CN110927403A - Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera - Google Patents
Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera Download PDFInfo
- Publication number
- CN110927403A CN110927403A CN201911231509.6A CN201911231509A CN110927403A CN 110927403 A CN110927403 A CN 110927403A CN 201911231509 A CN201911231509 A CN 201911231509A CN 110927403 A CN110927403 A CN 110927403A
- Authority
- CN
- China
- Prior art keywords
- image
- water flow
- floating
- aerial vehicle
- unmanned aerial
- 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
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/26—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting optical wave
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
Abstract
The invention discloses an unmanned aerial vehicle water flow velocity measuring system and method based on an optical camera, wherein the measuring system comprises an unmanned aerial vehicle, an imaging device, a suspension wire, a floating disc, a central processor and an anemoscope, the imaging device, the central processor and the anemoscope are all arranged on the unmanned aerial vehicle, and the imaging device and the anemoscope are all connected with the central processor; one end of the suspension wire is fixed on the unmanned aerial vehicle, the other end of the suspension wire is fixedly connected with the floating disc, and the floating disc horizontally floats on the surface of the water flow to be measured. The advantages are that: the measuring device and the method can more accurately measure the flow velocity of the water flow, solve the problems of weak anti-interference performance, large volume, easy influence of wind and waves and the like of the traditional water flow measuring device, accurately and quickly measure the water velocity in a complex environment and reduce the measurement error.
Description
Technical Field
The invention relates to the field of water velocity measurement of oceans or rivers, in particular to a system and a method for measuring the water flow velocity of an unmanned aerial vehicle based on an optical camera.
Background
The existing water velocity measurement generally adopts equipment such as an ultrasonic current meter or a laser current meter to measure the water velocity, and although the measurement modes can solve the problem of measuring the water velocity conveniently to a certain extent, the measurement of the water velocity is not accurate enough due to the influence of objective factors such as wind speed and a measuring instrument in the actual operation process, so that the actually measured data can cause great interference to subsequent research.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle water flow velocity measuring system and method based on an optical camera, so that the problems in the prior art are solved.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an unmanned aerial vehicle water flow velocity measuring system based on an optical camera comprises an unmanned aerial vehicle, an imaging device, a suspension wire, a floating disc, a central processor and an anemoscope, wherein the imaging device, the central processor and the anemoscope are all arranged on the unmanned aerial vehicle, and the imaging device and the anemoscope are both connected with the central processor; one end of the suspension wire is fixed on the unmanned aerial vehicle, the other end of the suspension wire is fixedly connected with the floating disc, and the floating disc horizontally floats on the surface of the water flow to be measured.
Preferably, the nose of the unmanned aerial vehicle always faces the north direction.
Preferably, the imaging device is a frame-type camera, and the shooting direction of the frame-type camera faces the measured water flow vertically downwards; the frame frequency of the frame type camera in the shooting process is a preset frame frequency.
Preferably, the floating plate is circular.
The invention also aims to provide an unmanned aerial vehicle water flow velocity measuring method based on an optical camera, wherein the measuring method uses any one of the measuring systems to carry out measurement; the measuring method comprises the following steps of,
s1, the imaging device starts imaging within 1 to 2 seconds of the floating disc contacting with the detected water flow; the imaging device continuously shoots, when the floating disc is at least partially out of the shooting range of the imaging device, the imaging device stops shooting, and images continuously shot in the period are stored as image files and transmitted to the central processor;
s2, the central processor identifies the images of two adjacent frames in the image file, obtains the positions of the floating discs in the images of the two adjacent frames, and calculates the size of each pixel in the images of the two adjacent frames according to the number of pixels occupied by the diameters of the floating discs in the images of the two adjacent frames;
s3, processing two adjacent frames of images by using a frame difference method to obtain a binary image; dividing a connected domain for the binary image, acquiring floating discs of two adjacent frames of images mapped to the binary image at two different moments according to the connected domain, and acquiring circle center coordinates of the floating discs at the two different moments;
s4, calculating the moving speed and the moving direction of the floating disc according to the circle center coordinates of the two non-simultaneous carving floating discs, the size of each pixel in the two adjacent frames of images and a preset frame frequency;
and S5, calculating to obtain the flow velocity of the measured water flow according to the moving speed of the floating disc, the wind speed measured by the anemometer and the included angle between the water flow direction and the wind direction.
