River flow measurement method and device, electronic equipment and readable storage medium

Abstract

The application provides a river flow measurement method and device, electronic equipment and readable storage medium, wherein the method comprises: obtaining a water flow direction of a to-be-measured river; determining a channel direction of a target ship according to the water flow direction; controlling the target ship to travel according to the channel direction, recording navigation data of the target ship in the traveling process; and determining a flow of the to-be-measured river according to the navigation data.

Description

Technical Field

[0001] This application relates to the field of river flow measurement technology, and more specifically, to a river flow measurement method, apparatus, electronic device, and readable storage medium. Background Technology

[0002] Traditional flow measurement methods are generally contact flow measurement methods, such as rotor flow meters. Traditional contact flow measurement methods have great limitations, have certain requirements for the river to be measured, and are relatively difficult to operate.

[0003] With further development, some non-contact flow measurement methods have emerged, such as acoustic time difference method, radar velocity meter, and video image method. Among them, acoustic time difference method is difficult to deploy and is greatly affected by the environment; while radar velocity meter has problems such as difficulty in deployment, poor suitability for water flow conditions, and poor measurement safety. Summary of the Invention

[0004] The purpose of this application is to provide a method, apparatus, electronic device, and readable storage medium for measuring river flow, in order to improve the difficulty of river flow measurement.

[0005] In a first aspect, the present invention provides a method for measuring river flow, comprising:

[0006] Obtain the direction of water flow in the river to be measured;

[0007] Based on the direction of the water flow, the course direction of the target vessel is determined;

[0008] Control the target vessel to travel in the direction of the stated channel, and record the navigation data of the target vessel during the travel process;

[0009] The flow rate of the river to be measured is determined based on the navigation data.

[0010] In an optional implementation, the navigation data includes the navigation direction, ship speed, heading, positioning data, and water depth at each location; determining the flow rate of the river to be measured based on the navigation data includes:

[0011] Based on the heading, direction of travel, and speed at each location, the current speed of the target vessel at each location is determined.

[0012] The flow rate of the river to be measured is determined based on the water flow velocity at each location, the location data at each location, and the water depth at each location.

[0013] In the above implementation, the flow rate of the river to be measured can be determined based on multiple location points. Furthermore, during the navigation process, the cross-sectional data of the river to be measured can be determined by combining the ship speed and positioning data, without the need to predict or supplement the cross-sectional data, thus improving the user's work efficiency.

[0014] In an optional implementation, the flow rate of the river to be measured is determined based on the water flow velocity at each location point, the location data at each location point, and the water depth at each location point, using the following formula:

[0015]

[0016] Where Q represents the flow rate of the river to be measured; Qi represents the flow rate between the i-th location point and the (i+1)-th location point of the river to be measured; hi represents the depth of the river to be measured at the i-th location point; bi represents the distance between the river to be measured at the i-th location point and the selected starting point of the cross-section in the river to be measured; and vi represents the flow velocity of the river to be measured at the i-th location point.

[0017] In the above implementation, the local flow data from multiple locations can be aggregated to reduce the error caused by the difference in local flow at different locations of the river due to different depths, thereby improving the accuracy of the flow measurement results.

[0018] In an optional implementation, controlling the target vessel to navigate according to the course direction and recording the navigation data of the target vessel during its navigation includes:

[0019] Control the target vessel to travel a specified number of navigation cycles according to the stated course direction;

[0020] During the voyage, the navigation data of the target vessel is recorded over a specified number of voyage cycles.

[0021] In the above embodiments, the data used in the current measurement are navigation data from multiple navigation cycles, which can reduce the errors that may exist in a single cycle and improve the accuracy of the current measurement.

[0022] In an optional implementation, controlling the target vessel to travel a specified number of navigation cycles according to the course direction includes:

[0023] The target vessel is controlled to navigate from the starting point of the cross-section of the river to be measured, in accordance with the direction of the waterway.

[0024] The system detects whether the target vessel has reached the end point of the cross-section of the river to be measured according to a set time pattern.

[0025] If the target vessel does not reach the end point of the cross-section of the river to be measured, the target vessel shall continue to be controlled to sail.

[0026] If the target vessel reaches the end point of the cross section of the river to be measured, then the target vessel is controlled to continue traveling with the end point of the previous cross section as the new starting point of the cross section, and the starting point of the previous cross section as the end point of the cross section, until the target vessel has traveled a specified number of navigation cycles.

