A method for real-time measurement of the entire three-dimensional water surface based on optical radar

Abstract

The present invention relates to the field of water level measurement, and specifically refers to a method for real-time measurement of a three-dimensional fluctuating water surface based on an optical radar. Prepare a water tank, an optical radar probe, a light-blocking baffle, an infrared photoelectric switch, and a single-chip computer, and install them. Use the optical radar probe to capture the three-dimensional shape of the bottom plate when there is no water in the water tank, and process it to obtain the parameter value θ x ,θ y ,θ z , Δx, Δy, Δz, store water in the upstream reservoir, add white materials in the reservoir, mix the materials into white opaque liquid through the material stirring device, keep the positions of the optical radar probes unchanged, quickly remove the gates, and synchronously collect and control the system to capture the water surface morphology of the water area to be measured at different times, and determine the coordinates of the water surface point (x2, y2, z2) of the global water surface height at any time; through this design, the real-time synchronous measurement of the global water level is completed. The present invention provides a method that can overcome the deficiency of traditional methods in not being able to capture three-dimensional water surface morphology, and realize the global synchronous measurement of large-scale three-dimensional water surface elevation changes.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional measurement of complex water surface (water flow free surface) of free-flowing water in a river channel or a water tank in a laboratory, and specifically refers to a full-domain real-time measurement method of fluctuating three-dimensional water surface based on optical radar. Background Art

[0002] At present, the main methods for measuring water depth are manual steel ruler or probe measurement, resistance wave height meter measurement, ultrasonic measurement, and image processing measurement. Manual steel ruler or probe measurement is the earliest method of water depth measurement, and the accuracy can be guaranteed, but each measurement can only measure a single point. If multiple points are to be measured, it will consume a lot of manpower, and it is impossible to measure the water depth of non-steady flow. The resistance wave height meter mainly reflects the change of water depth by measuring the change of resistance. It can be applied to non-steady flow scenes, but it has the disadvantages of zero drift, affecting water flow movement, and can only measure a single point. Ultrasonic measurement mainly reflects the change of water depth based on the time difference between the probe transmitting and receiving the reflected wave. It is a non-invasive measurement with high accuracy, but it still has problems such as not being able to receive the return wave when the angle between the water surface and the probe is large, and can only perform single-point measurement. Image processing measurement is to take a picture of the water body from the side of the water tank, and perform image processing to extract the water surface line. This is a non-contact measurement method that can be applied to non-steady flow and can simultaneously obtain water depth data within the camera's viewing angle. However, it still has problems such as being unable to be applied to three-dimensional water flow morphology measurement and the measurement accuracy being greatly affected by the environment and data processing methods. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a global real-time measurement method of fluctuating three-dimensional water surface based on optical radar, which can overcome the deficiency of traditional methods that cannot capture three-dimensional water surface morphology and realize global synchronous measurement of large-scale three-dimensional water surface elevation changes.

[0004] The technical solution adopted by the present invention is: a global real-time measurement method of a fluctuating three-dimensional water surface based on optical radar, characterized in that: the measurement system comprises a material stirring device, a synchronous acquisition control system, a point cloud data acquisition device and a return water system, the material stirring device comprises a stirrer and an online turbidity meter, the material is mixed evenly by the stirrer, the material is evenly dispersed in the water body and is not easy to settle, the online turbidity meter is used to monitor whether the water body material meets the measurement requirements, the synchronous acquisition control system comprises an infrared photoelectric switch, a single-chip microcomputer, and a hub, the infrared photoelectric switch is arranged above the gate, and the infrared photoelectric switch is triggered when the gate is lifted, and the signal is detected by the single-chip microcomputer, and the single-chip microcomputer immediately sends the synchronous trigger signal to multiple optical radar probes through the hub at the same time, and the optical radar probe starts synchronous measurement, the point cloud data acquisition device comprises a computer, a hub, and an optical radar probe, the optical radar probe obtains point cloud data, and the data is transmitted back to the computer through the hub for storage, and the return water system consists of a return water tank and a return water pipe;

[0005] The following steps are involved:

[0006] S1, prepare the water tank, optical radar probe, light-blocking baffle, infrared photoelectric switch, and single-chip computer, arrange the gate on the upstream side of the water tank, arrange the optical radar probe above the water tank, apply opaque white paint on the bottom of the water tank, arrange the light-blocking baffle between the two probes to reduce the optical interference between the two optical radar probes, and arrange the photoelectric switch above the gate. Use the optical radar probe to capture the three-dimensional shape of the bottom plate when there is no water in the water tank, and process it to obtain the parameter value θ x ,θ y ,θ z , Δx, Δy, Δz, execute step S2;

[0007] S2, store water in the upstream reservoir, add white material into the reservoir, mix the material into a white opaque liquid through a material stirring device, keep the position of each optical radar probe unchanged, quickly withdraw the gate, and synchronously collect and control the system to capture the water surface morphology of the water area to be measured at different times, and use the spatial three-dimensional leveling coordinate transformation formula and the spatial three-dimensional rotation and translation coordinate transformation formula to determine the global water surface height and water surface point coordinates (x2, y2, z2) at any time.

