JP4633565B2 - River data measurement method and apparatus - Google Patents

Description

  The present invention relates to a method and apparatus for measuring river data such as a riverbed shape (river bed shape) and a flow rate of a river using ultrasonic waves, and more particularly to improvement in measurement accuracy of a moving amount and a moving direction of a measuring device.

  The riverbed shape of a river can be measured by continuously obtaining the distance from the water surface to the riverbed, that is, the water depth in the river cross section. The flow velocity distribution can be measured from the moving speed of the reflector flowing through various depths. The flow rate can be converted as an integral value of the river cross section by detecting the water depth at a certain position and the flow velocity distribution in the water. Ultrasonic waves are often used for these measurements.

  A detection method using ultrasonic waves is described, for example, in “Water depth / flow velocity / water temperature measuring device” of Patent Document 1. In this method, a rod-like hanging material is provided in the depth direction, and a plurality of ultrasonic transducers are installed along the hanging material. Ultrasonic waves are emitted from ultrasonic transducers at the bottom of the river, received by the transducers at various locations of the drooping material, and the propagation time is obtained to measure the speed of sound and the depth of water between the transducers. In this method, in order to obtain the riverbed shape and flow velocity distribution of the entire cross section of the river, it is necessary to provide many drooping materials.

  Patent Document 2 “River Flow Rate Measuring Device and Method” includes a moving means for moving an ultrasonic transducer. This method is also not a simple measurement method because it is necessary to place a plurality of ultrasonic transducers on the water surface and in the water, and it is necessary to sink an ultrasonic reflector near the riverbed.

  In the method of “river state measuring method and apparatus” described in Patent Document 3, the shape of a portion without water is measured with a laser beam measuring device, and ultrasonic waves are used for measuring the shape of the river portion. The ultrasonic wave used for measuring the riverbed shape is 100 kHz to 500 kHz, but there is a decrease in accuracy due to the spread of the ultrasonic beam. In addition, the flow velocity distribution cannot be measured.

  There is a method disclosed in Patent Document 4 as a known example for obtaining the position of a floating body on the water surface, which is a device for measuring the water depth and flow velocity distribution in the ocean using a plurality of ultrasonic beams and obtaining the flow rate, and further equipped with a measuring instrument. In this method, for example, four ultrasonic waves are transmitted obliquely at a set angle away from the vertical direction and in directions away from each other as they move away from the transmission source, and the reflection of underwater scatterers is detected to determine the flow velocity. Furthermore, the depth is obtained from the reflection of the seabed, and the movement of the floating body equipped with the measuring device is detected.

  In this method, a reflected wave is detected by emitting an ultrasonic wave a plurality of times, and a change in the reflected wave detection time is obtained. Since the seabed is stationary, assuming that the position where the reflection intensity is highest in the portion irradiated with ultrasonic waves is immobile, the reflected wave detection time changes as the floating body moves. From this amount of change, the amount and direction of the relative movement of the buoyant body from the stationary seabed is obtained.

  In this method, since there is an angle between the beams, the ultrasonic beams move away from each other as the water depth increases, and an error occurs in the detection time difference if the seabed state at the distant position is different. In addition, if there is unevenness on the seabed, the ultrasonic round-trip time will be different, which will cause a large error and make it impossible to measure the amount of movement. It is even more difficult to apply to rivers where the unevenness of the riverbed is more severe than the seabed.

  There exists a "bed search tool" described in patent document 5 as what calculates | requires a riverbed shape, without using an ultrasonic wave. In this method, a number of probe tools with permanent magnets embedded in riverbed material collected from the riverbed are placed on the riverbed, and the position and movement of the probe are measured from the measurement of the magnetic field. This method has problems such as a limited measurement range and the need for another means for water depth measurement.

Japanese Unexamined Patent Publication No. 2000-97738 (6th and 7th pages, FIG. 1) Japanese Patent No. 2955920 (pages 8-9, FIG. 1) Japanese Patent Laid-Open No. 11-304484 (page 3, FIG. 1) USP 5122990 JP 2000-98046 A (page 3, FIG. 2) Journal of Japan Society of Applied Physics, Vol. 46, No. 8 (1977), “Properties and Applications of Speckle”

Conventionally, in devices that measure the water depth and flow velocity distribution of rivers etc. using multiple ultrasonic beams with different central axes transmitted from the transmission source mounted on the levitation body,
1) The movement of each ultrasonic beam changes during the movement of the floating body due to the unevenness of the riverbed, and the amount of horizontal movement of the reflection position at the riverbed may not match the horizontal movement of the floating body. A large error occurs in the measurement in the quantity / movement direction, and the measurement accuracy of the riverbed shape decreases.
2) Since there is an angle between the beams, the ultrasonic beam moves away as the water depth increases, and the flow velocity at different locations is measured, resulting in an error in the flow velocity, and hence the flow rate.
There was a concern.

  That is, the first problem of the present invention is to prevent a decrease in the measurement accuracy of the riverbed shape due to a decrease in the measurement accuracy of the movement amount of the measuring device, and the second problem is a decrease in the measurement accuracy of the flow velocity distribution and the flow rate. Is to prevent.

The first problem of the present invention is solved by improving the measurement accuracy of the moving amount and moving direction of the measuring apparatus. Specifically, a first problem of the present invention is a measuring device that is mounted on a floating body that moves along a measurement line, and that measures river data by ultrasonic waves transmitted toward the river bed, An ultrasonic transmission means for transmitting ultrasonic waves at a predetermined time interval in the riverbed direction, and two-dimensionally arranged to receive ultrasonic waves transmitted from the ultrasonic transmission means and scattered and reflected by the riverbed Based on the output of the two-dimensional ultrasonic wave reception unit corresponding to each of the two ultrasonic waves transmitted from the ultrasonic wave transmission unit with a time interval from the two-dimensional ultrasonic wave reception unit. and determined Mel signal processing means as a reference position the center of the fabric the 2-dimensional ultrasound receiving means is connected to the signal processing means, the strength of the correlation between the two intensity distribution output from the signal processing unit , ultrasound previously originated in one of the two intensity distribution The corresponding one is obtained as a function of the moving distance while approaching the other, and the moving distance at which the correlation strength is maximum and the moving direction at that time are output as the movement vector of the ultrasonic transmission means between the two ultrasonic transmissions. This is solved by a river data measuring device having signal analyzing means for storing and storage means for storing the movement vector.

