Incoming water flow emergency measuring device and measuring method

Abstract

The invention provides an incoming water flow emergency measuring device and measuring method.The device comprises an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a Beidou No.3 short message terminal based on RTK positioning, a water depth measuring laser radar and a tracing floating body are arranged below the unmanned aerial vehicle, and a first motor and a second motor are arranged in the unmanned aerial vehicle; rotating shafts of the first motor and the second motor clamp a nylon wire winding drum left and right through a winding drum coupler, a nylon wire penetrates through the nylon wire winding drum, and the lower end of the nylon wire is fixed to the tracing floating body. According to the invention, the decimeter-level large-size artificial tracing floating body is arranged, so that the capturing efficiency of the camera during emergency observation is ensured; a Beidou No.3 short message terminal based on RTK positioning is arranged, high-precision positioning can be carried out on the unmanned aerial vehicle, meanwhile, data are sent to an observation center in real time in the form of Beidou short messages, and the timeliness of emergency observation is improved; and the artificial tracing floating body can be released, recycled and attracted, so that the artificial tracing floating body can be reused, and the economical efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of water conservancy measurement, and in particular to an emergency water flow measurement device and a measurement method. Background Art

[0002] Drone flow measurement is an emerging emergency monitoring technology for incoming water surface velocity and flow. In flood emergencies, drones equipped with Doppler radar or visual cameras can be flown over temporary observation points in the flood discharge area to conduct safe and reliable measurements. This eliminates the need for time-consuming and labor-intensive fixed measurement equipment, making drone flow measurement technology promising for broad application.

[0003] The invention patent, "A Method for Online Measurement of River Surface Velocity Field Based on Image-Free UAVs" (inventors: Zhang Zhen et al., patent application number: ZL2024116069689), uses RTK technology to accurately plan the drone's trajectory and measurement points, while also performing online surface velocity measurements based on video data. Despite this, drone flow measurement technology still needs the following improvements:

[0004] 1) When the drone is flying at a high altitude and the incoming water surface is highly turbulent, it is difficult for the mainstream civilian cameras on board to stably and reliably capture tiny natural or artificial tracers on the surface. Therefore, it is necessary to use large-scale artificial tracers to improve capture efficiency.

[0005] 2) Although the above patents provide an online measurement method, the measurement data has not yet been transmitted over long distances in real time. The observation center is still unable to obtain and analyze the measurement data in a timely manner, which affects the timeliness of emergency observation. Summary of the Invention

[0006] The first object of the present invention is to provide an emergency water flow measurement device to address the above-mentioned problem.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] An emergency water flow measurement device includes a drone, which is equipped with a Beidou-3 short message terminal based on RTK positioning, a water depth measurement laser radar and a tracer float are arranged below the drone, and a first motor and a second motor are arranged inside the drone. The rotating shafts of the first and second motors clamp nylon wire reels on the left and right through a reel coupling. Nylon wire is passed through the nylon wire reel, and the lower end of the nylon wire is fixed to the tracer float.

[0009] While adopting the above technical solutions, the present invention may also adopt or combine the following technical solutions:

[0010] As a preferred technical solution of the present invention: the incoming water flow emergency measuring device also includes an electromagnetic armature platform, which is fixed to the bottom of the drone, and the upper end of the tracer float is provided with an annular iron sheet and an iron ring inside the annular iron sheet, and the iron ring is fixed to the nylon line; the electromagnetic armature platform is used to absorb the annular iron sheet on the tracer float when powered on.

[0011] As a preferred technical solution of the present invention: the size of the tracer float is at the decimeter level, the whole is ellipsoidal, hollow in the middle, with a disc extending from the tail, an annular iron sheet embedded inside the disc, and the center point of the disc surface is connected to the iron ring.

[0012] As a preferred technical solution of the present invention: the other end of the nylon line is fixed to the nylon line reel.

