A method and device for measuring the sediment particle size of the underwater riverbed

Abstract

The present disclosure provides a method and device for measuring the particle size of underwater riverbed sediment, relating to the technical field of underwater sediment measurement. The specific implementation scheme is as follows: obtain multiple first riverbed sediment photos; perform noise reduction processing on the multiple first riverbed sediment photos by using the median averaging method to obtain a first sediment particle size photo; correct the first sediment particle size photo based on an image distortion correction algorithm to obtain a corrected first sediment particle size photo; determine first picture scale information according to the side length information of the square bottom surface of the cuboid frame in the device for measuring the particle size of underwater riverbed sediment and the corrected first sediment particle size photo; identify first riverbed sediment identification information from the corrected first sediment particle size photo, and obtain underwater riverbed sediment grading information according to the first riverbed sediment identification information and the first picture scale information, so as to improve the monitoring efficiency and accuracy of underwater riverbed sediment grading information.

Description

Technical Field

[0001] The present disclosure relates to the technical field of underwater sediment measurement, and particularly to a method and device for measuring the particle size of underwater riverbed sediment. Background Art

[0002] With the development of water conservancy engineering technology, underwater riverbed sediment measurement technology has become increasingly important. Underwater sediment measurement technology can be used to measure the particle size distribution and grading information of underwater riverbed sediment, so as to provide data support for research in fields such as water conservancy engineering, waterway maintenance, riverbed evolution, and environmental changes. In related technologies, the particle size information of underwater sediment is measured by an artificial single-point measurement method. Summary of the Invention

[0003] The present disclosure provides a method and device for measuring the particle size of underwater riverbed sediment.

[0004] According to a first aspect of the present disclosure, there is provided a method for measuring the particle size of underwater riverbed sediment, including:

[0005] Obtaining a plurality of first riverbed sediment photos; the plurality of first riverbed sediment photos are obtained by the underwater camera module in the device for measuring the particle size of underwater riverbed sediment using a continuous shooting mode;

[0006] Performing noise reduction processing on the plurality of first riverbed sediment photos by using a median averaging method to obtain a first sediment particle size photo;

[0007] Correcting the first sediment particle size photo based on an image distortion correction algorithm to obtain a corrected first sediment particle size photo;

[0008] Determining first picture scale information according to the side length information of the square bottom surface of the cuboid frame in the device for measuring the particle size of underwater riverbed sediment and the corrected first sediment particle size photo; the first picture scale information includes the riverbed bed surface size information corresponding to each pixel in the corrected first sediment particle size photo;

[0009] Identifying first riverbed sediment identification information from the corrected first sediment particle size photo, and obtaining underwater riverbed sediment grading information according to the first riverbed sediment identification information and the first picture scale information.

[0010] According to a second aspect of the present disclosure, there is provided a device for measuring the particle size of underwater riverbed sediment, including:

[0011] An obtaining module, configured to obtain a plurality of first riverbed sediment photos; the plurality of first riverbed sediment photos are obtained by the underwater camera module in the device for measuring the particle size of underwater riverbed sediment using a continuous shooting mode;

[0012] A noise reduction module, which is used to perform noise reduction processing on multiple first riverbed sediment photos by using the median averaging method to obtain the first sediment particle size photo;

[0013] A correction module, which is used to correct the first sediment particle size photo based on the image distortion correction algorithm to obtain the corrected first sediment particle size photo;

[0014] A determination module, which is used to determine the first picture scale information according to the side length information of the square bottom surface of the cuboid frame in the device for measuring the sediment particle size of the underwater riverbed and the corrected first sediment particle size photo; the first picture scale information includes the riverbed surface size information corresponding to each pixel in the corrected first sediment particle size photo;

[0015] An identification module, which is used to identify the first riverbed sediment identification information from the corrected first sediment particle size photo, and obtain the underwater riverbed sediment grading information according to the first riverbed sediment identification information and the first picture scale information.

[0016] According to the third aspect of the present disclosure, there is provided a device for measuring the sediment particle size of an underwater riverbed, including:

[0017] A cuboid frame, which is used to fix the position of the device for measuring the sediment particle size of the underwater riverbed;

[0018] A camera connection module, which is connected to the cuboid frame and is used to fix the underwater camera module on the cuboid frame;

[0019] An underwater camera module, which is connected to the camera connection module and is used to take pictures of the underwater sediment at the position where the device for measuring the sediment particle size of the underwater riverbed is located.

[0020] According to the fourth aspect of the present disclosure, there is provided an electronic device, including:

[0021] At least one processor; and

[0022] A memory communicatively connected to the at least one processor; wherein,

[0023] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method of the first aspect above.

[0024] According to the fifth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to cause a computer to execute the method of the first aspect above.

[0025] According to the sixth aspect of the embodiments of the present disclosure, there is provided a computer program product, including a computer program, and the computer program implements the steps of any one of the methods in the first aspect above when executed by a processor.

