Shore-arranged automatic obstacle avoidance flood early warning device and use method

Abstract

The invention provides a shore-arranged automatic obstacle avoidance flood early warning device and a using method thereof, and aims to solve the problem that an existing flood early warning device is insufficient in precision and practicability in a complex environment. The device comprises a case, a controller, a relay, a driving motor, a wireless signal transmitter, an intelligent camera, a solar cell panel, a lifting rod and an angle displacement sensor, precise early warning and automatic obstacle avoidance functions are achieved through swinging of a floating ball along with the water level and obstacle recognition of the intelligent camera, and when a floating object lower than the lifting rod is detected, the automatic obstacle avoidance function is achieved. The floating ball can swing, and the floating obstacle can directly pass through along with water flow driving; and if the high obstacle is detected, the driving motor lifts the lifting rod. The solar cell panel cooperates with the energy storage system to ensure all-weather operation. Through dual-angle monitoring of the main body device and the auxiliary body device, mistaken touch early warning is effectively prevented. According to the invention, the practicability and accuracy of the flood early warning device in a complex environment are obviously improved.

Description

Technical Field

[0001] The present invention relates to the technical field of flood prediction and early warning, and in particular to a shore-mounted automatic obstacle avoidance flood early warning device and a use method thereof. Background Art

[0002] In mountainous areas, the construction and optimization of flood warning systems face numerous technical challenges. Previous early warning systems have encountered several issues in practical application, most notably insufficient data collection accuracy and poor device practicality. Due to the unique characteristics of mountain rivers, early warning systems are susceptible to various external factors, such as flow disturbances and floating obstacles on the surface. This can lead to inaccurate water level data, thus compromising the reliability of early warning information. This situation is particularly severe during frequent extreme weather events, significantly reducing the practicality of early warning systems.

[0003] Water flow disturbances can be caused by a variety of factors, such as rapids, whirlpools, heavy rain, or the failure of flood control facilities, all of which can cause early warning devices to misjudge water level changes. Furthermore, floating obstacles on the water surface, such as trees, plastic bags, and foam, can block or become entangled in the early warning device's sensors, affecting their proper function. Furthermore, the rapidly changing nature of mountain rivers, such as the rapid rise and fall of water levels, also places higher demands on the response speed and accuracy of early warning devices. Given these issues, improving the practicality of flood early warning devices in hilly areas and the accuracy of monitoring data has become a pressing technical challenge.

[0004] Chinese invention patent CN110514272A discloses a flood prediction and warning device and its use method. The device includes a housing, an insulating box, a sleeve, a float, a marker, a driving shaft, a connecting rod, and an outer sleeve. A mounting bracket facilitates installation and removal of the device, a filter screen prevents debris from affecting the marker, an insulating box protects the internal circuitry, and a signal light displays warning information. However, this device must be placed in water. Even with a filter screen, the mesh of the filter screen can become clogged by impurities in the water. In complex flood environments, if impurities are not removed promptly, the device will not function properly.

[0005] Chinese utility model patent CN208704846U discloses a flood control water level detection device, which is used to monitor the water level and mainly includes a water level measuring column, a float, a waterproof cover, an angle sensor, a vertical rod, and a baffle. The water level measuring column is fixed in the river area, and a distance sensor and a wireless communication module are installed in the waterproof cover. The float rises and falls with the water level, and the distance sensor measures the height of the float to determine the water level. The vertical rod is installed on the water level measuring column, and the angle sensor measures the deflection angle of the vertical rod. The baffle is connected to the bottom of the vertical rod. These data are transmitted back to the monitoring center via the wireless communication module. However, this device has the following problems in complex flood conditions: 1. The use of a float to measure the water level is extremely susceptible to interference from debris on the water surface, making it impossible to measure the water level; 2. The water level measuring column is fixed in the river area and is extremely susceptible to water erosion and interference from debris in the water, affecting its stability.