[0008] The water surface morphology at different times of the water area to be measured is captured by the synchronous acquisition control system, and the water surface morphology at different times is processed to determine the water surface point coordinates (x2, y2, z2) of the global water surface height at any time.

[0009] Processing the water surface morphology at different times includes: using the spatial three-dimensional leveling coordinate transformation formula to determine the relative height of the global water surface at any time, and using the spatial three-dimensional rotation and translation coordinate transformation formula to determine the three-dimensional coordinates of the global water surface at any time in a given coordinate system.

[0010] The spatial three-dimensional leveling coordinate transformation formula is:

[0011]

[0012] In the formula, θ x ,θ y is a coefficient, which can be obtained through the three-dimensional shape of the bottom plate when there is no water; x, y, z are the water surface point cloud coordinate values ​​in the optical radar probe coordinate system, z1 is the water surface height, and x1, y1 are the plane coordinates of the point.

[0013] Coefficient θ x ,θ y The determination method is as follows: using an optical radar probe to capture the three-dimensional shape of the bottom plate when there is no water, and fitting the plane equation according to the bottom plate point cloud coordinate values ​​(x, y, z):

[0014] Z=Ax+By+C

[0015] Substitute coefficients A and B into the formula θ x =tan -1 (B) and θ y =tan -1 The coefficient θ can be obtained from (-A) x ,θ y .

[0016] The formula for spatial three-dimensional rotation and translation coordinate transformation is:

[0017]

[0018] In the formula, θ z , Δx, Δy, Δz are coefficients, and θ can be obtained by calculating the angle of rotation around the Z axis with the given coordinate system. z , Δx, Δy, and Δz can be obtained by calculating the displacement differences along the x, y, and z directions with respect to the given coordinate system.

[0019] In step S1, the parameter value θ x ,θ y ,θ z , Δx, Δy, Δz are determined by using an optical radar probe to capture the three-dimensional shape of the bottom plate when there is no water in the tank, and obtaining the bottom plate point cloud coordinate value (x, y, z) in the optical radar probe coordinate system. According to the spatial three-dimensional leveling coordinate transformation formula Get the point cloud coordinates (x1, y1, z1) after leveling. To solve the coefficient θ x ,θ y , according to the coordinate values ​​(x, y, z) of the bottom plate point cloud, the plane equation z = Ax + By + C is obtained. According to the formula θ x =tan-1 (B) and θ y =tan -1 (-A) can be used to find the coefficient θ x ,θ y Prepare a conical positioning stake with a bottom diameter of 8 cm and a height of 7.8 cm, and place it at the intersection of the two optical radar probes' fields of view. According to the spatial three-dimensional rotation and translation coordinate transformation formula, the point cloud data obtained by the two optical radar probes are spliced ​​so that the position coordinates of the positioning stakes of the two sets of point cloud data coincide. The spatial three-dimensional rotation and translation coordinate transformation formula is: θ can be obtained by calculating the angle difference between the two sets of point cloud data about the Z axis. z , we can calculate the displacement difference between the two sets of point cloud data in the x, y, and z directions to get Δx, Δy, and Δz.

[0020] In step S2, the spatial three-dimensional leveling coordinate transformation formula is:

[0021]

[0022] In the formula, θ x ,θ y is the coefficient obtained by step S1.

[0023] In step S2, the spatial three-dimensional rotation and translation coordinate transformation formula is:

[0024]

[0025] In the formula, θ z , Δx, Δy, Δz are coefficients obtained by step S1.

[0026] The material added to the water in the water tank is white organic pigment, and the water is white opaque liquid after being processed by the material stirring device.

[0027] Beneficial effects of the present invention:

[0028] 1. The present invention adopts a non-immersion water depth measurement method based on optical radar, which does not interfere with the water flow, and obtains global water depth data through synchronous measurement of multiple optical radar probes.

