A device and method for measuring riverbed elevation under water flow conditions

Abstract

This invention provides an experimental device and method for measuring riverbed elevation under flowing water conditions. The experimental device includes a sliding rail, a mobile data acquisition vehicle, ultrasonic transmitters, laser transmitters, and a main control unit. The mobile data acquisition vehicle is equipped with eight ultrasonic transmitters, two laser transmitters, and one camera. The ultrasonic transmitters measure the water surface elevation in real time, while the laser transmitters, combined with the camera's image capture, obtain the laser position coordinates of the scanned riverbed. By combining the water surface elevation with geometric relationships, the elevation of the riverbed under dynamic flowing water conditions can be identified. The entire experimental device can move along the sliding rail, enabling comprehensive detection and identification of flume riverbeds at a laboratory scale. This invention allows for remote monitoring and management by uploading real-time data and image recognition results via a network. Furthermore, the experimental device is simple to operate, requiring minimal manpower and material resources, reducing monitoring costs, improving experimental efficiency, and has broad application prospects.

Description

Technical Field

[0001] This invention belongs to the field of water conservancy engineering technology, and in particular relates to a test device and method for measuring riverbed elevation under water flow conditions. Background Technology

[0002] With the continuous development and utilization of the natural environment by humankind, river health issues are becoming increasingly prominent. Among these, the accurate identification of riverbed elevation under dynamic water flow is of great significance for the study of river aquatic ecological environment. Traditional laboratory measurements of riverbed elevation often require emptying the flume, which significantly alters the experimental conditions and causes discrepancies between flume experiments and actual river conditions. Therefore, developing an efficient and accurate experimental device and method for measuring riverbed elevation under dynamic water flow has significant application value and importance. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a test device and method for measuring riverbed elevation under water flow conditions, which solves the problems of significantly altering test conditions, low efficiency, high monitoring costs, and low monitoring accuracy in existing laboratory riverbed elevation measurements.

[0004] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0005] An experimental device for measuring riverbed elevation under flowing water conditions includes a data acquisition unit and a data processing unit connected by signals. The data acquisition unit includes a sliding track installed above the test water tank, on which a mobile acquisition vehicle is mounted. The mobile acquisition vehicle moves along the sliding track via rollers. A camera, a laser transmitter, and an ultrasonic transmitter are mounted on the mobile acquisition vehicle. The camera, laser transmitter, ultrasonic transmitter, and mobile acquisition vehicle are all connected by signals to the data processing unit to transmit data and receive control commands.

[0006] Furthermore, the camera, laser emitter, and ultrasonic emitter are all suspended below the mobile data acquisition vehicle, with the laser emitter suspended at a higher height than the ultrasonic emitter.

[0007] Furthermore, there are two laser emitters, which are used to emit two different colors of laser light into the riverbed in the test tank.

[0008] Furthermore, there are eight ultrasonic transmitters in total, used to emit ultrasonic waves into the dynamic water flow in the test tank to measure water surface elevation data.

[0009] Furthermore, the data processing unit includes a main control module installed on the data acquisition vehicle, which is connected to an external main control computer via signal. The main control module is connected to a network module and includes an image recognition module, a control and adjustment module, a storage module, a controller module, a laser projection module, and an ultrasonic signal module.

[0010] Furthermore, the laser projection module is used to control the laser transmitter to emit laser light towards the riverbed, the ultrasonic signal module is used to control the ultrasonic transmitter to emit ultrasonic waves towards the dynamic water flow, and the control and adjustment module is used to control the moving position and speed of the mobile data acquisition vehicle.

[0011] Furthermore, the image recognition module is used to segment the riverbed laser projection image data transmitted by the camera, extract the frame with the best quality as the recognition image and transmit it to the storage module; the image recognition module is equipped with an underwater image restoration algorithm of convolutional neural network, which is used to correct overexposed, underexposed and blurred images to obtain clear riverbed laser projection image data.

[0012] Furthermore, the storage module is used to store the riverbed laser projection image data that has been preliminarily processed by the image recognition module and the water surface elevation data measured by the ultrasonic transmitter, and transmits it to the main control computer. The main control computer calculates the riverbed elevation data based on the data transmitted by the storage module, and the riverbed elevation data is uploaded to the server through the network module for users to view.

[0013] A test method for measuring riverbed elevation using the above-mentioned water flow conditions includes the following steps:

[0014] Step 1: Power the mobile data acquisition vehicle with an external power source. Under the comprehensive control of the main control computer, adjust the position and speed of the mobile data acquisition vehicle through the control and adjustment module. The mobile data acquisition vehicle drives the entire experimental device to move.

[0015] Step 2: The laser projection module controls two laser emitters to emit two different colors of laser light into the riverbed. The two laser beams measure the elevation of the riverbed at two adjacent locations.

