阅读说明：本技术 一种河湖底泥探测方法及系统 (River and lake bottom mud detection method and system ) 是由 陈亿军 鲁伟 王平 万勇 李江山 刘磊 何星星 李孟浩 金佳旭 孔赟 孙峰 钟 于 2021-03-09 设计创作，主要内容包括：本发明实施例公开了一种河湖底泥探测方法及系统,本发明实施例通过无人机搭载激光雷达在预置的航线上飞行；通过该激光雷达得到底泥表面的第一三维图像；并通过底泥探测设备在预设的多个探测点进行底泥探测,获取该多个探测点的底泥深度；然后通过中央处理器根据该多个探测点在该第一三维图像中的位置,将该多个探测点融合进该第一三维图像中,得到第二三维图像,确定探测点底,进而确定底泥底部平面；再获取该底泥底部平面在该第二三维图像中的底部位置信息,以及底泥顶部的顶部位置信息；最后根据该底部位置信息以及该顶部位置信息确定底泥的体积。本方案不需要对底泥深度进行密集探测,可以提高获取河湖底泥体积的效率,减少物理消耗。(The embodiment of the invention discloses a method and a system for detecting bottom mud of rivers and lakes, wherein an unmanned aerial vehicle carries a laser radar to fly on a preset air route; obtaining a first three-dimensional image of the surface of the sediment through the laser radar; bottom sediment detection is carried out on a plurality of preset detection points through bottom sediment detection equipment, and the bottom sediment depths of the detection points are obtained; then, fusing the detection points into the first three-dimensional image through a central processing unit according to the positions of the detection points in the first three-dimensional image to obtain a second three-dimensional image, determining the bottoms of the detection points and further determining the bottom plane of the sediment; then obtaining bottom position information of the bottom plane of the sediment in the second three-dimensional image and top position information of the top of the sediment; and finally, determining the volume of the sediment according to the bottom position information and the top position information. The scheme does not need to intensively detect the depth of the bottom mud, can improve the efficiency of obtaining the volume of the bottom mud of the river or lake, and reduces the physical consumption.)

1. A river and lake bottom mud detection method is applied to a river and lake bottom mud detection system, the river and lake bottom mud detection system comprises an unmanned aerial vehicle, a laser radar carried on the unmanned aerial vehicle, bottom mud detection equipment and a central processing unit, and the method comprises the following steps:

carrying the laser radar by the unmanned aerial vehicle to fly on a preset air route, wherein the air route is an air route required to be subjected to sediment measurement;

measuring and acquiring a plurality of distance information respectively corresponding to each point position in a view field by the laser radar in a two-dimensional point-by-point scanning mode according to preset detection density;

acquiring minimum basic distance information in the distance information, and preprocessing the minimum basic distance information to acquire minimum standard distance information, wherein the preprocessing comprises the following steps: subtracting the distance information of the laser radar from the lake surface from the minimum basic distance information;

comparing the minimum standard distance information with first threshold distance information;

if the minimum distance information is smaller than the first threshold distance information, performing three-dimensional synthesis processing on the distance information by using a regular grid method to obtain a first three-dimensional image of the bottom sediment surface corresponding to the view field;

the sediment detection device is used for respectively detecting the sediment at a plurality of preset detection points to obtain the depth of the sediment at the plurality of detection points, and comprises a sediment detection rod and a pressure detector, wherein the pressure detector is arranged at the detection end of the sediment detection rod, and when the pressure detected by the pressure detector reaches a preset pressure threshold value during operation, the sediment detection rod stops downward detection movement and records the depth of the sediment at the moment;

sending the first three-dimensional image and the sediment depth to the central processing unit, wherein the sediment depth comprises position information of a corresponding detection point and sediment depth information of the position;

fusing the detection points into the first three-dimensional image according to the positions of the detection points in the first three-dimensional image through the central processor to obtain a second three-dimensional image;

determining the detection point bottoms of the plurality of detection points in the second three-dimensional image according to the sediment depth;

connecting the detection point bottoms of the adjacent detection points in the plurality of detection points in the second three-dimensional image to obtain a bottom connecting line, and determining a bottom plane of the sediment of the second three-dimensional image according to the bottom connecting line;

acquiring bottom position information of the bottom plane of the sediment in the second three-dimensional image and acquiring top position information of the top of the sediment in the second three-dimensional image;

and determining the volume of the sediment according to the bottom position information and the top position information.

2. The method of claim 1, wherein if the minimum distance information is less than the first threshold distance information, the method further comprises:

comparing the minimum distance information with second threshold distance information; wherein the second threshold distance information is less than the first threshold distance information;

if the minimum distance information is smaller than the second threshold distance information, sending an altitude alarm signal;

and after point locations of the corresponding view fields which are smaller than the second threshold value distance information are removed, three-dimensional synthesis processing is carried out on a plurality of distance information corresponding to a plurality of remaining point locations by using a regular grid method, and first three-dimensional images of the sediment surface corresponding to the plurality of remaining point locations of the view fields are obtained.

3. The method of claim 1, wherein after determining the volume of sediment from the bottom position information and the top position information, the method further comprises:

extracting historical sediment three-dimensional images in a corresponding river and lake visual field in a database;

determining volume change data of the sediment by comparing the second three-dimensional image with the historical sediment three-dimensional image;

determining a risk deposition rating for the field of view from the volume change data;

determining a cleaning period of the field of view according to the risk deposition level;

the determining a risk deposit rating of the field of view from the volume change data may specifically comprise:

comparing the volume change data to a volume change threshold;

if the volume change data is larger than the volume change threshold, acquiring a transverse width change value and a longitudinal depth change value of the sediment volume in the second three-dimensional image;

if the longitudinal change value variation value is greater than the transverse change value, the risk deposition grade is a high risk grade;

and if the longitudinal change value variation value is smaller than the transverse change value, the risk deposition grade is a low risk grade.

4. The method of claim 1, wherein after sending the first three-dimensional image and the sediment depth to the central processor, the method further comprises:

determining whether a sediment over-thickness detection point exists, wherein the sediment over-thickness detection point is a detection point with the sediment depth larger than a depth threshold value;

and if so, marking the sediment over-thickness mark on the sediment over-thickness detection point.