Preferably, the two adjacent images are the first image and the second image, respectively, and the size of each pixel in the two adjacent images is calculated in step S2, specifically,
wherein D is1The number of pixels occupied by the diameter of the floating plate in the first image; d2The number of pixels occupied by the diameter of the floating plate in the second image; p is the size of each pixel in two adjacent frames of images; r is the diameter of the floating disc.
Preferably, step S3 specifically includes,
A. traversing each pixel on the first image and the second image by using a frame difference formula to extract a difference part in the first image and the second image to obtain a binary image; the frame difference method has the formula that,
wherein D isk(x, y) is the value of each pixel in the binarized image, (x, y) is the coordinate of each pixel in the corresponding image, fk(x, y) is the value of each pixel in the first image, fk+1(x, y) is the value of each pixel in the second image, TbSetting a threshold value;
B. and dividing the obtained binary image into connected domains, wherein the largest two connected domains are the floating disks at two different moments, and the circle center coordinates of the floating disks at the two different moments can be obtained through the connected domains.
Preferably, in step S4, specifically,
wherein v is the moving speed of the floating disc; p is the size of each pixel in two adjacent frames of images; f is a predetermined frame frequency, (x)1,y1) Mapping the circle center of the floating disc in the first image to a coordinate on the binary image; (x)2,y2) And mapping the circle center of the floating disc in the second image to the coordinate on the binary image.
Preferably, in step S5, specifically,
Vwater (W)＝v-VWind powercosα
Wherein, VWater (W)The flow rate of the detected water flow; v is the moving speed of the floating disc; vWind powerThe wind speed measured by an anemometer, and α the included angle between the flow direction of the measured water flow and the wind direction.
The invention has the beneficial effects that: the invention can more accurately measure the flow velocity of water flow, solves the problems of weak anti-interference performance, large volume, easy influence of wind and waves and the like of the traditional water flow measuring device, can accurately and quickly measure the water velocity in a complex environment and reduces the measurement error.
Drawings
FIG. 1 is a schematic diagram of the operation of a measurement system in an embodiment of the invention;
fig. 2 is a schematic flow chart of a measurement method in an embodiment of the present invention.
In the figure: 1. an unmanned aerial vehicle; 2. an imaging device; 3. suspending wires; 4. a floating disc.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, in the present embodiment, an optical camera-based unmanned aerial vehicle water flow velocity measurement system is provided, where the measurement system includes an unmanned aerial vehicle 1, an imaging device 2, a suspension wire 3, a floating disc 4, a central processor, and an anemometer, where the imaging device 2, the central processor, and the anemometer are all disposed on the unmanned aerial vehicle 1, and the imaging device 2 and the anemometer are all connected to the central processor; one end of the suspension wire 3 is fixed on the unmanned aerial vehicle 1, the other end of the suspension wire 3 is fixedly connected with the floating disc 4, and the floating disc 4 horizontally floats on the surface of the water flow to be measured.
In this embodiment, unmanned aerial vehicle 1's aircraft nose is towards the true north direction all the time.
In this embodiment, the imaging device 2 is a frame-type camera, and the shooting direction of the frame-type camera faces the measured water flow vertically downward; the frame frequency of the frame type camera in the shooting process is a preset frame frequency.
In this embodiment, the floating plate 4 is circular. The diameter of the floating plate 4 can be set according to actual conditions. In this example, the diameter of the float plate was set to 20 cm.
In this embodiment, the direction of 1 aircraft nose of unmanned aerial vehicle is towards the true north all the time, and when operating condition, unmanned aerial vehicle 1 need be in the state of hovering to guarantee that the formation of image that imaging device 2 formed is in same region as far as possible.
In this embodiment, the color of the floating plate 4 can be freely set, so that the floating plate can be more conspicuous and more conspicuous in the image captured by the imaging device 2.
In this embodiment, the preset frame frequency may be specifically set according to actual operations, so as to better meet actual requirements.
