CN113933871B - Flood disaster detection system based on UAV and Beidou positioning - Google Patents

Abstract

The invention provides a flood disaster detection system based on unmanned aerial vehicles and Beidou positioning, which uses unmanned aerial vehicles to conduct flight inspections on target areas, and during the flight inspections, through Beidou positioning equipment and ultrasonic ranging equipment, any location in the target area Perform positioning and ranging to determine the RTK coordinate data of any location and the height data between the UAV and the ground or water surface, and then generate the control data of the water level height change at any location in the target area before and after the flood, so that through The man-machine can conduct comprehensive water level monitoring and position calibration of the target area, so as to automatically obtain the data of the water level at different locations, so as to ensure the comprehensiveness and intelligence of flood disaster detection and improve the accuracy of water level height detection.

Description

Flood disaster detection system based on UAV and Beidou positioning

technical field

The invention relates to the technical field of UAV monitoring, in particular to a flood disaster detection system based on UAV and Beidou positioning.

Background technique

As the global climate warms, the frequency of extreme weather such as torrential rains and typhoons increases, and floods occur frequently in roughly localized areas. In order to monitor the water level before and after the flood, in the past, the water level of the affected areas was measured one by one by manual survey. This method not only needs a lot of manpower, material resources and time, but also has low measurement efficiency and great safety hazards. Hidden danger. In addition, the water level height data obtained through manual surveys needs to be manually entered and processed to truly reflect the water level at different locations in the disaster-stricken area, which seriously reduces the intelligence of flood disaster detection. Also be unfavorable for carrying out rescue in time and fast at different water level high and low areas.

Contents of the invention

Aiming at the defects in the prior art, the present invention provides a flood disaster detection system based on UAV and Beidou positioning, which includes ground control terminal, UAV, Beidou positioning equipment, ultrasonic ranging equipment, data storage equipment and data processing equipment , and use the Beidou positioning equipment to determine the RTK coordinate data of the UAV hovering at any place during its flight over the target area. The water surface emits and receives ultrasonic waves, so as to determine the height data between the UAV and the ground or water surface in the target area before and after the flood, and then use the data storage device and data processing device to store and process the RTK coordinate data and height data and use them respectively, so that Determine the comparison data of water level changes before and after the flood at any point in the target area; it can be seen that the flood disaster detection system based on drones and Beidou positioning uses drones to conduct flight inspections of the target area, and during the flight inspection process through Beidou Positioning equipment and ultrasonic ranging equipment, positioning and ranging at any point in the target area, so as to determine the RTK coordinate data of any point and the height data between the UAV and the ground or water surface, and then generate any point in the target area The data of water level height changes before and after the flood, so that the drone can conduct comprehensive water level monitoring and position calibration of the target area, so as to automatically obtain the data of water level at different positions, so as to ensure the comprehensiveness and intelligence of flood disaster detection. And improve the accuracy of water level detection.

The present invention provides a flood disaster detection system based on UAV and Beidou positioning, which is characterized in that it includes a ground control terminal, UAV, Beidou positioning equipment, ultrasonic ranging equipment, data storage equipment and data processing equipment;

The ground control terminal is wirelessly connected to the UAV to control the flight status of the UAV;

The Beidou positioning device is used to determine the RTK coordinate data of the unmanned aerial vehicle hovering and docking at any place during the flight over the target area;

The ultrasonic distance measuring device is set on the UAV, and it is used to transmit and receive ultrasonic waves to the ground or water surface of the corresponding location when the UAV is hovering at any location, so as to determine whether the target area is in a flood disaster or not. Height data between the UAV and the ground or water surface before and after the occurrence;

The data storage device is respectively connected with the Beidou positioning device and the ultrasonic ranging device for storing the RTK coordinate data and the height data;

The data processing device is connected to the data storage device, which is used to process the RTK coordinate data and the height data, so as to determine the comparison data of water level height changes at any place in the target area before and after the flood;

Further, the ground control terminal includes a touch control panel and a cellular network router;

The drone includes a cellular network signal receiver and a flight controller;

The touch control panel is connected to the cellular network router, and is used to send a flight control command signal to the drone through the cellular network router; wherein, the flight control command signal includes a flight path control command, a flight height at least one of control commands and flight speed control commands;

The cellular network signal receiver is used to receive the flight control instruction signal, so that the flight controller adjusts the flight path, flight height and flight speed of the drone over the target area according to the flight control instruction signal at least one of

Further, the drone also includes a cellular network signal strength identifier;

The cellular network signal strength recognizer is used to detect the signal strength of the flight control command signal, and compare the signal strength with a preset signal strength threshold;

The flight controller is used to change the flight state of the drone according to the comparison result:

When the signal strength is greater than or equal to a preset signal strength threshold, instruct the UAV to continue flying along the current flight path;

When the signal strength is less than a preset signal strength threshold, instruct the UAV to stop flying;

Further, the Beidou positioning equipment includes a positioning reference base station and a positioning mobile base station;

The positioning reference base station is set on the ground control terminal, and the positioning mobile base station is set on the UAV;

Both the positioning reference base station and the positioning mobile base station are connected to Beidou satellites, thereby obtaining respective real-time Beidou satellite positioning data of the ground control terminal and the UAV;

Further, the Beidou positioning device also includes a positioning data processor;

The positioning data processor is respectively connected with the positioning reference base station and the positioning mobile base station;

The positioning data processor is used to analyze the respective real-time Beidou satellite positioning data of the ground control terminal and the UAV, so as to determine the RTK coordinate data of the UAV floating and docking at any place during the flight over the target area ;

Further, the ultrasonic ranging device includes an ultrasonic transmitter, an ultrasonic receiver and a timer;

The ultrasonic transmitter is used to emit ultrasonic waves to the ground or water surface of the corresponding place when the UAV hovers and docks at any place before and after the flood;

The ultrasonic receiver is used to receive the ultrasonic waves reflected by the ground or water surface of the corresponding place when the UAV hovers and docks at any place before and after the flood;

The timer is used to record the first moment when the ultrasonic transmitter emits ultrasonic waves, and record the second moment when the ultrasonic receiver receives ultrasonic waves;

Further, the ultrasonic distance measuring device also includes a distance calculator;

The distance calculator is used to determine the height data between the UAV and the ground or water surface at any point in the target area before and after the flood according to the time difference between the second moment and the first moment;

Further, the data storage device includes a data storage and a data interactive transmitter;

The data acquisition transmitter is wirelessly connected with the Beidou positioning device and the ultrasonic distance measuring device respectively;

The data interaction transmitter periodically sends data acquisition instructions to the Beidou positioning device and the ultrasonic distance measuring device respectively;

The Beidou positioning device and the ultrasonic distance measuring device are used to periodically upload the RTK coordinate data and the height data to the data interaction transmitter in response to the data acquisition instruction;

The data interactive transmitter also stores the RTK coordinate data and the height data in the data memory;

Further, the data processing device includes a water level calculation and calibration unit and a water level change calculation unit;

The water level calculation and calibration unit is used to generate a water level comparison data table after the flood at any location in the target area according to the RTK coordinate data and the height data between the drone and the ground or the water surface after the flood;

The water level change calculation unit is used to generate a water level change comparison data table before and after the flood at any location in the target area according to the RTK coordinate data and the height data between the drone and the ground or the water surface before and after the flood;

The data processing device also includes a cloud server;

The cloud server is used to upload the water level height comparison data table and the water level change comparison data table to the cloud data terminal, so as to realize data table sharing.

Further, when the UAV is flying over the target area, use the infrared camera sensor in the camera equipment of the UAV to perform human body feature recognition, so as to determine whether there is a trapped person in the target area; if it is determined that there is a trapped person , then instruct the drone to hover above the trapped person, upload the RTK coordinate data corresponding to the current hovering dock of the drone to the cloud data terminal and trigger an alarm signal through the Beidou positioning device; if the trapped person is determined As the flood moves, the UAV is instructed to adjust the flight status in real time and track the trapped personnel and upload the RTK coordinate data corresponding to the trapped personnel to the cloud data terminal. When there are multiple trapped personnel in the target area, then Prioritize the tracking of the trapped person closest to the drone, which specifically includes:

Step S1, instructing the UAV to first fly above the target area, and rise to a height where the camera equipment can completely cover and shoot the entire range of the target area, and then use the infrared camera sensor in the camera device to shoot the target area, to Then the infrared image corresponding to the target area is obtained, and then by performing human body feature recognition on the infrared image and using the red rectangular frame to frame the recognized human body, the pixel point where the center point of the red rectangular frame is located is the subject The pixel coordinates of the trapped person on the infrared image,

Using the following formula (1), according to the pixel coordinate points on the infrared image, determine the trapped person closest to the drone,

In the above formula (1), S _min represents the image distance between the central point position of the drone in the infrared image and the trapped person closest to the center point of the drone in the infrared image; (i _a , j _a ) represents the pixel coordinate point of the a-th trapped person, that is, the center point of the a-th trapped person is in the i _a row and the j _a column in the infrared image; K represents the trapped person's position identified on the infrared image Total number; n represents the number of pixels contained in each column of pixels in the infrared image; m represents the number of pixels contained in each row of pixels in the infrared image;

