A flow velocity and direction meter based on image recognition and control method

Abstract

The present invention discloses a flow velocity and direction meter based on image recognition and a control method. The flow velocity and direction meter includes an underwater detector, an integrated cable, and a controller; the controller is connected to the underwater detector through the integrated cable; the underwater detector includes a downward end cover, a lower protective cover, a transparent cover, a middle protective cover, a threading branch pipe, an upper protective cover, a top cover, a pressure sensing device, a water body fill light, an optical observation system, a video acquisition device, a downward camera, a downward fill light, a surround camera, a surround fill light, a contrast agent tank, and a control module. The control method includes instrument calibration, adjustment of water entry depth, collection of water body video, flow velocity and direction detection, information display, auxiliary video display, auxiliary fill light control, contrast agent release adjustment, printing, and remote control steps. The present invention can detect flow velocity and direction when the water body is too clear or too turbid and the contrast of the monitoring image is small. Its fill light device adjusts the fill light band according to the measurement needs to provide convenience for subsequent image analysis.

Description

Technical Field

[0001] The invention relates to a flow velocity and direction meter and a control method, in particular to a flow velocity and direction meter based on image recognition and a control method, and belongs to the technical field of groundwater collection devices. Background Art

[0002] As the country pays more attention to the ecological environment, more and more environmental quality monitoring equipment has been developed. The velocity and direction meter used for monitoring groundwater environmental pollution runoff is one of them. The velocity and direction meter can not only be used for monitoring groundwater environmental pollution runoff, but also for groundwater hydrological monitoring, groundwater resource investigation and evaluation, groundwater environmental monitoring in industrial parks, contaminated land restoration evaluation, and groundwater model establishment. It has played a significant role in timely and accurate monitoring of water flow velocity and direction.

[0003] Traditional groundwater velocity and direction meters are divided into two categories. One is based on the pyrolysis method, which is greatly affected by water pressure and can only detect the velocity and direction of water within 300 meters; the other uses pipeline microscope technology, which cannot accurately measure when the groundwater is too clear or too muddy. Therefore, existing groundwater velocity and direction meters have the disadvantages of being heavy and bulky, limited in obtaining water body data, and unable to achieve wireless remote control by mobile phones and tablets. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a flow velocity and direction meter based on image recognition and a control method.

[0005] In order to solve the above technical problems, the first technical solution adopted by the present invention is:

[0006] A flow velocity and direction meter based on image recognition, comprising an underwater detector, an integrated cable, and a controller; the controller is connected to the underwater detector via the integrated cable;

[0007] The underwater detector includes a downward-looking end cover, a lower protective cover, a transparent cover, a middle protective cover, more than one threading branch pipe, an upper protective cover, a top cover, a pressure sensor, a water body fill light, an optical observation system, a video acquisition device, and a control module; the control module includes a CPU, a data storage chip, a gyroscope, and a first communication interface;

[0008] The load-bearing cable, power supply line and signal transmission line are integrated inside the integrated cable. The load-bearing cable, power supply line and signal transmission line are put into the water at the same time under the control of the winch. The outer skin of the integrated cable is marked with scales.

[0009] The controller includes a control mainboard, a second communication interface, a control joystick, a GPS module and a display device; the mainboard includes a main control module and a video processing module;

[0010] The bottom of the lower shield is tightly connected to the lower end cover, and the top is tightly connected to the middle shield; a ring-shaped transparent cover is provided in the middle of the lower shield, and each wire branch pipe is evenly distributed between the middle shield and the upper shield, and tightly connected to the middle shield and the upper shield; the top of the upper shield is tightly connected to the top cover;

[0011] A light-transmitting cover is provided on the top of the middle shield, and a water body fill light is fixedly installed inside the cover; a light-through cover is provided at the bottom of the upper shield, and an optical observation system, a video acquisition device and a control module are fixedly installed inside the upper shield from bottom to top in sequence; the light emitted by the water body fill light passes through the light-transmitting cover and enters the optical observation system through the light-through cover. A scale grid is engraved on the light-transmitting cover, and water flows through the gaps between the threading branches, is amplified by the optical observation system, and is captured by the video acquisition device. The water body fill light emits full-band light;

[0012] The pressure sensor device is fixedly installed in the lower shield, and the lower shield is provided with one or more water inlet holes;

[0013] The water body video collected by the video acquisition device, the geomagnetic angle collected by the gyroscope, and the water body pressure collected by the pressure sensor are transmitted to the video processing module of the mainboard via the CPU, the first communication interface, the integrated cable, and the second communication interface in sequence. At the same time, the CPU stores the geomagnetic angle collected by the gyroscope and the water body pressure collected by the pressure sensor in the data storage chip; the magnetic declination and longitude and latitude information collected by the GPS module are output to the video processing module; the video processing module calculates the water body flow rate and direction, and outputs the water body flow rate and direction, water body pressure, geomagnetic angle, magnetic declination, and longitude and latitude to the display module for display; the main control module receives the control signal of the control joystick, forms a water body fill light control instruction, and transmits it to the CPU via the second communication interface, the integrated cable, and the first communication interface, and the CPU adjusts the luminous intensity of the water body fill light accordingly.

