CN110244011A - The river blowdown of unmanned plane monitors analyzing and alarming system automatically - Google Patents
The river blowdown of unmanned plane monitors analyzing and alarming system automatically Download PDFInfo
- Publication number
- CN110244011A CN110244011A CN201910557938.6A CN201910557938A CN110244011A CN 110244011 A CN110244011 A CN 110244011A CN 201910557938 A CN201910557938 A CN 201910557938A CN 110244011 A CN110244011 A CN 110244011A
- Authority
- CN
- China
- Prior art keywords
- image
- sewage
- module
- aerial vehicle
- unmanned aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000010865 sewage Substances 0.000 claims abstract description 138
- 238000001514 detection method Methods 0.000 claims abstract description 55
- 238000012544 monitoring process Methods 0.000 claims abstract description 50
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 43
- 238000005070 sampling Methods 0.000 claims abstract description 22
- 238000013507 mapping Methods 0.000 claims description 14
- 239000000126 substance Substances 0.000 claims description 10
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 8
- 229910052760 oxygen Inorganic materials 0.000 claims description 8
- 239000001301 oxygen Substances 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000001931 thermography Methods 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 5
- 238000003708 edge detection Methods 0.000 claims description 5
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 claims description 4
- XKMRRTOUMJRJIA-UHFFFAOYSA-N ammonia nh3 Chemical compound N.N XKMRRTOUMJRJIA-UHFFFAOYSA-N 0.000 claims description 4
- 229930002868 chlorophyll a Natural products 0.000 claims description 4
- ATNHDLDRLWWWCB-AENOIHSZSA-M chlorophyll a Chemical compound C1([C@@H](C(=O)OC)C(=O)C2=C3C)=C2N2C3=CC(C(CC)=C3C)=[N+]4C3=CC3=C(C=C)C(C)=C5N3[Mg-2]42[N+]2=C1[C@@H](CCC(=O)OC\C=C(/C)CCC[C@H](C)CCC[C@H](C)CCCC(C)C)[C@H](C)C2=C5 ATNHDLDRLWWWCB-AENOIHSZSA-M 0.000 claims description 4
- 239000011574 phosphorus Substances 0.000 claims description 4
- 229910052698 phosphorus Inorganic materials 0.000 claims description 4
- 230000002194 synthesizing effect Effects 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 239000003086 colorant Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000008239 natural water Substances 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000003556 assay Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
- G01N33/1806—Biological oxygen demand [BOD] or chemical oxygen demand [COD]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Medicinal Chemistry (AREA)
- Food Science & Technology (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Biodiversity & Conservation Biology (AREA)
- Biomedical Technology (AREA)
- Emergency Medicine (AREA)
- Molecular Biology (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention discloses a kind of river blowdowns of unmanned plane to monitor analyzing and alarming system automatically.Image Acquisition is carried out along Cours of river by the first image capture module and the second image capture module by unmanned plane in the system, corresponding first image in same geographical location and the second image are obtained, and the first image and the second image are sent to sewage draining exit detection module；Sewage draining exit detection module determines sewage draining exit according to the first image and the second image；Unmanned plane carries out sewage sampling to sewage draining exit by sampling module, to obtain the corresponding sewage sample of sewage draining exit；Water quality monitoring module is monitored the water quality of sewage sample, is more than preset threshold alarm in monitoring result.Wherein the advantage of sewage draining exit feature and unmanned plane is combined to identify the sewage draining exit along Cours of river, and water quality monitoring is carried out to the sewage sample of sewage draining exit, solve the problems, such as that artificial blowdown monitoring is not easy to find to hide sewage draining exit, the comprehensive monitoring early warning to river sewage draining exit is realized, environment supervisory efficiency is improved.
Description
Technical Field
The invention relates to the technical field of detection and analysis, in particular to an unmanned aerial vehicle river pollution discharge automatic monitoring, analyzing and early warning system.
Background
Environmental monitoring is an important component of environmental protection work, is the basis of environmental management, and with the rapid development of industrialization and urbanization in China, environmental protection is correspondingly and vigorously developed, so that the establishment of national environmental management basic capability needs to be accelerated urgently, and the environmental monitoring capability is improved.
The sewage discharge of the sewage discharge outlets and rivers is a dynamic change process, and the main way to master the sewage discharge condition of the rivers is to monitor the water quality of each sewage discharge outlet and each drainage basin in real time. The river pollution monitoring means in China still basically stop manual work to carry out on-site sampling, assay and water quality analysis on registered sewage outlets of enterprises regularly (or irregularly) at present under the limitation of factors such as technical level, economic conditions and the like, and the method is difficult to find unregistered shielded or immersed sewage outlets, easily delays pollution control time and further aggravates the pollution of a river basin.