[0016] Step 3: Set the camera's shooting frequency through the control adjustment module. The camera will automatically capture multiple laser projection image data as samples and transmit them to the image recognition module.

[0017] Step 4: The image recognition module analyzes the sample data, selects the highest quality image as the recognition image data, and transmits it to the storage module;

[0018] Step 5: The ultrasonic signal module controls the ultrasonic transmitter to emit ultrasonic waves toward the riverbed to measure the water surface elevation and transmits the measured water surface elevation data to the storage module.

[0019] Step 6: The storage module records the image data for recognition transmitted by the image recognition module and the water surface elevation data measured by the ultrasonic transmitter, and then transmits the data to the main control computer for analysis and processing.

[0020] Step 7: Repeat steps 3 to 6 until the test tank is completely scanned;

[0021] Step 8: The main control computer calculates and obtains the riverbed elevation data, and the network module uploads the calculation results to the server;

[0022] Step 9: Users can query the riverbed elevation identification calculation results by accessing a specific URL.

[0023] Furthermore, in step 8, the main control computer calculates the riverbed elevation data using the following formula:

[0024]

[0025] In the formula, z is the height of the camera above the bed surface without considering water surface refraction; l is the camera focal length; d is the distance from the camera laser emitter to the camera lens; x l and z l The coordinates of the laser projection position, obtained from images captured by the camera, are used for calculation; x represents the horizontal distance from the camera lens to the non-refractive laser projection point; z represents the distance from the camera lens to the projection point. bed The bed surface elevation without considering refraction; z tot H is the height of the camera from the bottom of the tank. b H represents the riverbed elevation. w The elevation of the water surface is measured by the ultrasonic transmitter; n1 and n2 are the refractive indices of air and water, respectively.

[0026] The present invention has the following beneficial effects:

[0027] (1) Improved measurement accuracy; This invention achieves high-precision measurement and identification of riverbed elevation through ultrasonic ranging and laser projection technology. Compared with traditional laboratory test methods, it can be measured in a real water flow environment, avoiding the influence of changes in test conditions on the measurement results, and greatly improving the accuracy of measurement. By comparison, the measurement error under dynamic water conditions is no more than 0.5 cm compared with that under no water conditions.

[0028] (2) Enhanced real-time performance; This invention uploads real-time data to the server through a network module, enabling real-time analysis of the elevation of the laboratory riverbed, timely monitoring of changes in the riverbed, and providing support for scientific research in the fields of hydraulics and river dynamics.

[0029] (3) Reduced manpower and material costs: Traditional manual measurement requires a lot of manpower and material resources, which is time-consuming and labor-intensive. However, the present invention adopts a fully automated measurement method, which does not require emptying the water tank and does not require too much manpower and material resources, thus greatly reducing monitoring costs and improving experimental efficiency.

[0030] (4) Enhanced operability; The present invention adopts the design of a sliding rail and a mobile collection vehicle, which can move along the sliding rail to conduct comprehensive detection and identification of the riverbed. This design enhances the operability of the device, making the collection and identification of riverbed elevation more convenient and faster.

[0031] (5) The uniqueness and innovation of the device and method of the present invention have high application prospects and promotion value in related technical fields. It can improve the accuracy and reliability of river water ecological environment monitoring at the laboratory scale.

[0032] (6) The present invention can also use image recognition technology to realize real-time monitoring and calculation of parameters such as water flow velocity and flow rate, and can be widely applied in the research fields of hydraulics and river dynamics. Attached Figure Description

[0033] Figure 1 This is a schematic plan view of the riverbed elevation measurement test device described in this invention;

[0034] Figure 2 This is a front view of the riverbed elevation measurement test device described in this invention;

[0035] Figure 3 This is a schematic diagram showing the connections between the modules of the data processing unit described in this invention;

[0036] Figure 4 This is a schematic diagram of laser projection without refraction.

[0037] Figure 5 This is a schematic diagram of actual laser projection;

[0038] In the diagram: 1-Test water tank; 2-Sliding track; 3-Roller; 4-Mobile data acquisition vehicle; 5-Camera; 6-Laser emitter; 7-Ultrasonic emitter; 8-Main control computer. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0040] The experimental device for measuring riverbed elevation under water flow conditions described in this invention includes a data acquisition unit and a data processing unit connected to it.

[0041] like Figure 1 , 2As shown, the data acquisition unit includes a sliding track 2, a mobile acquisition vehicle 4, a camera 5, a laser emitter 6, and an ultrasonic transmitter 7. The sliding track 2 is located above the test water tank 1. The mobile acquisition vehicle 4 is slidably mounted on the sliding track 2 via rollers 3. The camera 5, laser emitter 6, and ultrasonic transmitter 7 are all suspended below the mobile acquisition vehicle 4 via connecting devices such as hangers. There are two laser emitters 6, which are used to emit red and green lasers respectively into the riverbed in the test water tank 1. The suspension height of the laser emitters 6 is higher than that of the ultrasonic transmitters 7. There are eight ultrasonic transmitters 7, which are used to emit ultrasonic waves into the dynamic water flow in the test water tank 1.

