Flow velocity measurement method, system, device and storage medium based on drone

Abstract

The present application provides a flow velocity determination method, system, equipment and storage medium based on drones, which relates to the field of drone technology. The method includes: combining the terrain data and flood discharge data of the upstream river channel of the hydropower station to determine the operation area of ​​the drone; establishing a three-dimensional coordinate system according to the terrain data, and determining the flow distribution of the water flow in the operation area according to the flood discharge data; setting multiple measurement sections in the operation area according to the three-dimensional coordinate system, and setting measurement points on each measurement section, connecting the measurement points, and generating an initial flight path; adjusting the initial flight path according to the measurement accuracy requirements to obtain a flight path to be adjusted; adjusting the flight path to be adjusted according to meteorological data to obtain a target flight path, and sending the target flight path to the drone, so that the drone can measure the flow velocity of the operation area according to the target flight path. The technical effect of the present application is: improving the accuracy of measurement data.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a flow velocity measurement method, system, device and storage medium based on drones. Background Art

[0002] The flow velocity measurement of the upstream river channel of a hydropower station is of great significance for the safe operation and flood discharge scheduling of the hydropower station. Accurately grasping the flow velocity distribution characteristics of the upstream river channel can not only provide data support for flood discharge scheduling, but also timely detect abnormal flow patterns and prevent hydraulic accidents. However, since the upstream river channel of a hydropower station often has complex terrain and turbulent water flow during flood discharge, traditional fixed-point or ship-borne flow velocity measurement methods are difficult to fully cover the measurement area, and there are also safety hazards in the measurement process.

[0003] At present, there is a technical solution that uses drones equipped with flow velocity radar to measure river flow velocity. This solution achieves non-contact measurement of river flow velocity by pre-planning the flight path of the drone, which improves the measurement efficiency and safety to a certain extent. However, the above solution often uses a simple equidistant point distribution method when planning the flight path, and cannot be dynamically adjusted according to the actual measurement environment, resulting in insufficient accuracy of the measurement data. Summary of the invention

[0004] The present application provides a flow velocity measurement method, system, device and storage medium based on a drone, which are used to improve the accuracy of measurement data.

[0005] In the first aspect, the present application provides a flow velocity measurement method based on an unmanned aerial vehicle, the method comprising: obtaining terrain data and flood discharge flow data of a river channel upstream of a hydropower station, and determining an operating area of ​​the unmanned aerial vehicle in combination with the terrain data and the flood discharge flow data; wherein the unmanned aerial vehicle is equipped with a stable gimbal and a flow velocity measurement radar; establishing a three-dimensional coordinate system according to the terrain data, and determining the flow state distribution of water flow in the operating area according to the flood discharge flow data; setting a plurality of measurement sections in the operating area according to the three-dimensional coordinate system, and setting measurement points on each of the measurement sections according to the flow state distribution, connecting the measurement points on each of the measurement sections, and generating an initial flight path; obtaining the measurement accuracy requirements of the flow velocity measurement radar, adjusting the initial flight path according to the measurement accuracy requirements, and obtaining a flight path to be adjusted; obtaining meteorological data of the operating area, adjusting the flight path to be adjusted according to the meteorological data, and obtaining a target flight path, and sending the target flight path to the unmanned aerial vehicle so that the unmanned aerial vehicle performs flow velocity measurement on the operating area according to the target flight path.

[0006] By adopting the above technical solution, the operation area is determined by obtaining terrain data and flood discharge data, a three-dimensional coordinate system is established and the flow distribution is analyzed, so that the division of the measurement area is more targeted; the measurement points are arranged in combination with the flow distribution characteristics to ensure the rationality of the measurement location; the flight path is optimized according to the measurement accuracy requirements of the velocity measurement radar to ensure the accuracy of the measurement data; and the flight path is dynamically adjusted by introducing meteorological data to improve the stability and reliability of the measurement process. This multi-level optimization mechanism not only improves the overall accuracy of velocity measurement, but also enhances the adaptability of the measurement solution to complex environments, provides technical support for the accurate acquisition of velocity distribution characteristics in the upstream river of the hydropower station, and improves the accuracy of the measurement data.

[0007] Optionally, the combining of the terrain data and the flood discharge flow data to determine the operating area of ​​the UAV includes: determining the riverbed contour line and the riverbank boundary line of the river channel upstream of the hydropower station according to the terrain data; determining the water surface line position of the river channel upstream of the hydropower station according to the flood discharge flow data; determining the area enclosed by the riverbed contour line, the riverbank boundary line and the water surface line position as the initial operating area; and adjusting the initial operating area according to the measurement accuracy and measurement range of the flow velocity measuring radar to obtain the operating area of ​​the UAV.

[0008] By adopting the above technical solution, the riverbed contour line and riverbank boundary line are first determined based on the terrain data, and the water surface line position is determined in combination with the flood discharge data, accurately defining the spatial scope of the initial operation area; then the initial operation area is optimized and adjusted according to the measurement accuracy and measurement range of the velocity measurement radar to ensure that the operation area is always within the effective measurement range of the radar while meeting the measurement accuracy requirements. This step-by-step area determination method not only ensures the complete coverage of the measurement area, but also avoids the generation of blind spots and low-precision areas, improving the feasibility and measurement efficiency of velocity measurement.

[0009] Optionally, multiple measuring sections are set in the operating area according to the three-dimensional coordinate system, and measuring points are set on each of the measuring sections according to the flow distribution, including: establishing a horizontal plane in the three-dimensional coordinate system, and taking the projection of the horizontal plane and the operating area as the measuring plane; determining the main flow line along the water flow direction of the river channel upstream of the hydropower station in the measuring plane, and setting multiple measuring sections perpendicular to the main flow line in the three-dimensional coordinate system based on the main flow line; determining the width of each measuring section according to the position of the water surface line of the operating area at each measuring section; determining the measuring point density of each measuring section according to the flow distribution, and the measuring point density increases with the increase of the turbulence of the water flow; determining the measuring point spacing according to the width of each measuring section and the measuring point density, and setting measuring points on each measuring section according to the measuring point spacing in the three-dimensional coordinate system.

[0010] By adopting the above technical solution, the measurement plane is obtained by establishing a horizontal plane, and the vertical measurement section is set based on the mainstream line, ensuring that the spatial layout of the measurement section is scientific and reasonable; the width of each section is determined by the position of the water surface line to ensure complete coverage of the measurement range; at the same time, an adaptive measurement point density distribution method that is positively correlated with the turbulence of the water flow is adopted to encrypt the measurement point layout in the turbulent area, so that the measurement point distribution is more in line with the actual flow characteristics; finally, the specific measurement point location is determined according to the section width and measurement point density, realizing the refined control of the measurement point layout. This method of optimizing the measurement point layout based on flow characteristics not only improves the measurement accuracy of key areas, but also avoids the waste of measurement point resources, and improves the overall efficiency of flow velocity measurement.

