CN118425555B - Photoelectric fusion-based water flow velocity measurement method and system - Google Patents
Photoelectric fusion-based water flow velocity measurement method and system Download PDFInfo
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- CN118425555B CN118425555B CN202410881963.0A CN202410881963A CN118425555B CN 118425555 B CN118425555 B CN 118425555B CN 202410881963 A CN202410881963 A CN 202410881963A CN 118425555 B CN118425555 B CN 118425555B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 148
- 238000000691 measurement method Methods 0.000 title claims abstract description 41
- 230000004927 fusion Effects 0.000 title claims abstract description 34
- 238000005259 measurement Methods 0.000 claims abstract description 76
- 238000009434 installation Methods 0.000 claims abstract description 18
- 238000004364 calculation method Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 27
- 238000000827 velocimetry Methods 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 17
- 230000003287 optical effect Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 8
- 238000000917 particle-image velocimetry Methods 0.000 claims description 6
- 238000000037 particle-tracking velocimetry Methods 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/26—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting optical wave
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/585—Velocity or trajectory determination systems; Sense-of-movement determination systems processing the video signal in order to evaluate or display the velocity value
- G01S13/587—Velocity or trajectory determination systems; Sense-of-movement determination systems processing the video signal in order to evaluate or display the velocity value using optical means
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Abstract
本发明提供一种基于光电融合的水流速度测量方法及系统，属于水文测量技术领域，包括：获取待测量重叠区域，在待测量重叠区域中对多个测量设备的坐标进行统一，得到统一坐标测量区域；计算统一坐标测量区域中的视频数据，得到视频数据的整体流向与设备安装点的连线夹角；根据连线夹角获得水流实际流向，基于水流实际流向确定采用水流测速法或采用雷达测速法获得水流表面流速；在待测量重叠区域内获取所有区域网格点的水流表面流速，形成综合水流输出结果集合。本发明通过在不同场景中视频采集设备和雷达采集设备相互补充，进行水流速度的测量，不仅能避免各自应用的局限性，还能充分发挥光电设备结合的优势，有效提高流速计算结果的准确性。
The present invention provides a water flow velocity measurement method and system based on photoelectric fusion, which belongs to the field of hydrological measurement technology, including: obtaining overlapping areas to be measured, unifying the coordinates of multiple measuring devices in the overlapping areas to be measured, and obtaining a unified coordinate measurement area; calculating video data in the unified coordinate measurement area, and obtaining the angle between the overall flow direction of the video data and the connection point of the equipment installation point; obtaining the actual flow direction of the water flow according to the connection angle, and determining whether to use a water flow velocity measurement method or a radar velocity measurement method to obtain the surface velocity of the water flow based on the actual flow direction of the water flow; obtaining the surface velocity of the water flow at all regional grid points in the overlapping area to be measured, and forming a comprehensive water flow output result set. The present invention measures the water flow velocity by complementing each other with video acquisition equipment and radar acquisition equipment in different scenes, which can not only avoid the limitations of their respective applications, but also give full play to the advantages of the combination of photoelectric equipment, and effectively improve the accuracy of the flow velocity calculation results.
Description
Technical Field
The invention relates to the technical field of hydrologic measurement, in particular to a water flow speed measurement method and system based on photoelectric fusion.
Background
Currently, water flow measurement in hydrologic monitoring gradually transits from an artificial mode to an intelligent mode, and water flow velocity measurement can be obtained through measurement by non-contact equipment under normal conditions, but a plurality of problems still exist.