[0027] In an optional implementation, the step of detecting whether the target vessel has reached the end point of the cross-section of the river to be measured according to a set time pattern includes:

[0028] Determine whether the distance between the target vessel and the obstacle in the direction of the waterway is less than a first preset value;

[0029] Determine whether the distance between the target vessel and an obstacle in the depth direction is less than a second preset value;

[0030] If the distance between the target vessel and an obstacle in the direction of the waterway is less than a first preset value, or the distance between the target vessel and an obstacle in the direction of depth is less than a second preset value, then it is determined that the target vessel has reached the end point of the cross-section of the river to be measured.

[0031] In an optional implementation, determining whether the distance between the target vessel and the obstacle in the direction of the waterway is less than a first preset value includes:

[0032] Collect image data along the stated waterway direction;

[0033] Collect radar data along the stated waterway direction;

[0034] Based on the image data, a first distance is determined between the target vessel and the obstacle in the direction of the waterway;

[0035] Based on the radar data, a second distance is determined between the target vessel and the obstacle in the direction of the waterway;

[0036] Based on the first distance and the second distance, determine whether the distance between the target vessel and the obstacle in the direction of the waterway is less than a first preset value.

[0037] Considering the complex water conditions and turbulent flow along riverbanks, which leads to poor measurement accuracy, the above implementation method can combine multiple sensors to identify obstacles, thereby improving the accuracy of flow measurement.

[0038] In an optional implementation, obtaining the direction of the river flow to be measured includes:

[0039] The drift direction of the target vessel in a powerless state is collected, and the drift direction is the direction of the water flow of the river being measured, or...

[0040] Collect a set of river surface images of the river to be measured, and determine the direction of water flow of the river to be measured based on the set of river surface images.

[0041] In the above implementation, the direction of the river can be determined without human intervention.

[0042] In an optional implementation, determining the direction of water flow in the river to be measured based on the river surface image set includes:

[0043] Image recognition is performed on the river surface images in the set of river surface images to identify at least one target object in the river to be tested;

[0044] Based on the position of the target object in each river surface image in the river surface image set, the target movement trajectory of the target object is determined;

[0045] Based on the target's movement trajectory, the direction of the river's flow is determined.

[0046] In a second aspect, the present invention provides a river flow measurement device, comprising:

[0047] The acquisition module is used to obtain the direction of water flow in the river to be measured.

[0048] The first determining module is used to determine the channel direction of the target vessel based on the direction of the water flow;

[0049] The recording module is used to control the target vessel to travel in accordance with the direction of the waterway and to record the navigation data of the target vessel during the travel process;

[0050] The second determining module is used to determine the flow rate of the river to be measured based on the navigation data.

[0051] Thirdly, the present invention provides a marine device, including: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the machine-readable instructions are executed by the processor to perform the steps of the method described in any of the foregoing embodiments.

[0052] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the method described in any of the foregoing embodiments.

[0053] The beneficial effects of this application's embodiments are: by using a ship to travel on the river, it is not necessary to install measuring equipment on each river that needs to be measured, and manual intervention is also reduced, thereby improving the efficiency of flow measurement. Furthermore, since the measurement can be achieved solely by a ship, this measurement method has good environmental adaptability. Compared with the non-contact radar wave and video flow measurement methods in the prior art, the flow measurement method of this application is not limited by time and space. Attached Figure Description

[0054] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 A block diagram of the ship equipment provided in the embodiments of this application;

[0056] Figure 2 A flowchart of a river flow measurement method provided in an embodiment of this application;

[0057] Figure 3 A navigation diagram of a target vessel at a location point on the river to be measured, provided as an embodiment of this application;

[0058] Figure 4 A schematic cross-sectional view of the river to be tested provided in an embodiment of this application;

[0059] Figure 5 This is a schematic diagram of the functional modules of the river flow measurement device provided in the embodiments of this application. Detailed Implementation

[0060] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0061] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0062] Existing acoustic time-of-flight (TOF) instruments for measuring river flow are difficult to deploy and highly susceptible to environmental influences. Radar velocity meters also suffer from difficulties in deployment, poor suitability for water flow conditions, and poor measurement safety. In practical applications, they must be avoided in turbulent flow, areas with large water level fluctuations, and high wind speeds, placing strict requirements on environmental conditions. Furthermore, since both acoustic and electromagnetic waves cannot be directly observed and verified by the human eye in real-time testing, it is difficult to assess the effectiveness of on-site working conditions and measurement results.

