CN112461498B - Full-automatic real-time scouring depth monitoring system and method - Google Patents
Full-automatic real-time scouring depth monitoring system and method Download PDFInfo
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Abstract
The invention relates to a full-automatic real-time monitoring system and a method for the scouring depth, wherein the system comprises a platform, the platform is erected on a bracket, an automatic lifting control system is arranged at the position of the platform close to the side edge, a camera is arranged at the bottom end of the automatic lifting control system, and the position of the camera relative to a bed surface is changed by adjusting the height of the automatic lifting control system; an external processing system and a remote display system which are mutually communicated are also arranged on the platform, the external processing system is communicated with the camera to acquire the monitoring information of the camera in real time, and the remote display system displays the monitoring information processed by the external processing system in real time; the invention can realize the real-time monitoring of the depth of the flushing pit, and has the characteristics of wide application range, non-contact, no damage to local flushing terrain, simplicity, convenience, easy operation, easy popularization and the like.
Description
Technical Field
The invention relates to a full-automatic real-time monitoring system and method for scour depth, and belongs to the technical field of scour pit depth measurement.
Background
The pile foundation is widely applied to water conservancy and ocean engineering, but due to the interaction of the structure of the pile foundation and water flow, the water flow generates underflow in front of the pile, forms horseshoe-shaped vortex around the pile and causes local scouring around the pile foundation. The formation of the local scouring pit of the pile foundation can cause insufficient bearing capacity of the pile foundation and settlement or displacement of the foundation. Therefore, observation and research on the development condition of the pile foundation scour pit are one of important means for ensuring the safety of water conservancy and ocean engineering buildings.
In the study of pile foundation erosion model test, the commonly used measurement methods of the erosion pit include a ruler measurement method, a probe method and the like. The data volume obtained by the methods is very small, and the accurate measurement of the form of the scour pit is difficult to carry out, and the method is more difficult to use under the condition that the water body is turbid. In recent years, Zhejiang university has designed a monitoring device (patent number: ZL201510190433.2) for pile structure scouring test, which is measured by a method of shooting by a built-in microspur camera of the pile, and although scouring depth data can be obtained by the device, the following problems still exist: pile wall refraction can cause larger errors (the thickness of the selected pile wall needs to be very thin, about 2mm), and the influence caused by refraction is increased along with the increase of the depth of a scour pit; secondly, the calculation of the scouring process can be carried out only after the test is finished, and the scouring progress cannot be known during the test; thirdly, the shot image is not filtered, so that a large error is generated; and fourthly, the method is difficult to be applied to the high sand-containing water flow experiment.
Except for the problem of local scouring formed around the pile foundation, the scouring can also be carried out in front of buildings such as wharfs and breakwaters due to the action of water flow and waves, so that the safety of the buildings is threatened, and no patent for monitoring the scouring pits in real time exists at present. Aiming at the problems existing in the scouring depth measuring method, a set of precise and intelligent novel scouring measuring test device is necessary to be reasonably designed.