When the non-contact equipment is used for measurement, water flow velocity measurement data which need to be obtained can be directly obtained by erecting relevant equipment nearby water flow, the surrounding environment of a river water area is complex and is easily influenced by various uncertain factors including weather factors, natural disaster factors and the like, and the requirements on the accuracy and the anti-interference performance of the equipment are high. In the prior art, mainly used measuring equipment comprises video acquisition equipment and radar equipment, wherein the video acquisition equipment and the radar equipment are limited in use, the radar equipment is relatively more in flow measurement limit, relatively higher in installation difficulty and cannot be used in an oversized river channel and is easily interfered by factors such as wind speed, electromagnetic waves and the like, for ultra-high frequency radar, the situation that the river flow direction is parallel to a shoreline is also assumed, once the actual river flow direction is not parallel to the shoreline, relatively larger deviation can be generated when the deviation is large, the video acquisition equipment is relatively simpler to the radar equipment, but the visibility range of flow measurement is limited, the surface condition of unclear water flow is seen, particularly, the visibility in rainy days and foggy days is relatively poor, and the situation that the measurement deviation is large is caused when the flow speed is low is required.
Therefore, in order to overcome the disadvantages of the photoelectric measuring device in the water flow velocity measurement, a fusion measuring method is required to be provided, which can combine the advantages of various measuring devices, overcome the disadvantages, and further improve the accuracy of the water flow velocity measurement.
Disclosure of Invention
The invention provides a water flow speed measuring method and system based on photoelectric fusion, which are used for solving the defect of low accuracy of a measuring result caused by a plurality of limitations of measuring water flow by adopting single type non-contact equipment in the prior art, realizing complementation measurement of multiple types of equipment and greatly improving the accuracy of measuring the water flow speed.
In a first aspect, the present invention provides a method for measuring a water flow velocity based on photoelectric fusion, including:
acquiring an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, and unifying coordinates of a plurality of measuring devices in the overlapping area to be measured by utilizing the grid points to obtain a unified coordinate measuring area;
calculating video data in the unified coordinate measurement area to obtain a connecting line included angle between the whole flow direction of the video data and an equipment installation point of measurement equipment;
Obtaining the actual flow direction of water flow according to the connecting line included angle, and determining to obtain the surface flow velocity of the water flow by adopting a water flow velocity measurement method or a radar velocity measurement method based on the actual flow direction of the water flow;
And acquiring the water flow surface flow velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set.
According to the water flow velocity measurement method based on photoelectric fusion provided by the invention, an overlapping area to be measured is obtained, a plurality of grid points of the overlapping area to be measured are determined, the coordinates of a plurality of measurement devices in the overlapping area to be measured are unified by using the grid points, and before the unified coordinate measurement area is obtained, the method further comprises the steps of:
determining the water flow coverage, and arranging an ultrahigh frequency radar and a video flow rate meter at equipment installation points on a single side bank of the water flow coverage;
The ultra-high frequency radar performs side scanning on the water flow coverage area, and radar data are collected;
the video flow velocity meter shoots the water flow coverage area and collects video data.
According to the water flow velocity measurement method based on photoelectric fusion, the invention obtains an overlapping area to be measured, determines a plurality of grid points of the overlapping area to be measured, unifies coordinates of a plurality of measurement devices in the overlapping area to be measured by using the grid points to obtain a unified coordinate measurement area, and comprises the following steps:
Performing grid division on the overlapping area to be measured according to preset division density to obtain a plurality of grid points;
performing camera calibration on the video flow velocity meter, converting camera pixel coordinates of the grid points into actual geographic coordinates, and unifying a camera grid coordinate system corresponding to the camera pixel coordinates and a radar side scanning coordinate system corresponding to the actual geographic coordinates to obtain a unified coordinate system;
and aligning the unified coordinate system with the overlapping area to be measured to obtain the unified coordinate measurement area.
According to the water flow velocity measurement method based on photoelectric fusion, which is provided by the invention, video data in the unified coordinate measurement area is calculated to obtain a connecting line included angle between the whole flow direction of the video data and an equipment installation point of measurement equipment, and the method comprises the following steps:
Performing optical flow detection on the video data to obtain interval image frames among a plurality of grid points;
Calculating a two-dimensional dense flow field of the interval image frame, and acquiring a pixel average flow of a single grid point based on the two-dimensional dense flow field;
And taking the pixel average flow as the overall flow direction of the video data, and determining the included angle of the connecting line according to the overall flow direction and the connecting line between the single grid point and the equipment installation point.
