CN106979803A - A kind of method of the measurement discharge of river based on unmanned plane of taking photo by plane - Google Patents
A kind of method of the measurement discharge of river based on unmanned plane of taking photo by plane Download PDFInfo
- Publication number
- CN106979803A CN106979803A CN201710206658.1A CN201710206658A CN106979803A CN 106979803 A CN106979803 A CN 106979803A CN 201710206658 A CN201710206658 A CN 201710206658A CN 106979803 A CN106979803 A CN 106979803A
- Authority
- CN
- China
- Prior art keywords
- plane
- buoy
- section
- unmanned plane
- taking photo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
- G01F1/002—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow wherein the flow is in an open channel
- G01F1/005—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow wherein the flow is in an open channel using floats
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The present invention discloses a kind of method of the measurement discharge of river based on unmanned plane of taking photo by plane, and it comprises the following steps：Buoy section is set up；Water-depth measurement；Interrupt face frame and set unmanned plane of taking photo by plane；Deliver buoy；When the buoy cast is by upper section, middle section, lower section, it is continuously shot using unmanned plane of taking photo by plane according to the operating process that buoy, upper section are shot, middle section is shot, lower section is shot is delivered；Interpretation buoy, flow measurement last, zequin away from calculate dummy discharge.The present invention greatly shortens flow measurement and lasted, and greatly improves float technique testing flood discharge efficiency, so as to improve the ageing of flow measurement on the whole, realizes that fast and accurately water surface flow velocity is measured.
Description
Technical field
The invention belongs to discharge of river survey technology field, more particularly, to a kind of measurement river course stream based on unmanned plane of taking photo by plane
The method of amount.
Background technology
China river is numerous, and the comprehensive utilization in river occupies an important position in national economy social development.Due to me
State's area is big, with a varied topography, rainfall skewness, and often flood occurs for some places, is made to the country and people
Into massive losses.In also every time in rainy season, influenceed by lasting heavy showers, super police will occur for some places of the Yangtze river basin
Guard against water level, the property given people and life zone are threatened.Therefore, river flow measurement work is carried out to prevention flood, is protected
The property safety for protecting the country and people is significant.
During flood, the measurement of river flow utilizes stopwatch, intercom, longitude and latitude often using being artificial dispensing buoy
Distance is flowed through to buoy for these instruments such as instrument and use time is determined, to calculate the flow velocity in river.This method exists a lot
Shortcoming, when such as measuring, sets up the buoy section of upper, middle and lower three, section sets to use sets up concrete stake respectively in river course two sides,
When buoy flows through section, sight alignment is aimed at by staff's naked eyes, buoy is determined away from discrete time, because human factor is surveyed
Amount error is larger, and measurement result accuracy is not high；The problem of buoy is flushed away is faced with, the unstable of measurement process is added
Property；In measurement process, generally require many people and coordinate calculating buoy to flow through away from discrete time come during calculating the flow velocity in river, high flood
Uncertain factor is more, measurement inconvenience, it is impossible to ensure the life security of survey crew.Traditional float technique measurement flow investment is big, account for
Manually many, efficiency is low, is unfavorable for quickly robbing survey crest discharge.
The content of the invention
To solve the above problems, it is an object of the invention to provide a kind of side of the measurement discharge of river based on unmanned plane of taking photo by plane
Method.
