A water flow velocity measurement method and system based on photoelectric fusion

Abstract

The present invention provides a water flow velocity measurement method and system based on photoelectric fusion, which belongs to the field of hydrological measurement technology, including: obtaining overlapping areas to be measured, unifying the coordinates of multiple measuring devices in the overlapping areas to be measured, and obtaining a unified coordinate measurement area; calculating video data in the unified coordinate measurement area, and obtaining the angle between the overall flow direction of the video data and the connection point of the equipment installation point; obtaining the actual flow direction of the water flow according to the connection angle, and determining whether to use a water flow velocity measurement method or a radar velocity measurement method to obtain the surface velocity of the water flow based on the actual flow direction of the water flow; obtaining the surface velocity of the water flow at all regional grid points in the overlapping area to be measured, and forming a comprehensive water flow output result set. The present invention measures the water flow velocity by complementing each other with video acquisition equipment and radar acquisition equipment in different scenes, which can not only avoid the limitations of their respective applications, but also give full play to the advantages of the combination of photoelectric equipment, and effectively improve the accuracy of the flow velocity calculation results.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrological measurement, and in particular to a water flow velocity measurement method and system based on photoelectric fusion. Background Art

[0002] At present, water flow measurement in hydrological monitoring is gradually transitioning from manual mode to intelligent mode. Under normal circumstances, water flow velocity can be obtained through non-contact equipment, but there are still many problems.

[0003] When using non-contact equipment for measurement, it is not possible to directly obtain the required water flow velocity data by simply setting up the relevant equipment near the water flow. The surrounding environment of the river water area is complex and easily affected by various uncertain factors, including weather factors and natural disaster factors, etc., which requires relatively high accuracy and anti-interference of the equipment. At present, the main measurement equipment used includes video acquisition equipment and radar equipment, each of which has its own usage restrictions. Radar equipment has many restrictions on flow measurement, is difficult to install, and cannot be used in overly wide rivers. It is easily interfered by factors such as wind speed and electromagnetic waves. For ultra-high frequency radar, it must be assumed that the river flow direction is parallel to the shoreline. Once the actual flow direction of the river is not parallel to the shoreline, a large deviation will occur when the deviation is large; video acquisition equipment is relatively simple to install compared to radar equipment, but the visibility range of flow measurement is often limited, and the surface conditions of the water flow cannot be seen clearly, especially in rainy and foggy days, where visibility is poor, and there is a large measurement deviation at low flow rates.

[0004] Therefore, in view of the many shortcomings of the above-mentioned photoelectric measuring equipment in water flow velocity measurement, it is necessary to propose a fusion measurement method that can combine the advantages of multiple measuring devices, overcome their shortcomings, and further improve the accuracy of water flow measurement velocity. Summary of the invention

[0005] The present invention provides a water flow velocity measurement method and system based on photoelectric fusion, which is used to solve the many limitations of the prior art of using a single type of non-contact device to measure water flow, resulting in the defect of low measurement accuracy, realize complementary measurement of multiple types of equipment, and greatly improve the accuracy of water flow velocity measurement.

[0006] In a first aspect, the present invention provides a method for measuring water flow velocity based on photoelectric fusion, comprising:

[0007] Acquire an overlapping area to be measured, determine a plurality of grid points in the overlapping area to be measured, and use the plurality of grid points to unify the coordinates of a plurality of measuring devices in the overlapping area to be measured to obtain a unified coordinate measurement area;

[0008] Calculate the video data in the unified coordinate measurement area to obtain the angle between the overall flow direction of the video data and the line connecting the device installation point of the measurement device;

[0009] Obtaining the actual flow direction of the water flow according to the angle between the connecting lines, and determining the surface velocity of the water flow by using a water flow velocity measurement method or a radar velocity measurement method based on the actual flow direction of the water flow;

[0010] The water surface velocity of all grid points in the overlapping area to be measured is obtained to form a comprehensive water flow output result set.

[0011] According to a water flow velocity measurement method based on photoelectric fusion provided by the present invention, before obtaining an overlapping area to be measured, determining a plurality of grid points in the overlapping area to be measured, and unifying the coordinates of a plurality of measuring devices in the overlapping area to be measured by using the plurality of grid points, and obtaining a unified coordinate measurement area, the method further includes:

[0012] Determine the water flow coverage range, and install an ultra-high frequency radar and a video current meter at the equipment installation point on the shore on one side of the water flow coverage range;

[0013] The ultra-high frequency radar performs a side scan on the water flow coverage area to collect radar data;

[0014] The video flow meter shoots the water flow coverage area and collects video data.

