Flow rate monitoring method and system based on outflow characteristics of slurry at pipe orifice

Abstract

A flow rate monitoring method and system based on outflow characteristics of slurry at a pipe orifice. The flow rate monitoring method comprises: acquiring an original flow state image of outflow slurry at a pipe orifice (S11); correcting the original flow state image and obtaining a corrected flow state image (S12); performing binarization processing on the corrected flow state image and obtaining a binarized flow state image (S13); and on the basis of the binarized flow state image, obtaining the flow rate of the outflow slurry at the pipe orifice (S14). For the situation of full-pipe outflows of different pipe diameters, a contour image of slurry in a flow state at a pipe orifice can be acquired by means of a pipe orifice flow state sensing device, and by using a flow state analysis algorithm combined with flow rate distribution characteristics of the pipe orifice in a vertical direction, the flow rate of outflow slurry at the pipe orifice is obtained and fed back to a construction ship, thereby helping operators to adjust construction process parameters in real time, and maintaining the flow rate of the slurry within an efficient and energy-saving range.

Description

Flow velocity monitoring method and system based on slurry outflow characteristics at nozzle Technical Field

[0001] The present application relates to the field of dredging and filling, and specifically relates to a flow rate monitoring method and system based on the outflow characteristics of slurry at a pipe orifice. Background Art

[0002] In the dredging and filling industry, the outflow characteristics of the slurry at the pipe outlet can provide a real-time reflection of the slurry flow state within the pipe during the filling process. Excessive flow rates can cause unnecessary energy loss and accelerate wear on the dredge pump and pipeline, while too low flow rates can risk pipe blockage. Therefore, timely monitoring of the slurry flow rate at the pipeline outlet and feedback to the construction vessel can help operators adjust construction process parameters in real time to maintain the flow rate within an efficient and energy-saving range.

[0003] Currently, in the dredging and filling sector, pipeline slurry flow rates are primarily monitored using electromagnetic flowmeters. These flowmeters, based on Faraday's law of electromagnetic induction, measure the conductivity of the conveying fluid to determine the pipeline flow rate. These flowmeters offer advantages such as a wide flow measurement range and minimal pressure loss in the measuring section. However, electromagnetic flowmeters have limitations in actual use. Because electromagnetic flowmeter measurements are based on the conductivity of the conveying fluid, significant changes in the soil quality, salinity, or temperature of the conveying fluid require recalibration. When the conveying soil particle size is large, the sedimentation of mud and sand particles at the bottom of the pipeline can cause the transmitter's output potential to change, resulting in measurement errors. Furthermore, wear on the inner wall of the electromagnetic flowmeter, which causes changes in the inner diameter, can affect measurement accuracy. Furthermore, electromagnetic flowmeters also suffer from zero drift. Summary of the Invention

[0004] The present application proposes a flow rate monitoring method and system based on the outflow characteristics of the slurry at the pipe mouth. For the full pipe outflow conditions of different pipe diameters, the method and system can obtain the contour image of the slurry flow state at the pipe mouth through the pipe mouth flow state sensing device, and use the flow state analysis algorithm in combination with the vertical flow velocity distribution characteristics of the pipe mouth to obtain the flow velocity of the slurry outflowing from the pipe mouth and feed it back to the construction vessel, thereby helping the operator to adjust the construction process parameters in real time to keep the slurry flow rate within an efficient and energy-saving range.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] The present application provides a flow rate monitoring method based on the flow characteristics of slurry out of a pipe mouth, comprising: obtaining an original flow image of the slurry out of the pipe mouth; correcting the original flow image and obtaining a corrected flow image; binarizing the corrected flow image and obtaining a binarized flow image; and calculating the flow rate of the slurry out of the pipe mouth based on the binarized flow image.

[0007] Optionally, correcting the original flow image to obtain the corrected flow image includes: acquiring an offset angle between a viewfinder of the original flow image and a gravity direction; and performing distortion correction on the original flow image based on the offset angle.

[0008] Optionally, the calculation of the flow velocity of the slurry flowing out of the pipe outlet based on the binary flow image includes: obtaining the pixel coordinates of key feature points of the characteristic part in the binary flow image; obtaining the image distance of the characteristic part based on the pixel coordinates; obtaining the actual distance of the characteristic part based on the image distance and the corresponding proportional relationship; and obtaining the flow velocity of the slurry flowing out of the pipe outlet based on the actual distance.

[0009] Optionally, obtaining the flow rate of the slurry flowing out of the pipe mouth based on the binary flow image also includes: obtaining the actual pipe diameter of the pipe mouth and its image pipe diameter in the binary flow image; and obtaining the proportional relationship based on the ratio of the actual pipe diameter and the image pipe diameter.

