CN113847970A - Water level detection method, device and system - Google Patents
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- 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
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Abstract
The invention relates to the technical field of water level measurement, and particularly discloses a water level detection method, which comprises the following steps: acquiring water level video information; performing image processing on the water level video information to obtain a processed water level image; detecting the water level in the water level image according to a water level detection algorithm to obtain a water level detection result; and sending the water level detection result to an upper computer. The invention also discloses a water level detection device and a water level detection system. The water level detection method provided by the invention has the advantages of high detection precision and high efficiency.
Description
Technical Field
The invention relates to the technical field of water level measurement, in particular to a water level detection method, a water level detection device and a water level detection system.
Background
The water level measurement is widely applied to the environments such as ship locks, navigation channels, riverways, sea plans, river banks, pools and the like, and is used for the fields such as flood control, sewage treatment plants and the like which need water level monitoring. In the application of the ship lock, according to the working principle of the ship lock, before the main lock door is opened each time, the water levels on two sides of the main lock door are leveled through the corresponding two water regulating gates, and then the main lock door is opened to enable a ship to smoothly enter and exit the ship lock. Therefore, whether the main gate can be opened in time after the water level is leveled is very important for ensuring the safe operation of the main gate and the safe and accurate passing of the passing ship through the ship lock, and the key of the method is how to observe the water levels on the two sides of the main gate in time and accurately.
The observation of the water level before the installation and application of the existing water level measuring instrument is mainly finished by visual observation of workers, so that the observation of the water level in the past has different observation results for different people with higher requirements on the experience of the visual staff due to different experiences, and the visual staff is required to repeatedly reciprocate two sides of the main gate to obtain the observation results, which is time-consuming and labor-consuming. There are at least two problems with visual inspection: firstly, the error of the water level observation result is large and inaccurate, so that the transmission structure of the main gate is damaged when the overload operation is serious when the main gate is opened; and secondly, the water level observation result is not timely, so that the ship cannot pass through the gate in time, and the time for passing through the gate of the ship is prolonged.
In order to solve the above problems, in the prior art, although there are an ultrasonic water level probe, a capacitive probe water level gauge and a visual water level monitoring system based on a specific water gauge, the ultrasonic water level probe is easily affected by the environment, such as floating objects on the water surface, sand sinking on the water bottom, etc., because the ultrasonic waves form two echoes on the water surface and the water bottom, the possibility of mutual interference is high, and when the user faces severe weather, the water level measurement is often disabled; the capacitive water level gauge is the most widely used at present, however, in practical application, a probe in water is easy to enter settled sand after long-time water body erosion, so that data fed back by the sensor probe is gradually distorted, and therefore, the sensor probe needs to be cleaned and maintained regularly, and inconvenience is brought to automation; in addition, the visual monitoring based on the specific water gauge is a novel technology at present, and the system is gradually tested at some water streak monitoring sites, because the visual non-contact type brings convenience, and is easy to maintain and convenient for data collection.
Therefore, how to provide a water level detection method with high efficiency and high accuracy for acquiring water level information becomes an urgent technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a water level detection method, a water level detection device and a water level detection system, which solve the problem that the water level detection cannot be realized efficiently and accurately in the related technology.
As a first aspect of the present invention, there is provided a water level detecting method, comprising:
acquiring water level video information;
performing image processing on the water level video information to obtain a processed water level image;
detecting the water level in the water level image according to a water level detection algorithm to obtain a water level detection result;
and sending the water level detection result to an upper computer.
Further, the image processing of the water level video information to obtain a processed water level image includes:
and extracting water level characteristics from the water level video information in a multi-scale mode to obtain a plurality of water level images with the water level characteristics.
Further, the detecting the water level in the water level image according to a water level detection algorithm to obtain a water level detection result includes:
obtaining an activation thermodynamic diagram through a convolution operation in a parameter space;
determining a maximum activation point in the activation thermodynamic diagram;
and obtaining the water line through inverse Hough transformation.
Further, the water level detection method further includes:
and correcting the water level detection result.
Further, the correcting the water level detection result includes:
combining activated thermal maps in a parameter space acquired by multiple frames to form a characteristic tensor;
and obtaining an activation thermodynamic diagram through a convolution network according to the characteristic tensor so as to obtain a multi-frame weighted water level detection result.
Further, the water level detection method further comprises, before the step of acquiring water level video information:
and carrying out initialization calibration on the video acquisition device.