[0029] 2. Compared with the traditional water depth measurement method, the water depth measurement method of the present invention overcomes the deficiency that the traditional method cannot capture the three-dimensional water surface morphology, and realizes the global synchronous measurement of large-scale three-dimensional water surface elevation changes.

[0030] 3. The present invention is adaptable to a wide range of ambient lighting and does not require additional ambient lighting conditions. It can also perform real-time synchronous measurement of the water depth over the entire area even in dark conditions.

[0031] On the whole, the present invention overcomes the deficiency of traditional methods that cannot capture three-dimensional water surface morphology, and realizes global synchronous measurement of large-scale three-dimensional water surface elevation changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The present invention is a flow chart of a method for real-time global measurement of a fluctuating three-dimensional water surface based on optical radar.

[0033] Figure 2 This is a layout diagram of a global real-time measurement system for a global real-time measurement method of a fluctuating three-dimensional water surface based on optical radar according to the present invention.

[0034] Figure 3 This is a three-dimensional morphological diagram of the original bottom plate of a water tank without water, according to a method for full-area real-time measurement of fluctuating three-dimensional water surface based on optical radar of the present invention.

[0035] Figure 4 This is a three-dimensional morphological diagram of the bottom plate of a water tank after leveling treatment when there is no water, according to a method for full-area real-time measurement of fluctuating three-dimensional water surface based on optical radar of the present invention.

[0036] Figure 5 This is a local map after two sets of point cloud data of a full-domain real-time measurement method of a fluctuating three-dimensional water surface based on optical radar in the present invention are spliced ​​according to positioning piles.

[0037] Figure 6 This is an overall picture of the stitching of multiple groups of point cloud data of a global real-time measurement method of a fluctuating three-dimensional water surface based on optical radar in the present invention.

[0038] Figure 7 This is a three-dimensional water surface morphology diagram and a corresponding flow pattern diagram at the moment of 0.5s of a full-domain real-time measurement method of a fluctuating three-dimensional water surface based on an optical radar according to the present invention.

[0039] Figure 8 This is a three-dimensional water surface morphology diagram and a corresponding flow pattern diagram at the moment of 0.8s of a full-domain real-time measurement method of a fluctuating three-dimensional water surface based on an optical radar according to the present invention.

[0040] Fig. 9 The present invention discloses a method for real-time measurement of a three-dimensional water surface in the whole domain based on an optical radar, and shows a three-dimensional water surface morphology diagram and a corresponding flow pattern diagram at the moment of 1 second.

[0041] (1. Water tank; 2. Agitator; 3. Online turbidity meter; 4. Infrared photoelectric switch; 5. Single chip microcomputer; 6. Computer; 7. Hub; 8. Optical radar probe; 9. Light shield; 10. Positioning pile; 11. Gate; 12. Return pool; 13. Return pipe) DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] In order to overcome the deficiency of traditional methods in capturing the three-dimensional water surface morphology, the global real-time measurement method of the fluctuating three-dimensional water surface based on optical radar can realize the global synchronous measurement of large-scale three-dimensional water surface elevation changes. Figures 1 to 9 The application principle of the present invention is further described with reference to specific embodiments. The present invention provides a method for real-time measurement of a three-dimensional fluctuating water surface based on an optical radar as shown in the figure. The method has the following functions: the measurement system is composed of a material stirring device, a synchronous acquisition control system, a point cloud data acquisition device and a return water system. The material stirring device is composed of a stirrer 2 and an online turbidity meter 3. The material is mixed evenly by the stirrer, and the material is evenly dispersed in the water body and is not easy to settle. The online turbidity meter is used to monitor whether the water body material meets the measurement requirements. The synchronous acquisition control system is composed of an infrared photoelectric switch 4, a single-chip microcomputer 5, and a hub 7. The infrared photoelectric switch is arranged above the gate. When the gate is lifted, the infrared photoelectric switch is triggered. The signal is detected by the single-chip microcomputer, and the single-chip microcomputer immediately sends a synchronous trigger signal to multiple optical radar probes through the hub at the same time. The optical radar probe starts synchronous measurement. The point cloud data acquisition device is composed of a computer 6, a hub 7, and an optical radar probe 8. The optical radar probe obtains point cloud data, and the data is transmitted back to the computer through the hub for storage. The return water system is composed of a return water tank 12 and a return water pipe 13.