[0011] Optionally, the measurement accuracy requirement includes a measurement distance requirement and a measurement angle requirement, and the initial flight path is adjusted according to the measurement accuracy requirement to obtain the flight path to be adjusted, including: determining the flight altitude of the UAV according to the measurement distance requirement; determining the direction finding angle of the flow velocity measurement radar according to the measurement angle requirement; and adjusting the initial flight path according to the flight altitude and the direction finding angle to obtain the flight path to be adjusted.

[0012] By adopting the above technical solution, the flight altitude of the UAV and the direction-finding angle of the radar are optimized and determined according to the measurement distance and measurement angle requirements of the velocity radar, and the initial flight path is adjusted accordingly to achieve the coordinated optimization of the measurement parameters. Through this multi-parameter adjustment mechanism based on the measurement accuracy requirements, it is ensured that the UAV always remains in the best measurement position, and the velocity radar is in the best working state, thereby effectively improving the accuracy and reliability of the measurement data.

[0013] Optionally, the meteorological data includes wind speed data and air pressure data, and the flight path to be adjusted is adjusted according to the meteorological data to obtain a target flight path, including: determining the flight attitude adjustment parameters and flight speed adjustment parameters of the UAV according to the wind speed data, and generating an anti-wind interference path; determining the flight altitude adjustment parameters and power compensation parameters of the UAV according to the air pressure data to form an air pressure compensation path; performing trajectory fusion of the anti-wind interference path and the air pressure compensation path to generate a compensated flight trajectory, and adjusting the flight path to be adjusted according to the compensated flight trajectory to obtain a target flight path.

[0014] By adopting the above technical solution, by analyzing wind speed data and air pressure data, the attitude speed compensation path for wind interference and the altitude power compensation path for air pressure changes are generated respectively, and the two compensation paths are merged to form the final compensated flight trajectory, thus achieving all-round optimization of the flight path to be adjusted. This adaptive path adjustment mechanism based on multi-dimensional meteorological data not only enhances the flight stability of the UAV in complex meteorological environments, but also ensures that the velocity measurement radar always maintains the best working state, thereby improving the reliability and accuracy of velocity measurement under severe weather conditions.

[0015] Optionally, adjusting the flight path to be adjusted according to the compensated flight trajectory to obtain a target flight path includes: determining a compensation amount according to the compensated flight trajectory, the compensation amount including a flight altitude compensation amount, a flight speed compensation amount and a flight attitude compensation amount; adjusting the flight altitude of the UAV in the flight path to be adjusted according to the flight altitude compensation amount; adjusting the flight speed of the UAV in the flight path to be adjusted according to the flight speed compensation amount; adjusting the pitch angle, roll angle and yaw angle of the UAV in the flight path to be adjusted according to the flight attitude compensation amount; and using the adjusted flight path to be adjusted as the target flight path.

[0016] By adopting the above technical solution, the compensation amount of the three dimensions of flight altitude, speed and attitude is determined by compensating the flight trajectory, and the flight parameters of the UAV in the flight path to be adjusted are finely adjusted in turn, realizing the coordinated optimization of key flight parameters such as flight altitude, flight speed, pitch angle, roll angle, yaw angle, etc. This systematic path adjustment method based on multi-dimensional compensation amount not only ensures the flight stability of the UAV in complex meteorological environments, but also ensures the dynamic balance of various flight parameters, thereby improving the controllability and measurement accuracy of the flow velocity measurement process.

[0017] Optionally, after adjusting the flight path to be adjusted according to the meteorological data to obtain the target flight path, it also includes: acquiring real-time measurement data of the flow velocity measuring radar, generating a flow velocity distribution thermogram according to the real-time measurement data, and superimposing the flow velocity distribution thermogram on the measurement plane in the three-dimensional coordinate system to mark the flow velocity abnormal area; if the flow velocity deviation value of the flow velocity abnormal area exceeds a preset threshold, inserting a new measurement section into the target flight path, and updating the measurement point density of the new measurement section according to the flow velocity distribution thermogram; regenerating a local flight path based on the updated measurement point density of the new measurement section, and performing trajectory splicing of the local flight path with the target flight path to obtain a final flight path; sending the final flight path to the UAV, and triggering the flow velocity measuring radar to start the high-frequency sampling mode to perform fixed-point remeasurement of the flow velocity abnormal area.

[0018] By adopting the above technical solution, the velocity distribution heat map is generated through real-time measurement data and superimposed on the measurement plane, realizing the dynamic identification of the velocity abnormal area; when the velocity deviation is found to exceed the preset threshold, the new measurement section is automatically inserted into the target flight path and the measurement point density is optimized, the local flight path is generated and spliced ​​with the original path, and the radar high-frequency sampling mode is triggered to perform fixed-point re-measurement. This adaptive measurement solution based on real-time data can not only detect and respond to abnormal flow areas in a timely manner, but also significantly improve the measurement accuracy and data reliability of the velocity abnormal area through dynamic adjustment of measurement density and accurate re-measurement of high-frequency sampling mode, realizing the intelligent configuration of measurement resources and optimization and improvement of measurement effect.

[0019] In a second aspect, the present application provides a flow velocity measurement system based on a drone, the system comprising: an acquisition module, a determination module, a generation module, a first adjustment module and a second adjustment module; wherein, The acquisition module is used to acquire the topographic data and flood discharge data of the upstream river channel of the hydropower station, and determine the operation area of ​​the UAV in combination with the topographic data and the flood discharge data; wherein the UAV is equipped with a stabilized gimbal and a flow rate measuring radar; the determination module is used to establish a three-dimensional coordinate system according to the topographic data, and determine the flow pattern distribution of the water flow in the operation area according to the flood discharge data; the generation module is used to set a plurality of measurement sections in the operation area according to the three-dimensional coordinate system, and set measurement points on each of the measurement sections according to the flow pattern distribution, connect the measurement points on each of the measurement sections, and generate an initial flight path; the first adjustment module is used to acquire the measurement accuracy requirements of the flow rate measuring radar, adjust the initial flight path according to the measurement accuracy requirements, and obtain the flight path to be adjusted; the second adjustment module is used to acquire the meteorological data of the operation area, adjust the flight path to be adjusted according to the meteorological data, obtain the target flight path, and send the target flight path to the UAV so that the UAV measures the flow rate of the operation area according to the target flight path.