[0026] The technical solution of the present disclosure acquires multiple first photos of riverbed sediment; the multiple first photos of riverbed sediment are obtained by the underwater camera module in a device for measuring the particle size of underwater riverbed sediment using a continuous shooting mode; the multiple first photos of riverbed sediment are subjected to noise reduction processing by using the median averaging method to obtain a first particle size photo of sediment; the first particle size photo of sediment is corrected based on an image distortion correction algorithm to obtain a corrected first particle size photo of sediment; according to the side length information of the square bottom surface of the cuboid frame in the device for measuring the particle size of underwater riverbed sediment and the corrected first particle size photo of sediment, first picture scale information is determined; the first picture scale information includes the riverbed bed surface size information corresponding to each pixel in the corrected first particle size photo of sediment; first riverbed sediment identification information is identified from the corrected first particle size photo of sediment, and based on the first riverbed sediment identification information and the first picture scale information, underwater riverbed sediment grading information is obtained, which can improve the monitoring efficiency and accuracy of underwater riverbed sediment grading information, so as to provide reliable data support for research and applications in related fields.

[0027] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. Description of the Drawings

[0028] The drawings are used to better understand the solution and do not constitute a limitation to the present disclosure. Among them:

[0029] Figure 1 is a flowchart of a method for measuring the particle size of underwater riverbed sediment according to an embodiment of the present disclosure;

[0030] Figure 2 is a flowchart of a method for measuring the particle size of underwater riverbed sediment according to an embodiment of the present disclosure;

[0031] Figure 3 is a flowchart of a method for measuring the particle size of underwater riverbed sediment according to an embodiment of the present disclosure;

[0032] Figure 4 is a flowchart of a method for measuring the particle size of underwater riverbed sediment according to an embodiment of the present disclosure;

[0033] Figure 5 is a block diagram of a device for measuring the particle size of underwater riverbed sediment according to an embodiment of the present disclosure;

[0034] Figure 6 is a block diagram of a device for measuring the particle size of underwater riverbed sediment according to an embodiment of the present disclosure;

[0035] Figure 7 is a block diagram of a device for measuring the sediment particle size of an underwater riverbed provided according to an embodiment of the present disclosure;

[0036] Figure 8 is a block diagram of an electronic device provided according to an embodiment of the present disclosure. Detailed implementation manners

[0037] The following makes an explanation of exemplary embodiments of the present disclosure with reference to the accompanying drawings. Various details of the embodiments of the present disclosure are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, descriptions of well-known functions and structures are omitted in the following description for clarity and conciseness.

[0038] It should be noted that in the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information and other processing are all in compliance with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0039] Figure 1 is a flowchart of a method for measuring the sediment particle size of an underwater riverbed provided according to an embodiment of the present disclosure. It should be noted that in some embodiments, the execution subject of the method for measuring the sediment particle size of an underwater riverbed can be the processing module of the device for measuring the underwater sediment particle size provided according to an embodiment of the present disclosure. As Figure 1 shown, the method for measuring the sediment particle size of an underwater riverbed includes, but is not limited to, the following steps:

[0040] In step S101, multiple first riverbed sediment photos are acquired.

[0041] It should be noted that in some embodiments, the multiple first riverbed sediment photos are obtained by the underwater camera module in the device for measuring the sediment particle size of an underwater riverbed using the continuous shooting mode.

[0042] In step S102, the multiple first riverbed sediment photos are denoised using the median average method to obtain a first sediment particle size photo.

[0043] It should be noted that in some embodiments, the median average method is an image processing method that combines the median filtering method and the arithmetic average filtering method. Optionally, in some embodiments, the multiple first riverbed sediment photos are denoised using the median filtering method to obtain multiple denoised first riverbed sediment photos; the multiple denoised first riverbed sediment photos are subjected to image fusion processing using the arithmetic average filtering method to obtain a first sediment particle size photo.

[0044] In step S103, the first sediment particle size photo is corrected based on an image distortion correction algorithm to obtain the first sediment particle size photo after the correction process.

[0045] It should be noted that in some embodiments, the image distortion correction algorithm is an algorithm for correcting photos based on a camera calibration method. Optionally, in some embodiments, a first camera coordinate system and a first world coordinate system are determined; the first sediment particle size photo is corrected according to the first camera coordinate system and the first world coordinate system to obtain the first sediment particle size photo after the correction process.

[0046] In step S104, based on the side length information of the square bottom surface of the cuboid frame in the device for measuring the sediment particle size of the underwater riverbed and the first sediment particle size photo after the correction process, first picture scale information is determined.

[0047] It should be noted that in some embodiments, the first picture scale information includes the riverbed bed surface size information corresponding to each pixel in the first sediment particle size photo after the correction process.

[0048] It should be noted that in some embodiments, the spatial resolution is the actual ground distance represented by one pixel in the photo. Exemplarily, the first picture scale information is five centimeters, that is, each pixel in the first underwater sediment movement image information after the correction process corresponds to a square riverbed bed surface with a side length of five centimeters.

[0049] In step S105, first riverbed sediment identification information is identified from the first sediment particle size photo after the correction process, and underwater riverbed sediment grading information is obtained based on the first riverbed sediment identification information and the first picture scale information.

[0050] It should be noted that in some embodiments, first riverbed sediment identification information is identified from the first sediment particle size photo after the correction process; the first riverbed sediment identification information is scale-transformed based on the first picture scale information to obtain underwater riverbed sediment grading information.