[0006] In response to the aforementioned technical problems, the inventors believe that the present invention solves the problem of many existing flood warning devices being unable to operate and provide accurate flood warnings in complex flood environments. This invention significantly improves the practicality and accuracy of flood warning devices. When an automated obstacle avoidance flood warning device is deployed on the shore, a smart camera, coupled with a lifting rod and a swinging float, effectively avoids the impact of floating obstacles on the water surface. This design uses a smart camera to monitor the water surface in real time. When a floating obstacle on the water surface is detected to reach or exceed the height of the lifting rod, the lifting rod automatically adjusts its height according to a preset program. If a floating obstacle is lower than the lifting rod, the swinging float allows the floating obstacle to pass directly with the water flow, thus preventing the obstacle from affecting the shore-based automated obstacle avoidance flood warning device. Because the present invention operates above the water surface, it further avoids problems such as water blockage and cleaning. Furthermore, the shore-based automated obstacle avoidance flood warning device is configured with at least two or more sets, separated by a certain distance. This prevents a floating obstacle from simultaneously triggering both the main device and the auxiliary device. A warning is triggered only when the angle values ​​collected by both devices simultaneously reach or exceed a threshold. On the other hand, the shore-mounted device and the swinging float design help reduce the impact of water disturbances. The shore-mounted device can resist the impact of water flow through a sturdy fixed structure, while the float can swing when the water flow is disturbed, thereby reducing the impact of the automated obstacle avoidance flood warning device installed on the opposite shore. Furthermore, when the water level rises rapidly, the river flow rate also increases accordingly. This causes the submerged area of ​​the float during a rapid rise in water level to be smaller than the submerged area during a normal rise in water level. In other words, when the water level rises rapidly, the absolute angle of the float's swing will be greater than the absolute angle during a normal rise in water level. Therefore, in the case of a rapid water level rise, the float can reach or exceed the warning threshold more quickly, thus providing an early warning of the rapid water level rise. This design can improve the practicality of flood warning devices in hilly areas and achieve accurate measurement through high-precision angular displacement sensors, providing reliable data support for flood warnings. Summary of the Invention

[0007] The purpose of the present invention is to address the problems in the above-mentioned prior art and provide a shore-mounted automated obstacle avoidance flood warning device and its use method, so as to improve the practicality of flood warning devices in hilly areas and achieve accurate measurement through high-precision angular displacement sensors to provide reliable data support for flood warnings.

[0008] In order to achieve the above object, the present invention has the following technical solutions:

[0009] A shore-mounted automatic obstacle avoidance flood warning device, comprising:

[0010] The chassis integrates a controller, relay, drive motor, and wireless signal transmitter. The surface of the chassis is equipped with a smart camera and solar panels. The drive motor is coupled to one end of the lifting rod through the opening of the chassis. The other end of the lifting rod is connected to the angle displacement sensor, and the angle displacement sensor is connected to the float through a stainless steel connecting rod.

[0011] As a preferred solution, the angular displacement sensor is connected to the float through a stainless steel connecting rod and fixed to form an integral body. The angular displacement sensor is connected to the interface of the lifting rod through its rotating shaft, and its line passes through the wire hole. Therefore, the float can swing with the rotating shaft of the angular displacement sensor as the center through the stainless steel connecting rod, and the swing angle of the float is measured by the angular displacement sensor.

[0012] As a preferred solution, due to the rising water level and the direction of river flow, the float is deflected by the buoyancy, and the angle displacement sensor is driven to rotate together through the stainless steel connecting rod. The angle displacement sensor transmits the measured swing angle data to the controller. After receiving the swing angle data, the controller will judge it to determine whether it reaches the preset threshold. Once the swing angle data reaches or exceeds the threshold, the controller will send a signal to the relay. After receiving the signal, the relay will activate the wireless signal transmitter, thereby sending an early warning signal to the downstream water conservancy projects or residents.

[0013] As a preferred solution, the initial position of the lifting rod during normal operation is in a horizontal position.

[0014] As a preferred solution, the smart camera has the function of judging whether the height of the floating obstacle reaches or exceeds the height of the lifting rod. When a floating obstacle is detected, the smart camera sends a signal to the controller, and the controller judges whether the signal reaches a preset threshold. If the threshold is reached, the controller will instruct the relay to work, and then start the drive motor to lift the lifting rod to a preset position. When the smart camera does not detect a floating obstacle, the smart camera sends a signal to the controller, and the controller sends a signal to the relay to start the drive motor to restore the lifting rod to its initial horizontal position.

[0015] As a preferred solution, the float is a hollow float made of high-strength and impact-resistant materials such as polyethylene (PE), high-density polyethylene (HDPE) or acrylonitrile-butadiene-styrene copolymer (ABS). When the water level rises, the float rises with the water level and swings with the flow of the river, thereby driving the angle displacement sensor to deflect through the stainless steel connecting rod. When there is a floating obstacle whose height is lower than the lifting rod, the float can swing, and the floating obstacle can pass directly with the water flow, thereby realizing the obstacle avoidance function.