[0063] To address the challenges of environmental impact and the difficulty of deploying measurement equipment, video image methods have been developed. Video flow measurement algorithms generally include the following: Large-Scale Particle Image Velometry (LSPIV) based on optical flow and Spatiotemporal Image Velometry (STIV). However, in practical applications, video flow measurement algorithms are often constrained by factors such as tilted shooting angles, low imaging resolution, and complex lighting conditions.

[0064] The inventors of this application have learned that both non-contact flow measurement methods based on radar waves and video images, and traditional contact flow measurement methods, essentially utilize the velocity-area method. The prerequisite for this method is the selection of a uniform cross-section of the monitored river using drawings or on-site surveys. Its basic principle is that the flow rate per unit area on the cross-section is the product of that area and the water flow velocity (velocity). By measuring the velocity and area of ​​each part, the flow rate can be calculated. Taking radar wave flow measurement as an example, radar current meters use the Doppler effect principle to measure the surface velocity of water. The radar current meter transmits a 24GHz radio frequency signal forward along the axis. When the signal encounters an object in front, it undergoes diffuse reflection, and the signal returning along the axis is received. Due to the motion of the object, the frequency of the received signal undergoes a Doppler shift, the magnitude of which is proportional to the velocity of the object. By calculating the Doppler frequency, the velocity of the moving object can be obtained. Finally, combining the known cross-sectional data and velocity data, the cross-sectional flow rate of the river is calculated using empirical formulas.

[0065] The above analysis shows that existing river measurement methods suffer from difficulties in equipment deployment and inconvenience in measurement. To address these issues, this application provides a river flow measurement method that can improve upon the aforementioned technical problems. The river flow measurement method provided in this application is described below through several embodiments.

[0066] To facilitate understanding of this embodiment, the ship equipment for performing the river flow measurement method disclosed in this application will first be described in detail.

[0067] like Figure 1 The diagram shown is a block illustration of ship equipment. Ship equipment 100 may include the ship itself and control equipment installed on the ship itself.

[0068] The control device may include a memory 111 and a processor 113. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the ship's equipment 100. For example, the control equipment may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0069] The aforementioned memory 111 and processor 113 are electrically connected directly or indirectly to enable data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines. The aforementioned processor 113 is used to execute executable modules stored in the memory.

[0070] The memory 111 can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 111 stores programs, which are executed by the processor 113 upon receiving execution instructions. The methods executed by the ship's equipment 100 as defined in any embodiment of this application can be applied to or implemented by the processor 113.

[0071] The aforementioned processor 113 may be an integrated circuit chip with signal processing capabilities. The processor 113 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a digital signal processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor.

[0072] The control device may also be equipped with a display unit, which provides an interactive interface (such as a user interface) or displays image data for user reference.

[0073] The control device may also be equipped with a communication unit, which is used to communicate with other devices to obtain data from other devices or to transmit data to other devices.

[0074] Shipboard equipment may also include a positioning unit, which can be part of the control equipment. This positioning unit can be installed at any location on the ship's hull. The positioning unit can be used to collect position data of the ship's equipment.

[0075] Optionally, data collection equipment can also be installed on the ship to collect environmental data around the ship's equipment.

[0076] For example, the data acquisition equipment may include sensors such as cameras, millimeter-wave radar, and depth sounders. The camera can be used to acquire image data of the area surrounding the ship's equipment. The millimeter-wave radar is used to acquire radar data of the area surrounding the ship's equipment. The depth sounder is used to determine the water depth at the current location of the ship's equipment.

[0077] The vessel equipment 100 in this embodiment can be used to perform various steps in the various methods provided in the embodiments of this application. The implementation process of the river flow measurement method is described in detail below through several embodiments.

[0078] Please see Figure 2 This is a flowchart of a river flow measurement method provided in an embodiment of this application. The river flow measurement method provided in this embodiment can be applied to shipboard equipment. The following will describe... Figure 2 The specific process shown will be explained in detail.

[0079] Step 210: Obtain the direction of water flow in the river to be measured.