[0051] In an embodiment of the present disclosure, multiple first riverbed sediment photos are obtained; the multiple first riverbed sediment photos are taken in a continuous shooting mode by an underwater camera module in a device for measuring the particle size of underwater riverbed sediment; the multiple first riverbed sediment photos are denoised by using the median averaging method to obtain a first sediment particle size photo; the first sediment particle size photo is corrected based on an image distortion correction algorithm to obtain a corrected first sediment particle size photo; according to the side length information of the square bottom surface of the cuboid frame in the device for measuring the particle size of underwater riverbed sediment and the corrected first sediment particle size photo, first picture scale information is determined; the first picture scale information includes the riverbed bed surface size information corresponding to each pixel in the corrected first sediment particle size photo; first riverbed sediment identification information is identified from the corrected first sediment particle size photo, and underwater riverbed sediment grading information is obtained according to the first riverbed sediment identification information and the first picture scale information, so as to improve the monitoring efficiency and accuracy of the underwater riverbed sediment grading information, and facilitate providing reliable data support for research and applications in related fields.

[0052] Figure 2 is a flowchart of a method for measuring the particle size of underwater riverbed sediment according to an embodiment of the present disclosure. As Figure 2 shown, the method for measuring the particle size of underwater riverbed sediment includes, but is not limited to, the following steps:

[0053] In step S201, multiple first riverbed sediment photos are obtained.

[0054] In an embodiment of the present disclosure, step S201 can be implemented in any one of the embodiments of the present disclosure, and the embodiments of the present disclosure do not make any limitations in this regard and will not be elaborated further.

[0055] In step S202, each of the multiple first riverbed sediment photos is preprocessed to obtain multiple preprocessed first riverbed sediment photos.

[0056] It should be noted that, in some embodiments, preprocessing the first riverbed sediment photos can improve the image quality of the photos, so as to obtain more accurate data from the first riverbed sediment photos.

[0057] Optionally, in some embodiments, for each of the multiple first riverbed sediment photos, the first riverbed sediment photo is subjected to image sharpening and cropping processing to obtain a preprocessed first riverbed sediment photo. Exemplarily, a first shooting area is determined from the multiple first riverbed sediment photos; for each of the multiple first riverbed sediment photos, the first riverbed sediment photo is subjected to image cropping processing based on the first shooting area to obtain a preprocessed first riverbed sediment photo.

[0058] In step S203, for each of the preprocessed first riverbed sediment photos among multiple preprocessed first riverbed sediment photos, noise reduction processing is performed on the preprocessed first riverbed sediment photo based on the median filtering algorithm to obtain a first riverbed sediment photo after noise reduction processing.

[0059] Optionally, in some embodiments, for each of the preprocessed first riverbed sediment photos among multiple preprocessed first riverbed sediment photos, median filtering is performed on each pixel among multiple pixels in the preprocessed first riverbed sediment photo based on a preset median filter to obtain a first riverbed sediment photo after noise reduction processing.

[0060] Exemplarily, the convolution kernel size of the preset median filter is 3; for each of the preprocessed first riverbed sediment photos among multiple preprocessed first riverbed sediment photos, median filtering is performed on each pixel among multiple pixels in the preprocessed first riverbed sediment photo based on the preset median filter to obtain a first riverbed sediment photo after noise reduction processing.

[0061] In step S204, pixel-level image fusion processing is performed on multiple first riverbed sediment photos after noise reduction processing to obtain a first sediment particle size photo.

[0062] Optionally, in some embodiments, alignment processing is performed on multiple first riverbed sediment photos after noise reduction processing to obtain multiple first riverbed sediment photos after alignment processing; pixel-level image fusion processing is performed on multiple first riverbed sediment photos after alignment processing to obtain a first sediment particle size photo.

[0063] Exemplarily, alignment processing is performed on multiple first riverbed sediment photos after noise reduction processing to obtain multiple first riverbed sediment photos after alignment processing; a first blank image with the same size as any one of the first riverbed sediment photos after alignment processing among multiple first riverbed sediment photos after alignment processing is created; for each pixel among multiple pixels of the first spatial image, an average value of pixel values corresponding to the pixel in multiple first riverbed sediment photos after alignment processing is obtained to obtain a first pixel average value corresponding to the pixel; the first spatial image is updated based on multiple first pixel average values to obtain a first sediment particle size photo.

[0064] In step S205, correction is performed on the first sediment particle size photo based on the image distortion correction algorithm to obtain a first sediment particle size photo after correction processing.

[0065] In the embodiments of the present disclosure, step S205 can be implemented in any one of the embodiments of the present disclosure respectively. The embodiments of the present disclosure do not make any limitations in this regard and will not be elaborated further.

[0066] In step S206, according to the side length information of the square bottom surface of the cuboid frame in the device for measuring the sediment particle size of the underwater riverbed and the first sediment particle size photo after correction processing, the first picture scale information is determined.

[0067] In the embodiments of the present disclosure, step S206 can be implemented in any one of the embodiments of the present disclosure. The embodiments of the present disclosure do not make any limitations in this regard and will not be elaborated further.

