Water flow measurement method, apparatus, measurement device, and computer readable storage medium

Abstract

The application provides a water flow measurement method and device, a measurement equipment and a computer readable storage medium. The method comprises the following steps: controlling the measurement equipment to travel from a measurement starting point to a measurement ending point, wherein the measurement starting point and the measurement ending point are located on two sides of a water flow to be measured; collecting a flow rate of a section of the water flow to be measured during the travel of the measurement equipment; and determining the flow rate of the water flow to be measured according to the flow rate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water flow velocity testing, in particular to a water flow measurement method and device, a measurement equipment and a computer readable storage medium. BACKGROUND

[0002] Traditional water flow velocity testing methods are mostly contact type flow measurement methods, such as rotor type flowmeters and lead fish flow measurement methods. The contact type flow measurement methods need to be tested directly on the water surface or in the water flow, which leads to great limitations in the testing operation and relatively difficult testing operation. Therefore, non-contact flow measurement methods such as acoustic time difference method and video image method have appeared. The acoustic time difference method instrument is difficult to deploy and is greatly affected by the environment, which leads to relatively great difficulty in testing water flow. SUMMARY

[0003] The present application aims to provide a water flow measurement method and device, a measurement equipment and a computer readable storage medium, which can reduce the difficulty of water flow velocity testing.

[0004] In a first aspect, the present application provides a water flow measurement method, comprising:

[0005] controlling the measurement equipment to travel from a measurement starting point to a measurement ending point, wherein the measurement starting point and the measurement ending point are respectively located on two sides of the water flow to be measured;

[0006] acquiring the flow velocity of the cross section of the water flow to be measured during the travel of the measurement equipment.

[0007] In the method provided in the present application, the flow velocity of the water flow to be measured can be measured without hovering in the traditional way during the travel of the measurement equipment, which can improve the measurement efficiency of the flow velocity of the water flow to be measured.

[0008] In an optional implementation, the controlling the measurement equipment to travel from the measurement starting point to the measurement ending point along the set route comprises: controlling the measurement equipment to travel from the measurement starting point to the measurement ending point along the set route and at a first specified height from the water flow to be measured; and during the travel, measuring the distance between the measurement equipment and the water surface of the water flow to be measured to control the measurement equipment to travel at a position at the first specified height from the water surface of the water flow to be measured.

[0009] In the above implementation, the measurement equipment can be controlled to travel at the first specified height, which can reduce the influence of the travel of the measurement equipment itself on the water surface of the water flow to be measured, so that the first flow velocity and the second flow velocity obtained by measurement can be more accurate.

[0010] In an optional embodiment, the method further comprises: controlling the measuring device to travel along the set route and at a specified speed from the measuring start point to the measuring end point.

[0011] In the above embodiment, the measuring device can be controlled to travel at a specified speed, so that the flow rate can be tested uniformly along the set route using a flow rate tester, and the first flow rate and the second flow rate can be determined to better represent the flow rate of the water flow to be measured.

[0012] In an optional embodiment, the method further comprises:

[0013] The measuring device is controlled to travel along the set route from the measuring start point to the measuring end point, wherein the first type of straight line route of the set route and the water flow direction of the water flow to be measured form an angle equal to a specified angle, and the second type of straight line route of the set route and the opposite direction of the water flow of the water flow to be measured form an angle equal to the specified angle, and the specified angle is less than 90°.

[0014] The method further comprises: obtaining the first flow rate set of each position of the water flow to be measured measured by the measuring device during the travel of the measuring device along the first type of straight line route from the measuring start point to the measuring end point; obtaining the second flow rate set of each position of the water flow to be measured measured by the measuring device along the second type of straight line route; and determining the flow rate of each position of the water flow to be measured according to the first flow rate set and the second flow rate set.

[0015] In the above embodiment, the non-contact water flow flow rate testing method can reduce the difficulty of testing, and the first flow rate and the second flow rate can be tested along the first type of straight line route and the second type of straight line route, respectively, so that the relative water flow in the forward direction and the reverse direction of the water flow can be increased, and the flow rate of the water flow with a smaller flow rate can be measured more accurately.

[0016] In an optional embodiment, the first type of straight line route of the set route comprises a plurality of sub-straight line segments, and the second type of straight line route also comprises a plurality of sub-straight line segments, wherein the sub-straight line segments of the first type of straight line route and the sub-straight line segments of the second type of straight line route are alternately connected end to end; and each sub-straight line segment of the first type of straight line route and the second type of straight line route forms an angle equal to a specified angle with the water flow direction of the water flow to be measured.