For achieving the above object, the present invention is adopted the following technical scheme that：
A kind of method of the measurement discharge of river based on unmanned plane of taking photo by plane, it comprises the following steps：
S1, buoy section are set up：According to the direction of river following current the float gauging of upper, middle and lower three is selected in river course bridge downstream
Section, the spacing between the section of upper, middle and lower three is drawn using laser range finder measurement；In above three float gauging section
Place is respectively equipped with an infrared laser pen, and the laser beam that infrared laser penholder sets angle and just sends infrared laser pen is shown in
Riverbank both sides and the line segment that right angle is formed with river course；Using the laser beam that sends of infrared laser pen as section line, Laser Measuring is utilized
Distance meter measures the width of section line, middle section line, lower section line between river course two sides respectively；
S2, water-depth measurement：Using UAV flight's ultrasonic wave fathometer of taking photo by plane, flied at a constant speed along middle section line, quickly enter water-filling
Deep measurement；
S3, interruption face frame set unmanned plane of taking photo by plane：Unmanned plane of taking photo by plane is erected at the bank position of middle section side, keeps camera lens
Direction and middle section line are in alignment, and the zero point of start point distance is overlapping with camera lens lower end, the bank of middle section opposite side
Side is overlapping with camera lens upper end；
S4, dispensing buoy：The buoy quantity for determining to need according to water surface width, according to being spaced uniform distance to river course at bridge
In continuously deliver several buoys, it is desirable to each buoy position can be thrown within the camera lens visual field for unmanned plane of taking photo by plane；
S5, when the buoy cast is by upper section, middle section, lower section, using unmanned plane of taking photo by plane according to delivering buoy, it is upper disconnected
The operating process that face is shot, middle section is shot, lower section is shot is continuously shot；
S6, interpretation buoy, flow measurement last, zequin away from calculate dummy discharge；
Interpretation buoy：A, prestore on computers no buoy when upper section, middle section, lower section shooting picture information, select
By upper section line, the buoy picture of lower section line, contrasted, distinguished effectively with the shooting picture of the lower section in step S5
Buoy；
B, will it is effective in computer in section buoy photo print, in case analysis；
Flow measurement lasts：Flow measurement is tried to achieve according to take photo by plane time difference of effective buoy image that unmanned plane shows of upper section, lower section part
Last；
Adoption rate chi method, calculating method or real time distance method zequin away from；
Calculate dummy discharge：Empty flow velocity is that foundation flow measurement is lasted and upper section, lower section spacing are tried to achieve, i.e., according to formula V=L/t；V
For empty flow velocity, L is the spacing between upper section, lower section, and t lasts for flow measurement.
Further, in above-mentioned step S3, interrupt face frame and set when taking photo by plane unmanned plane, the upper section for needing to image, in
Section, lower section are equipped with plane positioning point, and plane positioning point is section line and the crosspoint of river course two sides, plane positioning point position
The equidistant upstream and downstream for being located at middle section line are put, the angle of depression for unmanned plane of taking photo by plane every time is taken with this bank section anchor point into shooting
The bottom line of scape frame is defined, and the top line for unmanned plane view-finder of taking photo by plane is overlapping with the plane positioning point on river course opposite bank to be determined.
Further, in above-mentioned step S6, zequin away from method be, on section according to flow measurement vertical line lay will
The buoy for arranging out the different vertical line positions of known start point distance is sought, picture is then shot, and by the starting point of buoy in the picture
Away from being marked, that is, engineer's scale is made, and this data content is stored in computer；Buoy middle section position determine with
Afterwards, the buoy distance directly amount on section line is calculated on computers with the engineer's scale of setting, that is, tries to achieve buoy upper disconnected
Face, the start point distance of lower section.
Further, in above-mentioned step S6, zequin away from method be to utilize unmanned plane perpendicular positioning work(of taking photo by plane
Can, helicopter vertical height A is determined, the camera for recording unmanned plane of taking photo by plane shoots the real-time angle of depression Θ shown during buoy, according to public affairs
Formula L=Actg Θ, tries to achieve buoy start point distance.
Further, in above-mentioned step S6, zequin away from method be, using laser range finder, when buoy is flowed through
During middle section, buoy is sighted using laser range finder, real-time range measure is carried out, and recorded.
Due to using technical scheme as described above, the present invention has following superiority：
The method of the measurement discharge of river based on unmanned plane of taking photo by plane, its application takes photo by plane unmanned plane in water surface float method flow measurement,
Using unmanned plane of taking photo by plane from motion tracking, shoot function, quick filming surface buoy flows photo, with reference to computer picture software
Photoshop and AutoCAD processing pictures, obtain buoy start point distance and flow speed data, it is only necessary to the time of 3~8 minutes, greatly
Shorten flow measurement to last, greatly improve float technique testing flood discharge efficiency, so as to improve the ageing of flow measurement on the whole, realize
Fast and accurately water surface flow velocity is measured, then by other water-depth measurement instruments, you can river cross-section flow is calculated, so that
Float technique flow measurement is not limited by region, flow measurement condition, realizes that flow measurement method is efficient, quick, accurate, convenient.And without special
Door builds buoy and delivers facility, can carry out discharge measurement in any field river cross-section, pole is also brought to hydrology exploration work
Convenience condition.Unmanned plane of particularly taking photo by plane deep float technique measurement extraodinary flood flow in being more applicable for, surveys overproof to rob
Flood provides a kind of relatively reliable, efficiently hydrologic survey method.