  According to the above configuration, ultrasonic waves having a constant frequency are transmitted from the ultrasonic transmission means toward the riverbed. The transmitted ultrasonic wave is reflected by the irradiation area of the riverbed. If the surface of the irradiated region has random irregularities that are longer than the wavelength of the ultrasonic wave, the ultrasonic reflection is in a scattering state. Usually, the riverbed has sand and pebbles, so that the unevenness becomes longer than the wavelength, and it becomes a scattering state in which ultrasonic waves are reflected in various directions. The scattered reflected waves spatially interfere with each other, and a portion that reinforces and cancels out by superposition of ultrasonic waves is generated, and an intensity distribution having a high intensity place and a low place is formed. This phenomenon of unevenness in intensity is called speckle, and is generated by laser light or ultrasonic waves with the same wavelength. The speckle pattern, which is uneven in intensity, is received by a two-dimensional ultrasonic receiving means arranged two-dimensionally near the water surface. Since the ultrasonic transmission means and the two-dimensional ultrasonic reception means are mounted on the levitation body, the ultrasonic waves move together with the levitation body. The speckle pattern before and after the movement has a small change in the intensity distribution before and after the movement when the movement amount is small and the overlap of the ultrasonic irradiation regions is large. When the intensity distribution of the speckle pattern is calculated before and after movement, the intensity distribution shifts by the amount of movement of the detection position due to movement. Therefore, if the correlation of the intensity distribution before and after movement is calculated, the movement amount and movement direction from the correlation peak position. Can be requested.

  In this way, it is possible to accurately detect the movement of the ultrasonic transmission and reception portion, that is, the floating body, from the shift due to the movement of the speckle pattern using ultrasonic waves.

  In place of the ultrasonic transmission means, ultrasonic transmission / reception means for transmitting ultrasonic waves at a predetermined time interval in the river bed direction and receiving reflected waves, and connected to the ultrasonic transmission / reception means, from the ultrasonic transmission to the river bed A bottom reflection measuring means for measuring the time until reception of the reflected wave and the intensity of the reflected wave from the bottom of the river is provided, and the signal analysis means calculates the water depth using the output of the bottom reflection measuring means as an input. Are stored in the storage means, and the movement vectors are sequentially combined to generate a movement trajectory of the ultrasonic transmission / reception means, and the water depth corresponding to the end point position of each movement vector constituting the movement trajectory is A river data measuring device may be configured to read data from the storage unit and store the data in the storage unit in combination with the data of the end point position.

  By comprising in this way, the water depth in the end point position of each movement vector can be easily combined with the data of the said end point position, and a riverbed shape can be measured accurately.

  The second problem of the present invention is that, in the river data measuring apparatus, in place of the ultrasonic transmission means, ultrasonic transmission / reception means for transmitting ultrasonic waves at a predetermined time interval and receiving reflected waves in the river bottom direction. And a bottom reflection measuring means connected to the ultrasonic transmission / reception means for measuring the time from transmission of ultrasonic waves to reception of reflected waves at the bottom of the river and the intensity of reflected waves from the bottom of the river. The sound wave receiving means is configured to receive the reflected wave reflected by the underwater reflector floating in the water in addition to the ultrasonic waves scattered and reflected at the riverbed, and the signal processing means is configured to receive the ultrasonic wave from the underwater transmission. The time until the reflected wave reflected by the reflector is detected and the intensity distribution and phase distribution of the reflected wave are also measured, and the storage means includes the ultrasonic transmission / reception means at different depths. Horizontal relative to The intensity distribution and phase distribution of the reflected wave when the ultrasonic wave transmitted from the ultrasonic transmitting / receiving means is reflected by the underwater reflector at a predetermined position are stored as the reference intensity distribution and the reference phase distribution, and the signal The analysis means calculates the water depth using the output of the river bed reflection measurement means as an input and stores it in the storage means, and detects the depth at which the underwater reflector floats based on the output of the signal processing means, The reference intensity distribution and reference phase distribution of the reflected wave of the underwater reflector of the detected depth and the intensity of the correlation between one or both of the intensity distribution and phase distribution of the measured reflected wave are measured distribution. The horizontal position of the underwater reflector with respect to the ultrasonic transmission / reception means is obtained based on the movement distance at which the correlation intensity is maximized and the movement direction at that time. The detected position at the end position of the movement vector based on the horizontal relative position of the underwater reflector detected with respect to the ultrasonic transmission / reception means and the calculated movement vector of the ultrasonic transmission / reception means detected at predetermined time intervals. Solved by a river data measuring device, characterized in that it is configured to determine the flow velocity of the depth.

  According to the said structure, the ultrasonic wave with which the phase was uniform was transmitted to the riverbed from the ultrasonic transmission / reception means mounted in the floating body. Ultrasound propagates in water, but there are many reflectors that move with the water flow while floating in the water. If the reflector, that is, the underwater reflector, is present in the transmitted ultrasonic beam, a part of the ultrasonic wave is reflected by the underwater reflector and propagates upward as a spherical wave centered on the underwater reflector. The reflected spherical wave is received by a two-dimensional ultrasonic receiving means arranged two-dimensionally to obtain two-dimensional data, and reflected based on the two-dimensional data by a signal processing means connected to the two-dimensional ultrasonic receiving means. Wave intensity distribution and phase distribution are measured as two-dimensional data. When ultrasonic waves are transmitted a plurality of times at predetermined time intervals, and the position of the underwater reflector continuously moves, the distribution state of the spherical wave with respect to the two-dimensional ultrasonic wave receiving means also moves, and this movement shift amount is detected. The movement of the underwater reflector, that is, the flow velocity at a certain depth can be detected. The depth at which the flow velocity is detected can be discriminated by the time from ultrasonic transmission, and the flow velocity distribution in the depth direction can be known.

  The flow rate can be obtained by integrating the flow velocity distribution in the depth direction corresponding to the time when ultrasonic waves are transmitted at the movement vector end positions with respect to the time when ultrasonic waves are transmitted at the movement vector end positions.

The first problem of the present invention is a river data measurement method for measuring river data by ultrasonic waves transmitted toward a river bed from a measurement device mounted on a levitating body that moves along a measurement line. The ultrasonic waves are transmitted at predetermined time intervals in the riverbed direction, and the ultrasonic waves scattered / reflected at the riverbed are received by the two-dimensional ultrasonic receiving means arranged in a two-dimensional form, and transmitted at a time. twice the intensity distribution of the reflected wave from corresponding riverbed ultrasonic each respectively determined center of the two-dimensional ultrasonic receiving means as a reference position and the intensity of correlation between the two intensity distribution the movement direction of the two the one corresponding to the ultrasonic wave transmitted earlier of the intensity distribution while close to the other determined as a function of the moving distance, the moving distance and the time the strength of the correlation is the maximum Transfer of ultrasonic source between two ultrasonic transmissions Distance and by river data measuring method comprising a procedure of outputting a moving direction, is solved.

  In the river data measurement method described above, the time from the transmission of ultrasonic waves to the reception of reflected waves at the bottom of the river and the intensity of reflected waves from the bottom of the river are measured. Is calculated and stored in the storage means, and further, the movement vectors are sequentially combined to generate a movement trajectory of the measuring apparatus, and water depth data corresponding to the end point position of each movement vector constituting the movement trajectory. May be read out from the storage means, combined with the data of the end point position, and stored in the storage means.