[0017] In the above embodiment, by controlling the measuring device to travel along the multi-segment sub-straight lines, the flow velocity meter can alternately test the flow velocities of the first type of straight line route and the second type of straight line route. The first flow velocity tested by the first type of straight line route and the second flow velocity set tested by the second type of straight line route can be used to determine the flow velocity of the to-be-tested water flow with smaller flow velocity.

[0018] In an optional embodiment, the acquiring the first flow velocity set of each to-be-tested water flow at multiple positions includes: for one position of the to-be-tested water flow, determining a first original flow velocity set at multiple positions of the to-be-tested water flow by the flow velocity meter of the measuring device; and determining the first flow velocity set of the to-be-tested water flow at multiple positions according to the first original flow velocity set and a first included angle between the first type of straight line route and the flow direction of the to-be-tested water flow.

[0019] The acquiring the second flow velocity set of each to-be-tested water flow at multiple positions includes: determining multiple second original flow velocity sets at multiple positions of the second type of straight line route by the flow velocity meter of the measuring device; and determining the second flow velocity set of the to-be-tested water flow at multiple positions according to the multiple second original flow velocity sets and a second included angle between the second type of straight line route and the opposite direction of the to-be-tested water flow.

[0020] In an optional embodiment, the flow velocity of the to-be-tested water flow is determined by the following formula:

[0021]

[0022] wherein, V waterp represents the flow velocity of the specified flow area of the to-be-tested water flow; V rightp represents the flow velocity determined by the first flow velocity of the first type of straight line route part in the specified flow area; V leftp represents the flow velocity determined by the second flow velocity of the second type of straight line route part in the specified flow area.

[0023] In an optional embodiment, before the controlling the measuring device to travel along the set route from the measurement starting point to the measurement ending point, the method further includes:

[0024] controlling the measuring device to travel to the measurement starting point, and the distance between the measuring device and the real-time ground surface of the current motion area is not less than the second specified height according to the topography of the current motion area.

[0025] In the above embodiment, before reaching the measurement starting point, the measuring device can be controlled to travel according to the topography of the current motion area, which can improve the safety of the measuring device operation and prevent the measuring device from crashing.

[0026] In a second aspect, the embodiments of the present application provide a water flow measuring device, comprising:

[0027] a first control module configured to control the measuring device to travel from a measuring start point to a measuring end point, wherein the measuring start point and the measuring end point are located on two sides of the water flow to be measured, respectively;

[0028] a obtaining module configured to obtain the flow velocity of a cross section of the water flow to be measured during the travel of the measuring device.

[0029] In a third aspect, the embodiments of the present application provide a measuring device, comprising: a processor, a memory and a flowmeter.

[0030] The flowmeter is configured to test the flow velocity of a position to be measured.

[0031] The memory stores machine readable instructions executable by the processor, and when the measuring device is running, the machine readable instructions are executed by the processor to perform the steps of the method.

[0032] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and when the computer program is run by a processor, the steps of the method are performed. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0034] Figure 1 A block diagram of the measuring device provided by the embodiments of the present application;

[0035] Figure 2 A flowchart of the water flow measuring method provided by the embodiments of the present application;

[0036] Figure 3a A schematic diagram of the test environment of the water flow measuring method provided by the embodiments of the present application;

[0037] Figure 3b Another schematic diagram of the test environment of the water flow measuring method provided by the embodiments of the present application;

[0038] Figure 4 An optional flowchart of step 240 of the water flow measuring method provided by the embodiments of the present application;

[0039] Figure 5 Another schematic diagram of a test environment of a water flow measurement method provided by an embodiment of the present application;

[0040] Figure 6 A functional module schematic diagram of a water flow measurement device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0042] It should be noted that similar reference numerals and letters indicate similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", and the like are merely used for distinguishing description, and cannot be understood as indicating or implying relative importance.

[0043] In measuring the flow rate of water flow, in order to solve the environmental impact and simplify the measurement hardware deployment, the video image method has been developed. There are three kinds of mainstream video flow measurement algorithms, which are large-scale particle image velocity method (LSPIV for short) and time-space image velocimetry (STIV for short). However, in actual use, they are often restricted by factors such as tilted shooting angle, low imaging resolution, and complex lighting conditions, resulting in insufficient accuracy of the water flow rate measurement method based on images.