According to the method for measuring the water flow velocity based on photoelectric fusion, which is provided by the invention, the actual flow direction of water flow is obtained according to the connecting line included angle, and the water flow velocity is obtained by adopting a water flow velocity measurement method or a radar velocity measurement method based on the actual flow direction of water flow, and the method comprises the following steps:
determining a flow rate angle threshold;
if the connecting line included angle is equal to the flow velocity angle threshold value, determining that the actual flow direction of the water flow is parallel to a shoreline, and calculating the water flow surface flow velocity of a single grid point by adopting the water flow velocity measurement method;
If the connecting line included angle is not equal to the flow velocity angle threshold, determining that the actual flow direction of the water flow is not parallel to the shoreline, acquiring radar speed measurement of a single grid point, and obtaining the surface flow velocity of the water flow according to the radar speed measurement and the cosine value of the connecting line included angle.
According to the water flow velocity measurement method based on photoelectric fusion, the water flow velocity measurement method comprises an optical flow velocity measurement OPV, a particle image velocity measurement PIV, a particle tracking velocity measurement PTV and a space-time image velocity measurement STIV.
In a second aspect, the present invention further provides a water flow velocity measurement system based on photoelectric fusion, including:
The unification module is used for acquiring an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, unifying coordinates of a plurality of measuring devices in the overlapping area to be measured by utilizing the grid points, and obtaining a unified coordinate measuring area;
The calculation module is used for calculating the video data in the unified coordinate measurement area to obtain a connecting line included angle between the whole flow direction of the video data and the equipment installation point of the measurement equipment;
the measuring module is used for measuring the actual flow direction of the water flow obtained according to the connecting line included angle, and determining to obtain the surface flow velocity of the water flow by adopting a water flow velocimetry or a radar velocimetry based on the actual flow direction of the water flow;
And the output module is used for acquiring the water flow surface flow velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set.
In a third aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements any one of the above-mentioned methods for measuring water flow velocity based on photoelectric fusion when executing the program.
In a fourth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a photo fusion based water flow velocity measurement method as described in any one of the above.
In a fifth aspect, the present invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of measuring water flow velocity based on photo-fusion as described in any one of the above.
According to the photoelectric fusion-based water flow velocity measurement method and system, the video acquisition equipment and the radar acquisition equipment are mutually supplemented in different scenes to measure the water flow velocity, so that the limitations of respective application can be avoided, the advantages of photoelectric equipment combination can be fully exerted, and the accuracy of a flow velocity calculation result can be effectively improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a water flow velocity measurement method based on photoelectric fusion;
FIG. 2 is a schematic illustration of an overlap region provided by the present invention;
FIG. 3 is a schematic representation of an optical flow field provided by the present invention;
FIG. 4 is a schematic diagram of the included angles of the connection lines according to the present invention;
FIG. 5 is a graph of mesh flow rate results provided by the present invention;
FIG. 6 is a schematic diagram of a water flow velocity measurement system based on photoelectric fusion according to the present invention;
Fig. 7 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Aiming at the uncertainty of current water flow velocity measurement in complex water areas, the invention provides a water flow velocity measurement method based on photoelectric fusion, which solves the problem that single type non-contact measurement equipment has more limitations.
Fig. 1 is a schematic flow chart of a water flow velocity measurement method based on photoelectric fusion according to an embodiment of the present invention, as shown in fig. 1, including:
Step 100, acquiring an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, and unifying coordinates of a plurality of measuring devices in the overlapping area to be measured by utilizing the grid points to obtain a unified coordinate measuring area;
step 200, calculating video data in the unified coordinate measurement area to obtain a connecting line included angle between the whole flow direction of the video data and the equipment installation point of the measurement equipment;
Step 300, obtaining the actual flow direction of water flow according to the connecting line included angle, and determining to obtain the surface flow velocity of the water flow by adopting a water flow velocity measurement method or a radar velocity measurement method based on the actual flow direction of the water flow;
step 400, obtaining the water flow surface flow velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set.
