CN115014701B - Integrated measuring device and method for underwater topography in indoor flushing test - Google Patents
Integrated measuring device and method for underwater topography in indoor flushing test Download PDFInfo
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Abstract
The invention discloses an integrated measuring device and method for underwater topography in an indoor flushing test, which are characterized in that the device and method are scaled down according to the actual topography of a river channel, and sediment plastering is manufactured in a test water tank according to the scaled down simulated topography of the river channel; setting water flow conditions, reducing the water flow speed to zero after the test is finished, and waiting for sediment in water to settle; measuring the height ha of the ultrasonic liquid level meter and the near infrared depth camera from the water surface by utilizing the ultrasonic liquid level meter; driving a near infrared depth camera to measure an original topography point cloud data set O (x 0, y0, z 0) on water and under water in a measurement area at one time through the movement of an instrument bracket; and importing the point cloud data set into a three-dimensional data display program to obtain the cloud image of the erosion and deposition terrain of the indoor test. The invention provides a device and a method for measuring the underwater topography on water in an indoor erosion and deposition test in an integrated manner, which are high in data self-correction, high in precision, convenient and efficient.
Description
Technical Field
The invention relates to a topography measuring device and method for an indoor dredging test, in particular to an on-water and underwater topography integrated measuring device and method for the indoor dredging test.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The indoor sediment flushing physical model test is an important research means for researching the influence of the wading engineering on the river flushing and the safety of the local flushing structure of the wading engineering. In the test, the river bed topography siltation condition of the simulated river needs to be measured so as to obtain an accurate siltation amplitude value. At present, the measurement of the topography of an indoor flushing test is generally carried out by adopting an ultrasonic wave or optical ranging principle. However, due to the differences in propagation properties of ultrasound waves, optics, etc. in different media, it is common in physical test topography to make single point or range measurements in the case of single media. However, in the test process, the situation that the topography of the water pool and the topography of the underwater scour river channel exist simultaneously sometimes exists. The conventional method is adopted to measure the topography, and the uniform measurement is carried out after all water is drained, but the drainage process is long in time consumption and low in working efficiency.
It should be noted that the foregoing description of the background art is only for the purpose of facilitating a clear and complete description of the technical solutions of the present application and for the convenience of understanding by those skilled in the art. The above-described solutions are not considered to be known to the person skilled in the art simply 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 measuring the topography integration on water and under water for an indoor erosion and deposition test, which have the advantages of self-correction of data, high precision, convenience and high efficiency.
The technical scheme adopted by the invention for achieving the purpose is as follows:
an integrated measurement method for the topography on water and under water in an indoor flushing test,
s1: scaling down according to the actual topography of the river channel, and plastering sediment in a test water tank according to the scaled down topography of the river channel to manufacture a simulated river bed;
s2: setting water flow conditions, reducing the water flow speed to zero after the test is finished, and waiting for sediment in water to settle;
s3: measuring the height ha of the ultrasonic liquid level meter and the near infrared depth camera from the water surface by utilizing the ultrasonic liquid level meter;
s4: driving a near infrared depth camera to measure an original topography point cloud data set O (x 0, y0, z 0) on water and under water in a measurement area at one time through the movement of an instrument bracket;
s5: and importing the point cloud data set into a three-dimensional data display program to obtain the cloud image of the erosion and deposition terrain of the indoor test.
Compared with the traditional ultrasonic or laser ranging method which can only realize the point-by-point measurement of the topography of the indoor dredging test under the condition of single medium, the method has high requirement on measurement environment, and can realize the full-range topography measurement by moving the measurement point by point aiming at a measurement area; in addition, the near infrared depth camera is driven to move and shoot through the instrument support, the whole measurement process is efficient and quick, and the experimental efficiency is improved on the premise that the experimental quality is not reduced; in addition, the device does not need to be calibrated, the whole device can be directly used after moving the position, and the portability of the whole device is improved.
Furthermore, different model sand can be selected at different positions of the simulated riverbed, and meanwhile, the model sand comprises viscous sand and non-viscous sand, so that sediment with different actual terrains of a river channel is simulated, and the accuracy of the whole experimental method on the specific experimental terrains is improved. Furthermore, sodium chloride with different concentrations can be doped at different positions of the simulated riverbed, so that the salinity of water bodies of different water sections of the riverway is simulated, and as sediment sedimentation speed is directly related to the salinity of the water bodies, the invention adopts the Hu et al (2009) setting, flocculation occurs when the salinity exceeds 8 pus, the sedimentation speed reaches the maximum (5 mm/s), and the accuracy of the whole device on specific experimental topography measurement is further improved.