[0044] Whether it is a non-contact flow measurement method based on fixedly installed radar waves and video images, or a traditional contact flow measurement method, the essence is to use the flow area method, the prerequisite of which is to select a uniform cross section of the monitored river through drawings or field survey. The basic principle is that the flow of a unit area on the cross section is the product of the area and the water flow rate, and the flow rate and area of each part are measured to obtain the flow. Taking the fixedly installed radar wave flow measurement as an example, the radar flowmeter measures the water surface flow rate by using the Doppler effect principle. The radar flowmeter transmits a 24GHz radio frequency signal along the axial forward direction, the signal is diffusely reflected after encountering the front object, and the signal returned along the axial direction is received. Due to the movement of the object, the frequency of the received signal is shifted by the Doppler frequency, and the size of the frequency shift is proportional to the speed of the object. By solving the Doppler frequency, the speed V of the object movement can be obtained. Finally, the cross-sectional flow of the river is calculated according to the empirical formula combined with the known cross-sectional data and flow rate data.

[0045] However, there are problems with installing radar waves at fixed locations. This application provides a water flow measurement method, device, measuring equipment, and computer-readable storage medium that can alleviate the difficulties of radar in measuring flow velocity.

[0046] To facilitate understanding of this embodiment, the measuring device for performing the water flow measurement method disclosed in this application will first be described in detail.

[0047] like Figure 1 The diagram shown is a block diagram of a measuring device. The measuring device 100 may include a memory 111, a processor 113, a tachometer 115, and a communication unit 117. 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 measuring device 100. For example, the measuring device 100 may also include a ratio Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0048] The aforementioned memory 111, processor 113, speedometer 115, and communication unit 117 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The aforementioned processor 113 is used to execute executable modules stored in the memory.

[0049] 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 method executed by the measuring device 100 according to the process definition disclosed in any embodiment of this application can be applied to the processor 113, or implemented by the processor 113.

[0050] The processor 113 can be an integrated circuit chip with a signal processing capability. The processor 113 can be a general purpose processor, including a central processing unit (CPU), a network processor (NP), and the like; or can be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component. The processor 113 can implement or execute the various methods, steps, and logical block diagrams disclosed in the embodiments of the present application. The general purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0051] The speedometer 115 can be a radar speedometer.

[0052] The communication unit 117 is configured to receive and send data. For example, the measurement device 100 can establish a communication connection with a data processing center, and the measurement device 100 can transmit the obtained flow rate of the water flow to be measured to the data processing center through the communication unit 117 for subsequent processing by the data processing center.

[0053] The communication unit 117 can be a data radio station.

[0054] In the embodiment, the measurement device 100 can be a drone, and the drone can complete the measurement of the flow rate of the water flow to be measured during flight.

[0055] The measurement device 100 in the embodiment can be used to execute each step in each method provided in the embodiments of the present application. The implementation process of the water flow measurement method will be described in detail in the following several embodiments.

[0056] Please refer to Figure 2 , which is a flowchart of the water flow measurement method provided in the embodiments of the present application. The steps in the water flow measurement method provided in the embodiments can be executed by the measurement device shown in Figure 1 The specific process will be described in detail below. Figure 2

[0057] In step 220, the measurement device is controlled to travel from a measurement starting point to a measurement ending point.

[0058] The measurement starting point and the measurement ending point are respectively located on two sides of the water flow to be measured. ​

[0059] To make the speed obtained by the flowmeter test better represent the flow rate of the water flow to be tested, the running posture, running data, and other data of the measuring device can be set. Before step 220 is performed, the running data of the measuring device and the set route for the measuring device to run can be set according to the actual situation of the water flow to be tested.

[0060] Optionally, the running data set before step 220 can include a first specified height of running.

[0061] Illustratively, the first specified height of running of the measuring device can be set according to the influence of the measuring device on the water flow. For example, the measuring device can be a drone. When the drone flies, if it is too close to the water surface, the strong wind generated by the blades of the drone can affect the water flow on the water surface. Therefore, the first specified height can be the height at which the drone does not affect the water flow on the water surface. The flight statics of different drones can be different, and therefore the first specified height corresponding to different drones can be different.

[0062] The above step 220 can include controlling the measuring device to run from the measurement starting point to the measurement ending point along the set route and at a distance of the first specified height from the water surface of the water flow to be tested.

[0063] During the running, the distance between the measuring device and the water surface of the water flow to be tested is controlled to be the first specified height.

[0064] Illustratively, during the running of the measuring device, the distance between the measuring device and the water surface of the water flow to be tested can be tested in real time to adjust the distance between the measuring device and the water surface of the water flow to be tested to be the first specified height.

[0065] Optionally, the running data set before step 220 can also include a specified speed of running.