[0010] Optionally, the actual distance includes the height h of the slurry flowing out of the nozzle from the ground, and the horizontal distance S between the landing position of the slurry flowing out of the nozzle and the nozzle; the height h includes the height h of the lower end of the slurry flowing out of the nozzle from the ground min , the height h of the middle part of the pipe outlet from the ground mid , and the height h from the upper end of the pipe outlet slurry to the ground max The horizontal distance S includes the horizontal distance S from the nozzle to the nozzle of the lower end of the slurry landing position min The horizontal distance S between the landing position of the middle part of the slurry flowing out of the nozzle and the nozzle mid , and the horizontal distance S between the landing position of the upper end of the slurry flowing out of the nozzle and the nozzle max The flow rate of the slurry out of the nozzle is obtained by the following process:

[0011] In the vertical direction:

[0012] Among them, T min 、T mid 、T max Respectively represent the landing time of the lower end, middle part and upper end of the slurry flowing out of the nozzle;

[0013] Further we get:

[0014] In the horizontal direction: S min =V min T min ;S mid =V midT mid ;S max =V max T max ;

[0015] Among them, V min 、V mid 、V max Respectively represent the flow rates of the lower end, middle part and upper end of the slurry flowing out of the nozzle;

[0016] Further we get:

[0017] V min 、V mid 、V max The average value is taken as the flow rate of the slurry outflow from the nozzle.

[0018] Optionally, obtaining the flow velocity of the slurry flowing out of the nozzle based on the binary flow state image further includes: determining whether the nozzle is horizontal; if so, directly calculating the flow velocity of the slurry flowing out of the nozzle; if not, obtaining an inclination angle θ between the nozzle and the horizontal direction and calculating the flow velocity of the slurry flowing out of the nozzle based on the inclination angle θ;

[0019] The tilt angle

[0020] Among them, (u A ,v A ) and (u B ,v B ) represent the pixel coordinates of two points on the upper part of the tube;

[0021] The flow rate of the slurry out of the nozzle is obtained by the following process:

[0022] In the vertical direction:

[0023] In the horizontal direction:

[0024] S min =V min cosθT min ;S mid =V mid cosθT mid ;S max =V max cosθT max ;

[0025] Combine the above equations in the vertical and horizontal directions to solve V min 、V mid 、V max ;

[0026] V min 、V mid 、V max The average value is taken as the flow rate of the slurry outflow from the nozzle.

[0027] The present application also provides a flow rate monitoring device based on the outflow characteristics of the slurry from the pipe mouth, including: an acquisition module, which is used to obtain the original flow image of the slurry flowing out of the pipe mouth; a correction module, which is used to correct the original flow image and obtain a corrected flow image; a binarization module, which is used to binarize the corrected flow image and obtain a binarized flow image; and a calculation module, which is used to obtain the flow rate of the slurry flowing out of the pipe mouth based on the binarized flow image.

[0028] The present application also provides a storage medium, which stores a computer program. When the computer program is executed, the flow rate monitoring method described in the present application is implemented.

[0029] The present application also provides an electronic device, comprising: a processor; and a memory storing a computer program that can be run on the processor; wherein, when the computer program is executed by the processor, the flow rate monitoring method described in the present application is implemented.

[0030] The present application also provides a flow rate monitoring system based on the slurry outflow characteristics of the pipe mouth, including a pipe mouth flow state sensing device and the electronic device described in the present application; the pipe mouth flow state sensing device is suitable for collecting the original flow state image; the electronic device is communicatively connected with the pipe mouth flow state sensing device to obtain the original flow state image.

[0031] Compared with the prior art, this application has at least the following beneficial effects:

[0032] For example, by using the present application, for the situation of full pipe outflow of different pipe diameters, the contour image of the slurry flow state at the pipe mouth can be obtained through the pipe mouth flow state sensing device, and the flow state analysis algorithm can be used in combination with the vertical flow velocity distribution characteristics of the pipe mouth to obtain the flow velocity of the slurry flowing out of the pipe mouth and feed it back to the construction vessel, so as to help the operator adjust the construction process parameters in real time to keep the flow velocity of the slurry within an efficient and energy-saving range.

[0033] For another example, in this application, the image of the dredged material, i.e., the slurry flowing out of the pipe outlet, can be well marked and identified, the processing process is relatively simple, and the requirements for the camera are relatively low.

[0034] For example, the technology of this application is reliable, simple in structure, easy to operate, and highly applicable. It can effectively solve the problems of frequent calibration of existing pipeline electromagnetic flowmeters and the inability to universally use calibration coefficients for different soil types. It can provide accurate flow rate data for the process parameter control of slurry transportation by dredging ships, and has broad application prospects in the field of dredging and filling. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a schematic diagram of a flow rate monitoring system based on the slurry outflow characteristics of a nozzle in an embodiment of the present application;

[0036] FIG2 is a schematic diagram of a movable tripod bracket in an embodiment of the present application;

[0037] FIG3 is a schematic diagram of a nozzle flow state sensing device according to an embodiment of the present application;

[0038] FIG4 is a schematic diagram of an electronic device in an embodiment of the present application;

[0039] FIG5 is a flow diagram of a flow rate monitoring method based on the outflow characteristics of the slurry at the nozzle in an embodiment of the present application;

[0040] FIG6 is an original flow state image of the slurry flowing out of the nozzle in the embodiment of the present application;

[0041] FIG7 is a corrected flow state image of the slurry flowing out of the nozzle in the embodiment of the present application;

[0042] FIG8 is an image of slurry outflow from a nozzle in an embodiment of the present application;

[0043] FIG9 is a binary flow state image of the slurry flowing out of the nozzle in the embodiment of the present application.