[0016] As a preferred solution, the solar panels can be used in conjunction with a battery energy storage system so that the shore-mounted automatic obstacle avoidance and flood warning device can continue to work under conditions of insufficient sunlight or at night.

[0017] As a preferred solution, the shore-mounted automated obstacle avoidance flood warning device is configured with at least two sets or more, which are divided into a shore-mounted automated flood warning main device and a shore-mounted automated flood warning auxiliary device, referred to as the main device and the auxiliary device, and a certain distance needs to be separated between the two devices. The purpose is to prevent a floating obstacle on the water surface from triggering the main device and the auxiliary device at the same time. The warning will only be triggered when the angle values ​​collected by the two devices reach or exceed the threshold at the same time.

[0018] As a preferred solution, due to the special nature of mountain rivers, the early warning device is easily affected by various external factors such as water flow disturbances and floating obstacles on the water surface. Therefore, the auxiliary device is configured. The auxiliary device is to prevent the main device from accidentally touching the float due to floating obstacles on the water surface and causing an early warning. The angle displacement sensor of the auxiliary device sends the collected swing angle data to the controller of the auxiliary device. When the swing angle data reaches a preset threshold, the swing angle data is sent to the controller in the main device. Only when the collected angles of the main device and the auxiliary device reach or exceed the threshold at the same time, the controller in the main device will send a signal to the relay of the main device, and its relay will activate the wireless signal transmitter to send the early warning information.

[0019] As a preferred solution, when the water level rises rapidly, the flow rate of the river water will also accelerate accordingly, which causes the immersed area of ​​the float when the water level rises rapidly to be smaller than the immersed area when the water level rises normally, that is, when the water level rises rapidly, the absolute angle θ4 of the float's swing will be greater than the absolute angle θ3 when the water level rises normally. Therefore, when the water level rises rapidly, the float can reach or exceed the warning threshold more quickly, thereby achieving early warning of the rapid rise in water level.

[0020] A method for using a shore-mounted automatic obstacle avoidance flood warning device, comprising:

[0021] 1) Device installation

[0022] The main device and auxiliary device are installed on the river bank, with a certain distance between them to prevent a floating obstacle on the water surface from triggering both the main device and the auxiliary device at the same time. The warning is triggered only when the angle values ​​collected by the two devices reach or exceed the threshold at the same time;

[0023] 2) Data Collection

[0024] After installing the two main devices and the auxiliary device, adjust the length L0 of the stainless steel connecting rod so that the float is located between the flood level and the normal water level, determine the height of the water level warning line and the flood level line, and thus measure the distances L1 and L2 from the water level warning line and the flood level line to the center of the angle displacement sensor. Therefore, the absolute angles θ1 and θ2 corresponding to when the float reaches the water level warning line and the flood level line are calculated, and thus the following is calculated:

[0025]

[0026] θ1 and θ2 are used as threshold inputs to the controller;

[0027] 3) System operation

[0028] When the shore-mounted automatic obstacle avoidance flood warning device is in operation, the float rises with the water level. When the water level rises to the water level warning line or the flood level line, the float also rises to the corresponding height and drives the angle displacement sensor to swing with its center as the axis through the stainless steel connecting rod as the river flows. The swing angle data measured by the angle displacement sensors of the main device and the auxiliary device are sent to the controller of the main device. When the angle values ​​collected by the two devices reach the threshold at the same time, the controller sends a signal to the relay, which activates the wireless signal transmitter, and the wireless signal transmitter sends a warning message;

[0029] When the smart camera recognizes that the height of a floating obstacle on the water surface reaches or exceeds the height of the lifting rod, the smart camera sends a signal to the controller, and the controller determines whether the signal reaches a preset threshold. If the threshold is reached, the controller will instruct the relay to work, and then start the drive motor to lift the lifting rod to a preset position. When the smart camera does not detect a floating obstacle whose height reaches or exceeds the height of the lifting rod, the smart camera sends a signal to the controller, and the controller will send a signal to the relay to start the drive motor to restore the lifting rod to its initial horizontal position. When there is a floating obstacle whose height is lower than the height of the lifting rod, since the float can swing, the floating obstacle can pass directly with the water flow, thereby realizing the obstacle avoidance function.