It should be noted that, the photoelectric fusion system in the embodiment of the invention includes an ultra-high frequency radar, a video flow rate meter and an upright post for installation, a waterproof box is further arranged on the upright post, the waterproof box is fixed on the upright post or is arranged beside the upright post, an intelligent edge gateway, a power supply and a lightning protection device are integrated in the waterproof box, the power supply is used for supplying power to each device, a solar energy form or a power grid power supply form is adopted, the intelligent edge gateway is used for receiving and processing radar data acquired by the ultra-high frequency radar and video data acquired by the video flow rate meter, and the internal specific structure of the photoelectric fusion system comprises a calculation module, a routing module, a power conversion module, a storage module and a power supply remote control module.
The method comprises the steps of calculating video data in an overlapping area, namely carrying out optical flow detection according to grids, determining whether the flow direction of the video speed measurement is parallel to a river bank or not according to the fact that the average flow direction in a single grid and the connecting line included angle between the installation point (namely the position where an upright rod is located) of the equipment are, obtaining the flow speed of a water flow surface by adopting a water flow speed measurement method or a radar speed measurement method according to the fact that whether the flow direction of the video speed measurement is parallel to the river bank or not, and finally outputting the flow speed results of all grid points in the grid area.
According to the invention, the video acquisition equipment and the radar acquisition equipment are mutually complemented in different scenes to measure the water flow velocity, so that the limitation of respective application can be avoided, the combined advantages of the photoelectric equipment can be fully exerted, and the accuracy of the flow velocity calculation result is effectively improved.
On the basis of the above embodiment, acquiring an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, unifying coordinates of a plurality of measurement devices in the overlapping area to be measured by using the plurality of grid points, and obtaining a unified coordinate measurement area, including:
performing grid division on the overlapping area to be measured according to preset division density to obtain a plurality of grid points;
performing camera calibration on the video flow velocity meter, converting camera pixel coordinates of the grid points into actual geographic coordinates, and unifying a camera grid coordinate system corresponding to the camera pixel coordinates and a radar side scanning coordinate system corresponding to the actual geographic coordinates to obtain a unified coordinate system;
and aligning the unified coordinate system with the overlapping area to be measured to obtain the unified coordinate measurement area.
Specifically, in the present embodiment, as shown in fig. 2, the upper left side in the figure is the video flow rate meter, the middle left side in the figure is the ultra-high frequency radar, it can be seen that the measurement range of the video flow rate meter is larger than the measurement range of the ultra-high frequency radar, the overlapping area is gridded, and the division density is determined according to the actual situation (for example, 55、1010, Unit m), the camera converts the pixel coordinates of the grid points into actual geographic coordinates through early calibration, so that the camera grid coordinate system corresponds to coordinates in the radar side scanning coordinate system one by one.
On the basis of the above embodiment, calculating the video data in the unified coordinate measurement area to obtain a connection angle between the overall flow direction of the video data and the equipment installation point of the measurement equipment, including:
Performing optical flow detection on the video data to obtain interval image frames among a plurality of grid points;
Calculating a two-dimensional dense flow field of the interval image frame, and acquiring a pixel average flow of a single grid point based on the two-dimensional dense flow field;
And taking the pixel average flow as the overall flow direction of the video data, and determining the included angle of the connecting line according to the overall flow direction and the connecting line between the single grid point and the equipment installation point.
Specifically, in the embodiment of the invention, by performing optical flow detection on video data acquired by a camera, a two-dimensional dense flow field of an interval image frame is calculated, as shown in fig. 3, and is a flow direction distribution diagram of optical flow detection, and the horizontal and vertical coordinates are pixel coordinates to represent an optical flow detection result.
