CN115014701A - Water and underwater topography integrated measuring device and method for indoor erosion and deposition test - Google Patents
Water and underwater topography integrated measuring device and method for indoor erosion and deposition test Download PDFInfo
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Abstract
The invention discloses an integrated measuring device and method for an indoor erosion test water and underwater topography, which are characterized in that the proportion is reduced according to the actual topography of a river channel, and silt plastering manufacture is carried out in a test water tank according to the reduced simulated river channel topography; applying water flow conditions, reducing the flow speed of the water flow to zero after the test is finished, and waiting for the sediment in the water to settle; measuring the height ha between the ultrasonic liquid level meter and the near-infrared depth camera from the water surface by using the ultrasonic liquid level meter; the near-infrared depth camera is driven to measure an underwater original terrain point cloud data set O (x 0, y0, z 0) on the water in a measurement area at one time through the movement of the instrument support; and importing the point cloud data set into a three-dimensional data display program to obtain an indoor test erosion and deposition topographic cloud map. The invention provides a device and a method for integrally measuring water and underwater topography of an indoor erosion and deposition test, which have the advantages of self-correction of data, high precision, convenience and high efficiency.
Description
Technical Field
The invention relates to a device and a method for measuring terrain in an indoor erosion and deposition test, in particular to a device and a method for integrally measuring the terrain above water and under water in the indoor erosion and deposition test.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
An indoor sediment erosion physical model test is an important research means for researching the influence of wading engineering on river channel erosion and the safety of a local scouring structure of the wading engineering. In the experiment, the riverbed terrain scouring and silting conditions of the simulated riverway need to be measured so as to obtain an accurate scouring and silting amplitude value. At present, for measuring indoor erosion test landforms, ultrasonic waves or optical ranging principles are generally adopted for measurement. However, since propagation properties of ultrasonic waves, optical waves, or the like in different media are different, it is common in the topographic measurement of physical tests to perform a single-point or a certain range of measurements in a single medium. But sometimes the situation exists simultaneously in the test process of the topography of the over-water silting beach land and the topography of the underwater scouring river channel. The traditional method is adopted to measure the terrain, all water needs to be drained, and then the unified measurement is carried out, but the drainage process is long in time consumption, and the working efficiency is low.
It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. These solutions are not considered to be known to the person skilled in the art merely because they are set forth in the background section of the present application.
Disclosure of Invention
The invention aims to provide a device and a method for integrally measuring the water and underwater topography of an indoor erosion test, which are self-correcting in data, high in precision, convenient and fast, and efficient.
The technical scheme adopted by the invention for realizing the purpose is as follows:
an integrated measurement method for the topography above and under water in an indoor erosion test,
s1: carrying out scale reduction according to the actual topography of the river channel, and carrying out silt plastering in a test water tank according to the reduced topography of the river channel to manufacture a simulated riverbed;
s2: applying water flow conditions, reducing the flow speed of the water flow to zero after the test is finished, and waiting for the sediment in the water to settle;
s3: measuring the height ha between the ultrasonic liquid level meter and the near-infrared depth camera from the water surface by using the ultrasonic liquid level meter;
s4: the near-infrared depth camera is driven to measure an underwater original terrain point cloud data set O (x 0, y0, z 0) on the water in a measurement area at one time through the movement of the instrument support;
s5: and importing the point cloud data set into a three-dimensional data display program to obtain an indoor test erosion and deposition topographic cloud map.
Compared with the existing traditional ultrasonic or laser ranging method, the method can only realize point-by-point measurement of the indoor erosion test terrain under the condition of single medium, has high requirement on the measurement environment, and can realize full-range terrain measurement only by moving the measurement point-by-point aiming at the measurement area; in addition, the near-infrared depth camera is driven by the instrument support to move and shoot, the whole measurement process is efficient and rapid, and the experiment efficiency is improved on the premise of not reducing the experiment quality; in addition, the device does not need to be calibrated, the whole device can be directly used after being moved, and the portability of the whole device is improved.
