CN111798529A - Pipe network free outflow flow online monitoring method based on image recognition - Google Patents
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Abstract
The invention relates to an image recognition-based online monitoring method for free outflow flow of a pipe network, which comprises the steps of collecting images of the free outflow position of water of a tested drain pipe network on line and transmitting the images to an image processing system; storing the water flow image data and the water flow-free image data, performing gray processing, subtracting to obtain a water flow gray image, binarizing the water flow gray image, processing the binarized image to obtain a water flow boundary contour binary image of a closed water flow boundary contour, and extracting a plurality of water flow boundary line sample point pixel coordinates on the water flow boundary contour binary image to perform function fitting to obtain a down flow function of the under-water flow contour; obtaining pixel coordinates A1, A2 and A3 according to the water flow boundary contour binary image and the down-flow function; and converting the position coordinates into water outlet water flow position coordinates at the outflow position, and calculating to obtain the outflow flow of the drainage pipe network. The invention has the advantages of no interference of water level change on-line flow monitoring, reliable performance, accurate monitoring and low cost.
Description
Technical Field
The invention relates to an image recognition-based method for online monitoring of free outflow flow of a pipe network, and belongs to the technical field of online monitoring of drainage pipe networks.
Background
The long-term, low-cost and accurate monitoring of the flow of a drainage pipe network, including the overflow flow of a combined or split pipe network, is an important task. Because accurate flow data can support pipe network design and an optimization scheme, the drainage pipe network model data can be corrected, and quantitative data support can be provided for sponge city construction.
However, the current on-line flow monitoring of pipe network flow usually relies on monitoring sensors installed in the pipe network, such as water level sensors, temperature sensors, flow meters, etc., and each sensor and flow meter must be installed in the drainage pipe and be guaranteed to be submerged by the water flow in the drainage pipe. On one hand, each monitoring sensor is influenced by water quantity change, and the monitored data is unreliable; on the other hand, the monitoring sensor probe is soaked in sewage for a long time, so that the corrosion damage of each monitoring sensor is easily caused, the monitoring reliability is poor, and long-term and accurate monitoring cannot be carried out. Furthermore, such an on-line monitoring of an omni-directional flow characteristic, including occurrence, duration and rate, requires significant costs for installation, maintenance, data transmission, etc. of the meter.
Disclosure of Invention
The invention aims to provide an image recognition-based method for monitoring the free outflow flow of a pipe network on line, which can monitor free outflow nodes formed by most gravity flows in a drainage pipe network on line, is not interfered by water level change, and is reliable, accurate and economical in performance.
The technical scheme for achieving the aim of the invention is as follows: a pipe network free outflow flow online monitoring method based on image recognition is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps of image acquisition: acquiring an image of a free outflow position of water of a tested drainage pipe network on line by using an image acquisition system, and transmitting acquired water flow image data and acquired no-water flow image data to an image processing system, wherein a water outlet of the drainage pipe network is circular or rectangular;
secondly, water flow shape image processing: the image processing system stores and carries out gray processing on the received water flow image data and the received no-water-flow image data, subtracts the obtained water flow gray image and no-water-flow gray image to obtain a water flow gray image, binarizes the water flow gray image, processes the binarized image to obtain a water flow boundary contour binary image of a closed water flow boundary contour, and extracts a plurality of water flow boundary line sample point pixel coordinates and water flow peak A3 pixel coordinates on the water flow boundary contour binary image;
obtaining a downflow function of the profile under water flow: performing function fitting on the extracted pixel coordinates of the plurality of water flow boundary line sample points to obtain a downflow function of the profile under the water flow;
fourthly, determining water flow point pixel coordinates: obtaining pixel coordinates A1 of an outflow point under the water flow, pixel coordinates A2 of a water flow monitoring point and pixel coordinates A3 of an outflow point on the water flow according to the binary image of the water flow boundary profile and the downflow function;
fifthly, calculating to obtain outflow flow Q of drain pipe networki：
Converting pixel coordinates A1 of the water outflow point under the water flow, pixel coordinates A2 of the water flow monitoring point and pixel coordinates A3 of the water outflow point on the water flow into position coordinates of three points of the water flow at the water outlet, and calculating according to an outflow hydraulic formula to obtain outflow Qi，
When the water outlet of the drainage pipe network is circular, the mathematical expression of the effluent flow hydraulic formula is as follows:
when the water outlet of the water drainage pipe network is rectangular, the mathematical expression of the effluent flow hydraulic formula is as follows:
wherein: qiThe outflow flow at the ith moment;
r is the radius of a round water outlet of the water outlet pipe network;
b is the pipe width of a water flow outlet of the drainage pipe network;
Dithe distance from the liquid level of the water outlet to the bottom of the tube at the ith moment,
Hithe height distance from the water flow monitoring point A2 at the ith moment to the water flow lower outflow point A1;
Withe horizontal distance from the water flow monitoring point A2 at the ith time to the water flow down outflow point A1;
g is the acceleration of gravity;
said Di，HiAnd WiThe calculation formula is as follows:
wherein: (x)1,y1) Is the coordinate of the A1 point position, (x)2,y2) Is the coordinate of the A2 point position, (x)3,y3) Is the coordinate of the position of the A3 point.
