (17), for ground control cabinet (2) telecommunication, transmit data and flight directive.
7. monitoring and warning system according to claim 5, it is characterised in that the ground control cabinet (2) includes:
Flight control modules (21), for monitoring waters according to setting path or emphasis, produce flight directive；
Image analysis module (22), is handled radiation image, and with optical imagery comparative analysis, determine waterborne contaminant
Distribution, contaminated sites, pollution level, and according to the radiation data and positional information of waterborne contaminant, just slightly judge emphasis
Monitor waters；
Display module (23), for showing waters map, unmanned plane during flying track, radiometric characteristic control result, optical imagery, water
Distribution, contaminated sites, the pollution level of face pollutant.
Floristic analysing module (24), is analyzed optical imagery, determines the species of waterborne contaminant.
Ground-based wireless transmissions module (25), for unmanned plane monitoring platform (1) telecommunication, receive data and send flight and refer to
Order；
Pollution prewarning module (26), for generating early warning, the decision-making section for correlation provides foundation.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108038450A (en) * | 2017-12-14 | 2018-05-15 | 海安常州大学高新技术研发中心 | Marine pollution object detecting method based on unmanned plane and image recognition |
| CN108181923A (en) * | 2017-12-18 | 2018-06-19 | 广东技术师范学院 | Water head site environmental monitoring system and method based on unmanned plane |
| CN108376460A (en) * | 2018-04-04 | 2018-08-07 | 武汉理工大学 | System and method is monitored based on unmanned plane and the oil pollution at sea of BP neural network |
| CN108408071A (en) * | 2018-01-31 | 2018-08-17 | 武汉理工大学 | Water pollution monitors system and method, monitoring system charge coil design method |
| CN109631860A (en) * | 2018-12-27 | 2019-04-16 | 南京理工大学 | Reservoir house refuse monitoring method and system based on unmanned plane |
| CN110298640A (en) * | 2019-08-05 | 2019-10-01 | 软通动力信息技术有限公司 | A kind of lake information management system |
| CN110850489A (en) * | 2019-11-15 | 2020-02-28 | 南京理工大学 | Electromagnetic wave detection method and device for underground metal pipeline |
| CN110908394A (en) * | 2019-11-25 | 2020-03-24 | 桂林航天工业学院 | Maritime water pollution supervision unmanned aerial vehicle system and supervision method |
| CN111024695A (en) * | 2019-12-10 | 2020-04-17 | 山东星云环境科技有限公司 | All-in-one AI intelligent water environment-friendly real-time monitoring system |
| CN111122570A (en) * | 2019-12-13 | 2020-05-08 | 南京理工大学 | Iron and steel plant sewage discharge monitoring method and system based on unmanned aerial vehicle |
| CN111208574A (en) * | 2020-01-16 | 2020-05-29 | 南京理工大学 | Snow target searching method and device based on unmanned aerial vehicle |
| CN112087528A (en) * | 2020-09-29 | 2020-12-15 | 南昌工程学院 | Water environment intelligent monitoring system and method based on deep learning |
| CN113377126A (en) * | 2021-05-31 | 2021-09-10 | 湖北君邦环境技术有限责任公司 | Site survey stationing point location generation method, device, equipment and storage medium |
| CN116952880A (en) * | 2023-08-07 | 2023-10-27 | 江苏省环境科学研究院 | Detection system and detection method suitable for various media |
| CN117805109A (en) * | 2023-12-29 | 2024-04-02 | 江苏腾丰环保科技有限公司 | Water quality detection method and system based on texture feature recognition |
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| CN106875636A (en) * | 2017-04-05 | 2017-06-20 | 南京理工大学 | Blue algae monitoring method for early warning and system based on unmanned plane |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106875636A (en) * | 2017-04-05 | 2017-06-20 | 南京理工大学 | Blue algae monitoring method for early warning and system based on unmanned plane |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108038450A (en) * | 2017-12-14 | 2018-05-15 | 海安常州大学高新技术研发中心 | Marine pollution object detecting method based on unmanned plane and image recognition |
| CN108181923A (en) * | 2017-12-18 | 2018-06-19 | 广东技术师范学院 | Water head site environmental monitoring system and method based on unmanned plane |
| CN108408071A (en) * | 2018-01-31 | 2018-08-17 | 武汉理工大学 | Water pollution monitors system and method, monitoring system charge coil design method |
| CN108376460A (en) * | 2018-04-04 | 2018-08-07 | 武汉理工大学 | System and method is monitored based on unmanned plane and the oil pollution at sea of BP neural network |
| CN109631860A (en) * | 2018-12-27 | 2019-04-16 | 南京理工大学 | Reservoir house refuse monitoring method and system based on unmanned plane |
| CN110298640A (en) * | 2019-08-05 | 2019-10-01 | 软通动力信息技术有限公司 | A kind of lake information management system |
| CN110850489A (en) * | 2019-11-15 | 2020-02-28 | 南京理工大学 | Electromagnetic wave detection method and device for underground metal pipeline |
| CN110908394A (en) * | 2019-11-25 | 2020-03-24 | 桂林航天工业学院 | Maritime water pollution supervision unmanned aerial vehicle system and supervision method |
| CN111024695A (en) * | 2019-12-10 | 2020-04-17 | 山东星云环境科技有限公司 | All-in-one AI intelligent water environment-friendly real-time monitoring system |
| CN111122570A (en) * | 2019-12-13 | 2020-05-08 | 南京理工大学 | Iron and steel plant sewage discharge monitoring method and system based on unmanned aerial vehicle |
| CN111208574A (en) * | 2020-01-16 | 2020-05-29 | 南京理工大学 | Snow target searching method and device based on unmanned aerial vehicle |
| CN112087528A (en) * | 2020-09-29 | 2020-12-15 | 南昌工程学院 | Water environment intelligent monitoring system and method based on deep learning |
| CN112087528B (en) * | 2020-09-29 | 2023-09-19 | 南昌工程学院 | Intelligent water environment monitoring system and method based on deep learning |
| CN113377126A (en) * | 2021-05-31 | 2021-09-10 | 湖北君邦环境技术有限责任公司 | Site survey stationing point location generation method, device, equipment and storage medium |
| CN116952880A (en) * | 2023-08-07 | 2023-10-27 | 江苏省环境科学研究院 | Detection system and detection method suitable for various media |
| CN116952880B (en) * | 2023-08-07 | 2024-03-15 | 江苏省环境科学研究院 | Detection system and detection method suitable for various media |
| CN117805109A (en) * | 2023-12-29 | 2024-04-02 | 江苏腾丰环保科技有限公司 | Water quality detection method and system based on texture feature recognition |
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