According to the image distance between the central point position of the UAV in the infrared image and the trapped person closest to the center point of the UAV in the infrared image, the closest distance to the UAV in the actual environmental space can be determined. For the trapped person, the corresponding pixel coordinate point is the pixel coordinate point of the trapped person closest to the drone, and it is recorded as (i _{a, min} , j _{a, min} );

When the trapped person closest to the drone is determined, the drone is instructed to move so that the drone follows the corresponding trapped person at all times according to the trapped person closest to the drone;

Step S2, using the following formula (2), according to the pixel coordinate point of the trapped person closest to the drone, determine the direction of movement of the drone,

In the above formula (2), θ(t) represents the direction in which the drone needs to move at the current moment. If θ(t)>0, the drone needs to turn clockwise at the current moment |θ(t)| Move forward until it moves to θ(t)=0, if θ(t)<0, the drone needs to turn counterclockwise at the current moment |θ(t)| angle and then move forward until it moves to θ(t) =0, if θ(t)=0, the UAV needs to stop moving and hover at the current position at the current moment; t represents the current moment; (i _a,min (t),ja _,min (t)) represents The pixel coordinate point of the trapped person closest to the drone at the current moment; || means to take the absolute value operation;

Step S3, when the drone is always tracking above the trapped person, use the following formula (3) to control the flying height of the drone according to the size of the red rectangle corresponding to the trapped person closest to the drone , so that the size of the image captured by the camera equipment of the UAV is twice the size of the red rectangle corresponding to the trapped person closest to the UAV, so as to track and observe the trapped person closest to the UAV ,

In the above formula (3), ΔH(t) indicates the height value that the drone needs to change at the current moment. If ΔH(t)<0, it indicates that the drone needs to rise to the height value of |ΔH(t)|, If ΔH(t)>0, it indicates that the UAV needs to drop the height value of |ΔH(t)|; H(t) represents the height value of the UAV at the current moment; p _a,min (t) represents the current The trapped person closest to the drone at any time corresponds to the number of pixels contained in the selected red rectangle in the horizontal direction; q _a,min (t) indicates that the trapped person closest to the drone at the current moment corresponds to The number of pixels included in the vertical direction of the selected red rectangle.

Compared with the existing technology, the flood disaster detection system based on drones and Beidou positioning uses drones to conduct flight inspections of the target area, and during the flight inspection process, the Beidou positioning equipment and ultrasonic ranging equipment are used to detect the location of the target area. Positioning and ranging at any point, so as to determine the RTK coordinate data of any point and the height data between the UAV and the ground or water surface, and then generate the comparison data of water level changes at any point in the target area before and after the flood, so that UAVs can conduct comprehensive water level monitoring and position calibration of the target area to automatically obtain the data of water level at different locations, so as to ensure the comprehensiveness and intelligence of flood disaster detection and improve the accuracy of water level detection.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of a flood disaster detection system based on UAV and Beidou positioning provided by the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Referring to FIG. 1 , it is a schematic structural diagram of a flood disaster detection system based on UAV and Beidou positioning provided by an embodiment of the present invention. The flood disaster detection system based on UAV and Beidou positioning includes ground control terminal, UAV, Beidou positioning equipment, ultrasonic ranging equipment, data storage equipment and data processing equipment;

The ground control terminal is wirelessly connected to the UAV to control the flight status of the UAV;

The Beidou positioning device is used to determine the RTK coordinate data of the UAV floating and docking at any place during the flight over the target area;

The ultrasonic ranging device is set on the UAV, and it is used to transmit and receive ultrasonic waves to the ground or water surface of the corresponding location when the UAV is hovering at any location, so as to determine that there is no one in the target area before and after the flood. Height data between the aircraft and the ground or water surface;

The data storage device is respectively connected with the Beidou positioning device and the ultrasonic ranging device for storing the RTK coordinate data and the height data;

The data processing device is connected with the data storage device, and is used for processing the RTK coordinate data and the height data, so as to determine the comparison data of water level height changes at any point in the target area before and after the flood.

The beneficial effect of the above-mentioned technical solution is: the flood disaster detection system based on the UAV and Beidou positioning uses the UAV to conduct flight inspections on the target area, and during the flight inspection process, the Beidou positioning equipment and ultrasonic ranging equipment, the target area Positioning and ranging at any location, so as to determine the RTK coordinate data of any location and the height data between the UAV and the ground or water surface, and then generate the control data of water level changes at any location in the target area before and after the flood, In this way, the UAV can carry out comprehensive water level monitoring and position calibration on the target area, so as to automatically obtain the data of the water level in different positions, so as to ensure the comprehensiveness and intelligence of flood disaster detection and improve the accuracy of water level detection.

