CN107085852A - A kind of river course surface flow field method of testing based on unmanned plane - Google Patents
A kind of river course surface flow field method of testing based on unmanned plane Download PDFInfo
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- CN107085852A CN107085852A CN201710213293.5A CN201710213293A CN107085852A CN 107085852 A CN107085852 A CN 107085852A CN 201710213293 A CN201710213293 A CN 201710213293A CN 107085852 A CN107085852 A CN 107085852A
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- river course
- flow field
- unmanned plane
- course surface
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
Abstract
A kind of river course surface flow field method of testing based on unmanned plane, obtains the current tracer motion of natural river course surface using the video camera of UAV flight and just penetrates video image；Image sampling resolution ratio is calculated based on unmanned plane photography object distance and UAV flight's video camera camera parameter, flow field demarcation is carried out；River course surface initial flow-field is calculated using spatiotemporal object optical flow method, using the analysis of random sampling subpixel matching method statistic due to background amount of movement and moving direction caused by unmanned plane hovering unstability；By compensating and correcting the acquisition true flow field in river course surface to unmanned plane background motion.The present invention is applied to natural river course broad surface flow field field in-situ test, using economical, easy to operate, a wide range of flow field orthograph picture in river course surface can be obtained, without carrying out transmission image distortion correction；Flow field demarcation is carried out without setting and measuring ground control point or witness marker, it is especially in particular cases very useful without ship etc. without bridge in the wild to the strong adaptability of complex site.
Description
Technical field
The present invention relates to a kind of river course surface flow field method of testing, it is adaptable to the field in natural river course broad surface flow field
In-situ test.
Background technology
The measurement of natural river course surface velocity is predicted pre- for River Hydrology information gathering, water resources management and Flood
Report is significant.
Traditional natural river course surface velocity measurement mainly has three class methods.
First kind method is to utilize to set up cableway suspension current meter testing in river cross-section, and this flow measurement mode needs to levy
The auxiliary facilities such as ground, construction station, mounting bracket, erection cableway, are operated, work while needing special messenger and garrisoning survey station for a long time
Make intensity big, it is relatively inefficient.Especially occur after super standard flood, it is possible to occur not detecting, indeterminable problem.
Equations of The Second Kind method is that the camera or video camera that are set up using ground carry out the contactless river course surface of IMAQ
Flow-field test method, because camera or camera pedestal are located at ground, the river course surface range of test is limited, and can not obtain just
Projection picture reduces measuring accuracy, it is necessary to carry out the distortion correction of transmitted image；Other this method is needed in river course two sides arrangement
River flow demarcation is carried out at the control point of same elevation or witness marker, the complexity and difficulty of test of test is added.
3rd class method is the unmanned plane flow measuring system of latest developments, mainly passes through the radar meter of UAV flight
Flow velocity measurement is carried out, but the system can only obtain the flow velocity of river course surface single-point or wall scroll survey line, it is impossible to realize that river course surface is big
The test in scope flow field.
The content of the invention
It is an object of the invention to provide a kind of river course surface flow field method of testing based on unmanned plane, it can obtain
The instantaneous whole audience surface velocity such as natural river course, hydraulic engineering and fluidised form, overcome that operated in accordance with conventional methods is complicated, working strength is big,
Efficiency is low, low precision, particularly do not detected in flood period, indeterminable drawback, be River Hydrology information gathering, water resources management
Technical guarantee is provided with Flood prediction.
The principle of the present invention is：Fast speed non-contact measurement is carried out to natural river course surface flow field using unmanned plane,
Obtain the motion of river course surface current tracer just penetrates video image sampled data.Ground fixed area in video image
Domain, is calculated because air speed influence causes unmanned plane hovering unstability reasons for its use to move using random sampling subpixel matching method
Amount.River course surface initial flow-field is calculated using spatiotemporal object optical flow method, by unmanned plane background motion distance and motion side
The true flow field for obtaining river course surface to compensating and correcting.
A kind of river course surface flow field method of testing based on unmanned plane of the present invention, it is characterized in that including following
Step.
（1）Just penetrating for river course surface current tracer motion is obtained using the unmanned plane that video camera is carried with hovering function
Video image.