Example two
As shown in fig. 2, the present embodiment provides a method for measuring a water flow rate of an unmanned aerial vehicle based on an optical camera, where the measuring method uses the measuring system to perform measurement; the measuring method comprises the following steps of,
s1, the imaging device 2 starts imaging within 1 to 2 seconds of the floating disc 4 contacting with the detected water flow; the imaging device 2 continuously shoots, when the floating disc 4 is at least partially out of the shooting range of the imaging device 2, the imaging device 2 stops shooting, and images continuously shot in the period are stored as image files and transmitted to the central processor;
s2, the central processor identifies the images of two adjacent frames in the image file, obtains the position of the floating disc 4 in the images of the two adjacent frames, and calculates the size of each pixel in the images of the two adjacent frames according to the number of pixels occupied by the diameter of the floating disc 4 in the images of the two adjacent frames;
s3, processing two adjacent frames of images by using a frame difference method to obtain a binary image; dividing a connected domain for the binary image, acquiring two floating discs 4 of which two adjacent frames of images are mapped to the binary image at two different moments according to the connected domain, and acquiring the circle center coordinates of the floating discs 4 at the two different moments;
s4, calculating the moving speed and the moving direction of the floating disc 4 according to the circle center coordinates of the two non-simultaneous cursors 4, the size of each pixel in the two adjacent frames of images and a preset frame frequency;
and S5, calculating to obtain the flow velocity of the detected water flow according to the moving speed of the floating disc 4, the wind speed measured by the anemometer and the included angle between the water flow direction and the wind direction.
In this embodiment, when the measured water flow is calm and calm in the surface of water, the floating disc 4 is placed on the surface of water, then the unmanned aerial vehicle 1 is used for hovering shooting, and the water flow velocity of the measured water flow is measured and calculated according to the moving distance of the floating disc 4 in each frame of image shot by the unmanned aerial vehicle 1 in a fixed time period.
In this embodiment, in an actual situation, the water flow surface wave of the measured water is too large, so that the actual water speed of the measured water flow is interfered by factors such as flapping the floater by the wind speed and the water wave, and under this situation, the wind speed affects the measurement result, so that the anemoscope is used to measure the wind speed, the wind speed influence is taken into consideration, the influence caused by the wind speed is removed, and the water flow velocity of the measured water flow is finally obtained.
In this embodiment, the two adjacent frames of images are the first image and the second image, respectively, and the size of each pixel in the two adjacent frames of images is calculated in step S2, specifically,
wherein D is1The number of pixels occupied by the diameter of the floating plate 4 in said first image; d2The number of pixels occupied by the diameter of the floating plate 4 in the second image; p is the size of each pixel in two adjacent frames of images, and R is the diameter of the floating disk. That is, in the present embodiment,
in this embodiment, step S3 specifically includes,
A. traversing each pixel on the first image and the second image by using a frame difference formula to extract a difference part in the first image and the second image to obtain a binary image; the frame difference method has the formula that,
wherein D isk(x, y) is the value of each pixel in the binarized image, (x, y) is the coordinate of each pixel in the corresponding image, fk(x, y) is the value of each pixel in the first image, fk+1(x, y) is the value of each pixel in the second image, TbSetting a threshold value;
B. and dividing the obtained binary image into connected domains, wherein the largest two connected domains are the floating disks at two different moments, and the circle center coordinates of the floating disks at the two different moments can be obtained through the connected domains.
In this embodiment, after two images are processed by the frame difference method, a binarized image is obtained. The same background will appear black where there is a change and white where there is a change. Including floating dishes and noise due to flow reflections of water. And by dividing the connected domain, small noise is eliminated, and the position of the floating disc is directly extracted. When the connected domain is divided, the information such as the size and the position of the connected domain is recorded, and the area and the mass center of the connected domain can be determined through the self-contained function attribute of the connected domain; the largest two connected domains are the floating disks at two different moments, and the circle center coordinates of the floating disks at the two different moments can be obtained through the connected domains.
In this embodiment, the frame difference formula represents an algorithm for traversing each pixel of the two original images (the first image and the second image), and the purpose of the formula is to extract a difference portion between the two images to obtain a binarized image. Dk(x, y) is the value of each pixel binarized by the image after phase difference, and (x, y) is the coordinate of each pixel in the corresponding image. f. ofk(x,y)、fk+1(x, y) denotes two original images, TbTo set the threshold. That is, the formula represents that the difference value after subtracting two original images is 1 when being larger than the threshold value and 0 when being smaller than the threshold value. The image after binarization only has two values of 0 and 1. After a binary image is obtained, connected domains are divided, and the largest two connected domains are floating disks at two different moments. The area and centroid position of the floating plate can be obtained through the connected domain.
