Intelligent muddy water level monitoring device integrating radar and visual data

Abstract

The invention relates to an intelligent muddy water level monitoring device fusing radar and visual data in the field of monitoring and alarming devices, through the cooperation of a buoy throwing mechanism and a visual camera, a buoy is positioned and tracked to obtain the drift distance of the buoy in a set time, the flow speed of muddy water flow is deduced equivalently, more data references are provided for remote monitoring personnel, and the monitoring accuracy is improved. Timeliness and reliability of debris flow early warning are improved; meanwhile, during detection, the buoy is thrown to the upstream of the muddy water flow through the buoy throwing mechanism, so that the buoy synchronously flows to the downstream along with the muddy water flow, the probability that the buoy and the stay wire are damaged by floaters is reduced, and the problem that the flow velocity cannot be detected due to the fact that traditional muddy water flow carries more floaters is solved; in addition, through the luminous scale and the phosphorescent strip arranged on the buoy, the flow velocity can be conveniently measured in a dark environment at night; in addition, through a suspended sundry tracking module, the buoy actively avoids floating sundries on the muddy water flow during buoy throwing and speed measurement.

Description

Technical Field

[0001] The present invention relates to a mud water level monitoring device, in particular to an intelligent mud water level monitoring device that integrates radar and visual data and is applied to the field of monitoring and alarm devices. Background Art

[0002] Due to the powerful kinetic energy destructive force of debris flow disasters, a comprehensive monitoring system needs to be constructed in mountain gully-type dangerous areas. Current debris flow monitoring technologies mainly focus on the real-time monitoring of mud level height. By deploying mud level gauges at the gully cross-section to obtain fluid surface elevation data, and combining the mud level rising rate for disaster warning. However, existing monitoring means have functional limitations: restricted by the multi-phase mixing characteristics of debris flow fluids (including coarse-grained substances such as sand, gravel, clay, and woody residues), existing contact-type flow velocity measurement devices are prone to being impacted by solid substances in complex working conditions, resulting in sensor failure and making it difficult to stably obtain flow velocity parameters. As a core index of debris flow dynamics characteristics, the flow velocity parameter has crucial reference value for predicting the position of the peak flow cross-section. Its spatio-temporal evolution law is directly related to the kinematic characteristics of debris flow, providing an important criterion for evaluating the disaster evolution trend.

[0003] The patent with the publication number CN114373282B discloses a debris flow warning device and its warning method. By setting up a debris flow warning device to analyze the characteristics of debris flow, and using a flow velocity sensor containing a deformation sensing wire to monitor and alarm debris flow in real time, thus achieving more accurate, comprehensive and timely monitoring of debris flow, which helps to reduce the economic and life damages caused by debris flow. The said debris flow warning device has low cost, strong field adaptability, can be widely deployed in various regions, and has high monitoring accuracy. Through the above settings, wide promotion and application can be realized, and real-time warning of debris flow disasters can be effectively achieved.

[0004] The above-mentioned prior art discloses a flow velocity sensor containing a deformation sensing wire, which monitors the flow velocity by the influence of the flow velocity on the resistance of the deformation sensing wire. However, it still needs to partially immerse the deformation sensing wire into the mud flow, and various floating objects in the mud flow are likely to damage the deformation sensing wire, making it unable to stably monitor the flow velocity. Summary of the Invention

[0005] Aiming at the above-mentioned prior art, the technical problem to be solved by the present invention is that the existing mud water level monitoring device cannot stably monitor the flow velocity of the mud flow.