[0020] In a third aspect, the present application provides an electronic device, adopting the following technical solution: comprising a processor, a memory, a user interface and a network interface, the memory being used to store instructions, the user interface and the network interface being used to communicate with other devices, and the processor being used to execute the instructions stored in the memory so that the electronic device executes a computer program such as any of the above-mentioned drone-based flow velocity measurement methods.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: storing a computer program that can be loaded by a processor and execute any of the above-mentioned drone-based flow velocity measurement methods.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: By obtaining terrain data and flood discharge data to determine the operating area, establishing a three-dimensional coordinate system and analyzing the flow distribution, the division of the measurement area is more targeted; the measurement points are arranged in combination with the flow distribution characteristics to ensure the rationality of the measurement location; the flight path is optimized according to the measurement accuracy requirements of the velocity measurement radar to ensure the accuracy of the measurement data; and the flight path is dynamically adjusted by introducing meteorological data to improve the stability and reliability of the measurement process. This multi-level optimization mechanism not only improves the overall accuracy of velocity measurement, but also enhances the adaptability of the measurement scheme to complex environments, providing technical support for the accurate acquisition of velocity distribution characteristics in the upstream river of the hydropower station and improving the accuracy of the measurement data. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of a flow velocity measurement method based on a drone provided in an embodiment of the present application; Figure 2 It is a structural schematic diagram of a flow velocity measurement system based on a drone provided in an embodiment of the present application; Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0024] Description of reference numerals: 1000, electronic device; 1001, processor; 1002, communication bus; 1003, user interface; 1004, network interface; 1005, memory. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0026] In the description of the embodiments of the present application, words such as "illustrative", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "illustrative", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "illustrative", "for example" or "for example" is intended to present related concepts in a concrete way.

[0027] Figure 1 FIG. 1 is a flow chart of a method for measuring flow velocity based on a drone provided in an embodiment of the present application. Figure 1As shown, the method includes S101-S105: S101, obtaining the topographic data and flood discharge flow data of the river channel upstream of the hydropower station, and determining the operation area of ​​the UAV by combining the topographic data and the flood discharge flow data; wherein the UAV is equipped with a stabilized gimbal and a flow rate measuring radar.

[0028] In the specific implementation, it is first necessary to obtain the topographic data and flood discharge data of the upstream river of the hydropower station. Among them, the topographic data includes spatial information such as riverbed topography and riverbank topography, which can be collected by surveying and mapping equipment; the flood discharge data includes hydrological information such as the flow size and flood discharge time of the hydropower station's flood discharge outlet, which can be obtained from the hydropower station operation control system. The purpose of obtaining these basic data is to accurately define the scope of the drone's operating area and provide a basis for subsequent measurement work.

[0029] Based on the acquired topographic data, the spatial distribution of the riverbed contour line and the riverbank boundary line can be determined. The riverbed contour line refers to the boundary line where the riverbed contacts the water body, and the riverbank boundary line refers to the maximum range line where the riverbank and the water body may contact. At the same time, the water surface line position under different discharge conditions can be calculated based on the flood discharge data, that is, the actual contact line between the water body and the atmosphere. The area enclosed by the riverbed contour line, the riverbank boundary line and the water surface line position is determined as the initial operation area.

[0030] The drone in this embodiment is equipped with a stabilized gimbal and a velocity measurement radar. Among them, the stabilized gimbal is used to maintain the stability of the velocity measurement radar and ensure the measurement accuracy; the velocity measurement radar has a specific measurement accuracy and measurement range. Therefore, it is necessary to adjust the initial operating area according to the measurement accuracy and measurement range of the velocity measurement radar. Specifically, if some parts of the initial operating area exceed the effective measurement range of the velocity measurement radar, these parts need to be removed; if the water flow conditions in certain areas may affect the measurement accuracy, these areas need to be marked. Through this adjustment, an operating area suitable for the drone to measure the velocity is finally obtained.

[0031] Based on the above embodiment, as an optional implementation, in S101, combining terrain data and flood discharge data to determine the operation area of ​​the drone specifically includes S11-S14: S11, determining the riverbed contour line and river bank boundary line of the river channel upstream of the hydropower station based on the terrain data.

[0032] In order to more accurately determine the operating area of ​​the drone, it is necessary to conduct systematic analysis and demarcation through multiple steps. First, based on the acquired terrain data, a terrain model of the river channel upstream of the hydropower station is constructed using three-dimensional terrain modeling technology. By analyzing the terrain model, the riverbed contour line and riverbank boundary line are extracted. Among them, the riverbed contour line refers to the boundary line where the riverbed contacts the water body, which is determined by identifying the sudden change position of the terrain elevation; the riverbank boundary line refers to the maximum range line where the riverbank and the water body may contact, which is demarcated by analyzing the characteristics of the riverbank slope change. The determination of these boundary lines provides spatial range constraints for the subsequent division of the operating area.

[0033] S12, determining the water surface position of the river channel upstream of the hydropower station according to the flood discharge data.

[0034] Next, in order to determine the water surface line position of the upstream river channel of the hydropower station, it is first necessary to obtain the flood discharge data of the hydropower station, including the flow value of each discharge orifice and the gate opening data. Based on these data, combined with the deployed upstream water level observation sections, the measured water level data of each observation section are obtained. The water level observation section is usually set at the characteristic position of the river channel, such as the key position where the river channel turns and the section shape changes.

[0035] After obtaining the water level data of each observation section, the water level value between the observation sections is determined by linear interpolation method. Specifically, the river between two adjacent observation sections is divided into several equal sections. It is assumed that the water level changes linearly between adjacent observation sections, and the water level value of each segment point is calculated accordingly. All water point points are connected in sequence on the plane map to obtain the complete water surface line position.

[0036] S13, determining the area enclosed by the riverbed contour line, the river bank boundary line and the water surface line position as the initial operation area.

[0037] The determined riverbed contour, riverbank boundary and water surface line positions are used as boundaries to construct a closed area outline, and the area enclosed by the outline is the initial operation area. The initial operation area represents the entire range where flow velocity measurement may be required in theory. However, considering the actual performance limitations of the flow velocity measurement radar, the initial operation area needs to be further adjusted.

[0038] S14, adjusting the initial operation area according to the measurement accuracy and measurement range of the flow velocity measurement radar to obtain the operation area of ​​the UAV.

[0039] According to the technical parameters of the velocity measurement radar, its measurement accuracy and measurement range information are extracted. The measurement accuracy includes the minimum resolution and measurement error requirements of the velocity measurement; the measurement range includes the effective measurement distance and the measurement angle range. Based on these parameters, the initial operation area is optimized and adjusted. Specifically, first, the area beyond the effective measurement distance of the radar is eliminated; secondly, according to the measurement angle range, the effective coverage range of the radar at different heights is determined, and the edge areas where effective measurement cannot be achieved are eliminated; finally, considering the measurement accuracy requirements, the areas with more turbulent water flow are marked as key areas, and these areas require a more dense measurement point layout in subsequent measurements.

[0040] S102, establishing a three-dimensional coordinate system according to the terrain data, and determining the flow distribution of water flow in the operation area according to the flood discharge data.

[0041] In order to accurately locate the measurement position of the drone and analyze the water flow characteristics, a standardized spatial reference system needs to be established. Specifically, based on the acquired terrain data, the center position of the hydropower station's flood discharge outlet is selected as the origin to establish a rectangular coordinate system. Among them, the X-axis is along the mainstream direction of the river, the Y-axis is perpendicular to the mainstream direction of the river, and the Z-axis is vertically upward, thereby constructing a complete three-dimensional coordinate system. The establishment of this coordinate system enables the subsequent measurement point layout and flight path planning to be carried out in a unified spatial reference framework, ensuring the accuracy of spatial positioning.

