Anhydrous rod water level measurement method and device, electronic equipment and storage medium

Abstract

The application relates to the technical field of water measurement, in particular to a water-level measurement method and device without a water gauge, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring on-site measured slope surface data of a measurement water area; establishing a slope surface model of the measurement water area according to the on-site measured slope surface data; collecting an observation image of the measurement water area; and extracting pixel coordinates of a water level line in the observation image; and calculating a water level value of the measurement water area according to the slope surface model and the pixel coordinates of the water level line. Therefore, the problems of long time consumption, high cost of manpower and material resources, and the need for other equipment to assist in measurement in the traditional method are solved.

Description

Technical Field

[0001] This application relates to the field of water conservancy measurement technology, and in particular to a method, device, electronic equipment and storage medium for measuring water level without a water gauge. Background Technology

[0002] Water level, as a key element in hydrological measurement, is fundamental data for hydrological and river dynamics research. Its changing trends directly affect water resource allocation schemes and flood and drought disaster prevention strategies. Therefore, accurate water level measurement is of great significance for scientific research and engineering practice. Currently, water level measurement methods mainly include manual water gauge readings, automatic sensor acquisition, and image processing-based water level measurement methods.

[0003] Manual water level readings typically involve a person reading the water level line on a water gauge to determine the water level value. Automatic sensor data acquisition first involves setting up measuring equipment in the measured water area, then automatically collecting data such as pressure and ultrasonic waves to calculate the water level value. Image processing-based water level measurement methods mainly consist of two steps: water level line extraction and water level value calculation. First, the pixel coordinates of the water level line are extracted from the captured image of the observation area, and then the water level value is calculated using these pixel coordinates. With the development of smart water conservancy construction and information technology, monitoring equipment is ubiquitous in rivers and reservoirs, laying the foundation for large-scale real-time image-based water level recognition. Image-based water level measurement technology can interpret water level information from riverbank monitoring images, providing real-time visualized water level data for video monitoring station locations, effectively supplementing hydrological monitoring data in non-monitoring areas of rivers and lakes.

[0004] However, manual water gauge readings are labor-intensive, inefficient, and unsuitable for large-scale water level measurements; automatic sensor acquisition requires equipment maintenance and has high initial construction costs; while image processing-based water level measurement methods are mainly focused on research into measurement methods with water gauges. Summary of the Invention

[0005] This application provides a water level measurement method, device, electronic equipment, and storage medium without a water gauge, to solve the problems of traditional methods being time-consuming, costly in terms of manpower and resources, and requiring auxiliary equipment for measurement.

[0006] The first aspect of this application provides a method for measuring water level without a water gauge, comprising the following steps: acquiring on-site measured slope data of the measured water area; establishing a slope model of the measured water area based on the on-site measured slope data; acquiring observation images of the measured water area; extracting the pixel coordinates of the water level line in the observation images; and calculating the water level value of the measured water area based on the slope model and the pixel coordinates of the water level line.

[0007] Optionally, calculating the water level value of the measured water area based on the pixel coordinates of the slope model and the water level line includes: obtaining the intrinsic and extrinsic parameters of the camera; and solving for the water level value of the measured water area at the time of camera capture based on the intrinsic and extrinsic parameters of the camera and the slope model.

[0008] Optionally, the step of calculating the water level value of the measured water area at the time of camera shooting based on the camera's intrinsic and extrinsic parameters and the slope model includes: determining the conversion relationship between pixel coordinates and world coordinates based on the intrinsic and extrinsic parameters; calculating the straight line of the water level line in the world coordinate system based on the conversion relationship and the pixel coordinates of a point on the water level line, and calculating the world coordinates of a point on the straight line in the world coordinate system based on the intersection coordinates of the straight line and the slope model; calculating the world coordinates of a point on the straight line in the world coordinate system based on the slope model, calculating the water level value corresponding to a point on the straight line based on the world coordinates, and determining the final water level value based on the water level values ​​corresponding to each point on the water level line.

[0009] Optionally, acquiring the intrinsic and extrinsic parameters of the camera that acquires the observed images includes: setting up ground control points at the measurement site in the water area; and calculating the intrinsic and extrinsic parameters of the camera based on the world coordinates of the ground control points and the pixel coordinates of the camera.