[0006] To solve the above problem, the present invention provides an intelligent mud water level monitoring device that integrates radar and visual data, including a mounting frame and a radar water level gauge fixed on the mounting frame. A flow velocity measurement component is also installed on the mounting frame, and the flow velocity measurement component includes a visual camera fixed on the mounting frame and a throwing marker mechanism; The tag-throwing mechanism includes a fixed cylinder fixedly connected to the mounting frame, a winding reel rotatably connected inside the fixed cylinder, the winding reel is connected to the output shaft of the winding motor, the winding motor is fixedly connected to the outer wall of the fixed cylinder, and a Hall sensor is installed in the winding motor; the fixed cylinder is fixedly connected to an ejection cylinder tangentially connected thereto, a buoy is slidably connected inside the ejection cylinder, a pull line is fixedly connected to the end of the buoy, the other end of the pull line is fixedly wound around the winding reel, a sliding cylinder slidably connected inside the ejection cylinder abutting against the end of the buoy, the sliding cylinder is fixedly connected to a spring, and the end of the spring is fixedly connected to a fixing ring fixedly connected to the inner wall of the ejection cylinder; A controller is fixedly connected to the mounting frame, and the controller is equipped with a monitoring system. The monitoring system includes a control module. The input end of the control module is respectively connected to the mud level monitoring module, the shooting module, the winding volume monitoring module and the timing module. The input end of the mud level monitoring module is connected to the radar water level meter, the input end of the shooting module is connected to the visual camera, and the input end of the winding volume monitoring module is connected to the Hall sensor; the output end of the control module is respectively connected to the visual positioning module, the buoy throwing and receiving module, and the early warning module, and the output end of the buoy throwing and receiving module is connected to the winding motor.

[0007] In the above-mentioned intelligent monitoring device for mud and water levels that integrates radar and visual data, the velocity of the mud and water flow is measured by setting a marker throwing mechanism and a visual camera.

[0008] As a further improvement of the present application, a luminous ruler arranged parallel to the groove is fixedly connected to the mounting frame, a first phosphor strip is fixedly embedded on each scale line of the luminous ruler, and a second phosphor strip is fixedly embedded on the outer wall of the buoy, and both the first phosphor strip and the second phosphor strip are made of phosphor powder material.

[0009] As a further improvement of the present application, the visual camera is fixedly connected to the mounting frame via a two-dimensional pan-tilt head, and the monitoring system further includes a suspended debris tracking module connected to the output end of the control module, and the output end of the suspended debris tracking module is connected to the two-dimensional pan-tilt head.

[0010] As a further improvement of the present application, the buoy is a rod-shaped body with a cylindrical structure in the middle and truncated cone structures at both ends, and a through hole for the pull wire to pass through is provided at the center position of both the fixed ring and the sliding cylinder.

[0011] As a further improvement of the present application, a guide ring is fixedly connected to the opening at the outer end of the ejection tube. The guide ring is a circular ring structure with a right-angled trapezoidal cross-section, and the inner side of the guide ring opening is a rounded surface.

[0012] As a further improvement of the present application, the monitoring system further includes a rainfall monitoring module connected to the input end of the control module, the input end of the rainfall monitoring module is connected to a rain gauge, and the rain gauge is fixedly connected to the mounting frame.

[0013] As a further improvement of the present application, the visual positioning module includes a buoy recognition unit and a positioning unit. The buoy recognition unit is used to recognize the buoy, and the positioning unit is used to track the position of the buoy.

[0014] As a further improvement of the present application, the floating debris tracking module includes a debris recognition unit, a storage unit, and a pan-tilt control unit. The debris recognition unit recognizes the floating objects suspended on the muddy water surface. The storage unit stores the visual features of various floating objects. The pan-tilt control unit changes the shooting angle of the visual camera by controlling the two-dimensional pan-tilt.

[0015] As a further improvement of the present application, the following steps are included during use: Step 1, monitor the real-time mud water level. The height of the mud water level in the trench is monitored in real time by a radar water level gauge. When the real-time mud water level height exceeds the set mud water level warning value, a warning is issued. The warning module transmits a warning instruction to the remote monitoring room; Step 2, throw the buoy. Based on the real-time mud water level height, a buoy throwing operation is performed. The buoy throwing includes the following sub-steps: S1, start the winding motor to perform a winding action first. The winding motor drives the winding disc to rotate in reverse. The winding disc winds the pulling wire, so that the spring is compressed. When the winding amount reaches the set amount, the winding motor is turned off; S2, start the winding motor to perform a releasing action. The winding motor drives the winding disc to rotate forward, so that the buoy is ejected from the ejection cylinder under the elastic force of the compressed spring, falls on the muddy water flow upstream of the monitoring point, and drifts and moves along with the muddy water flow; Step 3, measure the speed. Start the visual camera. The visual camera recognizes and positions the buoy, and recognizes the distance that the buoy drifts on the muddy water flow within a set time. Based on the drifting distance of the buoy within the set time, the drifting speed of the buoy is calculated, and then the real-time flow rate of the muddy water flow is obtained. When the real-time flow rate of the muddy water flow exceeds the set flow rate warning value, a warning is issued; Step 4, recover the buoy. After the speed measurement is completed, start the winding motor again. The winding disc winds the pulling wire, and then the buoy returns to the ejection cylinder; Step 5, periodically repeat Step 1 to Step 4 to perform periodic monitoring and warning of the mud water level and flow rate of the muddy water flow in the trench.