[0042] After determining the spatial reference system, it is necessary to analyze the water flow characteristics in the operating area. Based on the flood discharge data, a hydrodynamic model is used to simulate and calculate the water flow in the operating area. By solving the continuity equation and momentum equation, the flow distribution characteristics of the water flow in the operating area can be obtained. The flow distribution here refers to the spatial distribution law of hydrodynamic characteristics such as the flow velocity, flow direction change, and turbulence intensity of the water flow. Specifically, in the area near the flood discharge outlet, the flow state is more complicated due to the high water flow velocity and strong turbulence; while in the area far away from the flood discharge outlet, the water flow gradually stabilizes and the flow state is relatively simple.

[0043] In order to express the flow distribution characteristics more intuitively, a flow distribution map can be generated in the established three-dimensional coordinate system. The distribution map represents the magnitude of the water flow velocity through different color levels, the direction of the water flow through arrows, and the turbulence intensity through contour lines. This visual expression method helps to identify key characteristic areas of the water flow, such as high-speed flow areas, backflow areas, and turbulent areas.

[0044] S103, setting a plurality of measurement sections in the operation area according to the three-dimensional coordinate system, setting measurement points on each measurement section according to the flow distribution, connecting the measurement points on each measurement section, and generating an initial flight path.

[0045] In order to systematically obtain the flow velocity data in the working area, it is necessary to scientifically arrange the measurement sections and measurement points and plan the initial flight path of the drone. First, a horizontal plane is constructed in the established three-dimensional coordinate system, which is perpendicular to the Z axis and projects onto the working area. This projection area is the measurement plane, which is used for preliminary planning of the measurement section in two-dimensional space.

[0046] In the measurement plane, it is necessary to determine the mainstream line of the water flow. The mainstream line refers to the line connecting the points with the highest water flow velocity in the river channel, which is usually basically consistent with the direction of the riverbed. By analyzing the flow distribution in the operation area, the maximum flow velocity points at each section can be identified, and these points can be smoothly connected to obtain the mainstream line. Based on the mainstream line, multiple measurement sections are set perpendicular to the mainstream line in the three-dimensional coordinate system. The spacing of the measurement sections needs to take into account the changing characteristics of the river channel morphology, and the section layout should be appropriately increased in places where the river channel morphology changes dramatically.

[0047] For each measuring section, its width must be determined first. The width of the measuring section is determined by the position of the water surface line at the section, that is, the distance from the water surface line on the left bank to the water surface line on the right bank. After determining the width of the section, measuring points need to be arranged on the section. The density of the measuring points is directly related to the turbulence of the water flow. This is because the greater the turbulence, the more significant the spatial variation of the water flow characteristics, and more dense measuring points are required to accurately capture the changing characteristics of the flow velocity. Specifically, the measuring point density coefficient of each measuring section is determined based on the turbulence of the water flow obtained from the aforementioned flow distribution analysis. The larger the measuring point density coefficient, the more measuring points are arranged within the unit width.

[0048] After determining the density of measuring points, the measuring point spacing can be calculated in combination with the width of the measuring section. The measuring point spacing is equal to the section width divided by the number of measuring points in the section. According to the calculated measuring point spacing, the measuring points are evenly arranged along each measuring section in the three-dimensional coordinate system. It should be noted that in addition to the plane coordinates, the spatial position of the measuring point also needs to consider the elevation value to ensure that the measuring point is located at an appropriate height above the actual water surface to ensure measurement accuracy.

[0049] After completing the layout of the measurement sections and measurement points, it is necessary to plan the initial flight path of the drone. By connecting the measurement points on adjacent measurement sections in a specific order, a continuous flight path can be generated. In order to improve the measurement efficiency, the "S"-shaped crossing method is used when connecting the paths, that is, the flight direction is changed alternately between adjacent sections to avoid invalid round trips. At the same time, the smoothness of the path needs to be considered when connecting the measurement points to avoid sharp turns to ensure the stability of the drone's flight.

[0050] Based on the above embodiment, as an optional implementation, in S103, multiple measurement sections are set in the operation area according to the three-dimensional coordinate system, and measurement points are set on each measurement section according to the flow distribution, specifically including S31-S35: S31, establishing a horizontal plane in the three-dimensional coordinate system, and using the projection of the horizontal plane and the working area as a measurement plane.

[0051] In order to scientifically arrange the measurement sections and measuring points, it is necessary to carry out systematic planning in three-dimensional space. First, a horizontal plane is established in the three-dimensional coordinate system, and the elevation of the horizontal plane is the average water level elevation in the working area. The projection of the working area on the horizontal plane is used as the measurement plane, which can simplify the subsequent measurement point layout work and ensure the verticality of the measurement section.

[0052] S32, determining a mainstream line along the water flow direction of the river channel upstream of the hydropower station in the measurement plane, and setting a plurality of measurement sections perpendicular to the mainstream line in a three-dimensional coordinate system based on the mainstream line.

[0053] After determining the measurement plane, it is necessary to identify the main flow path of the water flow. By analyzing the movement trajectory of floating objects on the water surface or using the surface velocity distribution observed on site, the position of the mainstream line is determined within the measurement plane. The mainstream line refers to the line with the highest water velocity in the river channel, which is usually located near the mid-stream line of the river channel. Taking the mainstream line as the reference, multiple measurement sections perpendicular to the mainstream line are set in the three-dimensional coordinate system. The spacing of the measurement sections is determined according to the changes in the river channel morphology, and is appropriately increased in areas where the water flow changes drastically, such as river channel bends, contractions or expansions. Generally, the section spacing is 0.5-1.0 times the width of the river channel.

[0054] S33, determining the width of each measuring section according to the water surface line position of the operation area at each measuring section.

[0055] For each measurement section, its specific width needs to be determined. By extracting the intersection of the section and the water surface line of the operation area, the left and right bank endpoints of the section are obtained. The distance between the two endpoints is the width of the measurement section. The three-dimensional coordinates of these endpoints will serve as boundary constraints for the subsequent measurement point layout.

[0056] S34, determining the density of measuring points of each measuring section according to the flow distribution, and the density of measuring points increases as the turbulence of the water flow increases.

[0057] The determination of the measurement point density needs to take into account the flow distribution characteristics. By analyzing phenomena such as ripples and vortices on the water surface, the spatial distribution of the turbulence of the water flow can be identified. In areas with turbulent water flow, due to the drastic changes in flow velocity, the density of measurement points needs to be increased to accurately capture the flow velocity distribution characteristics. Specifically, the flow state is divided into three levels: gentle, medium and turbulent, corresponding to low, medium and high measurement point densities respectively. For example, in gentle areas, the measurement point density can be set to 2-3 / river width; in medium areas, the measurement point density is 3-4 / river width; in turbulent areas, the measurement point density can be increased to 4-5 / river width.