Disclosure of Invention
The invention mainly aims to provide an unmanned aerial vehicle river pollution discharge automatic monitoring, analyzing and early warning system, and aims to solve the technical problem that a shielded or immersed sewage discharge outlet is not easy to find in the prior art when river pollution discharge monitoring is carried out manually, and further river basin pollution is easy to aggravate.
In order to achieve the aim, the invention provides an unmanned aerial vehicle river pollution discharge automatic monitoring, analyzing and early warning system, which comprises an unmanned aerial vehicle, a sewage discharge outlet detection module and a water quality monitoring module; a first image acquisition module, a second image acquisition module and a sampling module are carried on a tripod head of the unmanned aerial vehicle; wherein,
the unmanned aerial vehicle is used for acquiring images along a river route through the first image acquisition module and the second image acquisition module, acquiring a first image and a second image corresponding to the same geographic position, and sending the first image and the second image to the sewage outlet detection module;
the sewage outlet detection module is used for determining a sewage outlet according to the first image and the second image;
the unmanned aerial vehicle is also used for sampling sewage from the sewage discharge outlet through the sampling module so as to obtain a sewage sample corresponding to the sewage discharge outlet;
and the water quality monitoring module is used for detecting the water quality of the sewage sample and giving an alarm when the detection result exceeds a preset threshold value.
Preferably, the first image acquisition module comprises an infrared thermal imaging module, and the second image acquisition module comprises a visible light camera module.
Preferably, the sewage draining exit detecting module is further configured to obtain brightness information of the first image, and determine coordinate information of a suspected sewage draining exit area in the first image according to the brightness information;
the drain detection module is further configured to determine a mapping suspected drain area corresponding to the coordinate information in the second image, and determine a drain according to the mapping suspected drain area.
Preferably, the sewage draining exit detecting module is further configured to acquire brightness information of the first image, and perform edge detection on the first image according to the brightness information to determine coordinate information of a suspected sewage draining exit area in the first image.
Preferably, the drain detection module is further configured to perform chromaticity detection on the mapped suspected drain area to obtain a chromaticity value of the mapped suspected drain area, and compare the chromaticity value with a preset chromaticity table to determine the drain.
Preferably, the sampling module includes a lifting rope and a sampling cup, one end of the lifting rope is connected with the pan-tilt of the unmanned aerial vehicle, and the other end of the lifting rope is connected with the sampling cup.
Preferably, the unmanned aerial vehicle further comprises a GPS module, wherein the GPS module is used for acquiring the geographic position information of the unmanned aerial vehicle and synthesizing the geographic position information to the first image and the second image so as to determine the geographic position of the sewage draining exit.
Preferably, the sewage draining exit detection module and the unmanned aerial vehicle perform data transmission through at least one communication protocol of RS485, TTL and Zigbee.
Preferably, the water quality monitoring module comprises a water quality detection unit, an alarm unit and a display unit;
the water quality detection unit is used for detecting the water quality of the sewage sample to obtain a detection result;
the alarm unit is used for giving an alarm when the detection result exceeds a preset threshold value;
and the display unit is used for displaying the geographical position of the sewage outlet corresponding to the sewage sample when alarming.
Preferably, the water quality detection unit is further configured to detect at least one substance concentration of chlorophyll a concentration, ammonia nitrogen, elemental phosphorus, chemical oxygen demand, and five-day biochemical oxygen demand in the sewage sample, so as to obtain a detection result.
The unmanned aerial vehicle acquires images along a river route through the first image acquisition module and the second image acquisition module to obtain a first image and a second image corresponding to the same geographic position, and sends the first image and the second image to the sewage draining exit detection module; the sewage outlet detection module determines a sewage outlet according to the first image and the second image; the unmanned aerial vehicle samples sewage from the sewage outlets through the sampling module to obtain sewage samples corresponding to the sewage outlets; the water quality monitoring module monitors the water quality of the sewage sample and gives an alarm when the monitoring result exceeds a preset threshold value. Wherein the characteristic that combines drain sewage and unmanned aerial vehicle's advantage discerns the drain along the river course to carry out water quality monitoring to the sewage sample of drain, solved the difficult problem of hiding the drain of discovery of artifical blowdown monitoring, realized the comprehensive monitoring early warning to the river drain, improved environmental supervision efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a functional block diagram of an embodiment of an automatic river pollution discharge monitoring, analyzing and early warning system of an unmanned aerial vehicle according to the present invention;
FIG. 2 is a flow diagram illustrating the determination of a drain by the drain detection module in one embodiment.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides an unmanned aerial vehicle river pollution discharge automatic monitoring, analyzing and early warning system.