5. The method according to claim 4, wherein after said fusing, by said central processor, said plurality of probe points into said first three-dimensional image based on their positions in said first three-dimensional image, resulting in a second three-dimensional image, said method further comprises:

and in the second three-dimensional image, a detection point marked with a sediment over-thickness mark is taken as a center, 5 meters are taken as a radius, and a sediment over-thickness range mark is marked around the sediment over-thickness detection point.

6. The method according to claim 1, wherein the sediment detection apparatus further comprises a sludge detector mounted 5 cm from the detection end of the sediment detection rod.

7. The method according to claim 6, wherein the obtaining the sediment depths of a plurality of detection points by the sediment detection device respectively performing sediment detection at the plurality of preset detection points comprises:

carrying out bottom mud depth detection on a plurality of preset detection points through the bottom mud detection rod to obtain the bottom mud depths of the detection points;

and detecting the sludge of the bottom sludge through the sludge detector, wherein the sludge comprises microorganism content and heavy metal content.

8. The method of claim 7, wherein after the detecting the sludge of the sediment by the sludge detector, the method further comprises:

determining whether the microorganism content exceeds a microorganism content standard and determining whether the heavy metal content exceeds a heavy metal content standard;

and if the content of the microorganisms exceeds the standard of the content of the microorganisms and/or exceeds the standard of the content of the heavy metals, sending a muddy alarm signal.

9. A river and lake bottom mud detection system, characterized in that, the system includes:

the unmanned aerial vehicle is used for carrying the laser radar to fly on a preset air route, and the air route is an air route which needs to be used for measuring bottom mud;

the laser radar is used for measuring and acquiring a plurality of distance information of each point in a view field by utilizing a two-dimensional point-by-point scanning mode according to preset detection density, acquiring minimum basic distance information in the plurality of distance information, and preprocessing the minimum distance information to acquire minimum standard distance information, wherein the preprocessing comprises the following steps: subtracting the distance information of the laser radar from the lake surface from the minimum basic distance information; comparing the minimum standard distance information with first threshold distance information; if the minimum distance information is smaller than the first threshold distance information, performing three-dimensional synthesis processing on the distance information by using a regular grid method to obtain a first three-dimensional image of the bottom sediment surface corresponding to the view field, and sending the first two-dimensional image to the central processing unit;

the sediment detection device is used for detecting sediment at a plurality of preset detection points, obtaining the depth of the sediment at the plurality of detection points and sending the depth of the sediment to the central processing unit, wherein the depth of the sediment comprises position information of the corresponding detection points and the depth information of the sediment at the corresponding positions, the sediment detection device comprises a sediment detection rod and a pressure detector, the pressure detector is installed at the detection end of the sediment detection rod, and when the pressure detected by the pressure detector reaches a preset pressure threshold value during operation, the sediment detection rod stops downward detection movement and records the depth of the sediment at the moment;

the central processing unit is used for fusing the detection points into the first three-dimensional image according to the positions of the detection points in the first three-dimensional image to obtain a second three-dimensional image; determining the detection point bottoms of the plurality of detection points in the second three-dimensional image according to the sediment depth; connecting the detection point bottoms of the adjacent detection points in the plurality of detection points in the second three-dimensional image to obtain a bottom connecting line, and determining a bottom plane of the sediment of the second three-dimensional image according to the bottom connecting line; acquiring bottom position information of the bottom plane of the sediment in the second three-dimensional image and acquiring top position information of the top of the sediment in the second three-dimensional image; and determining the volume of the sediment according to the bottom position information and the top position information.

10. The system of claim 9, wherein said central processor is further configured to:

extracting historical sediment three-dimensional images in a corresponding river and lake visual field in a database;

determining volume change data of the sediment by comparing the second three-dimensional image with the historical sediment three-dimensional image;

determining a risk deposition rating for the field of view from the volume change data;

determining a cleaning period of the field of view according to the risk deposition level;

the determining a risk deposit rating of the field of view from the volume change data may specifically comprise:

comparing the volume change data to a volume change threshold;

if the volume change data is larger than the volume change threshold, acquiring a transverse width change value and a longitudinal depth change value of the sediment volume in the second three-dimensional image;

if the longitudinal change value variation value is greater than the transverse change value, the risk deposition grade is a high risk grade;

and if the longitudinal change value variation value is smaller than the transverse change value, the risk deposition grade is a low risk grade.

Technical Field

The invention relates to the technical field of measurement and sensing, in particular to a river and lake bottom mud detection method and system.

Background

At present, river and lake basin remediation is a key point of ecological environment remediation, dirt, microorganisms, particulate matters and the like in rivers and lakes are deposited at the bottoms of the rivers and lakes to form bottom mud, and the bottom mud can cause pollution to the rivers and lakes, so that the amount of the bottom mud is significant for water environment remediation.

Particularly, aiming at early investigation of dredging, the volume of bottom mud in rivers and lakes needs to be removed for accurately estimating the engineering quantity, and an engineering method and a processing scheme are decided.

Disclosure of Invention

The embodiment of the invention provides a river and lake bottom mud detection method and system, which can improve the efficiency of obtaining the volume of river and lake bottom mud and reduce physical consumption.