[0014] Furthermore, the underwater detector also includes a downward-looking camera, a downward-looking fill light, a surround-looking camera, and a surround-looking fill light; a light-transmitting sheet is provided at the center of the downward-looking end cover; the lower protective cover is divided into two upper and lower cavities, the downward-looking camera is installed in the closed lower cavity, the pressure sensing device is fixedly installed in the upper cavity, and the upper cavity is provided with more than one water inlet hole; the downward-looking camera collects the lower-end video through the light-transmitting sheet, the downward-looking fill light provides auxiliary lighting conditions for the downward-looking camera, and the lower-end video is transmitted to the video processing module via the CPU, the first communication interface, the integrated cable, and the second communication interface, and is displayed on the display module; the control joystick selects the controlled object as the downward-looking fill light, the main control module receives the control signal of the control joystick, forms the downward-looking fill light control instruction, and transmits it to the CPU via the second communication interface, the integrated cable and the first communication interface, and the CPU adjusts the luminous intensity of the downward-looking fill light accordingly.

[0015] Furthermore, the underwater detector also includes a surround-view camera and a surround-view fill light. The surround-view camera is fixedly installed in a transparent cover, and under the lighting condition of the surround-view fill light, the surround video is collected through the transparent cover; the surround video collected by the surround-view camera is transmitted to the video processing module via the CPU, the first communication interface, the integrated cable, and the second communication interface, and is displayed on the display module; the control joystick selects the controlled object as the surround-view fill light, the main control module receives the control signal of the control joystick, forms a surround-view fill light control instruction, and transmits it to the CPU via the second communication interface, the integrated cable and the first communication interface, and the CPU adjusts the luminous intensity of the surround-view fill light accordingly.

[0016] Furthermore, the underwater detector also includes a contrast agent tank, in which the contrast agent stored is used to change the imaging contrast between the target and the background in the water body; the contrast agent tank is fixedly installed in the inner cavity of the middle shield, and its outlet extends out of the middle shield. The contrast agent tank is equipped with an in-tank pressure detector, and the outlet is equipped with an electronic valve; the signals of the in-tank pressure detector and the electronic valve are transmitted to the main control module via the CPU, the first communication interface, the integrated cable, and the second communication interface. The main control module forms an electronic valve control instruction according to the pressure difference collected by the in-tank pressure detector and the pressure sensing device. The electronic valve control instruction is transmitted to the CPU in sequence via the second communication interface, the integrated cable, the first communication interface, and the CPU adjusts the electronic valve accordingly.

[0017] Furthermore, the pressure sensing device includes a waterproof screw, a sensor top plate, a pressure sensor, and a clamping nut; the pressure sensor is installed in the upper cavity of the lower protective cover in close contact with the side wall, and forms a closed waterproof cavity with the top of the lower protective cover, and the control line of the pressure sensor is placed in the waterproof cavity; the pressure strain structure of the pressure sensor is connected to the water body through the water inlet hole of the lower protective cover to measure the water pressure; a spacer is provided between the upper and lower cavities of the lower protective cover, and a hole is opened on the spacer; the waterproof screw passes through the hole on the spacer and is sealed with the spacer, the sensor top plate and the pressure strain structure of the pressure sensor are on the same side of the spacer, and are located below the pressure strain structure; the sensor top plate is adapted to the pressure sensor; the clamping nut is located in the waterproof cavity and is used to fix the pressure sensor.

[0018] Furthermore, the controller also includes a wifi remote control module and a printing device. The wifi remote control module is wirelessly connected to the intelligent control device to transmit control signals and monitoring data and monitoring videos; the printing device prints longitude and latitude, flow velocity, flow direction, water pressure, water entry depth, time, and monitoring location under the control of the main control module.

[0019] Furthermore, the contrast agent added to the contrast agent tank is edible, and the water body fill light emits light in a preset frequency range.

[0020] Furthermore, the flow velocity and direction meter based on image recognition also includes an outer cover adapted to its underwater detector.

[0021] Technical Solution 2: A control method for the flow velocity and direction meter based on image recognition described in Technical Solution 1:

[0022] Step 1: Instrument calibration: The water body fill light passes through the light-transmitting cover and projects the full spectrum to the optical observation system through the light-transmitting cover. The video acquisition device collects the raster image and transmits it to the video processing module through the CPU, the first communication interface, the integrated cable, and the second communication interface in sequence. The video processing module detects the corner points of the raster image and calibrates the mapping ratio between the image pixels and the corresponding underwater distance.

[0023] Step 2: Adjusting the water immersion depth: The CPU receives the water pressure collected by the pressure sensor and uploads it to the main control module through the first communication interface, the integrated cable, and the second communication interface. The main control module calculates the current water immersion depth of the underwater detector according to the water pressure and the atmospheric pressure collected by the atmospheric pressure sensor; compares the current water immersion depth with the preset water immersion depth, and adjusts the water immersion depth of the underwater detector until the preset water immersion depth is reached;

[0024] Step 3: Collecting water body video: The CPU collects the geomagnetic angle γ of the gyroscope in real time; the CPU controls the video acquisition device to collect water body video at a preset frame rate in the root domain, and transmits the geomagnetic angle and water body video to the video processing module via the first communication interface, the integrated cable, and the second communication interface in sequence;

[0025] Step 4: Flow velocity and direction detection: The video processing module receives the magnetic declination β collected by the GPS module, detects particles in the water video frame by frame, records the central pixel position of the particles, and calculates the flow velocity and particle image motion angle α according to the mapping ratio, frame rate, and geomagnetic angle γ: The calculation method of the flow direction θ is:

[0026] θ=α+β+γ (1)

[0027] Step 5: Adjust the light intensity of the water body fill light: The main control module detects the state change of the control joystick in real time, and sends the corresponding light adjustment control instruction to the CPU through the second communication interface, the integrated cable, and the first communication interface. The CPU adjusts the luminous intensity of the water body fill light according to the light adjustment control instruction, and stores the luminous intensity of the water body fill light in the data storage module;

[0028] Step 6: Information display: The video processing module displays the geomagnetic angle γ, water body video, flow direction θ, flow direction, longitude and latitude on the display module.