[0044] In the figure: 1. High-speed camera; 11. Attitude sensor; 2. Fixed base; 21. Level; 3. Wireless image transmission module; 4. Tripod mounting plate; 41. Tripod fixing bolt; 5. Retractable outer bracket; 6. Retractable inner bracket; 7. Retractable bracket fixing bolt; 8. Special non-slip rubber gasket for tripod; 9. Fixing claw; 10. Computer; 101. Central processing unit; 103. Display screen; 105. Image receiving module; 106. Long-distance flow rate data transmission module. DETAILED DESCRIPTION

[0045] To make the objectives, features, and beneficial effects of this application more readily apparent, the following detailed description of specific embodiments of this application is provided with reference to the accompanying drawings. It should be understood that the specific embodiments described below are intended only to explain this application and are not intended to limit it. Furthermore, descriptions of identical or similar components between different embodiments, as well as descriptions of components, features, effects, and the like belonging to the prior art, may be omitted.

[0046] In addition, for ease of description, the drawings only show parts related to the present application rather than all structures. In addition, the same or similar reference numerals may be used in the drawings to refer to the same or similar components in different embodiments.

[0047] Figure 1 is a schematic diagram of a flow rate monitoring system based on the slurry outflow characteristics of a pipe mouth in an embodiment of the present application; Figure 2 is a schematic diagram of a movable triangular bracket in an embodiment of the present application; Figure 3 is a schematic diagram of a pipe mouth flow state sensing device in an embodiment of the present application; Figure 4 is a schematic diagram of an electronic device in an embodiment of the present application.

[0048] 1 to 4 , an embodiment of the present application provides a flow rate monitoring system based on the slurry outflow characteristics of a pipe orifice.

[0049] In some embodiments, the flow rate monitoring system includes a flow state sensing device at a pipe outlet, and an electronic device connected to the flow state sensing device. The flow state sensing device is adapted to capture a raw flow state image of the slurry flowing out of the pipe outlet, and the electronic device is adapted to determine the flow rate of the slurry flowing out of the pipe outlet based on the raw flow state image.

[0050] In some embodiments, the flow rate monitoring system further includes a movable tripod bracket suitable for mounting a nozzle flow state sensing device.

[0051] In specific implementation, the pipe mouth to be measured is selected, and a movable tripod bracket is set up at a certain distance.

[0052] In some embodiments, the movable tripod includes a tripod mounting plate 4 and three retractable brackets. Each retractable bracket includes a retractable outer bracket 5 and a retractable inner bracket 6. The retractable inner bracket 6 is movably connected to the retractable outer bracket 5 via retractable bracket fixing bolts 7 to achieve the retractable function.

[0053] In a specific implementation, the tripod support mounting plate 4 and the top ends of the retractable outer supports 5 are connected respectively by tripod support fixing bolts 41. At the same time, the fixing base 2 is installed on the tripod support mounting plate 4.

[0054] In some embodiments, a tripod-specific non-slip rubber pad 8 is provided at the bottom of the retractable inner bracket 6 of two retractable brackets; at the same time, a fixing claw 9 is provided at the bottom of the retractable inner bracket 6 of the other retractable bracket and is inserted into the ground. This ensures the stability of the entire system.

[0055] In some embodiments, the retractable inner bracket 6 and the fixed claw 9 are screwed together by a triangular bracket thread.

[0056] In some embodiments, the nozzle flow state sensing device includes a high-speed camera 1 adapted to capture the original flow state image of the slurry flowing out of the nozzle, and the electronic device includes a wireless image transmission module 3 connected to the high-speed camera 1 .

[0057] In some embodiments, the wireless image transmission module 3 is connected to the high-speed camera 1 via a data line and acquires the original flow state image of the slurry flowing out of the pipe in real time.

[0058] In some embodiments, the wireless image transmission module 3 uses the mobile transmission technology of the CDMA wireless network, MPEG-4 compression method and MPEG-4 CIF format to compress the image to achieve a rate of about 2 frames per second, thereby meeting the frequency requirements of flow rate monitoring.

[0059] Furthermore, the image can be adjusted to QCIF format, in which the transmission speed can reach more than 10 frames per second.

[0060] After the movable tripod is set up, the high-speed camera 1 and the wireless image transmission module 3 are fixed on the fixed base 2 .

[0061] In some embodiments, the nozzle flow state sensing device further includes a level 21 .