[0016] In summary, the present invention uses an ejection cylinder including a fixed ring, a sliding cylinder and a spring, and a buoy throwing mechanism including a winding motor to perform compression energy storage and release launching operations on the buoy, throwing the buoy to the upstream position of the mud flow, so that the buoy flows downstream synchronously with the mud flow and the floating objects thereon; at the same time, based on the vision camera, visual positioning and tracking of the floating buoy are carried out to obtain the drift distance of the buoy within a set time, and then the flow velocity of the mud flow with the same drift velocity as the buoy is obtained, overcoming the problem that the traditional mud flow cannot be detected for flow velocity due to being wrapped with more floating objects, providing more data references for remote monitoring personnel, and improving the timeliness and reliability of debris flow early warning; in addition, through the luminous scale provided on the mounting frame and the phosphorescent strip provided on the buoy, the flow velocity of the mud flow is detected under the condition of no light at night, realizing all-weather monitoring and early warning; furthermore, through the suspended debris tracking module, when performing buoy throwing and speed measurement operations, floating debris on the mud flow is avoided, the accuracy of flow velocity measurement is improved, and at the same time, the buoy and the guy wire are protected, improving the use safety of the buoy throwing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a three-dimensional structural schematic diagram of the present application; Figure 2 is a sectional structural schematic diagram of the buoy throwing mechanism in the present application; Figure 3 is Figure 2 an enlarged structural schematic diagram of part A in Figure 4 is an exploded assembly structural schematic diagram of the buoy throwing mechanism in the present application; Figure 5 is an installation schematic diagram of the present application; Figure 6 is a state schematic diagram of the buoy compression spring in the present application; Figure 7 is a state structural schematic diagram of the buoy popping out in the present application; Figure 8 is a module structural schematic diagram of the monitoring system in the present application; Figure 9 is a module schematic diagram of the visual positioning module in the present application; Fig.10 is an assembly structural schematic diagram of the ejection cylinder and the guide ring in the present application; Fig.11 is a sectional installation structural schematic diagram of the guide ring in the present application; Figure 12 is an installation structural schematic diagram of the second phosphorescent strip on the buoy in the present application; Figure 13 is a structural schematic diagram of the luminous scale in the present application; Figure 14This is a schematic diagram of the suspended debris tracking module in this application.

[0018] Description of the numbers in the figure: 1. Mounting frame; 2. Radar water level gauge; 3. Rain gauge; 4. Visual camera; 5. Two-dimensional pan-tilt head; 6. Marking mechanism; 7. Controller; 8. Luminous ruler; 801, first phosphorescent strip; 9. Fixed cylinder; 10. Winding reel; 11. Winding motor; 12. Pull wire; 13. Ejection cylinder; 14. Buoy; 1401, second phosphorescent strip; 15. Fixed ring; 16. Sliding cylinder; 17. Spring; 18. Guide ring. DETAILED DESCRIPTION

[0019] The following describes two implementation methods of the present application in detail with reference to the accompanying drawings.