In this embodiment, step S4 is specifically,
where v is the moving speed of the floating plate 4; p is the size of each pixel in two adjacent frames of images; f is a predetermined frame frequency, (x)1,y1) Coordinates mapped onto the binary image for the center of the floating plate 4 in the first image, i.e. at T1Coordinates of the circle center of the moment floating disc 4 on the binary image; (x)2,y2) Coordinates mapped onto the binary image for the centre of the floating disc 4 in the second image, i.e. at T2And (4) coordinates of the circle center of the instant floating disc 4 on the binary image.
In this embodiment, step S5 is specifically,
Vwater (W)＝v-VWind powercosα
Wherein, VWater (W)The flow rate of the detected water flow; v is the moving speed of the floating plate 4; vWind powerThe wind speed measured by an anemometer, and α the included angle between the flow direction of the measured water flow and the wind direction.
In this embodiment, the drone is oriented north. And (4) calculating the circle center of the floating disc in the two adjacent images and the position of the circle center according to the step S4 by using a frame difference method, and displaying the circle center of the floating disc in the two adjacent images on the same binary image. According to the coordinates of the two circle centers, the included angle between the connecting line of the two circle centers and the x axis can be solved, and further the azimuth angle (the horizontal included angle from the north-pointing direction line of a certain point to the target direction line along the clockwise direction) can be solved, the wind direction can be measured by an anemoscope, and the included angle between the water flow and the wind direction can be calculated by converting the wind direction into the azimuth angle in the same way,
wherein α is the angle between the detected water flow direction and the wind direction, αWind powerIs the included angle between the wind direction and the due north direction; (x)1,y1) Coordinates mapped onto the binary image for the center of the floating plate 4 in the first image, i.e. at T1Coordinates of the circle center of the moment floating disc 4 on the binary image; (x)2,y2) Coordinates mapped onto the binary image for the centre of the floating disc 4 in the second image, i.e. at T2And (4) coordinates of the circle center of the instant floating disc 4 on the binary image.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
the invention provides an unmanned aerial vehicle water flow velocity measuring system and method based on an optical camera, the device and method can more accurately measure the water flow velocity, solve the problems that the traditional water flow measuring device is weak in anti-interference performance, large in size, easy to be influenced by wind and waves and the like, can accurately and quickly measure the water velocity in a complex environment, and reduce the measuring error.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (9)
1. The utility model provides an unmanned aerial vehicle velocity of water flow measurement system based on optical camera which characterized in that: the measuring system comprises an unmanned aerial vehicle, an imaging device, a suspension line, a floating disc, a central processor and an anemoscope, wherein the imaging device, the central processor and the anemoscope are all arranged on the unmanned aerial vehicle, and the imaging device and the anemoscope are all connected with the central processor; one end of the suspension wire is fixed on the unmanned aerial vehicle, the other end of the suspension wire is fixedly connected with the floating disc, and the floating disc horizontally floats on the surface of the water flow to be measured.
2. The optical camera-based drone water flow velocity measurement system of claim 1, characterized by: the aircraft nose of unmanned aerial vehicle is towards the true north all the time.
3. The optical camera-based drone water flow velocity measurement system of claim 2, characterized by: the imaging device is a frame type camera, and the shooting direction of the frame type camera vertically faces downwards to the measured water flow; the frame frequency of the frame type camera in the shooting process is a preset frame frequency.
4. The optical camera-based drone water flow velocity measurement system of claim 3, characterized by: the floating disc is circular.