（2）Differentiated according to the video sampling that the camera parameters of photography object distance and UAV flight calculate river course surface flow field
Rate, the displacement of video image pixel is converted to actual space displacement amount, carries out flow field demarcation.
（3）The initial flow-field of river course surface water movement is calculated using spatiotemporal object optical flow method.
（4）Ground FX in selecting video, using the analysis of random sampling subpixel matching method statistic due to nobody
Background mobile vector caused by machine hovering unstability.
（5）On the basis of initial flow-field, by being compensated and corrected to unmanned plane background mobile vector, river course is obtained
The true flow field on surface.
The present invention is using camera lens vertical river course surface during IMAQ.
The present invention carries out that fixed object near river course to be captured should be included during IMAQ in image.
It is of the invention that river course surface stream is directly calculated using the camera parameter of photography object distance and UAV flight as follows
The sampling resolution of field, flow field demarcation is carried out according to the resolution ratio：
。
Ground FX in artificial selected video of the invention, before and after being obtained using random sampling subpixel matching method
Unmanned plane offset distance and offset direction between two field pictures.
It is an advantage of the invention that.
1) using rotor wing unmanned aerial vehicle by non-contact measurement river course surface flow field, not only adaptability is good but also is easy to take
It is band, easy to operate, effectively overcome that traditional measurement method complex operation, working strength are big, efficiency is low, is particularly surveyed in flood period
Less than, indeterminable problem, while avoiding the subjectivity in manual measurement, survey is greatly improved while efficiency is improved
Accuracy of measurement.
2) present invention can realize that the vertical river course water surface of video camera is shot during whole operation, without carrying out video shadow
The transmitted distortion correction of picture.
3) present invention calculates the sampling point of river course surface flow field according to the camera parameters of photography object distance and UAV flight
Resolution, the displacement of video epigraph pixel is converted to actual space displacement amount, without river course two sides arrange control point or
Witness marker carries out flow field demarcation.
4) present invention can obtain measurement river course surface flow field distribution, and the survey of river course surface single-point flow velocity is directed to respect to other
Amount method, effectively realizes the test in a wide range of flow field in river course surface, with the wider scope of application.
5) present invention calculates river course surface flow field using spatiotemporal object optical flow method, passes through different frequency in a short time
Multi-frame video image analysing computer result is overlapped, and is realized same field and is tested the speed encryption and big change than fluidised form expression.Relatively conventional grain
Subgraph is tested（PIV）Method, it is possible to achieve river course different parts have accurately measuring for high speed fluidised form and low speed fluidised form simultaneously.
Brief description of the drawings
Fig. 1 is flow chart of the invention.
Fig. 2 is the river course survey area schematic diagram of the embodiment of the present invention 1.
Fig. 3 is the river course diagrammatic cross-section of the embodiment of the present invention 1.
Fig. 4 offsets schematic diagram for the unmanned plane hovering drift reasons for its use of the embodiment of the present invention 1.
Fig. 5 is the river course surface velocity polar plot of the embodiment of the present invention 1.
In accompanying drawing：1 is the river course water surface；2 be water (flow) direction；3 be unmanned plane；4 be photography object distance；5 be terrain clearance；6 are
Portable computer；7 be fixed point region；8 be the background offset amount and deflection angle of unmanned plane.
Embodiment
With reference to embodiment, the invention will be further described.
As shown in Figure 2-5, a kind of river course surface flow field method of testing based on unmanned plane, comprises the following steps.
（1）As shown in Figures 2 and 3, the width 50m of the river course water surface 1 to be measured, the test scope of water (flow) direction 2 is 80m.Using big
Smart 3 four rotor wing unmanned aerial vehicles 3 of boundary four are shot, it can be seen from the camera parameters that spirit 3 is carried, when photography object distance 4 is 50m
When, its single photo can cover about 100 meters long, and 70 meters of wide scopes meet measurement request.
（2）According to photography object distance and camera parameters, calculate and obtain the streamflow tracer fortune that unmanned plane shoots video
Dynamic sampling resolution is 2.5cm, and the resolution ratio can meet the identification of the natural marked object of natural river course surface flotation, these
Marker is generally the floating objects such as the leaf, foam, rubbish on natural river course surface.