[0066] Illustratively, the specified speed can be determined according to parameters such as the width of the water flow to be tested and the flow rate of the water flow to be tested. If the width of the water flow to be tested is wide, the measuring device can achieve multiple tests of the flow rate above the water flow to be tested during the running of the measuring device even if the running speed is fast. If the width of the water flow to be tested is narrow, the measuring device can miss the test of the flow rate above the water flow to be tested during the running of the measuring device even if the running speed is fast. Therefore, the wider the width of the water flow to be tested, the greater the specified speed can be; the narrower the width of the water flow to be tested, the smaller the specified speed can be.

[0067] The greater the flow rate of the water flow to be measured, the easier it is for the flow rate meter on the measuring device to test the flow rate. The smaller the flow rate of the water flow to be measured, the more difficult it is for the flow rate meter on the measuring device to test the flow rate. Therefore, the greater the flow rate of the water flow to be measured, the greater the specified speed can be; the greater the flow rate of the water flow to be measured, the smaller the specified speed can be, so that the flow rate meter on the measuring device can test a larger number of flow rates.

[0068] The step 220 described above can include controlling the measuring device to travel along the set route and at the specified speed from the measurement starting point to the measurement ending point.

[0069] By setting the relevant data for the measuring device to travel before performing the step 220, the measuring device can more accurately measure the flow rate of the water flow to be measured during the travel.

[0070] Exemplarily, the measurement starting point and the measurement ending point can be measurement points selected as needed before the water flow is measured. As shown in Figure 3a Figure 3a It is shown that the water flow to be measured Ra, the measurement starting point P1, the measurement ending point P2, and the direction Fd of the water flow to be measured. The measurement starting point P1 and the measurement ending point P2 are respectively located on both sides of the water flow to be measured Ra, that is, the measurement starting point P1 is a position point on the first bank B1 of the water flow to be measured Ra, and the measurement ending point P2 is a position point on the second bank B2 of the water flow to be measured Ra. Exemplarily, the measuring device can travel in a straight line along the direction D1 formed by the measurement starting point P1 to the measurement ending point P2.

[0071] In step 240, the flow rate of the cross section of the water flow to be measured is obtained during the travel of the measuring device.

[0072] During the travel of the measuring device, the measuring device can measure the flow rate of the cross section of the water flow to be measured at multiple positions without hovering.

[0073] In this embodiment, the measurement of the flow rate of the water flow can be performed at a preset interval. For example, the preset interval can be an interval of 1S, 0.5S, 2S, etc. Of course, the preset interval can also be set as needed.

[0074] In this embodiment, since the flow rate of the water flow is measured synchronously at a preset interval (such as 1s) while the measuring device travels at a preset measurement line (straight line) and a preset speed, the measuring device does not need to measure the flow rate of the water flow to be measured in a traditional hovering manner during the travel from the measurement starting point to the measurement ending point, and the measurement efficiency of the flow rate of the cross section of the water flow to be measured can be improved.

[0075] ​For some low-flow-rate measurements, such as water flow with a velocity of less than 0.3 m / s, in order to improve the accuracy of the flow velocity measurement, a suitable flow measurement route can be set. Based on this, step 220 above may include: controlling the measuring device to travel along the set route from the measurement starting point to the measurement ending point.

[0076] The first type of straight route in the set path makes an angle equal to a specified angle with the direction of the water flow to be measured. The second type of straight route in the set path makes an angle equal to a specified angle with the opposite direction of the water flow to be measured. The specified angle is less than 90°. The specified angle can be an angle that can be set as needed, for example, it can be 30°, 45°, 50°, etc.

[0077] For example, the first type of straight route in the route includes multiple sub-straight road segments, and the second type of straight route also includes multiple sub-straight road segments, wherein the sub-straight road segments of the first type of straight route and the sub-straight road segments of the second type of straight route are connected end to end alternately.

[0078] In the first type of straight route, the angle between each sub-straight segment and the direction of the water flow to be measured is equal to a specified angle; in the second type of straight route, the angle between each sub-straight segment and the opposite direction of the water flow to be measured is equal to a specified angle.

[0079] like Figure 3b As shown, the first type of straight route can be composed of multiple discontinuous sub-straight road segments, wherein, in Figure 3b In the example shown, the first type of straight route can be a route comprising four discontinuous sub-straight segments (sub-straight segment f1, sub-straight segment f2, sub-straight segment f3, and sub-straight segment f4, respectively). The second type of straight route can also be a route comprising multiple discontinuous sub-straight segments, wherein... Figure 3b In the example shown, the second type of straight route can be composed of four discontinuous sub-straight segments (sub-straight segment s1, sub-straight segment s2, sub-straight segment s3, and sub-straight segment s4). In practice, more sub-straight segments can be set depending on the width of the actual water flow to be measured.