[0015] According to a water flow velocity measurement method based on photoelectric fusion provided by the present invention, an overlapping area to be measured is obtained, a plurality of grid points in the overlapping area to be measured are determined, and the coordinates of a plurality of measuring devices in the overlapping area to be measured are unified by using the plurality of grid points to obtain a unified coordinate measurement area, including:

[0016] Divide the overlapping area to be measured into grids according to a preset division density to obtain the plurality of grid points;

[0017] Performing camera calibration on the video velocity meter, converting the camera pixel coordinates of the plurality of grid points into actual geographic coordinates, unifying the camera grid coordinate system corresponding to the camera pixel coordinates with the radar side scan coordinate system corresponding to the actual geographic coordinates, and obtaining a unified coordinate system;

[0018] The unified coordinate system is aligned with the overlapping area to be measured to obtain the unified coordinate measurement area.

[0019] According to a water flow velocity measurement method based on photoelectric fusion provided by the present invention, the video data in the unified coordinate measurement area is calculated to obtain the angle between the overall flow direction of the video data and the device installation point of the measuring device, including:

[0020] Performing optical flow detection on the video data to obtain interval image frames between multiple grid points;

[0021] Calculating the two-dimensional dense flow field of the interval image frame, and obtaining the pixel average flow of a single grid point based on the two-dimensional dense flow field;

[0022] The pixel average flow is used as the overall flow direction of the video data, and the connection angle is determined according to the overall flow direction and the connection line between a single grid point and the device installation point.

[0023] According to a water flow velocity measurement method based on photoelectric fusion provided by the present invention, the actual flow direction of the water flow is obtained according to the connecting line angle, and the water flow velocity measurement method or the radar velocity measurement method is used to obtain the surface flow velocity of the water flow based on the actual flow direction of the water flow, including:

[0024] Determine the flow velocity angle threshold;

[0025] If the line angle is equal to the velocity angle threshold, it is determined that the actual flow direction of the water flow is parallel to the shoreline, and the water flow velocity measurement method is used to calculate the surface velocity of the water flow at a single grid point;

[0026] If the angle between the connecting lines is not equal to the flow angle threshold, it is determined that the actual flow direction of the water flow is not parallel to the shoreline, and the radar speed measurement of a single grid point is obtained, and the surface flow velocity of the water flow is obtained by the cosine value of the radar speed measurement and the angle between the connecting lines.

[0027] According to a water flow velocity measurement method based on photoelectric fusion provided by the present invention, the water flow velocity measurement method includes optical flow velocity measurement OPV, particle image velocimetry PIV, particle tracking velocimetry PTV and space-time image velocimetry STIV.

[0028] In a second aspect, the present invention further provides a water flow velocity measurement system based on photoelectric fusion, comprising:

[0029] A unification module, used to obtain an overlapping area to be measured, determine a plurality of grid points in the overlapping area to be measured, and unify the coordinates of a plurality of measuring devices in the overlapping area to be measured using the plurality of grid points to obtain a unified coordinate measurement area;

[0030] A calculation module, used to calculate the video data in the unified coordinate measurement area to obtain the angle between the overall flow direction of the video data and the connection point of the measuring device;

[0031] A measurement module, used for measuring the actual flow direction of the water flow according to the angle between the connecting lines, and determining the surface flow velocity of the water flow by using a water flow velocity measurement method or a radar velocity measurement method based on the actual flow direction of the water flow;

[0032] The output module is used to obtain the water surface velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set.

[0033] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements any of the above-mentioned methods for measuring water flow velocity based on photoelectric fusion.

[0034] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for measuring water flow velocity based on photoelectric fusion.

[0035] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-mentioned methods for measuring water flow velocity based on photoelectric fusion.