[0010] Optionally, establishing a slope model of the measured water area based on the on-site measured slope data includes: identifying the world coordinates of characteristic points in the observation area in the on-site measured slope data; and establishing a slope model of the measured water area based on the world coordinates of the characteristic points in the observation area.

[0011] A second aspect of this application provides a water level measuring device without a water gauge, comprising: an acquisition module for acquiring on-site measured slope data of a measuring water area; a modeling module for establishing a slope model of the measuring water area based on the on-site measured slope data; an acquisition module for acquiring observation images of the measuring water area; an extraction module for extracting the pixel coordinates of the water level line in the observation image; and a calculation module for calculating the water level value of the measuring water area based on the slope model and the pixel coordinates of the water level line.

[0012] Optionally, the acquisition module is also used to acquire the intrinsic and extrinsic parameters of the camera, and to solve for the water level value of the measured water area at the time of the camera's shooting based on the intrinsic and extrinsic parameters of the camera and the slope model.

[0013] Optionally, the calculation module is further configured to: solve for the straight line of the water level line in the world coordinate system based on the transformation relationship and the pixel coordinates of a point on the water level line; calculate the world coordinates of a point on the straight line in the world coordinate system based on the intersection coordinates of the straight line and the slope model; solve for the world coordinates of a point on the straight line in the world coordinate system based on the slope model; calculate the water level value corresponding to a point on the straight line based on the world coordinates; and determine the final water level value based on the water level values ​​corresponding to each point on the water level line.

[0014] Optionally, the acquisition module is further configured to set up ground control points at the measurement site and calculate the intrinsic and extrinsic parameters of the camera based on the world coordinates of the ground control points and the pixel coordinates of the camera.

[0015] Optionally, the modeling module is also used to identify the world coordinates of the characteristic points of the observation area in the field measured slope data, and to establish a slope model of the measured water area based on the world coordinates of the characteristic points of the observation area.

[0016] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the water level measurement method without a water gauge as described in the above embodiments.

[0017] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the water level measurement method without a water gauge as described in the above embodiments.

[0018] Therefore, this application has at least the following beneficial effects:

[0019] This application's embodiments can acquire slope data of a measured water area, establish a slope model, and collect observation images to gain a more comprehensive understanding of the water area's topography and water level. Using the slope model and the actual coordinates of the water level line, the water level value of the measured water area is calculated. Real-time monitoring of the pixel coordinate changes of the water level line reduces human error and uncertainty, improving the accuracy of measurement results. It can be used directly on top of existing monitoring equipment without large-scale equipment upgrades, and features high identification efficiency, high measurement accuracy, automatic measurement, and low maintenance costs. Therefore, it solves the technical problems of traditional methods, such as long time consumption, high manpower and material costs, and the need for auxiliary equipment for measurement.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0022] Figure 1 This is a flowchart of the water level measurement method without a water gauge provided according to an embodiment of this application;

[0023] Figure 2 This is a flowchart of a water level measurement method without a water gauge according to an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of the measurement ground control points and observation area feature points provided according to the embodiments of this application;

[0025] Figure 4 This is a schematic diagram illustrating a process for selecting a designated region according to an embodiment of this application;

[0026] Figure 5 This is a schematic diagram illustrating the calculation process for a regular slope or an irregular two-dimensional plane according to embodiments of this application;

[0027] Figure 6 This is a schematic diagram illustrating the calculation process of an irregular three-dimensional plane according to an embodiment of this application;

[0028] Figure 7 This is an example diagram of a waterless gauge water level measuring device according to an embodiment of this application;

[0029] Figure 8 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0030] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0031] The following description, with reference to the accompanying drawings, outlines a water level measurement method, apparatus, electronic device, and storage medium without a water gauge, representing embodiments of this application. Addressing the issues of high manpower and maintenance costs associated with traditional methods mentioned in the background, this application provides a water level measurement method without a water gauge. This method acquires slope data of the measured water area, establishes a slope model, and collects observation images, providing a more comprehensive understanding of the water area's topography and water level. The water level value of the measured water area is calculated using the slope model and the actual coordinates of the water level line. Real-time monitoring of pixel coordinate changes in the water level line reduces human error and uncertainty, improving the accuracy of the measurement results. It can be used directly on existing monitoring equipment without large-scale equipment upgrades, and features high recognition efficiency, high measurement accuracy, automatic measurement, and low maintenance costs. Therefore, it solves the problems of long measurement time, high manpower and material costs, and the need for auxiliary equipment in traditional methods.