[0062] In a specific implementation, the level 21 is fixed to the fixed base 2, and the level of the level 21 is adjusted by adjusting the length of the retractable bracket to ensure the level of the fixed base 2, thereby ensuring that the high-speed camera 1 on the fixed base 2 remains level. While ensuring the level of the fixed base 2, the retractable bracket fixing bolts 7 are tightened to prevent the retractable inner bracket 6 and the retractable outer bracket 5 from moving relative to each other.

[0063] In some embodiments, the electronic device further includes a computer 10. The computer 10 further includes an image receiving module 105, a central processing unit 101, and a long-distance flow rate data transmission module 106. The image receiving module 105 is communicatively connected to the wireless image transmission module 3, and the central processing unit 101 is connected to the image receiving module 105 and the long-distance flow rate data transmission module 106, respectively.

[0064] In some embodiments, the image receiving module 105 is adapted to receive the raw flow images transmitted by the wireless image transmission module 3 and decode and display the image information. The central processing unit 101 is adapted to process the raw flow images and obtain a processing result, which includes at least the flow velocity of the slurry flowing out of the pipe. The long-distance flow velocity data transmission module 106 is adapted to transmit the processing result to the construction vessel, so that operators can adjust construction parameters in real time.

[0065] In some embodiments, the computer 10 further includes a display screen 103 connected to the central processing unit 101 to display processing results.

[0066] After the flow starts to flow out of the pipe mouth, the high-speed camera 1 and the wireless image transmission module 3 are turned on, and the original flow image of the slurry flowing out of the pipe mouth is collected by the high-speed camera 1, and the original flow image is transmitted to the image receiving module 105 on the computer 10 through the wireless image transmission module 3, and then the original flow image is transmitted to the central processing unit 101 of the computer 10 through the image receiving module 105, and then the original flow image is processed by the central processing unit 101. The processing result can be synchronously displayed in real time on the display screen 103 of the computer 10, and the processing result will also be transmitted to the construction ship through the long-distance flow velocity data transmission module 106 to facilitate real-time monitoring by construction personnel.

[0067] In some embodiments, the processing result includes at least the flow rate of the slurry flowing out of the pipe.

[0068] In some embodiments, due to the complex terrain of the dredging and filling site, the high-speed camera 1 cannot capture the original flow state image vertically. In this case, the nozzle flow state sensing device also includes a posture sensor 11 fixed on the fixed base 2 and connected to the wireless image transmission module 3.

[0069] In a specific implementation, the attitude sensor 11 is used to obtain the offset angle between the viewfinder of the high-speed camera 1 and the direction of gravity, and the offset angle is transmitted to the central processing unit 101 of the computer 10 through the wireless image transmission module 3, and then the original flow image is corrected by the central processing unit 101 in combination with the offset angle.

[0070] Furthermore, the central processing unit 101 performs binarization processing on the corrected image, and uses the binarized image to obtain the flow rate of the slurry flowing out of the pipe mouth.

[0071] The embodiment of the present application also provides a flow rate monitoring method based on the outflow characteristics of the slurry at the pipe mouth.

[0072] FIG5 is a flow chart of a method for monitoring flow rate based on the outflow characteristics of slurry at a nozzle in an embodiment of the present application.

[0073] 5 , an embodiment of the present application provides a flow rate monitoring method based on the outflow characteristics of the slurry at the nozzle, including:

[0074] S11, obtaining an original flow state image of the slurry flowing out of the pipe;

[0075] S12, correcting the original flow state image to obtain a corrected flow state image;

[0076] S13, performing binarization processing on the corrected flow state image to obtain a binarized flow state image;

[0077] S14, obtaining the flow velocity of the slurry flowing out of the pipe mouth based on the binary flow state image.

[0078] In step S11 , the original flow state image of the slurry flowing out of the nozzle is captured by the high-speed camera 1 of the nozzle flow state sensing device.

[0079] As mentioned above, the complex terrain at the dredging and filling site prevents the high-speed camera 1 from capturing the original flow pattern image vertically. In this case, the attitude sensor 11 of the nozzle flow sensing device can be used to obtain the offset angle between the high-speed camera 1's viewfinder and the direction of gravity, and use this offset angle to correct the original flow pattern image.

[0080] In some embodiments, the correcting of the original flow image to obtain the corrected flow image in step S12 includes:

[0081] S121, obtaining an offset angle between the view frame of the original flow image and the gravity direction;

[0082] S122: Perform distortion correction on the original flow image based on the offset angle.

[0083] In specific implementations, the pitch and roll angles of the high-speed camera 1 are first acquired using the attitude sensor 11. Next, a correction angle is calculated: an offset angle is determined based on the application requirements and the pitch and roll angles of the high-speed camera 1, and this offset angle is used as the target angle for correction to ensure that the viewfinder is aligned with the direction of gravity. Finally, the original flow image is rotated: using an image processing library (such as OpenCV), the original flow image is rotated according to the obtained correction angle.