Preferably, the ground control terminal includes a touch control panel and a cellular network router;

The drone includes a cellular network signal receiver and a flight controller;

The touch control panel is connected with the cellular network routing, and it is used to send flight control instruction signals to the drone through the cellular network routing; wherein, the flight control instruction signals include flight path control instructions, flight height control instructions and flight speed at least one of the control instructions;

The cellular network signal receiver is used for receiving the flight control instruction signal, so that the flight controller adjusts at least one of the flight path, flight height and flight speed of the drone over the target area according to the flight control instruction signal.

The beneficial effects of the above technical solution are: the ground control terminal, as a terminal base station for controlling the drone, can be fixedly installed on the ground, so that the staff can control the flight status of the drone in real time by operating the ground control terminal. The ground control terminal may include, but is not limited to, a touch control panel and a cellular network router. The touch control panel provides the staff with a corresponding touch control interface, and the staff only need to operate the corresponding buttons on the touch control interface to adjust the flight status of the drone. The cellular network route is used to form a cellular network, so that the communication between the ground control terminal and the drone can be realized through the cellular network, so that the flight control command signal sent by the ground control terminal is sent to the cellular network signal of the drone through the cellular network The receiver is used to quickly control the flight status of the drone. The staff can form a corresponding flight control command signal by operating the touch control panel, thereby autonomously controlling and adjusting at least one of the flight path, flight height and flight speed of the drone over the target area.

Preferably, the UAV also includes a cellular network signal strength identifier;

The cellular network signal strength recognizer is used to detect the signal strength of the flight control command signal, and compare the signal strength with a preset signal strength threshold;

The flight controller is used to change the flight state of the UAV according to the comparison result:

When the signal strength is greater than or equal to the preset signal strength threshold, the UAV is instructed to continue flying along the current flight path;

When the signal strength is less than the preset signal strength threshold, the UAV is instructed to stop flying.

The beneficial effect of the above-mentioned technical solution is: because the coverage of the cellular network signal formed by the cellular network routing of the ground control terminal is limited, when the flying activity area of the UAV exceeds the signal coverage, the UAV will not be able to normally and timely receive To the flight control instruction signal, this will seriously affect the normal inspection and detection of the UAV. By setting the cellular network signal strength recognizer on the drone to detect the signal strength of the flight control command signal received by the drone, so as to control the flight path of the drone, so as to ensure that the drone can always be within the coverage of the cellular network signal In-flying and avoiding the loss of connection of drones.

Preferably, the Beidou positioning device includes a positioning reference base station and a positioning mobile base station;

The positioning reference base station is set on the ground control terminal, and the positioning mobile base station is set on the UAV;

Both the positioning reference base station and the positioning mobile base station are connected to the Beidou satellite, so as to obtain the respective real-time Beidou satellite positioning data of the ground control terminal and the UAV.

The beneficial effect of the above-mentioned technical solution is: by setting the positioning reference base station on the ground control terminal and setting the positioning mobile base station on the UAV, since the setting position of the ground control terminal is fixed, the positioning reference base station is obtained through the Beidou satellite. The positioning data can be used as reference data, and the positioning mobile base station can detect and obtain the positioning data of the place where the drone passes along with the flight of the drone. After comparing the above two positioning data, it is possible to accurately obtain the wireless positioning data. The location information of the places that the man-machine passes through during the flight.

Preferably, the Beidou positioning device also includes a positioning data processor;

The positioning data processor is respectively connected with the positioning reference base station and the positioning mobile base station;

The positioning data processor is used to analyze the respective real-time Beidou satellite positioning data of the ground control terminal and the UAV, so as to determine the RTK coordinate data of the UAV floating and docking at any place during the flight over the target area.

The beneficial effects of the above technical solution are: the positioning data processor can compare and convert the two real-time Beidou satellite positioning data obtained by the positioning reference base station and the positioning mobile base station, so as to determine the flight process of the UAV over the target area The RTK coordinate data hovering at any location in the middle; the above-mentioned comparison and conversion of two real-time Beidou satellite positioning data belongs to the conventional data processing method in this field, which will not be described in detail.

Preferably, the ultrasonic distance measuring device includes an ultrasonic transmitter, an ultrasonic receiver and a timer;

The ultrasonic transmitter is used to emit ultrasonic waves to the ground or water surface of the corresponding place when the UAV hovers and docks at any place before and after the flood;

The ultrasonic receiver is used to receive the ultrasonic wave reflected by the ground or water surface of the corresponding place when the UAV hovers and docks at any place before and after the flood;

The timer is used to record the first moment when the ultrasonic transmitter emits ultrasonic waves, and record the second moment when the ultrasonic receiver receives ultrasonic waves.

