CN111896949A - Dynamic monitoring system and monitoring method for valley amplitude deformation of high arch dam - Google Patents
Dynamic monitoring system and monitoring method for valley amplitude deformation of high arch dam Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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Abstract
The invention discloses a high arch dam valley amplitude deformation dynamic monitoring system and a monitoring method thereof. And the vision camera determines a reference point angle by combining the reference point of the opposite bank, is connected with the millimeter wave radar, measures a distance by combining the reference point of the opposite bank, inputs a user interaction system to update a deformation matrix and calculate, and finally performs visual display. The method has high efficiency and low cost, realizes automatic monitoring of the deformation of the valley amplitude, reduces the influence of extreme natural weather such as heavy storm and rain on the monitoring work of the deformation of the valley amplitude, can simultaneously observe the deformation related curve of the valley amplitude in real time and compare the deformation characteristics of various measuring points from the establishment of a user interaction system, reduces the manpower investment, improves the observation efficiency, has better time and economic benefits, and provides reference for the monitoring technology of the deformation of the valley amplitude.
Description
Technical Field
The invention relates to a valley amplitude deformation dynamic monitoring system, in particular to a high arch dam valley amplitude deformation dynamic monitoring system and a monitoring method thereof based on millimeter wave radar and computer vision.
Background
The valley amplitude deformation is a natural phenomenon which is more remarkable during the construction and operation of the high arch dam, and the valley amplitude deformation characteristics can influence the working state and long-term safety of the arch dam. The principle is that a plurality of pairs of measuring lines are arranged on two banks of a river valley as required, and the time change characteristic of the valley amplitude deformation is obtained by recording the change of the length of the measuring lines.
At present, the deformation of the grain width is mainly monitored manually, datum points are arranged on two banks, deformation monitoring such as distance measurement is carried out based on traditional measurement science in the prior art, the horizontal distance change of a measuring point can only be monitored, the observation result is single, and when analysis such as a grain width cause mechanism is carried out, variables reflecting the deformation characteristics of the grain width are not rich enough. In addition, the artificial monitoring is greatly influenced by natural weather such as strong wind, heavy rain and the like, actual monitoring data is more in default, real-time dynamic monitoring cannot be achieved, meanwhile, instant data processing cannot be carried out, and the mountain deformation characteristics can be displayed in real time. Therefore, it is necessary to develop an automatic monitoring system capable of dynamically monitoring the valley amplitude deformation of the high arch dam in real time, enrich the types of monitoring values, avoid the monitoring difficulty caused by severe natural weather, and improve the time benefit of data feedback.
Disclosure of Invention
Aiming at the problems, the invention provides a dynamic monitoring system and a monitoring method for the valley amplitude deformation of a high arch dam based on a millimeter wave radar and computer vision. The problems that the existing artificial monitoring technology is greatly influenced by natural weather such as strong wind, heavy rain and the like, cannot realize real-time dynamic monitoring, cannot perform real-time data processing and can display the mountain deformation characteristics in real time are solved.
The technical scheme of the invention is as follows: a dynamic monitoring system for the deformation of the valley amplitude of a high arch dam comprises a reference datum point and an automatic monitoring system;
the automatic monitoring system comprises a monitoring device and a user interaction system which are connected with each other through a wired line, wherein the monitoring device comprises a visual camera system and a millimeter wave radar system;
the reference datum point is arranged at the opposite bank position of the automatic monitoring system, and the initial arrangement position is an opposite bank slope point which is perpendicular to the direction of the river valley in the horizontal plane of the opposite bank observation monitoring device.
Furthermore, the reference datum point is a light-emitting device with a color which can be set manually, and the light-emitting device comprises an inner ring assembly and an outer ring assembly; the inner ring assembly comprises a reflective material and a plurality of LED lamps with colors capable of being manually selected, and the outer ring assembly comprises a reflective material and a strong light string positioned at the edge of the outer ring assembly.
Furthermore, the reflective material is polished aluminum oxide mirror.