  The second problem of the present invention is that, in the river data measurement method, the time from ultrasonic transmission to reception of reflected waves on the riverbed and the intensity of reflected waves from the riverbed are measured and scattered and reflected by the riverbed. In addition to the ultrasonic wave, the reflected wave reflected by the underwater reflector floating in the water is received by the two-dimensional ultrasonic wave receiving means, and the reflected wave reflected by the underwater reflector is detected from the ultrasonic wave transmission. The time and intensity distribution and phase distribution of the reflected wave are also measured and transmitted from the ultrasonic transmission / reception means by an underwater reflector having different depths and a horizontal relative position to the ultrasonic transmission source at a predetermined position. The intensity distribution and the phase distribution of the reflected wave when the reflected ultrasonic wave is reflected are stored in the storage means as the reference intensity distribution and the reference phase distribution, and the time from the ultrasonic transmission to the reception of the reflected wave on the riverbed is input. Calculate water depth And detecting the depth at which the underwater reflector is floating based on the time from the transmission of the ultrasonic wave to the reception of the reflected wave of the underwater reflector, and the underwater reflector of the detected depth The intensity of the correlation between the reference intensity distribution and reference phase distribution of the reflected wave and the intensity distribution and / or phase distribution of the measured reflected wave is used as a function of the moving distance while bringing the measured distribution close to the reference distribution. Obtain the horizontal position of the underwater reflector with respect to the ultrasonic wave transmission source based on the moving distance and the moving direction at which the correlation intensity is maximum, and detect the ultrasonic wave of the underwater reflector detected at a predetermined time interval. Based on the horizontal relative position with respect to the transmission source and the calculated movement vector of the ultrasonic transmission source, a procedure for obtaining the flow velocity of the detected depth at the end point position of the movement vector is provided. Also solved by river data measurement method.

  According to the present invention, it becomes possible to measure the moving amount and moving direction of the measuring apparatus with sufficient accuracy, and the measurement accuracy of the riverbed shape is improved, and the effect of improving the measurement accuracy of the flow velocity distribution and the flow rate is obtained. It is done.

  In the present invention, river data such as river bed shape, flow velocity distribution, and flow rate is measured by an ultrasonic measurement device disposed near the water surface. The shape of the riverbed along the measurement line irradiates the riverbed with ultrasonic waves from an ultrasonic transmitter / receiver with reduced directivity, the time from the start of irradiation until detection of the reflected wave, and the known underwater Calculate the distance from the speed of sound to the riverbed. The flow velocity distribution is obtained by calculating the amount of movement of the underwater reflector in the beam region of the ultrasonic beam radiated toward the riverbed during a certain time from the spherical reflected wave of the reflector and converting it into the flow velocity. For this purpose, an ultrasonic detector arranged two-dimensionally separately from the ultrasonic transmitter / receiver is used, and the distribution of the spherical reflected wave of the reflector is detected by this detector.

  The position of the measuring device floated on the river surface is obtained by detecting changes due to the movement of the ultrasonic speckle pattern formed by scattering of the riverbed.

The position of the measuring device necessary for measuring the riverbed shape, velocity distribution, and flow rate is calculated from the result of this movement measurement.
<First Embodiment>
A first embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows the basic concept of riverbed shape, flow velocity distribution, and flow rate measurement. As shown in FIG. 1, a measurement line 2 is set in a direction crossing the river 1 in the river 1, and the shape of the river bed (river bed shape) along the measurement line 2 and the flow velocity distribution of the river cross section, Find the flow rate. For this purpose, the levitation body 3 equipped with the measuring device is moved along the measurement line 2 by a method such as self-propelled or towed.

  In FIG. 2, the principal part structure of the river data measuring apparatus which concerns on this Embodiment is shown. The river data measuring apparatus shown in the figure is mounted on the levitation body 3, and is connected to the ultrasonic transceiver 301, which is disposed on the outer surface of the bottom of the levitation body 3 and emits ultrasonic waves toward the riverbed. Transmission / reception circuit 302, a two-dimensional ultrasonic detector 303 disposed on the bottom outer surface of the levitation body 3, a signal processing device 304 connected to the two-dimensional ultrasonic detector 303, the transmission / reception circuit 302 and the signal processing device 304. The signal analysis device 305 is connected to the signal analysis device 305, the memory (not shown) is a storage unit (not shown), the screen display unit (not shown), the input unit, and the power source.

  As shown in FIG. 2, the levitation body 3 is equipped with a measuring device and floats on the water surface, and moves on the water surface by self-propelled or the like. In FIG. 2, a self-propelled device for moving the levitation body 3 on the surface of the water is omitted, and only the measurement device portion according to the present invention is shown.

  The transmission / reception circuit 302 that is a riverbed reflection measurement unit transmits an ultrasonic wave toward the riverbed from an ultrasonic transmitter / receiver 301 that is an ultrasonic transmission / reception unit, and receives the reflected wave via the ultrasonic transmitter / receiver 301. The ultrasonic wave transmitted from the ultrasonic transmitter / receiver 301 propagates in water, is reflected by the riverbed, and the reflected wave is detected by the ultrasonic transmitter / receiver 301.

  When the ultrasonic wave transmitted from the ultrasonic transmitter / receiver 301 toward the river bottom strikes an object floating in water (an underwater reflector), the ultrasonic wave is reflected and becomes a spherical wave in the direction of the levitation body 3. Propagate. In addition, ultrasonic waves reflected and scattered by the riverbed also propagate in the direction of the levitation body 3. In this embodiment, the ultrasonic transmitter / receiver 301 transmits / receives ultrasonic waves. However, when the water depth measurement is performed by another apparatus, the ultrasonic transmitter / receiver 301 may be dedicated to transmission.

  A two-dimensional ultrasonic detector 303, which is a two-dimensional ultrasonic receiver, is composed of a plurality of detectors arranged densely on a two-dimensional plane. Each detector detects the intensity and phase of these spherical waves, scattered waves. Each is detected and transmitted to a signal processing device 304 as signal processing means.

  The signal processing device 304 is a device that processes the signal obtained by the two-dimensional ultrasonic detector 303, and after performing amplification and filtering of the input signal, extracts the intensity and phase, and performs analog-digital conversion, The result and the detection timing signal are transferred to the signal analysis device 305 which is signal analysis means.