Referring to fig. 1, in an embodiment, the system for automatically monitoring, analyzing and warning river sewage discharge of the unmanned aerial vehicle includes an unmanned aerial vehicle 100, a sewage discharge outlet detection module 200, and a water quality monitoring module 300; a first image acquisition module 400, a second image acquisition module 500 and a sampling module 600 are carried on a tripod head of the unmanned aerial vehicle 100; the unmanned aerial vehicle 100 is configured to acquire images along a river route through the first image acquisition module 400 and the second image acquisition module 500, obtain a first image and a second image corresponding to the same geographic position, and send the first image and the second image to the sewage outlet detection module 200; the drain detection module 200 is configured to determine a drain according to the first image and the second image; the unmanned aerial vehicle 100 is further configured to sample sewage from the sewage outlet through the sampling module 600 to obtain a sewage sample corresponding to the sewage outlet; the water quality monitoring module 300 is configured to detect the water quality of the sewage sample, and alarm when a detection result exceeds a preset threshold.
It should be noted that, because the temperature of drain and the colour of sewage and natural water have obvious difference, temperature if the drain is generally higher than natural temperature, the colour of sewage can be different because of the pollutant composition that contains, consequently, carry on image acquisition module and sampling module through the cloud bench at unmanned aerial vehicle, discern the drain of river course, can confirm the drain in the river course fast, the problem of the difficult discovery hidden drain of artifical blowdown monitoring has been solved, the comprehensive monitoring early warning to river drain has been realized, the environment supervision efficiency has been improved.
Further, according to the characteristics of sewage in the sewage draining exit, the first image acquisition module 400 comprises an infrared thermal imaging module, and the second image acquisition module 500 comprises a visible light camera module.
In the specific implementation, the infrared thermal imaging module can convert invisible infrared radiation into visible images, the infrared radiation of an object is gathered on the detector through the lens, the detector generates electric signals, and the electric signals are amplified and digitized to the electronic processing part of the infrared thermal imaging module and then converted into the infrared images. The visible light camera module can obtain high-resolution images, and the drain can be visually interpreted or automatically identified by a computer through the visible light images, so that the drain is finally determined.
Referring to fig. 2, the process of determining the sewage draining exit by the sewage draining exit detecting module 200 includes the following steps:
s10, acquiring brightness information of the first image, and determining coordinate information of the suspected sewage outlet area in the first image according to the brightness information;
specifically, feature extraction is performed on each pixel of the first image to obtain brightness information of the first image, and edge detection is performed on the first image according to the brightness information to determine coordinate information of the suspected sewage drain area in the first image.
It should be noted that, because the brightness of the object in the image is different, the boundary generally has an obvious edge, and the boundary of the object can be obtained by using this feature, in this embodiment, because the temperature of the water at the sewage drain is generally higher than the natural temperature of the water, the brightness shown in the first image (infrared image) is significantly higher than that of the normal running water, and the coordinate information of the suspected sewage drain region in the first image can be obtained by performing edge detection on the region with significantly higher brightness.
It is easy to understand that, when performing edge detection, in order to accurately obtain a detection result, the method may be implemented by a sobel algorithm, a laplacian algorithm, or a Prewitt gradient algorithm, which is not limited by the embodiment.
And S20, determining a mapping suspected sewage outlet area corresponding to the coordinate information in the second image, and determining a sewage outlet according to the mapping suspected sewage outlet area.
It should be noted that, since the first image and the second image are images corresponding to the same geographic location, the features in the first image and the second image are in one-to-one correspondence, and the coordinates in the first image in the second image are also in one-to-one correspondence. And corresponding the coordinate information of the suspected sewage draining opening area in the first image to the second image, so as to obtain the corresponding mapped suspected sewage draining opening area in the second image. Because the second image is a high-resolution visible light image, the sewage draining exit can be determined by manually identifying the mapping suspected sewage draining exit area in the second image, and can also be determined by program automatic identification.
As an implementation manner, the colorimetric value of the mapped suspected sewage draining exit area in the second image may be obtained by performing colorimetric detection on the mapped suspected sewage draining exit area in the second image, and the colorimetric value is compared with a preset color table to determine the sewage draining exit.
It should be understood that, as the sewage discharged from various factories has different colors due to different contents of substances, the water in different sewage outlets can be subjected to colorimetric detection in advance, a preset color chart is established, and if the colorimetric value of the mapping suspected sewage outlet area in the second image is found in the preset color chart, it can be determined that the mapping suspected sewage outlet area has a sewage outlet.
Certainly, a chromaticity mapping table of sewage chromaticity and pollution type can be established, the sewage outlet and the pollution type can be determined according to the chromaticity mapping table, and river pollution discharge control can be conveniently and pertinently realized in time.