Further, the reference datum point is arranged on the left (right) bank of the mountain, and the automatic monitoring system device is arranged opposite to the reference datum point.
Further, a monitoring method of a high arch dam valley amplitude deformation dynamic monitoring system comprises the following specific operation steps:
(5.1) according to the actual situation of dam engineering construction, referring to the hydrogeological situation, the reservoir dispatching plan and the position characteristics, determining a line measuring position, determining the line measuring position, arranging a reference datum point on a mountain body on one side of the arch dam, and arranging an automatic monitoring system on the other side of the arch dam;
(5.2) according to the seasonal characteristics, combining the coverage condition of mountain vegetation, and arranging an LED lamp in the inner ring assembly;
(5.3) for a certain measuring line, determining the angle coordinate of the reference datum point relative to the visual camera system and the millimeter wave radar system based on the position of the reference datum point captured by the visual camera system and combining the camera coordinate and the image coordinate;
(5.4) determining the relative distance between the millimeter wave radar system and the reference datum point on the basis of the millimeter wave radar system and the obtained angle coordinate of the reference datum point for the measuring line in the step (5.3);
(5.5) inputting the angle coordinates and the relative distance of the reference datum points obtained by calculation in the steps (5.3) and (5.4) into a user interaction system, calculating and processing a monitoring result, updating a real-time monitoring data matrix, and performing visual display according to user selection;
the real-time monitoring data matrix comprises the radar monitoring relative distance, the position relative change angle, and a valley amplitude deformation value and a valley amplitude deformation rate which are obtained after the monitoring result is processed.
The invention has the beneficial effects that: the method has high efficiency and low cost, realizes automatic monitoring of the deformation of the valley amplitude, reduces the influence of extreme natural weather such as heavy storm and rain on the monitoring work of the deformation of the valley amplitude, can simultaneously observe the deformation related curve of the valley amplitude in real time and compare the deformation characteristics of various measuring points from the establishment of a user interaction system, reduces the manpower investment, improves the observation efficiency, has better time and economic benefits, and provides reference for the monitoring technology of the deformation of the valley amplitude.
Drawings
FIG. 1 is a flow chart of the structure of the present invention;
FIG. 2 is a layout diagram of dam valley amplitude measuring lines according to the present invention;
FIG. 3 is a schematic diagram of the inner and outer ring assemblies of the present invention with reference to datum points;
FIG. 4 is a schematic diagram of a reference datum of the present invention;
FIG. 5 is a flow chart of the automatic monitoring system according to the present invention;
FIG. 6 is a schematic diagram of the pixel coordinate system and the image coordinate system according to the present invention;
FIG. 7 is a schematic diagram of the image coordinate system and the camera coordinate system according to the present invention;
FIG. 8 is a schematic diagram of the conversion of the radar coordinate system and the world coordinate system in the present invention;
FIG. 9 is a schematic view of an operation interface of the user interaction system according to the present invention;
in the figure, 1 is a strong light string, 2 is a reflecting material, and 3 is an LED lamp.
Detailed Description
In order to more clearly illustrate the technical solution of the present invention, the following detailed description is made with reference to the accompanying drawings:
a dynamic monitoring system for the deformation of the valley amplitude of a high arch dam comprises a reference datum point and an automatic monitoring system;
the automatic monitoring system comprises a monitoring device and a user interaction system which are connected with each other through a wired line, wherein the monitoring device comprises a visual camera system and a millimeter wave radar system;
the reference datum point is arranged at the opposite bank position of the automatic monitoring system, and the initial arrangement position is an opposite bank slope point which is perpendicular to the direction of the river valley in the horizontal plane of the opposite bank observation monitoring device.
Furthermore, the reference datum point is a light-emitting device with a color which can be set manually, and the light-emitting device comprises an inner ring assembly and an outer ring assembly; the inner ring assembly comprises a reflecting material 2 and a plurality of LED lamps 3 with colors capable of being manually selected, and the outer ring assembly comprises a reflecting material 2 and a strong light string 1 positioned at the edge of the outer ring assembly.