Based on the two-dimensional dense flow field result, the average pixel flow direction is used as the representative flow direction of the unit grid in the unit grid, the included angle between the representative flow direction and the connecting line is obtained, the connecting line is formed by connecting the unit grid and the vertical rod, and the connecting line is recorded as。
On the basis of the above embodiment, obtaining the actual flow direction of the water flow according to the connection angle, determining to obtain the surface flow velocity of the water flow by using a water flow velocity measurement method or a radar velocity measurement method based on the actual flow direction of the water flow, including:
determining a flow rate angle threshold;
if the connecting line included angle is equal to the flow velocity angle threshold value, determining that the actual flow direction of the water flow is parallel to a shoreline, and calculating the water flow surface flow velocity of a single grid point by adopting the water flow velocity measurement method;
If the connecting line included angle is not equal to the flow velocity angle threshold, determining that the actual flow direction of the water flow is not parallel to the shoreline, acquiring radar speed measurement of a single grid point, and obtaining the surface flow velocity of the water flow according to the radar speed measurement and the cosine value of the connecting line included angle.
Specifically, the embodiment of the invention uses the connecting line included angle calculated in the previous embodimentAs the basis of judgment, whenAt this time, river surface flow rates were calculated using optical flow velocimetry (Optical Flow Velocimetry, OPV), particle image velocimetry (PARTICLE IMAGE Velocimetry, PIV), particle tracking velocimetry (PARTICLE TACKING Velocimetry, PTV) or spatiotemporal image velocimetry (Spatiotemporal Image Velocimetry, STIV).
When (when)At the same time, the speed of radar at the grid point is adoptedCalculating the component representing the flow direction in the unit grid, wherein the component is the river surface flow velocity at the representing point of the unit gridThe formula is as follows:
As shown in fig. 4, taking any two grid points a and B, it can be seen that the velocity V A at point a is not perpendicular to the line, and the velocity V B at point B is perpendicular to the line.
Finally, the flow velocity results of all grid points in the grid area are output, and as an example, the arrows on the grid points in the upper left corner grid are average flow directions, and the arrows in the grid with messy directions are the actual flow directions of the feature points in the grid.
In conclusion, the method obtains the grid area representing flow direction by using an optical flow method, and on the premise that the flow direction is parallel to the river bank when radar flow measurement is replaced, the actual flow direction is used for replacing the theoretical flow direction, so that the accuracy of a flow velocity calculation result is improved, and when the radar cannot measure the flow velocity perpendicular to the vertical rod direction, the video flow measurement technology is adopted to supplement the flow velocity of the area.
The water flow speed measuring system based on photoelectric fusion provided by the invention is described below, and the water flow speed measuring system based on photoelectric fusion described below and the water flow speed measuring method based on photoelectric fusion described above can be correspondingly referred to each other.
Fig. 6 is a schematic structural diagram of a water flow velocity measurement system based on photoelectric fusion according to an embodiment of the present invention, as shown in fig. 6, including a unifying module 61, a calculating module 62, a measuring module 63, and an output module 64, where:
The system comprises a unifying module 61, a calculating module 62, a measuring module 63 and an output module 64, wherein the unifying module 61 is used for acquiring an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, unifying coordinates of a plurality of measuring devices in the overlapping area to be measured by the grid points to obtain a unified coordinate measuring area, the calculating module 62 is used for calculating video data in the unified coordinate measuring area to obtain a connecting included angle between the whole flow direction of the video data and the device mounting point of the measuring devices, the measuring module 63 is used for measuring the actual flow direction of water flow according to the connecting included angle, determining to obtain the surface flow rate of the water flow by adopting a water flow velocity measurement method or a radar velocity measurement method based on the actual flow direction of the water flow, and the output module 64 is used for acquiring the surface flow rate of the water flow of all the grid points in the overlapping area to be measured to form a comprehensive water flow output result set.
Fig. 7 illustrates a physical schematic diagram of an electronic device, which may include a processor (processor) 710, a communication interface (Communications Interface) 720, a memory (memory) 730, and a communication bus 740, where the processor 710, the communication interface 720, and the memory 730 communicate with each other via the communication bus 740, as shown in fig. 7. The processor 710 may invoke logic instructions in the memory 730 to execute a water flow velocity measurement method based on photoelectric fusion, where the method includes obtaining an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, unifying coordinates of a plurality of measurement devices in the overlapping area to be measured by using the grid points to obtain a unified coordinate measurement area, calculating video data in the unified coordinate measurement area to obtain a connection angle between an integral flow direction of the video data and a device mounting point of the measurement device, obtaining an actual flow direction of water flow according to the connection angle, determining a water flow velocity measurement method or a radar velocity measurement method to obtain a water flow surface velocity based on the actual flow direction of water flow, and obtaining water flow surface velocities of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set.