[0013] As a preferred technical solution of the present invention: the drone is further provided with a camera, which is arranged at the front end of the lower surface of the drone via a transverse bracket.

[0014] As a preferred technical solution of the present invention: the BeiDou-3 short message terminal based on RTK positioning is arranged on the upper surface of the fuselage of the UAV.

[0015] As a preferred technical solution of the present invention: the water depth measurement laser radar is arranged on the rear end of the lower surface of the drone via a vertical bracket.

[0016] As a preferred technical solution of the present invention: the BeiDou-3 short message terminal based on RTK positioning is connected to the water depth measurement laser radar through a signal.

[0017] The second object of the present invention is to provide an emergency measurement method for incoming water flow.

[0018] To this end, the above-mentioned purpose of the present invention is achieved through the following technical solutions:

[0019] A method for measuring water flow rate in an emergency is provided, the method being based on the above-mentioned device and comprising the following steps:

[0020] S1. Enable BeiDou RTK high-precision positioning, select the water flow measurement section, plan the drone's flight path over the section, and set water depth measurement points and surface flow velocity measurement points on the flight path.

[0021] S2. The drone takes off and flies along the flight path. When it reaches the water depth measurement point and the surface flow velocity measurement point, it starts the corresponding measurement work.

[0022] S3. After the UAV flies to the depth measurement point, it measures the water depth at the laser radar measurement point. When all the depth measurement points are measured, the UAV automatically accumulates the product of the water surface width and the water depth at all the depth measurement points to calculate the cross-sectional area.

[0023] S4. After the UAV flies to the surface flow velocity measurement point, it releases the tracer float to the incoming water surface. The tracer float drifts perpendicular to the cross section under the push of the incoming water. The smart camera captures the drifting trajectory of the tracer float on the incoming water surface and calculates the surface flow velocity by dividing the trajectory length by the time interval. After the surface flow velocity measurement is completed, the UAV recovers the tracer float to the electromagnetic armature platform on the lower surface of the fuselage and attracts the tracer float through the electromagnetic armature platform. The UAV further flies the tracer float to the next surface flow velocity measurement point to continue the measurement. When the surface flow velocities of all surface flow velocity measurement points are measured, the UAV automatically averages the surface flow velocities of all surface flow velocity measurement points on the cross section to obtain the average surface flow velocity.

[0024] S5. The drone calculates the incoming water flow through the cross-section by multiplying the average surface flow velocity by the cross-sectional area. It then uses the BeiDou-3 short message terminal based on RTK positioning to send the measured water depth data, surface flow velocity data, and incoming water flow data to the observation center online in real time for users to analyze in a timely manner.

[0025] S6. Land the drone and turn off the Beidou RTK high-precision positioning function.

[0026] The present invention provides an emergency water flow measurement device and a measurement method, which have the following beneficial effects:

[0027] 1) Setting up a BeiDou-3 short message terminal based on RTK positioning can not only implement BeiDou RTK high-precision positioning for UAVs, enabling precise flight and fixed-point observation, but also can send measured water depth data, surface flow data, and inflow flow data to the observation center in real time in the form of BeiDou short messages, thus improving the timeliness of emergency observation;

[0028] 2) Setting up large-scale artificial tracer floats at the decimeter level ensures good visibility even when the drone is flying at a high altitude and the surface turbulence of the incoming water is high, ensuring the capture efficiency of the camera during emergency observation;

[0029] 3) It can release, recycle and attract artificial tracer floats, realize the reuse of artificial tracer floats and improve the economy of emergency observation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is the overall structural diagram of the water flow emergency measurement device provided by the present invention.

[0031] Figure 2It is a cross-sectional view perpendicular to the direction of the drone fuselage.

[0032] In the figure: 1. BeiDou-3 short message terminal based on RTK positioning; 2. UAV; 3. Water depth measurement lidar; 4. Electromagnetic armature platform; 5. Tracer float; 6. Camera; 2-1. Nylon line reel; 2-2. First motor; 2-3. Second motor; 5-1. Ring-shaped iron sheet; 5-2. Iron ring. DETAILED DESCRIPTION

[0033] The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 1-2 As shown, an emergency water flow measurement device includes a drone 2, which is equipped with a BeiDou-3 short message terminal 1 based on RTK positioning, a camera 6 at the end of the drone 2, a water depth measurement laser radar 3 and a tracer float 5 below the drone 2, and a first motor 2-2 and a second motor 2-3 inside the drone 2. The rotating shafts of the first motor 2-2 and the second motor 2-3 clamp the nylon wire reel 2-1 on the left and right through the reel coupling. The nylon wire reel 2-1 is passed through the nylon wire reel, and the lower end of the nylon wire is fixed to the tracer float 5.

[0035] The incoming water flow emergency measuring device also includes an electromagnetic armature platform 4, which is fixed to the bottom of the drone 2. The upper end of the tracer float 5 is provided with an annular iron sheet 5-1 and an iron ring 5-2 inside the annular iron sheet 5-1, and the iron ring 5-2 is fixed to the nylon line; the electromagnetic armature platform 4 is used to absorb the annular iron sheet 5-1 on the tracer float 5 when powered.

[0036] The iron ring 5 - 2 , the nylon line reel 2 - 1 , the first motor 2 - 2 , the second motor 2 - 3 and the electromagnetic armature platform 4 cooperate to attract, release and recover the tracer float 5 .

[0037] The size of the tracer float 5 is decimeter-level, and the whole is ellipsoidal in shape, hollow in the middle, with a disc extending from the tail. A ring-shaped iron sheet 5-1 is embedded inside the disc, and the center point of the disc surface is connected to an iron ring 5-2.

[0038] The other end of the nylon line is fixed to the nylon line reel 2 - 1 .

[0039] The drone 2 is further provided with a camera 6 , which is arranged at the front end of the lower surface of the drone 2 via a transverse bracket.

[0040] The BeiDou-3 short message terminal 1 based on RTK positioning is set on the upper surface of the fuselage of the UAV 2.

[0041] The water depth measurement laser radar 3 is arranged at the rear end of the lower surface of the drone 2 via a vertical bracket.

[0042] The BeiDou-3 short message terminal 1 based on RTK positioning is connected to the water depth measurement laser radar 3 through a signal.

[0043] The BeiDou-3 short message terminal 1 based on RTK positioning is used for BeiDou RTK high-precision positioning, and at the same time sends the measured water depth data, surface flow velocity data and inflow flow data to the observation center in real time in the form of BeiDou short messages.

[0044] The drone 2 is used to carry the water depth measurement laser radar 3 and the intelligent camera 6 to implement high-altitude measurement of the incoming water flow. The cross-sectional area is calculated by accumulating the product of the water surface width and the water depth at all water depth measurement points. The average surface flow velocity is obtained by averaging the surface flow velocity at all surface flow velocity measurement points. The incoming water flow passing through the cross-section is then calculated by multiplying the average surface flow velocity by the cross-sectional area.

[0045] The water depth measurement laser radar 3 is used to measure the water depth at different water depth measurement points on the cross section.

[0046] The camera 6 is used to capture the drifting trajectory of the tracer float 5 on the incoming water surface at different surface flow velocity measurement points in the cross section, and calculate the surface flow velocity by dividing the trajectory length by the time interval. The camera 6 can be set on the same drone 2 or on different drones 2, as long as the tracer float 5 can be captured.

[0047] The principles of attracting, releasing and recovering the tracer float 5 are as follows:

[0048] When the UAV 2 has recovered the tracer float 5 and needs to maintain the state of attracting the tracer float 5, the electromagnetic armature platform 4 remains energized to generate magnetism, attracting the annular iron sheet 5-1 in the tail disk of the tracer float 5 just below, thereby achieving the purpose of attracting the tracer float 5.

[0049] When the drone 2 is attracting the tracer float 5 and needs to release the tracer float 5 to the surface of the incoming water, the first step is to synchronously reverse the first motor 2-2 and the second motor 2-3, driving the nylon line reel 2-1 to reverse and release the nylon line. After the nylon line is in a completely relaxed state, the first motor 2-2 and the second motor 2-3 are powered off and braked. In the second step, the electromagnetic armature platform 4 is powered off and loses its magnetism, releasing the tracer float 5 directly below. The tracer float 5 falls to the surface of the incoming water under the action of its own gravity.

[0050] When the UAV 2 has released the tracer float 5 to the surface of the incoming water and needs to recover the tracer float 5 to the bottom of the electromagnetic armature platform 4, the first step is to synchronously rotate the first motor 2-2 and the second motor 2-3 forward to drive the nylon line reel 2-1 to rotate forward to recover the nylon line. The nylon line pulls up the tracer float 5 to the bottom of the electromagnetic armature platform 4 through the iron ring 5-2. In the second step, the electromagnetic armature platform 4 is energized to obtain magnetism, attracting the tracer float 5 below so that it no longer falls. Then, the first motor 2-2 and the second motor 2-3 are powered off and braked.

[0051] Specifically, a water flow emergency measurement method is implemented by the following steps:

[0052] S1. Enable BeiDou RTK high-precision positioning, select the water flow measurement section, plan the drone's flight path over the section, and set water depth measurement points and surface flow velocity measurement points on the flight path.

[0053] S2. The drone takes off and flies along the flight path. When it reaches the water depth measurement point and the surface flow velocity measurement point, it starts the corresponding measurement work.

[0054] S3. After the UAV flies to the depth measurement point, it measures the water depth at the laser radar measurement point. When all the depth measurement points are measured, the UAV automatically accumulates the product of the water surface width and the water depth at all the depth measurement points to calculate the cross-sectional area.

[0055] S4. After the UAV flies to the surface flow velocity measurement point, it releases the tracer float to the incoming water surface. The tracer float drifts perpendicular to the cross section under the push of the incoming water. The smart camera captures the drifting trajectory of the tracer float on the incoming water surface and calculates the surface flow velocity by dividing the trajectory length by the time interval. After the surface flow velocity measurement is completed, the UAV recovers the tracer float to the electromagnetic armature platform on the lower surface of the fuselage and attracts the tracer float through the electromagnetic armature platform. The UAV further flies the tracer float to the next surface flow velocity measurement point to continue the measurement. When the surface flow velocities of all surface flow velocity measurement points are measured, the UAV automatically averages the surface flow velocities of all surface flow velocity measurement points on the cross section to obtain the average surface flow velocity.

[0056] S5. The drone (for example, the processor on the drone performs the calculations) calculates the inflow flow through the cross section by multiplying the average surface flow velocity by the cross-sectional area. The BeiDou-3 short message terminal based on RTK positioning is then used to send the measured water depth data, surface flow velocity data, and inflow flow data to the observation center online in real time for users to analyze in a timely manner.

[0057] S6. Land the drone and turn off the Beidou RTK high-precision positioning function.

[0058] The above-mentioned specific implementation methods are used to illustrate the present invention and are only preferred embodiments of the present invention, rather than limiting the present invention. Any modifications, equivalent substitutions, improvements, etc. made to the present invention within the spirit of the present invention and the scope of protection of the claims shall fall within the scope of protection of the present invention.

Claims

1. An emergency water flow measurement device, comprising a drone (2), characterized in that: The unmanned aerial vehicle (2) is provided with a BeiDou-3 short message terminal (1) based on RTK positioning, a water depth measurement laser radar (3) and a tracer float (5) are provided below the unmanned aerial vehicle (2), a first motor (2-2) and a second motor (2-3) are provided inside the unmanned aerial vehicle (2), the rotating shafts of the first motor (2-2) and the second motor (2-3) clamp a nylon wire reel (2-1) on the left and right via a reel coupling, a nylon wire is passed through the nylon wire reel (2-1), and the lower end of the nylon wire is fixed to the tracer float (5).

2. The water flow emergency measurement device according to claim 1, characterized in that: The incoming water flow emergency measurement device further comprises an electromagnetic armature platform (4), the electromagnetic armature platform (4) being fixed to the bottom of the drone (2), the upper end of the tracer float (5) being provided with an annular iron sheet (5-1) and an iron ring (5-2) located within the annular iron sheet (5-1), the iron ring (5-2) being fixed to a nylon line; the electromagnetic armature platform (4) being used to attract the annular iron sheet (5-1) on the tracer float (5) in an energized state.

3. The water flow emergency measuring device according to claim 1, characterized in that: The size of the tracer float (5) is decimeter-level, and the whole is ellipsoidal in shape, hollow in the middle, with a disc extending from the tail, a ring-shaped iron sheet (5-1) embedded in the disc, and the center point of the disc surface is connected to the iron ring (5-2).

4. The water flow emergency measurement device according to claim 1, characterized in that: The other end of the nylon line is fixed to the nylon line reel (2-1).

5. The water flow emergency measurement device according to claim 1, characterized in that: The drone (2) is also provided with a camera (6), and the camera (6) is arranged at the front end of the lower surface of the drone (2) via a transverse bracket.

6. The water flow emergency measurement device according to claim 1, characterized in that: The BeiDou-3 short message terminal (1) based on RTK positioning is arranged on the upper surface of the fuselage of the UAV (2).

7. The water flow emergency measurement device according to claim 1, characterized in that: The water depth measurement laser radar (3) is arranged on the rear end of the lower surface of the UAV (2) via a vertical bracket.

8. The water flow emergency measuring device according to claim 1, characterized in that: The BeiDou-3 short message terminal (1) based on RTK positioning is connected to the water depth measurement laser radar (3) via a signal.

9. A method for measuring water flow rate in an emergency, characterized by: The method is based on the apparatus according to any one of claims 1 to 5, and comprises the following steps: S1. Enable BeiDou RTK high-precision positioning, select the water flow measurement section, plan the drone's flight path over the section, and set water depth measurement points and surface flow velocity measurement points on the flight path. S2. The drone takes off and flies along the flight path. When it reaches the water depth measurement point and the surface flow velocity measurement point, it starts the corresponding measurement work. S3. After the UAV flies to the depth measurement point, it measures the water depth at the laser radar measurement point. When all the depth measurement points are measured, the UAV automatically accumulates the product of the water surface width and the water depth at all the depth measurement points to calculate the cross-sectional area. S4. After the UAV flies to the surface flow velocity measurement point, it releases the tracer float to the incoming water surface. The tracer float drifts perpendicular to the cross section under the push of the incoming water. The smart camera captures the drifting trajectory of the tracer float on the incoming water surface and calculates the surface flow velocity by dividing the trajectory length by the time interval. After the surface flow velocity measurement is completed, the UAV recovers the tracer float to the electromagnetic armature platform on the lower surface of the fuselage and attracts the tracer float through the electromagnetic armature platform. The UAV further flies the tracer float to the next surface flow velocity measurement point to continue the measurement. When the surface flow velocities of all surface flow velocity measurement points are measured, the UAV automatically averages the surface flow velocities of all surface flow velocity measurement points on the cross section to obtain the average surface flow velocity. S5. The drone calculates the incoming water flow through the cross-section by multiplying the average surface flow velocity by the cross-sectional area. It then uses the BeiDou-3 short message terminal based on RTK positioning to send the measured water depth data, surface flow velocity data, and incoming water flow data to the observation center online in real time for users to analyze in a timely manner. S6. Land the drone and turn off the Beidou RTK high-precision positioning function.

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