Further, the reflective material 2 is polished aluminum oxide.
Further, the reference datum point is arranged on the left (right) bank of the mountain, and the automatic monitoring system device is arranged opposite to the reference datum point.
Further, a monitoring method of a high arch dam valley amplitude deformation dynamic monitoring system comprises the following specific operation steps:
(5.1) according to the actual situation of dam engineering construction, determining a line measuring position by referring to the hydrogeological situation, a reservoir dispatching plan and position characteristics (elevation, upstream and downstream and the like), determining the line measuring position, arranging a reference datum point on a mountain body at one side of the arch dam, and arranging an automatic monitoring system at the other side of the arch dam;
(5.2) according to the seasonal characteristics, combining the coverage condition of mountain vegetation, and arranging an LED lamp in the inner ring assembly;
(5.3) for a certain measuring line, determining the angle coordinate of the reference datum point relative to the visual camera system and the millimeter wave radar system based on the position of the reference datum point captured by the visual camera system and combining the camera coordinate and the image coordinate;
(5.4) determining the relative distance between the millimeter wave radar system and the reference datum point on the basis of the millimeter wave radar system and the obtained angle coordinate of the reference datum point for the measuring line in the step (5.3);
(5.5) inputting the angle coordinates and the relative distance of the reference datum points obtained by calculation in the steps (5.3) and (5.4) into a user interaction system, calculating and processing a monitoring result, updating a real-time monitoring data matrix, and performing visual display according to user selection;
the real-time monitoring data matrix comprises the radar monitoring relative distance, the position relative change angle, and a valley amplitude deformation value and a valley amplitude deformation rate which are obtained after the monitoring result is processed;
the vision camera system captures the position of a reference point to obtain direction information of a monitored target, and the information is processed and then input into the millimeter radar system; and the millimeter wave radar carries out distance detection according to the determined direction to obtain distance information, the distance information is input into a user interaction system after being processed, monitoring data is updated, and users are visual.
Specifically, as shown in fig. 1, the dynamic monitoring system for the valley amplitude deformation of the high arch dam based on the millimeter wave radar and the visual information comprises a reference point and an automatic monitoring system, wherein the reference point is arranged at the opposite-bank position of other equipment devices, and the initial arrangement position is an opposite-bank slope point which is perpendicular to the valley direction in the horizontal plane of the opposite-bank observation monitoring equipment; the automatic monitoring system comprises a visual camera system, a millimeter wave radar system and a user interaction system; selecting a reference point mark with variable colors according to environmental characteristics, determining a reference point angle by combining computer vision, connecting a millimeter wave radar, measuring a distance by combining a shore reference point, inputting a user interaction system, updating a deformation matrix, calculating, and finally performing visual display.
As shown in fig. 2, a layout diagram of dam valley amplitude survey lines in the dam region of the embodiment is shown, wherein 4 survey lines are arranged in the dam region according to different position characteristics (elevation, upstream and downstream, and the like), one side of the layout diagram is a reference datum point layout position (1-4), and the other side of the layout diagram is an automatic monitoring system layout position (1 '-4').
As shown in fig. 3-4, the reference datum point is composed of an LED lamp 3, a reflective material 2, and a highlight lamp string 1, and an appropriate color of the LED lamp 3 can be set according to the seasonal characteristics and the coverage of mountain vegetation, in the embodiment, the contrast color red is selected as the LED color in summer when vegetation is luxuriant, and the green with higher contrast with the mountain color (red soil) is selected in winter when vegetation is sparse; the outer ring assembly of the reference datum point is made of a reflecting material 2 and a strong light string 1 arranged at the edge of the reflecting material 2, the inner ring assembly of the reference datum point device is made of the reflecting material 2 and an LED lamp 3, the reliability of computer vision calculation in the weather of insufficient light is guaranteed, the improvement of the calculation accuracy of computer vision is facilitated, and after the color of the lamp is reset each time, the pixel coding value corresponding to the color of the LED lamp of the current reference datum point needs to be preset as a target color value in an automatic monitoring system.