[0020] The first implementation method: Figure 1-11 The device is an intelligent monitoring device for mud and water levels that integrates radar and visual data. The device includes a mounting frame 1 and a radar water level meter 2 fixed to the mounting frame 1. The mounting frame 1 is also equipped with a flow rate measurement component. The flow rate measurement component includes a visual camera 4 fixed to the mounting frame 1 and a marker throwing mechanism 6. See also Figure 2-4 The tag-throwing mechanism 6 includes a fixed cylinder 9 fixedly connected to the mounting frame 1, and a winding reel 10 is rotatably connected in the fixed cylinder 9, and the winding reel 10 is connected to the output shaft of the winding motor 11, and the winding motor 11 is fixedly connected to the outer wall of the fixed cylinder 9. A Hall sensor is installed in the winding motor 11, and the Hall sensor is used to monitor the rotation position and number of rotations of the output shaft of the winding motor 11, and then monitor the rotation position and number of rotations of the winding reel 10, and then monitor the winding amount of the pulling wire 12; the fixed cylinder 9 is fixedly connected to a ejection cylinder 13 tangentially connected thereto, and a buoy 14 is slidably connected in the ejection cylinder 13, and the end of the buoy 14 is fixedly connected to the pulling wire 12, and the other end of the pulling wire 12 is fixedly wound on the winding reel 10, and a sliding cylinder 16 abutting the end of the buoy 14 is slidably connected in the ejection cylinder 13, and the sliding cylinder 16 is fixedly connected to a spring 17, and the end of the spring 17 is fixedly connected to a fixing ring 15 fixedly connected to the inner wall of the ejection cylinder 13; See also Figure 8 A controller 7 is fixedly connected to the mounting frame 1. The controller 7 is equipped with a monitoring system. The monitoring system includes a control module. The input end of the control module is respectively connected to the mud level monitoring module, the shooting module, the winding amount monitoring module and the timing module. The input end of the mud level monitoring module is connected to the radar water level meter 2, the input end of the shooting module is connected to the visual camera 4, and the input end of the winding amount monitoring module is connected to the Hall sensor; the output end of the control module is respectively connected to the visual positioning module, the buoy throwing and receiving module, and the early warning module, and the output end of the buoy throwing and receiving module is connected to the winding motor 11.

[0021] When using the intelligent mud and water level monitoring device that integrates radar and visual data, please refer to Figure 5-7 , including the following steps: Step 1: Monitor the real-time mud and water level. The radar water level meter 2 is used to monitor the mud and water level in the trench in real time. When the real-time mud and water level exceeds the set mud and water level warning value, an early warning is issued. The early warning module transmits the early warning instruction to the remote monitoring room. Step 2: Throwing the marker. Based on the real-time mud and water level, the marker throwing operation is carried out. The marker throwing operation includes the following sub-steps: S1, start the winding motor 11 to perform the winding action first, the winding motor 11 drives the winding drum 10 to reverse, and the winding drum 10 rewinds the pull wire 12, so that the spring 17 is compressed. When the winding amount reaches the set amount, the winding motor 11 is turned off; Specifically, the release amount and reeling amount of the cable 12 are monitored in real time by a Hall sensor installed in the winding motor 11. Under the condition that the specifications of the ejection tube 13 are known, the compression amount of the spring 17 is changed by changing the reeling amount of the cable 12. S2, the winding motor 11 is started to release the wire. The winding motor 11 drives the winding drum 10 to rotate forward, so that the buoy 14 is ejected from the ejection tube 13 under the elastic force of the compressed spring 17, falls on the muddy water flow upstream of the monitoring point, and drifts with the muddy water flow; Step 3: Speed measurement. The visual camera 4 is activated to identify and locate the buoy 14 and the distance the buoy 14 drifts on the muddy water flow within a set time. The drifting speed of the buoy 14 is calculated based on the drifting distance of the buoy 14 within the set time, thereby obtaining the real-time flow velocity of the muddy water flow. When the real-time flow velocity of the muddy water flow exceeds the set flow velocity warning value, an alarm is issued. Specifically, since the buoy 14 drifts synchronously with the muddy water flow, the drifting speed of the buoy 14 is used as the flow rate of the muddy water flow. It should be noted that the buoy 14 is made of one of plastic and carbon fiber and has a large buoyancy. The pull line 12 is made of a lightweight material, which includes one of polyethylene fiber, nylon and polyester fiber, so as to reduce the influence of the pull line 12 on the drifting movement of the buoy 14. The buoy 14 is thrown into the muddy water upstream of the monitoring point. The buoy moves synchronously downstream with the muddy water flow and the floating objects thereon. The floating objects and the buoy 14 and the pull line 12 will not be in reverse extrusion contact, so as to reduce the damage of the floating objects to the pull line 12 and the buoy 14, and further reduce the influence of the pull line 12 on the drift of the buoy 14. In addition, the visual camera 4 only collects video images of the buoy 14 drifting from the upstream to the monitoring point. Step 4: Recover the buoy 14. After the speed measurement is completed, the winding motor 11 is started again, and the winding drum 10 reels the pull wire 12, thereby returning the buoy 14 to the ejection tube 13. Step 5: Periodically repeat Steps 1 to 4 to periodically monitor and give early warnings on the mud water level and flow rate in the trench.