Disclosure of Invention
The invention provides a full-automatic real-time monitoring system and method for the scouring depth, which can realize the real-time monitoring of the scouring pit depth and have the characteristics of wide application range, non-contact, no damage to local scouring landform, simplicity, convenience, easy operation, easy popularization and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a full-automatic real-time monitoring system for the scouring depth comprises a platform, wherein the platform is erected on a support, an automatic lifting control system is installed at a position, close to the side edge, of the platform, a camera is installed at the bottom end of the automatic lifting control system, and the height of the automatic lifting control system is adjusted to change the position of the camera relative to a bed surface;
an external processing system and a remote display system which are mutually communicated are also arranged on the platform, the external processing system is communicated with the camera to acquire the monitoring information of the camera in real time, and the remote display system displays the monitoring information processed by the external processing system in real time;
as a further preferred aspect of the present invention, the automatic lifting control system includes a motor, a gear and a lifting rod, the motor is installed at a position close to the side edge of the platform, the center of the gear is sleeved on the motor shaft, the surface of the upper half portion of the lifting rod is provided with a plurality of saw teeth, the saw teeth are engaged with the gear in a matching manner, and the motor is fixed at the bottom end of the lifting rod;
the automatic lifting control system also comprises a control panel and a driver which are arranged on the surface of the platform, the control panel is connected with the motor through the driver, and the control panel is communicated with an external processing system;
a cylinder transparent cover is covered outside the automatic lifting control system;
as a further preferred aspect of the present invention, a support plate is installed in the cylinder transparent cover, the support plate is sleeved on the lifting rod, and a side wall of the support plate is tightly attached to an inner side wall of the cylinder transparent cover;
as a further preferred aspect of the present invention, the external processing system includes an integrated built-in image real-time receiving module, an image real-time display module, an image processing and analyzing module and a signal transmitting module, the remote display system includes a 4G module and a mobile phone mobile terminal display module, the 4G module is connected to the external processing system, transmits data to the mobile phone mobile terminal, and simultaneously displays the data transmitted by the external processing system at the mobile phone mobile terminal through the mobile phone mobile terminal display module;
a full-automatic real-time monitoring method for the scouring depth comprises the following steps:
firstly, installing an automatic lifting control system, calibrating a scale and correcting image distortion after debugging of a line and a wireless signal is finished, determining the position of a camera relative to a bed surface, observing an image when the camera is placed at a position near the bed surface, ensuring that an intersection line of the bed surface and the surface of an object is in a shot picture, and calibrating a zero point of a flushing pit depth;
setting the distance of each descending of the camera as L, the shooting frequency f of the macro camera and the simultaneous measurement when the scouring test starts, wherein the L is the descending distance in the image and ensures that the bottom of the scoured pit can be shot each time;
thirdly, outputting the depth data of the scouring pit according to the frequency f, drawing a scouring depth curve, observing whether the scouring depth curve is abnormal, if the abnormal data can not reflect the real situation, checking the monitoring system, and restarting the test;
fourthly, the test is finished, and the whole monitoring system is closed;
as a further preferred aspect of the present invention, in the first step, the specific steps of scaling and correcting image distortion are:
as a further preferred aspect of the present invention, in the first step, the specific steps of calibrating the zero point of the depth of the flushing pit are:
step 21, transmitting image data shot by a camera to an external processing system, and analyzing an image by an image processing and analyzing module;
step 22, converting the image into a gray-scale map, obtaining the gray-scale value of each pixel point in the image, and obtaining a gray-scale matrix I of the image;
step 23, converting the gray matrix I by using a second derivative function of a two-dimensional form Gaussian function to obtain a matrix A;
24, carrying out convolution operation on the gray matrix I by utilizing a Gaussian convolution kernel to obtain a matrix B;
performing convolution operation on the matrix B by using a neighborhood Laplacian, wherein data within a threshold value can obtain a curve M, and the curve M is an intersection line of the bed surface and the object surface;
26, carrying out peak clipping treatment on the curve M, namely rejecting unreasonable points on the curve M;
27, acquiring a longitudinal coordinate of the curve M;
and step 28, repeating the steps from step 21 to step 27 for three times, and taking the average value of the three times to obtain the longitudinal coordinate y of the zero position of the flushing pit0；
As a further preferable aspect of the present invention, in the third step, the specific step of outputting the flushing pit depth data at the frequency f is:
step 31, obtaining the longitudinal coordinate y of the deepest point of the flushing pit according to the steps from step 21 to step 27i；
Step 32, calculating the position y of the bottom of the scoured pit in the image as yiDistance between the position and the initial zero position yi-y0；
Step 33, calculating and outputting the depth of the flushing pit, wherein the output depth of the flushing pit is sNL + sl, s is a scale, unit mm/pixl, N is the descending frequency of the camera, L is the descending distance of the camera each time, and L is the distance from the intersection line of the flushing pit and the object in the image to the calibrated zero scale;
and step 34, judging whether the distance L between the position of the bottom of the flushing pit in the image and the position with the initial calibration of zero is greater than L, if L is greater than or equal to L, starting the automatic lifting control system, and descending the camera by a distance L.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the monitoring system provided by the invention adopts a non-contact means when performing tests and data acquisition, does not damage the terrain, and has the advantages of wide application range, simplicity, convenience and easy operation;
2. in the monitoring system provided by the invention, the camera can move along with the development of the erosion pit, the change of the intersection line of the erosion pit and the surface of the object is shot in an infinitely close and horizontal manner, the influence of refraction generated by the thickness of the object is avoided, and the monitoring system can be suitable for a cylindrical model with larger thickness and water flow conditions with turbid water;
3. the image shot by the camera adopts the Gaussian Laplace image filtering and enhancing technology, so that the error is reduced;
4. according to the monitoring system provided by the invention, in the test process, a researcher can know the depth of the flushing pit at any moment from the start of the test to the current moment only through the computer terminal or the mobile terminal of the mobile phone.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic representation provided by the present invention;
FIG. 2 is a schematic diagram of the workflow provided by the present invention and the trend of power and data lines;
FIG. 3 is a schematic overall structure of a preferred embodiment provided by the present invention;
FIG. 4 is a top view of a preferred embodiment provided by the present invention;
FIG. 5 is a cross-sectional view of the invention taken along section A-A of FIG. 4;
fig. 6 is a schematic view of the present invention before applying the preferred embodiment to a standing breakwater;
fig. 7 is a schematic view of the present invention before applying the preferred embodiment to a sloped breakwater;
fig. 8 is a preferred embodiment of the automatic lift control system provided by the present invention.
In the figure: 1 is external processing system, 2 is the 4G module, 3 is cell-phone removal end display module, 4 is the control panel, 5 is the driver, 6 is the motor, 7 is the lifter, 8 is the camera, 9 is for demarcating the net, 10 is the gear, 11 is the backup pad, 12 is for scouring away the hole, 13 is the platform, 14 is the support, 15 is the cylinder translucent cover.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The system mainly comprises a platform 13, wherein the platform is erected on a support 14, an automatic lifting control system is installed at a position, close to the side edge, of the platform, a camera 8 is installed at the bottom end of the automatic lifting control system, and the height of the automatic lifting control system is adjusted to change the position of the camera relative to a bed surface; and an external processing system 1 and a remote display system which are mutually communicated are also arranged on the platform, the external processing system is communicated with the camera to acquire the monitoring information of the camera in real time, and the remote display system displays the monitoring information processed by the external processing system in real time.
The application provides a schematic diagram as shown in fig. 1, an automatic lifting control system comprises a motor 6, a driver 5, a control panel 4 and a lifting rod 7, a camera is mounted at the bottom end of the lifting rod, the motor drives the lifting rod to move so as to drive the camera to move, the control panel is connected with the motor through the driver, and is communicated with an external processing system, namely the control panel receives signals from the external processing system, sends commands to the driver and controls the operation of the motor; the working process and the power are provided in fig. 2, a data line trend schematic diagram is provided, the remote display system comprises a 4G module 2 and a mobile phone mobile terminal display module 3, the external processing system comprises an integrated built-in image real-time receiving module, an image real-time display module, an image processing and analyzing module and a signal transmitting module, the image real-time display module can display images shot by a camera in real time, the image processing and analyzing module obtains the distance from the intersection line of a flushing pit 12 and the surface of an object in the images to a calibrated zero scale through analyzing the images, the distance is defined as l, meanwhile, the image processing and analyzing module can also output flushing pit depth data in real time and draw a flushing depth curve, and the signal transmitting module can transmit signals to the automatic lifting control system.