According to the embodiment of the invention, an original water topography point cloud data set O (x 0, y0, z 0) acquired by a near infrared depth camera is classified, and water topography point cloud data O1 (x 0, y0, z 0) with z0< ha is directly used; for the underwater topography point cloud data O2 (x 0, y0, z 0) with z0> ha, according to the light propagation property difference in the water and air media, correcting the underwater topography point cloud data O2 (x 0, y0, z 0) through a correction formula and obtaining a corrected underwater topography point cloud data set O3 (x 1, y1, z 1);
and merging the corrected underwater topography point cloud data set O3 (x 1, y1, z 1) with the original underwater topography point cloud data set O1 (x 0, y0, z 0) to obtain an accurate underwater topography point cloud data set O4 (x 1, y1, z 1), and importing the point cloud data set O4 into a three-dimensional data display program.
Because the light rays can be refracted, reflected, absorbed and the like when passing through different media, the measurement of the infrared depth camera can be influenced, and then the point cloud data of different positions of the simulated riverbed are required to be classified and corrected, namely, the underwater original topography point cloud data set O (x 0, y0, z 0) collected by the near infrared depth camera is classified. When z0< ha, obtaining the water topography point cloud data O1 (x 0, y0, z 0), wherein the light rays imaged by the infrared depth camera do not pass through different media at the moment, so that the light rays do not have refraction phenomenon, the travelling path of the light rays is closer and cannot be absorbed by the passing media, and the water topography point cloud data O1 (x 0, y0, z 0) can be directly used without correction; when z0> ha, underwater topography point cloud data O2 (x 0, y0, z 0) are obtained, at the moment, light rays imaged by the infrared depth camera penetrate through water and air, refraction, reflection and other phenomena can occur on the light rays, propagation of the light rays can be affected, and further the data measured and calculated through experiments can be affected, so that the underwater topography point cloud data O2 (x 0, y0, z 0) are corrected through a correction formula, and an accurate underwater topography point cloud data set O3 (x 1, y1, z 1) is obtained, so that excessive influence of errors on a flushing and silting test is prevented, and accuracy of the whole device is improved. By classifying the original terrain point cloud data set, the burden of the processor on the whole data analysis is reduced, and the efficiency of data processing and correction is improved; meanwhile, the underwater topography point cloud data O2 (x 0, y0, z 0) is corrected, and the measurement accuracy of the measuring device is further improved.
According to one embodiment of the present invention, a specific correction formula is as follows,
the underwater topography point cloud data O2 (x 0, y0, z 0) is corrected through the correction formula, three coordinates xyz of the underwater topography point cloud data can be effectively corrected, the problem of difference of light propagation properties in water and air is effectively solved, the corrected coordinates are more accurate, misjudgment data caused by existence of particles in water is avoided, interference of suspended particles in a water body is overcome, and the obtained cloud image data accuracy is improved.
According to an embodiment of the invention, the ultrasonic liquid level meter and the near infrared depth camera are relatively consistent in height and kept in a horizontal state.
The ultrasonic liquid level meter and the near infrared depth camera are in the same height and keep in a horizontal state, accuracy of measuring the heights of the ultrasonic liquid level meter and the near infrared depth camera from the water surface through the ultrasonic liquid level meter is facilitated, and meanwhile, after the measuring device moves, the height measurement can be directly carried out, so that the whole device is convenient to use.
An integrated measuring device for the underwater topography on water in an indoor flushing test comprises,
the instrument bracket is arranged above the experiment water tank, and the periphery of the instrument bracket is connected with the experiment water tank through a sliding component;
the measuring assembly is arranged below the instrument bracket;
the ultrasonic liquid level meter and the near infrared depth camera are respectively connected with a computer through a liquid level meter data line and a depth camera data line.
The experimental water tank is provided with model sand such as silt, plastic sand or wood dust to manufacture a simulated river bed, the simulated river bed is manufactured according to the actual topography of the reduced river channel, and the simulated river bed is arranged at the bottom of the water tank. After the water flow condition is released, the water body can impact the simulated river bed, after the test is finished, the water flow speed is reduced to zero, and the sediment in the water is waited for completing sedimentation. After sediment in water subsides, the ultrasonic liquid level meter can be used for measuring the height of the measuring assembly from the water surface, and the data of the measuring assembly is transmitted to a computer through the data line transmission of the liquid 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 topography point cloud data set in the measuring area at one time, the data of the underwater original topography point cloud data set 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 topography point cloud data set. And the point cloud data set data is imported into a three-dimensional data display program, so that an indoor experimental dredging topography cloud chart can be obtained, and further an accurate dredging amplitude value can be obtained.