Furthermore, different model sands can be selected at different positions of the simulated riverbed, and the model sands comprise sticky sands and non-sticky sands, so that different sediments of the actual terrain of the riverway are simulated, and the accuracy of the whole experimental method on the specific experimental terrain is improved. Furthermore, sodium chloride with different concentrations can be doped at different positions of the simulated riverbed, so that the salinity of the water body of different water sections of the riverway is simulated, and the sedimentation velocity of the sediment is directly related to the salinity of the water body.
According to one embodiment of the invention, an overwater and underwater original terrain point cloud data set O (x 0, y0, z 0) collected by a near infrared depth camera is classified, and the overwater terrain point cloud data O1 (x 0, y0, z 0) with z0< ha is directly used; for the underwater terrain point cloud data O2 (x 0, y0, z 0) of z0> ha, correcting the underwater terrain point cloud data O2 (x 0, y0, z 0) through a correction formula according to the light propagation property difference in water and air media to obtain a corrected underwater terrain point cloud data set O3 (x 1, y1, z 1);
and combining the corrected underwater terrain point cloud data set O3 (x 1, y1 and z 1) with the original overwater terrain point cloud data set O1 (x 0, y0 and z 0) to obtain an accurate overwater and underwater point cloud data set O4 (x 1, y1 and z 1), and importing the point cloud data set O4 into a three-dimensional data display program.
Since light rays can be refracted, reflected and absorbed when passing through different media, measurement of the infrared depth camera is affected, and therefore point cloud data of different positions of a simulated riverbed need to be classified and corrected, namely a point cloud data set O (x 0, y0, z 0) of an underwater and water original terrain acquired by a near-infrared depth camera is classified. When z0 is less than ha, water terrain point cloud data O1 (x 0, y0, z 0) are obtained, at the moment, light rays entering an infrared depth camera to form images do not penetrate through different media, so that the light rays cannot be refracted, and then the light rays cannot be absorbed by the passing media in a relatively short travel path, so that the water terrain point cloud data O1 (x 0, y0, z 0) can be directly used without correction; when z0 is greater than ha, obtaining underwater terrain point cloud data O2 (x 0, y0, z 0), wherein light rays emitted into an infrared depth camera to form images can penetrate through a water body and air, refraction, reflection and other phenomena can occur to the light rays, the propagation of the light rays can be influenced, and further the data measured and calculated in an experiment can be influenced, so that the underwater terrain point cloud data O2 (x 0, y0, z 0) needs to be corrected through a correction formula, and an accurate underwater terrain point cloud data set O3 (x 1, y1, z 1) is obtained, so that excessive influence of errors on a erosion and deposition test is prevented, and the accuracy of the whole device is improved. By classifying the original terrain point cloud data set, the burden of a processor on the analysis of the whole data is reduced, and the data processing and correcting efficiency is improved; meanwhile, the underwater topography point cloud data O2 (x 0, y0 and z 0) are corrected, and the measurement accuracy of the measuring device is further improved.
According to an embodiment of the present invention, the specific modification formula is as follows,
the underwater topography point cloud data O2 (x 0, y0 and z 0) are corrected through the correction formula, three-coordinate xyz of the underwater topography point cloud data can be effectively corrected, the problem of light propagation property difference in water and air is effectively solved, corrected coordinates are more accurate, misjudgment data caused by particles in water is avoided, the problem of interference of suspended particles in a water body is solved, and the accuracy of the obtained cloud image data is improved.
According to one embodiment of the invention, the ultrasonic liquid level meter and the near-infrared depth camera are consistent in relative height and keep a horizontal state.
Be in same height and keep the horizontality with ultrasonic wave level gauge and near-infrared degree of depth camera, be favorable to measuring the accuracy of ultrasonic wave level gauge, near-infrared degree of depth camera apart from the height of the surface of water through the ultrasonic wave level gauge, simultaneously can be after measuring device removes, directly carry out the measurement of height, and then make whole device use convenient.
An integrated measuring device for the topography above and under water in an indoor erosion test comprises,
the instrument support is arranged above the experimental water tank, and the periphery of the instrument support is connected with the experimental water tank through a sliding assembly;
the measuring component is arranged below the instrument bracket;
the device is characterized in that the measuring assembly comprises an ultrasonic liquid level meter and a near-infrared depth camera, and the ultrasonic liquid level meter and the near-infrared depth camera are connected with a computer through a liquid level meter data line and a depth camera data line respectively.