[0036] The water flow velocity measurement method and system based on photoelectric fusion provided by the present invention can measure the water flow velocity by complementing each other with video acquisition equipment and radar acquisition equipment in different scenes, which can not only avoid the limitations of their respective applications, but also give full play to the advantages of the combination of photoelectric equipment and effectively improve the accuracy of flow velocity calculation results. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 It is a schematic flow chart of a water flow velocity measurement method based on photoelectric fusion provided by the present invention;

[0039] Figure 2 is a schematic diagram of the overlapping area provided by the present invention;

[0040] Figure 3 is a schematic diagram of the optical flow field provided by the present invention;

[0041] Figure 4 It is a schematic diagram of the connection angle provided by the present invention;

[0042] Figure 5 It is a schematic diagram of the grid flow velocity results provided by the present invention;

[0043] Figure 6 It is a structural schematic diagram of a water flow velocity measurement system based on photoelectric fusion provided by the present invention;

[0044] Figure 7It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Aiming at the uncertainty of measuring water flow velocity in complex waters, the use of a single type of non-contact measurement equipment has many limitations. The present invention proposes a water flow velocity measurement method based on photoelectric fusion.

[0047] Figure 1 FIG. 1 is a flow chart of a method for measuring water flow velocity based on photoelectric fusion provided by an embodiment of the present invention. Figure 1 As shown, including:

[0048] Step 100: Acquire an overlapping area to be measured, determine a plurality of grid points in the overlapping area to be measured, and use the plurality of grid points to unify the coordinates of a plurality of measuring devices in the overlapping area to be measured to obtain a unified coordinate measurement area;

[0049] Step 200: Calculate the video data in the unified coordinate measurement area to obtain the angle between the overall flow direction of the video data and the connection point of the measuring device;

[0050] Step 300: obtaining the actual flow direction of the water flow according to the angle of the connecting line, and determining the water flow surface velocity by using a water flow velocity measurement method or a radar velocity measurement method based on the actual flow direction of the water flow;

[0051] Step 400: Obtain the water surface velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set.

[0052] It should be noted that the optoelectronic fusion system in the embodiment of the present invention includes an ultra-high frequency radar, a video flow meter and an installation pole. A waterproof box is also provided on the pole, which is fixed on the pole or arranged next to the pole. The waterproof box integrates an intelligent edge gateway, a power supply and a lightning arrester. The power supply is used to power each device in the form of solar energy or grid power supply. The intelligent edge gateway is used to receive and process radar data collected by the ultra-high frequency radar and video data collected by the video flow meter. Its internal specific structure includes a computing module, a routing module, a power conversion module, a storage module and a power remote control module.

[0053] Specifically, since the range of video acquisition is larger than the range of radar side scanning, the embodiment of the present invention first performs coordinate conversion and coordinate unification between devices in the overlapping area of ​​the two, so that the coordinates of the area are consistent; the video data in the overlapping area is calculated, usually by gridding for optical flow detection, and the angle between the average flow direction in a single grid and the connection point of the device (i.e., the location of the pole) is used to determine whether the flow direction of the video speed measurement is parallel to the river bank, and further, according to whether it is parallel, the water flow speed measurement method or the radar speed measurement method is used to obtain the surface flow velocity of the water flow, and finally the flow velocity results of all grid points in the grid area are output.

[0054] The present invention measures water flow velocity by complementing each other with video acquisition equipment and radar acquisition equipment in different scenes, which not only avoids the limitations of their respective applications, but also gives full play to the advantages of the combination of optoelectronic devices and effectively improves the accuracy of flow velocity calculation results.

[0055] On the basis of the above embodiment, the overlapping area to be measured is obtained, a plurality of grid points of the overlapping area to be measured is determined, and the coordinates of a plurality of measuring devices are unified in the overlapping area to be measured by using the plurality of grid points to obtain a unified coordinate measurement area, including:

[0056] Dividing the overlapping area to be measured into grids according to a preset division density to obtain a plurality of grid points;

[0057] Performing camera calibration on the video velocity meter, converting the camera pixel coordinates of the plurality of grid points into actual geographic coordinates, unifying the camera grid coordinate system corresponding to the camera pixel coordinates with the radar side scan coordinate system corresponding to the actual geographic coordinates, and obtaining a unified coordinate system;

[0058] The unified coordinate system is aligned with the overlapping area to be measured to obtain the unified coordinate measurement area.