[0044] The following steps are involved:

[0045] S1, prepare the water tank, optical radar probe, light-blocking baffle, infrared photoelectric switch, and single-chip computer, arrange the gate on the upstream side of the water tank, arrange the optical radar probe above the water tank, apply opaque white paint on the bottom of the water tank, arrange the light-blocking baffle between the two probes to reduce the optical interference between the two optical radar probes, and arrange the photoelectric switch above the gate. Use the optical radar probe to capture the three-dimensional shape of the bottom plate when there is no water in the water tank, and process it to obtain the parameter value θ x ,θ y ,θ z , Δx, Δy, Δz, execute step S2;

[0046] S2, store water in the upstream reservoir, add white material into the reservoir, mix the material into a white opaque liquid through a material stirring device, keep the position of each optical radar probe unchanged, quickly withdraw the gate, and synchronously collect and control the system to capture the water surface morphology of the water area to be measured at different times, and use the spatial three-dimensional leveling coordinate transformation formula and the spatial three-dimensional rotation and translation coordinate transformation formula to determine the global water surface height and water surface point coordinates (x2, y2, z2) at any time.

[0047] In the present invention, the water surface morphology of the water area to be measured at different times is captured by the synchronous acquisition control system, and the water surface morphology at different times is processed to determine the water surface point coordinates (x2, y2, z2) of the global water surface height at any time.

[0048] The present invention processes the water surface morphology at different times, including: determining the relative height of the global water surface at any time using the spatial three-dimensional leveling coordinate transformation formula, and determining the three-dimensional coordinates of the global water surface at any time in a given coordinate system using the spatial three-dimensional rotation and translation coordinate transformation formula.

[0049] The spatial three-dimensional leveling coordinate transformation formula in the present invention is:

[0050]

[0051] In the formula, θ x ,θ y is a coefficient, which can be obtained through the three-dimensional shape of the bottom plate when there is no water; x, y, z are the water surface point cloud coordinate values ​​in the optical radar probe coordinate system, z1 is the water surface height, and x1, y1 are the plane coordinates of the point.

[0052] The coefficient θ in the present invention x ,θ y The determination method is as follows: using an optical radar probe to capture the three-dimensional shape of the bottom plate when there is no water, and fitting the plane equation according to the bottom plate point cloud coordinate values ​​(x, y, z):

[0053] Z=Ax+By+C

[0054] Substitute coefficients A and B into the formula θ x =tan -1 (B) and θ y =tan -1 The coefficient θ can be obtained from (-A) x ,θ y .

[0055] The spatial three-dimensional rotation and translation coordinate transformation formula in the present invention is:

[0056]

[0057] In the formula, θ z , Δx, Δy, ΔZ are coefficients, and θ can be obtained by calculating the angle of rotation around the Z axis with the given coordinate system. z , Δx, Δy, and Δz can be obtained by calculating the displacement differences along the x, y, and z directions with respect to the given coordinate system.

[0058] In step S1 of the present invention, the parameter value θ x ,θ y ,θ z, Δx, Δy, Δz are determined by using an optical radar probe to capture the three-dimensional shape of the bottom plate when there is no water in the tank, and obtaining the bottom plate point cloud coordinate value (x, y, z) in the optical radar probe coordinate system. According to the spatial three-dimensional leveling coordinate transformation formula Get the point cloud coordinates (x1, y1, z1) after leveling. To solve the coefficient θ x ,θ y , according to the coordinate values ​​(x, y, z) of the bottom plate point cloud, the plane equation z = Ax + By + C is obtained. According to the formula θ x =tan -1 (B) and θ y =tan -1 (-A) can be used to find the coefficient θ x ,θ y Prepare a conical positioning stake with a bottom diameter of 8 cm and a height of 7.8 cm, and place it at the intersection of the two optical radar probes' fields of view. According to the spatial three-dimensional rotation and translation coordinate transformation formula, the point cloud data obtained by the two optical radar probes are spliced ​​so that the position coordinates of the positioning stakes of the two sets of point cloud data coincide. The spatial three-dimensional rotation and translation coordinate transformation formula is: θ can be obtained by calculating the angle difference between the two sets of point cloud data about the Z axis. z , we can calculate the displacement difference between the two sets of point cloud data in the x, y, and z directions to get Δx, Δy, and Δz.

[0059] In step S2 of the present invention, the spatial three-dimensional leveling coordinate transformation formula is:

[0060]

[0061] In the formula, θ x ,θ y is the coefficient obtained by step S1.

[0062] In step S2 of the present invention, the spatial three-dimensional rotation and translation coordinate transformation formula is:

[0063]

[0064] In the formula, θ z , Δx, Δy, Δz are coefficients obtained by step S1.