Model sand such as silt, plastic sand or sawdust and the like is arranged in the experimental water tank to manufacture a simulated riverbed, the simulated riverbed is manufactured according to the actual topography of the reduced riverway, and the simulated riverbed is arranged at the bottom of the water tank. And after the water flow condition is released, the water body impacts the simulated riverbed, and after the test is finished, the flow speed of the water flow is reduced to zero, and the sediment in the water is waited to be settled. After the sediment settlement in the water is completed, the height of the measuring component from the water surface can be measured by the ultrasonic level meter, and the height data of the measuring component is transmitted to a computer by the data line transmission of the level meter. The sliding component can drive the support to move in the horizontal direction, the instrument support moves to drive the near-infrared depth camera to measure the underwater original terrain point cloud data set in the measuring area at one time, the underwater original terrain point cloud data set on the water can be transmitted to the computer through the depth camera data line, and the computer can analyze and calculate the transmitted height data and the underwater original terrain point cloud data set on the water. And importing the point cloud data set data into a three-dimensional data display program to obtain an indoor experimental erosion and deposition topographic cloud map so as to obtain an accurate erosion and deposition amplitude value.
Drawings
FIG. 1 is a schematic view of an integrated measurement apparatus for measuring topography above and below water for an indoor erosion-deposition test in embodiment 1;
FIG. 2 is a cross-sectional view of the glide assembly of embodiment 2;
FIG. 3 is a cross-sectional view of a first sliding substrate in example 2.
Reference numerals: the device comprises an instrument support 1, an experimental water tank 2, a sliding assembly 3, a measuring assembly 4, an ultrasonic liquid level meter 41, a liquid level meter data line 42, a near-infrared depth camera 43, a depth camera data line 44, a computer 5 and a simulated river channel 6.
Detailed Description
The technical scheme of the invention is further described in detail by combining the detailed description and the attached drawings:
example 1:
an integrated measurement method for the topography above and under water in an indoor erosion test,
s1: carrying out scale reduction according to the actual topography of the river channel, and carrying out silt plastering in a test water tank according to the reduced topography of the river channel to manufacture a simulated riverbed;
s2: applying water flow conditions, reducing the flow speed of the water flow to zero after the test is finished, and waiting for the sediment in the water to settle;
s3: and the height ha of the ultrasonic liquid level meter 41 and the near-infrared depth camera 43 from the water surface is measured by the ultrasonic liquid level meter 41;
s4: the near-infrared depth camera 43 is driven to measure an underwater original terrain point cloud data set O (x 0, y0, z 0) in the measurement area at one time by moving the instrument support 1;
s5: and importing the point cloud data set into a three-dimensional data display program to obtain an indoor test erosion and deposition topographic cloud map.
Compared with the existing traditional ultrasonic or laser ranging method, the method can only realize point-by-point measurement of the indoor erosion test terrain under the condition of single medium, has high requirement on the measurement environment, and can realize full-range terrain measurement only by moving the measurement point-by-point aiming at the measurement area; in addition, the near-infrared depth camera 43 is driven by the instrument support 1 to move and shoot, the whole measurement process is efficient and quick, the time consumed by a single measurement is less than 1 minute, and the experiment efficiency is improved on the premise of not reducing the experiment quality; in addition, the device does not need to be calibrated, and the whole device can be directly used after being moved, so that the portability of the whole device is improved; meanwhile, the integrated erosion and deposition test topographic survey device can realize the integrated erosion and deposition test topographic survey within the range of 4 mx 8m at most, the number of the measured point clouds can reach 100 ten thousand, and the measurement precision in the vertical direction is controlled within 2 mm.