Sixthly, data transmission: and transmitting the obtained outflow flow data of the drainage pipe network to a user terminal.
The invention acquires the image of the free outflow position of the water of the drain pipe network to be detected through the image acquisition system, stores the water flow image data and the water-free flow image data and carries out gray level processing, subtracts the acquired water flow gray level image and the acquired water-free flow gray level image to acquire the water flow gray level image, can acquire the pixel coordinate A1 of the outflow point under the water flow, the pixel coordinate A2 of the water flow monitoring point and the pixel coordinate A3 of the outflow point on the water flow through the water flow image identification, namely acquire the three-point position coordinate of the water outlet, and calculate and acquire the free outflow value according to the hydraulics formula. The invention can carry out on-line monitoring on free outflow nodes formed by most gravity flows in a drainage pipe network, and the flow monitoring is not interfered by water level change, thus being reliable, accurate and economical. The invention can perform online real-time monitoring, has the advantages of simple structure of the whole system, quick response, no interference of water level change, stability, convenience for online data transmission and analysis, low cost and the like compared with the traditional monitoring sensor, and has very high practical value and wide application prospect.
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Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
FIG. 1 is a schematic cross-sectional view of the water flow at the free outflow of the water from the drain net of the present invention.
Detailed Description
The invention relates to an image recognition-based online monitoring method for free outflow of a pipe network, which comprises the following steps of:
the method comprises the following steps of image acquisition: and the image acquisition system is used for acquiring an image of a free outflow position of the water flowing out of the drainage pipe network to be detected on line and transmitting acquired water flow image data and acquired water-free flow image data to the image processing system. The free outflow part of the water of the drainage pipe network is an inspection well, a confluence overflow discharge port or a shunt overflow discharge port, the image acquisition system adopts the existing camera, the camera is arranged near the discharge port, and is used for acquiring a free outflow image formed by gravity flow when the water of the drainage pipe network flows out, the reliability of online monitoring can be improved because the image acquisition system is not submerged by water, the acquired image information can be transmitted into the image processing system through a wireless system or a wired system for subsequent water flow image processing, and the water flow outlet of the drainage pipe network is circular or rectangular.
Secondly, water flow shape image processing: the image processing system stores and carries out gray level processing on the received water flow image data and the received water flow-free image data, and the image processing system can adopt the existing image processing system to subtract the obtained water flow gray level image and the obtained water flow-free gray level image to obtain the water flow gray level image. When the configuration is low, the gray scale processing can be calculated according to the following formula:
for a higher-configured computing system, the process can be calculated according to the following formula:
r, G, B are the red, green and blue pixel values of the pixel, respectively, and Gray Gray scale values are selected from 0-255.
The water flow-free image data can be more than one frame, can be collected and classified according to time and sunny and rainy days, can be collected in advance, and can be transmitted to an image processing system for storage, and is subtracted after being processed with the online collected water flow image, so that an online water flow gray level image is obtained, and the water flow gray level image is binarized.