[0058] S35, determining the distance between measuring points according to the width of each measuring section and the density of measuring points, and setting measuring points on each measuring section according to the distance between measuring points in the three-dimensional coordinate system.

[0059] Based on the determined section width and measuring point density, the measuring point spacing on each measuring section is calculated. The measuring point spacing is equal to the section width divided by the number of measuring points in the section. In the three-dimensional coordinate system, starting from the left bank, the measuring points are arranged in sequence on the measuring section according to the calculated spacing. The spatial position of each measuring point is represented by its three-dimensional coordinates (x, y, z), where the x and y coordinates are determined by the position of the measuring point in the measuring plane, and the z coordinate is the water surface elevation at the point.

[0060] S104, obtaining the measurement accuracy requirement of the velocity measurement radar, and adjusting the initial flight path according to the measurement accuracy requirement to obtain the flight path to be adjusted.

[0061] To ensure the accuracy of the flow velocity measurement, the initial flight path needs to be optimized according to the technical parameters of the flow velocity radar. First, the measurement accuracy requirements of the flow velocity radar are obtained, including the measurement distance requirements and the measurement angle requirements. Among them, the measurement distance requirement refers to the ideal distance range from the water surface when the flow velocity radar obtains the best measurement accuracy; the measurement angle requirement refers to the optimal incident angle range between the transmission signal of the flow velocity radar and the water surface. These parameters directly affect the quality of the measurement data, so the flight parameters of the drone need to be adjusted accordingly.

[0062] Determine the optimal flight altitude of the drone based on the measurement distance requirements. The measurement accuracy of the velocity measurement radar varies at different measurement distances. Generally speaking, there is an optimal measurement distance within which the highest signal-to-noise ratio and the best spatial resolution can be obtained. For example, if the optimal measurement distance range of the velocity measurement radar is 30-50 meters, the flight altitude of the drone can be set to 40 meters considering the undulations of the water surface and the safety margin. At the same time, the impact of terrain changes must also be considered when determining the flight altitude. In areas where the river terrain is undulating, the flight altitude should be adjusted dynamically to always keep the relative distance from the water surface within the optimal measurement range.

[0063] Adjust the direction-finding angle of the velocity radar according to the measurement angle requirements. The incident angle between the signal emitted by the velocity radar and the water surface will affect the accuracy of Doppler velocity measurement. Too large or too small an incident angle will increase the measurement error. Therefore, it is necessary to adjust the pitch angle of the velocity radar to keep it within the optimal measurement angle range. For example, if the optimal measurement angle range is 30-60 degrees, the direction-finding angle of the velocity radar can be set to 45 degrees, which can ensure the measurement accuracy while obtaining a larger measurement coverage area.

[0064] According to the determined flight altitude and direction-finding angle, the initial flight path is systematically adjusted. First, the elevations of all measuring points are uniformly adjusted to the set flight altitude. Secondly, considering the requirements of the direction-finding angle, the flight path needs to be translated to ensure that at each measuring point, the velocity measurement radar can measure the water surface at the optimal incident angle. Specifically, according to the geometric relationship between the flight altitude and the direction-finding angle, the horizontal projection distance between the drone and the measurement target point is calculated, and the horizontal position of the flight path is determined accordingly.

[0065] Based on the above embodiment, as an optional implementation, in S104, the measurement accuracy requirement includes a measurement distance requirement and a measurement angle requirement, and the initial flight path is adjusted according to the measurement accuracy requirement, and the flight path to be adjusted specifically includes S41-S43: S41, determining the flight altitude of the UAV according to the measurement distance requirement.

[0066] To ensure the accuracy of flow velocity measurement, the flight parameters of the drone need to be optimized and adjusted according to the measurement accuracy requirements. First, determine the appropriate flight altitude based on the measurement distance requirements of the flow velocity measurement radar. The measurement distance requirements include the minimum measurement distance and the maximum measurement distance, which are determined by the transmission power and receiving sensitivity of the radar signal. In order to keep the radar in the best working condition at all times, set the flight altitude of the drone near the middle value of the minimum measurement distance and the maximum measurement distance. For example, when the minimum measurement distance of the radar is 10 meters and the maximum measurement distance is 50 meters, the flight altitude can be set to about 30 meters, which can ensure that the radar signal has sufficient strength and avoid signal saturation during close-range measurement.

[0067] S42, determining the direction-finding angle of the flow velocity measuring radar according to the measurement angle requirement.

[0068] Next, the direction finding angle of the velocity measurement radar needs to be determined according to the measurement angle requirements. The direction finding angle refers to the angle between the radar transmission signal and the water surface, which directly affects the accuracy of the measurement results. The measurement angle requirements usually specify the minimum incident angle and the maximum incident angle, within which the radar can obtain a good Doppler signal. The optimal direction finding angle is determined by analyzing the reflection characteristics of the radar signal. Generally speaking, when the direction finding angle is set between 45 and 60 degrees, it can not only ensure sufficient signal reflection intensity, but also reduce the impact of water surface fluctuations on the measurement results.

[0069] S43, adjusting the initial flight path according to the flight altitude and the direction-finding angle to obtain a flight path to be adjusted.

[0070] After determining the flight altitude and direction finding angle, the initial flight path needs to be adjusted accordingly. The adjustment process first calculates the optimal measurement position at each measuring point. For any measuring point, the horizontal distance from the drone to the measuring point can be calculated based on its spatial coordinates and the set direction finding angle. This horizontal distance is equal to the flight altitude divided by the tangent of the direction finding angle. For example, when the flight altitude is 30 meters and the direction finding angle is 45 degrees, the horizontal distance is about 30 meters. Based on the calculated horizontal distance, the ideal measurement position of the drone is determined above the measuring point.

[0071] Adjust each waypoint in the initial flight path to meet the height and angle requirements. The adjusted waypoints constitute the flight path to be adjusted, which needs to meet the following conditions: first, the height of all waypoints remains at the set flight altitude; second, the observation angle of the measurement point that the drone is responsible for measuring at any waypoint is within the specified range; finally, the distance between adjacent waypoints must take into account the turning radius of the drone to ensure that the flight trajectory is smooth and feasible.

[0072] S105, obtaining meteorological data of the working area, adjusting the flight path to be adjusted according to the meteorological data, obtaining a target flight path, and sending the target flight path to the UAV, so that the UAV measures the flow rate in the working area according to the target flight path.

[0073] Considering the impact of the external environment on the flight and measurement accuracy of the drone, the flight path to be adjusted needs to be further optimized according to meteorological conditions. First, obtain the meteorological data of the operating area, including wind speed data and air pressure data. Among them, the wind speed data contains wind direction, wind speed size and its vertical distribution information; the air pressure data contains the atmospheric pressure value and its changing trend. These meteorological factors will directly affect the flight stability and measurement accuracy of the drone, so the flight path needs to be adjusted accordingly.