Because the water temperature of the sewage draining outlet is generally higher than the natural water temperature, the infrared thermal imaging module is used for obtaining the first image, and the suspected sewage draining outlet area can be conveniently detected according to the brightness information in the first image. And because various factories discharge sewage and lead to different colors of sewage because of different compositions of contained substances, the visible light camera module obtains the second image, and compares the chromaticity of the mapping suspected sewage outlet area in the second image with the preset chromaticity table to further determine the sewage outlet, so that the shielded or immersed sewage outlet which is difficult to be found manually can be identified, and the comprehensive monitoring of the sewage outlet is realized.
Referring to fig. 1, after the sewage outlet in the second image is determined, the river sewage automatic monitoring, analyzing and early warning system of the unmanned aerial vehicle may acquire the geographical location information of the unmanned aerial vehicle 100 through a GPS module (not shown), and synthesize the geographical location information to the first image and the second image to determine the geographical location of the sewage outlet.
It is easy to understand that the GPS module may be embedded into the drone 100, or may be mounted on the pan/tilt head of the drone together with the first image capturing module 400 and the second image capturing module 500, which is not limited in this embodiment.
Further, the sewage outlet detection module 200 and the unmanned aerial vehicle 100 perform data transmission through at least one communication protocol of RS485, TTL and Zigbee.
It should be understood that during the river pollution discharge monitoring process of the unmanned aerial vehicle, signal interruption may be caused by occlusion of mountains, forests and the like. Therefore, the stability of transmission and the storage and the return of data after signal interruption are one of the problems that the river pollution discharge monitoring unmanned aerial vehicle must solve.
In concrete implementation, unmanned aerial vehicle and ground equipment use the serial ports to carry out the communication as the equipment interface usually, and the hardware form has TTL, 485 etc. in order to ensure the stability of transmission, consider that the Zigbee agreement can realize stable wireless transmission, and transmission distance can reach 1.6Km (visible, open ground) the farthest, in this embodiment drain detection module 200 can also choose the Zigbee agreement communication with unmanned aerial vehicle 100, transmit picture data with wireless mode.
Further, unmanned aerial vehicle's river blowdown automatic monitoring analysis early warning system can sample the sewage of drain through sampling module 600, sampling module 600 includes lifting rope and sample cup (not shown), lifting rope's one end with unmanned aerial vehicle 100's cloud platform is connected, lifting rope's the other end with sample cup connects, through lifting rope and sample cup, and not only the cost is lower, can acquire the sewage of the drain of arbitrary topography convenient and fast moreover.
Further, after the sewage of the sewage draining exit is sampled, the river sewage automatic monitoring, analyzing and early warning system of the unmanned aerial vehicle can detect and treat the water quality of the sewage through the water quality monitoring module 300. Specifically, the water quality monitoring module 300 comprises a water quality detection unit 301, an alarm unit 302 and a display unit 303; the water quality detection unit 301 is configured to detect the water quality of the sewage sample to obtain a detection result; the alarm unit 302 is configured to alarm when the detection result exceeds a preset threshold; and the display unit 303 is used for displaying the geographical position of the sewage outlet corresponding to the sewage sample when alarming.
It should be noted that the alarm unit 302 may be a buzzer or an alarm lamp, and alarm when the detection result exceeds the standard, so as to remind the user to treat the sewage outlet in time. The display unit 303 can be an LED display screen, and can be used for displaying the geographical position of the drain corresponding to the sewage sample whose detection result exceeds the standard, so as to provide a basis for the treatment of the drain.
Further, the water quality detection unit 301 is further configured to detect at least one substance concentration of chlorophyll a concentration, ammonia nitrogen, elemental phosphorus, chemical oxygen demand, and five-day biochemical oxygen demand in the sewage sample, so as to obtain a detection result.
It is easy to understand that according to the regulations of the integrated wastewater discharge standard GB8978-1996 in the people's republic of China, typical pollutants in a sewage discharge outlet mainly comprise: chlorophyll a concentration, ammonia nitrogen, elemental phosphorus, chemical oxygen demand, five-day biochemical oxygen demand and the like. The embodiment can select the concentration of one or more substances as the water quality parameter to perform data processing according to the user requirement, and has the characteristics of wide monitoring range and multiple parameters.