[0029] Furthermore, the control method of the flow velocity and direction meter based on image recognition further comprises the following steps:

[0030] Auxiliary video display step: The auxiliary video includes underwater video and environmental video. The video processing module selects one auxiliary video to form a corresponding auxiliary video upload control command, which is sent to the CPU via the second communication interface, the integrated cable, and the first communication interface. The CPU collects the corresponding auxiliary video and uploads it to the video processing module via the first communication interface, the integrated cable, and the second communication interface. The video processing module switches it to be displayed in the display module.

[0031] Auxiliary fill light control step: the auxiliary fill light includes a surround fill light and an underwater fill light; the video processing module selects and forms a corresponding auxiliary fill light adjustment control command, and sends it to the CPU via the second communication interface, the integrated cable, and the first communication interface; the CPU adjusts the luminous intensity of the corresponding auxiliary fill light according to the auxiliary fill light adjustment control command, and stores the luminous intensity of the auxiliary fill light in the data storage module;

[0032] Contrast agent release adjustment step: the CPU detects the signals of the pressure detector and the electronic valve in the tank in real time and transmits them to the main control module via the CPU, the first communication interface, the integrated cable, and the second communication interface; the main control module forms an electronic valve control instruction according to the pressure difference collected by the pressure detector and the pressure sensing device in the tank; the electronic valve control instruction is sequentially transmitted to the CPU via the second communication interface, the integrated cable, and the second communication interface; the CPU adjusts the electronic valve accordingly to control the release amount;

[0033] Printing steps: The main control module controls the printing module to print longitude and latitude, flow velocity, flow direction, water pressure, water entry depth, time, and monitoring location;

[0034] Remote control steps: the main control module receives the control information sent by the smart device via the WIFI remote control module, transmits the information displayed by the display module to the smart device via the WIFI remote control module, and displays it on the smart device.

[0035] By adopting the above technical solution, the beneficial effects achieved by the present invention are as follows:

[0036] (1) The present invention uses particle image recognition measurement technology to detect the flow velocity and direction of water bodies, solving the problem that the thermal release method is affected by water pressure and the measurement depth of water bodies is limited.

[0037] (2) The present invention uses a downward-looking camera and a surround-looking camera to observe the water state in all directions, so that the underwater environment state can be intuitively understood.

[0038] (3) The present invention uses contrast agents to enhance the contrast of water body images, effectively solving the problem that when the water is too clear or too turbid, the contrast of the monitoring image is small and the flow velocity and direction of the water body cannot be detected.

[0039] (4) The present invention uses edible contrast agents and replaces the outer cover during each measurement to avoid water pollution.

[0040] (5) The present invention monitors the pressure of the contrast agent tank and the water pressure in real time, and automatically adjusts the valve of the contrast agent tank to ensure the effective release of the contrast agent.

[0041] (6) The present invention is provided with a fill light device, which can adjust the fill light band according to measurement needs, providing convenience for subsequent image analysis.

[0042] (7) The controller in the present invention is wirelessly connected to the intelligent terminal and can be remotely operated, which is very convenient to use.

[0043] (8) The integrated cable of the present invention integrates the load-bearing cable, the power supply line and the signal transmission line inside, and the load-bearing cable, the power supply line and the signal transmission line are lowered into the water at the same time, which improves the work efficiency and avoids the entanglement of the load-bearing cable, the power supply line and the signal transmission line. The outer belt is provided with scales, which can clearly show the lowering depth of the underwater detector. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a usage state diagram of the present invention;

[0045] Figure 2 It is a structural diagram of the present invention;

[0046] Figure 3 is a structural diagram of the pressure sensing device in the present invention;

[0047] Figure 4 is a circuit schematic diagram of the controller in the present invention;

[0048] Figure 5 is a circuit schematic diagram of the control module in the present invention;

[0049] Figure 6 This is a structural diagram of the integrated cable in the present invention.

[0050] In the figure: 1. Underwater detector 2. Integrated cable 3. Controller

[0051] 1-1, 1-1, downward-looking end cover, 1-2, lower protective cover, 1-3, light-transmitting cover, 1-4, middle protective cover, 1-5, threading branch pipe, 1-6, upper protective cover, 1-7, top cover, 1-8 transparent cover, 1-9, water body fill light, 1-10, light-transmitting cover, 1-11, optical observation system, 1-12, video acquisition device, 1-13, control module, 1-14, downward-looking camera, 1-15 downward-looking fill light, 1-16, surround-looking camera, 1-17, surround-looking fill light, 1-18, light-transmitting sheet, 1-19, contrast agent tank, 1-20, pressure sensing device, 1-21, pressure detector, 1-22, electronic valve; 1-20-1, waterproof screw, 1-20-2, sensor top plate, 1-20-3, pressure sensor, 1-20-4, compression nut;

[0052] 2-1, load-bearing cables, 2-2, power supply lines, 2-3, signal transmission lines. DETAILED DESCRIPTION

[0053] The specific implementation modes of the present invention are described in detail below with reference to the accompanying drawings.