When the method is used for carrying out binarization processing on the water flow gray level image, algorithms such as a bimodal peak method, a P parameter method, a maximum bithreshold method, a maximum inter-class variance method, an iteration method, a manual parameter adjusting method and the like can be adopted for processing, then the binarization image is processed to obtain a water flow boundary contour binary image of a closed water flow boundary contour, and a plurality of water flow boundary line sample point pixel coordinates and a water flow peak A3 pixel coordinate are extracted from the water flow boundary contour binary image.
The invention aims to solve irregular reflection of water flow, so that the obtained binarized image is likely to have a hollow phenomenon, the binarized image can be processed and then expanded and eroded to obtain a closed water flow boundary contour binary image, the expansion and erosion processing can adopt expansion and erosion closed operation, the closed operation is expansion and erosion, and the closed operation is to remove the hollow of the binarized image. And extracting a maximum area region in the closed water flow boundary contour binary image by using a connected domain algorithm as a final water flow boundary contour binary image, wherein the connected domain algorithm can adopt a Two-Pass method, a Seed-Filling Seed Filling method, a DFS (distributed feed system) method, a BFS (bidirectional Forwarding service) method and the like, for example, the connected domain algorithm selects four-way connection for the Two-Pass method, and then, a plurality of water flow boundary line sample point pixel coordinates and a water flow peak A3 pixel coordinate are extracted.
Obtaining a downflow function of the profile under water flow: and fitting the extracted pixel coordinates of the plurality of water flow boundary line sample points by using a quadratic function to obtain a downflow function of the smooth water flow lower contour, so that the water flow lower contour is smooth and the numerical precision of the contour line is better.
Fourthly, determining water flow point pixel coordinates: determining pixel coordinate A1 (x) of outflow point under water flow according to binary image of water flow boundary contour and downflow function1,y1) Water flow monitor point pixel coordinate a2 (x)2,y2) And the outflow point pixel coordinate A3 (x) on the water flow3,y3)。
Fifthly, calculating to obtain outflow flow Q of drain pipe networki：
Converting the pixel coordinate a1 of the water outflow point, the pixel coordinate a2 of the water flow monitoring point and the pixel coordinate A3 of the water outflow point into three-point position coordinates of the water flow at the outflow point, as shown in fig. 1, and obtaining the three-point water flow position coordinates (x) corresponding to the water outlet1,y1)(x2,y2) And (x)3,y3) And calculating to obtain an outflow Q according to an outflow hydraulic formulaiThe invention relates to an outflow flow hydraulic formula established based on the fluid continuity equation principle.
When the water outlet of the drainage pipe network is circular, the mathematical expression of the effluent flow hydraulic formula is as follows:
and when the water outlet of the water drainage pipe network is rectangular, the mathematical expression of the effluent flow hydraulic formula is as follows:
wherein: qiThe outflow flow at the ith moment;
r is the radius of a round water outlet of the water outlet pipe network;
b is the pipe width of a water flow outlet of the drainage pipe network;
Dithe distance from the liquid level of the water outlet to the bottom of the pipe at the ith moment;
Hithe height distance from the water flow monitoring point A2 at the ith moment to the water flow lower outflow point A1;
Withe horizontal distance from the water flow monitoring point A2 at the ith time to the water flow down outflow point A1;
g is the acceleration of gravity;
and Di，HiAnd WiThe calculation formula is as follows:
see FIG. 1, inventive (x)1,y1) Is the coordinate of the A1 point position, (x)2,y2) Is the coordinate of the A2 point position, (x)3,y3) The position coordinates of the A3 point are obtained through water flow image recognition, three-point position coordinates A1, A2 and A3 of water flow at the water outlet are obtained, water flow outlets in different shapes are calculated according to a hydraulics formula, and a free outflow flow value is obtained.
Sixthly, data transmission: and transmitting the obtained effluent flow data of the drainage pipe network to a user terminal, wherein the user terminal comprises a PC (personal computer) end and a mobile phone end, and can transmit the data in a wireless or wired manner to display and alarm in real time.
According to the invention, through a visual algorithm, the free outflow nodes formed by most gravity flows in the drainage pipe network are monitored, and the quantitative monitoring of the Combined System Overflow (CSO) and the combined system overflow (SSO) is also beneficial to making a scheme for eliminating the non-point source pollution.