[0080] In this embodiment, the flow rate of the river to be tested can be measured by controlling the ship equipment to navigate on the river to be tested.

[0081] When controlling the navigation of a survey vessel, the direction of the river to be measured can be determined first.

[0082] Optionally, the system can receive directional data input by a user on a control device on the ship's equipment, and the direction of the water flow can be determined based on this directional data. For example, this directional data can be an angle relative to the bow of the ship.

[0083] Alternatively, the direction of the river's flow can be determined by the direction of movement of non-powered objects on the river.

[0084] In one implementation, the drift direction of the target vessel in a non-powered state is collected, and the drift direction is the direction of the water flow of the river to be measured.

[0085] In one implementation, a set of images of the river surface to be measured is acquired, and the direction of water flow in the river to be measured is determined based on the set of images.

[0086] For example, determining the direction of water flow in the river to be measured based on the river surface image set may include steps 211 to 213.

[0087] Step 211: Perform image recognition on the river surface images in the river surface image set to identify at least one target object in the river to be tested.

[0088] A river surface image set can be a series of multiple frames of images collected over a period of time.

[0089] For example, the target object can be a non-powered object floating on the river being measured. For instance, the target object could be a leaf, a piece of paper, a non-powered boat, etc.

[0090] Artificial intelligence models can be used to identify river surface images in a set of river surface images to determine at least one target object in the river to be tested.

[0091] Step 212: Determine the target movement trajectory of the target object based on its position in each river surface image in the river surface image set.

[0092] For each of the at least one target object mentioned above, a movement trajectory for that target object is determined. Then, based on the movement trajectory of each target object, the target movement trajectory is determined.

[0093] For example, the movement trajectory of a target object can be determined based on the position of the target object in each image of the river surface in the image set.

[0094] Step 213: Determine the direction of the water flow of the river to be measured based on the target's movement trajectory.

[0095] The direction of change in the trajectory can be used to determine the direction of the river's flow.

[0096] Step 220: Determine the course direction of the target vessel based on the direction of the water flow.

[0097] For example, the direction perpendicular to the water flow can be used as the course direction of the target vessel.

[0098] Step 230: Control the target vessel to travel in the direction of the channel and record the navigation data of the target vessel during the journey.

[0099] For example, the navigation data includes the navigation direction, speed, heading, positioning data, and water depth at each location.

[0100] To improve the accuracy of the flow rate of the river under test and reduce the local error caused by a single measurement, navigation data can be collected over multiple periods.

[0101] For example, a target vessel can be controlled to navigate multiple navigation cycles between the start and end points of a measurement section of the river to be measured. During these multiple navigation cycles, the target vessel collects navigation data at a set frequency. This set frequency can be configured as needed. For example, the set frequency could be once every five minutes or once every ten seconds.

[0102] Step 240: Determine the flow rate of the river to be measured based on the navigation data.

[0103] In step 240, the flow rate of the river to be tested can be the flow rate within the test section.

[0104] For example, the starting point of the cross-section can be one bank of the river to be measured, and the ending point of the cross-section can be the other bank of the river to be measured.

[0105] In an alternative implementation, step 240 may include steps 241 and 242.

[0106] Step 241: Determine the current speed of the target vessel at each location point based on the heading, navigation direction, and speed of the vessel at each location point.

[0107] Optionally, the ship speed at each location point may include the actual ship speed of the target ship and the speed output by the target ship's power equipment.

[0108] like Figure 3 As shown, Figure 3 A navigation diagram of the target vessel at one of its locations is shown. The bow direction of the target vessel is represented by V. 船 The speed of the target ship in its direction of travel is represented by V. 合 The water flow velocity is expressed as V. 水 Among them, the water flow velocity V 水 It can be equal to the speed output of the target ship, V. 船 The component in the opposite direction of the water flow.

[0109] Step 242: Determine the flow rate of the river to be measured based on the water flow velocity at each location point, the location data at each location point, and the water depth at each location point.

[0110] like Figure 4 As shown, Figure 4 A schematic diagram of the cross-section of the river to be measured is shown. The diagram shows n points on the cross-section of the river to be measured, the coordinates b of each point (n coordinate points b1, b2, b3, ..., bn are shown in the diagram), the water depth h at each point (n water depths h1, h2, h3, ..., hn are shown in the diagram), and the average flow velocity v at each point on the cross-section (n flow velocities v1, v2, v3, ..., vn are shown in the diagram).