In a first aspect, an embodiment of the present invention provides a method for detecting river and lake bottom mud, where the method is applied to a river and lake bottom mud detection system, the river and lake bottom mud detection system includes an unmanned aerial vehicle, a laser radar mounted on the unmanned aerial vehicle, bottom mud detection equipment, and a central processing unit, and the method includes:

carrying the laser radar by the unmanned aerial vehicle to fly on a preset air route, wherein the air route is an air route required to be subjected to sediment measurement;

measuring and acquiring a plurality of distance information respectively corresponding to each point position in a view field by the laser radar in a two-dimensional point-by-point scanning mode according to preset detection density;

acquiring minimum basic distance information in the distance information, and preprocessing the minimum distance information to acquire minimum standard distance information, wherein the preprocessing comprises the following steps: subtracting the distance information of the laser radar from the lake surface from the minimum basic distance information;

comparing the minimum standard distance information with first threshold distance information;

if the minimum distance information is smaller than the first threshold distance information, performing three-dimensional synthesis processing on the distance information by using a regular grid method to obtain a first three-dimensional image of the bottom sediment surface corresponding to the view field;

the sediment detection device is used for respectively detecting the sediment at a plurality of preset detection points to obtain the depth of the sediment at the plurality of detection points, and comprises a sediment detection rod and a pressure detector, wherein the pressure detector is arranged at the detection end of the sediment detection rod, and when the pressure detected by the pressure detector reaches a preset pressure threshold value during operation, the sediment detection rod stops downward detection movement and records the depth of the sediment at the moment;

sending the first three-dimensional image and the sediment depth to the central processing unit, wherein the sediment depth comprises position information of a corresponding detection point and sediment depth information of the position;

fusing the detection points into the first three-dimensional image according to the positions of the detection points in the first three-dimensional image through the central processor to obtain a second three-dimensional image;

determining the detection point bottoms of the plurality of detection points in the second three-dimensional image according to the sediment depth;

connecting the detection point bottoms of the adjacent detection points in the plurality of detection points in the second three-dimensional image to obtain a bottom connecting line, and determining a bottom plane of the sediment of the second three-dimensional image according to the bottom connecting line;

acquiring bottom position information of the bottom plane of the sediment in the second three-dimensional image and acquiring top position information of the top of the sediment in the second three-dimensional image;

and determining the volume of the sediment according to the bottom position information and the top position information.

In some embodiments, after the minimum distance information is smaller than the first threshold distance information, the method further includes:

comparing the minimum distance information with second threshold distance information; wherein the second threshold distance information is less than the first threshold distance information;

if the minimum distance information is smaller than the second threshold distance information, sending an altitude alarm signal;

and after point locations of the corresponding view fields which are smaller than the second threshold value distance information are removed, three-dimensional synthesis processing is carried out on a plurality of distance information corresponding to a plurality of remaining point locations by using a regular grid method, and first three-dimensional images of the sediment surface corresponding to the plurality of remaining point locations of the view fields are obtained.

In some embodiments, after determining the volume of sediment from the bottom position information and the top position information, the method further comprises:

extracting historical sediment three-dimensional images in a corresponding river and lake visual field in a database;

determining volume change data of the sediment by comparing the second three-dimensional image with the historical sediment three-dimensional image;

determining a risk deposition rating for the field of view from the volume change data;

determining a cleaning period of the field of view according to the risk deposition level;

the determining a risk deposit rating of the field of view from the volume change data may specifically comprise:

comparing the volume change data to a volume change threshold;

if the volume change data is larger than the volume change threshold, acquiring a transverse width change value and a longitudinal depth change value of the sediment volume in the second three-dimensional image;

if the longitudinal change value variation value is greater than the transverse change value, the risk deposition grade is a high risk grade;

and if the longitudinal change value variation value is smaller than the transverse change value, the risk deposition grade is a low risk grade.

In some embodiments, after sending the first three-dimensional image and the sediment depth to the central processor, the method further comprises:

determining whether a sediment over-thickness detection point exists, wherein the sediment over-thickness detection point is a detection point with the sediment depth larger than a depth threshold value;

and if so, marking the sediment over-thickness mark on the sediment over-thickness detection point.

In some embodiments, after said fusing, by said central processor, said plurality of probe points into said first three-dimensional image according to their positions in said first three-dimensional image, resulting in a second three-dimensional image, said method further comprises:

and in the second three-dimensional image, a detection point marked with a sediment over-thickness mark is taken as a center, 5 meters are taken as a radius, and a sediment over-thickness range mark is marked around the sediment over-thickness detection point.

In some embodiments, the sediment detection apparatus further comprises a mud detector mounted 5 cm from the detection end of the sediment detection rod.

In some embodiments, the obtaining, by the sediment detection device, the sediment depths of a plurality of detection points by performing sediment detection at the plurality of preset detection points respectively includes:

carrying out bottom mud depth detection on a plurality of preset detection points through the bottom mud detection rod to obtain the bottom mud depths of the detection points;

and detecting the sludge of the bottom sludge through the sludge detector, wherein the sludge comprises microorganism content and heavy metal content.

In some embodiments, after the detecting the sludge of the sediment by the sludge detector, the method further comprises:

determining whether the microorganism content exceeds a microorganism content standard and determining whether the heavy metal content exceeds a heavy metal content standard;

and if the content of the microorganisms exceeds the standard of the content of the microorganisms and/or exceeds the standard of the content of the heavy metals, sending a muddy alarm signal.

In some embodiments, after the flying by the drone on the lidar on a preset route, the method further comprises:

determining whether the height of the sediment from the water surface is less than 1 meter or not through the laser radar;

if the height is less than 1 meter, a height alarm signal is sent out.

In a second aspect, an embodiment of the present invention further provides a river and lake bottom mud detection system, where the system includes:

the unmanned aerial vehicle is used for carrying the laser radar to fly on a preset air route, and the air route is an air route required to be subjected to sediment measurement;

the laser radar is used for measuring and acquiring a plurality of distance information of each point in a view field by utilizing a two-dimensional point-by-point scanning mode according to preset detection density, acquiring minimum basic distance information in the plurality of distance information, and preprocessing the minimum distance information to acquire minimum standard distance information, wherein the preprocessing comprises the following steps: subtracting the distance information of the laser radar from the lake surface from the minimum basic distance information; comparing the minimum standard distance information with first threshold distance information; if the minimum distance information is smaller than the first threshold distance information, performing three-dimensional synthesis processing on the distance information by using a regular grid method to obtain a first three-dimensional image of the bottom sediment surface corresponding to the view field, and sending the first two-dimensional image to the central processing unit;