Further, the initializing and calibrating the video acquisition device includes:
acquiring water level video information of a river channel to be calibrated, wherein two identical calibration plates are respectively placed on two river banks of the river channel to be calibrated, a laser projection device is placed on the calibration plate on the first river bank, and the calibration plate on the second river bank can receive projection of the laser projection device;
acquiring corner point information on a calibration plate of a first river bank according to the water level video information of the river channel to be calibrated and determining a translation vector from the first river bank to the second river bank;
determining a rotation matrix and a translation vector according to the angular point information on the calibration plate of the first river bank;
obtaining a projection matrix according to the rotation matrix, the translation vector and an internal reference matrix calibrated by internal reference;
and determining the projection relation from the point of the first river bank under the world coordinate system to the point of the first river bank under the camera coordinate system according to the translation vector from the first river bank to the second river bank and the projection matrix.
As another aspect of the present invention, there is provided a water level detecting apparatus, comprising:
the acquisition module is used for acquiring water level video information;
the image processing module is used for carrying out image processing on the water level video information to obtain a processed water level image;
the water level detection module is used for detecting the water level in the water level image according to a water level detection algorithm to obtain a water level detection result;
and the communication module is used for sending the water level detection result to an upper computer.
As another aspect of the present invention, there is provided a water level detecting system, comprising:
the video acquisition device is used for acquiring water level video information;
the water level detection device is in communication connection with the video acquisition device and is used for performing image processing and water level detection algorithm processing according to the water level video information to obtain a water level detection result;
and the upper computer is in communication connection with the water level detection device and is used for receiving and displaying the water level detection result.
Further, still include:
and the calibration devices are arranged on two banks of the riverway to be calibrated and used for assisting in realizing the calibration of the video acquisition device.
The water level detection method provided by the invention is based on non-contact water level detection, so that the interference of stains, settled sand, floaters and the like can be avoided, and the water level detection method has the advantage of reliable detection; in addition, the water level detection method is based on visual measurement, the water level precision can be adjusted according to the resolution of the video acquisition device, so that various visual acquisition systems can be flexibly adapted, auxiliary equipment except the video acquisition device is not needed, the installation complexity can be reduced, and noise caused by human factors can be reduced. Finally, the water level detection method provided by the embodiment of the invention is a water level weighted convolution network based on multi-frame videos, and the convolution network can flexibly adapt to most water level measurement application scenes through continuous water level data training in multiple scenes, and simultaneously ensures high water level accuracy.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a water level detection method according to the present invention.
Fig. 2 is a schematic diagram of calibration of the video capture device provided by the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present embodiment, a water level detection method is provided, and fig. 1 is a flowchart of a water level detection method according to an embodiment of the present invention, as shown in fig. 1, including:
s110, acquiring water level video information;
it should be understood that the video information of the water level of the river channel may be collected by a video capture device, and in some embodiments, the video capture device may be a camera.
S120, performing image processing on the water level video information to obtain a processed water level image;
specifically, the image processing of the collected water level video information may specifically include extracting water level features from the water level video information in a multi-scale manner, and obtaining a plurality of water level images with the water level features.
It should be noted that the multi-scale mode in the embodiment of the present invention specifically represents a multi-scale algorithm, that is, a multi-scale image processing method is used to extract water level features, for example, for a multi-frame image of a video, after each frame of image is scaled N times, each frame of image corresponds to N +1 images, where the N +1 images have a name of an object with N +1 scales, and the feature of the object can be extracted from the N +1 images, and then there are N +1 features. Therefore, when an object is close to or far away from the camera, good characteristics can be obtained even if the imaging sizes are different.
S130, detecting the water level in the water level image according to a water level detection algorithm to obtain a water level detection result;
specifically, an activation thermodynamic diagram is obtained by a convolution operation in a parameter space;
determining a maximum activation point in the activation thermodynamic diagram;
and obtaining the water line through inverse Hough transformation.
It should be understood that the water level detection algorithm in the embodiment of the present invention may specifically be a deep learning Hough straight line detection algorithm.
It should be noted that the parameter space is specifically a parameter space obtained by transforming a straight line through Hough, and the activation thermodynamic diagram specifically indicates that a point where a detected target straight line is located is displayed through a high-brightness region.
After the water level detection result is obtained, in order to ensure the accuracy of the water level detection result, the method further comprises the step of correcting the water level detection result.
Specifically, an activation thermal map in a parameter space acquired by multiple frames is combined to form a characteristic tensor;
and obtaining an activation thermodynamic diagram through a convolution network according to the characteristic tensor so as to obtain a multi-frame weighted water level detection result.