[0054] Embodiment 1:

[0055] A flow velocity and direction meter based on image recognition includes an underwater detector 1, an integrated cable 2, a controller 3 and a power supply. The controller 3 is connected to the underwater detector 1 through the integrated cable 2. The power supply can be a generator or a battery. The power supply supplies power to the underwater detector 1 and the controller 3. The integrated cable 2 integrates a load-bearing cable 2-1, a power supply line 2-2 and a signal transmission line 2-3. The load-bearing cable 2-1, the power supply line 2-2 and the signal transmission line 2-3 enter the water at the same time under the control of a winch, thereby avoiding the load-bearing cable 2-1, the power supply line 2-2 and the signal transmission line 2-3 from being entangled during the entry into the water. The outer skin of the integrated cable 2 is marked with scales, so that the lowering depth of the underwater detector can be observed at any time.

[0056] The underwater detector includes a downward-viewing end cover 1-1, a lower protective cover 1-2, a transparent cover 1-8, a middle protective cover 1-4, more than one threading branch pipe 1-5, an upper protective cover 1-6 and a top cover 1-7, a pressure sensor 1-20, a water body fill light 1-9, an optical observation system 1-11, a video acquisition device 1-12, and a control module 1-13; the control module 1-13 includes a CPU, a data storage chip, a gyroscope, and a first communication interface; the bottom of the lower protective cover 1-2 is tightly connected to the downward-viewing end cover 1-1, and the top of the lower protective cover 1-2 is tightly connected to the middle protective cover 1-4; an annular transparent cover 1-8 is provided in the middle of the lower protective cover 1-2, and the threading branch pipes 1-5 are evenly distributed between the middle protective cover 1-4 and the upper protective cover 1-6, and are tightly connected to the middle protective cover 1-4 and the upper protective cover 1-6; the top of the upper protective cover 1-6 is tightly connected to the top cover 1-7.

[0057] A light-through cover 1-10 is provided on the top of the middle shield 1-4, and a water body fill light 1-9 is fixedly installed inside the light-through cover 1-3 is provided at the bottom of the upper shield 1-6, and an optical observation system 1-11, a video acquisition device 1-12 and a control module 1-13 are fixedly installed inside the upper shield 1-6 from bottom to top in sequence; the light emitted by the water body fill light 1-9 passes through the light-through cover 1-10, and enters the optical observation system 1-11 through the light-through cover 1-3. A scale grid is engraved on the light-through cover 1-10, and the water flows through the gaps between the threading branches 1-5, and is captured by the video acquisition device 1-12 after being amplified by the optical observation system 1-11. The water body fill light 1-9 emits full-band light to fill in the video acquisition, so as to avoid too dark light underwater and too low contrast of the acquired video.

[0058] The pressure sensing device 1-20 is fixedly installed in the lower shield 1-2, and the lower shield 1-2 is provided with one or more water inlet holes;

[0059] The controller 3 includes a control mainboard, a second communication interface, a control joystick, a GPS module and a display device; the mainboard includes a main control module and a video processing module;

[0060] The water video collected by the video acquisition device 1-12, the geomagnetic angle collected by the gyroscope, and the water pressure collected by the pressure sensor 1-20 are transmitted to the video processing module of the mainboard via the CPU, the first communication interface, the integrated cable 2, and the second communication interface in sequence. At the same time, the CPU stores the geomagnetic angle collected by the gyroscope and the water pressure collected by the pressure sensor 1-20 in the data storage chip; the magnetic declination and longitude and latitude information collected by the GPS module are output to the video processing module; the video processing module calculates the water flow rate and direction, and outputs the water flow rate and direction, water pressure, geomagnetic angle, magnetic declination and longitude and latitude to the display module for display; the main control module receives the control signal of the control joystick, forms a water fill light control instruction, and transmits it to the CPU via the second communication interface, the integrated cable 2 and the first communication interface, and the CPU adjusts the luminous intensity of the water fill light 1-9 accordingly.

[0061] The underwater detector 1 also includes a downward-looking camera 1-14, a downward-looking fill light 1-15, a surround-looking camera 1-16, and a surround-looking fill light 1-17; a light-transmitting sheet 1-18 is provided at the center of the downward-looking end cover 1-1; the lower shield 1-2 is divided into an upper and a lower cavity, the downward-looking camera 1-14 is installed in the closed lower cavity, the pressure sensor device 1-20 is fixedly installed in the upper cavity, and the upper cavity is provided with more than one water inlet hole; the downward-looking camera 1-14 collects the lower end video through the light-transmitting sheet 1-18, and the downward-looking fill light 1-20 is fixedly installed in the upper cavity. -15 provides auxiliary lighting conditions for the downward-looking camera 1-14, and the lower end video is transmitted to the video processing module via the CPU, the first communication interface, the integrated cable 2, and the second communication interface, and displayed on the display module; the control joystick selects the controlled object as the downward-looking fill light 1-15, and the main control module receives the control signal of the control joystick, forms the downward-looking fill light control instruction, and transmits it to the CPU via the second communication interface, the integrated cable 2 and the first communication interface, and the CPU adjusts the luminous intensity of the downward-looking fill light 1-15 accordingly. In this way, the water environment can be detected 360 degrees in all directions.