[0080] In this system, sub-straight road segments of the first type of straight route are alternately set up with sub-straight road segments of the second type of straight route. The starting point of the first sub-straight road segment of the first type of straight route is a curve along the third direction D3, which is the starting point of the measurement. The starting point of the last sub-straight road segment of the second type of straight route is a curve along the fourth direction D4, which is the measuring endpoint P2, which is the starting point of a sub-straight road segment of the first type of straight route. In one example, each sub-straight road segment of the first type of straight route can be parallel to the third direction D3, and each sub-straight road segment of the second type of straight route can be parallel to the fourth direction D4.

[0081] existFigure 3b In the example shown, the measuring device travels from the measurement starting point P1 along the third direction D3, the intermediate sub-straight road segments, and the fourth direction D4 to the measurement ending point P2.

[0082] This is an example, such as Figure 4 As shown, step 240 may include steps 241 to 243.

[0083] Step 241: During the process of the measuring device traveling from the measurement start point to the measurement end point, acquire the first velocity set of each position of the water flow to be measured by the measuring device during the first type of straight route travel.

[0084] For example, the velocimeter on the measuring device can uniformly collect the flow velocity of the water surface relative to the measuring device. For instance, the velocimeter can collect the flow velocity every 100ms, 1s, 2s, etc., and the flow velocity can be the combined velocity of the measuring device and the flow velocity of the water being measured.

[0085] For example, each first velocity can represent the velocity at a location point in a first type of straight route.

[0086] The first velocity can be represented as the sum of the travel speed of the measuring device and the velocity of the water flow being measured, expressed as:

[0087] V righti =V airi +V water ;

[0088] Among them, V righti V represents the first velocity at the i-th location in the first type of straight route. airi This represents the real-time velocity of the measuring device at the i-th location point in the first type of straight path, in the direction of the water flow being measured. Here, i is a positive integer greater than zero and less than or equal to N. N represents the number of initial flow velocities obtained.

[0089] In one instance, the measuring device is traveling at a constant speed, then V airi =V air .

[0090] For example, step 241 may include: determining a first set of forward velocities at multiple locations of the water flow to be measured using a velocity meter of a measuring device for one of the locations of the water flow to be measured; and determining a first set of velocities of the water flow to be measured at multiple locations based on the first set of forward velocities and a first angle between a first type of straight path and the direction of the water flow to be measured.

[0091] like Figure 5 As shown, the first forward velocity at the i-th position in this first type of straight path can be expressed as V.rightsi ; the first included angle can be represented as a1, the first flow velocity of the i-th position point in the first straight line route can be represented as V righti .

[0092] Step 242, obtaining a second flow velocity set of each position of the water flow to be measured, which is measured by the measuring device in the second straight line route.

[0093] Exemplarily, each second flow velocity can represent the flow velocity of a position point in the first straight line route.

[0094] The second flow velocity can represent the sum of the running speed of the measuring device and the flow velocity of the water flow to be measured, which is represented as:

[0095] V leftj = V airj -V water ;

[0096] Wherein, V leftj represents the second flow velocity of the j-th position point in the second straight line route, V airj represents the real-time speed of the measuring device in the j-th position point in the second straight line route in the opposite direction of the water flow to be measured. Wherein, j is a positive integer greater than zero and less than or equal to M. Wherein, M is the number of the obtained second initial flow velocity.

[0097] In one example, the measuring device is uniformly running, then V airj = V air .

[0098] Exemplarily, step 242 can include: determining a plurality of second original flow velocity sets at a plurality of positions of the second straight line route by a speedometer of the measuring device; and determining the second flow velocity set of the plurality of positions of the water flow to be measured according to the plurality of second original flow velocity sets and a second included angle between the second straight line route and the opposite direction of the water flow to be measured.

[0099] As shown in Figure 5 , the second original flow velocity of the j-th position point in the second straight line route can be represented as V rigthtsj ; the second included angle can be represented as a2, and the second flow velocity of the j-th position point in the second straight line route can be represented as V leftj .

[0100] Step 243, determining the flow velocity of each position of the water flow to be measured according to the first flow velocity set and the second flow velocity set.

[0101] The flow velocity of the water flow to be measured is determined by the following formula:

[0102]

[0103] Among them, V waterp V represents the velocity of the water flow in a specified flow region to be measured. rightp V represents the velocity determined by the first velocity of the first type of straight-line section in the specified flow region; leftp This indicates the velocity determined by the second velocity of the second type of straight-line section in the specified flow zone.