[0111] exist Figure 4 In the example shown, the flow rate of the river to be measured can be calculated using the following formula:

[0112]

[0113] Where Q represents the flow rate of the river to be measured; Qi represents the flow rate between the i-th location point and the (i+1)-th location point of the river to be measured; hi represents the depth of the river to be measured at the i-th location point; bi represents the distance between the river to be measured at the i-th location point and the selected cross-section starting point of the river to be measured; and vi represents the flow velocity of the river to be measured at the i-th location point.

[0114] In one implementation, if the navigation data includes navigation data from multiple navigation cycles, the initial river flow of the river to be measured can be calculated based on the navigation data of each navigation cycle to obtain an initial river flow set; then, the river flow of the river to be measured can be calculated based on the initial river flow values ​​in the initial river flow set.

[0115] For example, the average value of each initial river flow in the initial river flow set can be calculated to obtain the river flow of the river to be measured.

[0116] For example, the initial river flows in the initial river flow set can be weighted and summed to obtain the river flow of the river to be measured. The sum of the weights of the initial river flows can be equal to one.

[0117] In another implementation, the average water flow velocity at each location point can be calculated based on navigation data from multiple navigation cycles; the average water depth at each location point can be determined based on navigation data from multiple navigation cycles; and the flow rate of the river to be measured can be determined based on the average water flow velocity at each location point, the location data at each location point, and the average water depth at each location point.

[0118] Through steps 210 to 250 above, a contact-based measurement method can be achieved, enabling the determination of river flow without the need to install data acquisition equipment around the river. However, considering the complex river conditions and turbulence, the river flow can also be determined based on navigation data from multiple navigation cycles.

[0119] In this regard, step 230 may include steps 231 and 232.

[0120] Step 231: Control the target vessel to travel a specified number of navigation cycles according to the direction of the waterway.

[0121] For example, the direction of the waterway can be perpendicular to the direction of water flow.

[0122] Optionally, step 231 may include steps 2311 and 2312.

[0123] Step 2311: Starting from the cross-section of the river to be measured, control the target vessel to travel in the direction of the waterway.

[0124] For example, the starting point of the cross-section can be a location point in the river surface that is set as needed, or it can be a location point on the bank of the river to be measured.

[0125] Step 2312: Detect whether the target vessel has reached the end point of the cross-section of the river to be measured according to the set time pattern.

[0126] The timing pattern can be set as needed; for example, it can be checked every five seconds or seven seconds.

[0127] If the target vessel does not reach the end point of the cross-section of the river to be measured, the vessel's navigation will continue to be controlled.

[0128] If the target vessel reaches the end of the cross-section of the river to be measured, then the target vessel is controlled, and the end of the previous cross-section is used as the new starting point of the cross-section. The target vessel continues to travel until it has traveled a specified number of navigation cycles.

[0129] The target vessel's travel cycle can also be counted during its operation. For example, the count can be incremented by one each time the target vessel reaches the end of the cross section.

[0130] In an alternative implementation, step 2312 may include steps a and b.

[0131] Step a: Determine whether the distance between the target vessel and the obstacle in the direction of the waterway is less than a first preset value.

[0132] Optionally, the distance between the target vessel and obstacles in the direction of the waterway can be determined based on the received satellite imagery.

[0133] Optionally, the relative position of the target vessel in the direction of the waterway can be determined based on data collected by multiple acquisition devices. For example, image data in the direction of the waterway is acquired; radar data in the direction of the waterway is acquired; based on the image data, a first distance between the target vessel and an obstacle in the direction of the waterway is determined; based on the radar data, a second distance between the target vessel and the obstacle in the direction of the waterway is determined; based on the first distance and the second distance, it is determined whether the distance between the target vessel and the obstacle in the direction of the waterway is less than a first preset value.

[0134] For example, the average of the first distance and the second distance can be calculated, and this average can be used as the distance between the target vessel and the obstacle in the direction of the channel.

[0135] Alternatively, radar data along the course direction can be acquired using a millimeter-wave radar installed on the target vessel.

[0136] Of course, the distance between the target vessel and the obstacle in the direction of the waterway can also be determined by combining satellite imagery, image data in the direction of the waterway, and radar data in the direction of the waterway.