[0062] The underwater detector 1 also includes a surround-view camera 1-16 and a surround-view fill light 1-17. The surround-view camera 1-16 is fixedly installed in a transparent cover 1-8. Under the lighting condition of the surround-view fill light 1-17, the surround video is collected through the transparent cover 1-8; the surround video collected by the surround-view camera 1-16 is transmitted to the video processing module via the CPU, the first communication interface, the integrated cable 2, and the second communication interface, and is displayed on the display module; the control joystick selects the controlled object as the surround-view fill light 1-17, the main control module receives the control signal of the control joystick, forms a surround-view fill light control instruction, and transmits it to the CPU via the second communication interface, the integrated cable 2 and the first communication interface, and the CPU adjusts the luminous intensity of the surround-view fill light 1-17 accordingly.

[0063] The underwater detector 1 also includes a contrast agent tank 1-19, in which the contrast agent stored is used to change the imaging contrast between the target and the background in the water body; the contrast agent tank 1-19 is fixedly installed in the inner cavity of the middle shield 1-4, and its outlet extends out of the middle shield 1-4. The contrast agent tank 1-19 is equipped with an in-tank pressure detector 1-21, and the outlet is equipped with an electronic valve 1-22; the signals of the in-tank pressure detector 1-21 and the electronic valve 1-22 are transmitted to the main control module via the CPU, the first communication interface, the integrated cable 2, and the second communication interface. The main control module forms an electronic valve control instruction according to the pressure difference collected by the in-tank pressure detector 1-21 and the pressure sensing device 1-20. The electronic valve control instruction is transmitted to the CPU in sequence via the second communication interface, the integrated cable 2, the first communication interface, and the CPU adjusts the electronic valve 1-22 accordingly to ensure that the contrast agent is sprayed out at a uniform speed. The contrast agent added to the contrast agent tank 1-19 is edible. The contrast agent in this embodiment is a medical contrast agent that has been physically treated. When the contrast agent is sprayed into water, it will not cause pollution to the water body.

[0064] The pressure sensing device 1-20 includes a waterproof screw 1-20-1, a sensor top plate 1-20-2, a pressure sensor 1-20-3, and a locking nut 1-20-4; the pressure sensor 1-20-3 is installed in the upper cavity of the lower protective cover 2 in close contact with the side wall, and the closed waterproof cavity formed with the top of the lower protective cover 2 is used to place the processing circuit control line of the pressure sensor 1-20-3; the control line of the pressure sensor 1-20-3 is placed in the waterproof cavity; the pressure strain structure of the pressure sensor 1-20-3 is connected to the water body through the water inlet hole of the lower protective cover 2 to measure the water pressure; a spacer is provided between the upper and lower cavities of the lower protective cover 1-2, and a hole is opened on the spacer; the waterproof screw 1-20-1 passes through the hole on the spacer and is tightly connected to the spacer, and the sensor top plate 1-20-2 and the pressure strain structure of the pressure sensor 1-20-3 are on the same side of the spacer and are located below the pressure strain structure. When disassembling the pressure sensor 1-20-3, the screw passes through the hole, pushes the sensor top plate 1-20-2, and pushes the pressure sensor 1-20-3 out, which makes it very convenient to disassemble the pressure sensor 1-20-3. The sensor top plate 1-20-2 is compatible with the pressure sensor 1-20-3, ensuring that the pressure sensor 1-20-3 is evenly stressed during the disassembly process and is not easily damaged. The compression nut 1-20-4 is located in the waterproof cavity and is used to fix the pressure sensor 1-20-3 to prevent it from moving under the action of water pressure.

[0065] The controller 3 also includes a wifi remote control module and a printing device. The wifi remote control module is wirelessly connected to the intelligent control device to transmit control signals and monitoring data and monitoring videos; the printing device prints longitude and latitude, flow velocity, flow direction, water pressure, water entry depth, time, and monitoring location under the control of the main control module.

[0066] The flow velocity and direction meter based on image recognition also includes an outer cover that is compatible with its underwater detector. A new outer cover is replaced before each use to ensure that when testing different waters, there is no mutual contamination between water bodies.

[0067] The control module 1-13 and the intelligent control device can be connected by wire or wirelessly to transmit control signals, monitoring data and monitoring videos, which is very convenient to use.

[0068] The video processing module is embedded with a particle tracking program, which uses an image-based algorithm to identify and track particles in the water, detect their speed and direction of movement, and display them on the display screen as water flow velocity data. At the same time, it is wirelessly transmitted to a remote intelligent control device for easy remote monitoring.

[0069] Example 2

[0070] The difference between this embodiment and embodiment 1 is that the spectrum of the light emitted by the fill light 8 is limited to a preset frequency range, and the optical observation system 12 is a light receiving device of the corresponding band spectrum, which can collect water body images in different bands and analyze and judge the water body conditions. The full spectrum image is used to qualitatively and semi-quantitatively detect the concentration changes of material components in the water body, infer the type and content of pollutants, and trace the source of pollutants.