Drawings
FIG. 1 is a schematic view of an integral measurement device for the topography on water and under water in an indoor dredging test in embodiment 1;
FIG. 2 is a cross-sectional view of the slip assembly of example 2;
fig. 3 is a cross-sectional view of a first slip matrix in example 2.
Reference numerals: the device comprises an instrument support 1, an experiment 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 below with reference to the specific embodiments and the attached drawings:
example 1:
an integrated measurement method for the topography on water and under water in an indoor flushing test,
s1: scaling down according to the actual topography of the river channel, and plastering sediment in a test water tank according to the scaled down topography of the river channel to manufacture a simulated river bed;
s2: setting water flow conditions, reducing the water flow speed to zero after the test is finished, and waiting for sediment in water to settle;
s3: and the ultrasonic liquid level meter 41 and the near infrared depth camera 43 are used for measuring the height ha of the ultrasonic liquid level meter 41 and the near infrared depth camera 43 from the water surface;
s4: the near infrared depth camera 43 is driven to measure the original topography point cloud data set O (x 0, y0, z 0) of the water and the water in the measuring area at one time through the movement of the instrument bracket 1;
s5: and importing the point cloud data set into a three-dimensional data display program to obtain the cloud image of the erosion and deposition terrain of the indoor test.
Compared with the traditional ultrasonic or laser ranging method which can only realize the point-by-point measurement of the topography of the indoor dredging test under the condition of single medium, the method has high requirement on measurement environment, and can realize the full-range topography measurement by moving the measurement point by point aiming at a measurement area, the method can realize the integrated synchronous measurement of the topography on water and under water without draining water through the matching use of the ultrasonic liquid level meter 41 and the near infrared depth camera 43, greatly improves the measurement efficiency, simultaneously can prevent the damage of model sand of a simulated river bed in the draining process, and improves the measurement accuracy of the whole device; in addition, the near infrared depth camera 43 is driven to move and shoot by the instrument support 1, the whole measuring process is efficient and quick, the single measurement time is less than 1 minute, and the experimental efficiency is improved on the premise of not reducing the experimental quality; in addition, the device does not need to be calibrated, the whole device can be directly used after moving the position, and the portability of the whole device is improved; meanwhile, the invention can realize the topography measurement of the integrated dredging test within the maximum range of 4m x 8m, the number of the measuring point clouds can reach 100 ten thousand, and the measuring precision in the vertical direction is controlled within 2 mm.
Furthermore, different model sand can be selected at different positions of the simulated riverbed, and meanwhile, the model sand comprises viscous sand and non-viscous sand, so that sediment with different actual terrains of a river channel is simulated, and the accuracy of the whole experimental method on the specific experimental terrains is improved. Furthermore, sodium chloride with different concentrations can be doped at different positions of the simulated riverbed, so that the salinity of water bodies of different water sections of the riverway 6 is simulated, and as the sediment sedimentation speed is directly related to the salinity of the water bodies, the invention adopts the Hu et al (2009) setting, flocculation occurs when the salinity exceeds 8 pus, the sedimentation speed reaches the maximum (5 mm/s), and the accuracy of the whole device on specific experimental topography measurement is further improved.
Classifying the original water topography point cloud data set O (x 0, y0, z 0) acquired by the near infrared depth camera 43, and directly using the water topography point cloud data O1 (x 0, y0, z 0) with z0< ha; for the underwater topography point cloud data O2 (x 0, y0, z 0) with z0> ha, according to the light propagation property difference in the water and air media, correcting the underwater topography point cloud data O2 (x 0, y0, z 0) through a correction formula and obtaining a corrected underwater topography point cloud data set O3 (x 1, y1, z 1);
and merging the corrected underwater topography point cloud data set O3 (x 1, y1, z 1) with the original underwater topography point cloud data set O1 (x 0, y0, z 0) to obtain an accurate underwater topography point cloud data set O4 (x 1, y1, z 1), and importing the point cloud data set O4 into a three-dimensional data display program.