[0074] Based on the acquired wind speed data, the flight attitude adjustment parameters and flight speed adjustment parameters of the drone are first determined. The flight attitude adjustment parameters are used to compensate for the deviation of the drone caused by wind, including the correction values ​​of the pitch angle, roll angle and yaw angle; the flight speed adjustment parameters are used to adjust the flight speed of the drone according to the wind speed to ensure flight stability. After these parameters are calculated by the wind speed model, an anti-wind interference path is generated. For example, when encountering crosswind, it is necessary to adjust the roll angle to maintain the flight heading; when encountering headwind, it is necessary to increase the flight power appropriately to maintain the predetermined speed.

[0075] Based on the air pressure data, the flight altitude adjustment parameters and power compensation parameters of the drone are calculated. Changes in air pressure will affect the lift characteristics and power system performance of the drone, which need to be compensated by adjusting the flight altitude and power output. Specifically, when the air pressure decreases, the propeller speed needs to be increased to maintain sufficient lift; when the air pressure increases, the power output needs to be adjusted accordingly to avoid energy waste. By calculating these compensation parameters, an air pressure compensation path is formed.

[0076] The anti-wind interference path and the pressure compensation path are merged to generate a compensated flight trajectory. The fusion process uses a weighted average method to determine the respective weight coefficients according to the degree of change in wind speed and air pressure. Based on the obtained compensated flight trajectory, the flight altitude compensation, flight speed compensation, and flight attitude compensation are calculated. The corresponding parameters in the flight path to be adjusted are adjusted to finally obtain the target flight path.

[0077] The target flight path is sent to the UAV’s flight control system via a wireless data link. After receiving the path data, the flight control system converts it into an executable sequence of flight instructions. When the UAV performs the measurement task, it automatically adjusts its flight state according to these instructions to ensure that ideal measurement conditions are obtained at each measurement point.

[0078] Based on the above embodiment, as an optional implementation, in S105, the meteorological data includes wind speed data and air pressure data, and the flight path to be adjusted is adjusted according to the meteorological data to obtain the target flight path, which specifically includes S51-S53: S51, determining the flight attitude adjustment parameters and flight speed adjustment parameters of the UAV according to the wind speed data, and generating an anti-wind interference path.

[0079] In order to ensure that the UAV can fly stably and accurately complete the flow velocity measurement task under actual meteorological conditions, it is necessary to make meteorological compensation adjustments to the flight path to be adjusted. First, anti-wind processing is performed based on wind speed data, which includes wind direction and wind speed. By analyzing the wind speed data, the flight attitude adjustment parameters and flight speed adjustment parameters are calculated. The flight attitude adjustment parameters are used to compensate for the impact of wind on the attitude of the UAV, including yaw angle compensation value and pitch angle compensation value. For example, when there is a crosswind, the yaw angle on the windward side needs to be appropriately increased to maintain the heading; when there is a tailwind or headwind, the pitch angle needs to be adjusted to maintain the altitude. The flight speed adjustment parameters are used to ensure that the UAV maintains a stable ground speed under different wind speed conditions. The flight speed is usually set to 1.2-1.5 times the baseline speed under windless conditions to reserve sufficient power margin. Based on these parameters, compensation calculations are performed on the flight path to be adjusted to generate an anti-wind interference path.

[0080] S52, determining the flight altitude adjustment parameters and power compensation parameters of the UAV according to the air pressure data, and forming an air pressure compensation path.

[0081] Next, we need to consider the impact of air pressure changes. Based on the air pressure data, calculate the flight altitude adjustment parameters and power compensation parameters. The flight altitude adjustment parameters are used to compensate for the altitude measurement error caused by air pressure changes. The altitude correction value is calculated by the difference between the standard atmospheric pressure and the actual air pressure. The power compensation parameters are used to adjust the power output of the drone under different air pressure conditions to ensure the consistency of flight performance. For example, when the air pressure decreases, the motor power output needs to be appropriately increased to maintain the same lift. Apply these parameters to the flight path to be adjusted to form an air pressure compensation path.

[0082] S53, merging the anti-wind interference path with the air pressure compensation path to generate a compensated flight trajectory, and adjusting the flight path to be adjusted according to the compensated flight trajectory to obtain a target flight path.

[0083] Finally, it is necessary to fuse the anti-wind interference path with the pressure compensation path to generate a compensated flight trajectory that comprehensively considers the influence of various meteorological factors. The fusion process uses a weighted average method to integrate the waypoint coordinates of the two compensation paths, and the weight coefficient is determined according to the degree of influence of wind speed and air pressure. For example, in windy weather, a larger weight is given to the anti-wind interference path; when the air pressure changes significantly, the weight of the pressure compensation path is increased. According to the fused compensation flight trajectory, the flight path to be adjusted is adjusted to finally obtain the target flight path.

[0084] Based on the above embodiment, as an optional implementation, in S53, adjusting the flight path to be adjusted according to the compensation flight trajectory to obtain the target flight path specifically includes S531-S534: S531, determining a compensation amount according to the compensated flight trajectory, the compensation amount including a flight altitude compensation amount, a flight speed compensation amount and a flight attitude compensation amount.

[0085] In order to accurately apply the correction effect of the compensated flight trajectory to the flight path to be adjusted, systematic parameter adjustment is required. First, by comparing the compensated flight trajectory with the flight path to be adjusted, calculate the compensation amounts. The flight altitude compensation amount indicates the distance that needs to be adjusted in the vertical direction, and its value is equal to the height difference between the compensated flight trajectory and the flight path to be adjusted at the same position; the flight speed compensation amount indicates the adjustment value of the velocity vector, including the change in velocity magnitude and the deflection in velocity direction; the flight attitude compensation amount includes the pitch angle compensation amount, the roll angle compensation amount and the yaw angle compensation amount, which reflect the angles that the attitude of the drone needs to be adjusted. For example, when the compensated flight trajectory is 5 meters higher than the flight path to be adjusted, the flight altitude compensation amount is +5 meters; when the flight speed of the compensated trajectory needs to be increased by 2 meters / second, the flight speed compensation amount is +2 meters / second.

[0086] S532: Adjust the flight altitude of the UAV in the flight path to be adjusted according to the flight altitude compensation amount.

[0087] Based on the calculated flight altitude compensation, the altitude parameters in the flight path to be adjusted are adjusted. The adjustment process uses a piecewise linear interpolation method to ensure smooth and continuous altitude changes. For example, in areas with rising air currents, the flight altitude is gradually increased; in areas with falling air currents, the flight altitude is appropriately reduced. This altitude adjustment not only takes into account the impact of air pressure changes, but also takes into account the climbing performance limitations of the drone, ensuring that the adjusted flight altitude is always within the performance envelope of the drone.