[0032] Specifically, Figure 1 This is a flowchart illustrating a water level measurement method without a water gauge, as provided in an embodiment of this application.

[0033] like Figure 1 As shown, this method for measuring water level without a gauge includes the following steps:

[0034] In step S101, the on-site measured slope data of the water area is obtained.

[0035] Slope data can include topographic survey data and slope data.

[0036] It is understood that the embodiments of this application can obtain slope data of the water area. In the field measurement, due to the existence of slope, the water level may change due to different observation points. By obtaining the field measured slope data of the water area, the topography and geomorphological features of the water area can be understood, so as to better select observation points.

[0037] In step S102, a slope model of the measured water area is established based on the actual measured slope data, observation images of the measured water area are collected, and the pixel coordinates of the water level line in the observation images are extracted.

[0038] In this context, the slope model of the water area can be set as z = f(x, y), and the pixel coordinates can be set as (x, y). f y f ).

[0039] It is understood that the embodiments of this application can gain a more comprehensive understanding of the topography and water level of the water area by establishing a slope model and acquiring observation images, thereby more accurately determining the water level reference surface. Simultaneously, by extracting the pixel coordinates of the water level line, the water level height can be accurately measured, improving the accuracy of water level measurement.

[0040] It should be noted that the slope model of the measured water area is established as z = f(x, y), where:

[0041] For regular slopes, they can be represented by spatial plane equations or spatial curved surface equations. For example, a vertical wall slope can be represented as ax + by + d = 0, a trapezoidal slope can be represented as by + cz + d = 0, and a cylindrical surface can be represented as x 2 +y 2 =d, and other surfaces of revolution and quadratic curves can also be represented by corresponding equations.

[0042] For irregular two-dimensional planes, multiple plane segments can be combined to represent them. For example, the irregular cross-section of a straight river channel can be represented by scattered topographic data (y1, z1), (y2, z2)...(y...) collected along the river width direction. n , z n ), and the corresponding polyline equations can be listed;

[0043]

[0044] For an irregular 3D plane, a point cloud-like mesh can be used. Three adjacent points can determine a mesh plane, as shown below:

[0045] a w x+b w y+c w z = d w

[0046] In this embodiment of the application, establishing a slope model of the measured water area based on on-site measured slope data includes: identifying the world coordinates of characteristic points in the observation area in the on-site measured slope data; and establishing a slope model of the measured water area based on the world coordinates of the characteristic points in the observation area.

[0047] The world coordinates can be set as (x w y w , z w The characteristic points in the observation area should be located on the slope, and may include, but are not limited to, shoreline, underwater elevation, etc.

[0048] It is understood that the embodiments of this application can establish a slope model of the water area by observing the world coordinates of the feature points in the area. Using world coordinates can accurately describe the shape and size of the water area, including the boundary, depth, and flow of the water area, which helps to better understand the physical characteristics and changes of the water area.

[0049] In step S103, the water level value of the measured water area is calculated based on the pixel coordinates of the slope model and the water level line.

[0050] It is understood that the embodiments of this application can use the pixel coordinates of the slope model and the water level line to calculate the water level value of the measured water area, monitor the changes in the pixel coordinates of the water level line in real time, reduce human error and uncertainty, and improve the accuracy of the measurement results.

[0051] In this embodiment of the application, the water level value of the measured water area is calculated based on the pixel coordinates of the slope model and the water level line, including: obtaining the intrinsic and extrinsic parameters of the camera; and solving for the water level value of the measured water area at the time of camera shooting based on the intrinsic and extrinsic parameters of the camera and the slope model.