[0059] Specifically, in this embodiment, the overlapping part of the camera shooting picture in the video velocity meter and the radar side scan range is analyzed, such as Figure 2 As shown in the figure, the upper left side is the video velocity meter, and the middle left side is the UHF radar. It can be seen that the measurement range of the video velocity meter is larger than that of the UHF radar. The overlapping area is grid-divided, and the division density is determined according to the actual situation (for example, 5 5, 10 10, unit m), the camera converts the pixel coordinates of the grid points into actual geographic coordinates through preliminary calibration, so that the camera grid coordinate system corresponds to the coordinates in the radar side scan coordinate system.

[0060] On the basis of the above embodiment, the video data in the unified coordinate measurement area is calculated to obtain the angle between the overall flow direction of the video data and the device installation point of the measuring device, including:

[0061] Performing optical flow detection on the video data to obtain interval image frames between multiple grid points;

[0062] Calculating the two-dimensional dense flow field of the interval image frame, and obtaining the pixel average flow of a single grid point based on the two-dimensional dense flow field;

[0063] The pixel average flow is used as the overall flow direction of the video data, and the connection angle is determined according to the overall flow direction and the connection line between a single grid point and the device installation point.

[0064] Specifically, the embodiment of the present invention performs optical flow detection on the video data collected by the camera to calculate the two-dimensional dense flow field of the interval image frames, such as Figure 3 As shown, it is the flow distribution diagram of optical flow detection. The horizontal and vertical coordinates are both pixel coordinates, which represent the optical flow detection results.

[0065] Based on the results of the two-dimensional dense flow field, the average flow direction of pixels in the unit grid is used as the representative flow direction of the unit grid, and the angle between the representative flow direction and the connecting line formed by the connection between the unit grid and the vertical pole is obtained, which is recorded as .

[0066] On the basis of the above embodiment, the actual flow direction of the water flow is obtained according to the angle of the connecting line, and the surface velocity of the water flow is obtained by using the water flow velocity measurement method or the radar velocity measurement method based on the actual flow direction of the water flow, including:

[0067] Determine the flow velocity angle threshold;

[0068] If the line angle is equal to the velocity angle threshold, it is determined that the actual flow direction of the water flow is parallel to the shoreline, and the water flow velocity measurement method is used to calculate the surface velocity of the water flow at a single grid point;

[0069] If the angle between the connecting lines is not equal to the flow angle threshold, it is determined that the actual flow direction of the water flow is not parallel to the shoreline, and the radar speed measurement of a single grid point is obtained, and the surface flow velocity of the water flow is obtained by the cosine value of the radar speed measurement and the angle between the connecting lines.

[0070] Specifically, the embodiment of the present invention uses the line angle calculated in the above embodiment as As a basis for judgment, When calculating the surface velocity of a river, the optical flow velocity (OPV), particle image velocity (PIV), particle tracking velocity (PTV) or spatiotemporal image velocity (STIV) methods are used.

[0071] when When the radar velocity at the grid point is Calculate the component representing the flow direction on the unit grid, which is the surface velocity of the river at the representative point of the unit grid. , the formula is as follows:

[0072]

[0073] like Figure 4 As shown, taking any two grid points A and B, it can be seen that the velocity V at point A A It is not perpendicular to the line, the velocity V of point B B is perpendicular to the line.

[0074] Finally, the flow velocity results of all grid points in the grid area are output as Figure 5 For example, the arrow on the grid point in the upper left corner of the grid is the average flow direction, and the messy arrows in various directions in the grid are the actual flow directions of the feature points in this grid.

[0075] In summary, the present invention uses the optical flow method to obtain the representative flow direction of the grid area to replace the radar flow measurement. It is assumed that the flow direction is parallel to the river bank, and the actual flow direction replaces the theoretical flow direction to improve the accuracy of the flow velocity calculation results. When the radar cannot measure the flow velocity perpendicular to the direction of the pole, the video flow measurement technology is used to supplement the flow velocity in the area.

[0076] The water flow velocity measurement system based on photoelectric fusion provided by the present invention is described below. The water flow velocity measurement system based on photoelectric fusion described below and the water flow velocity measurement method based on photoelectric fusion described above can be referenced to each other.