In the embodiment, the unmanned aerial vehicle acquires images according to a river course through the first image acquisition module and the second image acquisition module, obtains a first image and a second image corresponding to the same geographic position, and sends the first image and the second image to the sewage outlet detection module; the sewage outlet detection module determines a sewage outlet according to the first image and the second image; the unmanned aerial vehicle samples sewage from the sewage outlets through the sampling module to obtain sewage samples corresponding to the sewage outlets; the water quality monitoring module monitors the water quality of the sewage sample and gives an alarm when the monitoring result exceeds a preset threshold value. Wherein the temperature and the colour characteristics that combine drain sewage and unmanned aerial vehicle's advantage discern the drain of following river course to carry out water quality monitoring to the sewage sample of drain, provide visual drain positional information, solved the difficult problem of discovering hidden drain of artifical blowdown monitoring, provide direct evidence for environmental protection law enforcement etc. has realized the comprehensive monitoring early warning to the river drain, has improved environmental supervision efficiency.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle river pollution discharge automatic monitoring, analyzing and early warning system is characterized by comprising an unmanned aerial vehicle, a pollution discharge outlet detection module and a water quality monitoring module; a first image acquisition module, a second image acquisition module and a sampling module are carried on a tripod head of the unmanned aerial vehicle; wherein,
the unmanned aerial vehicle is used for acquiring images along a river route through the first image acquisition module and the second image acquisition module, acquiring a first image and a second image corresponding to the same geographic position, and sending the first image and the second image to the sewage outlet detection module;
the sewage outlet detection module is used for determining a sewage outlet according to the first image and the second image;
the unmanned aerial vehicle is also used for sampling sewage from the sewage discharge outlet through the sampling module so as to obtain a sewage sample corresponding to the sewage discharge outlet;
and the water quality monitoring module is used for detecting the water quality of the sewage sample and giving an alarm when the detection result exceeds a preset threshold value.
2. The unmanned aerial vehicle river discharge automatic monitoring, analyzing and early warning system as claimed in claim 1, wherein the first image acquisition module comprises an infrared thermal imaging module, and the second image acquisition module comprises a visible light camera module.
3. The system of claim 2, wherein the sewage outlet detection module is further configured to obtain brightness information of the first image, and determine coordinate information of a suspected sewage outlet region in the first image according to the brightness information;
the drain detection module is further configured to determine a mapping suspected drain area corresponding to the coordinate information in the second image, and determine a drain according to the mapping suspected drain area.
4. The system of claim 3, wherein the sewage draining exit detection module is further configured to obtain brightness information of the first image, and perform edge detection on the first image according to the brightness information to determine coordinate information of a suspected sewage draining exit area in the first image.
5. The unmanned aerial vehicle's river blowdown automatic monitoring analysis early warning system of claim 4, characterized in that, drain detection module is still used for carrying out chroma detection to the suspected drain region of mapping, obtains the chroma value of the suspected drain region of mapping, and compares the chroma value with preset chroma table to confirm the drain.
6. The system of any one of claims 1 to 5, wherein the sampling module comprises a lifting rope and a sampling cup, one end of the lifting rope is connected to the pan-tilt head of the unmanned aerial vehicle, and the other end of the lifting rope is connected to the sampling cup.
7. The system of claim 6, further comprising a GPS module for obtaining the geographical location information of the UAV and synthesizing the geographical location information onto the first image and the second image to determine the geographical location of the sewage outlet.
8. The system of claim 7, wherein the sewage outlet detection module and the unmanned aerial vehicle perform data transmission via at least one communication protocol selected from the group consisting of RS485, TTL and Zigbee.
9. The automatic river pollution discharge monitoring, analyzing and early warning system of the unmanned aerial vehicle as claimed in claim 8, wherein the water quality monitoring module comprises a water quality detection unit, an alarm unit and a display unit;
the water quality detection unit is used for detecting the water quality of the sewage sample to obtain a detection result;
the alarm unit is used for giving an alarm when the detection result exceeds a preset threshold value;
and the display unit is used for displaying the geographical position of the sewage outlet corresponding to the sewage sample when alarming.