the sediment detection device is used for respectively detecting sediment at a plurality of preset detection points, obtaining the depth of the sediment at the plurality of detection points and sending the depth of the sediment to the central processing unit, wherein the depth of the sediment comprises position information of the corresponding detection points and the depth information of the sediment at the corresponding positions, the sediment detection device comprises a sediment detection rod and a pressure detector, the pressure detector is installed at the detection end of the sediment detection rod, and when the pressure detected by the pressure detector reaches a preset pressure threshold value during operation, the sediment detection rod stops downward detection movement and records the depth of the sediment at the moment;

the central processing unit is used for fusing the detection points into the first three-dimensional image according to the positions of the detection points in the first three-dimensional image to obtain a second three-dimensional image;

determining the detection point bottoms of the plurality of detection points in the second three-dimensional image according to the sediment depth;

connecting the detection point bottoms of the adjacent detection points in the plurality of detection points in the second three-dimensional image to obtain a bottom connecting line, and determining a bottom plane of the sediment of the second three-dimensional image according to the bottom connecting line;

acquiring bottom position information of the bottom plane of the sediment in the second three-dimensional image and acquiring top position information of the top of the sediment in the second three-dimensional image;

and determining the volume of the sediment according to the bottom position information and the top position information.

In some embodiments, the lidar is further to:

comparing the minimum distance information with second threshold distance information; wherein the second threshold distance information is less than the first threshold distance information;

if the minimum distance information is smaller than the second threshold distance information, sending an altitude alarm signal;

and after point locations of the corresponding view fields which are smaller than the second threshold value distance information are removed, three-dimensional synthesis processing is carried out on a plurality of distance information corresponding to a plurality of remaining point locations by using a regular grid method, and first three-dimensional images of the sediment surface corresponding to the plurality of remaining point locations of the view fields are obtained.

In some embodiments, the central processor is further specifically configured to:

extracting historical sediment three-dimensional images in a corresponding river and lake visual field in a database;

determining volume change data of the sediment by comparing the second three-dimensional image with the historical sediment three-dimensional image;

determining a risk deposition rating for the field of view from the volume change data;

determining a cleaning period of the field of view according to the risk deposition level;

the determining a risk deposit rating of the field of view from the volume change data may specifically comprise:

comparing the volume change data to a volume change threshold;

if the volume change data is larger than the volume change threshold, acquiring a transverse width change value and a longitudinal depth change value of the sediment volume in the second three-dimensional image;

if the longitudinal change value variation value is greater than the transverse change value, the risk deposition grade is a high risk grade;

and if the longitudinal change value variation value is smaller than the transverse change value, the risk deposition grade is a low risk grade.

In some embodiments, the central processor is further configured to:

determining whether a sediment over-thickness detection point exists, wherein the sediment over-thickness detection point is a detection point with the sediment depth larger than a depth threshold value;

and if so, marking the sediment over-thickness mark on the sediment over-thickness detection point.

In some embodiments, the central processor is further configured to:

and in the second three-dimensional image, a detection point marked with a sediment over-thickness mark is taken as a center, 5 meters are taken as a radius, and a sediment over-thickness range mark is marked around the sediment over-thickness detection point.

In some embodiments, the sediment detection apparatus further comprises a mud detector mounted 5 cm from the detection end of the sediment detection rod.

In some embodiments, the sediment detection apparatus is specifically configured to:

carrying out bottom mud depth detection on a plurality of preset detection points through the bottom mud detection rod to obtain the bottom mud depths of the detection points;

and detecting the sludge of the bottom sludge through the sludge detector, wherein the sludge comprises microorganism content and heavy metal content.

In some embodiments, the sediment detection apparatus is further configured to:

determining whether the microorganism content exceeds a microorganism content standard and determining whether the heavy metal content exceeds a heavy metal content standard;

and if the content of the microorganisms exceeds the standard of the content of the microorganisms and/or exceeds the standard of the content of the heavy metals, sending a muddy alarm signal.

In some embodiments, the lidar is further to:

determining whether the height of the sediment from the water surface is less than 1 meter;

if the height is less than 1 meter, a height alarm signal is sent out.

The embodiment of the invention provides a river and lake sediment detection method, which carries a laser radar to fly on a preset air route through an unmanned aerial vehicle; measuring and acquiring distance information of each point in a view field by using a two-dimensional point-by-point scanning mode according to preset detection density through the laser radar, and performing three-dimensional synthesis processing on the distance information by using a regular grid method to obtain a first three-dimensional image of the surface of the sediment; bottom sediment detection is carried out on a plurality of preset detection points through bottom sediment detection equipment, and the bottom sediment depths of the detection points are obtained; then, fusing the detection points into the first three-dimensional image through a central processing unit according to the positions of the detection points in the first three-dimensional image to obtain a second three-dimensional image; determining the detection point bottoms of the plurality of detection points in the second three-dimensional image according to the depth of the sediment; connecting the detection point bottoms of the adjacent detection points in the plurality of detection points in the second three-dimensional image to obtain a bottom connecting line, and determining a bottom plane of the sediment of the second three-dimensional image according to the bottom connecting line; then obtaining bottom position information of the bottom plane of the sediment in the second three-dimensional image and obtaining top position information of the top of the sediment in the second three-dimensional image; and finally, determining the volume of the sediment according to the bottom position information and the top position information. This scheme can obtain the three-dimensional appearance of bed mud through carrying on the laser radar on unmanned aerial vehicle, combines the bed mud degree of depth that bed mud detection equipment acquireed, and then confirms the volume of bed mud, and this embodiment need not carry out intensive survey to the bed mud degree of depth, can improve the efficiency of acquireing river lake bed mud volume, reduces the physical consumption.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a river and lake sediment detection method provided by an embodiment of the invention;

fig. 2 is a schematic structural diagram of a river and lake bottom mud detection system provided by the embodiment of the invention.

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.