[0104] For example, each sub-straight road segment may include multiple measured location points, and the specified flow area may be the flow area spanned by two adjacent sub-straight road segments of the first type of straight road and the sub-straight road segment of the second type of straight road. Figure 3b Taking the example shown, when the value of p is 1, the specified flow area can be the flow area crossed by sub-straight road segment f1 and sub-straight road segment s1; when the value of p is 2, the specified flow area can also be the flow area crossed by sub-straight road segment f2 and sub-straight road segment s2.

[0105] For example, the flow velocity determined by the first flow velocity of the first type of straight path section in the specified flow region can be the average value of the first flow velocity of the first type of straight path section in the specified flow region; the flow velocity determined by the first flow velocity of the first type of straight path section in the specified flow region can be the median value of the first flow velocity of the first type of straight path section in the specified flow region.

[0106] For example, the flow velocity determined by the second flow velocity of the second type of straight path section in the specified flow area can be the average value of the second flow velocity of the second type of straight path section in the specified flow area; the flow velocity determined by the second flow velocity of the second type of straight path section in the specified flow area can be the median value of the second flow velocity of the second type of straight path section in the specified flow area.

[0107] Considering that measurement values ​​will inevitably contain errors, the following relationships exist between the various flow velocities in the specified flow zone:

[0108] V rightp =V rightp-real +ΔV1;

[0109] V leftp =V leftp-real +ΔV2;

[0110] Among them, V rightp-real For V rightp The corresponding true value; V leftp-real For V leftp The corresponding true values, ΔV1 and ΔV2 are the measurement errors.

[0111] The formula for calculating the velocity of the water flow to be measured, as described above, can be expressed as:

[0112]

[0113] The calculation formula of the flow rate of the water flow to be measured in an ideal state can be represented as:

[0114]

[0115] Considering that the measurement error is basically unchanged, therefore ΔV1-ΔV2 is approximately zero, therefore the calculation formula of the flow rate of the water flow to be measured above can be close to the calculation formula of the flow rate of the water flow to be measured in an ideal state. Therefore, the accuracy of measuring the flow rate of the water flow to be measured by the above method is relatively high, and the error is smaller.

[0116] In order to make the measurement device safely reach the measurement starting point, before step 220, the method can further include: according to the terrain of the current motion area, controlling the distance between the measurement device and the real-time ground of the current motion area to be not less than a second specified height, and driving to the measurement starting point.

[0117] The second specified height can be determined according to the terrain of the area where the water flow to be measured is located, for example, if the terrain of the area is a mountainous area or a hilly area, the second specified height can be set to a larger value. For another example, if the terrain of the area is a relatively flat area, the second specified height can be set to a smaller value.

[0118] By setting the second specified height above, the collision risk during the driving of the measurement device can be reduced, and the use safety of the measurement device is improved.

[0119] Based on the same application concept, the water flow measurement method in the embodiments of the present application also provides a water flow measurement device corresponding to the water flow measurement method. Since the principle of solving problems in the device in the embodiments of the present application is similar to the water flow measurement method embodiments described above, the implementation of the device in the embodiments can refer to the description in the above method embodiments, and the repeated parts will not be described here.

[0120] Please refer to Figure 6 is a functional module schematic diagram of the water flow measurement device provided by the embodiments of the present application. Each module in the water flow measurement device in the embodiments is used to execute each step in the above method embodiments. The water flow measurement device includes a first control module 310 and an acquisition module 320; the content of each module is as follows:

[0121] The first control module 310 is used to control the measurement device to drive from a measurement starting point to a measurement ending point, wherein the measurement starting point and the measurement ending point are respectively located on two sides of the water flow to be measured.

[0122] The acquisition module 320 is used to acquire the flow rate of the cross section of the water flow to be measured during the driving of the measurement device.

[0123] In one possible implementation, the first control module 310 is used to control the measuring device to travel from the measurement starting point to the measurement endpoint along a set route and at a first specified height relative to the water flow to be measured.

[0124] During the journey, the distance between the measuring device and the surface of the water flow to be measured is measured, and the measuring device is controlled to travel at a position with the distance between it and the surface of the water flow to be measured as the first specified height.

[0125] In one possible implementation, the first control module 310 is used to control the measuring device to travel from the starting point to the ending point of the measurement along a set route and at a specified speed.

[0126] In one possible implementation, the first control module 310 is used to control the measuring device to travel along a set route from the starting point to the end point of the measurement. The angle between the first type of straight route of the set route and the direction of the water flow to be measured is equal to a specified angle, and the angle between the second type of straight route of the set route and the opposite direction of the water flow to be measured is equal to a specified angle. The specified angle is less than 90°.