10. The unmanned aerial vehicle river pollution discharge automatic monitoring, analyzing and early warning system as claimed in claim 9, wherein the water quality detection unit is further configured to detect at least one substance concentration of chlorophyll a concentration, ammonia nitrogen, elemental phosphorus, chemical oxygen demand and five-day biochemical oxygen demand in the sewage sample to obtain a detection result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910557938.6A CN110244011A (en) | 2019-06-26 | 2019-06-26 | The river blowdown of unmanned plane monitors analyzing and alarming system automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910557938.6A CN110244011A (en) | 2019-06-26 | 2019-06-26 | The river blowdown of unmanned plane monitors analyzing and alarming system automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110244011A true CN110244011A (en) | 2019-09-17 |
Family
ID=67889488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910557938.6A Pending CN110244011A (en) | 2019-06-26 | 2019-06-26 | The river blowdown of unmanned plane monitors analyzing and alarming system automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110244011A (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110780049A (en) * | 2019-11-05 | 2020-02-11 | 南京江岛环境科技研究院有限公司 | Intelligent management system for water environment of river and lake watershed |
| CN110824127A (en) * | 2019-10-23 | 2020-02-21 | 军事科学院军事医学研究院环境医学与作业医学研究所 | Intelligent unmanned aerial vehicle water quality monitoring cruise operation monitoring and alarm control method |
| CN110865418A (en) * | 2019-12-05 | 2020-03-06 | 重庆商勤科技有限公司 | Sewage illegal discharge monitoring method and device and computer readable storage medium |
| CN111103414A (en) * | 2019-12-18 | 2020-05-05 | 上一环境科技（金华）有限公司 | Intelligent river channel supervision system |
| CN111351908A (en) * | 2020-03-04 | 2020-06-30 | 深圳市宇驰检测技术股份有限公司 | Aquatic ecology investigation method based on robot, underwater robot and storage medium |
| CN111582139A (en) * | 2020-04-30 | 2020-08-25 | 北京百度网讯科技有限公司 | Sewage outlet identification method and device, electronic equipment and storage medium |
| CN112485329A (en) * | 2020-11-27 | 2021-03-12 | 重庆商勤科技有限公司 | Method, device and system for detecting sewage draining outlet based on combination of thermal imaging and ultrasound |
| CN112505278A (en) * | 2020-11-30 | 2021-03-16 | 深圳市联正通达科技有限公司 | Sampling formula sewage control analytical equipment |
| CN112987751A (en) * | 2021-03-18 | 2021-06-18 | 南京理工大学 | System and method for quickly detecting hidden sewage draining outlet in automatic cruising mode |
| CN113138429A (en) * | 2021-05-12 | 2021-07-20 | 生态环境部华南环境科学研究所 | Drain investigation device |
| CN113220015A (en) * | 2021-04-08 | 2021-08-06 | 生态环境部华南环境科学研究所 | Method for checking and monitoring sewage draining exit by utilizing optical and infrared thermal imaging |
| CN113221657A (en) * | 2021-04-13 | 2021-08-06 | 深圳中科保泰科技有限公司 | Air AI acquisition and investigation early warning method and device for water bank event |
| CN113238234A (en) * | 2021-06-22 | 2021-08-10 | 生态环境部华南环境科学研究所 | Underwater sewage outlet identification method based on underwater sonar identification |
| CN113259629A (en) * | 2021-05-12 | 2021-08-13 | 生态环境部华南环境科学研究所 | Sewage outlet investigation workload distribution system |
| CN113259586A (en) * | 2021-04-08 | 2021-08-13 | 生态环境部华南环境科学研究所 | Infrared identification unmanned aerial vehicle device to blowdown under water |
| CN113485410A (en) * | 2021-06-10 | 2021-10-08 | 广州资源环保科技股份有限公司 | Method and device for searching sewage source |
| CN114660309A (en) * | 2022-05-24 | 2022-06-24 | 江西省天轴通讯有限公司 | Autonomous evidence obtaining detection method and system for real-time monitoring supervision area |
| CN115290842A (en) * | 2022-09-28 | 2022-11-04 | 四川省水利科学研究院 | River health condition monitoring device, system and method |
| CN117291910A (en) * | 2023-11-23 | 2023-12-26 | 广东广宇科技发展有限公司 | River and lake pollution discharge motion capturing method based on unmanned aerial vehicle image acquisition |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104656532A (en) * | 2015-01-19 | 2015-05-27 | 环境保护部卫星环境应用中心 | Water source pollution source monitoring method and water source pollution source monitoring system based on unmanned aerial vehicle |
| CN105488941A (en) * | 2016-01-15 | 2016-04-13 | 中林信达（北京）科技信息有限责任公司 | Double-spectrum forest fire disaster monitoring method and double-spectrum forest fire disaster monitoring device based on infrared-visible light image |