[0068] In step S207, the first riverbed sediment identification information is identified from the first sediment particle size photo after correction processing, and based on the first riverbed sediment identification information and the first picture scale information, the underwater riverbed sediment grading information is obtained.

[0069] In the embodiments of the present disclosure, step S207 can be implemented in any one of the embodiments of the present disclosure. The embodiments of the present disclosure do not make any limitations in this regard and will not be elaborated further.

[0070] In the embodiments of the present disclosure, each of the multiple first riverbed sediment photos is preprocessed to obtain multiple preprocessed first riverbed sediment photos; for each of the multiple preprocessed first riverbed sediment photos, the preprocessed first riverbed sediment photo is denoised based on the median filtering algorithm to obtain the first riverbed sediment photo after denoising processing; pixel-level image fusion processing is performed on the multiple first riverbed sediment photos after denoising processing to obtain the first sediment particle size photo, which can improve the imaging quality and clarity of the first sediment particle size photo, so as to improve the accuracy of the underwater riverbed sediment grading information.

[0071] Figure 3 is a flowchart of a method for measuring the sediment particle size of the underwater riverbed according to an embodiment of the present disclosure. As Figure 3 shown, the method for measuring the sediment particle size of the underwater riverbed includes but is not limited to the following steps:

[0072] In step S301, multiple first riverbed sediment photos are obtained.

[0073] In the embodiments of the present disclosure, step S301 can be implemented in any one of the embodiments of the present disclosure. The embodiments of the present disclosure do not make any limitations in this regard and will not be elaborated further.

[0074] In step S302, the multiple first riverbed sediment photos are denoised by using the median averaging method to obtain the first sediment particle size photo.

[0075] In an embodiment of the present disclosure, step S302 can be implemented in any one of the embodiments of the present disclosure. The embodiments of the present disclosure do not limit this and will not be elaborated further.

[0076] In step S303, first world coordinate information and first image coordinate information are obtained.

[0077] It should be noted that, in some embodiments, the image distortion correction method based on camera calibration technology is an algorithm for correcting image distortion based on the world coordinate system and the camera coordinate system.

[0078] It should be noted that, in some embodiments, the first world coordinate information is the world coordinate information of the four corners of the square bottom surface of the cuboid frame in the device for measuring the particle size of underwater riverbed sediment; the first image coordinate information is the image coordinate information of the four corners of the square bottom surface of the cuboid frame in the device for measuring the particle size of underwater riverbed sediment.

[0079] In step S304, the first direct linear transformation formula group is solved based on the first world coordinate information and the first image coordinate information to obtain the first distortion parameter.

[0080] It should be noted that, in some embodiments, the first direct linear transformation formula group is a formula group for converting between the first world coordinate information and the first image coordinate information.

[0081] Optionally, in some embodiments, a first direct linear transformation formula group is constructed according to the first world coordinate parameters, the first image coordinate parameters, and the first distortion parameter. Exemplarily, for the four corners of the square bottom surface of the cuboid frame in the device for measuring the particle size of underwater riverbed sediment, the first world coordinate parameters, the first image coordinate parameters, and the first distortion parameter are determined; a first direct linear transformation formula group is constructed according to the first world coordinate parameters, the first image coordinate parameters, and the first distortion parameter. For example, the first direct linear transformation formula group can be represented by the following formula (1):

[0082]

[0083] where x i refers to the first parameter of the i-th corner in the first image coordinate parameters; y i refers to the second parameter of the i-th corner in the first image coordinate parameters; X i refers to the first parameter of the i-th corner in the first world coordinate parameters; Y i refers to the second parameter of the i-th corner in the first world coordinate parameters; a i1 refers to the first parameter of the i-th corner in the first distortion parameter; a i2 refers to the second parameter of the i-th corner in the first distortion parameter; ai3 refers to the third parameter of the i-th corner in the first distortion parameter; a i4 refers to the fourth parameter of the i-th corner in the first distortion parameter; a i5 refers to the fifth parameter of the i-th corner in the first distortion parameter; a i6 refers to the sixth parameter of the i-th corner in the first distortion parameter; a i7 refers to the seventh parameter of the i-th corner in the first distortion parameter; a i8 refers to the eighth parameter of the i-th corner in the first distortion parameter.

[0084] Optionally, in some embodiments, the first world coordinate information and the first image coordinate information are substituted into the first direct linear transformation formula group for solution to obtain the first distortion parameter.

[0085] In step S305, the first sediment particle size photo is corrected based on the first distortion parameter to obtain the corrected first sediment particle size photo.

[0086] Optionally, in some embodiments, a second blank image is created; each pixel in the first sediment particle size photo is corrected based on the first distortion parameter, and each corrected pixel is mapped to the second blank image to obtain the corrected first sediment particle size photo.

[0087] In step S306, based on the side length information of the square bottom surface of the cuboid frame in the device for measuring the sediment particle size underwater and the corrected first sediment particle size photo, the first picture scale information is determined.

[0088] In the embodiments of the present disclosure, step S306 can be implemented in any one of the embodiments of the present disclosure. The embodiments of the present disclosure do not make any limitations in this regard and will not be elaborated further.