（3）Selected river course left bank obtains river course left bank unmanned plane as unmanned plane landing position, using laser range finder and risen
The discrepancy in elevation for flying the positional distance water surface is 10m.As shown in figure 3, now the terrain clearance 5 of unmanned plane is 40m.
（4）Start unmanned plane during flying to be shot to terrain clearance, style of shooting is using unmanned plane hovering pattern, video camera
The vertical river course surface of camera lens carries out IMAQ.
（5）Reach and start the automatic landing unmanned plane that makes a return voyage after regulation shooting time, by the video image storage of shooting to just
Take formula computer 6.
（6）The pixel displacement of river course surface water movement is calculated based on spatiotemporal object optical flow method, is obtained with reference to step 2
Sampling resolution, and then the displacement of video epigraph pixel can be converted to actual space displacement amount, obtain river course surface
Initial flow-field.
（7）As shown in figure 4, selected river course left bank fixed position region 7, as the fixed point in video, using with
Machine sampling subpixel matching method statistic analysis is due to unmanned plane hovering drift reasons for its use offset caused by air speed influence
With deviation angle 8.
As shown in figure 5, in step（6）On the basis of the river course surface initial flow-field of acquisition, by being transported to unmanned plane background
Dynamic distance and the direction of motion compensate and correct the true flow velocity degree and fluidised form for obtaining tested river course surface.
Claims (5)
1. a kind of river course surface flow field method of testing based on unmanned plane, it is characterized in that comprising the following steps：
（1）Video is just penetrated using the unmanned plane acquisition river course surface current tracer motion that video camera is carried with hovering function
Image；
（2）The video sampling resolution ratio of river course surface flow field is calculated according to the camera parameters of photography object distance and UAV flight,
The displacement of video image pixel is converted to actual space displacement amount, flow field demarcation is carried out；
（3）The initial flow-field of river course surface water movement is calculated using spatiotemporal object optical flow method；
（4）Ground FX in selecting video, using the analysis of random sampling subpixel matching method statistic because unmanned plane is outstanding
Stop background mobile vector caused by unstability；
（5）On the basis of initial flow-field, by being compensated and corrected to unmanned plane background mobile vector, river course surface is obtained
True flow field.
2. a kind of river course surface flow field method of testing based on unmanned plane according to claim 1, it is characterized in that adopting
With the vertical river course surface of camera lens during IMAQ.
3. a kind of river course surface flow field method of testing based on unmanned plane according to claim 1, it is characterized in that entering
Image includes fixed object near river course to be captured during row IMAQ.
4. a kind of river course surface flow field method of testing based on unmanned plane according to claim 1, it is characterized in that directly
Connect the sampling resolution for calculating river course surface flow field as follows using the camera parameter of photography object distance and UAV flight, root
Flow field demarcation is carried out according to the resolution ratio：
。
5. a kind of river course surface flow field method of testing based on unmanned plane according to claim 1, it is characterized in that people
Work selectes the ground FX in video, and nobody is obtained between front and rear two field pictures using random sampling subpixel matching method
Machine offset distance and offset direction.