[0022] Compared with traditional mud water level monitoring devices, the present invention uses an ejection cylinder 13 including a fixed ring 15, a sliding cylinder 16 and a spring 17, and a buoy throwing mechanism of a winding motor 11 to perform compression energy storage and release launching operations on a buoy 14, and throw the buoy 14 to the upstream position of the mud water flow. At the same time, based on a vision camera 4, visual positioning and tracking of the floating buoy 14 are performed to obtain the drifting distance of the buoy 14 within a set time, and further obtain the flow rate of the mud water that is the same as the drifting speed of the buoy 14, providing more data references for remote monitoring personnel and improving the timeliness and reliability of early warnings.

[0023] Please refer to Figure 3 and Figure 4 , the buoy 14 is a rod-shaped body with a cylindrical structure in the middle and frustum-shaped structures at both ends. Through holes for a pull wire 12 to pass through are provided at the central positions of both the fixed ring 15 and the sliding cylinder 16.

[0024] Specifically, during compression energy storage, the pull wire 12 pulls the buoy 14 to move, the buoy 14 pushes the sliding cylinder 16 to move, the sliding cylinder 16 squeezes the spring 17, and the spring 17 is squeezed and compressed. At the same time, the rod-shaped buoy is convenient for floating on the mud water flow and is convenient for the vision camera 4 to identify and position.

[0025] Please refer to Fig.10 and Fig.11 , a guide ring 18 is fixedly connected to the outer end opening of the ejection cylinder 13. The guide ring 18 is a circular ring structure with a right trapezoidal cross-section, and the inner side of the opening of the guide ring 18 is a rounded surface.

[0026] Specifically, when recovering the buoy 14, before the connection position of the buoy 14 and the pull wire 12 enters the ejection cylinder 13, it first contacts the guide ring 18. The guide ring 18 guides the buoy 14 with frustum-shaped structures at both ends, reducing the probability of the buoy 14 getting stuck at the opening of the ejection cylinder 13.

[0027] Please refer to Figure 8 , the monitoring system further includes a rainfall monitoring module connected to the input end of the control module. The input end of the rainfall monitoring module is connected to a rain gauge 3, and the rain gauge 3 is fixedly connected to the mounting frame 1.

[0028] Specifically, the rain gauge 3 is used to monitor the rainfall near the monitoring point in real time, providing more early warning reference data.

[0029] Please refer to Figure 8 and Figure 9The visual positioning module includes a buoy recognition unit and a positioning unit. The buoy recognition unit is used to identify the buoy 14, and the positioning unit is used to track the position of the buoy 14.

[0030] Specifically, the position of the buoy 14 is tracked by the positioning unit to obtain the drift distance of the buoy 14 on the muddy water within a set time.

[0031] Second implementation method: Figure 12-14 An intelligent mud and water level monitoring device that integrates radar and visual data is shown. Based on the first embodiment, a luminous ruler 8 arranged parallel to the groove is fixedly connected to the mounting frame 1, and a first phosphorescent strip 801 is fixedly embedded on each scale line of the luminous ruler 8. A second phosphorescent strip 1401 is fixedly embedded on the outer wall of the buoy 14. The first phosphorescent strip 801 and the second phosphorescent strip 1401 are both made of phosphor powder material.