The beneficial effect of the above technical solution is: when the UAV hovers over any place in the target area during the flight, the ultrasonic distance measuring device transmits ultrasonic waves to the ground or water surface and receives the ultrasonic waves reflected by the ground or water surface. Simultaneously record The first moment when the ultrasonic transmitter emits ultrasonic waves, and the second moment when the ultrasonic receiver receives ultrasonic waves is recorded, so that the distance between the drone and the ground or water surface can be obtained quickly and accurately.

Preferably, the ultrasonic distance measuring device also includes a distance calculator;

The distance calculator is used to determine the height data between the drone and the ground or water surface at any point in the target area before and after the flood occurs according to the time difference between the second moment and the first moment.

The beneficial effect of the above technical solution is: the distance calculator can determine the distance between the UAV and the ground or the distance between the drone and the ground or at any point in the target area according to the time difference between the second moment and the first moment and the propagation speed of the ultrasonic wave. Height data between water surfaces.

Preferably, the data storage device includes a data storage and a data interactive transmitter;

The data acquisition transmitter is wirelessly connected to the Beidou positioning device and the ultrasonic distance measuring device respectively;

The data interaction transmitter periodically sends data acquisition instructions to the Beidou positioning device and the ultrasonic distance measuring device respectively;

The Beidou positioning device and the ultrasonic distance measuring device are used to periodically upload the RTK coordinate data and the height data to the data interaction transmitter in response to the data acquisition instruction;

The data interactive transmitter also stores the RTK coordinate data and the altitude data to the data memory.

The beneficial effect of the above technical solution is: since the UAV will continuously form RTK coordinate data and height data during flight, the data interactive transmitter periodically sends data acquisition to the Beidou positioning device and the ultrasonic ranging device instruction, which can ensure that the data memory receives the latest RTK coordinate data and height data in real time, and avoid the loss of RTK coordinate data and height data.

Preferably, the data processing device includes a water level calculation calibration unit and a water level change calculation unit;

The water level calculation and calibration unit is used to generate a water level comparison data table after the flood at any location in the target area according to the RTK coordinate data and the height data between the drone and the ground or the water surface after the flood;

The water level change calculation unit is used to generate a comparison data table of water level changes before and after the flood at any location in the target area according to the RTK coordinate data and the height data between the UAV and the ground or the water surface before and after the flood.

The beneficial effect of the above-mentioned technical solution is: the data processing device generates a water level height comparison data table after the flood at any position in the target area and a water level height change comparison data table before and after the flood at any position in the target area, through the form It can enable the staff to intuitively understand the change state of the water level before and after the flood in the target area, so that the staff can take appropriate rescue measures for the target area in a targeted manner.

Preferably, the data processing device also includes a cloud server;

The cloud server is used to upload the water level height comparison data table and the water level change comparison data table to the cloud data terminal, so as to realize data table sharing.

The beneficial effect of the above technical solution is: the cloud server uploads the water level height comparison data table and the water level height change comparison data table to the cloud data terminal, so that the staff can connect to the cloud data terminal through mobile terminals such as smart phones, thereby Realize the sharing of data tables.

Preferably, when the UAV is flying over the target area, the infrared camera sensor in the camera device of the UAV is used to perform human body feature recognition, so as to determine whether there is a trapped person in the target area; if it is determined that there is a trapped person , then instruct the UAV to hover over the trapped person, and upload the RTK coordinate data corresponding to the UAV’s current hovering dock to the cloud data terminal through the Beidou positioning device and trigger an alarm signal; if it is determined that the trapped person follows If the flood moves, the UAV is instructed to adjust the flight status in real time and track the trapped person and upload the RTK coordinate data corresponding to the trapped person to the cloud data terminal. When there are multiple trapped persons in the target area, priority is given to tracking and The nearest trapped persons from the UAV include:

Step S1, instructing the UAV to first fly above the target area, and rise to a height where the camera equipment can completely cover and shoot the entire range of the target area, and then use the infrared camera sensor in the camera device to shoot the target area, to Then the infrared image corresponding to the target area is obtained, and then the infrared image is recognized by the human body feature and the recognized human body is framed by the red rectangular frame. The pixel position where the center point of the red rectangular frame is located is the trapped person The pixel coordinate point on the infrared image,

Using the following formula (1), according to the pixel coordinate points on the infrared image, determine the trapped person closest to the UAV,

In the above formula (1), S _min represents the image distance between the central point position of the UAV in the infrared image and the trapped person closest to the center point of the UAV in the infrared image; (i _a , j _a ) represents the pixel coordinate point of the a-th trapped person, that is, the center point of the a-th trapped person is in the i _a row and the j _a column in the infrared image; K represents the total number of trapped persons identified on the infrared image ; n represents the number of pixels contained in each column of pixels in the infrared image; m represents the number of pixels contained in each row of pixels in the infrared image;