[0089] In step S307, the corrected first sediment particle size photo is recognized based on the pre-trained sediment recognition model to obtain the first riverbed sediment recognition information.

[0090] It should be noted that, in some embodiments, the pre-trained sediment recognition model is a recognition model that takes the sediment particle size photo as the input and the riverbed sediment recognition information as the output.

[0091] Optionally, in some embodiments, the pre-trained sediment recognition model is a sediment recognition model obtained by training the U-Net model.

[0092] In step S308, based on the first riverbed sediment recognition information and the first picture scale information, the underwater riverbed sediment gradation information is obtained.

[0093] In an embodiment of the present disclosure, step S308 can be implemented in any one of the embodiments of the present disclosure. The embodiments of the present disclosure do not limit this and will not be elaborated further.

[0094] In an embodiment of the present disclosure, first world coordinate information and first image coordinate information are obtained; based on the first world coordinate information and the first image coordinate information, a first direct linear transformation formula set is solved to obtain first distortion parameters; based on the first distortion parameters, a first sediment particle size photo is corrected to obtain a corrected first sediment particle size photo; according to the side length information of the square bottom surface of the cuboid frame in the device for measuring the sediment particle size of the underwater riverbed and the corrected first sediment particle size photo, first picture scale information is determined; based on a pre-trained sediment recognition model, the corrected first sediment particle size photo is recognized to obtain first riverbed sediment recognition information, which can improve the reliability and accuracy of the first riverbed sediment recognition information, so as to further improve the accuracy of the sediment gradation information of the underwater riverbed.

[0095] Figure 4 It is a flowchart of a method for measuring the sediment particle size of an underwater riverbed according to an embodiment of the present disclosure. As Figure 4 shown, the method for measuring the sediment particle size of the underwater riverbed includes, but is not limited to, the following steps:

[0096] In step S401, multiple first riverbed sediment photos are obtained.

[0097] In an embodiment of the present disclosure, step S401 can be implemented in any one of the embodiments of the present disclosure. The embodiments of the present disclosure do not limit this and will not be elaborated further.

[0098] In step S402, a median averaging method is used to perform noise reduction processing on the multiple first riverbed sediment photos to obtain a first sediment particle size photo.

[0099] In an embodiment of the present disclosure, step S402 can be implemented in any one of the embodiments of the present disclosure. The embodiments of the present disclosure do not limit this and will not be elaborated further.

[0100] In step S403, based on an image distortion correction algorithm, the first sediment particle size photo is corrected to obtain a corrected first sediment particle size photo.

[0101] In an embodiment of the present disclosure, step S403 can be implemented in any one of the embodiments of the present disclosure. The embodiments of the present disclosure do not limit this and will not be elaborated further.

[0102] In step S404, based on the side length information of the square bottom surface of the cuboid frame in the device for measuring the sediment particle size of the underwater riverbed and the first sediment particle size photo after correction processing, the first picture scale information is determined.

[0103] In an embodiment of the present disclosure, step S404 can be implemented in any one of the embodiments of the present disclosure. The embodiments of the present disclosure do not limit this and will not be elaborated further.

[0104] In step S405, the first riverbed sediment identification information is identified from the first sediment particle size photo after correction processing.

[0105] It should be noted that, in some embodiments, the first riverbed sediment identification information includes the shape information of each of the multiple first sediment particles.

[0106] In step S406, for each of the multiple first sediment particles, based on the first picture scale information, the shape information of the first sediment particle is scale-transformed to obtain the particle size information of the first sediment particle.

[0107] Optionally, in some embodiments, the shape information of the first sediment particle includes, but is not limited to, the diameter information of the first sediment particle; for each of the multiple first sediment particles, based on the first picture scale information, the diameter information of the first sediment particle is scale-transformed to obtain the particle size information of the first sediment particle.

[0108] Exemplarily, the first picture scale information is 1 cm; the diameter information of the first sediment particle is 1 pixel; based on the first picture scale information, the diameter information of the first sediment particle is scale-transformed to obtain the particle size information of the first sediment particle as 1 cm.

[0109] In step S407, statistical analysis is performed on the particle size information of each of the multiple first sediment particles to obtain the sediment grading information of the underwater riverbed.

[0110] It should be noted that, in some embodiments, the sediment grading information of the underwater riverbed includes, but is not limited to, the particle size distribution information of the multiple first sediment particles.

[0111] Optionally, in some embodiments, the particle size ranges of the multiple first sediment particles are determined; based on the particle size ranges of the multiple first sediment particles, the particle size information of the multiple first sediment particles is statistically analyzed to obtain the particle size distribution information of the multiple first sediment particles.

[0112] In an embodiment of the present disclosure, for each of a plurality of first sediment particles, the shape information of the first sediment particle is subjected to scale transformation based on the first picture scale information to obtain the particle size information of the first sediment particle; statistical analysis is performed on the particle size information of each of the plurality of first sediment particles to obtain the sediment gradation information of the underwater riverbed, which can further improve the accuracy of the sediment gradation information of the underwater riverbed.