[0052] It is understood that the embodiments of this application can calculate the water level value of the water area at the time of camera shooting by acquiring the camera's intrinsic and extrinsic parameters and the slope model, thereby eliminating the errors and uncertainties in traditional water level measurement methods and achieving more accurate water level measurement. By continuously acquiring the camera's intrinsic and extrinsic parameters and the captured images, the water level value of the water area at different time points can be calculated. It is widely used in water level measurement of rivers, lakes, irrigation canals, water diversion tunnels, or river engineering model tests, and helps to monitor the dynamic changes of water level in real time.

[0053] For example, in indoor river engineering model experiments, the average time to calculate the water level value from a single image using a known water level line is 0.24 seconds, and the root mean square error of the water level measurement is approximately 2.1 mm. It has high calculation accuracy and speed, and can interface with existing monitoring equipment to achieve real-time monitoring of water level data over a long period of time.

[0054] In this embodiment of the application, the water level value of the water area measured at the time of camera shooting is solved according to the camera's intrinsic and extrinsic parameters and the slope model, including: determining the transformation relationship between pixel coordinates and world coordinates according to the intrinsic and extrinsic parameters;

[0055] Based on the transformation relationship and the pixel coordinates of a point on the water level line, the straight line of the water level line in the world coordinate system is solved. The world coordinates of a point on the straight line in the world coordinate system are calculated based on the intersection coordinates of the straight line and the slope model. The world coordinates of a point on the straight line in the world coordinate system are solved based on the slope model. The water level value corresponding to a point on the straight line is calculated based on the world coordinates. The final water level value is determined based on the water level values ​​corresponding to each point on the water level line.

[0056] The transformation relationship is as follows:

[0057]

[0058]

[0059]

[0060]

[0061] Where R is the rotation matrix, T is the offset vector, f is the focal length, k1 is the radial distortion coefficient, and r is the radius from the pixel to the image center. x C y ) is the imaging center of the image, d x 'and d y ' represents the pixel distance.

[0062] It is understood that the embodiments of this application can determine the transformation relationship between pixel coordinates and world coordinates, solve for the straight line corresponding to the pixel coordinates of a point on the water level line in the world coordinate system, and then calculate the world coordinates by the intersection coordinates of the intersection point with the slope model; use the coordinate values ​​as water level values, process the different water level values ​​obtained by each pixel on the water level line, and obtain the final measured water level value.

[0063] It should be noted that, based on the camera's intrinsic and extrinsic parameters, the straight line corresponding to the pixel coordinates of a point on the waterline in the world coordinate system is obtained;

[0064]

[0065]

[0066] The specific form of matrix K is as follows:

[0067]

[0068] In this embodiment of the application, obtaining the intrinsic and extrinsic parameters of the camera that acquires and observes images includes: setting up ground control points at the site of the measured water area; and calculating the intrinsic and extrinsic parameters of the camera based on the world coordinates of the ground control points and the pixel coordinates of the camera.

[0069] Ground control points can use ring-shaped coded markers of any size, such as 10cm×10cm ring-shaped coded markers. Internal and external parameters can include the camera's focal length, optical center position, lens distortion, and the camera's position and orientation in three-dimensional space.

[0070] It is understood that the embodiments of this application can measure ground control points placed at the observation site, and calculate the camera's intrinsic and extrinsic parameters based on the world coordinates of the ground control points and the camera's pixel coordinates. The calculation method can utilize techniques such as the Tsai two-step method. By calculating the camera's intrinsic and extrinsic parameters, more accurate scene geometric information can be obtained, thereby enabling accurate identification and tracking of target objects. The embodiments of this application, by deploying ground control points in the measured water area, can provide reliable reference points for determining the position and attitude of other points in the water area, and simultaneously serve as a reference system for the measurement work, thereby improving the accuracy of the entire measurement system.

[0071] The water level measurement method without a water gauge proposed in this application can acquire slope data of the measured water area, establish a slope model, and collect observation images to gain a more comprehensive understanding of the topography and water level of the water area. The water level value of the measured water area is calculated using the slope model and the actual coordinates of the water level line. Real-time monitoring of the pixel coordinate changes of the water level line reduces human error and uncertainty, improves the accuracy of the measurement results, and can be used directly on existing monitoring equipment without large-scale equipment upgrades. It features high identification efficiency, high measurement accuracy, automatic measurement, and low maintenance costs. Therefore, it solves the problems of traditional methods, such as long time consumption, high manpower and material costs, and the need for auxiliary equipment for measurement.