  The signal analysis device 305 is a calculation means including a memory, a so-called microcomputer, and is connected to a memory not shown, and the processing content to be executed is installed as software. The signal analysis device 305 generates a transmission ultrasonic waveform signal W02 shown in FIG. 6 and sends it to the transmission / reception circuit 302, and also generates a reference waveform signal W01 for phase detection and sends it to the signal processing device 304. In addition, the two-dimensional ultrasonic detector 303 receives spherical waves and scattered waves reflected by a reflector at a plurality of predetermined depth levels d from the water surface directly below the ultrasonic transmitter / receiver 301 in the memory. The intensity and phase distribution data when processed by the signal processing device 304 are calculated in advance and stored as a reference intensity distribution and reference phase distribution pattern. The depth levels d are set to d = 1, 2,..., I,..., M, for example, at intervals of 0.5 m, where d = 0 is the water surface. The software includes a parameter d = i for designating a depth level to be calculated in the flow velocity measurement, and the initial value is set to i = 1. In this embodiment, 1 MHz ultrasonic waves are used.

  The river data measurement device of this embodiment is provided with an ultrasonic transmission stop switch for stopping the generation and transmission of ultrasonic waves, in addition to the power switch for turning on / off the power of the entire device. Data processing can be performed in a state where generation / transmission of ultrasonic waves is stopped (ultrasonic transmission stop switch is off).

  Hereinafter, detection of the flow velocity will be described with reference to FIG. The flow velocity is obtained by receiving ultrasonic waves reflected by an object (scattering / reflecting body) floating and moving in water a plurality of times over time. Usually, in a flowing water of a river, a minute object large enough to reflect ultrasonic waves floats at various depths and moves together with the flowing water. As for the flow velocity of the river, when these objects move in the ultrasonic beam transmitted from the ultrasonic transceiver 301, the ultrasonic waves (reflected waves) reflected by these objects are detected before and after the movement. Desired.

  As shown in FIG. 3, if there is a reflector at position A in the ultrasonic beam, the reflected wave becomes a spherical wave and is detected by the two-dimensional ultrasonic detector 303. The spherical wave has a two-dimensional distribution, but for simplicity, FIG. 3 shows a distribution in only one direction. For example, in two ultrasonic transmissions, a reflector is detected at position A at the first depth, and at the second depth, there is no reflector at position A, and a reflector is detected at position B. Then, it is considered that the reflector has moved from position A to position B between the two ultrasonic transmissions. The two-dimensional ultrasonic detector 303 receives the reflected waves of all the reflectors at various depths in the ultrasonic beam, but the signal analysis device 305 receives the reflector at the predetermined depth. Select and analyze the reflected wave data from That is, after transmission of ultrasonic waves, reflected wave data received after a time corresponding to each of the predetermined depth levels is selected and analyzed.

  The reflected / scattered wave is a spherical wave centered at position A and position B and is detected by the two-dimensional ultrasonic detector 303. As shown in FIG. 3, the intensity distribution has a characteristic that is almost right above position A and position B, and becomes smaller as it goes away from right above. The spherical wave phase after a time corresponding to the detection depth from the ultrasonic transmission is substantially flat immediately above the position A and the position B, and becomes a phase that is delayed as the distance increases. Since the phase in FIG. 3 indicates a range of ± 180 degrees, the phase is cut off halfway.

  In this way, the distribution characteristics can be estimated if the position of the reflector / scatterer is assumed for both the intensity and phase, and by comparing with the reference intensity distribution and reference phase distribution patterns stored in the memory in advance. It is possible to calculate how far and in what direction the reflector / scatterer is from the position directly below the ultrasonic transceiver 301. When the positions A and B are obtained, the moving speed, that is, the flow velocity at the depth can be calculated from the transmission interval of the ultrasonic waves. The calculated data is stored in the memory together with the time data and depth level data of the subsequent ultrasonic transmission of the two ultrasonic transmissions.

  Although the movement of the reflector in one direction is described in FIG. 3, the two-dimensional ultrasonic detector 303 collects two-dimensional surface data, so that a two-dimensional distribution pattern of intensity and phase is set in advance as a reference intensity distribution pattern, By obtaining and storing as a reference phase distribution pattern, a flow velocity distribution in a two-dimensional plane can be detected. Furthermore, when calculating the phase, the time from ultrasonic transmission to the detection depth can be made the same, so that the time from ultrasonic radiation to detection can be obtained from the phase difference directly above A and B. The position in the depth direction, that is, the flow velocity in the depth direction can also be calculated. Thereby, a three-dimensional flow velocity distribution of a certain depth can be detected.

  Next, a method for obtaining the levitation body 3 using the ultrasonic speckle pattern, that is, the moving amount and moving direction of the measuring apparatus will be described with reference to FIG. The ultrasonic waves transmitted from the ultrasonic transceiver 301 toward the river bed reach the river bed and are reflected. If the riverbed is a mirror surface, its reflection characteristics are determined by the relationship between the incident angle and the reflection angle. However, the riverbed surface is usually covered with sand and pebbles. If the unevenness of sand or pebbles is larger than the wavelength of the ultrasonic wave, the ultrasonic wave is not mirror-reflected and is scattered in various directions by the unevenness. Since the wavelength of 1 MHz ultrasonic waves propagating in water is about 1.5 mm, and the unevenness of sand and pebbles on the riverbed surface is larger than that, reflected waves are scattered in various directions.

  The ultrasonic waves scattered from each point on the irradiated surface interfere with each other in the underwater space, and form an intensity unevenness (speckle pattern) between the high intensity portion and the low intensity portion by superimposing the ultrasonic waves. This unevenness in intensity is detected by the signal processing device 304 via a two-dimensional ultrasonic detector 303 installed on the bottom surface of the levitation body 3. The two-dimensional ultrasonic detector 303 receives an intensity distribution that is a speckle pattern on the receiving surface that is the bottom surface of the levitation body 3.

  It is assumed that the ultrasonic transceiver 301 emits an ultrasonic beam spreading in a conical shape having a beam directivity angle α degrees. The intensity unevenness detected by the signal processing device 304 via the two-dimensional ultrasonic detector 303 includes various spatial frequencies. The average variation width of the intensity unevenness is determined by the directivity angle α degree and the ultrasonic wave in water. It depends on the wavelength, and does not depend on the depth. This is the same in the case of light, and details are described in Non-Patent Document 1. As a specific numerical example, if an ultrasonic transmitter with α = 2.5 degrees is used and the frequency is set to 1 MHz, the speed of sound in water is 1500 m / s. Therefore, the average variation width of the intensity unevenness is 3.4 cm. It becomes. Each detector of the two-dimensional ultrasonic detector 303 needs to be smaller than the average change width. Further, the ultrasonic wave transmitted by the ultrasonic transmitter with α = 2.5 degrees has a circular irradiation area with a depth of 5 m and a diameter of 22 cm.