[0030] Compared with the prior art, the present invention has at least the following beneficial effects:

[0031] When setting up an automated obstacle avoidance flood warning device on the shore, the design of a smart camera, a lifting rod, and a buoy that can swing can effectively avoid the impact of floating obstacles on the water surface. This design uses a smart camera to monitor the water surface conditions in real time. When it is detected that the height of a floating obstacle on the water surface reaches or exceeds the height of the lifting rod, the lifting rod can automatically adjust its height according to a preset program. When there is a floating obstacle whose height is lower than the height of the lifting rod, the floating obstacle can pass directly with the water flow because the buoy can swing, thereby avoiding the impact of the obstacle on the automated obstacle avoidance flood warning device on the shore. Since the present invention works above the water surface, it avoids problems such as water blockage and cleaning. The shore-mounted automated obstacle avoidance flood warning device is configured with at least two or more sets, and a certain distance needs to be separated between the two devices. The purpose is to prevent a floating obstacle on the water surface from triggering the main device and the auxiliary device at the same time. The warning will only be triggered when the angle values ​​collected by the two devices reach or exceed the threshold at the same time.

[0032] On the other hand, the shore-mounted device and the swinging float design help reduce the impact of water disturbances. The shore-mounted device can resist the impact of water flow through a sturdy fixed structure, while the float can swing when the water flow is disturbed, thereby reducing the impact of the automated obstacle avoidance flood warning device installed on the opposite shore. Furthermore, when the water level rises rapidly, the river flow rate also increases accordingly. This causes the submerged area of ​​the float during a rapid rise in water level to be smaller than the submerged area during a normal rise in water level. In other words, when the water level rises rapidly, the absolute angle of the float's swing will be greater than the absolute angle during a normal rise in water level. Therefore, in the case of a rapid water level rise, the float can reach or exceed the warning threshold more quickly, thus providing an early warning of the rapid water level rise. This design can improve the practicality of flood warning devices in hilly areas and achieve accurate measurement through high-precision angular displacement sensors, providing reliable data support for flood warnings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the overall structure of an automated shore-mounted obstacle avoidance flood warning device according to an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of the overall structure of the automated shore-mounted obstacle avoidance flood warning device according to an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of the working process of the shore-mounted automatic obstacle avoidance flood warning device according to an embodiment of the present invention;

[0036] Figure 4 A schematic diagram of the connection of the angular displacement sensors of the shore-mounted automatic obstacle avoidance and flood warning device according to an embodiment of the present invention;

[0037] Figure 5 A schematic cross-sectional view of the use of a shore-mounted automatic obstacle avoidance flood warning device according to an embodiment of the present invention;

[0038] Figure 6 Schematic diagram of the overall structure and use of the shore-mounted automatic obstacle avoidance flood warning device according to an embodiment of the present invention:

[0039] (a) The float is at or above the water surface; (b) The angle displacement sensor rotates as the water surface rises;

[0040] Figure 7 Schematic diagram of floating obstacle avoidance of the shore-mounted automatic obstacle avoidance flood warning device according to an embodiment of the present invention:

[0041] (a) The smart camera identifies an obstacle; (b) The lifting rod rises to avoid the obstacle; (c) The floating ball avoids the obstacle;

[0042] (d) The float is avoiding an obstacle; (e) After the float avoids an obstacle;

[0043] Figure 8 Schematic diagram of the common use of the main unit and auxiliary unit of the shore-mounted automatic obstacle avoidance flood warning device according to an embodiment of the present invention:

[0044] (a) The float is at or above the water surface; (b) The angle displacement sensor rotates as the water surface rises;

[0045] Figure 9 Schematic diagram of the threshold value calculation principle of the shore-mounted automatic obstacle avoidance flood warning device according to an embodiment of the present invention;

[0046] Figure 10 Schematic diagram of the principle of rapid water level rise warning of the shore-mounted automatic obstacle avoidance flood warning device according to an embodiment of the present invention;

[0047] (a) When the water level rises normally; (b) When the water level rises rapidly;

[0048] In the accompanying drawings: 1-chassis; 11-controller; 12-relay; 13-drive motor; 14-wireless signal transmitter; 2-smart camera; 3-solar panel; 4-lifting rod; 41-interface; 42-threading hole; 5-angle displacement sensor; 51-rotating shaft; 6-stainless steel connecting rod; 7-float. DETAILED DESCRIPTION

[0049] The present invention will be described in further detail below with reference to the accompanying drawings.