[0113] Figure 5 is a block diagram of a device for measuring the particle size of sediment in an underwater riverbed provided according to an embodiment of the present disclosure. As Figure 5 shown, the device for measuring the particle size of sediment in an underwater riverbed includes, but is not limited to: an acquisition module 501, a noise reduction module 502, a correction module 503, a determination module 504, and an identification module 505.

[0114] Among them, the acquisition module 501 is used to acquire multiple first riverbed sediment photos; the multiple first riverbed sediment photos are obtained by shooting in a continuous shooting mode by an underwater camera module in the device for measuring the particle size of sediment in an underwater riverbed;

[0115] The noise reduction module 502 is used to perform noise reduction processing on the multiple first riverbed sediment photos by using a median averaging method to obtain a first sediment particle size photo;

[0116] The correction module 503 is used to correct the first sediment particle size photo based on an image distortion correction algorithm to obtain a corrected first sediment particle size photo;

[0117] The determination module 504 is used to determine the first picture scale information according to the side length information of the square bottom surface of the cuboid frame in the device for measuring the particle size of sediment in an underwater riverbed and the corrected first sediment particle size photo; the first picture scale information includes the riverbed surface size information corresponding to each pixel in the corrected first sediment particle size photo;

[0118] The identification module 505 is used to identify the first riverbed sediment identification information from the corrected first sediment particle size photo, and obtain the sediment gradation information of the underwater riverbed according to the first riverbed sediment identification information and the first picture scale information.

[0119] As an example, the noise reduction module 502 is further used to perform preprocessing on each of the multiple first riverbed sediment photos to obtain multiple preprocessed first riverbed sediment photos; for each of the multiple preprocessed first riverbed sediment photos, noise reduction processing is performed on the preprocessed first riverbed sediment photo based on a median filtering algorithm to obtain a first riverbed sediment photo after noise reduction processing; pixel-level image fusion processing is performed on the multiple first riverbed sediment photos after noise reduction processing to obtain a first sediment particle size photo.

[0120] As an example, the correction module 503 is further configured to obtain first world coordinate information and first image coordinate information; the first world coordinate information is the world coordinate information of the four corners of the square bottom surface of the cuboid frame in the device for measuring the sediment particle size of the underwater riverbed; the first image coordinate information is the image coordinate information of the four corners of the square bottom surface of the cuboid frame in the device for measuring the sediment particle size of the underwater riverbed; solve the first direct linear transformation formula group based on the first world coordinate information and the first image coordinate information to obtain first distortion parameters; the first direct linear transformation formula group is a formula group for converting between the first world coordinate information and the first image coordinate information; correct the first sediment particle size photo based on the first distortion parameters to obtain the corrected first sediment particle size photo.

[0121] As an example, the recognition module 505 is further configured to recognize the corrected first sediment particle size photo based on a pre-trained sediment recognition model to obtain first riverbed sediment recognition information; the pre-trained sediment recognition model is a recognition model that takes a sediment particle size photo as input and outputs riverbed sediment recognition information.

[0122] As an example, the first riverbed sediment recognition information in the recognition module 505 includes the shape information of each first sediment particle among a plurality of first sediment particles. The recognition module 505 is further configured to, for each first sediment particle among the plurality of first sediment particles, perform scale transformation on the shape information of the first sediment particle based on the first picture scale information to obtain the particle size information of the first sediment particle; perform statistical analysis on the particle size information of each first sediment particle among the plurality of first sediment particles to obtain the sediment grading information of the underwater riverbed.

[0123] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0124] Figure 6 is a block diagram of a device for measuring the sediment particle size of an underwater riverbed according to an embodiment of the present disclosure. As Figure 6 shown, the device for measuring the sediment particle size of the underwater riverbed includes, but is not limited to, a cuboid frame 610, a camera connection module 620, an underwater camera module 630, and a processing module 640.

[0125] Among them, the cuboid frame 610 is used to fix the position of the device for measuring the sediment particle size of the underwater riverbed;

[0126] The camera connection module 620 is connected to the cuboid frame 610 and is used to fix the underwater camera module on the cuboid frame;

[0127] An underwater camera module 630, connected to the camera connection module 620, is configured to photograph the underwater sediment at the location of the device for measuring the particle size of underwater riverbed sediment;

[0128] A processing module 640 is configured to execute the method for measuring the particle size of underwater riverbed sediment provided in the embodiments of the present disclosure.

[0129] Optionally, in some embodiments, the bottom surface of the rectangular parallelepiped frame 610 is square. Exemplarily, based on the side length information of the square bottom surface of the rectangular parallelepiped frame 610 in the device for measuring the particle size of underwater riverbed sediment and the first sediment particle size photo after calibration processing, the first picture scale information is determined.

[0130] Optionally, in some embodiments, based on the water depth information at the location of the device for measuring the particle size of underwater riverbed sediment, the size information of the rectangular parallelepiped frame 610 is determined. Exemplarily, the water depth information at the location of the device for measuring the particle size of underwater riverbed sediment is 40 cm; the height information of the rectangular parallelepiped frame 610 can be 50 cm.