As shown in fig. 5, the implementation flow of the automatic monitoring system is as shown in the figure, the visual camera system identifies the opposite reference points, converts the world coordinate system by combining the camera coordinates and the image coordinates, determines the angle coordinates of the reference points relative to the monitoring device to obtain the direction information (α '", β'") of the monitored target, and inputs the information into the millimeter wave radar system after processing. The millimeter wave radar determines the relative direction of the monitoring device and the reference datum point according to the angular coordinate of the reference datum point, performs distance detection, determines the radar coordinate, obtains relative distance information l, inputs information such as relative distance to a user interaction system, updates a real-time monitoring data matrix, and performs visual display according to user selection.
The specific determination method of the reference datum point in the image coordinate system comprises the following steps that a camera shoots a picture and is marked by a pixel point, a unit pixel is used as a metering unit, and the picture is stored by a digital signal in a two-dimensional array, wherein the array is a pixel color information set; firstly, the position of the target reference point in the pixel coordinate system is determined to be (Z ', Y ') by comparing the set target color value of the current target reference datum point, the unit of the image coordinate system is the length measurement unit mm, and the conversion is needed in the following way when in specific calculation, the conversion diagram of the two coordinate systems is shown in fig. 6, wherein the coordinate system Z "O" Y "is the pixel coordinate system, the coordinate system Z ' O ' Y ' is the image coordinate system, and the position (Z", Y ") of the target reference point in the image coordinate system is obtained according to the geometrical relationship:
referring to fig. 7, a point O is a camera optical center, a-a ' is a camera plane, B-B ' is an image plane, P (Z, y) is a reference datum point, P ' (Z ', y ') is an imaging pixel point position, q is a camera focal length, α is an included angle between an X axis of the coordinate system and an OP connection line, and β is an included angle between a Z axis of the coordinate system and O ' P '; from fig. 4, it can be inferred that:
tanα＝t/q
tanβ＝y′/z′
a point in space is available, from which the visual camera can determine a coordinate representation (α, β) in the camera coordinate system, specifically:
α＝arctan t/q
β＝arctan y′/z′
for the radar coordinate system, only the position difference from the camera coordinate system, and further, by inference, a point in space can be obtained, and the coordinate representation (α '", β'") in the radar coordinate system specifically is:
wherein, R is a relation rotation matrix, T is a translation matrix, and the relation rotation matrix depends on the relative layout positions of the vision camera and the radar.
After the relative direction of the monitoring equipment and the reference datum point is determined, distance detection is carried out, as shown in fig. 8, black mountains represent mountain section contour lines before deformation, gray mountains represent section contour lines after deformation of the mountains in the dam area, and the valley amplitude deformation value determination specific steps are as follows:
the method comprises the steps that firstly, a static clutter base map in a radar monitoring area at a corresponding reference datum point is obtained manually, specifically, mountain vegetation information, mountain land surface information, matched static facilities (guardrails and the like) information and the like of the reference point are set;
secondly, manually acquiring and recording a radar monitoring wave base map of the reference datum point;
thirdly, the radar scans a target area to obtain an echo map, compares the static clutter base map to filter clutter information, and simultaneously scans the target area for multiple times, wherein mountain deformation belongs to micro deformation, and can be regarded as a static state for a single measurement time period, so that clutter reflected by a dynamic object is filtered and measured for multiple times;
fourthly, imaging analysis and comparison are carried out on the filtered echo map
Filtering radar echoes corresponding to interference objects with similar wave spectrums;
and fifthly, determining a detection distance value L according to the radar echo of the locked target. Converting a world coordinate system, and calculating a valley amplitude deformation displacement value (h is vertical displacement and l is transverse displacement), specifically:
h＝L·sinα″′sinβ″′