5. An optical camera-based unmanned aerial vehicle water flow velocity measurement method, wherein the measurement method is used for measurement by using the measurement system of any one of the claims 1 to 4; the method is characterized in that: the measuring method comprises the following steps of,
s1, the imaging device starts imaging within 1 to 2 seconds of the floating disc contacting with the detected water flow; the imaging device continuously shoots, when the floating disc is at least partially out of the shooting range of the imaging device, the imaging device stops shooting, and images continuously shot in the period are stored as image files and transmitted to the central processor;
s2, the central processor identifies the images of two adjacent frames in the image file, obtains the positions of the floating discs in the images of the two adjacent frames, and calculates the size of each pixel in the images of the two adjacent frames according to the number of pixels occupied by the diameters of the floating discs in the images of the two adjacent frames;
s3, processing two adjacent frames of images by using a frame difference method to obtain a binary image; dividing a connected domain for the binary image, acquiring floating discs of two adjacent frames of images mapped to the binary image at two different moments according to the connected domain, and acquiring circle center coordinates of the floating discs at the two different moments;
s4, calculating the moving speed and the moving direction of the floating disc according to the circle center coordinates of the two non-simultaneous carving floating discs, the size of each pixel in the two adjacent frames of images and a preset frame frequency;
and S5, calculating to obtain the flow velocity of the measured water flow according to the moving speed of the floating disc, the wind speed measured by the anemometer and the included angle between the water flow direction and the wind direction.
6. The optical camera-based unmanned aerial vehicle water flow velocity measurement method of claim 5, wherein: the two adjacent frames of images are the first image and the second image, respectively, and the size of each pixel in the two adjacent frames of images is calculated in step S2, specifically,
wherein D is1The number of pixels occupied by the diameter of the floating plate in the first image; d2The number of pixels occupied by the diameter of the floating plate in the second image; p is the size of each pixel in two adjacent frames of images; r is the diameter of the floating disc.
7. The optical camera-based unmanned aerial vehicle water flow velocity measurement method of claim 6, wherein: the step S3 specifically includes the steps of,
A. traversing each pixel on the first image and the second image by using a frame difference formula to extract a difference part in the first image and the second image to obtain a binary image; the frame difference method has the formula that,
wherein D isk(x, y) is the value of each pixel in the binarized image, (x, y) is the coordinate of each pixel in the corresponding image, fk(x, y) is the value of each pixel in the first image, fk+1(x, y) is the value of each pixel in the second image, TbSetting a threshold value;
B. and dividing the obtained binary image into connected domains, wherein the largest two connected domains are the floating disks at two different moments, and the circle center coordinates of the floating disks at the two different moments can be obtained through the connected domains.
8. The optical camera-based unmanned aerial vehicle water flow velocity measurement method of claim 7, wherein: in step S4, specifically, the step,
wherein v is the moving speed of the floating disc; p is the size of each pixel in two adjacent frames of images; f is a predetermined frame frequency, (x)1,y1) Mapping the circle center of the floating disc in the first image to a coordinate on the binary image; (x)2,y2) And mapping the circle center of the floating disc in the second image to the coordinate on the binary image.
9. The optical camera-based unmanned aerial vehicle water flow velocity measurement method of claim 8, wherein: in step S5, specifically, the step,
Vwater (W)＝v-VWind powercosα
Wherein, VWater (W)The flow rate of the detected water flow; v is the moving speed of the floating disc; vWind powerThe wind speed measured by an anemometer, and α the included angle between the flow direction of the measured water flow and the wind direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911231509.6A CN110927403B (en) | 2019-12-05 | 2019-12-05 | Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911231509.6A CN110927403B (en) | 2019-12-05 | 2019-12-05 | Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110927403A true CN110927403A (en) | 2020-03-27 |
| CN110927403B CN110927403B (en) | 2021-02-09 |
Family
ID=69856809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911231509.6A Expired - Fee Related CN110927403B (en) | 2019-12-05 | 2019-12-05 | Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110927403B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114396921A (en) * | 2021-11-15 | 2022-04-26 | 中国计量大学 | Qiantanjiang river tidal bore height and propagation speed measuring method based on unmanned aerial vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205916338U (en) * | 2016-08-25 | 2017-02-01 | 河北国呈电子科技有限公司 | Aircraft with nacelle |