[0131] Optionally, in some embodiments, the underwater camera module 630 in the device for measuring the particle size of underwater riverbed sediment takes multiple first riverbed sediment photos in a burst mode.

[0132] In some embodiments, the underwater camera module 630 in the device for measuring the particle size of underwater riverbed sediment in the embodiments of the present disclosure further includes: an underwater camera, a waterproof housing, and an underwater fill light array.

[0133] Among them, the underwater camera is configured to photograph the underwater sediment at the location of the device for measuring the particle size of underwater riverbed sediment;

[0134] The waterproof housing is configured to provide waterproof protection for the underwater camera;

[0135] The underwater fill light array is configured to provide illumination for the underwater camera to improve the imaging quality of the photo.

[0136] In some embodiments, as Figure 7 shown, on the basis of what is shown in Figure 6 shown, the camera connection module 620 in the device for measuring the particle size of underwater riverbed sediment in the embodiments of the present disclosure further includes: a horizontal connecting rod 621, an adjustable connecting member 622, and a telescopic camera fixing rod 623.

[0137] Among them, the horizontal connecting rod 621 is connected to the top of the rectangular parallelepiped frame 610;

[0138] The adjustable connecting member 622 is connected to the horizontal connecting rod 621 and is configured to adjust the shooting angle of the underwater camera module 630;

[0139] The telescopic camera fixing rod 623 is connected to the adjustable connecting member 622 and the underwater camera module 630, and adjusts the vertical position of the underwater camera module 630 according to the water depth information of the position where the device for measuring the sediment particle size of the underwater riverbed is located, so as to ensure that the underwater camera module 630 is in the underwater environment.

[0140] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a storage medium, and a computer program product.

[0141] Figure 8 It is a block diagram of an electronic device provided according to an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices.

[0142] Optionally, in some embodiments, the electronic device may be a processing module in the device for measuring the sediment particle size of the underwater riverbed provided according to an embodiment of the present disclosure. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0143] As Figure 8 shown, the electronic device includes: one or more processors 801, a memory 802, and an interface for connecting various components, including a high-speed interface and a low-speed interface. Each component is interconnected using different buses and can be installed on a common motherboard or in other ways as needed. The processor can process instructions executed within the electronic device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (such as, as a server array, a set of blade servers, or a multi-processor system). Figure 8 In

[0144] The memory 802 is the non-transitory computer-readable storage medium provided by the present disclosure. Among them, the memory stores instructions executable by at least one processor, so that the at least one processor executes the method for measuring the sediment particle size of the underwater riverbed provided by the present disclosure. The non-transitory computer-readable storage medium of the present disclosure stores computer instructions, and these computer instructions are used to cause a computer to execute the method for measuring the sediment particle size of the underwater riverbed provided by the present disclosure.

[0145] As a non-transitory computer-readable storage medium, the memory 802 can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the method for measuring the sediment particle size of the underwater riverbed in the embodiments of the present disclosure (for example, the acquisition module 501, noise reduction module 502, correction module 503, determination module 504, and recognition module 505 shown in the appendix). Figure 5 By running the non-transitory software programs, instructions, and modules stored in the memory 802, the processor 801 executes various functional applications and data processing of the server, that is, implements the method for measuring the sediment particle size of the underwater riverbed in the above method embodiments.

[0146] The memory 802 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the electronic device. In addition, the memory 802 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 802 may optionally include a memory remotely provided with respect to the processor 801, and these remote memories can be connected to the electronic device through a network. Examples of the above networks include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0147] The electronic device may further include: an input device 803 and an output device 804. The processor 801, the memory 802, the input device 803, and the output device 804 may be connected through a bus or other means, Figure 8 taking the connection through the bus as an example.

[0148] The input device 803 can receive input digital or character information and generate key signal inputs related to the user settings and function controls of the electronic device, such as input devices like touchscreens, keypads, mice, trackpads, touchpads, pointing sticks, one or more mouse buttons, trackballs, joysticks, etc. The output device 804 can include display devices, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibration motors), etc. The display device can include, but is not limited to, liquid crystal displays (LCDs), light-emitting diode (LED) displays, and plasma displays. In some embodiments, the display device can be a touchscreen.

[0149] Optionally, in some embodiments, a computer program product is also provided, including a computer program which, when executed by one or more processors 801, can implement the method for measuring the sediment particle size of the underwater riverbed provided by the embodiments of the present disclosure.

[0150] The various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (application-specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0151] These computing programs (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and can be implemented using high-level procedural and / or object-oriented programming languages and / or assembly / machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or apparatus (e.g., disks, optical disks, memories, programmable logic devices (PLDs)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0152] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball), by which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input received from the user can be in any form (including acoustic input, voice input, or tactile input).

[0153] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), the Internet, and blockchain network.

[0154] A computer system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services ("Virtual Private Server", or simply "VPS"). The server can also be a server of a distributed system, or a server combined with blockchain.

[0155] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and no limitation is made herein.