l ═ L · sin α ' "' cos β '", wherein, after data such as relative distance are input to the user interaction system, the real-time monitoring data matrix is updated and then user visualization processing is performed, as shown in fig. 9, a user can designate different monitoring data of a specific survey line on the left taskbar to display, and the data processing result is displayed in a graphic display area on the right side of the interface in a drawing manner in the form of a time series curve; the real-time monitoring data matrix is WiSpecifically including the value h of the deformation of the valley amplitudei 0、li 0The rate of deformation v of the valley widthi 0Radar monitoring relative distance Li 0And a relative change angle of position (alpha'i 0，β″′i 0) The unit monitoring time is synchronous with the unit updating time, and is set according to the actual engineering requirement, if 24h, the single measurement data matrix during the nth measurement is as follows:
wn＝[hnlnvnLnα″′nβ″′n]
wherein the rate of deformation v of the valley amplitudeiThe determination method comprises the following steps:
i is monitoring frequency statistics, namely the ith monitoring, and t is unit monitoring interval duration, and is set according to actual engineering characteristics and requirements;
the real-time monitoring data matrix is as follows:
Claims (5)
1. a dynamic monitoring system for the deformation of the valley amplitude of a high arch dam is characterized by comprising a reference datum point and an automatic monitoring system;
the automatic monitoring system comprises a monitoring device and a user interaction system which are connected with each other through a wired line, wherein the monitoring device comprises a visual camera system and a millimeter wave radar system;
the reference datum point is arranged at the opposite bank position of the automatic monitoring system, and the initial arrangement position is an opposite bank slope point which is perpendicular to the direction of the river valley in the horizontal plane of the opposite bank observation monitoring device.
2. The dynamic monitoring system for valley amplitude deformation of the high arch dam as claimed in claim 1, wherein said reference point is a lighting device with a color which can be set artificially, which comprises an inner ring component and an outer ring component; the inner ring assembly comprises a reflective material and a plurality of LED lamps with colors capable of being manually selected, and the outer ring assembly comprises a reflective material and a strong light string positioned at the edge of the outer ring assembly.
3. The dynamic monitoring system for the deformation of the valley amplitude of the high arch dam as claimed in claim 2,
the reflective material is polished aluminum oxide mirror.
4. The dynamic monitoring system for valley amplitude deformation of a high arch dam as claimed in claim 1, wherein said reference datum point is located on the left (right) bank of the mountain, and said automatic monitoring system device is located opposite to the reference datum point.
5. The monitoring method of the dynamic monitoring system for the valley amplitude deformation of the high arch dam as claimed in claims 1-4, characterized in that the specific operation steps are as follows:
(5.1) according to the actual situation of dam engineering construction, referring to the hydrogeological situation, the reservoir dispatching plan and the position characteristics, determining a line measuring position, determining the line measuring position, arranging a reference datum point on a mountain body on one side of the arch dam, and arranging an automatic monitoring system on the other side of the arch dam;
(5.2) according to the seasonal characteristics, combining the coverage condition of mountain vegetation, and arranging an LED lamp in the inner ring assembly;
(5.3) for a certain measuring line, determining the angle coordinate of the reference datum point relative to the visual camera system and the millimeter wave radar system based on the position of the reference datum point captured by the visual camera system and combining the camera coordinate and the image coordinate;
(5.4) determining the relative distance between the millimeter wave radar system and the reference datum point on the basis of the millimeter wave radar system and the obtained angle coordinate of the reference datum point for the measuring line in the step (5.3);
(5.5) inputting the angle coordinates and the relative distance of the reference datum points obtained by calculation in the steps (5.3) and (5.4) into a user interaction system, calculating and processing a monitoring result, updating a real-time monitoring data matrix, and performing visual display according to user selection;
the real-time monitoring data matrix comprises the radar monitoring relative distance, the position relative change angle, and a valley amplitude deformation value and a valley amplitude deformation rate which are obtained after the monitoring result is processed.
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| CN113110091A (en) * | 2021-05-10 | 2021-07-13 | 深圳绿米联创科技有限公司 | Smart home control method, display method, system, device and electronic equipment |
| CN113628257A (en) * | 2021-10-11 | 2021-11-09 | 中大检测(湖南)股份有限公司 | Unmanned monitoring system based on radar and binocular vision combination |
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