Because the light rays can be refracted, reflected, absorbed and the like when passing through different mediums, the measurement of the infrared depth camera can be influenced, and further, the point cloud data of different positions of the simulated riverbed needs to be classified and corrected, namely, the underwater original topography point cloud data set O (x 0, y0, z 0) collected by the near infrared depth camera 43 is classified. When z0< ha, obtaining the water topography point cloud data O1 (x 0, y0, z 0), wherein the light rays imaged by the infrared depth camera do not pass through different media at the moment, so that the light rays do not have refraction phenomenon, the travelling path of the light rays is closer and cannot be absorbed by the passing media, and the water topography point cloud data O1 (x 0, y0, z 0) can be directly used without correction; when z0> ha, underwater topography point cloud data O2 (x 0, y0, z 0) are obtained, at the moment, light rays imaged by the infrared depth camera penetrate through water and air, refraction, reflection and other phenomena can occur on the light rays, propagation of the light rays can be affected, and further the data measured and calculated through experiments can be affected, so that the underwater topography point cloud data O2 (x 0, y0, z 0) are corrected through a correction formula, and an accurate underwater topography point cloud data set O3 (x 1, y1, z 1) is obtained, so that excessive influence of errors on a flushing and silting test is prevented, and accuracy of the whole device is improved. By classifying the original terrain point cloud data set, the burden of the processor on the whole data analysis is reduced, and the efficiency of data processing and correction is improved; meanwhile, the underwater topography point cloud data O2 (x 0, y0, z 0) is corrected, and the measurement accuracy of the measuring device is further improved.
The specific correction formula is as follows,
the underwater topography point cloud data O2 (x 0, y0, z 0) is corrected through the correction formula, three coordinates xyz of the underwater topography point cloud data can be effectively corrected, the problem of difference of light propagation properties in water and air is effectively solved, the corrected coordinates are more accurate, misjudgment data caused by existence of particles in water is avoided, interference of suspended particles in a water body is overcome, and the obtained cloud image data accuracy is improved.
As shown in fig. 1, the ultrasonic level gauge 41 and the near infrared depth camera 43 are relatively uniform in height and maintained in a horizontal state.
The ultrasonic liquid level meter 41 and the near infrared depth camera 43 are positioned at the same height and kept in a horizontal state, the accuracy of measuring the heights of the ultrasonic liquid level meter 41 and the near infrared depth camera 43 from the water surface through the ultrasonic liquid level meter 41 is facilitated, meanwhile, the height measurement can be directly carried out after the measuring device moves, and the whole device is convenient to use.
As shown in fig. 1, an integrated measuring device for the topography on water and under water for an indoor dredging test comprises,
the device comprises an instrument bracket 1, wherein the instrument bracket 1 is arranged above an experiment water tank 2, and the periphery of the instrument bracket 1 is connected with the experiment water tank 2 through a sliding component 3;
a measuring assembly 4, wherein the measuring assembly 4 is arranged below the instrument bracket 1;
the measuring assembly 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 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 dust and the like to manufacture a simulated river bed, the simulated river bed is manufactured according to the actual topography of the reduced river channel, and the simulated river bed is arranged at the bottom of the water tank. After the water flow condition is released, the water body can impact the simulated river bed, after the test is finished, the water flow speed is reduced to zero, and the sediment in the water is waited for completing sedimentation. After sediment in water is settled, the height of the measuring assembly 4 from the water surface can be measured by the ultrasonic liquid level meter 41, and the height data of the measuring assembly 4 can be transmitted to the computer 5 by the liquid level meter data line 42. The sliding component 3 can drive the support to move horizontally, and the instrument support 1 is moved to drive the near infrared depth camera 43 to measure the underwater original topographic point cloud data set in the measuring area once, the data of the underwater original topographic point cloud data set can be transmitted to the computer 5 through the depth camera data line 44, and the computer 5 can analyze and calculate the transmitted height data and the underwater original topographic point cloud data set. And the point cloud data set data is imported into a three-dimensional data display program, so that an indoor experimental dredging topography cloud chart can be obtained, and further an accurate dredging amplitude value can be obtained.
Example 2:
fig. 2 and 3 schematically show an integrated measuring device for the topography on water and under water in an indoor dredging test according to another embodiment of the present invention, which is different from example 1 in that:
the sliding component 3 comprises a first fixed matrix, a second fixed matrix is arranged in the first fixed matrix, first sliding rods are respectively arranged at the upper section and the lower section of the second fixed matrix, extension rubber strips are arranged on the side of the first sliding rods in an extending mode, sliding parts are arranged on the opposite sides of the two first sliding rods, the sliding parts comprise a first sliding matrix and a second sliding matrix, the second sliding matrix is connected with the instrument bracket 1, and the second sliding matrix and the instrument bracket 1 are driven to move through contact sliding between the upper end and the lower end of the first sliding matrix and the first sliding rods;
the first sliding base body comprises a third connecting base plate, second connecting base plates which are bent are arranged at two ends of the third connecting base plate, a first connecting base plate is arranged at one end, far away from the third connecting base plate, of the second connecting base plate, the bent part of the second connecting base plate is clamped with the second sliding base body, and the first connecting base plate is arranged in a matched mode with the first sliding rod;
the two sides of the top of the experiment water tank 2 are provided with first fixing matrixes which are symmetrically and oppositely arranged.