[0084] In specific implementations, the effect of image correction may be affected by noise and errors of the attitude sensor 11. In practical applications, pre-processing steps such as filtering can be performed on the data of the attitude sensor 11 as needed to improve the stability of the correction.

[0085] In some embodiments, the distortion correction of the original flow image based on the offset angle described in step S122 includes: using the calibration parameters, position transformation formula and distortion correction formula of the high-speed camera 1, through position transformation, distortion calculation, and camera parameter transformation, each initial coordinate (x, y) in the original flow image is converted to a correction coordinate (x`, y`).

[0086] In a specific implementation, the image coordinate system is transformed into the world coordinate system through a position transformation formula. The position transformation formula is:

[0087] Among them, (X, Y, Z) represents the three-dimensional coordinates in the image coordinate system, (x, y, z) represents the three-dimensional coordinates of the coordinate system selected according to the location of the mud discharge pipe outlet on site, R is the rotation matrix of the two coordinate systems, and t is the translation vector of the two coordinate systems.

[0088] In a specific implementation, the distortion correction formula is: x`=x / zy`=y / z

[0089] Among them, (x', y') is the position coordinate of the pixel point on the corrected flow image output after correction, (x", y") is the original position coordinate of the distorted point on the original flow image; r 2 =x` 2 +y` 2 , r is the distance from the image pixel to the image center, k1, k2, k3, k4, k5, k6 are the radial distortion parameters of the high-speed camera 1, and p1, p2 are the tangential distortion parameters.

[0090] FIG6 is an original flow state image of the slurry flowing out of the nozzle in the embodiment of the present application; FIG7 is a corrected flow state image of the slurry flowing out of the nozzle in the embodiment of the present application.

[0091] 6 and 7 , after distortion correction, the tilted original flow pattern image can be corrected to an orthorectified flow pattern image, thereby ensuring the accuracy of the flow pattern analysis coordinates and gravity direction.

[0092] In some embodiments, the binarization processing of the corrected flow image to obtain the binary flow image in step S13 includes: setting a threshold, and binarizing the distortion-corrected corrected flow image based on the threshold to obtain the binary flow image.

[0093] In a specific implementation, the specific implementation method of binarizing the distortion-corrected image can be achieved by any technical means known in the art, which is not limited here.

[0094] In the embodiment of the present application, the binary flow image can segment the mud from the sea surface and the sky based on the pixel values.

[0095] In some embodiments, obtaining the flow rate of the slurry out of the pipe outlet based on the binary flow state image in step S14 includes:

[0096] S141, obtaining pixel coordinates of key feature points of the feature part in the binary flow state image;

[0097] S142, obtaining an image distance of the feature portion based on the pixel coordinates;

[0098] S143, obtaining the actual distance of the feature part based on the image distance and the corresponding proportional relationship;

[0099] S144, calculating the flow rate of the slurry flowing out of the pipe mouth based on the actual distance.

[0100] In a specific implementation, the actual length of the key portion can be obtained based on the pixel coordinates of the key points in the binary flow image and the corresponding proportional relationship, and then the flow velocity of the slurry out of the pipe mouth can be obtained based on the actual length of the key portion.

[0101] In some embodiments, the step S141 of obtaining the pixel coordinates of the key feature points of the feature part in the binary flow image includes: obtaining the pixel coordinates of the upper end, middle part and lower end of the slurry flowing out of the pipe outlet in the binary flow image, the pixel coordinates of the intersection point of the straight line vertically downward from the upper end of the slurry flowing out of the pipe outlet and the ground, the pixel coordinates of the intersection point of the straight line vertically downward from the middle part of the slurry flowing out of the pipe outlet and the ground, the pixel coordinates of the intersection point of the straight line vertically downward from the lower end of the slurry flowing out of the pipe outlet and the ground, the pixel coordinates of the landing position of the upper end, middle part and lower end of the slurry flowing out of the pipe outlet, and the pixel coordinates of the intersection point of the straight line vertically downward from the pipe outlet and the ground.