[0032] Specifically, the first phosphor strip 801 and the second phosphor strip 1401 made of phosphor powder material absorb energy when illuminated during the day and release light at night, so that the visual camera 4 can identify the buoy 14 at night and track the drift distance of the buoy 14 with the luminous ruler 8 as a reference, thereby realizing all-weather measurement of the flow rate of mud and water flow.

[0033] See also Figure 8 The visual camera 4 is fixedly connected to the mounting frame 1 through the two-dimensional pan-tilt platform 5. The monitoring system also includes a suspended debris tracking module connected to the output end of the control module, and the output end of the suspended debris tracking module is connected to the two-dimensional pan-tilt platform 5.

[0034] Specifically, before performing the tag-throwing operation during the day, the two-dimensional pan-tilt head 5 is started, so that the visual camera 4 shoots the water surface upstream of the monitoring point, identifies and tracks floating objects on the water surface (such as wooden boards, branches, etc.). When the buoy 14 cannot come into contact with the muddy water after being thrown, the tag-throwing operation is suspended, and the tag-throwing operation is continued after the floating objects on the water surface pass by; or when the pull line 12 is about to be entangled by floating objects, the buoy 14 and the pull line 12 are recovered in time to reduce the probability of the pull line 12 being entangled, protect the tag-throwing mechanism 6, and extend its service life and measurement accuracy.

[0035] See also Figure 14 The suspended debris tracking module includes a debris recognition unit, a storage unit and a pan-tilt control unit. The debris recognition unit identifies floating objects suspended on the muddy water surface. The storage unit stores the visual features of various floating objects. The pan-tilt control unit changes the shooting angle of the visual camera 4 by controlling the two-dimensional pan-tilt 5.

[0036] Specifically, by identifying and tracking the suspended matter, the impact of the suspended matter on the buoy 14 and the pull line 12 is reduced.

[0037] Combined with the current actual requirements, the above-mentioned implementation manner adopted in this application, the scope of protection is not limited thereto. Within the scope of knowledge possessed by those skilled in the art, various changes made without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An intelligent mud water level monitoring device that integrates radar and visual data, characterized in that, It includes a mounting frame (1) and a radar water level gauge (2) fixed to the mounting frame (1). A flow velocity measuring assembly is also installed on the mounting frame (1). The flow velocity measuring assembly includes a vision camera (4) fixed to the mounting frame (1) and a buoy throwing mechanism (6). The buoy throwing mechanism (6) includes a fixed cylinder (9) fixedly connected to the mounting frame (1). A winding disc (10) is rotatably connected inside the fixed cylinder (9). The winding disc (10) is connected to the output shaft of a winding motor (11). The winding motor (11) is fixedly connected to the outer wall of the fixed cylinder (9). A Hall sensor is installed inside the winding motor (11). The fixed cylinder (9) is fixedly connected to an ejection cylinder (13) tangentially communicating with it. A buoy (14) is slidably connected inside the ejection cylinder (13). A pull wire (12) is fixedly connected to the end of the buoy (14). The other end of the pull wire (12) is fixedly wound around the winding disc (10). A sliding cylinder (16) abutting against the end of the buoy (14) is slidably connected inside the ejection cylinder (13). The sliding cylinder (16) is fixedly connected to a spring (17). The end of the spring (17) is fixedly connected to a fixed ring (15) fixedly connected to the inner wall of the ejection cylinder (13). A controller (7) is fixedly connected to the mounting frame (1). The controller (7) is equipped with a monitoring system. The monitoring system includes a control module. The input ends of the control module are respectively connected to a mud level monitoring module, a shooting module, a winding amount monitoring module, and a timing module. The input end of the mud level monitoring module is connected to the radar water level gauge (2). The input end of the shooting module is connected to the vision camera (4). The input end of the winding amount monitoring module is connected to the Hall sensor. The output ends of the control module are respectively connected to a vision positioning module, a buoy throwing and receiving module, and an early warning module. The output end of the buoy throwing and receiving module is connected to the winding motor (11).