It should be understood that the correction algorithm is used for realizing accurate processing of the water level detection result, the obtained water level accuracy is higher than that of water level data after Kalman filtering, and meanwhile, excessive calculation amount is not increased, so that the transplantation of an embedded system is facilitated.
And S140, sending the water level detection result to an upper computer.
It should be understood that after the water level detection result is obtained, the water level detection result is sent to an upper computer for data display or fusion with other information.
In summary, the water level detection method provided by the embodiment of the invention is based on non-contact water level detection, so that the method can not be interfered by dirt, settled sand, floating objects and the like, and has the advantage of reliable detection; in addition, the water level detection method is based on visual measurement, the water level precision can be adjusted according to the resolution of the video acquisition device, so that various visual acquisition systems can be flexibly adapted, auxiliary equipment except the video acquisition device is not needed, the installation complexity can be reduced, and noise caused by human factors can be reduced. Finally, the water level detection method provided by the embodiment of the invention is a water level weighted convolution network based on multi-frame videos, and the convolution network can flexibly adapt to most water level measurement application scenes through continuous water level data training in multiple scenes, and simultaneously ensures high water level accuracy.
In the embodiment of the invention, in order to improve the acquisition of the water level video information, the video acquisition device needs to be calibrated first.
Specifically, the water level detection method further includes, before the step of acquiring water level video information:
and carrying out initialization calibration on the video acquisition device.
Further specifically, the initializing and calibrating the video acquisition device includes:
acquiring water level video information of a river channel to be calibrated, wherein two identical calibration plates are respectively placed on two river banks of the river channel to be calibrated, a laser projection device is placed on the calibration plate on the first river bank, and the calibration plate on the second river bank can receive projection of the laser projection device;
acquiring corner point information on a calibration plate of a first river bank according to the water level video information of the river channel to be calibrated and determining a translation vector from the first river bank to the second river bank;
determining a rotation matrix and a translation vector according to the angular point information on the calibration plate of the first river bank;
obtaining a projection matrix according to the rotation matrix, the translation vector and an internal reference matrix calibrated by internal reference;
and determining the projection relation from the point of the first river bank under the world coordinate system to the point of the first river bank under the camera coordinate system according to the translation vector from the first river bank to the second river bank and the projection matrix.
In the embodiment of the present invention, the video capture device is described by taking a camera as an example.
As shown in fig. 2, for the convenience of calibration, a set of laser projection devices is adopted, two completely identical calibration plates are respectively placed on a first river bank a and a second river bank B, a laser projection device is vertically arranged on each checkerboard angular point on four corners of a calibration plate of the first river bank A surface, four laser projection devices are arranged, when the checkerboards are arranged to be horizontally aligned with the first river bank A, the laser projection devices project from the first river bank A surface, controlling a group of projection spots on four corner points on the calibration plate of the second river bank B by adjusting the position of the calibration plate of the second river bank B, thus ensuring the horizontal translation relation between the calibration plates, the camera of the B surface of the second river bank collects the angular point information of the calibration plates, automatically searches angular points, calculates the rotation matrix R and the translation vector t, meanwhile, the camera obtains an internal reference matrix K through a previous internal reference calibration, so that a matrix M ═ K [ R | t ] is obtained.]At the same time, by measuring the translation vector t from the first bank A to the second bank B2The projection relationship from the point in the world coordinate system of the first river bank a to the point in the camera pixel coordinate system can be calculated: pp＝MPw。
In the projection relationship, M represents an affine matrix, K represents an internal reference matrix, R represents a rotation matrix, t represents a translation vector, and P representspRepresenting pixel coordinates, PwRepresenting world coordinates.
Therefore, the embodiment of the invention adopts the method of solving the homography transformation matrix by corresponding the coordinates under the world coordinate system and the camera pixel coordinates. The calibration mode has the advantages of convenience and simplicity, and multiple times of calibration are not needed.
As another embodiment of the present invention, there is provided a water level detecting apparatus including:
the acquisition module is used for acquiring water level video information;
the image processing module is used for carrying out image processing on the water level video information to obtain a processed water level image;
the water level detection module is used for detecting the water level in the water level image according to a water level detection algorithm to obtain a water level detection result;
and the communication module is used for sending the water level detection result to an upper computer.
For the water level detection device provided in the embodiment of the present invention, the specific working principle thereof can refer to the foregoing description of the water level detection method, and details are not repeated here.
As another embodiment of the present invention, there is provided a water level detecting system, including:
the video acquisition device is used for acquiring water level video information;
the water level detection device is in communication connection with the video acquisition device and is used for performing image processing and water level detection algorithm processing according to the water level video information to obtain a water level detection result;
and the upper computer is in communication connection with the water level detection device and is used for receiving and displaying the water level detection result.