[0042] like Figure 3 As shown, the data processing unit includes a main control module installed on the data acquisition vehicle 4, which is connected to an external main control computer 8 via signal. The main control module can be connected to a network module (Internet) and is connected to an image recognition module, a control adjustment module, a storage module, a controller module (including a motor module), a laser projection module, and an ultrasonic signal module.

[0043] The laser projection module controls the laser transmitter 6 to emit laser light towards the riverbed; the ultrasonic signal module controls the ultrasonic transmitter 7 to emit ultrasonic waves towards the riverbed. The control and adjustment module controls the movement position and speed of the mobile data acquisition vehicle 4, enabling the experimental device to comprehensively detect and identify the riverbed elevation.

[0044] The image recognition module segments the riverbed laser projection image data transmitted by camera 5, extracts the highest quality frame as the recognition image, and transmits it to the storage module. The image recognition module incorporates a convolutional neural network-based underwater image restoration algorithm to correct overexposed, underexposed, and blurred images, resulting in a clearer image of the laser projection on the riverbed. The storage module stores the riverbed laser projection image data preliminarily processed by the image recognition module, as well as the water surface elevation data measured by the ultrasonic transmitter 7, and transmits it to the main control computer 8. The main control computer 8 calculates the riverbed elevation data based on the data transmitted from the storage module.

[0045] The method for measuring riverbed elevation using the above-mentioned experimental apparatus for measuring riverbed elevation under water flow conditions includes the following steps:

[0046] Step 1: Install the mobile sampling vehicle 4 in the sliding rail 2 above the test water tank 1, ensuring that the mobile sampling vehicle 4 can move along the sliding rail 2 via the rollers 3. Then, use an external power supply to power the mobile sampling vehicle 4. Under the comprehensive control of the main control computer 8, adjust the moving position and moving speed of the mobile sampling vehicle 4 through the control adjustment module. The mobile sampling vehicle 4 drives the entire test device to move.

[0047] Step 2: The laser projection module controls two laser emitters to emit red and green lasers of different colors towards the riverbed. The two laser beams measure the riverbed elevation at two adjacent locations. In subsequent calculations, numerical interpolation technology is used to interpolate the data at the midpoint between the two laser beams.

[0048] Step 3: Set the shooting frequency of camera 5 through the control adjustment module. Camera 5 automatically captures 10 laser projection image data as samples and transmits them to the image recognition module.

[0049] Step 4: The image recognition module analyzes the sample data, selects the highest quality image as the recognition image data, and transmits it to the storage module;

[0050] Step 5: The ultrasonic signal module controls the ultrasonic transmitter 7 to emit ultrasonic waves toward the riverbed to measure the water surface elevation and transmits the measured water surface elevation data to the storage module.

[0051] Step 6: The storage module records the image data for recognition transmitted by the image recognition module and the water surface elevation data measured by the ultrasonic transmitter 7, and then transmits the data to the main control computer 8 for analysis and processing.

[0052] Step 7: Repeat steps 3 to 6 until test tank 1 is completely scanned;

[0053] Step 8: The main control computer 8 is based on, for example Figure 4 , 5 As shown in the diagram, riverbed elevation data is obtained in real time through the following formula, and the calculation results are uploaded to the server by the network module:

[0054]

[0055] In the formula, z is the height of camera 5 above the bed surface without considering water surface refraction; l is the focal length of camera 5; d is the distance from the camera laser emitter to the camera lens; x l and z l The coordinates of the laser projection position were calculated using images captured by camera 5; x represents the horizontal distance from the camera lens to the non-refractive laser projection point; z represents the distance from the laser projection point to the camera lens. bed The bed surface elevation without considering refraction; z tot H is the distance between camera 5 and the bottom of the tank. b H represents the riverbed elevation. w The water surface elevation is measured by ultrasonic transmitter 7; n1 and n2 are the refractive indices of air and water, respectively.

[0056] Figure 4 , 5 In the middle, x a h is the horizontal distance from the camera's laser projection position on the water surface to the projection point on the bottom of the bed. aθ1 is the vertical distance from the camera's non-refractive laser projection point to the water surface; θ2 is the angle between the camera's non-refractive laser projection point and the vertical plane; h is the distance from the water surface to the riverbed.

[0057] Step 9: Users can query the riverbed elevation identification calculation results by accessing a specific URL.

[0058] The ultrasonic ranging technology, the specific structure of the motor module, and the control rotation principle in the embodiments described are all existing technologies, and therefore will not be repeated here. The embodiments described are preferred implementations of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions, or modifications that can be made by those skilled in the art without departing from the essence of the present invention are within the protection scope of the present invention.