[0102] In some embodiments, the image distance of the characteristic part obtained based on the pixel coordinates in step S142 includes: obtaining the vertical image distance of the upper end of the slurry out of the pipe outlet from the ground based on the pixel coordinates of the upper end of the slurry out of the pipe outlet and the pixel coordinates of the intersection point where a straight line vertically downward from the upper end of the slurry out of the pipe outlet intersects the ground; obtaining the vertical image distance of the middle part of the slurry out of the pipe outlet from the ground based on the pixel coordinates of the middle part of the slurry out of the pipe outlet and the pixel coordinates of the intersection point where a straight line vertically downward from the middle part of the slurry out of the pipe outlet intersects the ground; obtaining the vertical image distance of the middle part of the slurry out of the pipe outlet from the ground based on the pixel coordinates of the lower end of the slurry out of the pipe outlet and the pixel coordinates of the intersection point where a straight line vertically downward from the lower end of the slurry out of the pipe outlet intersects the ground; The vertical image distance between the lower end of the slurry and the ground, the horizontal image distance between the upper end of the slurry flowing out of the pipe mouth and the pipe mouth is obtained based on the pixel coordinates of the landing position of the upper end of the slurry flowing out of the pipe mouth and the pixel coordinates of the intersection of the straight line vertically downward along the pipe mouth and the ground, the horizontal image distance between the middle part of the slurry flowing out of the pipe mouth and the pipe mouth is obtained based on the pixel coordinates of the landing position of the middle part of the slurry flowing out of the pipe mouth and the pipe mouth, and the horizontal image distance between the lower end of the slurry flowing out of the pipe mouth and the pipe mouth is obtained based on the pixel coordinates of the landing position of the lower end of the slurry flowing out of the pipe mouth and the pixel coordinates of the intersection of the straight line vertically downward along the pipe mouth and the ground.

[0103] In some embodiments, the step S14 of obtaining the flow velocity of the slurry out of the pipe outlet based on the binary flow state image further includes:

[0104] S145, obtaining the actual diameter of the nozzle and its image diameter in the binary flow state image;

[0105] S146 , obtaining a proportional relationship based on the ratio of the actual tube diameter to the image tube diameter.

[0106] In a specific implementation, the actual diameter D0 of the pipe orifice is known.

[0107] In some embodiments, the actual diameter D0 of the nozzle may be obtained based on the model of the dredging vessel.

[0108] In a specific implementation, the image tube diameter D in the binary flow image can be obtained based on the pixel coordinates of the upper end of the tube orifice and the pixel coordinates of the lower end of the tube orifice in the binary flow image.

[0109] In a specific implementation, the proportional relationship can be obtained based on the ratio of the actual diameter D0 of the nozzle to its image diameter D.

[0110] In a specific implementation, the actual distance of the characteristic portion obtained based on the image distance and the corresponding proportional relationship in step S143 includes: obtaining the actual distance, i.e., the height h, of the upper end of the slurry flowing out of the pipe from the ground based on the vertical image distance and the proportional relationship between the upper end of the slurry flowing out of the pipe and the ground. max Based on the vertical image distance and proportional relationship between the middle part of the slurry flowing out of the pipe and the ground, the actual distance between the middle part of the slurry flowing out of the pipe and the ground, that is, the height h, is obtained. mid Based on the vertical image distance and proportional relationship between the lower end of the slurry flowing out of the pipe and the ground, the actual distance between the lower end of the slurry flowing out of the pipe and the ground, that is, the height h min Based on the horizontal image distance and proportional relationship between the upper landing position of the slurry flowing out of the nozzle and the nozzle, the actual distance between the upper landing position of the slurry flowing out of the nozzle and the nozzle, that is, the horizontal distance S max Based on the horizontal image distance and proportional relationship between the landing position of the middle part of the slurry flowing out of the nozzle and the nozzle, the actual distance between the landing position of the middle part of the slurry flowing out of the nozzle and the nozzle, that is, the horizontal distance S mid Based on the horizontal image distance and proportional relationship between the lower end landing position of the slurry flowing out of the nozzle and the nozzle, the actual distance between the lower end landing position of the slurry flowing out of the nozzle and the nozzle, that is, the horizontal distance S min .

[0111] FIG8 is an image of slurry outflow from a nozzle in an embodiment of the present application; FIG9 is a binary flow state image of slurry outflow from a nozzle in an embodiment of the present application.

[0112] 8 and 9, the actual distance of the characteristic part may include the height h of the slurry flowing out of the nozzle from the ground, and the horizontal distance S of the landing position of the slurry flowing out of the nozzle from the nozzle. Among them, the height h also includes the height h of the lower end of the slurry flowing out of the nozzle from the ground min , the height h between the middle part of the slurry flowing out of the pipe and the ground mid , and the height h from the upper end of the pipe outlet to the ground max ; The horizontal distance S includes the horizontal distance S from the lower end of the nozzle to the nozzle min , the horizontal distance S between the landing position of the middle part of the slurry flowing out of the pipe and the pipe mid , and the horizontal distance S between the upper landing position of the slurry flowing out of the pipe and the pipe max .

[0113] In some embodiments, the method for obtaining the flow rate of the slurry flowing out of the pipe outlet based on the actual distance described in step S144 includes the following process:

[0114] In the vertical direction:

[0115] Among them, T min 、T mid 、T max Respectively represent the landing time of the lower end, middle part and upper end of the slurry flowing out of the pipe;

[0116] Further we get:

[0117] In the horizontal direction: S min =V min T min ;S mid =V mid T mid ;S max =V max T max ;

[0118] Among them, V min 、V mid 、V max Respectively represent the flow velocities of the lower end, middle part and upper end of the slurry out of the nozzle;

[0119] Further we get:

[0120] Finally, for V min 、V mid 、V max The average value is taken as the flow rate of the slurry outflow from the pipe mouth.