Embodiment
Technical scheme is described in further detail with reference to embodiment.
The method of the measurement discharge of river based on unmanned plane of taking photo by plane, it includes step in detail below：
S1, buoy section are set up：According to the direction of river following current the float gauging of upper, middle and lower three is selected in river course bridge downstream
Section, upper section, middle section, lower section are set using concrete stake is set up respectively in river course two sides, are surveyed using laser range finder
Measure out the spacing between the section of upper, middle and lower three；An infrared laser is respectively equipped with above three float gauging section part
Pen, the laser beam that infrared laser penholder sets angle and just sends infrared laser pen is shown in riverbank both sides and formed directly with river course
The line segment at angle；Using the laser beam that sends of infrared laser pen as section line, to adapt to the requirement of various climatic environments；Utilize laser
Rangefinder measures the width L of section line, middle section line, lower section line between river course two sides respectivelyOn、 LIn、LUnder；
S2, water-depth measurement：Utilize UAV flight's ultrasonic wave fathometer of taking photo by plane（The quality of ultrasonic wave fathometer<2.5kg）, in
Section line flies at a constant speed, and quickly carries out water-depth measurement；In practical operation, first the camera system for unmanned plane of taking photo by plane can be unloaded,
To reduce the load for unmanned plane of taking photo by plane as far as possible；
S3, interruption face frame set unmanned plane of taking photo by plane：Unmanned plane of taking photo by plane is erected at the bank position of middle section side, keeps camera lens
Direction and middle section line are in alignment, and the zero point of start point distance is overlapping with camera lens lower end, the bank of middle section opposite side
Side is overlapping with camera lens upper end；
S4, dispensing buoy：The buoy quantity for determining to need according to water surface width, buoy is sequentially numbered respectively, pressed at bridge
Several buoys are continuously delivered into river course according to uniform distance is spaced, it is desirable to which each buoy position can throw into unmanned plane of taking photo by plane
Within the camera lens visual field；
S5, when buoy flows through upper section, rotate unmanned plane the supreme section of camera lens, continuously taken pictures；When buoy stream
During section, the camera lens of unmanned plane are rotated to middle section, are continuously taken pictures, while recording each buoy flows through interruption
Camera depression angle Θ during face, when buoy flows through lower section, rotates the camera lens of unmanned plane to lower section, is continuously clapped
Take the photograph；Both can continuously testing, can also survey a flow by after the image of shooting storage to computer, then survey flow next time（Depending on
Depending on situation of rising）；
S6, interpretation buoy, flow measurement last, zequin away from, calculate dummy discharge.
Interpretation buoy：A, prestore on computers no buoy when upper section, middle section, lower section shooting picture information,
The buoy picture by upper section line, lower section line is selected, the shooting picture with the lower section in step S5, this shooting picture enters
Row enhanced processing, is contrasted, the position of such as buoy, numbering, on-the-spot record, release sequence, distinguishes effective buoy；
B, will it is effective in computer in section buoy picture press maximum map sheet printing, meet required precision：The figure of conventional A4 paper
Width, in case analysis；
Flow measurement lasts：Buoy is subtracted each other in take photo by plane time of effective buoy image that unmanned plane shows of upper section, lower section part, i.e.,
The flow measurement for obtaining the buoy lasts t, and flow measurement, which lasts t, can be accurate to 0.1 second；
Adoption rate chi method, calculating method or real time distance method zequin away from；
Calculate dummy discharge：Empty flow velocity is that foundation flow measurement is lasted and upper section, lower section spacing are tried to achieve, i.e. formula：V=L/t；V is void
Flow velocity, L is the spacing between upper section, lower section, and t lasts for flow measurement.