According to the image distance between the center point of the drone in the infrared image and the trapped person closest to the center point of the drone in the infrared image, the victim who is closest to the drone in the actual environmental space can be determined. Trapped person, the corresponding pixel coordinate point is the pixel coordinate point of the trapped person closest to the drone, and it is recorded as (i _{a, min} , j _{a, min} );

When the trapped person closest to the drone is determined, the drone is instructed to move so that the drone follows the corresponding trapped person at all times according to the trapped person closest to the drone;

Step S2, using the following formula (2), according to the pixel coordinate point of the trapped person closest to the drone, determine the direction of movement of the drone,

In the above formula (2), θ(t) represents the direction in which the UAV needs to move at the current moment. If θ(t)>0, the UAV needs to rotate clockwise at the current moment |θ(t)| Move forward until it moves to θ(t)=0, if θ(t)<0, the drone needs to turn counterclockwise at the current moment |θ(t)| angle and then move forward until it moves to θ(t) =0, if θ(t)=0, the UAV needs to stop moving and hover at the current position at the current moment; t represents the current moment; (i _a,min (t),ja _,min (t)) represents The pixel coordinate point of the trapped person closest to the drone at the current moment; || means to take the absolute value operation;

Step S3, when the drone is always tracking above the trapped person, use the following formula (3) to control the flying height of the drone according to the size of the red rectangle corresponding to the trapped person closest to the drone , so that the size of the image captured by the camera equipment of the UAV is twice the size of the red rectangle corresponding to the trapped person closest to the UAV, so as to track and observe the trapped person closest to the UAV ,

In the above formula (3), ΔH(t) indicates the height value that the drone needs to change at the current moment. If ΔH(t)<0, it indicates that the drone needs to rise to the height value of |ΔH(t)|, If ΔH(t)>0, it indicates that the UAV needs to drop the height value of |ΔH(t)|; H(t) represents the height value of the UAV at the current moment; p _a,min (t) represents the current The trapped person closest to the drone at any time corresponds to the number of pixels contained in the selected red rectangle in the horizontal direction; q _a,min (t) indicates that the trapped person closest to the drone at the current moment corresponds to The number of pixels included in the vertical direction of the selected red rectangle.

The beneficial effect of the above technical solution is: use the above formula (1) to determine the trapped person closest to the drone according to the pixel coordinate points on the infrared image, and then make an emergency response to the nearest trapped person; then use the above formula (2) Obtain the moving direction of the UAV according to the real-time pixel coordinate point position of the nearest trapped person, and then ensure that the UAV can adjust the flight status in real time to track the trapped person and upload its RTK coordinate data in real time to ensure follow-up The reliability and accuracy of the rescue; finally, use the above formula (3) to control the height of the UAV according to the size of the red rectangle framed by the nearest trapped person, so that the size of the image captured by the UAV camera device is the nearest The size of the red rectangle framed by the trapped person is twice the size, so that the trapped person can be closely tracked and observed, ensuring that the collected image data of the trapped person is clear and reliable.

As can be seen from the contents of the above-mentioned embodiments, the flood disaster detection system based on UAV and Beidou positioning utilizes UAVs to conduct flight inspections of the target area, and during the flight inspection process, the Beidou positioning equipment and ultrasonic ranging equipment, the target area Positioning and ranging at any location, so as to determine the RTK coordinate data of any location and the height data between the UAV and the ground or water surface, and then generate the control data of water level changes at any location in the target area before and after the flood, In this way, the UAV can carry out comprehensive water level monitoring and position calibration on the target area, so as to automatically obtain the data of the water level in different positions, so as to ensure the comprehensiveness and intelligence of flood disaster detection and improve the accuracy of water level detection.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (8)

1. The flood disaster detection system based on the unmanned aerial vehicle and the Beidou positioning is characterized by comprising a ground control terminal, the unmanned aerial vehicle, the Beidou positioning equipment, ultrasonic ranging equipment, data storage equipment and data processing equipment;

the ground control terminal is in wireless connection with the unmanned aerial vehicle so as to control the flight state of the unmanned aerial vehicle;

the Beidou positioning equipment is used for determining RTK coordinate data of the unmanned aerial vehicle which suspends at any place in a suspending manner in the process of flying over a target area;

the ultrasonic ranging device is arranged on the unmanned aerial vehicle and is used for transmitting and receiving ultrasonic waves to the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and parked at any place, so that height data between the unmanned aerial vehicle and the ground or the water surface before and after flood disaster in the target area is determined;

the data storage device is respectively connected with the Beidou positioning device and the ultrasonic ranging device and used for storing the RTK coordinate data and the height data;