[0137] The obstacle can be the bank of the river being measured in the direction of the waterway.

[0138] For example, the first preset value can be set according to actual needs, such as 5m, 6m, 7m, etc.

[0139] Step b: Determine whether the distance between the target vessel and the obstacle in the depth direction is less than a second preset value.

[0140] Optionally, the depth distance between the target vessel and an obstacle in that depth direction can be collected, and the distance between the target vessel and the obstacle in that depth direction can be determined based on the depth distance to see if it is less than a second preset value. This depth distance can represent the depth of the target vessel's current location.

[0141] Obstacles at this depth can be the riverbed of the river being measured.

[0142] The second preset value can also be set as needed. For example, the second preset value can be 0.5m, 0.7m, 1m, etc.

[0143] If the distance between the target vessel and an obstacle in the direction of the waterway is less than a first preset value, or the distance between the target vessel and an obstacle in the depth direction is less than a second preset value, then it is determined that the target vessel has reached the end point of the cross-section of the river to be measured.

[0144] For example, the endpoint of the cross-section can be the opposite bank of the river to be measured from the starting point of the cross-section. The endpoint of the cross-section can also be a location on the river to be measured where an obstacle exists, such as a small island at the river's origin.

[0145] Step 232: During the voyage, record the navigation data of the target vessel in a specified number of voyage cycles.

[0146] This specified quantity can be set as needed. For example, the specified quantity can be five, six, seven, etc.

[0147] The river flow measurement method of this application embodiment can complete river flow measurement operations on the basis of conventional unmanned vessels, using positioning equipment on the vessel, such as GPS (Global Positioning System) dual-antenna orientation, depth sounder, millimeter wave, and camera. Compared with other existing flow measurement methods, it has better environmental adaptability. Unlike non-contact radar wave and video flow measurement methods, operation and work are not limited by time and space. In addition, it can simultaneously measure flow velocity and cross-sectional data without the need for prior knowledge or supplementary cross-section measurement, thus improving the user's work efficiency.

[0148] Based on the same application concept, this application also provides a river flow measurement device corresponding to the river flow measurement method. Since the principle of the device in this application is similar to that of the aforementioned river flow measurement method embodiment, the implementation of the device in this application can refer to the description in the above method embodiment, and the repeated parts will not be repeated.

[0149] Please see Figure 5 This is a functional module diagram of the river flow measurement device provided in this application embodiment. Each module in the river flow measurement device in this embodiment is used to perform the steps in the above method embodiments. The river flow measurement device includes: an acquisition module 310, a first determination module 320, a recording module 330, and a second determination module 340; the contents of each module are shown below.

[0150] The module 310 is used to obtain the direction of water flow in the river to be measured.

[0151] The first determining module 320 is used to determine the channel direction of the target vessel based on the direction of the water flow.

[0152] The recording module 330 is used to control the target vessel to travel in accordance with the direction of the waterway and record the navigation data of the target vessel during the travel process.

[0153] The second determining module 340 is used to determine the flow rate of the river to be measured based on the navigation data.

[0154] In one possible implementation, the navigation data includes the navigation direction, ship speed, heading, positioning data, and water depth at each location; the second determining module 340 includes a flow velocity determining unit and a flow rate determining unit.

[0155] The velocity determination unit is used to determine the water flow velocity of the target vessel at each location point based on the heading, the navigation direction, and the vessel speed at each location point.

[0156] The flow rate determination unit is used to determine the flow rate of the river to be measured based on the water flow velocity at each location point, the location data at each location point, and the water depth at each location point.

[0157] In one possible implementation, the flow determination unit can be implemented using the following formula:

[0158]

[0159] Where Q represents the flow rate of the river to be measured; Qi represents the flow rate between the i-th location point and the (i+1)-th location point of the river to be measured; hi represents the depth of the river to be measured at the i-th location point; bi represents the distance between the river to be measured at the i-th location point and the selected cross-section starting point of the river to be measured; and vi represents the flow velocity of the river to be measured at the i-th location point.

[0160] In one possible implementation, the recording module 330 includes a navigation control unit and a data recording unit.

[0161] The navigation control unit is used to control the target vessel to travel a specified number of navigation cycles according to the direction of the waterway.