[0127] The acquisition module 320 includes: a first acquisition unit, a second acquisition unit, and a determination unit;

[0128] The first acquisition unit is used to acquire the first velocity set of each water flow to be measured at multiple positions during the travel of the measuring device from the measurement start point to the measurement end point.

[0129] The second acquisition unit is used to acquire the second velocity set of each position of the water flow to be measured obtained by the measuring device from the second type of straight path measurement;

[0130] The determining unit is used to determine the velocity at each location of the water flow to be measured based on the first velocity set and the second velocity set.

[0131] In one possible implementation, the first type of straight route in the route includes multiple sub-straight road segments, and the second type of straight route also includes multiple sub-straight road segments, wherein the sub-straight road segments of the first type of straight route and the sub-straight road segments of the second type of straight route are connected end to end alternately.

[0132] In the first type of straight route, the angle between each sub-straight segment and the direction of the water flow to be measured is equal to a specified angle; in the second type of straight route, the angle between each sub-straight segment and the opposite direction of the water flow to be measured is equal to a specified angle.

[0133] In a possible implementation, the first obtaining unit is configured to: for one position of the water flow to be measured, determine a first set of original flow velocities at multiple positions of the water flow to be measured by the flowmeter of the measuring device; and determine a first set of flow velocities at the multiple positions of the water flow to be measured according to the first set of original flow velocities and a first included angle between the first straight line and a flow direction of the water flow to be measured.

[0134] The second obtaining unit is configured to: determine multiple second sets of original flow velocities at multiple positions of the second straight line by the flowmeter of the measuring device; and determine a second set of flow velocities at the multiple positions of the water flow to be measured according to the multiple second sets of original flow velocities and a second included angle between the second straight line and an opposite direction of the water flow to be measured.

[0135] In a possible implementation, the flow velocity of the water flow to be measured is determined by the following formula:

[0136]

[0137] wherein, V waterp represents the flow velocity of the specified flow area of the water flow to be measured; V rightp represents the flow velocity determined by the first flow velocity of the first straight line part in the specified flow area; and V leftp represents the flow velocity determined by the second flow velocity of the second straight line part in the specified flow area.

[0138] In a possible implementation, the water flow measuring device can include:

[0139] The second control module is configured to control the measuring device to travel to the measuring starting point, so that the distance between the measuring device and the real ground surface of the current motion area is not less than the second specified height according to the terrain of the current motion area.

[0140] In addition, the application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is run by a processor, the steps of the water flow measuring method in the method embodiments are executed.

[0141] The computer program product of the water flow measuring method provided in the application includes a computer readable storage medium storing program codes. The instructions included in the program codes can be used to execute the steps of the water flow measuring method in the method embodiments. For details, refer to the method embodiments, which will not be described here.

[0142] In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can also be implemented in other manners. The embodiments described above are only exemplary. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a segment or a portion of code which comprises one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions shown in the blocks can occur in a different order than that shown in the figures. For example, two blocks shown in succession can in fact be executed substantially concurrently or in the reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flowcharts and combinations of blocks in the block diagrams and / or flowcharts can be implemented by dedicated hardware-based systems which perform the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0143] In addition, each functional module in the various embodiments of the present application can be integrated together or exist separately, or two or more modules can be integrated to form an independent part.

[0144] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product in essence or in the part that contributes to the prior art, or part of the technical solutions. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes. It should be noted that in this paper, relationship terms such as first and second are only used 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 the entities or operations. Moreover, the terms "include", "contain" or any other variants are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to the process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0145] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0146] The above is only the specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of measuring a water flow, characterized by, The method comprises the following steps: controlling the measuring device to travel from a measuring starting point to a measuring ending point, wherein the measuring starting point and the measuring ending point are respectively located on two sides of a water flow to be measured; the controlling the measuring device to travel from the measuring starting point to the measuring ending point comprises: controlling the measuring device to travel from the measuring starting point to the measuring ending point along a set route, wherein a first type of straight line route of the set route and a water flow direction of the water flow to be measured form an angle equal to a specified angle, and a second type of straight line route of the set route and a water flow reverse direction of the water flow to be measured form an angle equal to the specified angle, and the specified angle is less than 90°; during the traveling of the measuring device, acquiring a flow velocity of a cross section of the water flow to be measured, comprising: during the traveling of the measuring device from the measuring starting point to the measuring ending point, acquiring a first flow velocity set of the water flow to be measured at a plurality of positions measured by the measuring device during the traveling of the measuring device along the first type of straight line route; acquiring a second flow velocity set of the water flow to be measured at a plurality of positions measured by the measuring device along the second type of straight line route; and determining the flow velocity of the water flow to be measured at the plurality of positions according to the first flow velocity set and the second flow velocity set.