[0072] The following specific embodiment illustrates the water level measurement method without a water gauge according to this application, such as... Figure 2 As shown, the steps are as follows:

[0073] S1. Place ground control points at the observation site and measure their spatial coordinates. Calculate the camera's intrinsic and extrinsic parameters using the spatial coordinates and establish a slope model based on the actual measured data.

[0074] Specifically, S1 includes the following steps:

[0075] S1-1. Several ground control points are evenly distributed at the site of the measured water area. Ground control points may use, but are not limited to, circular coded markers with a size of 10cm×10cm.

[0076] S1-2. Measure the coordinates of ground control points and characteristic points in the observation area. Characteristic points in the observation area should be randomly and evenly selected on the slope, and must include the slope's inflection points. The number of characteristic points in the observation area can be selected based on the slope morphology, such as... Figure 3 As shown, if the slope shape is relatively regular, a small number of characteristic points in the observation area can be selected; if the slope shape is relatively complex, the number of characteristic points in the observation area needs to be increased.

[0077] S1-3. Based on the measured coordinates of the ground control points, the intrinsic and extrinsic parameters of the camera are obtained. The solution method includes, but is not limited to, the Tsai two-step method.

[0078] S1-4. Based on the coordinates of the characteristic points in the observation area, establish the slope model z = f(x, y).

[0079] S2. Extract the pixel coordinates of the water level line;

[0080] Specifically, S2 includes the following steps:

[0081] S2-1. Extract the pixel coordinates of the water level line. This step is not limited to a specific method. Existing or future water level line extraction methods can be used, including but not limited to: (1) using deep learning to directly predict the water level line; (2) using deep learning, setting pixel thresholds and other image segmentation methods to segment the water surface and non-water surface parts, and then using edge extraction algorithms such as Hough Transform to obtain the water surface contour as the water level line; (3) by comparing the image sequence, the positions where the pixel values ​​of the pixels change more are taken as the water level line. After extracting the water level line, a set of pixels will be obtained, and all pixels in the set belong to the water level line.

[0082] When extracting the pixel coordinates of the water level line in the observation area, first extract a selected fixed area from the original captured image, such as... Figure 4 As shown, the water level line is extracted from the captured image and then processed by subsequent calculations.

[0083] S3. Solve the world coordinates corresponding to the pixel coordinates of the water level line by using the camera's intrinsic and extrinsic parameters and the slope model, thereby obtaining the water level value.

[0084] Specifically, S3 includes the following steps:

[0085] S3-1. Based on the camera's intrinsic and extrinsic parameters, the pixel coordinates (x, y, y) of a point on the waterline are obtained. f y f The straight line corresponding to the world coordinate system;

[0086] S3-2. Solving S3-1 yields the intersection point of the straight line and the slope model. Based on the slope model z = f(x, y), there are two cases:

[0087] (1) As Figure 5 As shown, the slope morphology can be composed of one or more two-dimensional plane or spatial curves, and can be represented by a function equation; after solving the function equation and the straight line equation simultaneously, (x, y, z) can be obtained as the intersection point, and the coordinate z can be used as the water level value;

[0088] (2) Figure 6 As shown, the slope morphology is an irregular three-dimensional plane, represented by a point cloud-like grid. Feature points within a certain distance threshold from the line are selected in the observation area, and three adjacent points are sequentially selected to determine a grid plane, as shown in the following form:

[0089] a w x+b w y+c w z = d w

[0090] Solving the equations of the grid plane and the line simultaneously yields the solution (x, y, z), which is taken as the intersection point. If the intersection point is between the three points, then the intersection point of the line and the grid plane is the intersection point of the line and the slope model, and the coordinate z is taken as the water level value; otherwise, select three other characteristic points in the observation area to continue the calculation.

[0091] S3-3. Process the different water level values ​​z obtained from each pixel on the water level line to obtain the final measured water level value; including but not limited to: taking the median of the water level values ​​corresponding to each pixel on the water level line and using the median as the measured water level value at that moment.