[0162] The data recording unit is used to record the navigation data of the target vessel during a specified number of navigation cycles.

[0163] In one possible implementation, the navigation control unit is used for:

[0164] From the starting point of the cross-section of the river to be measured, control the target vessel to navigate in the direction of the waterway;

[0165] The system detects whether the target vessel has reached the end point of the cross-section of the river to be measured according to a set time pattern.

[0166] If the target vessel does not reach the end point of the cross-section of the river to be measured, the vessel's navigation will continue to be controlled.

[0167] If the target vessel reaches the end of the cross-section of the river to be measured, then the target vessel is controlled, and the end of the previous cross-section is used as the new starting point of the cross-section. The target vessel continues to travel until it has traveled a specified number of navigation cycles.

[0168] In one possible implementation, the navigation control unit is further configured to:

[0169] Determine whether the distance between the target vessel and the obstacle in the direction of the waterway is less than a first preset value;

[0170] Determine whether the distance between the target vessel and the obstacle in the depth direction is less than a second preset value;

[0171] If the distance between the target vessel and an obstacle in the direction of the waterway is less than a first preset value, or the distance between the target vessel and an obstacle in the direction of depth is less than a second preset value, then it is determined that the target vessel has reached the end point of the cross-section of the river to be measured.

[0172] In one possible implementation, the navigation control unit is further configured to:

[0173] Collect image data along this waterway direction;

[0174] Collect radar data along this waterway direction;

[0175] Based on the image data, the first distance between the target vessel and the obstacle in the direction of the waterway is determined;

[0176] Based on the radar data, the second distance between the target vessel and the obstacle in the direction of the channel was determined;

[0177] Based on the first distance and the second distance, it is determined whether the distance between the target vessel and the obstacle in the direction of the waterway is less than a first preset value.

[0178] In one possible implementation, the obtaining module is used for:

[0179] Collect the drift direction of the target vessel in a non-powered state; this drift direction is the direction of the current in the river being measured, or...

[0180] Collect a set of images of the river surface to be measured, and determine the direction of water flow of the river based on the set of images.

[0181] In one possible implementation, the obtaining module 310 is used for:

[0182] Image recognition is performed on the river surface images in the set of river surface images to identify at least one target object in the river under test;

[0183] Based on the position of the target object in each river surface image in the river surface image set, the target object's movement trajectory is determined;

[0184] Based on the target's movement trajectory, the direction of the river's flow can be determined.

[0185] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the river flow measurement method described in the above-described method embodiments.

[0186] The computer program product of the river flow measurement method provided in this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the steps of the river flow measurement method described in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0187] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0188] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0189] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. It should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0190] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0191] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for measuring river flow, characterized in that, include: Obtain the direction of water flow in the river to be measured; Based on the direction of the water flow, the course direction of the target vessel is determined; The target vessel is controlled to travel in the direction of the channel, and its navigation data during the journey is recorded, including controlling the target vessel to travel a specified number of navigation cycles in the direction of the channel; during the journey, the navigation data of the target vessel in the specified number of navigation cycles is recorded, and the navigation data includes the direction of travel, speed, heading, positioning data and water depth at each position point. The step of controlling the target vessel to travel a specified number of navigation cycles according to the direction of the waterway includes: determining whether the target vessel has reached the end point of the cross-section of the river to be measured; if so, controlling the target vessel to continue traveling with the end point of the cross-section of the previous round as the new starting point of the cross-section and the starting point of the cross-section of the previous round as the end point of the cross-section. The average water flow velocity at each location point is calculated based on the navigation data of the navigation cycle; the average water depth at each location point is determined based on the navigation data of the navigation cycle; and the flow rate of the river to be measured is determined based on the average water flow velocity at each location point, the location data at each location point, and the average water depth at each location point. The method for determining the water flow velocity of the river to be measured includes: determining the water flow velocity of the target vessel at each location point based on the heading, the navigation direction, and the ship speed at each location point.

2. The method according to claim 1, characterized in that, The flow rate of the river to be measured is determined based on the water flow velocity at each location point, the location data at each location point, and the water depth at each location point, using the following formula: Where Q represents the flow rate of the river to be measured; Qi represents the flow rate between the i-th location point and the (i+1)-th location point of the river to be measured; hi represents the depth of the river to be measured at the i-th location point; bi represents the distance between the river to be measured at the i-th location point and the selected starting point of the cross-section in the river to be measured; and vi represents the flow velocity of the river to be measured at the i-th location point.