In above-mentioned step S3, interrupt face frame and set when taking photo by plane unmanned plane, in the upper section for needing to image, middle section, lower disconnected
Face is equipped with plane positioning point, and plane positioning point is section line and the crosspoint of river course two sides, and plane positioning point position is equidistant
The upstream and downstream of middle section line are located at, the angle of depression for unmanned plane of taking photo by plane every time enters the bottom for imaging view-finder with this bank section anchor point
Line is defined, and the top line for unmanned plane view-finder of taking photo by plane is overlapping with the plane positioning point on river course opposite bank to be determined.
Plane positioning point is set, for start point distance of the section that calculate each buoy shot and middle in picture is shot, with
And be accurately positioned the angle of depression for unmanned plane of taking photo by plane and polar angle and keep its numerical value constant.
When the polar angle for unmanned plane of taking photo by plane is consistent with section line, that is, unmanned plane of taking photo by plane set up point and left and right broken pile sight alignment and
Middle crosshair and left and right the section stake of unmanned plane view-finder of taking photo by plane is overlapped, and now polar angle is 0 degree.Each flow measurement sets up nothing of taking photo by plane
Man-machine to keep consistent with middle section line, i.e., polar angle is 0 degree.
With big boundary（DJI ）The smart Pro intelligent aerial photographies unmanned planes of Phantom 4 are preferably.
In above-mentioned step S3, take photo by plane unmanned plane height and camera angle determination, in should meeting section or so two sides with
Camera lens upper and lower end is overlapping to be defined, to meet the required precision of start point distance measurement to greatest extent.
Description below is taken photo by plane the determination of unmanned plane antenna height.
The principle pinpointed according to polar coordinates, the measure formula of start point distance is：L=ActgΘcosΨ；
In formula, L--- start point distances（m）；Θ --- the actual measurement angle of depression；The discrepancy in elevation of the A-- waters surface and unmanned plane horizontal line of sight of taking photo by plane（m）；
Ψ -- polar angle；
When unmanned plane of taking photo by plane is positioned at section line, polar angle Ψ is 0 °, cos0 °=1, then there are L=Actg Θ, start point distance is only and nothing of taking photo by plane
Man-machine height A is relevant with angle of depression Θ.
In order to ensure the precision of Measurement results, it is necessary to which the unmanned plane that makes to take photo by plane, which sets up point, certain height, this height should
Ensure extreme high water make to take photo by plane unmanned plane to the angle of depression of farthest some sights not less than 4 °.
Solve as follows：
Polar coordinates measure formula both sides are taken the logarithm：lnL=lnA+lnctgΘ+lncosΨ；
Differential obtains dL/L=dA/A-2d Θ/sin2 Θ-tg Ψ d Ψ；
Because dA/A, tg Ψ d Ψ numerical value are smaller negligible, so
DL/L~2d Θ/sin2 Θ；
It is defined by precision for 1 ' theodolite, its angle measurement error in reading d Θ are taken as " 1 ' ",
If above formula is substituted into during Θ=1 ° can calculate dL/L=1.7%；
Then during Θ=4 °, dL/L is approximately 0.42%, 0.42%<Start point distance allows measurement error 0.5%, therefore, when riverbank has certainly
Right condition is utilizable, can directly be imaged, according to formula L=Actg Θ, can obtained using natural conditions：A=L/ctgΘ =
L*tgΘ。
As A and the timings of Θ mono-, the height for unmanned plane of taking photo by plane is only with the proportional increases of extreme high water section width L.To navigate
Unmanned plane is clapped to farthest 4 ° of the angle of depression of a bit（The angle of depression of section stake is straight with theodolite after the height for unmanned frame of taking photo by plane is determined
Connect measurement）Exemplified by, it is assumed that when section width is 50m, according to above-mentioned formula A=L*tg Θ, height needed for must can imaging is 3.5m,
Hereafter section width often increases 50m, and unmanned plane of taking photo by plane, which is set up, need to increase 3.5m.Different angles similarly can be inquired into and different section is wide
When take photo by plane the height of unmanned plane.
Take photo by plane unmanned plane and the determination of anchor point beeline are described below.