the data processing device is connected with the data storage device and is used for processing the RTK coordinate data and the height data so as to determine water level height change comparison data of any place of the target area before and after flood disasters occur;

the data processing equipment comprises a water level height calculation calibration unit and a water level height change calculation unit;

the water level height calculation and calibration unit is used for generating a water level height comparison data table after flood disaster occurs at any position of the target area according to the RTK coordinate data and height data between the unmanned aerial vehicle and the ground or the water surface after the flood disaster occurs;

the water level height change calculation unit is used for generating a water level height change comparison data table before and after flood disaster occurs at any position of a target area according to the RTK coordinate data and height data between the unmanned aerial vehicle and the ground or the water surface before and after the flood disaster occurs;

the data processing device further comprises a cloud server;

the cloud server is used for uploading the water level height comparison data table and the water level height change comparison data table to a cloud data terminal so as to realize data table sharing;

when the unmanned aerial vehicle flies above a target area, identifying human body characteristics by using an infrared camera sensor in camera equipment of the unmanned aerial vehicle so as to determine whether trapped persons exist in the target area; if the trapped person is determined to exist, the unmanned aerial vehicle is instructed to perform suspension stop above the trapped person, RTK coordinate data corresponding to the current suspension stop of the unmanned aerial vehicle are uploaded to a cloud end data terminal through Beidou positioning equipment, and an alarm signal is triggered; if it is determined that the trapped person moves along with the flood, the unmanned aerial vehicle is instructed to adjust the flight state in real time, track the trapped person and upload RTK coordinate data corresponding to the trapped person to a cloud data terminal, wherein when a plurality of trapped persons exist in a target area, the trapped person closest to the unmanned aerial vehicle is preferentially tracked, and the method specifically comprises the following steps:

step S1, indicating an unmanned aerial vehicle to fly above a target area and ascend to a height at which camera equipment can completely cover and shoot the whole range of the target area, shooting the target area by using an infrared camera sensor in the camera equipment to obtain an infrared image corresponding to the target area, identifying human body characteristics of the infrared image and framing the identified human body by using a red rectangular frame, wherein the position of a pixel point at the center point of the red rectangular frame is a pixel coordinate point of a trapped person on the infrared image,

determining the trapped person nearest to the unmanned aerial vehicle according to the pixel coordinate point on the infrared image by using the following formula (1),

in the above formula (1), S _min Representing the image distance between the central point position of the unmanned aerial vehicle in the infrared image and the trapped person closest to the central point of the unmanned aerial vehicle in the infrared image; (i) _a ,j _a ) The pixel coordinate point of the a th trapped person is represented, namely the central point of the a th trapped person in the infrared image _a Line j (th) _a A column; k represents the total number of trapped persons identified on the infrared image; n represents the number of pixels contained in each row of pixels in the infrared image; m represents the number of pixels contained in each row of pixels in the infrared image;

according to the position of the central point of the unmanned aerial vehicle in the infrared image and the image distance of the trapped person closest to the central point of the unmanned aerial vehicle in the infrared image, the trapped person closest to the unmanned aerial vehicle in the actual environment space can be determined, the corresponding pixel coordinate point is the pixel coordinate point of the trapped person closest to the unmanned aerial vehicle, and the pixel coordinate point is recorded as (i) _a,min ,j _a,min )；

When the trapped person closest to the unmanned aerial vehicle is determined, indicating the unmanned aerial vehicle to move so that the unmanned aerial vehicle can follow the corresponding trapped person at any time according to the trapped person closest to the unmanned aerial vehicle;

step S2, determining the moving direction of the unmanned aerial vehicle according to the pixel coordinate point of the trapped person closest to the unmanned aerial vehicle by using the following formula (2),

in the above formula (2), θ (t) represents the direction in which the unmanned aerial vehicle needs to move at the current moment, if θ (t)>0, the unmanned aerial vehicle needs to rotate clockwise by an angle of | θ (t) | at the current moment and then moves forward until moving to θ (t) =0, if θ (t)<0, the unmanned aerial vehicle moves forwards until moving to theta (t) =0 after rotating counterclockwise by an angle of theta (t) | at the current moment, and if theta (t) =0, the unmanned aerial vehicle needs to stop moving and stop at the current position in a suspending manner at the current moment; t represents the current time; (i) _a,min (t),j _a,min (t)) a pixel coordinate point representing a trapped person closest to the unmanned aerial vehicle at the current time; | | represents an absolute value operation;