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| CN108762298A (en) * | 2018-05-30 | 2018-11-06 | 佛山市神风航空科技有限公司 | A kind of aquatic unmanned aerial vehicle landing self-control system |
| CN109443476A (en) * | 2018-10-17 | 2019-03-08 | 水利部交通运输部国家能源局南京水利科学研究院 | A kind of the fluctuating procession of the water level non-contact measurement device and method |
| CN109584314A (en) * | 2018-12-27 | 2019-04-05 | 重庆交通大学 | A kind of measurement water surface flow field method, apparatus and electronic equipment |
| CN109631898A (en) * | 2018-12-12 | 2019-04-16 | 重庆交通大学 | The method and device navigated to ship |
| CN109859269A (en) * | 2019-02-02 | 2019-06-07 | 重庆交通大学 | The a wide range of flow field measurement method of bank base video auxiliary positioning unmanned plane and device |
| CN110927403A (en) * | 2019-12-05 | 2020-03-27 | 孙永华 | Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera |
| CN111241899A (en) * | 2019-03-26 | 2020-06-05 | 桑尼环保（江苏）有限公司 | Intelligent river channel control method |
| CN111398625A (en) * | 2020-03-19 | 2020-07-10 | 西安理工大学 | Speed measuring method in physical model test |
| CN112067839A (en) * | 2020-09-18 | 2020-12-11 | 重庆交通大学 | Method for quickly measuring surface flow field of ultra-wide river of unmanned aerial vehicle under condition of no control point |
| CN112146630A (en) * | 2020-09-15 | 2020-12-29 | 大连理工大学 | Near-shore hydrological element measurement method based on directional photography |
| CN112861856A (en) * | 2021-02-05 | 2021-05-28 | 慧目(重庆)科技有限公司 | Drainage monitoring method based on computer vision and water body monitoring method |
| CN113048953A (en) * | 2021-03-24 | 2021-06-29 | 天地伟业技术有限公司 | Unmanned plane and method for monitoring water level, flow velocity and flow |
| CN115014701A (en) * | 2022-05-10 | 2022-09-06 | 浙江省水利河口研究院(浙江省海洋规划设计研究院) | Water and underwater topography integrated measuring device and method for indoor erosion and deposition test |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108762298A (en) * | 2018-05-30 | 2018-11-06 | 佛山市神风航空科技有限公司 | A kind of aquatic unmanned aerial vehicle landing self-control system |
| CN109443476A (en) * | 2018-10-17 | 2019-03-08 | 水利部交通运输部国家能源局南京水利科学研究院 | A kind of the fluctuating procession of the water level non-contact measurement device and method |
| CN109443476B (en) * | 2018-10-17 | 2021-07-09 | 水利部交通运输部国家能源局南京水利科学研究院 | Non-contact measuring device and method for water level fluctuation process |
| CN109631898A (en) * | 2018-12-12 | 2019-04-16 | 重庆交通大学 | The method and device navigated to ship |
| CN109584314A (en) * | 2018-12-27 | 2019-04-05 | 重庆交通大学 | A kind of measurement water surface flow field method, apparatus and electronic equipment |
| CN109859269B (en) * | 2019-02-02 | 2020-11-24 | 重庆交通大学 | Shore-based video auxiliary positioning unmanned aerial vehicle large-range flow field measuring method and device |
| CN109859269A (en) * | 2019-02-02 | 2019-06-07 | 重庆交通大学 | The a wide range of flow field measurement method of bank base video auxiliary positioning unmanned plane and device |
| CN111241899A (en) * | 2019-03-26 | 2020-06-05 | 桑尼环保（江苏）有限公司 | Intelligent river channel control method |
| CN110927403A (en) * | 2019-12-05 | 2020-03-27 | 孙永华 | Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera |
| CN110927403B (en) * | 2019-12-05 | 2021-02-09 | 孙永华 | Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera |
| CN111398625A (en) * | 2020-03-19 | 2020-07-10 | 西安理工大学 | Speed measuring method in physical model test |
| CN111398625B (en) * | 2020-03-19 | 2022-04-12 | 西安理工大学 | Speed measuring method in physical model test |
| CN112146630A (en) * | 2020-09-15 | 2020-12-29 | 大连理工大学 | Near-shore hydrological element measurement method based on directional photography |
| CN112067839A (en) * | 2020-09-18 | 2020-12-11 | 重庆交通大学 | Method for quickly measuring surface flow field of ultra-wide river of unmanned aerial vehicle under condition of no control point |
| CN112861856A (en) * | 2021-02-05 | 2021-05-28 | 慧目(重庆)科技有限公司 | Drainage monitoring method based on computer vision and water body monitoring method |
| CN112861856B (en) * | 2021-02-05 | 2022-05-27 | 慧目(重庆)科技有限公司 | Drainage monitoring method based on computer vision and water body monitoring method |
| CN113048953A (en) * | 2021-03-24 | 2021-06-29 | 天地伟业技术有限公司 | Unmanned plane and method for monitoring water level, flow velocity and flow |
| CN115014701A (en) * | 2022-05-10 | 2022-09-06 | 浙江省水利河口研究院(浙江省海洋规划设计研究院) | Water and underwater topography integrated measuring device and method for indoor erosion and deposition test |
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