Take photo by plane unmanned plane maximum perpendicular visual angle in 54 °~58 °, so that unmanned plane of taking photo by plane is accurately positioned 2m height as an example, root
According to sine sinA/a=sinB/b, it is away from bank 2.2m that the unmanned plane that must can take photo by plane, which photographed the nearest distance of any,.Therefore, take the photograph
Picture point should be in more than 2.2m apart from section stake air line distance.With the increase of height of instrument, the distance of camera point to section stake
Answer proportional increase.Therefore, in the case where safe distance is permitted, reduction as far as possible takes photo by plane unmanned plane during flying highly.
In above-mentioned step S6, adoption rate chi method zequin is away from because the angle and height of unmanned plane of taking photo by plane are solid
It is fixed, therefore the picture ratio shot is consistent；The requirement laid on section according to flow measurement vertical line arranges out known starting point
Buoy away from different vertical line positions, then shoots picture, and the start point distance of buoy is marked in the picture, that is, makes
Engineer's scale, and this data content is stored in computer；After buoy is determined in the position of middle section, existed with the engineer's scale of setting
The buoy distance directly amount on section line is calculated on computer, that is, tries to achieve the buoy in upper section, the start point distance of lower section；
Engineer's scale on computer is elongated or reduced according to the size of start point distance required precision and map sheet.
Engineer's scale method：With unmanned plane of taking photo by plane to farthest some 4 ° of angles of depression, section width 50m, unmanned plane height 2m, ratio 1：
Exemplified by 1000, the start point distance of different angles can be drawn according to formula L=A/tg Θ, then ratio is made according to the start point distance of each angle
Example chi.
Make engineer's scale：Because the wide viewing angle of general apparatus for making a video recording is 54 ° or so, the dimensioning of this engineer's scale is with angle
4 °~58 ° of degree, every 1 ° is mean baseline line, and distance is marked by the ratio data of the corresponding start point distance of above-mentioned angle.It is actual
In work, theodolite can be set up to unmanned plane same position and the identical height of taking photo by plane, direct measurement comes out left and right broken pile
Angle of depression degree, then angle between the two with every 1 ° or every 1 ' for mean baseline line, by by its different angle of depression degree and taking photo by plane
The start point distance data mark that unmanned plane high computational comes out is on its corresponding angle of depression degree, that is, producing the engineer's scale and by this data
In content deposit computer, the start point distance of buoy in picture can directly be measured with the engineer's scale later.
Engineer's scale angle as needed and start point distance can be finely divided, to meet need of work.
In above-mentioned step S6, using calculating method zequin away from using unmanned plane perpendicular positioning function of taking photo by plane, measure is straight
Rise machine vertical height A.The camera for recording unmanned plane of taking photo by plane shoots the real-time angle of depression Θ shown during buoy, according to formula L=Actg
Θ, tries to achieve buoy start point distance.
In above-mentioned step S6, using real time distance method zequin away from using laser range finder, when buoy flows through interruption
During face, buoy is sighted using laser range finder, real-time range measure is carried out, and recorded.
Presently preferred embodiments of the present invention, rather than limitation of the present invention are the foregoing is only, the essence of the present invention is not being departed from
In the case of refreshing and scope, all equivalent changes and modifications made according to scope of the present invention patent should all belong to the special of the present invention
Within sharp protection domain.