In the description that follows, specific embodiments of the present invention are described with reference to steps and symbols executed by one or more computers, unless otherwise indicated. Accordingly, these steps and operations will be referred to, several times, as being performed by a computer, the computer performing operations involving a processing unit of the computer in electronic signals representing data in a structured form. This operation transforms the data or maintains it at locations in the computer's memory system, which may be reconfigured or otherwise altered in a manner well known to those skilled in the art. The data maintains a data structure that is a physical location of the memory that has particular characteristics defined by the data format. However, while the principles of the invention have been described in language specific to above, it is not intended to be limited to the specific form set forth herein, but on the contrary, it is to be understood that various steps and operations described hereinafter may be implemented in hardware.

The principles of the present invention are operational with numerous other general purpose or special purpose computing, communication environments or configurations. Examples of well known computing systems, environments, and configurations that may be suitable for use with the invention include, but are not limited to, hand-held telephones, personal computers, servers, multiprocessor systems, microcomputer-based systems, mainframe-based computers, and distributed computing environments that include any of the above systems or devices.

The terms "first", "second", and "third", etc. in the present invention are used for distinguishing different objects, not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

Referring to fig. 1, fig. 1 is a schematic flow chart of a river and lake bottom mud detection method according to an embodiment of the present invention. The execution main body of the river and lake bottom mud detection method can be the river and lake bottom mud detection system provided by the embodiment of the invention, and the system comprises an unmanned aerial vehicle, a laser radar carried on the unmanned aerial vehicle, bottom mud detection equipment and a central processing unit. The river and lake bottom mud detection method can comprise the following steps:

101. and carrying a laser radar to fly on a preset air route through an unmanned aerial vehicle.

Wherein, this basic route is the route that needs to carry out the sediment measurement for the first time.

It should be noted that, when sediment detection is performed, the unmanned aerial vehicle needs to fly above a fixed distance from the water surface, for example, when sediment detection is performed, the unmanned aerial vehicle needs to fly above the water surface by a distance of 10 centimeters.

102. According to the preset detection density, the laser radar measures and acquires a plurality of distance information of each point in a view field by utilizing a two-dimensional point-by-point scanning mode, and three-dimensional synthesis processing is carried out on the distance information by utilizing a regular grid method to obtain a first three-dimensional image of the surface of the sediment.

The distance information is the distance from the laser mine to the bottom mud.

The detection density of the laser radar is related to the precision of the subsequent three-dimensional image, and the higher the precision requirement is, the denser the detection density is, for example, the detection density is 1 cm.

After the laser radar in this embodiment measures and obtains distance information of each point in a field of view in a two-dimensional point-by-point scanning manner, a plurality of pieces of obtained distance information are subjected to three-dimensional synthesis processing by using a regular grid method, specifically, the distance information of the points can be inserted into a preset grid by using an interpolation method, so as to obtain a first three-dimensional image of the surface of the sediment. It should be noted that the two-dimensional point-by-point scanning technology, the regular grid method, the interpolation method and the like are all conventional processing methods, the specific implementation principle of each method is not described in detail in the embodiment, and the method is implemented by adopting the prior art.

In this process, it needs to be supplemented to be explained that, after obtaining the plurality of distance information of each point in the field of view, in order to be able to perform "effective" detection on the lake bottom, that is, only detect an area where the thickness of the deposited lake bottom sediment reaches a certain height, in this embodiment, after obtaining the plurality of distance information of each point in the field of view, the plurality of distance information may be sequentially sorted, and the minimum basic distance information in the plurality of distance information, that is, the point location with the highest thickness of the deposited lake bottom sediment in the field of view region that is characterized, is obtained, at this time, the minimum distance information is preprocessed to obtain the minimum standard distance information, where the preprocessing includes: subtracting the distance information of the laser radar from the lake surface from the minimum basic distance information; that is, the minimum standard distance information obtained after the pretreatment is the distance information between the lake surface and the top of the lake bottom sediment.

Then comparing the minimum standard distance information with first threshold distance information; it can be understood that the first threshold distance information is distance information capable of performing "effective" detection in the embodiment of the present invention, that is, only when the minimum standard distance information is smaller than the first threshold distance information, it indicates that the sediment thickness at the point location reaches the detectable standard, and at this time, the detection is performed, that is, the distance information is three-dimensionally synthesized by using a regular grid method, so as to obtain a first three-dimensional image of the sediment surface corresponding to the view field; and when the minimum standard distance information is larger than the first threshold distance information, the thickness of the sediment at the point position is shallow and does not reach the detectable standard, and the point position is not detected continuously at the moment and the ship continues to go to the next visual field for detection.

Further, when comparing the minimum standard distance information with the first threshold distance information, if the minimum standard distance information is smaller than the first threshold distance information, for the purpose of ship-going safety on the lake surface, this embodiment further continues to compare the minimum standard distance information with the second threshold distance information, where the second threshold distance information is smaller than the first threshold distance information. It can be understood that when the minimum standard distance information is continuously smaller than the second threshold distance information, the top height of the sediment is very close to the lake surface, so that collision risk is easily caused to the ship on the lake surface, and a height alarm signal is sent to prompt an alarm. And when the minimum standard distance information is smaller than the second threshold distance information, namely the top height of the sediment at the point belongs to the dangerous height, however, in order to continue to detect other points excluding the point (because the distance heights of other points may satisfy the detection criterion), the embodiment of the present invention removes points whose distance information is less than or equal to the second threshold distance information (i.e., points belonging to the dangerous height) within the field of view area, it can be understood that after the point locations corresponding to the dangerous heights are removed, the distance information corresponding to each of the remaining point locations is less than the first threshold distance information, and the distance information is larger than the second threshold value distance information, so that the three-dimensional synthesis processing is continuously carried out on the distance information corresponding to the rest of the point positions by using the regular grid method, and the first three-dimensional image of the sediment surface corresponding to the rest of the point positions of the view field is obtained.

That is, the first three-dimensional image according to the following steps in the embodiment of the present invention may be a first three-dimensional image corresponding to all points in the field of view region, or may be a first three-dimensional image corresponding to the remaining points after removing the points at risk level, and the embodiment of the present invention is not limited thereto.

103. And respectively carrying out sediment detection on a plurality of preset detection points through sediment detection equipment to obtain the sediment depths of the detection points.