It should be understood that, the water level detection system provided by the embodiment of the invention adopts the water level detection device in the foregoing and is based on non-contact water level detection, so that the system is free from interference of dirt, sand sediment, floating objects and the like and has the advantage of reliable detection; in addition, the water level detection system is based on visual measurement, the water level precision can be adjusted according to the resolution ratio of the video acquisition device, so that various visual acquisition systems can be flexibly adapted, auxiliary equipment except the video acquisition device is not needed for the water level detection system, the installation complexity can be reduced, and noise caused by human factors is reduced. Finally, the water level detection system provided by the embodiment of the invention is a water level weighted convolution network based on multi-frame video, and the convolution network can flexibly adapt to most water level measurement application scenes through continuous water level data training in multiple scenes, and simultaneously ensures high water level accuracy.
It should be noted that the video capture device may specifically be a camera.
In addition, the water level detection device can be specifically realized by water level detection software.
The upper machine body can be a background control center and the like.
Specifically, the method further comprises the following steps:
and the calibration devices are arranged on two banks of the riverway to be calibrated and used for assisting in realizing the calibration of the video acquisition device.
The calibration device in the embodiment of the invention can comprise calibration plates arranged on two sides of a river channel and laser projection devices arranged on the calibration plates.
The specific working principle can refer to the description of the water level detection method, and is not described herein again.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A water level detection method, comprising:
acquiring water level video information;
performing image processing on the water level video information to obtain a processed water level image;
detecting the water level in the water level image according to a water level detection algorithm to obtain a water level detection result;
and sending the water level detection result to an upper computer.
2. The method for detecting water level according to claim 1, wherein the image processing the water level video information to obtain a processed water level image comprises:
and extracting water level characteristics from the water level video information in a multi-scale mode to obtain a plurality of water level images with the water level characteristics.
3. The method for detecting water level according to claim 1, wherein the detecting the water level in the water level image according to a water level detection algorithm to obtain a water level detection result comprises:
obtaining an activation thermodynamic diagram through a convolution operation in a parameter space;
determining a maximum activation point in the activation thermodynamic diagram;
and obtaining the water line through inverse Hough transformation.
4. The water level detection method according to claim 3, further comprising:
and correcting the water level detection result.
5. The method for detecting water level according to claim 4, wherein the correcting the water level detection result comprises:
combining activated thermal maps in a parameter space acquired by multiple frames to form a characteristic tensor;
and obtaining an activation thermodynamic diagram through a convolution network according to the characteristic tensor so as to obtain a multi-frame weighted water level detection result.
6. The water level detection method according to any one of claims 1 to 5, further comprising, before the step of acquiring the water level video information:
and carrying out initialization calibration on the video acquisition device.
7. The method for detecting water level according to claim 6, wherein the initializing calibration of the video collecting device comprises:
acquiring water level video information of a river channel to be calibrated, wherein two identical calibration plates are respectively placed on two river banks of the river channel to be calibrated, a laser projection device is placed on the calibration plate on the first river bank, and the calibration plate on the second river bank can receive projection of the laser projection device;
acquiring corner point information on a calibration plate of a first river bank according to the water level video information of the river channel to be calibrated and determining a translation vector from the first river bank to the second river bank;
determining a rotation matrix and a translation vector according to the angular point information on the calibration plate of the first river bank;
obtaining a projection matrix according to the rotation matrix, the translation vector and an internal reference matrix calibrated by internal reference;
and determining the projection relation from the point of the first river bank under the world coordinate system to the point of the first river bank under the camera coordinate system according to the translation vector from the first river bank to the second river bank and the projection matrix.
8. A water level detection apparatus, comprising:
the acquisition module is used for acquiring water level video information;
the image processing module is used for carrying out image processing on the water level video information to obtain a processed water level image;
the water level detection module is used for detecting the water level in the water level image according to a water level detection algorithm to obtain a water level detection result;
and the communication module is used for sending the water level detection result to an upper computer.
9. A water level detection system, comprising:
the video acquisition device is used for acquiring water level video information;
the water level detection device of claim 8, communicatively connected to the video capture device, and configured to perform image processing and water level detection algorithm processing according to the water level video information to obtain a water level detection result;
and the upper computer is in communication connection with the water level detection device and is used for receiving and displaying the water level detection result.
10. The water level detection system of claim 9, further comprising:
and the calibration devices are arranged on two banks of the riverway to be calibrated and used for assisting in realizing the calibration of the video acquisition device.
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