Claims (6)
1. A pipe network free outflow flow online monitoring method based on image recognition is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps of image acquisition: acquiring an image of a free outflow position of water of a tested drainage pipe network on line by using an image acquisition system, and transmitting acquired water flow image data and acquired no-water flow image data to an image processing system, wherein a water outlet of the drainage pipe network is circular or rectangular;
secondly, water flow shape image processing: the image processing system stores and carries out gray processing on the received water flow image data and the received water flow-free image data, subtracts the obtained water flow gray image and the obtained water flow-free gray image to obtain a water flow gray image, binarizes the water flow gray image, processes the binarized image to obtain a water flow boundary contour binary image of a closed water flow boundary contour, and extracts a plurality of water flow boundary line sample point pixel coordinates and water flow peak A3 pixel coordinates on the water flow boundary contour binary image;
obtaining a downflow function of the profile under water flow: performing function fitting on the extracted pixel coordinates of the plurality of water flow boundary line sample points to obtain a downflow function of the profile under the water flow;
fourthly, determining water flow point pixel coordinates: obtaining pixel coordinates A1 of an outflow point under the water flow, pixel coordinates A2 of a water flow monitoring point and pixel coordinates A3 of an outflow point on the water flow according to the binary image of the water flow boundary profile and the downflow function;
fifthly, calculating to obtain outflow flow Q of drain pipe networki：
Converting pixel coordinates A1 of the water outflow point under the water flow, pixel coordinates A2 of the water flow monitoring point and pixel coordinates A3 of the water outflow point on the water flow into position coordinates of three points of the water flow at the water outlet, and calculating according to an outflow hydraulic formula to obtain outflow Qi，
When the water outlet of the drainage pipe network is circular, the mathematical expression of the effluent flow hydraulic formula is as follows:
when the water outlet of the water drainage pipe network is rectangular, the mathematical expression of the effluent flow hydraulic formula is as follows:
wherein: qiThe outflow flow at the ith moment;
r is the radius of a round water outlet of the water outlet pipe network;
b is the pipe width of a water flow outlet of the drainage pipe network;
Dithe distance from the liquid level of the water outlet to the bottom of the tube at the ith moment,
Hithe height distance from the water flow monitoring point A2 at the ith moment to the water flow lower outflow point A1;
Withe horizontal distance from the water flow monitoring point A2 at the ith time to the water flow down outflow point A1;
g is the acceleration of gravity;
said Di，HiAnd WiThe calculation formula is as follows:
wherein: (x)1,y1) Is the coordinate of the A1 point position, (x)2,y2) Is the coordinate of the A2 point position, (x)3,y3) Is the position coordinate of A3 point;
sixthly, data transmission: and transmitting the obtained outflow flow data of the drainage pipe network to a user terminal for real-time display and alarm.
2. The online monitoring method for the free outflow flow of the pipe network based on the image recognition according to claim 1, characterized in that: the free outflow position of the water flowing out of the drainage pipe network is an inspection well or a combined overflow discharge port or a split overflow discharge port.
3. The online monitoring method for the free outflow flow of the pipe network based on the image recognition according to claim 1, characterized in that: the binary image processing is firstly carried out expansion and erosion processing to obtain a closed water flow boundary contour binary image, then a maximum area region in the closed water flow boundary contour binary image is extracted by a connected domain algorithm to be used as a final water flow boundary contour binary image, and then a plurality of water flow boundary line sample point pixel coordinates and water flow peak A3 pixel coordinates are extracted.
4. The online monitoring method for the free outflow flow of the pipe network based on the image recognition according to claim 1, characterized in that: and fitting the pixel coordinates of the extracted sample points of the water flow boundary lines by using a quadratic function.
5. The pipe network free outflow flow online monitoring method based on image recognition according to claim 1, characterized in that: the waterless image data can be more than one frame and can be collected and classified according to time and sunny and rainy cloudy days.
6. The pipe network free outflow flow online monitoring method based on image recognition according to claim 1, characterized in that: the user terminal comprises a PC end and a mobile phone end.
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