Automatic obstacle avoidance method for channel multi-vertical flow measurement based on visual analysis
A visual analysis and automatic obstacle avoidance technology, which is applied in two-dimensional position/channel control, measuring devices, surveying and navigation, etc., can solve problems such as hidden safety hazards of flow measurement equipment, damage of flow measurement cables, and influence of flow measurement. To achieve the effect of ensuring long-term safe and stable operation, reducing the cost of flow measurement, and reducing the pressure of flow measurement
Active Publication Date: 2021-06-18
安徽省(水利部淮河水利委员会)水利科学研究院(安徽省水利工程质量检测中心站)
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Problems solved by technology
In actual operation, for multi-vertical automatic flow measurement equipment, the most fatal interference factor is channel floating objects, especially larger floating objects, which are easy to entangle with flow measurement cables, lead fish, sensors, etc. Affect flow measurement, or even damage current measurement equipment such as current measurement cables, lead fish and sensors
At present, there is no obstacle avoidance flow measurement system developed for the impact of floating objects. Only the method of manual observation and on-site real-time control can be used. When the impact of floating objects is found manually, the flow measurement will be stopped immediately, and the flow measurement equipment will be manually controlled to withdraw.
This flow measurement method cannot get rid of the participation of personnel, and cannot truly achieve fully automatic flow measurement. While wasting human resources, it also brings safety hazards to flow measurement equipment
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[0025] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0026] Such as figure 1 As shown, the automatic obstacle avoidance method for channel multi-vertical flow measurement based on visual analysis comprises the following steps:
[0027] Step a. According to the maximum flow velocity V of the canal in the irrigation area, the effective detection length of the camera L, and the longest time T of measuring the flow in a single vertical line of the flow measurement unit, calculate the number of video collection points and the number of video collection points S in the canal of the irrigation area. 1 , S 2 ,...,S n reasonable placement. That is, the vi...
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The invention relates to a channel multi-vertical flow measurement automatic obstacle avoidance method based on visual analysis. In the method, positioning, area calculation, track recognition and influence range measurement of channel floaters are respectively carried out through the fusion of the technologies of irrigation area channel flow measurement, image recognition, automatic control and the like, thereby achieving the automatic control of a flow measurement unit to avoid the damage of obstacles (floaters) and completing the multi-vertical-line automatic obstacle avoidance flow measurement of the irrigation area channel. According to the invention, real unattended intelligent multi-vertical-line automatic flow measurement can be realized, the normal operation of the multi-vertical-line automatic flow measurement system is ensured, the flow measurement pressure is obviously reduced, the flow measurement cost is reduced, the accuracy of water metering in an irrigation area is improved, and long-term safe and stable operation of metering equipment is ensured.
Description
technical field [0001] The invention relates to an automatic obstacle avoidance method based on visual analysis for channel multi-vertical flow measurement, and belongs to the technical field of automatic measurement of channel water volume in irrigation areas. Background technique [0002] It is well known that the multi-vertical automatic flow measurement of water use in irrigation areas is the key technical means for water-saving transformation and the most stringent water resource management in irrigation areas. It is generally used for automatic water flow measurement in agricultural irrigation, flood control and drainage, and water resource scheduling. Multi-vertical automatic flow measurement is a method that replaces manual cross-section flow measurement by means of automatic cableways or flow measurement vehicles. It has the characteristics of high measurement accuracy and good stability, and is the main application of high-precision flow measurement at important flo...
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Login to View More IPC IPC(8): G05D1/02G01C13/00
CPCG05D1/02G01C13/00
Inventor 王铭铭马浩刘怀利徐浩
Owner 安徽省(水利部淮河水利委员会)水利科学研究院(安徽省水利工程质量检测中心站)