Further, the logic instructions in the memory 730 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.
In another aspect, the invention further provides a computer program product, the computer program product comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, when the computer program is executed by a processor, the computer can execute the water flow speed measuring method based on photoelectric fusion provided by the above methods, the method comprises the steps of obtaining an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, unifying coordinates of a plurality of measuring devices in the overlapping area to be measured by using the grid points to obtain a unified coordinate measuring area, calculating video data in the unified coordinate measuring area to obtain a connecting angle between the whole flow direction of the video data and a device mounting point of the measuring device, obtaining the actual flow direction of water flow according to the connecting angle, determining to obtain the water flow surface flow speed by adopting a water flow speed measuring method or adopting a radar speed measuring method based on the actual flow direction of water flow, and obtaining the water flow surface flow speeds of all the grid points in the overlapping area to be measured to form a comprehensive water flow output result set.
In still another aspect, the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, is implemented to perform the method for measuring water flow velocity based on photoelectric fusion provided by the above methods, where the method includes obtaining an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, unifying coordinates of a plurality of measurement devices in the overlapping area to be measured by using the plurality of grid points to obtain a unified coordinate measurement area, calculating video data in the unified coordinate measurement area to obtain a connection angle between an overall flow direction of the video data and a device mounting point of the measurement device, obtaining an actual flow direction of water flow according to the connection angle, determining a water flow surface flow velocity based on the actual flow direction of water flow using a water flow velocity measurement method or using a radar velocity measurement method, and obtaining water flow surface flow velocities of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present invention.
Claims (8)
1. The water flow speed measuring method based on photoelectric fusion is characterized by comprising the following steps of:
acquiring an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, and unifying coordinates of a plurality of measuring devices in the overlapping area to be measured by utilizing the grid points to obtain a unified coordinate measuring area;
calculating video data in the unified coordinate measurement area to obtain a connecting line included angle between the whole flow direction of the video data and an equipment installation point of measurement equipment;
Obtaining the actual flow direction of water flow according to the connecting line included angle, and determining to obtain the surface flow velocity of the water flow by adopting a video velocimetry or a radar velocimetry based on the actual flow direction of the water flow;
Acquiring the water flow surface flow velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set;
Calculating the video data in the unified coordinate measurement area to obtain a connecting line included angle between the whole flow direction of the video data and the equipment installation point of the measurement equipment, wherein the method comprises the following steps:
Performing optical flow detection on the video data to obtain interval image frames among a plurality of grid points;
Calculating a two-dimensional dense flow field of the interval image frame, and acquiring a pixel average flow of a single grid point based on the two-dimensional dense flow field;
Taking the pixel average flow as the overall flow direction of the video data, and determining the included angle of the connecting line according to the overall flow direction and the connecting line between the single grid point and the equipment installation point;
Obtaining the actual flow direction of the water flow according to the connecting line included angle, determining to obtain the surface flow velocity of the water flow by adopting a video velocimetry or a radar velocimetry based on the actual flow direction of the water flow, and comprising the following steps:
determining a flow rate angle threshold;
if the connecting line included angle is equal to the flow speed angle threshold, determining that the actual flow direction of the water flow is parallel to a shoreline, and calculating the water flow surface flow speed of a single grid point by adopting the video velocimetry;
If the connecting line included angle is not equal to the flow velocity angle threshold, determining that the actual flow direction of the water flow is not parallel to the shoreline, acquiring radar speed measurement of a single grid point, and obtaining the surface flow velocity of the water flow according to the radar speed measurement and the cosine value of the connecting line included angle.