[0092] In summary, this embodiment of the application represents the spatial straight line corresponding to the water level pixel and the observed slope surface in the form of functional equations, and calculates the coordinates and water level values ​​by solving the simultaneous equations. This is beneficial for subsequent image processing and further algorithm development. Compared with other image processing-based methods for measuring water level values ​​that use thresholding or mapping methods, this method allows the measurement error of the final calculated water level value to be specifically represented by a formula that includes slope model parameters. This is beneficial for adjusting the on-site equipment and subsequent numerical analysis, so as to adapt to different on-site environments and improve the water level measurement effect.

[0093] Next, the waterless gauge water level measuring device according to the embodiments of this application is described with reference to the accompanying drawings.

[0094] Figure 7 This is a block diagram of a waterless gauge water level measuring device according to an embodiment of this application.

[0095] like Figure 7 As shown, the waterless gauge water level measuring device 10 includes: an acquisition module 100, a modeling module 200, a data acquisition module 300, an extraction module 400, and a calculation module 500.

[0096] The module 100 is used to acquire the actual measured slope data of the measurement water area; the modeling module 200 is used to establish a slope model of the measurement water area based on the actual measured slope data; the acquisition module 300 is used to acquire observation images of the measurement water area; the extraction module 400 is used to extract the pixel coordinates of the water level line in the observation image; and the calculation module 500 is used to calculate the water level value of the measurement water area based on the slope model and the pixel coordinates of the water level line.

[0097] In this embodiment of the application, the acquisition module 100 is also used to acquire the intrinsic and extrinsic parameters of the camera, and to solve the water level value of the water area measured at the time of camera shooting based on the intrinsic and extrinsic parameters of the camera and the slope model.

[0098] In this embodiment, the calculation module 500 is further configured to solve for the straight line of the water level line in the world coordinate system based on the transformation relationship and the pixel coordinates of a point on the water level line, and calculate the world coordinates of a point on the straight line in the world coordinate system based on the intersection coordinates of the straight line and the slope model; solve for the world coordinates of a point on the straight line in the world coordinate system based on the slope model, calculate the water level value corresponding to a point on the straight line based on the world coordinates, and determine the final water level value based on the water level values ​​corresponding to each point on the water level line.

[0099] In this embodiment of the application, the acquisition module 100 is further used to set up ground control points at the measurement water area site, and calculate the intrinsic and extrinsic parameters of the camera based on the world coordinates of the ground control points and the pixel coordinates of the camera.

[0100] In this embodiment, the modeling module 200 is also used to identify the world coordinates of the characteristic points of the observation area in the field measured slope data, and to establish a slope model of the measured water area based on the world coordinates of the characteristic points of the observation area.

[0101] It should be noted that the foregoing explanation of the embodiment of the waterless gauge water level measurement method also applies to the waterless gauge water level measurement device of this embodiment, and will not be repeated here.

[0102] The water level measuring device without a water gauge proposed in this application can acquire slope data of the measured water area, establish a slope model, and collect observation images to gain a more comprehensive understanding of the topography and water level of the water area. It calculates the water level value of the measured water area using the slope model and the actual coordinates of the water level line, and monitors the pixel coordinate changes of the water level line in real time, reducing human error and uncertainty, improving the accuracy of the measurement results. It can be used directly on top of existing monitoring equipment without large-scale equipment upgrades, and features high recognition efficiency, high measurement accuracy, automatic measurement, and low maintenance costs. Therefore, it solves the problems of traditional methods, such as long time consumption, high manpower and material costs, and the need for auxiliary equipment for measurement.

[0103] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0104] The memory 801, the processor 802, and the computer program stored on the memory 801 and capable of running on the processor 802.

[0105] When the processor 802 executes the program, it implements the water level measurement method without a water gauge provided in the above embodiments.

[0106] Furthermore, electronic devices also include:

[0107] Communication interface 803 is used for communication between memory 801 and processor 802.

[0108] The memory 801 is used to store computer programs that can run on the processor 802.