Claims

1. A test method for measuring a riverbed elevation using a test device under a water flow condition, characterized by, The test device comprises a signal-connected data acquisition unit and a data processing unit; the data acquisition unit comprises a sliding rail (2) installed above a test water tank (1), a mobile collection vehicle (4) is installed on the sliding rail (2), the mobile collection vehicle (4) moves along the sliding rail (2) through a roller (3), a camera (5), a laser emitter (6) and an ultrasonic emitter (7) are installed on the mobile collection vehicle (4); the camera (5), the laser emitter (6), the ultrasonic emitter (7) and the mobile collection vehicle (4) are signal-connected with the data processing unit, data is transmitted, and a control instruction is received; the data processing unit comprises a master control module installed on the mobile collection vehicle (4), the master control module is signal-connected with an external master control computer (8); the master control module is used in conjunction with a network module, the master control module is connected with an image recognition module, a control adjustment module, a storage module, a controller module, a laser projection module and an ultrasonic signal module; The test method comprises the following processes: Step 1: an external power supply is used to supply power to the mobile collection vehicle (4), under the comprehensive control of the master control computer (8), the moving position and moving speed of the mobile collection vehicle (4) are adjusted through the control adjustment module, and the mobile collection vehicle (4) drives the whole test device to move; Step 2: the laser projection module controls two laser emitters (6) to emit two different colors of laser to the riverbed, and two laser beams measure the riverbed elevations of two adjacent positions respectively; Step 3: the shooting frequency of the camera (5) is set through the control adjustment module, the camera (5) automatically shoots multiple laser projection image data as samples and transmits them to the image recognition module; Step 4: the image recognition module analyzes the sample data, selects the best image as the image data for recognition and transmits it to the storage module; Step 5: the ultrasonic signal module controls the ultrasonic emitter (7) to emit ultrasonic waves to the riverbed, measures the water surface elevation, and transmits the measured water surface elevation data to the storage module; Step 6: the storage module records the image data for recognition transmitted by the image recognition module and the water surface elevation data measured by the ultrasonic emitter (7), and then transmits the data to the master control computer (8) for analysis and processing; Step 7: steps 3 to 6 are repeated until the test water tank (1) is completely scanned; Step 8: the master control computer (8) calculates the riverbed elevation data, and uploads the calculation result to a server through a network module; Step 9: a user queries the riverbed elevation recognition calculation result by accessing a specific website; In step 8, the master control computer (8) calculates the riverbed elevation data by the following formula: where z is the height of the camera (5) from the bed surface without considering water surface refraction; l is the focal length of the camera (5); d is the distance from the laser emitter to the camera lens; x l and z l are respectively calculated by the coordinates of the laser projection position captured by the camera (5); x is the horizontal distance from the camera lens to the unrefracted laser projection point; z bed is the bed surface elevation without considering refraction; z tot is the height of the camera (5) from the water tank bottom; H b is the river bed elevation; H w is the water surface elevation measured by the ultrasonic wave emitter (7); n1 and n2 are respectively the refractive indices of air and water.

2. The test method of claim 1, wherein, The camera (5), the laser emitter (6) and the ultrasonic emitter (7) are all hung below the mobile collection vehicle (4), and the hanging height of the laser emitter (6) is higher than that of the ultrasonic emitter (7).

3. The test method of claim 1, wherein, There are two laser emitters (6) in total, which are used to emit two different colors of laser to the riverbed in the test water tank (1) respectively.

4. The test method of claim 1, wherein, There are eight ultrasonic emitters (7) in total, which are used to emit ultrasonic waves to the dynamic water flow in the test water tank (1) to measure the water surface elevation data.

5. The test method of claim 1, wherein, The laser projection module is used for controlling the laser emitter (6) to emit laser to the riverbed, and the ultrasonic signal module is used for controlling the ultrasonic emitter (7) to emit ultrasonic waves to the dynamic water flow; the control adjustment module is used for controlling the moving position and moving speed of the mobile collection vehicle (4).

6. The test method of claim 1, wherein, The image recognition module is used for carrying out segmentation processing on the riverbed laser projection image data transmitted by the camera (5), extracting the best frame as the recognition image and transmitting the recognition image to the storage module; the underwater image restoration algorithm of the convolutional neural network is carried in the image recognition module, which is used for correcting the overexposure, underexposure and blurred images to obtain the clear riverbed laser projection image data.

7. The test method of claim 1, wherein, The storage module is used for storing the riverbed laser projection image data processed by the image recognition module and the water surface elevation data measured by the ultrasonic emitter (7), and transmitting the data to the host computer (8); the host computer (8) calculates the riverbed elevation data according to the data transmitted by the storage module, and uploads the riverbed elevation data to the server through the network module for users to view.

Images