3. The method according to claim 1, characterized in that, The control of the target vessel to travel a specified number of navigation cycles according to the course direction includes: From the starting point of the cross-section of the river to be measured, control the target vessel to travel in the direction of the waterway; The system detects whether the target vessel has reached the end point of the cross-section of the river to be measured according to a set time pattern. If the target vessel does not reach the end point of the cross-section of the river to be measured, the target vessel shall continue to be controlled to sail. If the target vessel reaches the end point of the cross section of the river to be measured, then the target vessel is controlled to continue traveling with the end point of the previous cross section as the new starting point of the cross section, and the starting point of the previous cross section as the end point of the cross section, until the target vessel has traveled a specified number of navigation cycles.

4. The method according to claim 3, characterized in that, The step of detecting whether the target vessel has reached the end point of the cross-section of the river to be measured according to a set time pattern includes: Determine whether the distance between the target vessel and the obstacle in the direction of the waterway is less than a first preset value; Determine whether the distance between the target vessel and an obstacle in the depth direction is less than a second preset value; If the distance between the target vessel and an obstacle in the direction of the waterway is less than a first preset value, or the distance between the target vessel and an obstacle in the direction of depth is less than a second preset value, then it is determined that the target vessel has reached the end point of the cross-section of the river to be measured.

5. The method according to claim 4, characterized in that, The step of determining whether the distance between the target vessel and the obstacle in the direction of the waterway is less than a first preset value includes: Collect image data along the stated waterway direction; Collect radar data along the stated waterway direction; Based on the image data, a first distance is determined between the target vessel and the obstacle in the direction of the waterway; Based on the radar data, a second distance is determined between the target vessel and the obstacle in the direction of the waterway; Based on the first distance and the second distance, determine whether the distance between the target vessel and the obstacle in the direction of the waterway is less than a first preset value.

6. The method according to claim 1, characterized in that, The process of obtaining the direction of water flow in the river to be measured includes: The drift direction of the target vessel in a powerless state is collected, and the drift direction is the direction of the water flow of the river being measured, or... Collect a set of river surface images of the river to be measured, and determine the direction of water flow of the river to be measured based on the set of river surface images.

7. The method according to claim 6, characterized in that, Determining the direction of water flow in the river to be measured based on the river surface image set includes: Image recognition is performed on the river surface images in the set of river surface images to identify at least one target object in the river to be tested; Based on the position of the target object in each river surface image in the river surface image set, the target movement trajectory of the target object is determined; Based on the target's movement trajectory, the direction of the river's flow is determined.

8. A river flow measurement device, characterized in that, include: The acquisition module is used to obtain the direction of water flow in the river to be measured. The first determining module is used to determine the channel direction of the target vessel based on the direction of the water flow; The recording module is used to control the target vessel to travel in accordance with the direction of the waterway and to record the navigation data of the target vessel during the travel process; The second determining module is used to determine the flow rate of the river to be measured based on the navigation data; The recording module is further configured to control the target vessel to travel a specified number of navigation cycles according to the direction of the waterway; during the navigation, the recording module records the navigation data of the target vessel in the specified number of navigation cycles; the navigation data includes the navigation direction, speed, heading, positioning data, and water depth at each location point. The second determining module is further configured to calculate the average water flow velocity at each location point based on the navigation data of the navigation cycle; determine the average water depth at each location point based on the navigation data of the navigation cycle; and determine the flow rate of the river to be measured based on the average water flow velocity at each location point, the positioning data at each location point, and the average water depth at each location point. The recording module is also used to determine whether the target vessel has reached the end point of the cross-section of the river to be measured; if so, the target vessel is controlled to continue traveling with the end point of the previous round of travel as the new starting point of the cross-section and the starting point of the previous round of travel as the end point of the cross-section. The method for determining the water flow velocity of the river to be measured includes: determining the water flow velocity of the target vessel at each location point based on the heading, the navigation direction, and the ship speed at each location point.

9. A type of ship equipment, characterized in that, include: The processor and memory, wherein the memory stores machine-readable instructions executable by the processor, wherein when the electronic device is running, the machine-readable instructions are executed by the processor to perform the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in any one of claims 1 to 7.

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