Furthermore, different model sands can be selected at different positions of the simulated riverbed, and the model sands comprise sticky sands and non-sticky sands, so that different sediments of the actual terrain of the riverway are simulated, and the accuracy of the whole experimental method on the specific experimental terrain is improved. Furthermore, sodium chloride with different concentrations can be doped at different positions of the simulated riverbed, so that the salinity of the water body of different water sections of the riverway 6 is simulated, and the sedimentation velocity of the sediment is directly related to the salinity of the water body, so that the invention adopts the Hu et al (2009) arrangement, flocculation occurs when the salinity exceeds 8 pus, the sedimentation velocity reaches the maximum (5 mm/s), and the accuracy of the whole device for measuring the specific experimental terrain is further improved.
Classifying the overwater and underwater original terrain point cloud data set O (x 0, y0, z 0) acquired by the near infrared depth camera 43, and directly using the overwater terrain point cloud data O1 (x 0, y0, z 0) of z0< ha; for the underwater terrain point cloud data O2 (x 0, y0, z 0) of z0> ha, correcting the underwater terrain point cloud data O2 (x 0, y0, z 0) through a correction formula according to the light propagation property difference in water and air media to obtain a corrected underwater terrain point cloud data set O3 (x 1, y1, z 1);
and combining the corrected underwater terrain point cloud data set O3 (x 1, y1 and z 1) with the original overwater terrain point cloud data set O1 (x 0, y0 and z 0) to obtain an accurate overwater and underwater point cloud data set O4 (x 1, y1 and z 1), and importing the point cloud data set O4 into a three-dimensional data display program.
Since the light rays are refracted, reflected and absorbed when passing through different media, and the like, the measurement of the infrared depth camera is affected, and then the point cloud data of different positions of the simulated riverbed needs to be classified and corrected, that is, the point cloud data set O (x 0, y0, z 0) of the underwater and water original terrain acquired by the near-infrared depth camera 43 is classified. When z0 is less than ha, water terrain point cloud data O1 (x 0, y0, z 0) are obtained, at the moment, light rays entering an infrared depth camera to form images do not penetrate through different media, so that the light rays cannot be refracted, and then the light rays cannot be absorbed by the passing media in a relatively short travel path, so that the water terrain point cloud data O1 (x 0, y0, z 0) can be directly used without correction; when z0 is greater than ha, obtaining underwater terrain point cloud data O2 (x 0, y0, z 0), wherein light rays emitted into an infrared depth camera to form images can penetrate through a water body and air, refraction, reflection and other phenomena can occur to the light rays, the propagation of the light rays can be influenced, and further the data measured and calculated in an experiment can be influenced, so that the underwater terrain point cloud data O2 (x 0, y0, z 0) needs to be corrected through a correction formula, and an accurate underwater terrain point cloud data set O3 (x 1, y1, z 1) is obtained, so that excessive influence of errors on a erosion and deposition test is prevented, and the accuracy of the whole device is improved. By classifying the original terrain point cloud data set, the burden of a processor on the analysis of the whole data is reduced, and the data processing and correcting efficiency is improved; meanwhile, the underwater topography point cloud data O2 (x 0, y0 and z 0) are corrected, and the measurement accuracy of the measuring device is further improved.
The concrete correction formula is as follows,
the underwater topography point cloud data O2 (x 0, y0 and z 0) are corrected through the correction formula, three-coordinate xyz of the underwater topography point cloud data can be effectively corrected, the problem of light propagation property difference in water and air is effectively solved, the corrected coordinates are more accurate, misjudgment data caused by the existence of particles in the water is avoided, the problem of interference of the suspended particles in the water is solved, and the accuracy of the obtained cloud picture data is improved.
As shown in FIG. 1, the ultrasonic level meter 41 and the near infrared depth camera 43 are relatively level and kept horizontal.
Be in same height and keep the horizontality with ultrasonic wave level gauge 41 and near-infrared depth camera 43, be favorable to measuring the accuracy of ultrasonic wave level gauge 41, near-infrared depth camera 43 apart from the height of surface of water through ultrasonic wave level gauge 41, simultaneously can be after measuring device removes, directly carry out the measurement of height, and then make whole device use convenient.