The preferred embodiment:
fig. 3 shows that, for a preferred embodiment provided by the present application, the automatic lifting control system provides a preferred option, that is, the motor is installed at a position close to the side edge of the platform, the center of the gear 10 is sleeved on the motor shaft, the surface of the upper half of the lifting rod is provided with a plurality of saw teeth, the saw teeth are engaged with the gear in a matching manner, the camera is fixed at the bottom end of the lifting rod, and the lens of the camera is perpendicular to the attached calibration grid 9; in order to simulate a pile foundation structure, a cylinder transparent cover 15 is covered outside the automatic lifting control system, the cylinder transparent cover can be of a cylindrical structure or a square column structure, the transparent cover is made of acrylic materials, the whole body is transparent, the bottom of the transparent cover is sealed, and water is prevented from immersing into the cylinder transparent cover to damage devices such as a camera. As can be seen from the top view of fig. 4 and fig. 5, a control panel and a driver are installed on the surface of the platform, the control panel is connected with a motor through the driver, the control panel is communicated with an external processing system, an automatic lifting control system is arranged in a water tank, the control panel receives signals from the external processing system and sets the rotating angle and frequency of the motor, the control panel realizes the adjustment of the rotating angle of the motor through the driver and controls the rotating speed of a motor shaft, after the motor is started, a lifting rod is lifted through the meshing rotation of a saw tooth and a gear to realize the movement of the distance required by the lifting rod test, and the camera is close to the position of a bed surface at the bottom of the water tank; in order to ensure the stability of the cylinder transparent cover, a supporting plate 11 is arranged in the cylinder transparent cover, the supporting plate is sleeved on the lifting rod, and the side wall of the supporting plate is tightly attached to the inner side wall of the cylinder transparent cover.
Based on the preferred embodiment, the application also provides a full-automatic real-time monitoring method for the scouring depth, which comprises the following steps:
firstly, installing an automatic lifting control system, calibrating a scale and correcting image distortion after debugging of a line and a wireless signal is finished, determining the position of a camera relative to a bed surface, observing an image when the camera is placed at a position near the bed surface, ensuring that an intersection line of the bed surface and the surface of an object is in a shot picture, and calibrating a zero point of a flushing pit depth;
the specific steps of scaling the scale and correcting the image distortion are as follows:
the specific steps of calibrating the zero point of the depth of the scoured pit are as follows:
step 21, transmitting image data shot by a camera to an external processing system, and analyzing an image by an image processing and analyzing module;
step 22, converting the image into a gray map, obtaining the gray value of each pixel point in the image, obtaining a gray matrix I of the image, and also taking the gray matrix I as a two-dimensional scatter function;
step 23, transforming the gray matrix I by using a second derivative function of a two-dimensional form Gaussian function to obtain a matrix A, wherein the step is to strengthen the image,
and 24, performing convolution operation on the gray matrix I by using a Gaussian convolution kernel g to obtain B, wherein the step is to filter the image, eliminate some abnormal points, the size and sigma value of the g kernel are undetermined, and if g is a convolution kernel of 3 x 3 and sigma is 1.5, the calculation formula is as follows:
g＝
| 0.095 | 0.118 | 0.095 |
| 0.118 | 0.148 | 0.118 |
| 0.095 | 0.118 | 0.095 |
step 25, performing convolution operation on the matrix B by utilizing a neighborhood Laplacian operator,
four neighborhood laplacian L ═
| 0 | 1 | 0 |
| 1 | -4 | 1 |
| 0 | 1 | 0 |
The threshold k is adjusted and selected according to actual conditions, a curve y (M) (x) can be obtained from data within the threshold finally, the curve M is an intersection line of the bed surface and the surface of an object (the object is a cylindrical transparent cover), and it should be further noted that the data within the threshold in this step is a point with large brightness change, and corresponds to the intersection line of the bed surface and the surface of the cylindrical body;
step 26, performing peak clipping processing on the curve y ═ M (x), namely rejecting unreasonable points on the curve M, wherein the unreasonable points are that the y value has mutation;
27, acquiring a longitudinal coordinate of the curve M;
step 28, repeating the steps from step 21 to step 27 three times, and taking the average value of the three times to obtain the longitudinal direction of the zero position of the flushing pitTo coordinate y0。
Setting the distance of each descending of the camera as L, the shooting frequency f of the macro camera and the simultaneous measurement when the scouring test starts, wherein the L is the descending distance in the image and ensures that the bottom of the scoured pit can be shot each time;
thirdly, outputting the depth data of the scouring pit according to the frequency f, drawing a scouring depth curve, observing whether the scouring depth curve is abnormal, if the abnormal data can not reflect the real situation, checking the monitoring system, and restarting the test;
the specific steps of outputting the depth data of the flushing pit with the frequency f are as follows:
step 31, obtaining the longitudinal coordinate y of the deepest point of the flushing pit according to the steps from step 21 to step 27i；
Step 32, calculating the position y of the bottom of the scoured pit in the image as yiDistance between the position and the initial zero position yi-y0；
Step 33, calculating and outputting the depth of the flushing pit, wherein the output depth of the flushing pit is sNL + sl, s is a scale, unit mm/pixl, N is the descending frequency of the camera, L is the descending distance of the camera each time, and L is the distance from the intersection line of the flushing pit and the object in the image to the calibrated zero scale;
step 34, judging whether the distance L between the position of the bottom of the flushing pit in the image and the position with the initial calibration of zero is greater than L, if L is greater than or equal to L, starting an automatic lifting control system, and descending the camera by a distance L;
and fourthly, after the test is finished, closing the whole monitoring system, namely, shooting by the camera at the frequency f, outputting the depth of the flushing pit at the frequency f, wherein the output result can be seen in the form of a text file and a flushing pit depth image by an external processing system, and meanwhile, the data is transmitted to the mobile terminal of the mobile phone by a signal transmitting module for external processing through a 4G module, so that a tester can remotely monitor the development condition of the flushing pit at any time.
Fig. 6 is a schematic view showing that the preferred embodiment is applied to a vertical breakwater,
the method for monitoring the full-automatic scouring depth in real time comprises the following steps:
firstly, an automatic lifting control system and a camera are installed in place, a line and a wireless signal are debugged, a scale is calibrated and an image is corrected to be distorted, the position of the camera relative to a bed surface is determined, an image of the camera is observed when the camera is placed at a position near the bed surface, the intersection line of the bed surface and the surface of the vertical breakwater is ensured to be in a shot picture, and at the moment, a zero point of a depth of a flushing pit is calibrated;
the specific steps of scaling the scale and correcting the image distortion are as follows:
the specific steps of calibrating the zero point of the depth of the scoured pit are as follows:
step 21, transmitting image data shot by a camera to an external processing system, and analyzing an image by an image processing and analyzing module;
step 22, converting the image into a gray map, obtaining the gray value of each pixel point in the image, obtaining a gray matrix I of the image, and also taking the gray matrix I as a two-dimensional scatter function;
step 23, transforming the gray matrix I by using a second derivative function of a two-dimensional form Gaussian function to obtain a matrix A, wherein the step is to strengthen the image,
and 24, performing convolution operation on the gray matrix I by using a Gaussian convolution kernel g to obtain B, wherein the step is to filter the image, eliminate some abnormal points, the size and sigma value of the g kernel are undetermined, and if g is a convolution kernel of 3 x 3 and sigma is 1.5, the calculation formula is as follows:
g＝
| 0.095 | 0.118 | 0.095 |
| 0.118 | 0.148 | 0.118 |
| 0.095 | 0.118 | 0.095 |
step 25, performing convolution operation on the matrix B by utilizing a neighborhood Laplacian operator,
four neighborhood laplacian L ═
| 0 | 1 | 0 |
| 1 | -4 | 1 |
| 0 | 1 | 0 |
The threshold k is adjusted and selected according to actual conditions, and a curve y ═ M (x) can be obtained from data within the final threshold, where the curve M is an intersection line between the bed surface and the surface of an object (where the object is the vertical breakwater), and it should be further noted that the data within the threshold in this step is a point with a large brightness change, and corresponds to the intersection line between the bed surface and the surface of the vertical breakwater;
step 26, performing peak clipping processing on the curve y ═ M (x), namely rejecting unreasonable points on the curve M, wherein the unreasonable points are that the y value has mutation;
27, acquiring a longitudinal coordinate of the curve M;
and step 28, repeating the steps from step 21 to step 27 for three times, and taking the average value of the three times to obtain the longitudinal coordinate y of the zero position of the flushing pit0。
Setting the distance of each descending of the camera as L, the shooting frequency f of the macro camera and the simultaneous measurement when the scouring test starts, wherein the L is the ratio of the descending distance in the image to the longitudinal frame, and the bottom of the scouring pit can be shot each time;
thirdly, outputting the depth data of the scouring pit according to the frequency f, drawing a scouring depth curve, observing whether the scouring depth curve is abnormal, if the abnormal data can not reflect the real situation, checking the monitoring system, and restarting the test;
the specific steps of outputting the depth data of the flushing pit with the frequency f are as follows:
step 31, obtaining the longitudinal coordinate y of the deepest point of the flushing pit according to the steps from step 21 to step 27i；
Step 32, calculating the position y of the bottom of the scoured pit in the image as yiDistance between the position and the initial zero position yi-y0；
Step 33, calculating and outputting the depth of the scour pit, wherein the output scour pit depth is sNL + sl, s is a scale, unit mm/pixl, N is the descending frequency of the camera, L is the descending distance of the camera each time, and L is the distance from the intersection line of the scour pit and the surface of the vertical breakwater in the image to the calibrated zero scale;
step 34, judging whether the distance L between the position of the bottom of the flushing pit in the image and the position with the initial calibration of zero is greater than L, if L is greater than or equal to L, starting an automatic lifting control system, and descending the camera by a distance L;
and fourthly, after the test is finished, closing the whole monitoring system, namely, shooting by the camera at the frequency f, outputting the depth of the flushing pit at the frequency f, wherein the output result can be seen in the form of a text file and a flushing pit depth image by an external processing system, and meanwhile, the data is transmitted to the mobile terminal of the mobile phone by a signal transmitting module for external processing through a 4G module, so that a tester can remotely monitor the development condition of the flushing pit at any time.
Fig. 7, is a schematic view illustrating the preferred embodiment applied to a sloped breakwater,
the method for monitoring the full-automatic scouring depth in real time comprises the following steps:
firstly, an automatic lifting control system and a camera are installed in place, a line and a wireless signal are debugged, a scale is calibrated and an image is corrected to be distorted, the position of the camera relative to a bed surface is determined, an image of the camera is observed when the camera is placed at a position near the bed surface, the intersection line of the bed surface and the surface of the slope type breakwater is ensured to be in a shot picture, and at the moment, a zero point of depth of a flushing pit is calibrated;
the specific steps of scaling the scale and correcting the image distortion are as follows:
the specific steps of calibrating the zero point of the depth of the scoured pit are as follows:
step 21, transmitting image data shot by a camera to an external processing system, and analyzing an image by an image processing and analyzing module;
step 22, converting the image into a gray map, obtaining the gray value of each pixel point in the image, obtaining a gray matrix I of the image, and also taking the gray matrix I as a two-dimensional scatter function;
step 23, transforming the gray matrix I by using a second derivative function of a two-dimensional form Gaussian function to obtain a matrix A, wherein the step is to strengthen the image,
and 24, performing convolution operation on the gray matrix I by using a Gaussian convolution kernel g to obtain B, wherein the step is to filter the image, eliminate some abnormal points, the size and sigma value of the g kernel are undetermined, and if g is a convolution kernel of 3 x 3 and sigma is 1.5, the calculation formula is as follows:
g＝
| 0.095 | 0.118 | 0.095 |
| 0.118 | 0.148 | 0.118 |
| 0.095 | 0.118 | 0.095 |
step 25, performing convolution operation on the matrix B by utilizing a neighborhood Laplacian operator,
four neighborhood laplacian L ═
| 0 | 1 | 0 |
| 1 | -4 | 1 |
| 0 | 1 | 0 |
The threshold k is adjusted and selected according to actual conditions, a curve y (M) (x) can be obtained from data within the final threshold, where the curve M is an intersection line of the bed surface and the surface of an object (where the object is a slope breakwater), and it should be further noted that the data within the threshold in this step is a point where the brightness changes greatly and corresponds to the intersection line of the bed surface and the surface of the slope breakwater;
step 26, performing peak clipping processing on the curve y ═ M (x), namely rejecting unreasonable points on the curve M, wherein the unreasonable points are that the y value has mutation;
27, acquiring a longitudinal coordinate of the curve M;
and step 28, repeating the steps from step 21 to step 27 for three times, and taking the average value of the three times to obtain the longitudinal coordinate y of the zero position of the flushing pit0。
Setting the distance of each descending of the camera as L, the shooting frequency f of the macro camera and the simultaneous measurement when the scouring test starts, wherein the L is the descending distance in the image and ensures that the bottom of the scoured pit can be shot each time;
thirdly, outputting the depth data of the scouring pit according to the frequency f, drawing a scouring depth curve, observing whether the scouring depth curve is abnormal, if the abnormal data can not reflect the real situation, checking the monitoring system, and restarting the test;
the specific steps of outputting the depth data of the flushing pit with the frequency f are as follows:
step 31, obtaining the longitudinal coordinate y of the deepest point of the flushing pit according to the steps from step 21 to step 27i；
Step 32, calculating the position y of the bottom of the scoured pit in the image as yiDistance between the position and the initial zero position yi-y0；
Step 33, calculating and outputting the depth of the scour pit, wherein the output scour pit depth is (sNL + sl) sin alpha, s is a scale, the unit mm/pixl, N is the descending frequency of the camera, L is the descending distance of the camera each time, L is the distance from the intersection line of the scour pit and the surface of the slope breakwater in the image to the calibrated zero scale, and alpha is the included angle between the lifting rod and the horizontal plane; it should be noted here that the included angle α between the lifting rod and the horizontal plane exists all the time, and the included angle actually exists in the case of applying the preferred embodiment to the slope-type breakwater, and in the case of applying the preferred embodiment to the vertical breakwater, the included angle is 90 degrees, so that the calculation of the angle can be ignored;
step 34, judging whether the distance L between the position of the bottom of the flushing pit in the image and the position with the initial calibration of zero is greater than L, if L is greater than or equal to L, starting an automatic lifting control system, and descending the camera by a distance L;
and fourthly, after the test is finished, closing the whole monitoring system, namely, shooting by the camera at the frequency f, outputting the depth of the flushing pit at the frequency f, wherein the output result can be seen in the form of a text file and a flushing pit depth image by an external processing system, and meanwhile, the data is transmitted to the mobile terminal of the mobile phone by a signal transmitting module for external processing through a 4G module, so that a tester can remotely monitor the development condition of the flushing pit at any time.
The application provides a camera can remove along with the development of scouring the hole among the full-automatic scouring depth real-time monitoring system, almost horizontally shoot the change of scouring the intersection line on hole and object surface, the influence of the refraction that does not receive object thickness to produce, can be applicable to the great model of thickness and the muddy rivers condition of water, the image of shooing has adopted the filtration reinforcing technique of gaussian laplacian image, the error has been reduced, researchers can learn the experiment through computer end or cell-phone removal end in the testing process and begin to the scouring pit depth condition at any moment during the moment under.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (2)
1. A full-automatic real-time monitoring method for scouring depth is characterized in that:
the full-automatic real-time scouring depth monitoring system comprises a platform, wherein the platform is erected on a support, an automatic lifting control system is installed at a position, close to the side edge, of the platform, a camera is installed at the bottom end of the automatic lifting control system, and the position of the camera relative to a bed surface is changed by adjusting the height of the automatic lifting control system;
an external processing system and a remote display system which are mutually communicated are also arranged on the platform, the external processing system is communicated with the camera to acquire the monitoring information of the camera in real time, and the remote display system displays the monitoring information processed by the external processing system in real time;
the automatic lifting control system comprises a motor, a gear and a lifting rod, wherein the motor is arranged at a position close to the side edge of the platform, the center of the gear is sleeved on a motor shaft, a plurality of saw teeth are arranged on the surface of the upper half part of the lifting rod, the saw teeth are matched and meshed with the gear, and the camera is fixed at the bottom end of the lifting rod;
the automatic lifting control system also comprises a control panel and a driver which are arranged on the surface of the platform, the control panel is connected with the motor through the driver, and the control panel is communicated with an external processing system;
a cylinder transparent cover is covered outside the automatic lifting control system;
a supporting plate is arranged in the cylinder transparent cover, the supporting plate is sleeved on the lifting rod, and the side wall of the supporting plate is tightly attached to the inner side wall of the cylinder transparent cover;
the remote display system comprises a 4G module and a mobile phone mobile terminal display module, wherein the 4G module is connected with the external processing system and transmits data to the mobile phone mobile terminal, and the mobile phone mobile terminal display module displays the data transmitted by the external processing system at the mobile phone mobile terminal;
the full-automatic real-time scouring depth monitoring method comprises the following steps:
firstly, installing an automatic lifting control system, calibrating a scale and correcting image distortion after debugging of a line and a wireless signal is finished, determining the position of a camera relative to a bed surface, observing an image when the camera is placed at a position near the bed surface, ensuring that an intersection line of the bed surface and the surface of an object is in a shot picture, and calibrating a zero point of a flushing pit depth;
setting the distance of each descending of the camera as L, the shooting frequency f of the macro camera and the simultaneous measurement when the scouring test starts, wherein the L is the descending distance in the image and ensures that the bottom of the scoured pit can be shot each time;
thirdly, outputting the depth data of the scouring pit according to the frequency f, drawing a scouring depth curve, observing whether the scouring depth curve is abnormal, if the abnormal data can not reflect the real situation, checking the monitoring system, and restarting the test;
fourthly, the test is finished, and the whole monitoring system is closed;
in the first step, the specific steps of scaling and correcting image distortion are as follows:
step 11, moving the camera to the position where the calibration grid is attached;
step 12, a camera shoots a picture, grid deformation is corrected, and meanwhile, the proportional relation between the distance of the grid on the picture and the actual distance is calculated and obtained;
step 13, repeating the step 12 at least three times, and synthesizing multiple calculation results to determine a final scale s;
in the first step, the specific steps of calibrating the zero point of the flushing pit depth are as follows:
step 21, transmitting image data shot by a camera to an external processing system, and analyzing an image by an image processing and analyzing module;
step 22, converting the image into a gray-scale map, obtaining the gray-scale value of each pixel point in the image, and obtaining a gray-scale matrix I of the image;
step 23, converting the gray matrix I by using a second derivative function of a two-dimensional form Gaussian function to obtain a matrix A;
24, carrying out convolution operation on the gray matrix I by utilizing a Gaussian convolution kernel to obtain a matrix B;
performing convolution operation on the matrix B by using a neighborhood Laplacian, wherein data within a threshold value can obtain a curve M, and the curve M is an intersection line of the bed surface and the object surface;
26, carrying out peak clipping treatment on the curve M, namely rejecting unreasonable points on the curve M;
27, acquiring a longitudinal coordinate of the curve M;
and step 28, repeating the steps from step 21 to step 27 for three times, and taking the average value of the three times to obtain the longitudinal coordinate y of the zero position of the flushing pit0。
2. The full-automatic real-time scouring depth monitoring method according to claim 1, characterized in that: in the third step, the specific steps of outputting the flushing pit depth data at the frequency f are as follows:
step 31, obtaining the longitudinal coordinate y of the deepest point of the flushing pit according to the steps from step 21 to step 27i；
Step 32, calculating the position y of the bottom of the scoured pit in the image as yiDistance between the position and the initial zero position yi-y0；
Step 33, calculating and outputting the depth of the flushing pit, wherein the output depth of the flushing pit is sNL + sl, s is a scale, unit mm/pixl, N is the descending frequency of the camera, L is the descending distance of the camera each time, and L is the distance from the intersection line of the flushing pit and the object in the image to the calibrated zero scale;
and step 34, judging whether the distance L between the position of the bottom of the flushing pit in the image and the position with the initial calibration of zero is greater than L, if L is greater than or equal to L, starting the automatic lifting control system, and descending the camera by a distance L.
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| CN118036409B (en) * | 2024-04-11 | 2024-06-25 | 江西省水利科学院(江西省大坝安全管理中心、江西省水资源管理中心) | Method for monitoring aqueduct structural stress |
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