CN113124959A - Method for measuring water level based on laser scanning embankment - Google Patents

Method for measuring water level based on laser scanning embankment Download PDF

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Publication number
CN113124959A
CN113124959A CN202110400049.6A CN202110400049A CN113124959A CN 113124959 A CN113124959 A CN 113124959A CN 202110400049 A CN202110400049 A CN 202110400049A CN 113124959 A CN113124959 A CN 113124959A
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Prior art keywords
scanning
water level
laser radar
laser
elevation
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Inventor
武治国
陈银
付崇德
阮利民
沈欢
周勇
徐凯
张振扬
潘凌
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Wuhan Newfiber Optoelectronics Co Ltd
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Wuhan Newfiber Optoelectronics Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
    • G01F23/284—Electromagnetic waves
    • G01F23/292—Light, e.g. infrared or ultraviolet
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F25/00—Testing or calibration of apparatus for measuring volume, volume flow or liquid level or for metering by volume
    • G01F25/20—Testing or calibration of apparatus for measuring volume, volume flow or liquid level or for metering by volume of apparatus for measuring liquid level

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  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Thermal Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a method for measuring water level based on laser scanning embankment, which comprises the steps of setting a laser radar to scan along a scanning line on the slope surface of the embankment; calculating the distance between the scanning point and the laser radar; calculating the elevation of the scanning point relative to the yellow sea as the difference between the elevation of the laser radar and the elevation of the scanning point to the laser radar subtracted by the elevation of the laser radar; and calculating the water level height corresponding to each water level scanning point. The invention is not influenced by the reflecting surface, and the unevenness of the bottom does not influence the data accuracy; the installation is convenient, the vertical alignment to the water surface is not needed, and the scanning can be carried out at any angle; the scanning way is diversified to avoid shielding; the measurement range is large, and the precision is high; has the double functions of water level and dam safety monitoring.

Description

Method for measuring water level based on laser scanning embankment
Technical Field
The invention belongs to the technical field of hydrological monitoring equipment, and particularly relates to a method and a device for measuring water level based on a laser scanning embankment.
Background
The water level is an important mark for reflecting the change of water body and water flow, and the water level observation can be directly used for hydrologic information forecast, so that water condition information can be timely provided for the construction, application and management of flood control, drought control, irrigation, shipping and hydraulic engineering and the like. The water level data accumulated for a long time is the basic basis of the construction planning design of water conservancy and hydropower, bridges, navigation channels, ports, urban water supply and drainage and the like. The existing commonly used water level on-line sensors are divided into two types, one type is contact type measurement and mainly comprises pressure sensing type and floater type, the pressure type is generally influenced by the sand content in the water body, the error is larger in a riverway with more sand content, and the work amount of static well engineering required by the floater water level is huge and higher in consumption. The other type is a non-contact type water level gauge, generally, the water level gauges such as a radar water level gauge and an ultrasonic water level gauge have the defects that the water level gauge must be vertically transmitted to the water surface, the installation is difficult, the transmission path is single, the water level gauge is easy to block, and the data measurement is inaccurate under the condition that the bottom of a dry water level is uneven.
Disclosure of Invention
The invention aims to provide a method and a device for measuring water level based on a laser scanning embankment, aiming at solving the problems that the existing non-contact type water level gauge is difficult to install, the emission path is single and is easy to be blocked, and the data measurement is inaccurate under the condition that the bottom of a dry water level is uneven.
The above object of the present invention is achieved by the following technical solutions:
a method for measuring water level based on laser scanning embankment comprises the following steps:
step 1, setting a laser radar to scan along a scanning line on the slope surface of the embankment, wherein the scanning line is perpendicular to the transverse extending direction of the embankment, the scanning line extends from the top of the slope to the bottom of the slope, the laser radar scans from top to bottom along the scanning line, and after the laser radar does not receive the reflected laser of a scanning point, the laser radar is switched to the next scanning line to repeat the step until all the scanning lines are scanned;
step 2, calculating the distance between the scanning point and the laser radar;
step 3, obtaining the elevation difference from the scanning point to the laser radar according to the angle between the laser emitted by the laser radar and the vertical direction, and calculating the elevation of the scanning point relative to the yellow sea as the elevation of the laser radar minus the elevation difference from the scanning point to the laser radar;
and 4, calculating the water level height corresponding to each water level scanning point, wherein the last scanning point with the effective distance corresponding to each scanning line is the water level scanning point corresponding to the scanning line.
Step 3 as described above further comprises the steps of:
and establishing a dam model according to the elevation of each scanning point relative to the yellow sea and the emission direction of the laser angle of the laser radar corresponding to each scanning point.
Step 3 as described above further comprises the steps of:
and obtaining dam deformation according to the elevation of each scanning point relative to the yellow sea, which is obtained by scanning the slope of the bank for multiple times.
Step 4 as described above further comprises the steps of:
eliminating abnormal water level data according to the following formula,
Figure BDA0003019828020000021
in the formula, hjCorresponding to the jth scanning lineJ is 1, 2.. m, m is the total number of scanning lines,
Figure BDA0003019828020000022
the arithmetic mean value of the water level heights corresponding to all the scanning lines is obtained; and sigma is the root-mean-square error estimation of the water level height corresponding to each scanning line.
A method for measuring water level based on laser scanning embankment, further comprising the following steps:
and 5, eliminating the water level height which is determined as abnormal data, and calculating an arithmetic mean value of the remaining water level heights to be used as the real water level height.
Compared with the prior art, the invention has the following advantages:
1. the laser radar has strong penetrating power, small transmitting angle and long strong measuring distance;
2. the influence of a reflecting surface is avoided, and the accuracy of data is not influenced by uneven bottom;
3. the installation is convenient, the vertical alignment to the water surface is not needed, and the scanning can be carried out at any angle;
4. the scanning way is diversified to avoid shielding;
5. the measurement range is large, and the precision is high;
6. the system has the functions of self-judgment, correction and learning, and avoids data errors;
7. has the double functions of water level and dam safety monitoring.
Drawings
FIG. 1 is a block diagram of the present invention.
In the figure: 1-laser radar; 2-erecting a rod; 3-equipment control box.
Having the embodiments
The present invention will be described in further detail with reference to examples for the purpose of facilitating understanding and practice of the invention by those of ordinary skill in the art, and it is to be understood that the present invention has been described in the illustrative embodiments and is not to be construed as limited thereto.
As shown in figure 1, a device based on laser scanning embankment water level measurement, including setting up lidar 1, pole setting 2, equipment control box 3 and transmitting antenna 4, pole setting 2 sets up at the dam crest, and equipment control box 3 and transmitting antenna 4 all set up on pole setting 2, and equipment control box 3 is connected with transmitting antenna 4 and lidar 1 respectively, and the horizontal pole is connected with pole setting 2, and lidar 1 sets up on the horizontal pole.
Laser radar 1 is H (being the probe mounting point height above sea) relative yellow sea elevation, the coordinate of setting for laser radar 1 is XYZ axle coordinate origin, the vertical direction is the Y axle direction, X axle and Y axle are perpendicular and all are located the horizontal plane, laser radar 1 can set up the scanning direction according to the on-the-spot needs, set up laser radar 1 and scan along the scanning line on the embankment domatic, the horizontal extending direction of scanning line perpendicular to embankment, the scanning line extends from the top of a slope to the bottom of a slope, ensure that the region S that needs the measurement all is in the scanning range.
A method for measuring water level based on laser scanning embankment comprises the following steps:
step 1, setting a laser radar 1 to scan along a scanning line on a slope surface of a bank, wherein the scanning line is perpendicular to the transverse extending direction of the bank, the scanning line extends from the top of the bank to the bottom of the bank, the laser radar 1 scans from top to bottom along the scanning line, when a boundary point of the water bank is scanned, laser cannot be reflected back, and after the laser radar 1 does not receive the laser reflected by the scanning point, the laser radar 1 is switched to the next scanning line to repeat the step until all the scanning lines are scanned;
step 2, after the laser emitted by the laser radar 1 is reflected at the scanning point of the scanning line, calculating the distance between the scanning point and the laser radar
Figure BDA0003019828020000031
(wherein c is the speed of the laser, and t is the time difference between the laser emitted by the laser radar 1 and the laser received by the laser radar 1) can measure the distance L between the scanning point and the laser radar 1;
and 3, according to the angle theta between the laser emitted by the laser radar 1 and the vertical direction, the elevation difference from the scanning point to the laser radar 1 is known to be cos theta. The elevation of the scanning point relative to the elevation of the yellow sea is the difference between the elevation of the laser radar and the elevation of the laser radar 1 subtracted from the elevation of the scanning point.
Recording the elevation of each scanning point on the ith scanning line from top to bottom relative to the yellow sea as h1i，h2i...hniWherein, the value range of i is 1-m, n is the total number of scanning points on the scanning line, and m is the total number of the scanning line.
The equipment control box 3 establishes a dam model according to the elevation of each scanning point relative to the yellow sea and the emitting direction of the laser angle of the laser radar 1 corresponding to each scanning point,
the equipment control box 3 can analyze the deformation trend of the dam according to the elevation of each scanning point relative to the yellow sea, which is obtained by scanning the slope surface of the dam for many times, and prevent and alarm the potential safety hazard existing or occurring in the dam.
Step 4, because the water body can not reflect the laser, the last scanning point which obtains the effective distance and corresponds to each scanning line is the water level scanning point corresponding to the scanning line, the water level height corresponding to each water level scanning point is calculated, and the water level heights corresponding to the scanning lines distributed along the extending direction of the embankment form a water level height array [ h1 h2 h3…hm]If equation 1 is satisfied, then h can bejAnd (3) identifying abnormal data and removing j ═ 1, 2.
Figure BDA0003019828020000041
In the formula, hjThe water level height corresponding to the jth scanning line is j is 1, 2.. m, m is the total number of the scanning lines,
Figure BDA0003019828020000042
the arithmetic mean value of the water level heights corresponding to all the scanning lines is obtained; and sigma is the root-mean-square error estimation of the water level height corresponding to each scanning line.
And 5, eliminating the water level height determined as abnormal data, wherein the arithmetic mean value of the remaining water level heights is the real water level height, and the equipment control box 3 transmits the obtained real water level height, the elevation of each scanning point relative to the yellow sea, the laser angle of the laser radar 1 corresponding to each scanning point and the dam model to the outside through the transmitting antenna 4.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (5)

1. A method for measuring water level based on a laser scanning embankment is characterized by comprising the following steps:
step 1, setting a laser radar (1) to scan along a scanning line on a slope surface of a bank, wherein the scanning line is perpendicular to the transverse extending direction of the bank, the scanning line extends from the top of the bank to the bottom of the bank, the laser radar (1) scans from top to bottom along the scanning line, and after the laser radar (1) does not receive the reflected laser of a scanning point, the laser radar (1) is switched to the next scanning line to repeat the step until all the scanning lines are scanned;
step 2, calculating the distance between the scanning point and the laser radar;
step 3, obtaining the elevation difference from the scanning point to the laser radar (1) according to the angle between the laser emitted by the laser radar (1) and the vertical direction, and calculating the elevation of the scanning point relative to the yellow sea as the elevation difference between the scanning point and the laser radar (1) subtracted by the elevation of the laser radar;
and 4, calculating the water level height corresponding to each water level scanning point, wherein the last scanning point with the effective distance corresponding to each scanning line is the water level scanning point corresponding to the scanning line.
2. The method for measuring the water level on the basis of the laser scanning embankment according to claim 1, wherein the step 3 further comprises the following steps:
and establishing a dam model according to the elevation of each scanning point relative to the yellow sea and the emission direction of the laser angle of the laser radar (1) corresponding to each scanning point.
3. The method for measuring the water level on the basis of the laser scanning embankment according to claim 2, wherein the step 3 further comprises the following steps:
and obtaining dam deformation according to the elevation of each scanning point relative to the yellow sea, which is obtained by scanning the slope of the bank for multiple times.
4. The method for measuring the water level on the basis of the laser scanning embankment according to claim 1, wherein the step 4 further comprises the following steps:
eliminating abnormal water level data according to the following formula,
Figure FDA0003019828010000011
in the formula, hjThe water level height corresponding to the jth scanning line is j is 1, 2.. m, m is the total number of the scanning lines,
Figure FDA0003019828010000012
the arithmetic mean value of the water level heights corresponding to all the scanning lines is obtained; and sigma is the root-mean-square error estimation of the water level height corresponding to each scanning line.
5. The method for measuring the water level on the basis of the laser scanning embankment, according to claim 1, characterized by further comprising the following steps:
and 5, eliminating the water level height which is determined as abnormal data, and calculating an arithmetic mean value of the remaining water level heights to be used as the real water level height.
CN202110400049.6A 2021-04-14 2021-04-14 Method for measuring water level based on laser scanning embankment Pending CN113124959A (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103512636A (en) * 2013-10-24 2014-01-15 江苏大学 Laser scanning based water surface detection method
US20150331143A1 (en) * 2014-05-14 2015-11-19 Foundation of Soongsil University-lndustry Cooperation Method of recognizing slope condition, system using the same, and recording medium for performing the same
CN110806175A (en) * 2019-11-20 2020-02-18 中国有色金属长沙勘察设计研究院有限公司 Dry beach monitoring method based on three-dimensional laser scanning technology
CN111141365A (en) * 2020-01-14 2020-05-12 浙江天禹信息科技有限公司 Non-contact all-dimensional hydrological water level monitoring method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103512636A (en) * 2013-10-24 2014-01-15 江苏大学 Laser scanning based water surface detection method
US20150331143A1 (en) * 2014-05-14 2015-11-19 Foundation of Soongsil University-lndustry Cooperation Method of recognizing slope condition, system using the same, and recording medium for performing the same
CN110806175A (en) * 2019-11-20 2020-02-18 中国有色金属长沙勘察设计研究院有限公司 Dry beach monitoring method based on three-dimensional laser scanning technology
CN111141365A (en) * 2020-01-14 2020-05-12 浙江天禹信息科技有限公司 Non-contact all-dimensional hydrological water level monitoring method

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Application publication date: 20210716