[0071] Example 3

[0072] A control method for a flow velocity and direction meter based on image recognition comprises the following steps:

[0073] Step 1: Instrument calibration: The water body fill light 1-9 passes through the light cover 1-10, and projects the full spectrum to the optical observation system 1-11 through the light cover 1-3. The video acquisition device 1-12 acquires the raster image, and transmits it to the video processing module via the CPU, the first communication interface, the integrated cable 2, and the second communication interface in sequence. The video processing module detects the corner points of the raster image and calibrates the mapping ratio of the image pixels and the corresponding underwater distance;

[0074] Step 2: Adjust the water immersion depth: The CPU receives the water pressure collected by the pressure sensor 1-20-3, and uploads it to the main control module through the first communication interface, the integrated cable 2, and the second communication interface. The main control module calculates the current water immersion depth of the underwater detector according to the water pressure and the atmospheric pressure collected by the atmospheric pressure sensor; compares the current water immersion depth with the preset water immersion depth, and adjusts the water immersion depth of the underwater detector until the preset water immersion depth is reached;

[0075] Step 3: Collecting water body video: The CPU collects the geomagnetic angle γ of the gyroscope in real time; the CPU controls the video acquisition device to collect water body video at a preset frame rate in the root domain, and transmits the geomagnetic angle and water body video to the video processing module via the first communication interface, the integrated cable 2, and the second communication interface in sequence;

[0076] Step 4: Flow velocity and direction detection: The video processing module receives the magnetic declination β collected by the GPS module, detects particles in the water video frame by frame, records the central pixel position of the particles, and calculates the flow velocity and particle image motion angle α according to the mapping ratio, frame rate, and geomagnetic angle γ: The calculation method of the flow direction θ is:

[0077] θ=α+β+γ (1)

[0078] Step 5: Adjust the light intensity of the water body fill light: The main control module detects the state change of the control joystick in real time, and sends the corresponding light adjustment control instruction to the CPU through the second communication interface, the integrated cable 2, and the first communication interface. The CPU adjusts the light intensity of the water body fill light 1-9 according to the light adjustment control instruction, and stores the light intensity of the water body fill light 1-9 in the data storage module;

[0079] Step 6: Information display: The video processing module displays the geomagnetic angle γ, water body video, flow direction θ, flow direction, longitude and latitude on the display module.

[0080] Embodiment 4:

[0081] The difference between this embodiment and embodiment 3 is that the following steps are also included:

[0082] Auxiliary video display step: The auxiliary video includes underwater video and environmental video. The video processing module selects one auxiliary video to form a corresponding auxiliary video upload control command, which is sent to the CPU via the second communication interface, integrated cable 2, and the first communication interface. The CPU collects the corresponding auxiliary video and uploads it to the video processing module via the first communication interface, integrated cable 2, and the second communication interface. The video processing module switches it to be displayed in the display module.

[0083] Auxiliary fill light control steps: the auxiliary fill light includes a surround fill light and an underwater fill light; the video processing module selects to form a corresponding auxiliary fill light adjustment control command, and sends it to the CPU via the second communication interface, integrated cable 2, and the first communication interface. The CPU adjusts the luminous intensity of the corresponding auxiliary fill light according to the auxiliary fill light adjustment control command, and stores the luminous intensity of the auxiliary fill light in the data storage module.

[0084] Contrast agent release adjustment steps: The CPU detects the signals of the pressure detector 1-21 and the electronic valve 1-22 in real time, and transmits them to the main control module via the CPU, the first communication interface, the integrated cable 2, and the second communication interface. The main control module forms an electronic valve control instruction according to the pressure difference collected by the pressure detector 1-21 and the pressure sensor 1-20 in the tank. The electronic valve control instruction is transmitted to the CPU in sequence via the second communication interface, the integrated cable 2, and the second communication interface. The CPU adjusts the electronic valve 1-22 accordingly to control the release amount.

[0085] Printing steps: The main control module controls the printing module to print longitude and latitude, flow velocity, flow direction, water pressure, water entry depth, time, and monitoring location.

[0086] Remote control steps: the main control module receives the control information sent by the smart device via the WIFI remote control module, transmits the information displayed by the display module to the smart device via the WIFI remote control module, and displays it on the smart device.