The sediment detection device comprises a sediment detection rod and a pressure detector, the pressure detector is installed at the detection end of the sediment detection rod, and when the pressure detected by the pressure detector reaches a preset pressure threshold value during operation, the sediment detection rod stops downwards detecting movement and records the depth of the sediment at the moment.

Wherein, the detection point can be set one distance of 200 meters, and the specific numerical value is not limited here.

In this embodiment, when the pressure that pressure detector detected reached preset pressure threshold, the sediment gauge rod stopped the downward detection motion, namely, when the sediment gauge rod met the place that density is great, at this moment, acquiescently arrived the sediment bottom, stopped carrying out the downward detection motion.

In some embodiments, the sediment detection apparatus further comprises a mud detector mounted 5 cm from the detection end of the sediment detection rod.

At this moment, carry out the sediment through sediment detection equipment respectively at a plurality of gauge points of presetting and survey, obtain the sediment degree of depth of a plurality of gauge points, include: carrying out bottom mud depth detection on a plurality of preset detection points through a bottom mud detection rod to obtain the bottom mud depth of the detection points; and detecting the sludge of the bottom sludge through a sludge detector, wherein the sludge comprises microorganism content and heavy metal content.

At the moment, the user can determine the microorganism content and the heavy metal content of the monitoring point, and when the microorganism content and/or the heavy metal content exceed the standard (namely exceed the preset microorganism content standard and/or exceed the preset heavy metal content standard), an alarm signal can be sent to remind the user of the mud problem at the position.

It should be noted that, step 103 has no precedence relationship with step 101 and step 102, that is, step 103 may also be executed before step 101 or step 102, or may also be executed in cooperation with step 101 or step 102, and is not limited herein.

104. And sending the first three-dimensional image and the depth of the sediment to a central processing unit.

And the sediment depth comprises the position information of the corresponding detection point and the sediment depth information of the position.

And after the laser radar determines the first three-dimensional image of the sediment, sending the first three-dimensional image to the central processing unit, and after the sediment detection equipment determines the sediment depths of a plurality of detection points, sending the sediment depths to the central processing unit.

105. And fusing the detection points into the first three-dimensional image through a central processing unit according to the positions of the detection points in the first three-dimensional image to obtain a second three-dimensional image.

Because the sediment depth includes the position information of the corresponding detection point and the sediment depth information of the position, and the first three-dimensional image includes the position information of the acquired image, the central processing unit in this embodiment may determine the position of the detection point in the first three-dimensional image, that is, find the position corresponding to the detection point in the first three-dimensional image, and mark the position to indicate that the position is the detection point position.

In some embodiments, after sending the first three-dimensional image and the sediment depth to the central processor, the method further comprises: determining whether a sediment over-thickness detection point exists, wherein the sediment over-thickness detection point is a detection point with the sediment depth larger than a depth threshold value; and if the detection point exists, marking a sediment over-thickness mark on the sediment over-thickness detection point, wherein the preset depth can be 1 meter.

At this time, after the central processing unit fuses the plurality of detection points into the first three-dimensional image according to the positions of the plurality of detection points in the first three-dimensional image to obtain the second three-dimensional image, the method further comprises: and in the second three-dimensional image, a detection point marked with a sediment over-thickness mark is taken as a center, 5 meters are taken as radiuses, and a sediment over-thickness range mark is marked around the sediment over-thickness detection point. The step is used for reminding the user that the sediment at the position is thicker and paying attention to the safety of the ship, and reminding the user that the sediment at the position is thicker and suggesting to increase the clearing work at the position when a sediment clearing scheme is planned subsequently.

106. And determining the detection point bottoms of the plurality of detection points in the second three-dimensional image according to the depth of the sediment.

In this embodiment, the second three-dimensional image is a three-dimensional topography image for detecting sediment, and represents an image of the top of the sediment, and at this time, the position of the corresponding detection point at the top of the second three-dimensional image can be determined as the top of the sediment of the detection point.

107. And connecting the detection point bottoms of the adjacent detection points in the plurality of detection points in the second three-dimensional image to obtain a bottom connecting line, and determining the bottom plane of the sediment of the second three-dimensional image according to the bottom connecting line.

In this embodiment, since the plurality of detection point bottoms and the bottoms of the plurality of sediments are already determined in the second three-dimensional image, according to the morphological characteristics of the bottom of the river bed, the detection point bottoms of the adjacent detection points in the plurality of detection points in the second three-dimensional image may be connected to obtain a bottom connection line, and a portion through which the bottom connection line passes is determined as the position of the bottom of the sediments, and then the bottom plane of the sediments in the second three-dimensional image is determined according to the bottom connection line.

The method can estimate the whole bottom plane of the sediment by utilizing the top three-dimensional image of the sediment and combining the depth of the sediment acquired by the sediment detection equipment at the detection point to obtain the whole appearance of the sediment, and densely arranges the detection points compared with the prior art to further estimate the appearance of the sediment.

108. And acquiring bottom position information of the bottom plane of the sediment in the second three-dimensional image and acquiring top position information of the top of the sediment in the second three-dimensional image.

In this embodiment, specifically, coordinates may be established for the second three-dimensional image, at this time, coordinate information of the sediment plane at the second three-dimensional coordinate is obtained, and top curve coordinate information of the second three-dimensional image is obtained, and specifically, the coordinates may reflect an actual volume size of the sediment.

109. And determining the volume of the sediment according to the bottom position information and the top position information.

After the bottom coordinates and the top coordinates of the sediment in the second three-dimensional image are obtained, the volume of the sediment can be determined according to the bottom coordinates and the top coordinates, and in some embodiments, the volume of the sediment can be determined according to the bottom coordinates and the top coordinates in an integral mode.