[0077] Figure 6 FIG. 1 is a schematic diagram of the structure of a water flow velocity measurement system based on photoelectric fusion provided by an embodiment of the present invention. Figure 6 As shown, it includes: a unification module 61, a calculation module 62, a measurement module 63 and an output module 64, wherein:

[0078] The unification module 61 is used to obtain the overlapping area to be measured, determine multiple grid points in the overlapping area to be measured, and use the multiple grid points to unify the coordinates of multiple measuring devices in the overlapping area to be measured to obtain a unified coordinate measurement area; the calculation module 62 is used to calculate the video data in the unified coordinate measurement area to obtain the overall flow direction of the video data and the angle between the lines connecting the device installation points of the measuring devices; the measurement module 63 is used to measure the actual flow direction of the water flow according to the connecting angle, and determine the water flow surface velocity by using the water flow velocity measurement method or the radar velocity measurement method based on the actual flow direction of the water flow; the output module 64 is used to obtain the water flow surface velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set.

[0079] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the water velocity measurement method based on photoelectric fusion, the method comprising: obtaining the overlapping area to be measured, determining a plurality of grid points in the overlapping area to be measured, unifying the coordinates of a plurality of measuring devices in the overlapping area to be measured by using the plurality of grid points, and obtaining a unified coordinate measurement area; calculating the video data in the unified coordinate measurement area, and obtaining the angle between the overall flow direction of the video data and the connection point of the device installation point of the measuring device; obtaining the actual flow direction of the water flow according to the connection angle, and determining whether to use the water flow velocity measurement method or the radar velocity measurement method to obtain the water flow surface velocity based on the actual flow direction of the water flow; obtaining the water flow surface velocity of all grid points in the overlapping area to be measured, and forming a comprehensive water flow output result set.

[0080] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0081] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the water flow velocity measurement method based on photoelectric fusion provided by the above-mentioned methods, and the method includes: obtaining an overlapping area to be measured, determining multiple grid points in the overlapping area to be measured, and using the multiple grid points to unify the coordinates of multiple measuring devices in the overlapping area to be measured to obtain a unified coordinate measurement area; calculating the video data in the unified coordinate measurement area to obtain the overall flow direction of the video data and the angle between the line connecting the device installation points of the measuring devices; obtaining the actual flow direction of the water flow according to the line angle, and determining whether to use the water flow velocity measurement method or the radar velocity measurement method to obtain the water flow surface velocity based on the actual flow direction of the water flow; obtaining the water flow surface velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set.

[0082] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the water flow velocity measurement method based on photoelectric fusion provided by the above-mentioned methods, the method comprising: obtaining an overlapping area to be measured, determining a plurality of grid points in the overlapping area to be measured, and using the plurality of grid points to unify the coordinates of a plurality of measuring devices in the overlapping area to be measured to obtain a unified coordinate measurement area; calculating video data in the unified coordinate measurement area to obtain the angle between the overall flow direction of the video data and the line connecting the device installation points of the measuring devices; obtaining the actual flow direction of the water flow according to the line connecting angle, and determining the water flow surface velocity by the water flow velocity measurement method or the radar velocity measurement method based on the actual flow direction of the water flow; obtaining the water flow surface velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set.

[0083] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0084] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for measuring water flow velocity based on photoelectric fusion, characterized in that: include: Acquire an overlapping area to be measured, determine a plurality of grid points in the overlapping area to be measured, and use the plurality of grid points to unify the coordinates of a plurality of measuring devices in the overlapping area to be measured to obtain a unified coordinate measurement area; Calculate the video data in the unified coordinate measurement area to obtain the angle between the overall flow direction of the video data and the line connecting the device installation point of the measurement device; Obtaining the actual flow direction of the water flow according to the angle of the connecting line, and determining the surface velocity of the water flow by using a video velocity measurement method or a radar velocity measurement method based on the actual flow direction of the water flow; Obtaining the water surface velocity of all grid points in the overlapping area to be measured to form a comprehensive water flow output result set; Calculating the video data in the unified coordinate measurement area to obtain the angle between the overall flow direction of the video data and the connection point of the measuring device, including: Performing optical flow detection on the video data to obtain interval image frames between multiple grid points; Calculating the two-dimensional dense flow field of the interval image frame, and obtaining the pixel average flow of a single grid point based on the two-dimensional dense flow field; Taking the pixel average flow as the overall flow direction of the video data, and determining the line angle according to the overall flow direction and the line between a single grid point and the device installation point; Obtaining the actual flow direction of the water flow according to the angle of the connecting line, and determining the surface velocity of the water flow by using a video velocity measurement method or a radar velocity measurement method based on the actual flow direction of the water flow, including: Determine the flow velocity angle threshold; If the angle between the connecting lines is equal to the flow angle threshold, it is determined that the actual flow direction of the water flow is parallel to the shoreline, and the surface flow velocity of the water flow at a single grid point is calculated using the video velocimetry method; If the angle between the connecting lines is not equal to the flow angle threshold, it is determined that the actual flow direction of the water flow is not parallel to the shoreline, and the radar speed measurement of a single grid point is obtained, and the surface flow velocity of the water flow is obtained by the cosine value of the radar speed measurement and the angle between the connecting lines.