[0088] S533, adjusting the flight speed of the UAV in the flight path to be adjusted according to the flight speed compensation amount.

[0089] Then, according to the flight speed compensation, adjust the speed parameters in the flight path to be adjusted. Speed ​​adjustment needs to take into account both the flight segment characteristics and meteorological conditions, and optimize flight efficiency while ensuring measurement accuracy. For example, in the headwind segment, the flight speed can be appropriately increased to overcome wind resistance; in the downwind segment, the speed can be appropriately reduced to save energy. The adjusted speed should ensure that the drone has sufficient maneuverability margin, generally maintained within the range of 60%-80% of the maximum flight speed.

[0090] S534, adjusting the pitch angle, roll angle and yaw angle of the UAV in the flight path to be adjusted according to the flight attitude compensation amount.

[0091] Finally, based on the flight attitude compensation, the attitude parameters in the flight path to be adjusted are comprehensively adjusted. Attitude adjustment involves three degrees of freedom: pitch angle, roll angle, and yaw angle. The adjustment of these angles directly affects the flight stability and measurement accuracy of the drone. The adjustment of the pitch angle is mainly used to maintain the desired flight altitude. For example, in the area of ​​rising airflow, the pitch angle is reduced to offset the upward trend. The adjustment of the roll angle is used to balance the influence of the crosswind, and the heading is maintained stable by increasing the roll angle on the windward side. The adjustment of the yaw angle is used to ensure that the radar is always aimed at the target measurement area to ensure that the measurement angle meets the accuracy requirements.

[0092] The flight path to be adjusted is adjusted according to the meteorological data. After the target flight path is obtained, the following specific steps are included: The real-time measurement data of the velocity measurement radar is obtained, a velocity distribution heat map is generated according to the real-time measurement data, and the velocity distribution heat map is superimposed on the measurement plane in the three-dimensional coordinate system to mark the abnormal velocity area; if the velocity deviation value in the abnormal velocity area exceeds the preset threshold, a new measurement section is inserted into the target flight path, and the measurement point density of the new measurement section is updated according to the velocity distribution heat map; the local flight path is regenerated based on the updated measurement point density of the new measurement section, and the local flight path is spliced ​​with the target flight path to obtain the final flight path; the final flight path is sent to the UAV, and the velocity measurement radar is triggered to start the high-frequency sampling mode to perform fixed-point remeasurement of the abnormal velocity area.

[0093] In order to timely discover and deal with abnormal flow velocity phenomena and ensure the integrity and accuracy of measurement data, it is necessary to establish a real-time monitoring and dynamic adjustment mechanism. First, the real-time measurement data is obtained through the velocity measurement radar, including the velocity size and flow direction information of each measuring point. Based on these data, a bilinear interpolation algorithm is used to generate a velocity distribution thermogram. The thermogram uses different colors to represent different velocity ranges. For example, blue is used to represent low velocity areas and red is used to represent high velocity areas. The color gradient reflects the velocity change trend. The generated thermogram is superimposed on the measurement plane in the three-dimensional coordinate system, and the velocity distribution characteristics are intuitively displayed through color contrast.

[0094] Based on the thermal map, the velocity deviation threshold is set to identify the velocity anomaly area. The velocity deviation value is defined as the difference between the measured velocity at the measuring point and the average velocity at the surrounding measuring points. When the deviation value exceeds the preset threshold (for example, more than 30% of the average value), the area is marked as a velocity anomaly area. This anomaly may indicate complex water flow phenomena, such as vortices or backflows, which require more detailed observations.

[0095] For the abnormal velocity areas found, new measurement sections are inserted in the target flight path to intensify observations. The location of the new sections is determined according to the spatial distribution of the abnormal area. Usually, 1-2 sections are added upstream and downstream of the abnormal area to capture the flow state change process. The measurement point density of the new measurement section is updated according to the gradient information in the velocity distribution thermogram, and the number of measurement points is appropriately increased in locations where the velocity changes dramatically. For example, when the thermogram shows a large velocity gradient, the measurement point density can be increased to 1.5-2 times the original density.

[0096] Based on the updated measurement point layout plan, the local flight path is regenerated using the cubic spline interpolation method. This local path needs to smoothly transition with the original target flight path to avoid drastic turns or altitude changes. At the path splicing point, the continuity of flight parameters (such as altitude, speed, and attitude) is ensured, and a smooth transition can be achieved by setting a transition section. The spliced ​​path is used as the final flight path. This path not only retains the original measurement plan, but also increases the focus on observation of abnormal areas.

[0097] While sending the final flight path to the drone, the velocity measurement radar is triggered to start the high-frequency sampling mode. In the high-frequency sampling mode, the radar's sampling frequency is increased to 2-3 times that of the normal mode, thereby obtaining velocity data with higher time resolution. This mode is particularly suitable for fixed-point re-measurement of areas with abnormal velocity, which can better capture the characteristics of instantaneous velocity changes.

[0098] Based on the above method, the present application also discloses a flow velocity measurement system based on a drone, such as Figure 2 As shown, Figure 2 is a structural diagram of a flow velocity measurement system based on a drone provided in an embodiment of the present application, the system comprises: an acquisition module, a determination module, a generation module, a first adjustment module and a second adjustment module; wherein, The acquisition module is used to obtain the terrain data and flood discharge flow data of the upstream river channel of the hydropower station, and determine the operation area of ​​the UAV in combination with the terrain data and the flood discharge flow data; wherein the UAV is equipped with a stable gimbal and a flow rate measuring radar; the determination module is used to establish a three-dimensional coordinate system according to the terrain data, and determine the flow distribution of the water flow in the operation area according to the flood discharge flow data; the generation module is used to set up multiple measurement sections in the operation area according to the three-dimensional coordinate system, and set measurement points on each measurement section according to the flow distribution, connect the measurement points on each measurement section, and generate an initial flight path; the first adjustment module is used to obtain the measurement accuracy requirements of the flow rate measuring radar, adjust the initial flight path according to the measurement accuracy requirements, and obtain the flight path to be adjusted; the second adjustment module is used to obtain the meteorological data of the operation area, adjust the flight path to be adjusted according to the meteorological data, obtain the target flight path, and send the target flight path to the UAV so that the UAV can measure the flow rate of the operation area according to the target flight path.

[0099] It should be noted that: when the system provided in the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0100] See also Figure 3 , is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 1000 may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

[0101] The communication bus 1002 is used to realize the connection and communication between these components.

[0102] The user interface 1003 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface.

[0103] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0104] Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1001 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001, and it can be implemented separately through a chip.

[0105] Among them, the memory 1005 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Figure 3 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program for a flow velocity determination method based on a drone.

[0106] exist Figure 3In the electronic device 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 1001 can be used to call an application program stored in the memory 1005 for a flow velocity measurement method based on a drone. When executed by one or more processors, the electronic device executes one or more of the methods described in the above embodiments.