[0121] In some embodiments, the slurry conduit is not arranged completely horizontally.

[0122] For inclined slurry pipes, whether the pipe opening is in a horizontal direction can be determined by whether the pipe opening is parallel to the image coordinate axis. For pipe openings that are not in a horizontal direction, the inclination angle of the pipe opening needs to be determined, and the flow rate of the slurry flowing out of the pipe opening can be calculated based on the inclination angle.

[0123] In some embodiments, the step S14 of obtaining the flow velocity of the slurry out of the pipe outlet based on the binary flow state image further includes:

[0124] S147, determine whether the pipe mouth is horizontal. If so, directly use the above process to calculate the flow rate of the slurry flowing out of the pipe mouth. If not, obtain the inclination angle θ between the pipe mouth and the horizontal direction and calculate the flow rate of the slurry flowing out of the pipe mouth based on the inclination angle θ.

[0125] In a specific implementation, the tilt angle

[0126] Among them, (u A ,v A ) and (u B ,v B ) represent the pixel coordinates of two points A and B on the upper part of the pipe body, and the two points A and B on the upper part of the pipe body are located on the same side of the mud discharge pipe.

[0127] Accordingly, the method for obtaining the flow rate of the slurry flowing out of the nozzle based on the actual distance in step S144 includes the following process:

[0128] In the vertical direction:

[0129] In the horizontal direction: S min =V min cosθT min ;S mid =V mid cosθT mid ;S max =V max cosθT max ;

[0130] Combine the above equations in the vertical and horizontal directions to solve V min 、V mid 、V max ;

[0131] Finally, for V min 、V mid 、V max The average value is taken as the flow rate of the slurry outflow from the pipe mouth.

[0132] It should be noted that the step numbers used to describe the method steps in the embodiments of the present application are only for the convenience of description and do not constitute a limitation on the order of the steps involved.

[0133] The embodiment of the present application also provides a flow rate monitoring device based on the outflow characteristics of the slurry at the nozzle.

[0134] In some embodiments, the flow rate monitoring device includes an acquisition module, a correction module, a binarization module, and a calculation module connected in sequence. The acquisition module is used to acquire an original flow image of the slurry flowing out of the pipe; the correction module is used to correct the original flow image and obtain a corrected flow image; the binarization module is used to binarize the corrected flow image and obtain a binarized flow image; and the calculation module is used to obtain the flow rate of the slurry flowing out of the pipe based on the binarized flow image.

[0135] An embodiment of the present application also provides a storage medium.

[0136] Specifically, the storage medium stores a computer program; when the computer program is executed, the flow rate monitoring method described in the embodiment of the present application is implemented.

[0137] An embodiment of the present application also provides an electronic device.

[0138] Specifically, the electronic device includes a processor and a memory. The memory stores a computer program that can be run on the processor; when the computer program is executed by the processor, the flow rate monitoring method described in the embodiment of the present application is implemented.

[0139] The following example is combined with the example shown in FIG8 to calculate the flow rate of the slurry flowing out of the nozzle. Wherein, the actual diameter D0 of the nozzle is 0.85m, and the image recognition algorithm provided in the embodiment of the present application is used to obtain h min =1.105m,h mid =1.53m,h max =1.955m, S min =2.34m, S mid =2.99m, S max =3.61m; T is obtained by the flow analysis algorithm provided in the embodiment of the present application min , T mid and T max are 0.47s, 0.56s and 0.63s respectively; and then we get V min , V mid and V maxThe results are 4.93 m / s, 5.35 m / s, and 5.72 m / s, respectively. Finally, the average velocity of the slurry flowing out of the nozzle is calculated to be 5.33 m / s. The error between the average velocity of the slurry flowing out of the nozzle, 5.33 m / s, and the control velocity of 5.42 m / s during the same construction period is only 1.66%, indicating that the accuracy of the slurry flow velocity obtained by the technical solution provided in the embodiments of the present application is relatively high.

[0140] Although specific embodiments of the present application have been described above, these embodiments are not intended to limit the scope of the present application, even when only a single embodiment is described with respect to specific features. The feature examples provided in the present application are intended to be illustrative, not restrictive, unless otherwise stated. In specific implementations, the technical features of one or more dependent claims may be combined with the technical features of the independent claim, depending on actual needs and where technically feasible, and the technical features of the corresponding claims may be combined in any appropriate manner rather than solely through the specific combinations listed in the claims.

[0141] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present application. Therefore, the scope of protection of the present application shall be based on the scope defined by the claims.

Claims

1. A flow velocity monitoring method based on the characteristics of slurry outflow at the pipe orifice, characterized in that, Including: Obtain the original flow state image of the slurry flowing out of the pipe orifice; Correct the original flow state image and obtain the corrected flow state image; Perform binarization processing on the corrected flow state image and obtain the binarized flow state image; Obtain the flow velocity of the slurry flowing out of the pipe orifice based on the binarized flow state image.