2. The water flow velocity measurement method based on photoelectric fusion according to claim 1 is characterized in that: Before obtaining the overlapping area to be measured, determining a plurality of grid points in the overlapping area to be measured, and unifying the coordinates of a plurality of measuring devices in the overlapping area to be measured by using the plurality of grid points to obtain a unified coordinate measurement area, the method further includes: Determine the water flow coverage range, and install an ultra-high frequency radar and a video current meter at the equipment installation point on the shore on one side of the water flow coverage range; The ultra-high frequency radar performs a side scan on the water flow coverage area to collect radar data; The video flow meter shoots the water flow coverage area and collects video data.

3. The water flow velocity measurement method based on photoelectric fusion according to claim 2 is characterized in that: Acquiring an overlapping area to be measured, determining a plurality of grid points in the overlapping area to be measured, and unifying the coordinates of a plurality of measuring devices in the overlapping area to be measured by using the plurality of grid points to obtain a unified coordinate measurement area, including: Divide the overlapping area to be measured into grids according to a preset division density to obtain the plurality of grid points; Performing camera calibration on the video velocity meter, converting the camera pixel coordinates of the plurality of grid points into actual geographic coordinates, unifying the camera grid coordinate system corresponding to the camera pixel coordinates with the radar side scan coordinate system corresponding to the actual geographic coordinates, and obtaining a unified coordinate system; The unified coordinate system is aligned with the overlapping area to be measured to obtain the unified coordinate measurement area.

4. The water flow velocity measurement method based on photoelectric fusion according to claim 1 is characterized in that: The video velocimetry method includes optical flow velocimetry OPV, particle image velocimetry PIV, particle tracking velocimetry PTV and space-time image velocimetry STIV.

5. A water flow velocity measurement system based on photoelectric fusion, characterized in that: include: A unification module, used to obtain an overlapping area to be measured, determine a plurality of grid points in the overlapping area to be measured, and unify the coordinates of a plurality of measuring devices in the overlapping area to be measured using the plurality of grid points to obtain a unified coordinate measurement area; A calculation module, used to calculate the video data in the unified coordinate measurement area to obtain the angle between the overall flow direction of the video data and the connection point of the measuring device; A measurement module, used to measure the actual flow direction of the water flow according to the angle between the connecting lines, and determine the surface velocity of the water flow by using a video speed measurement method or a radar speed measurement method based on the actual flow direction of the water flow; An output module, used for obtaining the water surface velocity of all grid points in the overlapping area to be measured, and forming a comprehensive water flow output result set; The calculation module is specifically used for: Performing optical flow detection on the video data to obtain interval image frames between multiple grid points; Calculating the two-dimensional dense flow field of the interval image frame, and obtaining the pixel average flow of a single grid point based on the two-dimensional dense flow field; Taking the pixel average flow as the overall flow direction of the video data, and determining the line angle according to the overall flow direction and the line between a single grid point and the device installation point; The measuring module is specifically used for: Determine the flow velocity angle threshold; If the angle between the connecting lines is equal to the flow angle threshold, it is determined that the actual flow direction of the water flow is parallel to the shoreline, and the surface flow velocity of the water flow at a single grid point is calculated using the video velocimetry method; If the angle between the connecting lines is not equal to the flow angle threshold, it is determined that the actual flow direction of the water flow is not parallel to the shoreline, and the radar speed measurement of a single grid point is obtained, and the surface flow velocity of the water flow is obtained by the cosine value of the radar speed measurement and the angle between the connecting lines.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the water flow velocity measurement method based on photoelectric fusion as described in any one of claims 1 to 4 is implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the water flow velocity measurement method based on photoelectric fusion as described in any one of claims 1 to 4 is implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the water flow velocity measurement method based on photoelectric fusion as described in any one of claims 1 to 4 is implemented.

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