2. The photoelectric fusion-based water flow velocity measurement method according to claim 1, wherein the method further comprises, before acquiring an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, unifying coordinates of a plurality of measurement devices in the overlapping area to be measured by using the plurality of grid points, and obtaining a unified coordinate measurement area:
determining a water flow coverage range, and arranging an ultrahigh frequency radar and a video flow rate meter at equipment installation points on a single side bank of the water flow coverage range;
The ultra-high frequency radar performs side scanning on the water flow coverage area, and radar data are collected;
the video flow velocity meter shoots the water flow coverage area and collects video data.
3. The photoelectric fusion-based water flow velocity measurement method according to claim 2, wherein acquiring an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, unifying coordinates of a plurality of measurement devices in the overlapping area to be measured by using the plurality of grid points, and obtaining a unified coordinate measurement area, comprises:
Performing grid division on the overlapping area to be measured according to preset division density to obtain a plurality of grid points;
performing camera calibration on the video flow velocity meter, converting camera pixel coordinates of the grid points into actual geographic coordinates, and unifying a camera grid coordinate system corresponding to the camera pixel coordinates and a radar side scanning coordinate system corresponding to the actual geographic coordinates to obtain a unified coordinate system;
and aligning the unified coordinate system with the overlapping area to be measured to obtain the unified coordinate measurement area.
4. The photo-fusion-based water flow velocity measurement method according to claim 1, wherein the video velocimetry comprises an optical flow velocimetry OPV, a particle image velocimetry PIV, a particle tracking velocimetry PTV, and a spatiotemporal image velocimetry STIV.
5. A water flow rate measurement system based on photoelectric fusion, comprising:
The unification module is used for acquiring an overlapping area to be measured, determining a plurality of grid points of the overlapping area to be measured, unifying coordinates of a plurality of measuring devices in the overlapping area to be measured by utilizing the grid points, and obtaining a unified coordinate measuring area;
The calculation module is used for calculating the video data in the unified coordinate measurement area to obtain a connecting line included angle between the whole flow direction of the video data and the equipment installation point of the measurement equipment;
the measuring module is used for measuring the actual flow direction of the water flow obtained according to the connecting line included angle, and determining to obtain the surface flow velocity of the water flow by adopting a video velocimetry or a radar velocimetry based on the actual flow direction of the water flow;
The output module is used for acquiring the water flow surface flow velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set;
The computing module is specifically configured to:
Performing optical flow detection on the video data to obtain interval image frames among a plurality of grid points;
Calculating a two-dimensional dense flow field of the interval image frame, and acquiring a pixel average flow of a single grid point based on the two-dimensional dense flow field;
Taking the pixel average flow as the overall flow direction of the video data, and determining the included angle of the connecting line according to the overall flow direction and the connecting line between the single grid point and the equipment installation point;
the measuring module is specifically used for:
determining a flow rate angle threshold;
if the connecting line included angle is equal to the flow speed angle threshold, determining that the actual flow direction of the water flow is parallel to a shoreline, and calculating the water flow surface flow speed of a single grid point by adopting the video velocimetry;
If the connecting line included angle is not equal to the flow velocity angle threshold, determining that the actual flow direction of the water flow is not parallel to the shoreline, acquiring radar speed measurement of a single grid point, and obtaining the surface flow velocity of the water flow according to the radar speed measurement and the cosine value of the connecting line included angle.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the photo fusion based water flow velocity measurement method according to any one of claims 1 to 4 when executing the program.
7. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the photo-fusion based water flow velocity measurement method according to any one of claims 1 to 4.
8. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the photo-fusion based water flow velocity measurement method according to any one of claims 1 to 4.
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| CN115015904A (en) * | 2022-04-28 | 2022-09-06 | 厦门四信通信科技有限公司 | Speed measurement method, system and equipment based on fusion of radar and camera and storage medium |
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| CN111596288B (en) * | 2020-03-31 | 2022-07-12 | 广州文远知行科技有限公司 | Method and device for measuring speed, vehicle-mounted terminal and vehicle-mounted speed measuring system |
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| CN115015904A (en) * | 2022-04-28 | 2022-09-06 | 厦门四信通信科技有限公司 | Speed measurement method, system and equipment based on fusion of radar and camera and storage medium |
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