[0050] Due to the unique characteristics of mountain rivers, previous warning systems were susceptible to various external factors, such as water disturbances and floating obstacles on the surface. This resulted in inaccurate water level data, which in turn affected the reliability of warning information. This situation was particularly serious during the frequent occurrence of extreme weather events, significantly reducing the practicality of the warning system.

[0051] In response to the aforementioned related technical problems, the inventors believe that the present invention solves the problem of many existing flood warning devices being unable to operate and provide accurate flood warnings in complex flood environments. This invention significantly improves the practicality and accuracy of flood warning devices. When an automated flood warning device is installed on the shore, the intelligent camera, combined with a lifting rod and a swinging float, can effectively avoid the impact of floating obstacles on the water surface. This design uses the intelligent camera to monitor the water surface in real time. Once a floating obstacle is detected that obstructs the shore-based automated obstacle avoidance flood warning device, the lifting rod automatically adjusts its height according to a preset program, thereby preventing the obstacle from affecting the shore-based automated obstacle avoidance flood warning device. Furthermore, at least two or more shore-based automated obstacle avoidance flood warning devices are required, with a certain distance between the two devices. This prevents a single floating obstacle from triggering both the main device and the auxiliary device simultaneously. A warning is triggered only when the angle values ​​collected by both devices simultaneously reach or exceed a threshold. Furthermore, the shore-based device and the swinging float design help reduce the impact of water disturbances. The shore device can resist the impact of water flow through a sturdy fixed structure, while the float can swing when the water flow is disturbed, thereby reducing the impact of the automated obstacle avoidance flood warning device installed on the opposite bank. In addition, when the water level rises rapidly, the flow rate of the river will also increase accordingly, resulting in the float's submerged area being smaller during a rapid water level rise than during a normal water level rise. In other words, when the water level rises rapidly, the absolute angle of the float's swing will be greater than the absolute angle during a normal water level rise. Therefore, when the water level rises rapidly, the float can reach or exceed the warning threshold more quickly, thereby achieving an early warning of the rapid water level rise. This design can improve the practicality of flood warning devices in hilly areas and achieve accurate measurement through high-precision angle displacement sensors, providing reliable data support for flood warnings.

[0052] See also Figure 1-Figure 3 The embodiment of the present invention provides an automatic shore-mounted obstacle avoidance flood warning device, comprising:

[0053] A chassis (1) is provided, wherein a controller (11), a relay (12), a drive motor (13), and a wireless signal transmitter (14) are integrated inside the chassis (1); an intelligent camera (2) and a solar cell panel (3) are installed on the surface of the chassis (1); the drive motor (13) is coupled to one end of a lifting rod (4) through an opening of the chassis (1); the other end of the lifting rod (4) is connected to an angle displacement sensor (5); and the angle displacement sensor (5) is connected to a float (7) through a stainless steel connecting rod (6).

[0054] See also Figure 4 The angular displacement sensor (5) is connected to the floating ball (7) through a stainless steel connecting rod (6) and fixed to form an integral body. The angular displacement sensor (5) is connected to the interface (41) of the lifting rod through its rotating shaft (51), and its line passes through the threading hole (42). Therefore, the floating ball (7) can swing with the rotating shaft (51) of the angular displacement sensor (5) as the center through the stainless steel connecting rod (6), and the swing angle of the floating ball is measured by the angular displacement sensor (5).

[0055] See also Figure 3 and Figure 6 Due to the rising water level and the direction of the river flow, the float (7) is deflected by the buoyancy and drives the angle displacement sensor (5) to rotate together through the stainless steel connecting rod (6). The angle displacement sensor (5) transmits the measured swing angle data to the controller (11). After receiving the swing angle data, the controller (11) will judge it to determine whether it reaches a preset threshold. Once the swing angle data reaches or exceeds the threshold, the controller (11) will send a signal to the relay (12). After receiving the signal, the relay (12) will activate the wireless signal transmitter (14), thereby sending an early warning signal to the downstream water conservancy project or residents.

[0056] See also Figure 5 , the initial position of the lifting rod (4) during normal operation is in a horizontal position.

[0057] See also Figure 3 and Figure 7The smart camera (2) has the function of judging whether the height of the floating obstacle reaches or exceeds the height of the lifting rod. When a floating obstacle is detected, the smart camera (2) sends a signal to the controller (11). The controller (11) judges whether the signal reaches a preset threshold. If the threshold is reached, the controller (11) instructs the relay (12) to work, and then starts the drive motor (13) to lift the lifting rod (4) to a preset position. When the smart camera (3) does not detect the floating obstacle, the smart camera (2) sends a signal to the controller (11). The controller (11) sends a signal to the relay (12) to start the drive motor (13) to restore the lifting rod to its initial horizontal position.