s3, when the unmanned aerial vehicle tracks above the trapped person constantly, controlling the flying height of the unmanned aerial vehicle according to the size of the red rectangular frame framed and corresponding to the trapped person nearest to the unmanned aerial vehicle by using the following formula (3) so that the size of an image shot by a camera device of the unmanned aerial vehicle is twice as large as the size of the red rectangular frame framed and corresponding to the trapped person nearest to the unmanned aerial vehicle, thereby tracking and observing the trapped person nearest to the unmanned aerial vehicle,

in the above equation (3), Δ H (t) represents a height value indicating that the drone needs to be changed at the current time, if Δ H (t)<0, then indicate that the drone needs to raise the altitude value of Δ H (t) |, if Δ H (t)>0, indicating that the unmanned plane needs to descend by the height value of | delta H (t) |; h (t) represents the height value of the unmanned aerial vehicle at the current moment; p is a radical of _a,min (t) the number of pixel points contained in the red rectangular frame which is framed and selected and corresponds to the trapped person closest to the unmanned aerial vehicle at the current moment is represented; q. q.s _a,min (t) the number of pixel points contained in the red rectangular frame which is framed and selected and corresponds to the trapped person nearest to the unmanned aerial vehicle at the current moment is represented.

2. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 1, characterized in that:

the ground control terminal comprises a touch control panel and a cellular network route;

the unmanned aerial vehicle comprises a cellular network signal receiver and a flight controller;

the touch control panel is connected with the cellular network route and used for sending a flight control instruction signal to the unmanned aerial vehicle through the cellular network route; wherein the flight control command signal comprises at least one of a flight path control command, a fly height control command and a fly speed control command;

the cellular network signal receiver is configured to receive the flight control instruction signal, so that the flight controller adjusts at least one of a flight path, a flight altitude, and a flight speed of the drone over a target area according to the flight control instruction signal.

3. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 2, characterized in that:

the drone further comprises a cellular network signal strength identifier;

the cellular network signal strength identifier is used for detecting the signal strength of the flight control instruction signal and comparing the signal strength with a preset signal strength threshold value;

the flight controller is used for changing the flight state of the unmanned aerial vehicle according to the comparison result:

when the signal intensity is greater than or equal to a preset signal intensity threshold value, indicating the unmanned aerial vehicle to continuously fly along the current flight path;

and when the signal intensity is smaller than a preset signal intensity threshold value, indicating the unmanned aerial vehicle to stop flying.

4. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 1, characterized in that:

the Beidou positioning equipment comprises a positioning reference base station and a positioning mobile base station;

the positioning reference base station is arranged on the ground control terminal, and the positioning mobile base station is arranged on the unmanned aerial vehicle;

the positioning reference base station and the positioning mobile base station are connected with a Beidou satellite, so that respective real-time Beidou satellite positioning data of the ground control terminal and the unmanned aerial vehicle are obtained respectively.

5. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 4, characterized in that:

the Beidou positioning equipment further comprises a positioning data processor;

the positioning data processor is respectively connected with the positioning reference base station and the positioning mobile base station;

the positioning data processor is used for analyzing respective real-time Beidou satellite positioning data of the ground control terminal and the unmanned aerial vehicle, so that RTK coordinate data of the unmanned aerial vehicle, which is suspended and stopped at any place in the process of flying over a target area, are determined.

6. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 1, characterized in that:

the ultrasonic ranging equipment comprises an ultrasonic transmitter, an ultrasonic receiver and a timer;

the ultrasonic transmitter is used for transmitting ultrasonic waves to the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and stopped at any place before and after flood disasters occur;

the ultrasonic receiver is used for receiving ultrasonic waves reflected by the ground or the water surface of a corresponding place when the unmanned aerial vehicle is suspended and stopped at any place before and after flood disasters occur;

the timer is used for recording a first moment when the ultrasonic transmitter transmits the ultrasonic waves and recording a second moment when the ultrasonic receiver receives the ultrasonic waves.

7. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 6, characterized in that:

the ultrasonic ranging apparatus further comprises a distance calculator;

and the distance calculator is used for determining height data between the unmanned aerial vehicle and the ground or the water surface of any place of the target area before and after flood disasters according to the time difference between the second moment and the first moment.

8. The flood disaster detection system based on unmanned aerial vehicle and Beidou positioning as set forth in claim 1, characterized in that:

the data storage device comprises a data storage and a data interaction transmitter;

the data interaction transmitter is respectively in wireless connection with the Beidou positioning equipment and the ultrasonic ranging equipment;

the data interaction transmitter periodically sends data acquisition instructions to the Beidou positioning equipment and the ultrasonic ranging equipment respectively;

the Beidou positioning equipment and the ultrasonic ranging equipment are used for responding to the data acquisition instruction and periodically uploading the RTK coordinate data and the height data to the data interaction transmitter;

the data interchange transmitter also stores the RTK coordinate data and the elevation data to the data memory.

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