Claims (5)
1. a kind of method of the measurement discharge of river based on unmanned plane of taking photo by plane, it is characterized in that：It comprises the following steps：
S1, buoy section are set up：According to the direction of river following current the float gauging of upper, middle and lower three is selected in river course bridge downstream
Section, the spacing between the section of upper, middle and lower three is drawn using laser range finder measurement；In above three float gauging section
Place is respectively equipped with an infrared laser pen, and the laser beam that infrared laser penholder sets angle and just sends infrared laser pen is shown in
Riverbank both sides and the line segment that right angle is formed with river course；Using the laser beam that sends of infrared laser pen as section line, Laser Measuring is utilized
Distance meter measures the width of section line, middle section line, lower section line between river course two sides respectively；
S2, water-depth measurement：Using UAV flight's ultrasonic wave fathometer of taking photo by plane, flied at a constant speed along middle section line, quickly enter water-filling
Deep measurement；
S3, interruption face frame set unmanned plane of taking photo by plane：Unmanned plane of taking photo by plane is erected at the bank position of middle section side, keeps camera lens
Direction and middle section line are in alignment, and the zero point of start point distance is overlapping with camera lens lower end, the bank of middle section opposite side
Side is overlapping with camera lens upper end；
S4, dispensing buoy：The buoy quantity for determining to need according to water surface width, according to being spaced uniform distance to river course at bridge
In continuously deliver several buoys, it is desirable to each buoy position can be thrown within the camera lens visual field for unmanned plane of taking photo by plane；
S5, when the buoy cast is by upper section, middle section, lower section, using unmanned plane of taking photo by plane according to delivering buoy, it is upper disconnected
The operating process that face is shot, middle section is shot, lower section is shot is continuously shot；
S6, interpretation buoy, flow measurement last, zequin away from calculate dummy discharge；
Interpretation buoy：A, prestore on computers no buoy when upper section, middle section, lower section shooting picture information, select
By upper section line, the buoy picture of lower section line, contrasted, distinguished effectively with the shooting picture of the lower section in step S5
Buoy；
B, will it is effective in computer in section buoy photo print, in case analysis；
Flow measurement lasts：Flow measurement is tried to achieve according to take photo by plane time difference of effective buoy image that unmanned plane shows of upper section, lower section part
Last；
Adoption rate chi method, calculating method or real time distance method zequin away from；
Calculate dummy discharge：Empty flow velocity is that foundation flow measurement is lasted and upper section, lower section spacing are tried to achieve, i.e., according to formula V=L/t；V
For empty flow velocity, L is the spacing between upper section, lower section, and t lasts for flow measurement.
2. the method for the measurement discharge of river according to claim 1 based on unmanned plane of taking photo by plane, it is characterized in that：Its step S3
In, interrupt face frame and set when taking photo by plane unmanned plane, be equipped with plane positioning point in the upper section, middle section, lower section for needing to image, put down
Face anchor point is the crosspoint of section line and river course two sides, the equidistant upstream and downstream for being located at middle section line in plane positioning point position,
The angle of depression of each unmanned plane of taking photo by plane is defined by the bottom line that this bank section anchor point enters shooting view-finder, unmanned plane view-finder of taking photo by plane
Top line it is overlapping with the plane positioning point on river course opposite bank determine.
3. the method for the measurement discharge of river according to claim 1 based on unmanned plane of taking photo by plane, it is characterized in that：Its step S6
In, zequin away from method be that the requirement laid on section according to flow measurement vertical line arranges out the different vertical line positions of known start point distance
The buoy put, then shoots picture, and is marked the start point distance of buoy in the picture, that is, makes engineer's scale, and will
In this data content deposit computer；After buoy is determined in the position of middle section, with the engineer's scale of setting on computers
Buoy distance directly amount on section line is calculated, that is, tries to achieve buoy in upper section, the start point distance of lower section.
4. the method for the measurement discharge of river according to claim 1 based on unmanned plane of taking photo by plane, it is characterized in that：Its step S6
In, zequin away from method be using unmanned plane perpendicular positioning function of taking photo by plane, to determine helicopter vertical height A, record is taken photo by plane
The camera of unmanned plane shoots the real-time angle of depression Θ shown during buoy, according to formula L=Actg Θ, tries to achieve buoy start point distance.