2. The method of claim 1, wherein, The controlling the measuring device to travel from the measuring starting point to the measuring ending point along the set route comprises: controlling the measuring device to travel from the measuring starting point to the measuring ending point along the set route and at a distance of a first specified height from the water flow to be measured; wherein during the traveling, a distance between the measuring device and a water surface of the water flow to be measured is measured to control the measuring device to travel at a position where the distance between the measuring device and the water surface of the water flow to be measured is the first specified height.

3. The method of claim 1, wherein, The controlling the measuring device to travel from the measuring starting point to the measuring ending point along the set route comprises: controlling the measuring device to travel from the measuring starting point to the measuring ending point along the set route and at a specified speed.

4. The method of claim 1, wherein, The first type of straight line route of the set route comprises a plurality of sub straight line route segments, and the second type of straight line route of the set route also comprises a plurality of sub straight line route segments, wherein the sub straight line route segments of the first type of straight line route and the sub straight line route segments of the second type of straight line route are alternately connected in a head-to-tail manner. The angle between each sub straight line route segment of the first type of straight line route and the water flow direction of the water flow to be measured is equal to a specified angle, and the angle between each sub straight line route segment of the second type of straight line route and the water flow reverse direction of the water flow to be measured is equal to the specified angle.

5. The method of claim 4, wherein, The acquiring the first flow velocity set of the water flow to be measured at a plurality of positions measured by the measuring device along the first type of straight line route comprises: for one position of the water flow to be measured, determining a first original flow velocity set at a plurality of positions of the water flow to be measured by a flowmeter of the measuring device; determining the first flow velocity set of the water flow to be measured at the plurality of positions according to the first original flow velocity set and a first angle between the first type of straight line route and the water flow direction of the water flow to be measured; The acquiring the second flow velocity set of the water flow to be measured at a plurality of positions measured by the measuring device along the second type of straight line route comprises: determining a plurality of second original flow velocity sets at a plurality of positions of the second type of straight line route by the flowmeter of the measuring device; According to the second flow velocity set of the plurality of positions of the water flow to be measured and the second included angle between the second straight line route and the opposite direction of the water flow of the water flow to be measured, a second flow velocity set of a plurality of positions of the water flow to be measured is determined.

6. The method of claim 5, wherein, The flow velocity of the water flow to be measured is determined by the following formula: ； wherein, represents a flow velocity of a specified water flow region of the water flow to be measured; represents a flow velocity determined by a first flow velocity of a first straight line route portion in the specified water flow region; represents a flow velocity determined by a second flow velocity of a second straight line route portion in the specified water flow region.

7. The method of claim 1, wherein, The method further comprises: According to the terrain of the current moving area, the distance between the measuring device and the real ground of the current moving area is controlled to be not less than a second specified height, and the measuring device is driven to the measuring starting point.

8. A water flow measuring device, characterized in that Comprise: A first control module is configured to control the measuring device to drive from the measuring starting point to the measuring ending point, wherein the measuring starting point and the measuring ending point are respectively located on two sides of the water flow to be measured. An acquisition module is configured to acquire the flow velocity of the cross section of the water flow to be measured during the driving of the measuring device. The first control module is configured to control the measuring device to drive from the measuring starting point to the measuring ending point along a set route, wherein the included angle between the first straight line route of the set route and the direction of the water flow to be measured is equal to a specified angle, the included angle between the second straight line route of the set route and the opposite direction of the water flow to be measured is equal to the specified angle, and the specified angle is less than 90°. The acquisition module is further configured to acquire a first flow velocity set of a plurality of positions of the water flow to be measured measured by the measuring device during the driving of the measuring device along the first straight line route, acquire a second flow velocity set of a plurality of positions of the water flow to be measured measured by the measuring device along the second straight line route, and determine the flow velocity of each position of the water flow to be measured according to the first flow velocity set and the second flow velocity set.

9. A measuring device, characterized in that Comprise: A processor, a memory and a flowmeter; The flowmeter is configured to test the flow velocity of the position to be measured. The memory stores machine readable instructions executable by the processor, and when the measuring device is running, the machine readable instructions are executed by the processor to perform the steps of the method according to 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, and when the computer program is run by the processor, the steps of the method according to any one of claims 1 to 7 are performed.

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