In some embodiments, the determining the volume of sediment from the bottom position information and the top position information, the method further comprises:

extracting historical sediment three-dimensional images in a corresponding river and lake visual field in a database;

determining volume change data of the sediment by comparing the second three-dimensional image with the historical sediment three-dimensional image;

determining a risk deposition rating for the field of view from the volume change data;

determining a cleaning period of the field of view according to the risk deposition level;

the determining a risk deposit rating of the field of view from the volume change data may specifically comprise:

comparing the volume change data to a volume change threshold;

if the volume change data is larger than the volume change threshold, acquiring a transverse width change value and a longitudinal depth change value of the sediment volume in the second three-dimensional image;

if the longitudinal depth variation value is greater than the transverse width variation value, the risk deposition grade is a high risk grade;

and if the longitudinal depth variation value is smaller than the transverse width variation value, the risk deposition grade is a low risk grade.

Specifically, the historical sediment three-dimensional image in the river and lake visual field can be compared with the obtained second three-dimensional image, and then the sediment volume change data at the corresponding position can be determined. The skilled person can understand that the larger the variation data of the volume of the sediment at the corresponding position is, the higher the risk of deposition at the corresponding position is, the shorter the cleaning period should be, the volume variation data is represented in the transverse width variation data and the longitudinal depth variation data, and the larger risk of the longitudinal depth variation data to the safety of the ship can be more accurately reflected only when the longitudinal depth variation data is larger.

Therefore, after the volume change data of the sediment are determined, the volume change data are firstly compared with a volume change threshold value; on the premise that the volume change data is larger than the volume change threshold, further acquiring a transverse width change value and a longitudinal depth change value of the sediment volume in the second three-dimensional image, it can be understood that when the transverse width change value is larger than the longitudinal depth change value, it indicates that although the sediment volume change of the region is large, the sediment volume change is mainly deposited transversely on the river bottom, and the longitudinal depth is not changed, and when the transverse width change value is smaller than the longitudinal depth change value, it indicates that the sediment volume change of the region is large, the sediment volume change is mainly deposited on the longitudinal depth of the river bottom, and at this time, the risk on the ship safety is large.

Finally, the risk deposition grade of the visual field is determined to be a high risk grade or a low risk grade according to the longitudinal depth change value and the transverse width change value, and then the cleaning period of the visual field is determined according to the risk deposition grade. For example, the cleaning period of the low risk level is 12 months, and the cleaning period of the high risk level is 6 months, so that the cleaning period is defined according to the sediment detection science, and the ship-moving risk is reduced.

The embodiment of the invention provides a river and lake sediment detection method, which carries a laser radar to fly on a preset air route through an unmanned aerial vehicle; measuring and acquiring distance information of each point in a view field by using a two-dimensional point-by-point scanning mode according to preset detection density through the laser radar, and performing three-dimensional synthesis processing on the distance information by using a regular grid method to obtain a first three-dimensional image of the surface of the sediment; bottom sediment detection is carried out on a plurality of preset detection points through bottom sediment detection equipment, and the bottom sediment depths of the detection points are obtained; then, fusing the detection points into the first three-dimensional image through a central processing unit according to the positions of the detection points in the first three-dimensional image to obtain a second three-dimensional image; determining the detection point bottoms of the plurality of detection points in the second three-dimensional image according to the depth of the sediment; connecting the detection point bottoms of the adjacent detection points in the plurality of detection points in the second three-dimensional image to obtain a bottom connecting line, and determining a bottom plane of the sediment of the second three-dimensional image according to the bottom connecting line; then obtaining bottom position information of the bottom plane of the sediment in the second three-dimensional image and obtaining top position information of the top of the sediment in the second three-dimensional image; and finally, determining the volume of the sediment according to the bottom position information and the top position information. This scheme can obtain the three-dimensional appearance of bed mud through carrying on the laser radar on unmanned aerial vehicle, combines the bed mud degree of depth that bed mud detection equipment acquireed, and then confirms the volume of bed mud, and this embodiment need not carry out intensive survey to the bed mud degree of depth, can improve the efficiency of acquireing river lake bed mud volume, reduces the physical consumption.

In addition, combine laser radar can confirm the three-dimensional shape of bed mud volume and bed mud fast, handle for real-time accurate desilting and provide quick accurate help, unmanned aerial vehicle carries on laser radar and carries out the detection of bed mud, need not set up the gauge point densely, can use manpower sparingly, simultaneously, obtains the volume of bed mud and can also be used for estimating the settlement of engineering.

In order to better implement the river and lake bottom mud detection method provided by the embodiment of the invention, the embodiment of the invention also provides a system based on the river and lake bottom mud detection method. The terms are the same as those in the river and lake bottom mud detection method, and specific implementation details can be referred to the description in the method embodiment.

Referring to fig. 2, the river and lake sediment detection system may include an unmanned aerial vehicle, a laser radar, a sediment detection device, a central processing unit, and the like, wherein:

the unmanned aerial vehicle is used for carrying the laser radar to fly on a preset air route, and the air route is an air route required to be subjected to sediment measurement;

the laser radar is used for measuring and acquiring a plurality of distance information of each point in a view field by utilizing a two-dimensional point-by-point scanning mode according to preset detection density, acquiring minimum basic distance information in the plurality of distance information, and preprocessing the minimum distance information to acquire minimum standard distance information, wherein the preprocessing comprises the following steps: subtracting the distance information of the laser radar from the lake surface from the minimum basic distance information; comparing the minimum standard distance information with first threshold distance information; if the minimum distance information is smaller than the first threshold distance information, performing three-dimensional synthesis processing on the distance information by using a regular grid method to obtain a first three-dimensional image of the bottom sediment surface corresponding to the view field, and sending the first two-dimensional image to the central processing unit;

the sediment detection device is used for respectively detecting sediment at a plurality of preset detection points, obtaining the depth of the sediment at the plurality of detection points and sending the depth of the sediment to the central processing unit, wherein the depth of the sediment comprises position information of the corresponding detection points and the depth information of the sediment at the corresponding positions, the sediment detection device comprises a sediment detection rod and a pressure detector, the pressure detector is installed at the detection end of the sediment detection rod, and when the pressure detected by the pressure detector reaches a preset pressure threshold value during operation, the sediment detection rod stops downward detection movement and records the depth of the sediment at the moment;

the central processing unit is used for fusing the detection points into the first three-dimensional image according to the positions of the detection points in the first three-dimensional image to obtain a second three-dimensional image;

determining the detection point bottoms of the plurality of detection points in the second three-dimensional image according to the sediment depth;

connecting the detection point bottoms of the adjacent detection points in the plurality of detection points in the second three-dimensional image to obtain a bottom connecting line, and determining a bottom plane of the sediment of the second three-dimensional image according to the bottom connecting line;

acquiring bottom position information of the bottom plane of the sediment in the second three-dimensional image and acquiring top position information of the top of the sediment in the second three-dimensional image;

and determining the volume of the sediment according to the bottom position information and the top position information.

In some embodiments, the lidar is further to:

comparing the minimum distance information with second threshold distance information; wherein the second threshold distance information is less than the first threshold distance information;

if the minimum distance information is smaller than the second threshold distance information, sending an altitude alarm signal;

and after point locations of the corresponding view fields which are smaller than the second threshold value distance information are removed, three-dimensional synthesis processing is carried out on a plurality of distance information corresponding to a plurality of remaining point locations by using a regular grid method, and first three-dimensional images of the sediment surface corresponding to the plurality of remaining point locations of the view fields are obtained.

In some embodiments, the central processor is further configured to:

extracting historical sediment three-dimensional images in a corresponding river and lake visual field in a database;

determining volume change data of the sediment by comparing the second three-dimensional image with the historical sediment three-dimensional image;

determining a risk deposition rating for the field of view from the volume change data;

determining a cleaning period of the field of view according to the risk deposition level;

the determining a risk deposit rating of the field of view from the volume change data may specifically comprise:

comparing the volume change data to a volume change threshold;

if the volume change data is larger than the volume change threshold, acquiring a transverse width change value and a longitudinal depth change value of the sediment volume in the second three-dimensional image;

and if the longitudinal change value variation value is greater than the transverse change value, the risk deposition grade is a high risk grade.

In some embodiments, the central processor is further configured to:

determining whether a sediment over-thickness detection point exists, wherein the sediment over-thickness detection point is a detection point with the sediment depth larger than a depth threshold value;

and if so, marking the sediment over-thickness mark on the sediment over-thickness detection point.

In some embodiments, the central processor is further configured to:

and in the second three-dimensional image, a detection point marked with a sediment over-thickness mark is taken as a center, 5 meters are taken as a radius, and a sediment over-thickness range mark is marked around the sediment over-thickness detection point.

In some embodiments, the sediment detection apparatus further comprises a mud detector mounted 5 cm from the detection end of the sediment detection rod.

In some embodiments, the sediment detection apparatus is specifically configured to:

carrying out bottom mud depth detection on a plurality of preset detection points through the bottom mud detection rod to obtain the bottom mud depths of the detection points;

and detecting the sludge of the bottom sludge through the sludge detector, wherein the sludge comprises microorganism content and heavy metal content.

In some embodiments, the sediment detection apparatus is further configured to:

determining whether the microorganism content exceeds a microorganism content standard and determining whether the heavy metal content exceeds a heavy metal content standard;

if the mud quality exceeds the preset value, a mud quality alarm signal is sent out.

In some embodiments, the lidar is further to:

determining whether the height of the sediment from the water surface is less than 1 meter;

if the height is less than 1 meter, a height alarm signal is sent out.

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

In the above embodiments, the descriptions of the embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may be referred to the above detailed description of the river and lake bottom mud detection method, and are not described herein again.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, the embodiment of the present invention provides a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps in any one of the methods for detecting river and lake bottom mud provided by the embodiment of the present invention. For example, the instructions may perform the steps of:

carrying the laser radar by the unmanned aerial vehicle to fly on a preset air route, wherein the air route is an air route required to be subjected to sediment measurement;

measuring and acquiring a plurality of distance information respectively corresponding to each point position in a view field by the laser radar in a two-dimensional point-by-point scanning mode according to preset detection density;

acquiring minimum basic distance information in the distance information, and preprocessing the minimum distance information to acquire minimum standard distance information, wherein the preprocessing comprises the following steps: subtracting the distance information of the laser radar from the lake surface from the minimum basic distance information;

comparing the minimum standard distance information with first threshold distance information;

if the minimum distance information is smaller than the first threshold distance information, performing three-dimensional synthesis processing on the distance information by using a regular grid method to obtain a first three-dimensional image of the bottom sediment surface corresponding to the view field;

the sediment detection device is used for respectively detecting the sediment at a plurality of preset detection points to obtain the depth of the sediment at the plurality of detection points, and comprises a sediment detection rod and a pressure detector, wherein the pressure detector is arranged at the detection end of the sediment detection rod, and when the pressure detected by the pressure detector reaches a preset pressure threshold value during operation, the sediment detection rod stops downward detection movement and records the depth of the sediment at the moment;

sending the first three-dimensional image and the sediment depth to the central processing unit, wherein the sediment depth comprises position information of a corresponding detection point and sediment depth information of the position;

fusing the detection points into the first three-dimensional image according to the positions of the detection points in the first three-dimensional image through the central processor to obtain a second three-dimensional image;

determining the detection point bottoms of the plurality of detection points in the second three-dimensional image according to the sediment depth;

connecting the detection point bottoms of the adjacent detection points in the plurality of detection points in the second three-dimensional image to obtain a bottom connecting line, and determining a bottom plane of the sediment of the second three-dimensional image according to the bottom connecting line;

acquiring bottom position information of the bottom plane of the sediment in the second three-dimensional image and acquiring top position information of the top of the sediment in the second three-dimensional image;

and determining the volume of the sediment according to the bottom position information and the top position information.

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

Wherein the computer-readable storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.

Since the instructions stored in the computer-readable storage medium can execute the steps in any one of the methods for detecting river and lake bottom mud provided by the embodiments of the present invention, the beneficial effects that can be achieved by any one of the methods for detecting river and lake bottom mud provided by the embodiments of the present invention can be achieved, for details, see the foregoing embodiments, and are not described herein again.

The river and lake bottom mud detection method and system provided by the embodiment of the invention are described in detail, specific examples are applied in the method to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.