[0065] The material added to the water in the water tank of the present invention is white organic pigment, and the water is white opaque liquid after being treated by the material stirring device.

[0066] A brief description of how this solution works:

[0067] In the present invention, the experimental device provided in this embodiment is as shown in the attached Figure 2, mainly composed of experimental water tank, optical radar probe, light-blocking baffle, infrared photoelectric switch, single-chip microcomputer, positioning pile, etc. The experimental water tank is mainly composed of upstream reservoir, gate and downstream river. The experimental water tank is 7m long, 0.5m wide and 0.5m high. The bottom plate of the water tank is made of plexiglass and the facade is made of tempered glass. During the experiment, water was first stored in the reservoir upstream of the gate, and then the gate was quickly lifted, and the water in the reservoir evolved downstream to simulate the movement of dam-breaking flood. The optical radar probe was arranged 1m above the water tank, and its field of view along the length of the water tank was 70 degrees. In order to avoid the influence of the reflection of the optical radar probe in the water on the measurement results, the optical radar probe was arranged in an inclined manner so that there was no reflection in its field of view. The light-blocking baffle was arranged at the intersection of the optical radar probe field of view to reduce optical interference. Since the black baffle cannot reflect light, the light-blocking baffle is made of non-black material. The infrared photoelectric switch is arranged above the gate so that it can be sensed when the gate is lifted. The optical radar probe is used to capture the three-dimensional shape of the bottom plate when there is no water in the water tank, and the bottom plate point cloud coordinate values ​​(x, y, z) in the optical radar probe coordinate system are obtained, as shown in the attached figure. Figure 3 According to the spatial three-dimensional leveling coordinate transformation formula Get the point cloud coordinates (x1, y1, z1) after leveling, as shown in the attached figure. Figure 4 To solve the coefficient θ x ,θ y , according to the coordinate values ​​(x, y, z) of the bottom plate point cloud, the plane equation z = Ax + By + C is obtained. According to the formula θ x =tan -1 (B) and θ y =tan -1 (-A) can be used to find the coefficient θ x ,θ y Prepare a conical positioning stake with a bottom diameter of 8 cm and a height of 7.8 cm, and place it at the intersection of the two optical radar probes' fields of view. According to the spatial three-dimensional rotation and translation coordinate transformation formula, the point cloud data obtained by the two optical radar probes are spliced ​​so that the position coordinates of the positioning stakes of the two sets of point cloud data coincide, as shown in the attached figure. Figure 5 , Attachment Figure 6 The spatial three-dimensional rotation and translation coordinate transformation formula is: θ can be obtained by calculating the angle difference between the two sets of point cloud data about the Z axis. z, Δx, Δy, and Δz can be obtained by calculating the displacement difference of the two sets of point cloud data in the x, y, and z directions. In the experiment, white materials were added to the water body, which can be evenly dispersed in the water body and are not easy to settle. Fill the upstream water tank with water to 300mm, keep the position of each optical radar probe unchanged, and quickly remove the gate. Under the action of the above-mentioned synchronous acquisition control system, multiple optical radar probes are automatically opened and measured synchronously at the same time. After capturing the water surface change process, the optical radar probes are closed, and the point cloud data at three times of 0.5s, 0.8s, and 1s after the gate is removed are selected. The point cloud data is subjected to three-dimensional leveling coordinate transformation and spatial three-dimensional rotation and translation coordinate transformation to obtain the measurement of the global water level. The three-dimensional map of the water surface height and the corresponding flow state image are shown in the attached figure. Figure 7 , 8 , as shown in Figure 9.

[0068] The present invention and its implementation methods are described above, and such description is not restrictive. The drawings shown in the drawings are only one of the ways of displaying the results of the present invention, and the actual invention is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design structural methods and embodiments similar to the technical solution without creativity, which should all fall within the protection scope of the present invention.