[0109] The memory 801 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0110] If the memory 801, processor 802, and communication interface 803 are implemented independently, then the communication interface 803, memory 801, and processor 802 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0111] Optionally, in a specific implementation, if the memory 801, processor 802, and communication interface 803 are integrated on a single chip, then the memory 801, processor 802, and communication interface 803 can communicate with each other through an internal interface.

[0112] The processor 802 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0113] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for measuring water level without a water gauge.

[0114] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0115] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0116] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0117] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0118] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0119] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for measuring water level without a water gauge, characterized in that, Includes the following steps: Obtain on-site measured slope data of the water area; A slope model of the measured water area is established based on the on-site measured slope data, observation images of the measured water area are collected, and the pixel coordinates of the water level line in the observation images are extracted. The water level value of the measured water area is calculated based on the pixel coordinates of the slope model and the water level line. The step of calculating the water level value of the measured water area based on the pixel coordinates of the slope model and the water level line includes: Obtain the camera's internal and external parameters; The water level of the measured water area at the time of the camera's capture is calculated based on the camera's intrinsic and extrinsic parameters and the slope model. The step of calculating the water level of the measured water area at the time of camera capture based on the camera's intrinsic and extrinsic parameters and the slope model includes: The transformation relationship between pixel coordinates and world coordinates is determined based on the aforementioned intrinsic and extrinsic parameters; Based on the transformation relationship and the pixel coordinates of a point on the water level line, the straight line of the water level line in the world coordinate system is solved, and the world coordinates of a point on the straight line in the world coordinate system are calculated based on the intersection coordinates of the straight line and the slope model. The world coordinates of a point on the straight line are determined based on the slope model. The water level value corresponding to the point on the straight line is calculated based on the world coordinates. The final water level value is determined based on the water level values ​​corresponding to each point on the water level line.

2. The water level measurement method without a water gauge according to claim 1, characterized in that, The acquisition of the camera's intrinsic and extrinsic parameters includes: Set up ground control points at the measurement site; The intrinsic and extrinsic parameters of the camera are calculated based on the world coordinates of the ground control point and the pixel coordinates of the camera.

3. The method for measuring water level without a water gauge according to claim 1, characterized in that, The step of establishing a slope model for the measured water area based on the on-site measured slope data includes: Identify the world coordinates of characteristic points in the observed area from the field measured slope data; A slope model of the measured water area is established based on the world coordinates of the characteristic points in the observation area.

4. A water level measuring device without a water gauge, characterized in that, The device includes: The acquisition module is used to acquire on-site measured slope data of the water area being measured; The modeling module is used to establish a slope model of the measured water area based on the on-site measured slope data; The acquisition module is used to acquire observation images of the measured water area; The extraction module is used to extract the pixel coordinates of the water level line in the observed image; The calculation module is used to calculate the water level value of the measured water area based on the pixel coordinates of the slope model and the water level line; The acquisition module is also used for: Obtain the intrinsic and extrinsic parameters of the camera, and calculate the water level of the measured water area at the time of the camera's capture based on the camera's intrinsic and extrinsic parameters and the slope model; The computing module is further used for: Based on the transformation relationship and the pixel coordinates of a point on the water level line, the straight line of the water level line in the world coordinate system is solved. The world coordinates of a point on the straight line in the world coordinate system are calculated based on the intersection coordinates of the straight line and the slope model. The world coordinates of a point on the straight line in the world coordinate system are solved based on the slope model. The water level value corresponding to a point on the straight line is calculated based on the world coordinates. The final water level value is determined based on the water level values ​​corresponding to each point on the water level line.

5. The water level measuring device without a water gauge according to claim 4, characterized in that, The acquisition module is further used for: Ground control points are set up at the measurement site in the water area, and the intrinsic and extrinsic parameters of the camera are calculated based on the world coordinates of the ground control points and the pixel coordinates of the camera.

6. The water level measuring device without a water gauge according to claim 5, characterized in that, The modeling module is also used for: Identify the world coordinates of characteristic points in the observed area from the field measured slope data, and establish a slope model of the measured water area based on the world coordinates of the characteristic points in the observed area.

7. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the water level measurement method without a water gauge as described in any one of claims 1-3.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the water level measurement method without a water gauge as described in any one of claims 1-3.

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