Claims

1. A control method for a flow velocity and direction meter based on image recognition, characterized in that: The flow velocity and direction meter comprises an underwater detector (1), an integrated cable (2), and a controller (3); the controller (3) is connected to the underwater detector (1) via the integrated cable (2); The underwater detector (1) comprises a downward-viewing end cover (1-1), a lower protective cover (1-2), a transparent cover (1-8), a middle protective cover (1-4), one or more threading branches (1-5), an upper protective cover (1-6), a top cover (1-7), a pressure sensor (1-20), a water body fill light (1-9), an optical observation system (1-11), a video acquisition device (1-12), and a control module (1-13); the control module (1-13) comprises a CPU, a data storage chip, a gyroscope, and a first communication interface; The integrated cable (2) has a load-bearing cable (2-1), a power supply line (2-2) and a signal transmission line (2-3) integrated therein; the load-bearing cable (2-1), the power supply line (2-2) and the signal transmission line (2-3) are simultaneously put into water under the control of a winch; and the outer skin of the integrated cable (2) is marked with scales; The controller (3) comprises a control mainboard, a second communication interface, a control joystick, a GPS module and a display device; the mainboard comprises a main control module and a video processing module; The bottom of the lower protective cover (1-2) is tightly connected to the lower viewing end cover (1-1), and the top of the lower protective cover (1-2) is tightly connected to the middle protective cover (1-4); an annular transparent cover (1-8) is provided in the middle of the lower protective cover (1-2); each wire threading branch pipe (1-5) is evenly distributed between the middle protective cover (1-4) and the upper protective cover (1-6), and is tightly connected to the middle protective cover (1-4) and the upper protective cover (1-6); the top of the upper protective cover (1-6) is tightly connected to the top cover (1-7); A light-through cover (1-10) is provided on the top of the middle protective cover (1-4), and a water body fill light (1-9) is fixedly installed inside the light-through cover; a light-transmitting cover (1-3) is provided on the bottom of the upper protective cover (1-6), and an optical observation system (1-11), a video acquisition device (1-12) and a control module (1-13) are fixedly installed inside the upper protective cover (1-6) from bottom to top; light emitted by the water body fill light (1-9) passes through the light-through cover (1-10), enters the optical observation system (1-11) through the light-transmitting cover (1-3), and a scale grid is engraved on the light-through cover (1-10). Water flows through the gaps between the threading branches (1-5), is amplified by the optical observation system (1-11), and is captured by the video acquisition device (1-12), and the water body fill light (1-9) emits full-band light; The pressure sensing device (1-20) is fixedly installed in the lower protective cover (1-2), and the lower protective cover (1-2) is provided with one or more water inlet holes; The water body video collected by the video acquisition device (1-12), the geomagnetic angle collected by the gyroscope, and the water body pressure collected by the pressure sensor device (1-20) are transmitted to the video processing module of the mainboard via the CPU, the first communication interface, the integrated cable (2), and the second communication interface in sequence. At the same time, the CPU stores the geomagnetic angle collected by the gyroscope and the water body pressure collected by the pressure sensor device (1-20) in the data storage chip; the magnetic declination and longitude and latitude information collected by the GPS module are output to the video processing module; the video processing module calculates the water body flow velocity and flow direction, and outputs the water body flow velocity and flow direction, water body pressure, geomagnetic angle, magnetic declination, and longitude and latitude to the display module for display; the main control module receives the control signal of the control joystick, forms a water body fill light control instruction, and transmits it to the CPU via the second communication interface, the integrated cable (2), and the first communication interface, and the CPU adjusts the luminous intensity of the water body fill light (1-9) accordingly; The control method comprises the following steps: Step 1: Instrument calibration: The water body fill light (1-9) passes through the light-transmitting cover (1-10) and projects the full spectrum to the optical observation system (1-11) through the light-transmitting cover (1-3). The video acquisition device (1-12) acquires the raster image and transmits it to the video processing module in sequence via the CPU, the first communication interface, the integrated cable (2), and the second communication interface. The video processing module detects the corner points of the raster image and calibrates the mapping ratio between the image pixels and the corresponding underwater distance. Step 2: Adjusting the immersion depth: The CPU receives the water pressure collected by the pressure sensor (1-20-3), and uploads it to the main control module through the first communication interface, the integrated cable (2), and the second communication interface. The main control module calculates the current immersion depth of the underwater detector based on the water pressure and the atmospheric pressure collected by the atmospheric pressure sensor; compares the current immersion depth with the preset immersion depth, and adjusts the immersion depth of the underwater detector until the preset immersion depth is reached; Step 3: Collecting water body video: The CPU collects the geomagnetic angle γ of the gyroscope in real time; the CPU controls the video acquisition device to collect water body video at a frame rate preset in the domain, and transmits the geomagnetic angle and water body video to the video processing module via the first communication interface, the integrated cable (2), and the second communication interface in sequence; Step 4: Flow velocity and direction detection: The video processing module receives the magnetic declination β collected by the GPS module, detects particles in the water video frame by frame, records the central pixel position of the particles, and calculates the flow velocity and particle image motion angle α according to the mapping ratio, frame rate, and geomagnetic angle γ: The calculation method of the flow direction θ is: θ=α+β+γ (1) Step 5: Adjusting the illumination intensity of the water body fill light: the main control module detects the state change of the control joystick in real time, and sends the corresponding illumination adjustment control instruction to the CPU through the second communication interface, the integrated cable (2), and the first communication interface. The CPU adjusts the illumination intensity of the water body fill light (1-9) according to the illumination adjustment control instruction, and stores the illumination intensity of the water body fill light (1-9) in the data storage module; Step 6: Information display: The video processing module displays the geomagnetic angle γ, water body video, flow direction θ, flow direction, longitude and latitude on the display module.

2. The control method of the flow velocity and direction meter based on image recognition according to claim 1 is characterized in that: The underwater detector (1) also includes a downward-looking camera (1-14), a downward-looking supplementary light (1-15), a surround-looking camera (1-16), and a surround-looking supplementary light (1-17); a light-transmitting sheet (1-18) is provided at the center of the downward-looking end cover (1-1); the lower protective cover (1-2) is divided into an upper cavity and a lower cavity; the downward-looking camera (1-14) is installed in the sealed lower cavity; the pressure sensing device (1-20) is fixedly installed in the upper cavity; and the upper cavity is provided with one or more water inlet holes; the downward-looking camera (1-14) collects the lower end video through the light-transmitting sheet (1-18). The downward-looking fill light (1-15) provides auxiliary lighting conditions for the downward-looking camera (1-14); the lower end video is transmitted to the video processing module via the CPU, the first communication interface, the integrated cable (2), and the second communication interface, and is displayed on the display module; the control joystick selects the controlled object as the downward-looking fill light (1-15); the main control module receives the control signal of the control joystick, forms a control instruction of the downward-looking fill light, and transmits it to the CPU via the second communication interface, the integrated cable (2), and the first communication interface; the CPU adjusts the luminous intensity of the downward-looking fill light (1-15) accordingly.