  FIG. 4 shows an example of the intensity distribution. Scattering ultrasonic waves in the riverbed by the ultrasonic beam transmitted from the ultrasonic transceiver 301 are received by the two-dimensional ultrasonic detector 303 and show a two-dimensional intensity distribution. In FIG. Scattering intensity data is shown as an example. When the levitation body is at the AF position indicated by the solid line, the intensity distribution of the speckle pattern becomes <intensity distribution at AF> in the figure, and this is detected. Consider a case where the levitation body has moved from position AF to position BF indicated by a broken line. If the amount of movement from the position AF to the position BF is sufficiently smaller than the size of the ultrasonic irradiation area on the riverbed, the <intensity distribution at BF> is slightly different from the irradiation part at the position AF. <Intensity distribution in AF> and the shape of the distribution are slightly different. However, since most of the irradiation area is the same at position AF and position BF, the difference in distribution is small, and <intensity distribution at BF> is different from the position AF and detection position, so <intensity distribution at AF> Is close to the intensity distribution waveform shifted by the amount of movement from the position AF to the position BF. Note that the horizontal axis of <intensity distribution at AF> and <intensity distribution at BF> shown in FIG. 5 corresponds to the position of each detector constituting the two-dimensional ultrasonic detector 303.

  In order to detect this shift amount, as shown in FIG. 5, a correlation calculation is performed between the <intensity distribution at AF> pattern and the <intensity distribution at BF> pattern. In FIG. 5, one-way correlation calculation is shown for simplicity. The <intensity distribution at BF> pattern is used as a reference, and the correlation between the two intensity distributions is performed while the <intensity distribution at AF> pattern is moved by a predetermined distance with respect to the <intensity distribution at BF> pattern. The diagram on the right side of FIG. 5 shows the result of the correlation calculation with the movement amount on the horizontal axis and the correlation strength on the vertical axis. When the correlation calculation is performed, the correlation intensity becomes the maximum at the position of the movement amount where the two intensity distributions are most consistent. By obtaining this peak position, the distance difference between the position AF and the position BF of the levitation body 3 is detected.

  FIG. 5 shows a correlation calculation in one direction. When a two-dimensional intensity calculation is performed by the signal processing device 304 via the two-dimensional ultrasonic detector 303 and the two-dimensional correlation calculation is performed, the levitation body 3 moves in which direction. In addition, it is possible to calculate how much the levitated body has moved, that is, as a vector having a direction and a size. By sequentially connecting these vectors, it is possible to obtain the horizontal movement locus of the levitation body 3 from a certain reference point. The obtained horizontal position data is stored in the memory together with time data when an ultrasonic wave is transmitted at the position BF.

  Here, the measurement method will be described with an example of a detected waveform. FIG. 6 shows the relationship of waveforms when obtaining the flow velocity. A sine wave having a frequency f is set as a reference waveform W01. A part of the waveform (transmission ultrasonic waveform W02) is radiated from the ultrasonic transceiver 301. Waveforms (W03, W06) detected at the reflector positions A and B in the ultrasonic beam by an arbitrary detector having the two-dimensional ultrasonic detector 303 are obtained. Waveforms W03 and W06 are detection waveforms of the same detector of the two-dimensional ultrasonic detector 303 when the transmission ultrasonic waveform W02 is emitted at a certain interval. During this time, the reflector has moved from point A to point B. Assume that Intensities W04 and W07 and phases W05 and W08 are calculated from the detected waveform. The intensity is obtained, for example, by envelope detection. The phase can be calculated by low-pass filtering the product of the reference waveform and the detected waveform. If t is time, ΔT is the time from ultrasonic radiation to detection, the amplitude of the detection signal is V, the reference waveform is sin (2πft), and the detection waveform is V * sin (2πf (t + ΔT)), the product of The low-pass filtered signal is 0.5 V * cos (2πf * ΔT). Further, 0.5 V * sin (2πf * ΔT) is obtained by the product of the waveform of cos (2πft) and the detected waveform, and low-pass filtering, and tan (2πf * ΔT) is obtained from both to obtain the phase.

  In the phase waveforms W05 and W08, only the portion having the reflection intensity of the reflector is meaningful, and the other portions may be indefinite. With such a waveform processing procedure, the intensity and phase before and after the movement of the reflector can be calculated. This waveform is shown for the signal of one detector, but by performing the same processing on the signals of a plurality of detectors, patterns of intensity distribution and phase distribution can be obtained before and after the movement of the reflector. The distance traveled by the reflector is calculated from the coincidence between this pattern and the previously obtained pattern. Further, the moving speed of the reflector, that is, the flow velocity is detected in consideration of the time interval between the two ultrasonic radiations.

  FIG. 7 is a waveform example when detecting the water depth and the amount of movement of the levitation body 3. In this case, the depth of water and the speckle pattern can be obtained by emitting ultrasonic waves once (transmitted ultrasonic waveform W12). The reflection position of the riverbed is detected by the received waveform (W13) of the ultrasonic transmitter / receiver 301, and the water depth can be known from this. The water depth data measured by the ultrasonic wave transmitted at the position BF is stored in the memory together with the time data of the transmitted ultrasonic wave. The two-dimensional ultrasonic detector 303 detects waveforms (W14, W16) detected by two different detectors, and obtains the intensity. The reflected wave intensity distribution when the two-dimensional ultrasonic detector 303 receives the ultrasonic wave reflected and scattered at the riverbed reflection position becomes a speckle pattern. This intensity distribution changes as the levitation body 3 moves. This speckle pattern is obtained before and after the levitation body 3 moves, and a movement vector is calculated from the peak of the correlation between the two.

  The signal processing is mainly performed by the signal processing device 304. Details of the signal processing device 304 will be described with reference to FIG. The two-dimensional ultrasonic detector 303 includes a plurality of detectors arranged in a two-dimensional plane, and a processing circuit 304i of the signal processing device 304 is individually connected to each of the detectors.

  Each processing circuit 304i includes a filter amplifier 304i-1 connected to the detector, a detector 304i-2 and a phase detector 304i-3 connected to the filter amplifier 304i-1, and a detector 304i-2. The level determiner 304i-4 connected, the switch element 304i-5 connected to the detector 304i-2 and the level determiner 304i-4, and the analog-digital converter 304i connected to the switch element 304i-5. -7, a switch element 304i-6 connected to the level determiner 304i-4 and the phase detector 304i-3, and an analog-digital converter 304i-8 connected to the switch element 304i-6. It is configured.

  The filter amplifier 304i-1 reduces the noise of the detection signal and increases the signal level. The detector 304i-2 obtains the amplitude waveform of the detection signal. The phase detector 304i-3 calculates the phase by the above calculation procedure from the detection signal waveform and the reference signal. The level determiner 304i-4 outputs a signal when the output of the detector 304i-2 is equal to or larger than a preset amplitude, and makes the switch elements 304i-5 and 6 conductive. The level determiner 304i-4 receives a timing signal at which an ultrasonic wave is transmitted, and defines a time range for receiving an ultrasonic reflected wave based on this timing signal. The analog-to-digital converters 304i-7 and 8 convert the signals that have passed through the switch elements 304i-5 and 6, that is, amplitude and phase information, into digital signals and output them.