| CN205472721U (en) * | 2016-01-15 | 2016-08-17 | 天津光电华典科技有限公司 | Intelligent monitoring based sewage treatment system |
| CN105852819A (en) * | 2016-03-23 | 2016-08-17 | 深圳云天励飞技术有限公司 | Body temperature monitoring method and device |
| CN205750502U (en) * | 2016-05-16 | 2016-11-30 | 山东圣文环保科技有限公司 | A kind of can management and control blowdown monitoring system |
| CN205958565U (en) * | 2016-07-28 | 2017-02-15 | 天机智汇科技（深圳）有限公司 | Blowdown forensics system |
| CN206489147U (en) * | 2017-03-03 | 2017-09-12 | 山东省环境保护科学研究设计院 | A kind of wastewater parameters are servo-actuated monitoring device |
| CN108871871A (en) * | 2018-08-15 | 2018-11-23 | 河南建业环境科技有限公司 | The full water route rinse surface water quality of coiled samples double light unmanned planes |
| CN109030765A (en) * | 2018-08-16 | 2018-12-18 | 吴秋雨 | A kind of agriculture ditch polluted water detection system based on big data |
| CN109147259A (en) * | 2018-11-20 | 2019-01-04 | 武汉理工光科股份有限公司 | A kind of remote fire detection system and method based on video image |
| CN109905644A (en) * | 2017-12-08 | 2019-06-18 | 孟思宏 | A kind of sewage treatment plant's monitor video intellectual analysis early warning platform |
-
2019
- 2019-06-26 CN CN201910557938.6A patent/CN110244011A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104656532A (en) * | 2015-01-19 | 2015-05-27 | 环境保护部卫星环境应用中心 | Water source pollution source monitoring method and water source pollution source monitoring system based on unmanned aerial vehicle |
| CN105488941A (en) * | 2016-01-15 | 2016-04-13 | 中林信达（北京）科技信息有限责任公司 | Double-spectrum forest fire disaster monitoring method and double-spectrum forest fire disaster monitoring device based on infrared-visible light image |
| CN205472721U (en) * | 2016-01-15 | 2016-08-17 | 天津光电华典科技有限公司 | Intelligent monitoring based sewage treatment system |
| CN105852819A (en) * | 2016-03-23 | 2016-08-17 | 深圳云天励飞技术有限公司 | Body temperature monitoring method and device |
| CN205750502U (en) * | 2016-05-16 | 2016-11-30 | 山东圣文环保科技有限公司 | A kind of can management and control blowdown monitoring system |
| CN205958565U (en) * | 2016-07-28 | 2017-02-15 | 天机智汇科技（深圳）有限公司 | Blowdown forensics system |
| CN206489147U (en) * | 2017-03-03 | 2017-09-12 | 山东省环境保护科学研究设计院 | A kind of wastewater parameters are servo-actuated monitoring device |
| CN109905644A (en) * | 2017-12-08 | 2019-06-18 | 孟思宏 | A kind of sewage treatment plant's monitor video intellectual analysis early warning platform |
| CN108871871A (en) * | 2018-08-15 | 2018-11-23 | 河南建业环境科技有限公司 | The full water route rinse surface water quality of coiled samples double light unmanned planes |
| CN109030765A (en) * | 2018-08-16 | 2018-12-18 | 吴秋雨 | A kind of agriculture ditch polluted water detection system based on big data |
| CN109147259A (en) * | 2018-11-20 | 2019-01-04 | 武汉理工光科股份有限公司 | A kind of remote fire detection system and method based on video image |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110824127A (en) * | 2019-10-23 | 2020-02-21 | 军事科学院军事医学研究院环境医学与作业医学研究所 | Intelligent unmanned aerial vehicle water quality monitoring cruise operation monitoring and alarm control method |
| CN110780049A (en) * | 2019-11-05 | 2020-02-11 | 南京江岛环境科技研究院有限公司 | Intelligent management system for water environment of river and lake watershed |
| CN110865418A (en) * | 2019-12-05 | 2020-03-06 | 重庆商勤科技有限公司 | Sewage illegal discharge monitoring method and device and computer readable storage medium |
| CN111103414A (en) * | 2019-12-18 | 2020-05-05 | 上一环境科技（金华）有限公司 | Intelligent river channel supervision system |
| CN111351908A (en) * | 2020-03-04 | 2020-06-30 | 深圳市宇驰检测技术股份有限公司 | Aquatic ecology investigation method based on robot, underwater robot and storage medium |
| CN111582139B (en) * | 2020-04-30 | 2023-08-04 | 北京百度网讯科技有限公司 | Sewage outlet identification method and device, electronic equipment and storage medium |
| CN111582139A (en) * | 2020-04-30 | 2020-08-25 | 北京百度网讯科技有限公司 | Sewage outlet identification method and device, electronic equipment and storage medium |
| CN112485329A (en) * | 2020-11-27 | 2021-03-12 | 重庆商勤科技有限公司 | Method, device and system for detecting sewage draining outlet based on combination of thermal imaging and ultrasound |
| CN112485329B (en) * | 2020-11-27 | 2024-01-26 | 重庆商勤科技有限公司 | Method, device and system for detecting sewage outlet based on combination of thermal imaging and ultrasound |
| CN112505278A (en) * | 2020-11-30 | 2021-03-16 | 深圳市联正通达科技有限公司 | Sampling formula sewage control analytical equipment |
| CN112505278B (en) * | 2020-11-30 | 2024-05-17 | 福建钱江水务有限公司 | Sampling type sewage monitoring and analyzing equipment |