[0058] See also Figure 6 The float (7) is a hollow float made of high-strength and impact-resistant materials such as polyethylene (PE), high-density polyethylene (HDPE) or acrylonitrile-butadiene-styrene copolymer (ABS). When the water level rises, the float rises with the water level and swings with the flow of the river, thereby driving the angle displacement sensor (5) to deflect through the stainless steel connecting rod (6). When there is a floating obstacle whose height is lower than the height of the lifting rod, the floating obstacle can pass directly with the water flow because the float can swing, thereby realizing the obstacle avoidance function.

[0059] Solar panels can be used in conjunction with battery energy storage systems to allow shore-based automated flood warning devices to continue working in conditions of insufficient sunlight or at night.

[0060] See also Figure 8 At least two or more shore-based automated obstacle avoidance flood warning devices are configured, which are divided into shore-based automated flood warning main devices and shore-based automated flood warning auxiliary devices, referred to as main devices and auxiliary devices, and a certain distance is required between the two devices. The purpose is to prevent a floating obstacle on the water surface from triggering the main device and the auxiliary device at the same time. The warning will only be triggered when the angle values ​​collected by the two devices reach or exceed the threshold at the same time.

[0061] See also Figure 3 、 Figure 7 and Figure 8Due to the special nature of mountain rivers, the early warning device is easily affected by various external factors such as water flow disturbance and floating obstacles on the water surface. Therefore, the auxiliary device is configured to prevent the main device from triggering an early warning due to the floating obstacle accidentally touching the float. The angle displacement sensor (5) of the auxiliary device sends the collected swing angle data to the controller (11) of the auxiliary device. When the swing angle data reaches a preset threshold, the swing angle data is sent to the controller (11) in the main device. Only when the collected angles of the main device and the auxiliary device reach or exceed the threshold at the same time, the controller (11) in the main device will send a signal to the relay (12) of the main device, and the relay (12) starts the wireless signal transmitter (14) to send the early warning information.

[0062] See also Figure 10 When the water level rises rapidly, the flow rate of the river water will also increase accordingly, which causes the immersion area of ​​the float (7) to be smaller when the water level rises rapidly than when the water level rises normally. That is, when the water level rises rapidly, the absolute angle of the swing of the float (7) will be larger than the absolute angle when the water level rises normally. Therefore, when the water level rises rapidly, the float (7) can reach or exceed the warning threshold more quickly, thereby achieving an early warning of the rapid rise in the water level.

[0063] A method for using a shore-mounted automatic obstacle avoidance flood warning device, comprising:

[0064] 1) Device installation

[0065] See also Figure 8 , the main device and auxiliary device are installed on the river bank, and a certain distance is required between the two devices. The purpose is to prevent a floating obstacle on the water surface from triggering the main device and the auxiliary device at the same time. The warning will only be triggered when the angle values ​​collected by the two devices reach or exceed the threshold at the same time;

[0066] 2) Data Collection

[0067] See also Figure 9 After installing the two main devices and the auxiliary device, adjust the length L0 of the stainless steel connecting rod (6) so that the float (7) is located between the flood level and the normal water level, and determine the height of the water level warning line and the flood level line. Thus, the distances L1 and L2 from the water level warning line and the flood level line to the center of the angle displacement sensor (5) can be measured. Therefore, the absolute angles θ1 and θ2 corresponding to when the float reaches the water level warning line and the flood level line are calculated, and thus:

[0068]

[0069] θ1 and θ2 are used as threshold inputs to the controller;

[0070] 3) System operation

[0071] See also Figure 3 When the device is in operation, the float (7) rises with the water level. When the water level rises to the water level warning line or the flood level line, the float (7) also rises to the corresponding height, and drives the angle displacement sensor (5) to swing with its center as the axis through the stainless steel connecting rod (6) as the river flow direction. Thus, the angle displacement sensors (5) of the main device and the auxiliary device measure the swing angle data, and both are sent to the controller (11) of the main device. When the angle values ​​collected by the two devices reach the threshold at the same time, the controller (11) sends a signal to the relay (12), the relay (12) starts the wireless signal transmitter (14), and the wireless signal transmitter (14) sends a warning message;

[0072] See also Figure 3 and Figure 7 When the smart camera (2) recognizes that the height of the floating obstacle on the water surface reaches or exceeds the height of the lifting rod, the smart camera (2) sends a signal to the controller (11), and the controller (11) determines whether the signal reaches a preset threshold value. If the threshold value is reached, the controller (11) will instruct the relay (12) to work, and then start the drive motor (13) to lift the lifting rod (4) to a preset position. When the smart camera (2) does not detect a floating obstacle with a height reaching or exceeding the height of the lifting rod, the smart camera (2) sends a signal to the controller (11), and the controller (11) sends a signal to the relay (12) to start the drive motor (13) to restore the lifting rod (4) to its initial horizontal position. When there is a floating obstacle with a height lower than the height of the lifting rod (4), since the float (7) can swing, the floating obstacle can pass directly with the water flow, thereby realizing the obstacle avoidance function;

[0073] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A shore-mounted automatic obstacle avoidance flood warning device, characterized in that: include: A chassis (1) is provided, wherein a controller (11), a relay (12), a drive motor (13), and a wireless signal transmitter (14) are integrated inside the chassis (1); an intelligent camera (2) and a solar cell panel (3) are installed on the surface of the chassis (1); the drive motor (13) is coupled to one end of a lifting rod (4) through an opening of the chassis (1); the other end of the lifting rod (4) is connected to an angle displacement sensor (5); and the angle displacement sensor (5) is connected to a float (7) through a stainless steel connecting rod (6).

2. The shore-mounted automatic obstacle avoidance flood warning device according to claim 1 is characterized in that: The angular displacement sensor (5) is connected to the floating ball (7) via a stainless steel connecting rod (6) and fixed to form an integral body. The angular displacement sensor (5) is connected to the interface (41) of the lifting rod via its rotating shaft (51), and its line passes through the threading hole (42). Therefore, the floating ball (7) can swing with the rotating shaft (51) of the angular displacement sensor (5) as the center of the circle through the stainless steel connecting rod (6), and the swing angle of the floating ball is measured by the angular displacement sensor (5).

3. The shore-mounted automatic obstacle avoidance flood warning device according to claim 2 is characterized in that: Due to the rising water level and the direction of the river flow, the float (7) is deflected by the buoyancy, and the angular displacement sensor (5) is driven to rotate together through the stainless steel connecting rod (6). The angular displacement sensor (5) transmits the measured swing angle data to the controller (11). After receiving the swing angle data, the controller (11) judges it to determine whether it reaches a preset threshold value. Once the swing angle data reaches or exceeds the threshold value, the controller (11) sends a signal to the relay (12). After receiving the signal, the relay (12) activates the wireless signal transmitter (14), thereby sending an early warning signal to the downstream water conservancy project or residents.

4. The shore-mounted automatic obstacle avoidance flood warning device according to claim 1 is characterized in that: The initial position of the lifting rod (4) during normal operation is in a horizontal position.

5. The shore-mounted automatic obstacle avoidance flood warning device according to claim 1 is characterized in that: The smart camera (2) has the function of judging whether the height of a floating obstacle reaches or exceeds the height of the lifting rod. When a floating obstacle is detected, the smart camera (2) sends a signal to the controller (11). The controller (11) judges whether the signal reaches a preset threshold. If the threshold is reached, the controller (11) instructs the relay (12) to work, and then starts the drive motor (13) to lift the lifting rod (4) to a preset position. When the smart camera (3) does not detect a floating obstacle, the smart camera (2) sends a signal to the controller (11). The controller (11) sends a signal to the relay (12) to start the drive motor (13) to restore the lifting rod to an initial horizontal position.

6. The shore-mounted automatic obstacle avoidance flood warning device according to claim 1 is characterized in that: The float (7) is a hollow float made of high-strength and impact-resistant materials such as polyethylene (PE), high-density polyethylene (HDPE) or acrylonitrile-butadiene-styrene copolymer (ABS). When the water level rises, the float rises with the water level and swings with the flow of the river, thereby driving the angle displacement sensor (5) to deflect through the stainless steel connecting rod (6). When there is a floating obstacle whose height is lower than the lifting rod, the floating obstacle can pass directly due to the swinging of the float, driven by the water flow, thereby realizing the obstacle avoidance function.

7. The shore-mounted automatic obstacle avoidance flood warning device according to claim 1 is characterized in that: The solar panel (3) can be used in conjunction with a battery energy storage system so that the shore-mounted automatic obstacle avoidance and flood warning device can continue to operate under conditions of insufficient sunlight or at night.

8. The shore-mounted automated obstacle avoidance flood warning device is equipped with at least two sets or more, which are divided into a shore-mounted automated flood warning main device and a shore-mounted automated flood warning auxiliary device, referred to as the main device and the auxiliary device, and a certain distance needs to be separated between the two devices. The purpose is to prevent a floating obstacle on the water surface from triggering the main device and the auxiliary device at the same time. The warning will only be triggered when the angle values ​​collected by the two devices reach or exceed the threshold at the same time.

9. The shore-mounted automatic obstacle avoidance flood warning device according to claim 8, characterized in that: Due to the special nature of mountain rivers, the early warning device is easily affected by various external factors such as water flow disturbance and floating obstacles on the water surface. Therefore, the auxiliary device is configured to prevent the main device from triggering an early warning due to the floating obstacle accidentally touching the float. The angle displacement sensor (5) of the auxiliary device sends the collected swing angle data to the controller (11) of the auxiliary device. When the swing angle data reaches a preset threshold, the swing angle data is sent to the controller (11) in the main device. Only when the collected angles of the main device and the auxiliary device reach or exceed the threshold at the same time, the controller (11) in the main device will send a signal to the relay (12) of the main device, and the relay (12) starts the wireless signal transmitter (14) to send the early warning information.

10. The shore-mounted automatic obstacle avoidance flood warning device according to claim 1 is characterized in that: When the water level rises rapidly, the flow rate of the river water will also increase accordingly, which causes the submerged area of ​​the float (7) to be smaller when the water level rises rapidly than when the water level rises normally. That is, when the water level rises rapidly, the absolute angle θ4 of the swing of the float (7) will be larger than the absolute angle θ3 when the water level rises normally. Therefore, when the water level rises rapidly, the float (7) can reach or exceed the warning threshold more quickly, thereby achieving an early warning of the rapid rise in the water level.

11. A method for using a shore-mounted automated obstacle avoidance flood warning device, comprising: 1) Device installation The main device and auxiliary device are installed on the river bank, with a certain distance between them to prevent a floating obstacle on the water surface from triggering both the main device and the auxiliary device at the same time. The warning is triggered only when the angle values ​​collected by the two devices reach or exceed the threshold at the same time; 2) Data Collection After installing the two main devices and the auxiliary device, adjust the length L0 of the stainless steel connecting rod (6) so that the float (7) is located between the flood level and the normal water level, and determine the height of the water level warning line and the flood level line. Thus, the distances L1 and L2 from the water level warning line and the flood level line to the center of the angle displacement sensor (5) can be measured. Therefore, the absolute angles θ1 and θ2 corresponding to when the float reaches the water level warning line and the flood level line are calculated, and thus the following is calculated: θ1 and θ2 are used as threshold inputs to the controller; 3) System operation When the bank-mounted automatic obstacle avoidance flood warning device is in operation, the float (7) rises with the water level. When the water level rises to the water level warning line or the flood level line, the float (7) also rises to the corresponding height, and drives the angle displacement sensor (5) to swing with its center as the axis through the stainless steel connecting rod (6) as the river flow direction. The angle displacement sensors (5) of the main device and the auxiliary device measure the swing angle data, and both are sent to the controller (11) of the main device. When the angle values ​​collected by the two devices reach the threshold at the same time, the controller (11) sends a signal to the relay (12), the relay (12) starts the wireless signal transmitter (14), and the wireless signal transmitter (14) sends the warning information. When the smart camera (2) recognizes that the height of the floating obstacle on the water surface reaches or exceeds the height of the lifting rod, the smart camera (2) sends a signal to the controller (11), and the controller (11) determines whether the signal reaches a preset threshold value. If the threshold value is reached, the controller (11) will instruct the relay (12) to work, and then start the drive motor (13) to lift the lifting rod (4) to a preset position. When the smart camera (2) does not detect a floating obstacle with a height reaching or exceeding the height of the lifting rod, the smart camera (2) sends a signal to the controller (11), and the controller (11) sends a signal to the relay (12) to start the drive motor (13) to restore the lifting rod (4) to its initial horizontal position. When there is a floating obstacle with a height lower than the height of the lifting rod (4), since the float (7) can swing, the floating obstacle can pass directly with the water flow, thereby realizing the obstacle avoidance function.

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