Claims

1. A method for real-time measurement of a three-dimensional fluctuating water surface based on optical radar, characterized in that: The measuring system comprises a material stirring device, a synchronous acquisition control system, a point cloud data acquisition device and a water return system. The material stirring device comprises a stirrer (2) and an online turbidity meter (3). The material is mixed evenly by the stirrer (2). The material is evenly dispersed in the water body and is not easy to settle. The online turbidity meter (3) is used to monitor whether the material in the water body meets the measurement requirements. The synchronous acquisition control system comprises an infrared photoelectric switch (4), a single chip computer (5) and a hub (7). The infrared photoelectric switch (4) is arranged above the gate (11). When the gate is closed, the infrared photoelectric switch (4) is connected to the gate. When the door (11) is lifted, the infrared photoelectric switch (4) is triggered, and the signal is detected by the single chip computer (5). The single chip computer (5) immediately sends a synchronous trigger signal to multiple optical radar probes (8) via the hub (7). The optical radar probes (8) start synchronous measurement. The point cloud data acquisition device is composed of a computer (6), a hub (7), and an optical radar probe (8). The optical radar probe (8) obtains point cloud data. The data is transmitted back to the computer (6) via the hub (7) for storage. The return water system is composed of a return water tank (12) and a return water pipe (13); The following steps are involved: S1, prepare a water tank (1), an optical radar probe (8), a light-blocking baffle (9), an infrared photoelectric switch (4), and a single-chip computer (5), arrange a gate (11) on the upstream side of the water tank (1), arrange an optical radar probe (8) above the water tank (1), apply opaque white paint on the bottom of the water tank (1), arrange a light-blocking baffle (9) between the two probes to reduce optical interference between the two optical radar probes (8), arrange a photoelectric switch above the gate (11), use the optical radar probe (8) to capture the three-dimensional shape of the bottom plate of the water tank (1) when there is no water, and process it to obtain the parameter value θ x ,θ y ,θ z , Δx, Δy, Δz, execute step S2; S2, storing water in the upstream reservoir area, adding white material into the reservoir area, mixing the material into a white opaque liquid through a material stirring device, keeping the positions of the optical radar probes (8) unchanged, quickly withdrawing the gate (11), and synchronously collecting and controlling the water surface morphology of the water area to be measured at different times, and determining the water surface point coordinates (x2, y2, z2) of the global water surface height at any time using a spatial three-dimensional leveling coordinate transformation formula and a spatial three-dimensional rotation and translation coordinate transformation formula; The spatial three-dimensional leveling coordinate transformation formula is: In the formula, θ x ,θ y is a coefficient, which can be obtained through the three-dimensional shape of the bottom plate when there is no water; x, y, z are the water surface point cloud coordinate values ​​in the optical radar probe (8) coordinate system, z1 is the water surface height, and x1 and y1 are the plane coordinates of the point; Coefficient θ x ,θ y The determination method is as follows: using an optical radar probe (8) to capture the three-dimensional shape of the bottom plate when it is dry, and fitting the plane equation according to the bottom plate point cloud coordinate values ​​(x, y, z): Z=Ax+By+C Substitute coefficients A and B into the formula θ x =tan -1 (B) and θ y =tan -1 The coefficient θ can be obtained from (-A) x ,θ y ; The formula for spatial three-dimensional rotation and translation coordinate transformation is: In the formula, θ z , Δx, Δy, Δz are coefficients, and θ can be obtained by calculating the angle of rotation around the Z axis with the given coordinate system. z , Δx, Δy, and Δz can be obtained by calculating the displacement differences along the x, y, and z directions with respect to the given coordinate system.

2. The method for full-domain real-time measurement of a fluctuating three-dimensional water surface based on optical radar according to claim 1, characterized in that: The water surface morphology at different times of the water area to be measured is captured by the synchronous acquisition control system, and the water surface morphology at different times is processed to determine the water surface point coordinates (x2, y2, z2) of the global water surface height at any time.

3. The method for full-domain real-time measurement of a fluctuating three-dimensional water surface based on optical radar according to claim 1, characterized in that: Processing the water surface morphology at different times includes: using the spatial three-dimensional leveling coordinate transformation formula to determine the relative height of the global water surface at any time, and using the spatial three-dimensional rotation and translation coordinate transformation formula to determine the three-dimensional coordinates of the global water surface at any time in a given coordinate system.

4. The method for full-domain real-time measurement of a fluctuating three-dimensional water surface based on optical radar according to claim 1, characterized in that: Prepare a conical positioning pile (10) with a bottom diameter of 8 cm and a height of 7.8 cm, and place it at the intersection of the fields of view of the two optical radar probes (8); Point cloud data obtained by two optical radar probes (8) are spliced ​​according to a spatial three-dimensional rotation and translation coordinate transformation formula, so that the position coordinates of the positioning piles (10) of the two sets of point cloud data overlap.

5. The method for full-domain real-time measurement of a fluctuating three-dimensional water surface based on optical radar according to claim 1, characterized in that: The material added to the water in the water tank (1) is a white organic pigment, and after being processed by the material stirring device, the water becomes a white opaque liquid.

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