  Any of the elements constituting the processing circuit 304i can be manufactured by an IC and can be made compact. Each processing circuit 304i obtains these intensity and phase signals and transmits them to the signal analysis device 305. The signal analysis device 305 collects the information as intensity and phase distribution information.

  As shown in FIG. 9, the transmission / reception circuit 302 includes a switch element 302-1 connected to the ultrasonic transmitter / receiver 301, a filter amplifier 302-3 and an amplifier 302-2 connected to the switch element 302-1, and a filter. A detector 302-4 connected to the amplifier 302-3 and a level determiner 302-5 connected to the detector 302-4 are included.

  The amplifier 302-2 amplifies the transmission ultrasonic waveform W02 input from the signal analysis device 305 and transmits the amplified waveform to the switch element 302-1. The switch element 302-1 switches between transmission and reception of the ultrasonic transceiver 301. At the time of ultrasonic transmission, the transmission ultrasonic waveform W02 amplified by the amplifier 302-2 is transmitted to the ultrasonic transceiver 301. In addition, at the time of reception, the switching operation is performed so that the ultrasonic transceiver 301 and the filter amplifier 302-3 are connected. The filter amplifier 302-3 reduces noise in the detection signal input from the ultrasonic transceiver 301 via the switch element 302-1, and increases the signal level. The detector 302-4 obtains the amplitude waveform of the detection signal. When the output of the detector 302-4 exceeds a preset level, the level determiner 302-5 determines that the reflection is from the riverbed and sends the detection timing signal to the signal analyzer 305.

  The processing flow of the signal analyzer 305 will be described with reference to FIG. Before performing the measurement process, the intensity pattern and phase pattern data of the reflected spherical waves reflected from the reflectors of various depths necessary for the flow velocity measurement are calculated in advance, and the reference intensity distribution and the reference phase distribution are calculated. The data is stored in the memory of the signal analyzer 305 as a database.

  When measurement is started, parameter setting is first performed (305-01). This is the setting of measurement conditions such as the depth to be observed (how many meters the maximum depth is measured, that is, d = 1 to n) and the movement information of the levitation body 3 (the movement speed of the levitation body 3 is set). . By setting the moving speed of the levitation body 3, the data collection interval when measuring the movement amount of the levitation body 3 is determined. Moreover, the data collection interval for the flow velocity measurement is set. The data collection interval here uses the data of two ultrasonic waves transmitted at different times when calculating the movement amount measurement or the flow velocity measurement, but for the ultrasonic waves transmitted at a predetermined time interval. How many times to use the data. Further, data for specifying the position of the levitation body 3 at that time, that is, the measurement start point is recorded. For example, the position determined by the GPS system or the position determined by the relative relationship with the base line set on the riverbank.

  Next, a timing signal for transmitting an ultrasonic signal and a reference waveform W01 are transmitted to the signal processing device 304, and a transmission ultrasonic waveform W02 is transmitted to the transmission / reception circuit 302 (305-02). At this stage, ultrasonic waves are transmitted from the ultrasonic transceiver 301. The timing signal here is a signal that indicates a time interval for transmitting an ultrasonic wave, but an ultrasonic wave may be transmitted from the ultrasonic transceiver 301 each time this signal is received.

  Next, the result of processing the ultrasonic signal received by the ultrasonic transmitter / receiver 301 by the transmitter / receiver circuit 302 (river bottom detection timing) and the ultrasonic signal received by the two-dimensional ultrasonic detector 303 are processed by the signal processing device 304. The processed results (reflection intensity patterns, phase patterns and timing signals from reflectors of various depths) are received and stored together with the transmission time data (305-03). At this time, with respect to the reflection intensity pattern and the phase pattern from the reflector, the depth level of the reflector is determined by a timing signal input at the same time, and the depth level d matches any of d = 1 to n. Are stored with any of d = 1 to n indicating the matching depth level.

  Further, riverbed depth information is calculated based on the received riverbed detection timing and stored together with ultrasonic transmission time data (305-04), and an intensity distribution that is a speckle pattern of reflected ultrasonic waves from the riverbed is calculated. Similarly, it is stored together with the ultrasonic transmission time data (305-05).

  Next, proceeding to step 305-06, the correlation between the intensity distribution obtained this time and the intensity distribution stored previously by the preset data collection interval is performed, and the position where the correlation intensity is maximized is obtained, The movement vector of the body 3 is calculated and stored together with the ultrasonic transmission time data of the start point and end point of the movement vector. The processes of procedures 305-05 and 305-06 are the floating body movement detection process.

  Next, it progresses to 305-07 and performs a flow velocity measurement process. The depth level i is set to an initial value of 1. In step 305-03, the reflected spherical wave intensity pattern and phase pattern measurement data of the reflector floating in the water at various depths are stored together with the depth level of the reflector. The intensity pattern and phase pattern of the reflected spherical wave by the reflectors at a plurality of depths are stored in the memory as a database.

  First, at 305-07, the intensity pattern, phase pattern, and database of the reflected spherical wave of the reflector of the depth level (d = i) out of the latest stored measurement data are stored in the memory as a database. The intensity pattern and phase pattern of the reflected spherical wave from the reflector of the same depth level are extracted, and the intensity pattern of the measurement data and the intensity pattern in the database, and the correlation calculation between the phase pattern of the measurement data and the phase pattern in the database, respectively And the peak position of the correlation strength is detected to obtain the latest position of the reflector. At this time, an average position of the position of the reflector calculated from the intensity peak of the correlation of the intensity pattern and the position of the reflector calculated from the intensity peak of the correlation of the phase pattern is set as the position of the reflector. Next, the intensity pattern and phase pattern of the reflected spherical wave of the reflector of the same depth level, which is the previous one of the stored measurement data, and the same stored in the memory as a database. Extract the intensity pattern and phase pattern of the reflected spherical wave by the reflector at the depth level, and perform correlation calculation between the intensity pattern of the measurement data and the intensity pattern in the database, and between the phase pattern of the measurement data and the phase pattern in the database The previous position of the reflector is obtained by detecting the peak position of the reflector. A movement vector of the reflector is calculated from the obtained latest position and previous position.

  Since the calculated movement vector of the reflector includes the movement vector component of the levitation body 3, a true flow velocity vector is obtained by taking the difference and stored in the memory together with the time data of the movement vector end point (305-08). ). This operation is repeated for the depth level d until reaching the maximum depth level n set from the depth level 1 (305-09, 305-10).