As shown in figure 1, an integrated measuring device for indoor erosion test water and underwater topography comprises,
the device comprises an instrument support 1, wherein the instrument support 1 is arranged above an experimental water tank 2, and the periphery of the instrument support 1 is connected with the experimental water tank 2 through a sliding assembly 3;
the measuring component 4 is arranged and connected below the instrument bracket 1;
the measuring assembly 4 is characterized by comprising an ultrasonic liquid level meter 41 and a near infrared depth camera 43, wherein the ultrasonic liquid level meter 41 and the near infrared depth camera 43 are respectively connected with the computer 5 through a liquid level meter data line 42 and a depth camera data line 44.
The experimental water tank 2 is provided with model sand such as silt, plastic sand or wood chips to manufacture a simulated riverbed, the simulated riverbed is manufactured according to the actual topography of the reduced riverway, and the simulated riverbed is arranged at the bottom of the water tank. And after the water flow condition is released, the water body impacts the simulated riverbed, and after the test is finished, the flow speed of the water flow is reduced to zero, and the sediment in the water is waited to be settled. After sediment settlement in water is completed, the height of the measuring component 4 from the water surface can be measured by the ultrasonic liquid level meter 41, and the height data of the measuring component 4 is transmitted to the computer 5 through the data line 42 of the liquid level meter. The sliding component 3 can drive the support to move horizontally, the near-infrared depth camera 43 is driven by the instrument support 1 to measure the underwater and above water original terrain point cloud data set in the measuring area at one time, the data of the underwater and above water original terrain point cloud data set is transmitted to the computer 5 through the depth camera data line 44, and the computer 5 analyzes and calculates the transmitted height data and the underwater and above water original terrain point cloud data set. And importing the point cloud data set data into a three-dimensional data display program to obtain an indoor experimental erosion and deposition topographic cloud map so as to obtain an accurate erosion and deposition amplitude value.
Example 2:
fig. 2 and 3 schematically show an integrated measurement device for indoor silt flushing test water and underwater topography according to another embodiment of the invention, which is different from the embodiment 1 in that:
the sliding assembly 3 comprises a first fixed base body, a second fixed base body is arranged in the first fixed base body, first sliding rods are arranged on the upper and lower sections of the second fixed base body respectively, extending rubber strips are arranged on the side portions of the first sliding rods in an extending mode, sliding parts are arranged on the opposite sides of the two first sliding rods and comprise a first sliding base body and a second sliding base body, the second sliding base body is connected with the instrument support 1, and the second sliding base body and the instrument support 1 are driven to move by the contact sliding of the upper end and the lower end of the first sliding base body and the first sliding rods;
the first sliding base body comprises a third connecting base plate, two ends of the third connecting base plate are provided with bent second connecting base plates, one ends of the second connecting base plates, far away from the third connecting base plate, are provided with first connecting base plates, bent portions of the second connecting base plates are clamped with the second sliding base body, and the first connecting base plates are matched with the first sliding rods;
the two sides of the top of the experimental water tank 2 are provided with first fixed base bodies which are symmetrically and oppositely arranged.
Furthermore, a plurality of first rubber strips are arranged between the first sliding base body and the second sliding base body.
Furthermore, the instrument holder 1 is driven to move along the radial direction by a hydraulic rod, for example, the hydraulic rod with the same extension stroke is arranged on the same side of the upper end of the experimental water tank 2 and connected with the instrument holder 1, so as to control the instrument holder 1 to slide.