| CN107085852A (en) * | 2017-04-01 | 2017-08-22 | 南昌大学 | A kind of river course surface flow field method of testing based on unmanned plane |
| CN206504730U (en) * | 2016-12-23 | 2017-09-19 | 杨卓 | A kind of identification flow measuring system based on flight carrier |
| CN107462397A (en) * | 2017-08-14 | 2017-12-12 | 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 lake region super large boundary surface flow field measurement method |
| CN107727081A (en) * | 2017-09-28 | 2018-02-23 | 成都万江港利科技股份有限公司 | A kind of intelligence based on He Hu storehouses ditch patrols river system system |
| CN107728644A (en) * | 2017-11-15 | 2018-02-23 | 王清平 | Dike unmanned plane is patrolled in a kind of flood control |
| US20190068952A1 (en) * | 2017-08-28 | 2019-02-28 | Topcon Corporation | Photogrammetric system and photogrammetric method |
| CN110514182A (en) * | 2019-08-21 | 2019-11-29 | 喻昕蕾 | A kind of long-range survey system and method at hydrology scene |
-
2019
- 2019-12-05 CN CN201911231509.6A patent/CN110927403B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205916338U (en) * | 2016-08-25 | 2017-02-01 | 河北国呈电子科技有限公司 | Aircraft with nacelle |
| CN206504730U (en) * | 2016-12-23 | 2017-09-19 | 杨卓 | A kind of identification flow measuring system based on flight carrier |
| CN107085852A (en) * | 2017-04-01 | 2017-08-22 | 南昌大学 | A kind of river course surface flow field method of testing based on unmanned plane |
| CN107462397A (en) * | 2017-08-14 | 2017-12-12 | 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 lake region super large boundary surface flow field measurement method |
| US20190068952A1 (en) * | 2017-08-28 | 2019-02-28 | Topcon Corporation | Photogrammetric system and photogrammetric method |
| CN107727081A (en) * | 2017-09-28 | 2018-02-23 | 成都万江港利科技股份有限公司 | A kind of intelligence based on He Hu storehouses ditch patrols river system system |
| CN107728644A (en) * | 2017-11-15 | 2018-02-23 | 王清平 | Dike unmanned plane is patrolled in a kind of flood control |
| CN110514182A (en) * | 2019-08-21 | 2019-11-29 | 喻昕蕾 | A kind of long-range survey system and method at hydrology scene |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114396921A (en) * | 2021-11-15 | 2022-04-26 | 中国计量大学 | Qiantanjiang river tidal bore height and propagation speed measuring method based on unmanned aerial vehicle |
| CN114396921B (en) * | 2021-11-15 | 2023-12-08 | 中国计量大学 | Method for measuring tidal height and propagation speed of Yangtze river on basis of unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110927403B (en) | 2021-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109283538B (en) | Marine target size detection method based on vision and laser sensor data fusion | |
| CN110473260B (en) | Wave video measuring device and method | |
| CN110275169B (en) | Near-field detection sensing system of underwater robot | |
| CN112882059B (en) | Unmanned ship inland river obstacle sensing method based on laser radar | |
| CN106275410B (en) | A kind of wind disturbance resistant unmanned plane | |
| CN109102702A (en) | Vehicle speed measuring method based on video encoder server and Radar Signal Fusion | |
| CN104199036B (en) | distance measuring device and robot system | |
| CN103679694B (en) | A kind of ship small targets detection method based on panoramic vision | |
| CN103292792B (en) | Actual measurement SVP reconstruction method suitable for submarine detection and pseudo-landform processing | |
| WO2021051848A1 (en) | Radar effective detection area extraction method based on remote sensing image | |
| CN109178234B (en) | Ship freeboard height measuring system and measuring method thereof | |
| CN202083394U (en) | Intelligent navigation system for ship during navigating | |
| CN109490906B (en) | Shipborne wave dynamic measuring device based on laser radar | |
| CN110927403B (en) | Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera | |
| CN101982741A (en) | Underwater light field sampling and simulating method | |
| CN112083190A (en) | Ultrasonic wind speed and wind direction measuring device and measuring error compensation method thereof | |
| US20070089502A1 (en) | Detection of wake vortices and the like in the lower atmosphere | |
| CN106403901A (en) | Measuring apparatus and method for attitude of buoy | |
| CN110596728A (en) | Water surface small target detection method based on laser radar | |
| CN109190640A (en) | A kind of the intercept type acquisition method and acquisition system of the planktonic organism based on big data | |
| CN113483730A (en) | Marine wave actual measurement device and method based on binocular stereo vision | |
| CN207215126U (en) | A kind of laser spot locating instrument based on machine vision | |
| CN102998001B (en) | A kind of object detection system | |
| CN207894954U (en) | A kind of water surface flow rate detection system under high water condition | |
| CN115830140B (en) | Offshore short-range photoelectric monitoring method, system, medium, equipment and terminal |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210209 Termination date: 20211205 |