2. The flow rate monitoring method according to claim 1, wherein The step of correcting the original flow state image and obtaining the corrected flow state image includes: Obtain the offset angle between the viewfinder frame of the original flow state image and the gravity direction; Perform distortion correction on the original flow state image based on the offset angle.

3. The flow rate monitoring method according to claim 1, characterized in that, The step of obtaining the flow velocity of the slurry flowing out of the pipe orifice based on the binarized flow state image includes: Obtain the pixel coordinates of the key feature points of the feature part in the binarized flow state image; Obtain the image distance of the feature part based on the pixel coordinates; Obtain the actual distance of the feature part based on the image distance and the corresponding proportional relationship; Obtain the flow velocity of the slurry flowing out of the pipe orifice based on the actual distance.

4. The flow velocity monitoring method according to claim 3, wherein The step of obtaining the flow velocity of the slurry flowing out of the pipe orifice based on the binarized flow state image further includes: Obtain the actual pipe diameter of the pipe orifice and its image pipe diameter in the binarized flow state image; Obtain the proportional relationship based on the ratio of the actual pipe diameter to the image pipe diameter.

5. The flow rate monitoring method according to claim 3 or 4, characterized in that The actual distance includes the height h of the slurry flowing out of the pipe orifice from the ground and the horizontal distance S from the landing position of the slurry flowing out of the pipe orifice to the pipe orifice; the height h includes the height h of the lower end of the slurry flowing out of the pipe orifice from the ground min , the height h of the middle part of the slurry flowing out of the pipe orifice from the ground mid , and the height h of the upper end of the slurry flowing out of the pipe orifice from the ground max ; the horizontal distance S includes the horizontal distance S from the landing position of the lower end of the slurry flowing out of the pipe orifice to the pipe orifice min , the horizontal distance S from the landing position of the middle part of the slurry flowing out of the pipe orifice to the pipe orifice mid , and the horizontal distance S from the landing position of the upper end of the slurry flowing out of the pipe orifice to the pipe orifice max ; The flow velocity of the slurry flowing out of the pipe orifice is obtained through the following process: In the vertical direction: Among them, T min , T mid , T max respectively represent the landing times of the lower end, the middle part, and the upper end of the slurry flowing out of the pipe orifice; Further obtained: In the horizontal direction: S min = V min T min ; S mid = V mid T mid ; S max = V max T max ; wherein, V min , V mid , V max respectively represent the flow velocities of the lower end, the middle part, and the upper end of the slurry flowing out of the pipe orifice; Furthermore, it is obtained that: For V min , V mid , V max Take the average value as the flow velocity of the slurry flowing out of the pipe orifice.

6. The flow rate monitoring method according to claim 5, characterized in that, The step of obtaining the flow velocity of the slurry flowing out of the pipe orifice based on the binarized flow state image further includes: Judge whether the pipe orifice is horizontal. If so, directly calculate the flow velocity of the slurry flowing out of the pipe orifice. If not, obtain the inclination angle θ between the pipe orifice and the horizontal direction and calculate the flow velocity of the slurry flowing out of the pipe orifice based on the inclination angle θ; The inclination angle Among them, (u A , v A ) and (u B , v B ) respectively represent the pixel coordinates of two points on the upper part of the pipe body; The flow velocity of the slurry flowing out of the pipe orifice is obtained through the following process: In the vertical direction: In the horizontal direction: S min = V min cosθT min ; S mid = V mid cosθT mid ; S max = V max cosθT max ; Solve for V by combining the above equations in the vertical and horizontal directions min V mid V max ; For V min , V mid , V max Find the average value as the flow velocity of the slurry flowing out of the pipe orifice.

7. A flow velocity monitoring device based on the characteristics of slurry outflow from the pipe orifice, characterized in that Including: An acquisition module, which is used to obtain the original flow state image of the slurry flowing out of the pipe orifice; A correction module, which is used to correct the original flow state image and obtain the corrected flow state image; A binarization module, which is used to perform binarization processing on the corrected flow state image and obtain the binarized flow state image; A calculation module, which is used to obtain the flow velocity of the slurry flowing out of the pipe orifice based on the binarized flow state image.

8. A storage medium storing a computer program, characterized in that, When the computer program is executed, it implements the flow velocity monitoring method according to any one of claims 1 to 6.

9. An electronic device, characterized in that, Including: A processor; A memory, storing a computer program that can run on the processor; wherein, when the computer program is executed by the processor, it implements the flow velocity monitoring method according to any one of claims 1 to 6.

10. A flow velocity monitoring system based on the characteristics of slurry outflow at the pipe orifice, characterized in that, Including a pipe orifice flow state sensing device and the electronic device according to claim 9; the pipe orifice flow state sensing device is suitable for collecting the original flow state image; the electronic device is communicatively connected to the pipe orifice flow state sensing device to obtain the original flow state image.

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