| CN112987751A (en) * | 2021-03-18 | 2021-06-18 | 南京理工大学 | System and method for quickly detecting hidden sewage draining outlet in automatic cruising mode |
| CN112987751B (en) * | 2021-03-18 | 2022-10-11 | 中冶华天工程技术有限公司 | Rapid detection system and method of hidden sewage outlet for automatic cruise |
| CN113220015A (en) * | 2021-04-08 | 2021-08-06 | 生态环境部华南环境科学研究所 | Method for checking and monitoring sewage draining exit by utilizing optical and infrared thermal imaging |
| CN113259586A (en) * | 2021-04-08 | 2021-08-13 | 生态环境部华南环境科学研究所 | Infrared identification unmanned aerial vehicle device to blowdown under water |
| CN113221657A (en) * | 2021-04-13 | 2021-08-06 | 深圳中科保泰科技有限公司 | Air AI acquisition and investigation early warning method and device for water bank event |
| CN113221657B (en) * | 2021-04-13 | 2024-04-26 | 深圳块织类脑智能科技有限公司 | Air AI (advanced technology attachment) acquisition and early warning method and device for water bank event |
| CN113259629A (en) * | 2021-05-12 | 2021-08-13 | 生态环境部华南环境科学研究所 | Sewage outlet investigation workload distribution system |
| CN113138429A (en) * | 2021-05-12 | 2021-07-20 | 生态环境部华南环境科学研究所 | Drain investigation device |
| CN113485410A (en) * | 2021-06-10 | 2021-10-08 | 广州资源环保科技股份有限公司 | Method and device for searching sewage source |
| CN113238234A (en) * | 2021-06-22 | 2021-08-10 | 生态环境部华南环境科学研究所 | Underwater sewage outlet identification method based on underwater sonar identification |
| CN114660309A (en) * | 2022-05-24 | 2022-06-24 | 江西省天轴通讯有限公司 | Autonomous evidence obtaining detection method and system for real-time monitoring supervision area |
| CN115290842B (en) * | 2022-09-28 | 2023-01-03 | 四川省水利科学研究院 | River health condition monitoring device, system and method |
| CN115290842A (en) * | 2022-09-28 | 2022-11-04 | 四川省水利科学研究院 | River health condition monitoring device, system and method |
| CN117291910A (en) * | 2023-11-23 | 2023-12-26 | 广东广宇科技发展有限公司 | River and lake pollution discharge motion capturing method based on unmanned aerial vehicle image acquisition |
| CN117291910B (en) * | 2023-11-23 | 2024-04-09 | 广东广宇科技发展有限公司 | River and lake pollution discharge motion capturing method based on unmanned aerial vehicle image acquisition |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110244011A (en) | The river blowdown of unmanned plane monitors analyzing and alarming system automatically | |
| CN106303398B (en) | Monitoring method, server, system and image collecting device | |
| CN105390021B (en) | The detection method and device of parking space state | |
| RU2380758C2 (en) | Method and device for smoke detection | |
| CN101599175B (en) | Detection method for determining alteration of shooting background and image processing device | |
| JP2000222673A (en) | Vehicle color discriminating device | |
| JP5298969B2 (en) | Dust measuring device and generation source estimation method | |
| KR101726786B1 (en) | System and method for real-time fire detection using color information of the image | |
| CN109690639A (en) | Image processing device, image processing system, image processing program and label | |
| KR101204259B1 (en) | A method for detecting fire or smoke | |
| KR20220085235A (en) | Ocean water pollution measurement and monitoring system | |
| CN110751645B (en) | An oil spill monitoring system and method at an oil terminal | |
| CN108051442A (en) | A kind of water quality recognition methods and water quality identifying system based on intelligent terminal | |
| CN109643482A (en) | Use the smoke detection system and method for camera | |
| CN101315326B (en) | Smoke detection method and device | |
| CN101930540A (en) | Video-based multi-feature fusion flame detecting device and method | |
| TWI481824B (en) | Method of water level surveillance | |
| EP3665512B1 (en) | Real-time computation of an atmospheric precipitation rate from a digital image of an environment where an atmospheric precipitation is taking place | |
| CN112949536B (en) | Fire alarm method based on cloud platform | |
| Habal et al. | An Experimental Approach on Detecting and Measuring Waterbody through Image Processing Techniques | |
| CN118397475A (en) | Forest fire intelligent monitoring method based on remote sensing image | |
| CN207149028U (en) | A kind of fire monitoring device | |
| CN216669729U (en) | Water quality monitoring device | |
| CN110533874A (en) | A kind of detection method and device of fire | |
| CN108985144B (en) | Efficient low-cost image fire automatic identification method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190917 |