[0156] The above specific embodiments do not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A method for measuring the particle size of underwater riverbed sediment, characterized in that: The following steps are involved: Acquire a plurality of first riverbed sediment photos; the plurality of first riverbed sediment photos are obtained by taking the photos in a continuous shooting mode using an underwater camera module in a device for measuring the particle size of underwater riverbed sediment; Using a median average method to perform noise reduction processing on the plurality of first riverbed sediment photos to obtain a first sediment particle size photo; Correcting the first sediment particle size photo based on an image distortion correction algorithm to obtain a corrected first sediment particle size photo; Determine first image scale information according to the side length information of the square bottom surface of the rectangular parallelepiped frame in the device for measuring the particle size of underwater riverbed sediment and the first sediment particle size photo after correction; the first image scale information includes riverbed surface size information corresponding to each pixel in the first sediment particle size photo after correction; First riverbed sediment identification information is identified from the corrected first sediment particle size photograph, and underwater riverbed sediment gradation information is obtained based on the first riverbed sediment identification information and the first image scale information.

2. The method according to claim 1, characterized in that The method of using the median average method to perform noise reduction processing on the plurality of first riverbed sediment photos to obtain the first sediment particle size photo includes: Preprocessing each of the plurality of first riverbed sediment photos to obtain a plurality of preprocessed first riverbed sediment photos; For each of the plurality of pre-processed first riverbed sediment photos, performing noise reduction processing on the pre-processed first riverbed sediment photo based on a median filtering algorithm to obtain a first riverbed sediment photo after noise reduction processing; The plurality of first riverbed sediment photos that have undergone noise reduction processing are subjected to pixel-level image fusion processing to obtain the first sediment particle size photos.

3. The method according to claim 1, characterized in that The step of correcting the first sediment particle size photo based on an image distortion correction algorithm to obtain the corrected first sediment particle size photo includes: Acquire first world coordinate information and first image coordinate information; the first world coordinate information is the world coordinate information of the four corners of the square bottom surface of the rectangular parallelepiped frame in the device for measuring the particle size of underwater riverbed sediment; the first image coordinate information is the image coordinate information of the four corners of the square bottom surface of the rectangular parallelepiped frame in the device for measuring the particle size of underwater riverbed sediment; Solving a first direct linear transformation formula group based on the first world coordinate information and the first image coordinate information to obtain a first distortion parameter; the first direct linear transformation formula group is a formula group used for transformation between the first world coordinate information and the first image coordinate information; The first sediment particle size photograph is corrected based on the first distortion parameter to obtain a corrected first sediment particle size photograph.

4. The method according to claim 1, characterized in that: The step of identifying the first riverbed sediment identification information from the first sediment particle size photograph after the correction process includes: The first sediment particle size photo after correction is identified based on a pre-trained sediment identification model to obtain the first riverbed sediment identification information; the pre-trained sediment identification model is a recognition model that takes the sediment particle size photo as input and takes the riverbed sediment identification information as output.

5. The method according to claim 1, characterized in that The first riverbed sediment identification information includes shape information of each of the first sediment particles in the plurality of first sediment particles; the underwater riverbed sediment gradation information is obtained according to the first riverbed sediment identification information and the first image scale information, including: For each of the plurality of first sediment particles, scale transform the shape information of the first sediment particle based on the first image scale information to obtain particle size information of the first sediment particle; Statistical analysis is performed on the particle size information of each of the plurality of first sediment particles to obtain the sediment gradation information of the underwater riverbed.

6. The method according to any one of claims 1 to 5, characterized in that: The device for measuring the particle size of underwater riverbed sediment comprises: A rectangular parallelepiped frame, used to fix the position of the device for measuring the particle size of underwater riverbed sediment; A camera connection module, connected to the rectangular parallelepiped frame, and used to fix the underwater camera module on the rectangular parallelepiped frame; The underwater camera module is connected to the camera connection module and is used to photograph the underwater riverbed sediment at the location where the device for measuring the particle size of the underwater riverbed sediment is located.

7. The method according to claim 6, characterized in that The underwater camera module comprises: An underwater camera, used for photographing the underwater riverbed sediment at the location where the device for measuring the particle size of the underwater riverbed sediment is located; A waterproof housing, used to provide waterproof protection for the underwater camera; Underwater fill light array.

8. The method according to claim 6, characterized in that The camera connection module comprises: A transverse connecting rod connected to the top of the rectangular parallelepiped frame; An adjustable connecting piece, connected to the transverse connecting rod, for adjusting the shooting angle of the underwater camera module; A retractable camera fixing rod is connected to the adjustable connecting piece and the underwater camera module, and adjusts the upper and lower positions of the underwater camera module according to the water depth information of the location of the device for measuring the particle size of underwater riverbed sediment to ensure that the underwater camera module is in an underwater environment.

9. A device for measuring the particle size of underwater riverbed sediment, characterized in that: include: A rectangular parallelepiped frame, used to fix the position of the device for measuring the particle size of underwater riverbed sediment; A camera connection module connected to the top of the rectangular frame and used to fix the underwater camera module on the rectangular frame; An underwater camera module, connected to the camera connection module, for photographing the underwater sediment at the location of the device for measuring the particle size of the underwater riverbed sediment; The processing module is configured to execute the method for measuring the particle size of underwater riverbed sediment as described in any one of claims 1 to 8.

10. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 8.

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