  When it is confirmed in 305-09 that the calculation of the flow velocity at the maximum depth level n has been completed, it is determined whether or not to perform measurement at the next floating body position, in other words, whether the ultrasonic wave transmission stop switch is off or on ( 305-11). When the ultrasonic wave transmission stop switch is on, it is determined that the measurement is not finished, the parameter i for designating the depth level is set to the initial value i = 1, and the procedure returns to the procedure 305-02, and the above procedure is repeated at a predetermined time interval.

  When the ultrasonic transmission stop switch is off, it is determined that the measurement is finished, and the process proceeds to step 305-12. The floating body position is obtained as the sum of the floating body moving vectors, and the flow velocity distribution, river bed shape, flow rate, etc. indicate.

  The trajectory of the movement of the levitation body is obtained as the sum of the movement vectors, and the end point position of each movement vector becomes the measurement point of the water depth and the flow velocity. Therefore, the riverbed shape can be obtained by arranging the water depth data having the same time data as the time data of the end point position of each movement vector on the trajectory of the movement of the floating body as the water depth data of each measurement point. Further, since the flow rate at each depth level is detected, the flow rate is obtained by sequentially extracting flow rate data having the same time data as the time data at the end point position of each movement vector, and integrating these.

According to the present embodiment, it is possible to accurately obtain the moving speed and direction of a floating body that moves on the river surface, that is, a measuring device that transmits ultrasonic waves. In addition, it is possible to detect water depth and flow velocity distribution using an ultrasonic beam, and to accurately calculate the riverbed shape, flow velocity distribution, and flow rate of the measurement device movement locus from the movement speed and direction of the measurement device.
<Second Embodiment>
The second embodiment of the present invention is different from the first embodiment in that the ultrasonic transceiver 301 can control the directivity of the transmitted ultrasonic beam. . Since other configurations are the same as those of the first embodiment, description thereof is omitted.

  As described in the description of the first embodiment, the average change width of the intensity unevenness of the reflected wave from the riverbed detected by the two-dimensional ultrasonic detector 303 is the directivity angle α of the ultrasonic beam. It depends on the wavelength of the ultrasonic wave in water and does not depend on the depth. In the present embodiment, when the levitation body 3 is moved in a direction perpendicular to the flow direction, ultrasonic waves are transmitted and received so that the beam angle is narrow in the movement direction of the levitation body 3 and the beam angle is wide in the flow direction. The device 301 is controlled. For controlling the beam directing angle, a known method such as the use of an ultrasonic lens or an array sensor can be used. By this control, the average change width of the speckle pattern (intensity distribution) due to riverbed reflection increases in the moving direction of the levitating body, which is effective when the moving amount is large. In addition, since the beam angle is wide in the flow direction, the moving width of the reflector floating in water can be increased, and the measurement range is expanded.

According to the present embodiment, the same effect as in the first embodiment can be obtained, and it is possible to cope with a case where the moving speed of the floating body on which the measuring device is mounted is large or a case where the flow velocity is large. There is an effect.
<Third Embodiment>
The third embodiment of the present invention differs from the first embodiment in that a tilt sensor is installed in the levitation body 3, and the distance to the river bed is obtained by obtaining the tilt of the levitation body during ultrasonic radiation. The point is that the position of the reflector is corrected. Since other configurations are the same as those of the first embodiment, description thereof is omitted.

  When the levitation body 3 is tilted during the emission of ultrasonic waves, the ultrasonic path to the riverbed or the depth of the reflector becomes longer. Moreover, if the inclination of the levitation body 3 is different for each ultrasonic irradiation, the reflector position is apparently shifted, resulting in an error in flow velocity measurement. For this reason, an inclination sensor is installed in the levitation body 3, the inclination of the levitation body 3 at the time of ultrasonic radiation is obtained, and the distance to the riverbed and the position of the reflector are corrected.

  According to the present embodiment, the same effect as in the first embodiment can be obtained, and the riverbed shape and the flow velocity distribution can be more accurately measured.

  When only the riverbed shape measurement is performed, the portion for measuring the flow velocity may be removed and only the shape measurement portion may be used.

It is a perspective view which shows the basic concept of river data measurement. It is a block diagram which shows the principal part structure of the river data measuring apparatus which concerns on the 1st Embodiment of this invention. It is a conceptual diagram which illustrates typically the measurement of the flow-velocity distribution by the 1st Embodiment of this invention. It is a conceptual diagram which illustrates typically the movement measurement of the floating body by the 1st Embodiment of this invention. It is a conceptual diagram explaining the correlation calculation in the movement measurement of the levitating body by the 1st Embodiment of this invention. It is a conceptual diagram explaining the waveform, intensity | strength, and phase of an ultrasonic wave in the 1st Embodiment of this invention. It is a figure explaining the waveform relationship and intensity | strength detection, such as a river bed, regarding the riverbed shape by this invention, flow velocity distribution, and the measuring apparatus of flow volume. It is a block diagram which shows the detail of the part of embodiment shown in FIG. It is a block diagram which shows the detail of the other part of embodiment shown in FIG. It is a procedure figure showing the flow of processing of signal analysis device 305 of a 1st embodiment of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 River 2 Measuring line 3 Floating body 301 Ultrasonic transmitter / receiver 302 Transmission / reception circuit 302-1 Switch element 302-2 Amplifier 302-3 Filter amplifier 302-4 Detector 302-5 Level judgment device 303 Two-dimensional ultrasonic detector 304 Signal Processing device 304i One processing circuit of the signal processing device 304i-1 Filter amplifier 304i-2 Detector 304i-3 Phase detector 304i-4 Level determination device 304i-5, 6 Switch element 304i-7, 8 Analog-digital conversion 305 Signal Analyzer

Claims (9)