5. the method for the measurement discharge of river according to claim 1 based on unmanned plane of taking photo by plane, it is characterized in that：Its step S6
In, zequin away from method be, using laser range finder, when buoy flows through middle section, to be sighted using laser range finder floating
Mark, carries out real-time range measure, and recorded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710206658.1A CN106979803B (en) | 2017-03-31 | 2017-03-31 | Method for measuring river flow based on aerial photography unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710206658.1A CN106979803B (en) | 2017-03-31 | 2017-03-31 | Method for measuring river flow based on aerial photography unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106979803A true CN106979803A (en) | 2017-07-25 |
| CN106979803B CN106979803B (en) | 2020-02-18 |
Family
ID=59339650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710206658.1A Active CN106979803B (en) | 2017-03-31 | 2017-03-31 | Method for measuring river flow based on aerial photography unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106979803B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108645456A (en) * | 2018-02-09 | 2018-10-12 | 中国水利水电科学研究院 | A kind of mountain stream flow rate monitoring quantitative inversion method |
| CN108917860A (en) * | 2018-05-22 | 2018-11-30 | 赵彦增 | Discharge of river testing method based on laser point cloud of taking photo by plane |
| CN109466759A (en) * | 2018-10-23 | 2019-03-15 | 北京王府科技有限公司 | The fall arrest unmanned flight's platform acquired for air and water environment parameter |
| CN109754573A (en) * | 2019-01-21 | 2019-05-14 | 北京理工大学 | A kind of middle and small river flood forecasting pre-warning facility and its operation method |
| CN110243423A (en) * | 2019-07-29 | 2019-09-17 | 中国电建集团中南勘测设计研究院有限公司 | Discharge of river calculation method and system |
| CN112113625A (en) * | 2020-10-13 | 2020-12-22 | 河南安宏信息科技有限公司 | River flow velocity measuring system and method |
| CN114858225B (en) * | 2022-05-11 | 2024-01-30 | 长江水利委员会水文局长江下游水文水资源勘测局(长江水利委员会水文局长江下游水环境监测中心) | Method for measuring river water surface flow velocity by buoy based on GNSS equipment |
| CN117516487A (en) * | 2024-01-05 | 2024-02-06 | 长江水利委员会水文局长江中游水文水资源勘测局 | Medium-small river video flow test method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004076972A1 (en) * | 2003-02-27 | 2004-09-10 | Mitsubishi Denki Kabushiki Kaisha | Water level measuring system |
| CN102692217A (en) * | 2012-06-20 | 2012-09-26 | 黑龙江省博凯科技开发有限公司 | Method for measuring river channel by use of ground effect aircraft |
| CN202502107U (en) * | 2012-03-20 | 2012-10-24 | 河海大学 | River water surface flow rate monitoring device based on feature tracking |
| CN103369302A (en) * | 2013-06-21 | 2013-10-23 | 河南省南阳水文水资源勘测局 | Video float gauging system |
| CN205738078U (en) * | 2016-05-11 | 2016-11-30 | 袁红泉 | A kind of unmanned aerial vehicle flow measuring device carrying radar |
-
2017
- 2017-03-31 CN CN201710206658.1A patent/CN106979803B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004076972A1 (en) * | 2003-02-27 | 2004-09-10 | Mitsubishi Denki Kabushiki Kaisha | Water level measuring system |
| CN202502107U (en) * | 2012-03-20 | 2012-10-24 | 河海大学 | River water surface flow rate monitoring device based on feature tracking |
| CN102692217A (en) * | 2012-06-20 | 2012-09-26 | 黑龙江省博凯科技开发有限公司 | Method for measuring river channel by use of ground effect aircraft |
| CN103369302A (en) * | 2013-06-21 | 2013-10-23 | 河南省南阳水文水资源勘测局 | Video float gauging system |
| CN205738078U (en) * | 2016-05-11 | 2016-11-30 | 袁红泉 | A kind of unmanned aerial vehicle flow measuring device carrying radar |
Non-Patent Citations (3)
| Title |
|---|
| 刘新志: "数码摄像在水面浮标测流应用之探讨", 《河南水利与南水北调》 * |
| 王子臣: "几种水文测验新方法综述", 《水利水文自动化》 * |
| 王子臣: "空中摄影浮标法测流初探", 《水利水文自动化》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108645456A (en) * | 2018-02-09 | 2018-10-12 | 中国水利水电科学研究院 | A kind of mountain stream flow rate monitoring quantitative inversion method |
| CN108917860A (en) * | 2018-05-22 | 2018-11-30 | 赵彦增 | Discharge of river testing method based on laser point cloud of taking photo by plane |
| CN109466759A (en) * | 2018-10-23 | 2019-03-15 | 北京王府科技有限公司 | The fall arrest unmanned flight's platform acquired for air and water environment parameter |
| CN109466759B (en) * | 2018-10-23 | 2024-04-16 | 中铁建设集团有限公司 | Anti-falling unmanned flying platform for air and water environment parameter acquisition |
| CN109754573A (en) * | 2019-01-21 | 2019-05-14 | 北京理工大学 | A kind of middle and small river flood forecasting pre-warning facility and its operation method |