Through the arrangement of the sliding component 3 and the hydraulic rod, the instrument support 1 can be pushed to slide through the hydraulic rod, so that the first sliding base body and the second sliding base body are driven to move relative to the first sliding rod, and further, the instrument on the instrument support 1 can move stably, and the first fixing base body and the second fixing base body on the two sides can effectively ensure that the horizontal heights of the two ends of the instrument support 1 are kept consistent, so that the possibility that equipment is cheap downwards due to gravity at the rear end of the hydraulic rod which is too long in extension is avoided, and the accuracy of data acquisition of detection equipment on the instrument support 1 is further ensured; in addition, through the design of the first sliding base body and the second sliding base body, the clamping connection between the second sliding base body and the first sliding base body can be realized, the second sliding base body and the first sliding base body are directly arranged in an interval space, a plurality of first rubber strips are arranged in the interval space, the impact force generated at the moving moment or the stopping moment of the instrument support 1 can be transmitted to the second sliding base body through the arrangement of the first rubber strips, the impact force is absorbed through the friction or the displacement of the second sliding base body and the first sliding base body and the displacement or the deformation of the first rubber strips on the upper portion of the second sliding base body and the first sliding base body, and then the data accuracy and the error-free judgment condition when the equipment moves or stops are realized; in addition, the shake in the moving process of the instrument support 1 can be transmitted to the second sliding base body, and is absorbed by the friction or displacement between the second sliding base body and the first sliding base body and the displacement or deformation of the first rubber strip on the second sliding base body and the first rubber strip, so that the instrument is constantly in a horizontal displacement and shake-free state in the moving process; in addition, through the mode that sets up the extension adhesive tape in first slide bar side, realized first slide bar bottom surface and the contact of first base member that slides and guaranteed the effect of sliding, and the rubber strip that extends through both sides realizes filling the entering that first slide bar surrounding space reduces impurity such as particulate matter and disturbs and sliding member's wearing and tearing to sliding, the design of better extension rubber strip can reduce the possibility of first base member and the fixed base member separation of second that slides, and when instrument support 1 removes to start or stop, extend the buffering effect that rubber can play the preferred.
The embodiments described above are intended to illustrate the technical solutions of the present invention in detail, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modification, supplement or similar substitution made within the scope of the principles of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An integrated measurement method for the topography above and under water in an indoor erosion test,
s1: the scale is reduced according to the actual topography of the river channel, and silt plastering manufacture is carried out in a test water tank according to the reduced topography of the simulated river channel (6);
s2: applying water flow conditions, reducing the flow speed of the water flow to zero after the test is finished, and waiting for the sediment in the water to settle;
s3: the height ha between the ultrasonic liquid level meter (41) and the water surface and between the near-infrared depth camera (43) and the water surface are measured by the ultrasonic liquid level meter (41);
s4: the near-infrared depth camera (43) is driven to measure an underwater original terrain point cloud data set O (x 0, y0, z 0) on the water in the measurement area at one time through the movement of the instrument support (1);
s5: and importing the point cloud data set into a three-dimensional data display program to obtain an indoor test erosion and deposition topographic cloud map.
2. The integrated measurement method for the water and underwater topography of the indoor erosion and deposition test is characterized in that a water and underwater original topography point cloud data set O (x 0, y0, z 0) collected by a near infrared depth camera (43) is classified, and the water and underwater topography point cloud data O1 (x 0, y0, z 0) of z0< ha is directly used; for the underwater terrain point cloud data O2 (x 0, y0, z 0) of z0> ha, correcting the underwater terrain point cloud data O2 (x 0, y0, z 0) through a correction formula according to the light propagation property difference in water and air media to obtain a corrected underwater terrain point cloud data set O3 (x 1, y1, z 1);
and combining the corrected underwater terrain point cloud data set O3 (x 1, y1 and z 1) with the original overwater terrain point cloud data set O1 (x 0, y0 and z 0) to obtain an accurate overwater and underwater point cloud data set O4 (x 1, y1 and z 1), and importing the point cloud data set O4 into a three-dimensional data display program.
3. The integrated measurement method for the above-water and underwater topography of the indoor erosion and deposition test according to claim 2, characterized in that the concrete correction formula is as follows,
4. the integrated measurement method for the underwater and water terrain in indoor silt flushing test is characterized in that the ultrasonic liquid level meter (41) and the near-infrared depth camera (43) are consistent in relative height and are kept in a horizontal state.
5. An integrated measuring device for the topography above and under water in an indoor erosion test comprises,
the device comprises an instrument support (1), wherein the instrument support (1) is arranged above an experimental water tank (2), and the periphery of the instrument support (1) is connected with the experimental water tank (2) through a sliding assembly (3);
the measuring component (4), the measuring component (4) is arranged below and connected to the instrument support (1);
the ultrasonic liquid level meter is characterized in that the measuring component (4) comprises an ultrasonic liquid level meter (41) and a near-infrared depth camera (43), and the ultrasonic liquid level meter (41) and the near-infrared depth camera (43) are connected with the computer (5) through a liquid level meter data line (42) and a depth camera data line (44) respectively.
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