[0107] An electronic device readable storage medium stores instructions, which, when executed by one or more processors, enable the electronic device to execute one or more of the methods described in the above embodiments.

[0108] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0109] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0110] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0111] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0112] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0113] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0114] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A flow velocity measurement method based on drone, characterized in that: The method comprises: Obtaining topographic data and flood discharge data of the upstream river channel of the hydropower station, and determining the operation area of ​​the drone in combination with the topographic data and the flood discharge data; wherein the drone is equipped with a stabilized gimbal and a flow velocity measurement radar; Establishing a three-dimensional coordinate system according to the terrain data, and determining the flow distribution of water flow in the operation area according to the flood discharge data; Setting a plurality of measurement sections in the operation area according to the three-dimensional coordinate system, setting measurement points on each of the measurement sections according to the flow pattern distribution, connecting the measurement points on each of the measurement sections, and generating an initial flight path; Obtaining a measurement accuracy requirement of the flow velocity measurement radar, and adjusting the initial flight path according to the measurement accuracy requirement to obtain a flight path to be adjusted; Acquire meteorological data of the working area, adjust the flight path to be adjusted according to the meteorological data to obtain a target flight path, and send the target flight path to the UAV so that the UAV measures the flow rate of the working area according to the target flight path.

2. The flow velocity measurement method based on drone according to claim 1, characterized in that: The combining of the terrain data and the flood discharge flow data to determine the operation area of ​​the UAV includes: Determine the riverbed contour line and river bank boundary line of the river channel upstream of the hydropower station according to the topographic data; Determine the water surface line position of the upstream river channel of the hydropower station according to the flood discharge data; Determine the area enclosed by the riverbed contour line, the riverbank boundary line and the water surface line position as the initial operation area; The initial operation area is adjusted according to the measurement accuracy and measurement range of the flow velocity measurement radar to obtain the operation area of ​​the UAV.

3. The flow velocity measurement method based on drone according to claim 1, characterized in that: The step of setting a plurality of measurement sections in the operation area according to the three-dimensional coordinate system and setting measurement points on each of the measurement sections according to the flow pattern distribution includes: Establishing a horizontal plane in the three-dimensional coordinate system, and using the projection of the horizontal plane and the working area as a measurement plane; Determine a main flow line along the water flow direction of the upstream river channel of the hydropower station in the measurement plane, and set a plurality of measurement sections perpendicular to the main flow line in the three-dimensional coordinate system based on the main flow line; Determine the width of each of the measuring sections according to the water surface line position of the operating area at each of the measuring sections; Determining the density of measuring points of each measuring section according to the flow pattern distribution, wherein the density of measuring points increases as the turbulence of the water flow increases; The measuring point spacing is determined according to the width of each measuring section and the measuring point density, and the measuring points are set on each measuring section according to the measuring point spacing in the three-dimensional coordinate system.

4. The flow velocity measurement method based on drone according to claim 1, characterized in that: The measurement accuracy requirement includes a measurement distance requirement and a measurement angle requirement, and the initial flight path is adjusted according to the measurement accuracy requirement to obtain a flight path to be adjusted, including: Determining the flight altitude of the UAV according to the measurement distance requirement; Determining the direction finding angle of the flow velocity measuring radar according to the measurement angle requirement; The initial flight path is adjusted according to the flight altitude and the direction-finding angle to obtain a flight path to be adjusted.

5. The flow velocity measurement method based on drone according to claim 1, characterized in that: The meteorological data includes wind speed data and air pressure data, and the flight path to be adjusted is adjusted according to the meteorological data to obtain a target flight path, including: Determine the flight attitude adjustment parameters and the flight speed adjustment parameters of the UAV according to the wind speed data, and generate an anti-wind interference path; Determining a flight altitude adjustment parameter and a power compensation parameter of the UAV according to the air pressure data to form an air pressure compensation path; The anti-wind interference path and the air pressure compensation path are merged to generate a compensated flight trajectory, and the flight path to be adjusted is adjusted according to the compensated flight trajectory to obtain a target flight path.

6. The flow velocity measurement method based on drone according to claim 5, characterized in that: The step of adjusting the flight path to be adjusted according to the compensated flight trajectory to obtain a target flight path includes: Determine a compensation amount according to the compensated flight trajectory, wherein the compensation amount includes a flight altitude compensation amount, a flight speed compensation amount and a flight attitude compensation amount; According to the flight altitude compensation amount, adjusting the flight altitude of the UAV in the flight path to be adjusted; According to the flight speed compensation amount, adjusting the flight speed of the UAV in the flight path to be adjusted; According to the flight attitude compensation amount, the pitch angle, roll angle and yaw angle of the UAV in the flight path to be adjusted are adjusted; The adjusted flight path to be adjusted is used as the target flight path.

7. The flow velocity measurement method based on drone according to claim 1, characterized in that: After the flight path to be adjusted is adjusted according to the meteorological data to obtain the target flight path, the method further includes: Acquire real-time measurement data of the flow velocity measurement radar, generate a flow velocity distribution thermodynamic map according to the real-time measurement data, and superimpose the flow velocity distribution thermodynamic map on the measurement plane in the three-dimensional coordinate system to mark the abnormal flow velocity area; If the velocity deviation value of the velocity abnormal area exceeds a preset threshold, a new measurement section is inserted into the target flight path, and the measurement point density of the new measurement section is updated according to the velocity distribution thermodynamic map; Regenerate a local flight path based on the updated measurement point density of the newly added measurement section, and perform trajectory splicing on the local flight path and the target flight path to obtain a final flight path; The final flight path is sent to the UAV, and the flow velocity measurement radar is triggered to start the high-frequency sampling mode to perform fixed-point re-measurement of the abnormal flow velocity area.

8. A flow velocity measurement system based on drone, characterized in that: The system includes: an acquisition module, a determination module, a generation module, a first adjustment module and a second adjustment module; wherein, The acquisition module is used to acquire the topographic data and flood discharge data of the upstream river channel of the hydropower station, and determine the operation area of ​​the drone in combination with the topographic data and the flood discharge data; wherein the drone is equipped with a stabilized gimbal and a flow rate measurement radar; The determination module is used to establish a three-dimensional coordinate system according to the terrain data, and determine the flow distribution of water flow in the operation area according to the flood discharge data; The generating module is used to set a plurality of measuring sections in the operating area according to the three-dimensional coordinate system, set measuring points on each measuring section according to the flow pattern distribution, connect the measuring points on each measuring section, and generate an initial flight path; The first adjustment module is used to obtain the measurement accuracy requirement of the velocity measurement radar, and adjust the initial flight path according to the measurement accuracy requirement to obtain the flight path to be adjusted; The second adjustment module is used to obtain meteorological data of the working area, adjust the flight path to be adjusted according to the meteorological data, obtain a target flight path, and send the target flight path to the UAV so that the UAV measures the flow rate of the working area according to the target flight path.

9. An electronic device, characterized in that: It includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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