| CN109754573B (en) * | 2019-01-21 | 2023-10-27 | 北京理工大学 | Small and medium river flood forecasting and early warning facility and operation method thereof |
| CN110243423A (en) * | 2019-07-29 | 2019-09-17 | 中国电建集团中南勘测设计研究院有限公司 | Discharge of river calculation method and system |
| CN112113625A (en) * | 2020-10-13 | 2020-12-22 | 河南安宏信息科技有限公司 | River flow velocity measuring system and method |
| CN114858225B (en) * | 2022-05-11 | 2024-01-30 | 长江水利委员会水文局长江下游水文水资源勘测局(长江水利委员会水文局长江下游水环境监测中心) | Method for measuring river water surface flow velocity by buoy based on GNSS equipment |
| CN117516487A (en) * | 2024-01-05 | 2024-02-06 | 长江水利委员会水文局长江中游水文水资源勘测局 | Medium-small river video flow test method |
| CN117516487B (en) * | 2024-01-05 | 2024-03-22 | 长江水利委员会水文局长江中游水文水资源勘测局 | Medium-small river video flow test method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106979803B (en) | 2020-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106979803A (en) | A kind of method of the measurement discharge of river based on unmanned plane of taking photo by plane | |
| CN110779498B (en) | Shallow river water depth mapping method and system based on unmanned aerial vehicle multi-viewpoint photography | |
| CN101532841B (en) | Method for navigating and positioning aerocraft based on landmark capturing and tracking | |
| CN106199562B (en) | Sea error calibration method based on airborne laser radar measurement sea-floor relief | |
| CN103852130B (en) | Water level acquisition method based on image recognition | |
| CN101750015B (en) | Gravel pit earth volume measuring method based on digital image technology | |
| CN104776833B (en) | Landslide surface image capturing method and device | |
| CN106092061A (en) | River water surface flow field calibrating method based on lens imaging model under oblique viewing angle | |
| CN109443476B (en) | Non-contact measuring device and method for water level fluctuation process | |
| CN109827554A (en) | A kind of river discharge testing method based on the surveyed river surface flow velocity combination hydraulic model of video | |
| CN109373908A (en) | A kind of earth surface of side slope system for monitoring displacement and method | |
| CN103487033A (en) | River surface photographic surveying method based on height-change homography | |
| CN104061865A (en) | System and method for measuring height of navigation ship | |
| CN108921165A (en) | Water level recognition methods based on water gauge image | |
| CN106017573B (en) | A kind of field ice thickness ice speed method for automatic measurement based on variable focus image method | |
| CN108871285A (en) | Unmanned plane oblique photograph measuring system in planing final construction datum | |
| CN109297426A (en) | A kind of large-scale precision industrial equipment deflection and servo angle detecting method | |
| CN104535078B (en) | A kind of measuring method of optoelectronic device based on index point to airbound target | |
| CN108917860A (en) | Discharge of river testing method based on laser point cloud of taking photo by plane | |
| CN109035343A (en) | A kind of floor relative displacement measurement method based on monitoring camera | |
| CN105424059B (en) | Wide baseline near infrared camera position and orientation estimation method | |
| CN108627219A (en) | A kind of ship lock detects ship overload device and method automatically | |
| Green | Legacy Data in 3D: The Cape Andreas Survey (1969–1970) and Santo António de Tanná Expeditions (1978–1979) | |
| CN114739369B (en) | Beach mapping method and equipment based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement | |
| CN110017833A (en) | Based on pixel class the full frame picture point geographical coordinate localization method of model |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xing Jiewei Inventor after: Wang Yueyu Inventor after: Shen Pengtao Inventor after: Xu Canzhang Inventor after: Li Juanfang Inventor after: Gao Xiaodong Inventor after: Qiu Lu Inventor after: Gu Miaomiao Inventor after: Shang Zhanqin Inventor after: Zhang Changjun Inventor after: Zheng Shiqiang Inventor after: Zhao Wei Inventor before: Xing Jiewei Inventor before: Wang Yueyu Inventor before: Shen Pengtao Inventor before: Xu Canzhang Inventor before: Li Juanfang Inventor before: Gao Xiaodong Inventor before: Qiu Lu Inventor before: Gu Miaomiao Inventor before: Shang Zhanqin Inventor before: Zhang Changjun Inventor before: Zheng Shiqiang Inventor before: Zhao Wei |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |