1. The oil spill monitoring system based on the multispectral imaging device is characterized by comprising a flight device, a data acquisition and processing platform and the multispectral imaging device carried on the flight device;

the flight equipment is used for cruising above an oil spill area;

the multispectral imaging equipment is in communication connection with the data acquisition and processing platform; the multispectral imaging device is used for shooting the oil spilling region for multiple times when the flying device patrols and navigates, shooting partial regions of the oil spilling region each time to obtain multispectral segment images of each region, and transmitting the multispectral segment images of each region to the data acquisition and processing platform;

and the data acquisition and processing platform is used for determining the distribution condition and the distribution area of the oil film in the oil overflow area according to the multispectral segment image of each area.

2. The system according to claim 1, wherein the multispectral imaging device comprises a camera body, and an optical filter and a plurality of detectors located in the camera body;

the optical filter is connected with the detector;

the optical filter is used for dividing the mixed light reflected by the oil spilling area into a plurality of light with different spectral bands, and the light with each spectral band enters the detector;

the detector is used for imaging according to the light of the spectral band to obtain a multispectral band image.

3. The system of claim 2, wherein the spectral range of the plurality of different spectral regions is 400-1000 nm.

4. An oil spill monitoring method based on a multispectral imaging device, which controls the oil spill monitoring system according to any one of claims 1-3 to operate, wherein the oil spill monitoring method comprises the following steps:

receiving multispectral segment images of each region, which are obtained by shooting the oil spilling region for multiple times by multispectral imaging equipment when the flying equipment is cruising;

carrying out image splicing on the multispectral segment image of each region by utilizing an affine-scale invariant feature transformation algorithm to obtain a multispectral segment image of the oil spilling region;

and determining the distribution condition and the distribution area of the oil film in the oil spilling region according to the multispectral segment image of the oil spilling region.

5. The method according to claim 4, wherein after obtaining the multispectral segment image of each region, the method further comprises preprocessing the multispectral segment image of each region, and writing the geographic location data corresponding to the multispectral segment image into the multispectral segment image.

6. The method according to claim 5, wherein the image stitching of the multispectral segment images of each region by using the affine-scale invariant feature transformation algorithm to obtain the multispectral segment images of the oil spill region specifically comprises:

pre-splicing the multispectral segment images of each region according to the geographic position data of the multispectral segment images to determine adjacent multispectral segment images;

extracting the characteristic points of the multispectral segment image of each region by using an affine-scale invariant characteristic transformation algorithm, matching the characteristic points of any two adjacent multispectral segment images, and carrying out image registration;

and carrying out image fusion on the registered multispectral segment image of each region to obtain the multispectral segment image of the oil spilling region.

7. The method according to claim 4, wherein the determining the distribution and the distribution area of the oil film in the oil spilling region according to the multispectral segment image of the oil spilling region specifically comprises:

extracting an oil film range from the multispectral section image of the oil spilling region based on the spectral characteristic difference of the oil film and the water body in the multispectral section, and determining the distribution condition of the oil film;

and calculating the distribution area of the oil film according to the distribution condition of the oil film and the flight parameters of the flight equipment.

8. The method according to claim 7, wherein the step of extracting an oil film range from the multispectral segment image of the oil spill region based on the spectral feature difference between the oil film and the water body in the multispectral segment, and the step of determining the oil film distribution specifically comprises:

for each spectral section, drawing a histogram of the spectral section by taking the wavelength as an abscissa and the spectral reflectivity as an ordinate;

selecting the spectrum section with the histogram having the double-peak characteristics as a segmentation spectrum section;

for each segmented spectral section, calculating a water-oil segmentation threshold value of the segmented spectral section;

according to the water-oil segmentation threshold, segmenting the image corresponding to the segmentation spectrum section to obtain a segmentation result; the segmentation result comprises a water body area and an oil spilling area;

and taking the intersection of the segmentation results of all the segmentation spectral bands to determine the distribution condition of the oil film.

9. The method according to claim 4, wherein after obtaining the multispectral segment image of the oil spill region, the method further comprises:

and according to the multispectral segment image of the oil spilling region, performing inversion by using the optical characteristic difference of the oil film and the water body in the multispectral segment to obtain the thickness of the oil film.

10. The method according to claim 4, wherein after obtaining the multispectral segment image of the oil spill region, the method further comprises:

and determining the type of the oil film according to the difference of the spectral reflectivities of the oil films of different types in different spectral bands.

Background

In recent years, in the fields of river north of Bohai sea and coastal areas of Shandong, a plurality of events of polluting shorelines and shallow sea farms with oil blocks from unknown sources occur every year, the oil blocks are blocky particles with different sizes, oil spilling accidents do not occur near sea areas, and floating oil stains are not found on the sea surfaces of the peripheral sea areas. With this recognition, this oil cake of unknown origin is considered to be submersible oil. However, the research on submersible oil is a difficult problem at home and abroad, the conditions and mechanism of formation of submersible oil, the problems of drift diffusion mode, migration and transformation, environmental influence, extinction rate and the like of submersible oil are not effectively known, the monitoring of submersible oil is difficult and serious, and the success rate and the accuracy rate of finding, tracking and monitoring submersible oil are low.

Disclosure of Invention

The invention aims to provide an oil spill monitoring system and method based on multispectral imaging equipment, which are used for researching a water surface oil film rapid detection technology, finding and tracking oil stains floating on the sea surface in time and cleaning in time so as to reduce the damage to the environment.

In order to achieve the purpose, the invention provides the following scheme:

an oil spill monitoring system based on multispectral imaging equipment comprises flight equipment, a data acquisition and processing platform and multispectral imaging equipment carried on the flight equipment;

the flight equipment is used for cruising above an oil spill area;

the multispectral imaging equipment is in communication connection with the data acquisition and processing platform; the multispectral imaging device is used for shooting the oil spilling region for multiple times when the flying device patrols and navigates, shooting partial regions of the oil spilling region each time to obtain multispectral segment images of each region, and transmitting the multispectral segment images of each region to the data acquisition and processing platform;

and the data acquisition and processing platform is used for determining the distribution condition and the distribution area of the oil film in the oil overflow area according to the multispectral segment image of each area.

An oil spilling monitoring method based on multispectral imaging equipment comprises the following steps:

receiving multispectral segment images of each region, which are obtained by shooting the oil spilling region for multiple times by multispectral imaging equipment when the flying equipment is cruising;

carrying out image splicing on the multispectral segment image of each region by utilizing an affine-scale invariant feature transformation algorithm to obtain a multispectral segment image of the oil spilling region;

and determining the distribution condition and the distribution area of the oil film in the oil spilling region according to the multispectral segment image of the oil spilling region.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

the invention provides an oil spill monitoring system and method based on multispectral imaging equipment. The flying equipment cruises above the oil spilling region, the multispectral imaging equipment shoots the oil spilling region for multiple times when the flying equipment cruises, and partial regions of the oil spilling region are shot each time to obtain multispectral segment images of each region. The data acquisition and processing platform performs image splicing on the multispectral segment image of each region by using an affine-scale invariant feature transformation algorithm to obtain the multispectral segment image of the oil spill region, and then determines the distribution condition and the distribution area of the oil film in the oil spill region according to the multispectral segment image of the oil spill region, so that the multidimensional high-resolution information of the oil film on the water surface can be obtained, the extraction and identification of the oil film information on the sea surface are completed, the first time feedback of the oil film area and the oil film distribution information of the oil spill accident site is realized, and the oil spill is conveniently processed in time. In addition, whether the conditions and mechanism formed by the oil film floating on the sea surface, the drift diffusion mode, the migration, transformation, homing, the environmental influence and the extinction rate are mastered or not, the monitoring system and the method can be used for effectively monitoring the oil film, and the success rate and the accuracy rate are high.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described 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 without creative efforts.

Fig. 1 is a block diagram of an oil spill monitoring system provided in embodiment 1 of the present invention.

Fig. 2 is a schematic structural diagram of a multispectral imaging device according to embodiment 1 of the present invention.

Fig. 3 is a flowchart of a method for monitoring oil spill according to embodiment 2 of the present invention.

Description of the symbols:

1-a flying device; 2-a multispectral imaging device; and 3, a data acquisition and processing platform.

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.

The invention aims to provide an oil spill monitoring system and method based on multispectral imaging equipment, which are used for researching a water surface oil film rapid detection technology, finding and tracking oil stains floating on the sea surface in time, monitoring submerged oil in real time and cleaning in time so as to reduce the damage to the environment.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Example 1:

the embodiment is used for providing an oil spilling monitoring system based on a multispectral imaging device, as shown in fig. 1, the oil spilling monitoring system includes a flight device 1, a data acquisition and processing platform 3, and a multispectral imaging device 2 mounted on the flight device 1.

The flying device 1 is used for cruising above an oil spill area. Specifically, flight equipment 1 is unmanned aerial vehicle, can adopt light unmanned aerial vehicle, and unmanned aerial vehicle is rotor unmanned aerial vehicle, many rotor unmanned aerial vehicle, fixed wing unmanned aerial vehicle or the unmanned aerial vehicle of other types, and then can carry on multispectral imaging device 2 on the unmanned aerial vehicle of multiple different grade type. The flight device 1 may also be an airplane or other device, and any device capable of cruising an oil spill area is within the scope of the present invention. Still be provided with unmanned aerial vehicle control system on the unmanned aerial vehicle, this unmanned aerial vehicle control system supports different modes such as manual remote control mode and fixed airline mode of cruising, and then can enough control unmanned aerial vehicle's flight state through manual remote control, makes it cruise, also can be through the programming, makes unmanned aerial vehicle cruise along fixed airline with the flight parameter who sets for to through this unmanned aerial vehicle control system real-time recording unmanned aerial vehicle's flight route and flight state. In addition, in the flight process of the unmanned aerial vehicle, the flight attitude information of the unmanned aerial vehicle at any position is acquired by the method of GPS positioning and inertial measurement. For other types of flight devices 1, the control system is correspondingly arranged on the flight device 1 in the embodiment, and the flight route and the flight state of the flight device 1 are recorded in real time through the control system. In addition, during the flight process of the flight device 1, the present embodiment also obtains the flight attitude information of the flight device 1 at any position by using GPS positioning and inertial measurement methods.

The multispectral imaging device 2 is in communication connection with the data acquisition and processing platform 3. The multispectral imaging device 2 is used for shooting the oil spilling region for multiple times when the flying device 1 navigates, shooting partial regions of the oil spilling region each time to obtain multispectral segment images of each region, and transmitting the multispectral segment images of each region to the data acquisition and processing platform 3. The multispectral imaging device 2 is mounted on the flying device 1, the shooting mode is divided into visible light and multispectral, the shooting frame frequency can be 8fps or can be set according to needs, the shooting frame frequency can be set at will, and therefore overlapping parts may exist among images shot by the multispectral imaging device 2, overlapping parts may not exist, and no matter whether the overlapping parts exist, the multispectral section images obtained through multiple shooting are combined, the whole oil spilling area can be covered certainly. In addition, when the oil spilling area is too small, the small degree can reach that the multispectral imaging device 2 can cover the whole oil spilling area by only shooting once, and then the multispectral segment image of the whole oil spilling area can be obtained by only shooting once for the oil spilling area.

Specifically, as shown in fig. 2, the multispectral imaging device 2 used in the present embodiment includes a camera main body, and an optical system, a main control circuit, a bluetooth transmission module, a back, and a storage circuit that are located in the camera main body. The optical system includes an optical convergence unit and an optical filter, and the back includes a plurality of detectors. The master control circuit is respectively in communication connection with the optical system, the Bluetooth sending module and the back, the back is in communication connection with the storage circuit, the optical system is connected with the back, and the optical system is specifically embodied as the optical filter is connected with the detector.

The optical convergence unit is composed of a lens, a reflector or a scanning mirror and the like and is used for collecting radiation or reflected electromagnetic waves from an oil film target and a water body on the sea surface, the main control circuit divides mixed light (electromagnetic waves) reflected by an oil spilling area into a plurality of light of different spectral bands by controlling the optical filter, and the light of each spectral band enters a detector. The detector is used for imaging according to the light of the spectrum section to obtain an image corresponding to the light of the spectrum section, and due to the arrangement of the plurality of detectors, the multispectral section image of the shot area can be obtained simultaneously. The multispectral segment image is further transmitted to the main control circuit and the storage circuit respectively through the back, the storage circuit stores the multispectral segment image, the main control circuit transmits the multispectral segment image to the data acquisition and processing platform 3 through the Bluetooth sending module, and then the multispectral imaging device 2 divides an incident full-wave-band or wide-wave-band optical signal into a plurality of narrow-wave-band light beams which are imaged on corresponding detectors respectively, so that images of different spectral segments of each region contained in an oil spilling region at a specific moment can be obtained simultaneously, oil film characteristics can be extracted more effectively, and oil films can be identified.

In the multispectral imaging device 2 used in the embodiment, the weight of the camera body is less than or equal to 3.5kg (no cable is contained), the size is less than or equal to 240mm × 150mm × 170mm, the power supply is direct current 12V, and the power consumption is less than or equal to 30 w. The focal length of the detector is 28mm, the full field angle is 22.7 degrees, the pixel number is 2048 multiplied by 2048, and the ground resolution is 1m²(at 500m altitude), the ground coverage area is 260m x 260m (at 500m altitude). The embodiment can be divided into 6 spectral bands, and the spectral bands can be set to be blue (441-471 nm), green (510-580 nm), yellow (582-612 nm), red (655-685 nm), red edge (690-720 nm) and near infrared (780-1000 nm). The spectral range is 400-1000 nm.

The oil spilling monitoring system of the embodiment further comprises a data transmission module, and the data transmission module is composed of airborne transmission equipment and ground transmission equipment. The airborne transmission device is arranged on the flying device 1, and different interfaces are provided for connecting the flying device 1 and the multispectral imaging device 2. The ground transmission equipment is connected with the airborne transmission equipment through an antenna and is connected with the data acquisition and processing platform 3 through an interface, so that the multispectral segment images of each region are transmitted to the data acquisition and processing platform 3 through the data transmission module.

The data acquisition and processing platform 3 is used for determining the distribution condition and the distribution area of the oil film in the oil spilling region according to the multispectral segment image of each region, further extracting and outlining the distribution shape of the oil film and calculating the distribution area of the oil film by processing the multispectral segment image, and the data acquisition and processing platform 3 can also display the calculation results of the distribution condition and the distribution area of the oil film and generate an oil spilling region monitoring report, so that the first-time feedback of the oil film area and the oil film distribution information of the oil spilling accident site can be realized, the quick response of the sudden oil spilling accident is realized, and powerful technical support is provided for basin and offshore oil spilling monitoring. In addition, the oil spilling monitoring system provided by the embodiment can effectively monitor various types of oil, and can effectively monitor the oil regardless of whether the conditions and mechanisms of formation of the oil floating on the sea surface, the drift diffusion mode, the migration, transformation, accommodation, environmental influence and the extinction rate are mastered, and the success rate and the accuracy rate are high.

Example 2:

the present embodiment is configured to provide an oil spilling monitoring method based on a multispectral imaging device, which controls the oil spilling monitoring system described in embodiment 1 to operate, and as shown in fig. 3, the oil spilling monitoring method includes the following steps:

s1: receiving a multispectral segment image of each region obtained by shooting the oil spilling region for multiple times by the multispectral imaging device 2 when the flying device 1 patrols and navigates;

after obtaining the multispectral segment image of each region and before step S2, the oil spill monitoring method further includes preprocessing the multispectral segment image of each region, writing geographic location data corresponding to the multispectral segment image into the multispectral segment image, wherein the data storage type is a built-in CF card (maximum support 128GB), and the image data storage format is TIFF (8 bits/12 bits).

S2: carrying out image splicing on the multispectral segment image of each region by utilizing an affine-scale invariant feature transformation algorithm to obtain a multispectral segment image of the oil spilling region;

specifically, S2 may include:

and pre-splicing the multispectral segment images of each region according to the geographic position data of the multispectral segment images to determine adjacent multispectral segment images, namely pre-splicing the multispectral segment images of each region according to the geographic position to determine the adjacent images of the multispectral images of each region.

And extracting the characteristic points of the multispectral segment image of each region by using an affine-scale invariant characteristic transformation algorithm, matching the characteristic points of any two adjacent multispectral segment images, and carrying out image registration.

And carrying out image fusion on the registered multispectral segment image of each region to obtain the multispectral segment image of the oil spilling region. It should be noted that, when image stitching is performed, images of each spectral band are respectively stitched, and a multispectral band image of the whole oil spilling region is finally obtained.

S3: and determining the distribution condition and the distribution area of the oil film in the oil spilling region according to the multispectral segment image of the oil spilling region.

Specifically, S3 may include:

and extracting an oil film range from the multispectral section image of the oil spilling region based on the spectral characteristic difference of the oil film and the water body in the multispectral section, and determining the distribution condition of the oil film. And then calculating the distribution area of the oil film according to the distribution condition of the oil film and the flight parameters of the flight equipment 1, specifically, the flight parameters of the flight equipment 1 comprise the flight height, the flight angle and other data of the unmanned aerial vehicle, and can be obtained through a control system and an inertia measurement method of the flight equipment 1, so that the area of an oil spill area and the error area are calculated.

When the distribution condition of the oil film is determined, this embodiment may include 6 spectral bands as described in embodiment 1, a histogram of each spectral band image is counted according to optical characteristics of the oil film and the water body in different spectral bands, a water-oil segmentation threshold is automatically calculated according to a bimodal distribution characteristic, and an intersection is taken from segmentation results of different spectral bands to obtain an oil spill range. Specifically, for each spectral band, the wavelength is used as an abscissa and the spectral reflectivity is used as an ordinate, a histogram of the spectral band is drawn, and the spectral band with the histogram having the double-peak characteristic is selected as a segmentation spectral band. And calculating a water-oil segmentation threshold of each segmented spectrum section, and segmenting the image corresponding to the segmented spectrum section according to the water-oil segmentation threshold to obtain a segmentation result. The segmentation result comprises a water body area and an oil spilling area. And (4) taking intersection of the segmentation results of all the segmentation spectral sections, namely taking intersection of the oil spilling regions corresponding to all the segmentation spectral sections, and determining the distribution condition of the oil film.

As an optional embodiment, after obtaining the multispectral segment image of the oil spilling region, the oil spilling monitoring method further comprises: and according to the multispectral segment image of the oil spilling region, performing inversion by using the optical characteristic difference of the oil film and the water body in the multispectral segment to obtain the thickness of the oil film. Namely, the thickness of the oil film is inverted according to the optical characteristics of the oil film and the water body in various wave bands from visible light to thermal infrared. Experiments prove that the oil spilling monitoring method provided by the embodiment can be used for well monitoring the oil spilling region, the thickness resolution of the obtained oil film is less than 0.0001m, and the error of the ink distribution area is +/-5%.

As an optional embodiment, after obtaining the multispectral segment image of the oil spilling region, the oil spilling monitoring method further comprises: and determining the type of the oil film according to the difference of the spectral reflectivities of the oil films of different types in different spectral bands. For example, kerosene is in spectral range L₁Has the highest reflection peak value, and the crude oil is in the spectral section L₂Where there is the highest reflection peak. Statistical spectral range L in oil film range₁If it is higher than m₁Then the oil film is judged to be kerosene L₁Is a green band (510-580 nm), m₁And taking 2.5. Statistical spectral range L in oil film range₂If it is higher than m₂Then the oil film is judged to be crude oil, L₂Is near infrared band (780-1000 nm), m₂And taking 2. Therefore, the type of the oil film can be distinguished, the oil spilling pollution sources of different types can be further distinguished, and the first time feedback of the oil spilling pollution source classification and identification of the oil spilling accident site can be realized.

The oil spill monitoring method provided by the embodiment can realize the first time feedback of oil spill pollution source classification, oil film area distribution information and oil film thickness in the oil spill accident site, and provides powerful technical support for basin and offshore oil spill monitoring. In addition, the oil spill monitoring method provided by the embodiment can effectively monitor various types of oil, and can effectively monitor the oil regardless of whether the conditions and mechanisms of formation of the oil floating on the sea surface, the drift diffusion mode, the migration, transformation, accommodation, environmental influence and the extinction rate are mastered, and the success rate and the accuracy rate are high.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.