2. The intelligent mud water level monitoring device integrating radar and vision data according to claim 1, wherein, A luminous scale (8) parallel to the groove is fixedly connected to the mounting frame (1). A first phosphorescent strip (801) is fixedly embedded on each scale line of the luminous scale (8). A second phosphorescent strip (1401) is fixedly embedded on the outer wall of the buoy (14). Both the first phosphorescent strip (801) and the second phosphorescent strip (1401) are made of phosphorescent powder material.

3. The intelligent mud water level monitoring device integrating radar and visual data according to claim 2, characterized in that, The vision camera (4) is fixedly connected to the mounting frame (1) through a two-dimensional cloud platform (5). The monitoring system further includes a suspended debris tracking module connected to the output end of the control module. The output end of the suspended debris tracking module is connected to the two-dimensional cloud platform (5).

4. The intelligent mud water level monitoring device integrating radar and visual data according to claim 1, characterized in that, The buoy (14) is a rod-shaped body with a cylindrical structure in the middle and frustum-shaped structures at both ends. Through holes for the pull wire (12) to pass through are opened at the central positions of both the fixed ring (15) and the sliding cylinder (16).

5. The intelligent mud water level monitoring device integrating radar and visual data according to claim 1, characterized in that, A guide ring (18) is fixedly connected to the outer end opening of the ejection cylinder (13). The guide ring (18) is a circular ring structure with a right trapezoidal cross-section. The inner side of the opening of the guide ring (18) is a rounded surface.

6. The intelligent mud water level monitoring device integrating radar and visual data according to claim 1, wherein, The monitoring system further includes a rainfall monitoring module connected to the input end of the control module. The input end of the rainfall monitoring module is connected to a rain gauge (3). The rain gauge (3) is fixedly connected to the mounting frame (1).

7. The intelligent mud water level monitoring device integrating radar and vision data according to claim 1, wherein, The visual positioning module includes a buoy recognition unit and a positioning unit. The buoy recognition unit is used to recognize the buoy (14), and the positioning unit is used to track the position of the buoy (14).

8. The intelligent mud water level monitoring device integrating radar and vision data according to claim 3, characterized in that, The floating debris tracking module includes a debris recognition unit, a storage unit, and a pan-tilt control unit. The debris recognition unit identifies the floating objects suspended on the muddy water surface. The storage unit stores the visual features of various floating objects. The pan-tilt control unit changes the shooting angle of the visual camera (4) by controlling the two-dimensional pan-tilt (5).

9. The intelligent mud water level monitoring device integrating radar and visual data according to claim 1, characterized in that, When in use, it includes the following steps: Step 1, monitor the real-time mud water level. The radar water level gauge (2) is used to monitor the height of the mud water level in the trench in real time. When the real-time mud water level height exceeds the set mud water level warning value, a warning is issued, and the warning module transmits the warning instruction to the remote monitoring room; Step 2, throw the buoy. Based on the real-time mud water level height, perform the buoy throwing operation. The buoy throwing includes the following sub-steps: S1, start the winding motor (11) to perform the winding action first. The winding motor (11) drives the winding disc (10) to reverse, and the winding disc (10) winds the pulling wire (12), so that the spring (17) is compressed. When the winding amount reaches the set amount, turn off the winding motor (11); S2, start the winding motor (11) to perform the releasing action. The winding motor (11) drives the winding disc (10) to rotate forward, so that the buoy (14) is ejected from the ejection cylinder (13) under the elastic force of the compressed spring (17), and falls on the muddy water flow upstream of the monitoring point and drifts with the muddy water flow; Step 3, measure the speed. Start the visual camera (4). The visual camera (4) identifies and positions the buoy (14), and identifies the distance that the buoy (14) drifts on the muddy water flow within the set time. Calculate the drifting speed of the buoy (14) based on the drifting distance of the buoy (14) within the set time, and then obtain the real-time flow velocity of the muddy water flow. When the real-time flow velocity of the muddy water flow exceeds the set flow velocity warning value, a warning is issued; Step 4, recover the buoy (14). After the speed measurement is completed, start the winding motor (11) again, and the winding disc (10) winds the pulling wire (12), so that the buoy (14) returns to the ejection cylinder (13); Step 5, periodically repeat Step 1 to Step 4 to perform periodic monitoring and warning of the mud water level and flow velocity of the muddy water flow in the trench.

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