A measuring device that is mounted on a levitating body that moves along a measurement line and measures river data using ultrasonic waves transmitted toward the bottom of the river, and emits ultrasonic waves at predetermined time intervals in the direction of the bottom of the river. Ultrasonic transmission means, two-dimensional ultrasonic reception means arranged in a two-dimensional manner for receiving ultrasonic waves transmitted from the ultrasonic transmission means and scattered / reflected at the river bed, and time from the ultrasonic transmission means reference position the center of the two-dimensional ultrasonic receiving means the intensity distribution of the reflected waves from the riverbed on the basis of the output of two of the two-dimensional ultrasonic receiving means corresponding to the ultrasonic each originating at a and determined Mel signal processing means as a, is connected to the signal processing means, the strength of the correlation between the two intensity distribution output from the signal processing means, originating earlier of said two intensity distribution Move the one corresponding to the ultrasonic wave close to the other. A signal analysis means for obtaining a movement distance and a moving direction at which the correlation intensity is maximized as a function of the distance and a movement direction of the ultrasonic transmission means between the two ultrasonic transmissions; A river data measuring device comprising storage means for storing the data.   2. The river data measuring apparatus according to claim 1, wherein, in place of the ultrasonic transmission means, ultrasonic transmission / reception means for transmitting ultrasonic waves at a predetermined time interval in the river bottom direction and receiving reflected waves, and the ultrasonic transmission / reception. And a bottom reflection measuring means for measuring the time from ultrasonic transmission to reception of reflected waves at the bottom of the river and the intensity of reflected waves from the bottom of the river, and the signal analyzing means is provided with the bottom reflection. The water depth is calculated by using the output of the measuring means as input and stored in the storage means. Further, the movement vectors of the ultrasonic transmitting / receiving means are generated by sequentially combining the movement vectors, and the movement locus is configured. A water depth data corresponding to the end point position of each movement vector is read from the storage means and combined with the end position data and stored in the storage means. Data measuring device.   2. The river data measuring apparatus according to claim 1, wherein, in place of the ultrasonic transmission means, ultrasonic transmission / reception means for transmitting ultrasonic waves at a predetermined time interval in the river bottom direction and receiving reflected waves, and the ultrasonic transmission / reception. And a bottom reflection measuring means for measuring the time from transmission of ultrasonic waves to reception of reflected waves from the bottom of the river and the intensity of reflected waves from the bottom of the river. In addition to the ultrasonic waves scattered / reflected at, the reflected wave reflected by the underwater reflector floating in the water is received and the signal processing means is reflected by the underwater reflector from the ultrasonic transmission The time until the reflected wave is detected and the intensity distribution and phase distribution of the reflected wave are also measured, and the storage means has different relative depths in the horizontal direction with respect to the ultrasonic transmission / reception means. In place The intensity distribution and phase distribution of the reflected wave when the ultrasonic wave transmitted from the ultrasonic transmission / reception means is reflected by a certain underwater reflector are stored as a reference intensity distribution and a reference phase distribution, and the signal analysis means The water depth is calculated using the output of the bottom reflection measuring means as an input and stored in the storage means, and the depth at which the underwater reflector is floating is detected based on the output of the signal processing means, and the detected depth The intensity of the correlation between the reference intensity distribution and reference phase distribution of the reflected wave of the underwater reflector and the intensity distribution and / or phase distribution of the measured reflected wave is moved while bringing the measured distribution close to the reference distribution. As a function of distance, the horizontal position of the underwater reflector with respect to the ultrasonic transmission / reception means is obtained based on the moving distance and the moving direction at which the correlation intensity is maximum, and for a predetermined time Based on the horizontal relative position of the underwater reflector to the ultrasonic transmission / reception means detected in step 1 and the calculated movement vector of the ultrasonic transmission / reception means, the flow velocity of the detected depth at the end position of the movement vector is calculated. A river data measuring device, characterized by being configured to obtain.   4. The river data measuring apparatus according to claim 3, wherein the signal analysis means sequentially combines the movement vectors to generate a movement trajectory of the ultrasonic transmission / reception means, and an end point of each movement vector constituting the movement trajectory. A river data measuring apparatus configured to read out water depth data corresponding to a position from the storage means and combine the data with the data of the end point position and store the data in the storage means.   5. The river data measuring apparatus according to claim 1, wherein the ultrasonic transmission means or the ultrasonic transmission / reception means includes means for controlling directivity characteristics of ultrasonic waves to be transmitted. Data measuring device.   6. The river data measuring apparatus according to claim 2, further comprising an inclination detection unit that detects an inclination of the floating body, wherein the signal analysis unit corrects a water depth calculated based on an output of the inclination detection unit. A river data measuring device characterized by being configured to perform. A river data measurement method for measuring river data by ultrasonic waves transmitted toward a river bed from a measurement device mounted on a levitating body that moves along a measurement line, at predetermined time intervals in the river bed direction. The ultrasonic wave is transmitted, and the ultrasonic wave scattered and reflected at the riverbed is received by the two-dimensional ultrasonic wave receiving means arranged in a two-dimensional manner, corresponding to each of the two ultrasonic waves transmitted with time. the intensity distribution of the reflected waves from the riverbed as a reference position the center of the two-dimensional ultrasonic receiving means determined Me, the strength of the correlation between the two intensity distribution among the two intensity distribution The one corresponding to the ultrasonic wave transmitted earlier is obtained as a function of the moving distance while approaching the other, and the moving distance and the moving direction at which the intensity of the correlation is the maximum between the two ultrasonic transmissions are determined. Hands that output as the moving distance and moving direction of the ultrasonic transmission source River data measurement method comprising a.   8. The river data measurement method according to claim 7, wherein the time from ultrasonic transmission to reception of reflected waves on the riverbed and the intensity of reflected waves from the riverbed are measured, and the time from transmission of ultrasonic waves to reception of reflected waves on the riverbed. The water depth is calculated and stored in the storage means, and the movement vectors are sequentially combined to generate a movement trajectory of the measuring device and correspond to the end point position of each movement vector constituting the movement trajectory. A river data measuring method comprising a step of reading out data of water depth to be read from the storage means and combining the data with the data of the end point position and storing the data in the storage means.   The river data measurement method according to claim 7, wherein the time from the transmission of ultrasonic waves to the reception of reflected waves at the bottom of the river and the intensity of reflected waves from the bottom of the river are measured, and in addition to the ultrasonic waves scattered and reflected at the bottom of the river, The reflected wave reflected by the underwater reflector floating in the water is received by the two-dimensional ultrasonic receiving means, and the time from the ultrasonic transmission until the reflected wave reflected by the underwater reflector is detected and the reflected wave The intensity distribution and the phase distribution are also measured, and the ultrasonic wave transmitted from the ultrasonic wave transmitting / receiving means is reflected by an underwater reflector having a different depth and a horizontal relative position to the ultrasonic wave transmission source at a predetermined position. The intensity distribution and the phase distribution of the reflected wave at that time are stored in the storage means as a reference intensity distribution and a reference phase distribution, and the water depth is calculated by inputting the time from the transmission of the ultrasonic wave to the reception of the reflected wave of the riverbed as the input. Storage means Storing and detecting the floating depth of the underwater reflector based on the time from the transmission of the ultrasonic wave to the reception of the reflected wave of the underwater reflector, and the reference of the reflected wave of the underwater reflector of the detected depth The intensity of correlation between the intensity distribution and the reference phase distribution and / or the intensity distribution and / or phase distribution of the measured reflected wave is obtained as a function of the moving distance while bringing the measured distribution close to the reference distribution. The horizontal position of the underwater reflector with respect to the ultrasonic transmission source is obtained based on the moving distance at which the maximum is obtained and the moving direction at that time, and the horizontal direction with respect to the ultrasonic transmission source of the underwater reflector detected at a predetermined time interval. A step of obtaining a flow velocity of the detected depth at an end point position of the movement vector based on the relative position and the calculated movement vector of the ultrasonic wave transmission source; River data measurement method.

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