3. The control method of the flow velocity and direction meter based on image recognition according to claim 1 is characterized in that: The underwater detector (1) also includes a surround-view camera (1-16) and a surround-view fill light (1-17); the surround-view camera (1-16) is fixedly installed in a transparent cover (1-8); under the lighting condition of the surround-view fill light (1-17), surround video is collected through the transparent cover (1-8); the surround video collected by the surround-view camera (1-16) is transmitted to a video processing module via a CPU, a first communication interface, an integrated cable (2), and a second communication interface, and is displayed on a display module; a control joystick is used to select a controlled object as the surround-view fill light (1-17); a main control module receives a control signal of the control joystick, forms a surround-view fill light control instruction, and transmits the instruction to the CPU via the second communication interface, the integrated cable (2), and the first communication interface; the CPU adjusts the luminous intensity of the surround-view fill light (1-17) accordingly.

4. The control method of the flow velocity and direction meter based on image recognition according to claim 1 is characterized in that: The underwater detector (1) also includes a contrast agent tank (1-19), wherein the contrast agent stored in the contrast agent tank is used to change the imaging contrast between the target to be detected and the background in the water body to be detected; the contrast agent tank (1-19) is fixedly installed in the inner cavity of the middle shield (1-4), and its outlet extends out of the middle shield (1-4); the contrast agent tank (1-19) is installed with an in-tank pressure detector (1-21), and the outlet is installed with an electronic valve (1-22); signals of the in-tank pressure detector (1-21) and the electronic valve (1-22) are transmitted to the main control module via the CPU, the first communication interface, the integrated cable (2), and the second communication interface; the main control module forms an electronic valve control instruction according to the pressure difference collected by the in-tank pressure detector (1-21) and the pressure sensor device (1-20); the electronic valve control instruction is sequentially transmitted to the CPU via the second communication interface, the integrated cable (2), the first communication interface, and the CPU adjusts the electronic valve (1-22) accordingly.

5. The control method of the flow velocity and direction meter based on image recognition according to claim 4 is characterized in that: The contrast agent added to the contrast agent tank (1-19) is edible, and the water body supplementary light (1-9) emits light within a preset frequency range.

6. The control method of the flow velocity and direction meter based on image recognition according to claim 1, characterized in that: The pressure sensing device (1-20) comprises a waterproof screw (1-20-1), a sensor top plate (1-20-2), a pressure sensor (1-20-3), and a compression nut (1-20-4); the pressure sensor (1-20-3) is installed in the upper cavity of the lower protective cover (1-2) in close contact with the side wall, and forms a sealed waterproof cavity with the top of the lower protective cover (1-2); the control line of the pressure sensor (1-20-3) is placed in the waterproof cavity; the pressure strain structure of the pressure sensor (1-20-3) is connected to the water body through the water inlet hole of the lower protective cover (1-2) to measure the water pressure; a spacer is provided between the upper and lower cavities of the lower protective cover (1-2), and a hole is opened on the spacer; The waterproof screw (1-20-1) passes through the hole on the diaphragm and is tightly connected to the diaphragm; the sensor top plate (1-20-2) and the pressure strain structure of the pressure sensor (1-20-3) are on the same side of the diaphragm and are located below the pressure strain structure; the sensor top plate (1-20-2) and the pressure sensor (1-20-3) are adapted to each other; and the clamping nut (1-20-4) is located in the waterproof cavity and is used to fix the pressure sensor (1-20-3).

7. The control method of the flow velocity and direction meter based on image recognition according to claim 1, characterized in that: The controller (3) also includes a wifi remote control module and a printing device. The wifi remote control module is wirelessly connected to the intelligent control device to transmit control signals and monitoring data and monitoring videos; the printing device prints longitude and latitude, flow velocity, flow direction, water pressure, water entry depth, time, and monitoring location under the control of the main control module.

8. A control method for the flow velocity and direction meter based on image recognition according to claim 1, characterized in that: The following steps are also included: Auxiliary video display step: the auxiliary video includes underwater video and environmental video, the video processing module selects one auxiliary video to form a corresponding auxiliary video upload control command, and sends it to the CPU via the second communication interface, the integrated cable (2), and the first communication interface, the CPU collects the corresponding auxiliary video and uploads it to the video processing module via the first communication interface, the integrated cable (2), and the second communication interface, and the video processing module switches it to be displayed in the display module; The auxiliary fill light control step is also included: the auxiliary fill light includes a surround fill light and an underwater fill light; the video processing module selects and generates a corresponding auxiliary fill light adjustment control command, and sends the command to the CPU via the second communication interface, the integrated cable (2), and the first communication interface; the CPU adjusts the luminous intensity of the corresponding auxiliary fill light according to the auxiliary fill light adjustment control command, and stores the luminous intensity of the auxiliary fill light in the data storage module; The contrast agent release adjustment step: the CPU detects the signals of the tank pressure detector (1-21) and the electronic valve (1-22) in real time, and transmits the signals to the main control module via the CPU, the first communication interface, the integrated cable (2), and the second communication interface; the main control module generates an electronic valve control instruction according to the pressure difference collected by the tank pressure detector (1-21) and the pressure sensor (1-20); the electronic valve control instruction is sequentially transmitted to the CPU via the second communication interface, the integrated cable (2), and the second communication interface; the CPU adjusts the electronic valve (1-22) accordingly to control the release amount; Printing steps: The main control module controls the printing module to print longitude and latitude, flow velocity, flow direction, water pressure, water entry depth, time, and monitoring location; Remote control steps: the main control module receives the control information sent by the smart device via the WIFI remote control module, transmits the information displayed by the display module to the smart device via the WIFI remote control module, and displays it on the smart device.

9. The control method of the flow velocity and direction meter based on image recognition according to any one of claims 1 to 8, characterized in that: The flow velocity and direction meter based on image recognition also includes an outer cover matched with its underwater detector.

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