Further, a plurality of first rubber strips are arranged between the first sliding base body and the second sliding base body.
Further, the device support 1 is driven to move along the radial direction by a hydraulic rod, for example, the hydraulic rod with consistent telescopic travel is arranged on the same side of the upper end of the experiment water tank 2 and is connected with the device support 1, so that the sliding of the device support 1 is controlled.
Through the arrangement of the sliding component 3 and the hydraulic rod, the instrument bracket 1 can be pushed to slide through the hydraulic rod, so that the first sliding matrix and the second sliding matrix are driven to move relative to the first sliding rod, the instrument on the instrument bracket 1 can move stably, the horizontal heights of the two ends of the instrument bracket 1 can be effectively guaranteed to be consistent through the first fixed matrix and the second fixed matrix on the two sides, the possibility that the equipment is cheaper downwards due to gravity at the rear end of the telescopic overlong hydraulic rod is avoided, and the accuracy of acquiring data of detection equipment on the instrument bracket 1 is further guaranteed; in addition, through the design of the first sliding matrix and the second sliding matrix, the second sliding matrix and the first sliding matrix can be clamped, the second sliding matrix and the first sliding matrix are directly arranged in a space with a space, a plurality of first rubber strips are arranged in the space with a space, impact force generated by the instrument support 1 at the moving moment or at the stopping moment can be transmitted to the second sliding matrix through the arrangement of the first rubber strips, the impact force is absorbed through friction or displacement of the second sliding matrix and the first sliding matrix and displacement or deformation of the first rubber strips at the upper part of the second sliding matrix, and therefore accurate data during movement or stopping of equipment is realized, and no misjudgment occurs; in addition, the vibration in the moving process of the instrument bracket 1 can be also absorbed through being transmitted to the second sliding matrix and through the friction or displacement of the second sliding matrix and the first sliding matrix and the displacement or deformation of the first rubber strip on the upper part of the second sliding matrix, so that the instrument is in a horizontal displacement and vibration-free state all the time in the moving process; in addition, through the mode that sets up the extension adhesive tape in first slide bar side, realized that first slide bar bottom surface and first substrate contact of sliding guarantee the effect of sliding to the entering that space reduces impurity such as particulate matter around the first slide bar of filling is realized through the extension rubber strip of both sides is to the interference of sliding and the wearing and tearing of sliding part, and the design of better extension rubber strip can reduce the first substrate of sliding and the possibility of the separation of second fixed substrate, and when instrument support 1 removes the start or stop, extends rubber and can play the buffering effect of preferred.
While the foregoing embodiments have been described in detail in connection with the embodiments of the invention, it should be understood that the foregoing embodiments are merely illustrative of the invention and are not intended to limit the invention, and any modifications, additions, substitutions and the like made within the principles of the invention are intended to be included within the scope of the invention.
Claims (2)
1. An integrated measurement method for the topography on water and under water in an indoor flushing test, wherein,
s1: scaling down according to the actual topography of the river channel, and performing silt plastering manufacture in a test water tank according to the reduced topography of the simulated river channel (6);
s2: setting water flow conditions, reducing the water flow speed to zero after the test is finished, and waiting for sediment in water to settle;
s3: measuring the height of the near infrared depth camera (43) from the water surface to be ha by utilizing an ultrasonic liquid level meter (41);
s4: through the movement of the instrument support (1), the near infrared depth camera (43) is driven to measure the original topography point cloud data set O (x) 0 ,y 0 ,z 0 ) An on-water and underwater original topography point cloud data set O (x) acquired by a near infrared depth camera (43) 0 ,y 0 ,z 0 ) Sorting is performed for z0>ha water topography point cloud data O1 (x 0 ,y 0 ,z 0 ) Is directly used; for z0<ha underwater topography point cloud data O2 (x 0 ,y 0 ,z 0 ) According to the light propagation property difference in water and air medium, the underwater topography point cloud data O2 (x) is processed by the following correction formula 0 ,y 0 ,z 0 ) The correction is performed by a method of correcting,
and obtaining a corrected underwater topography point cloud data set O3 (x 1 ,y 1 ,z 1 ) The corrected underwater topography point cloud data set O3 (x 1 ,y 1 ,z 1 ) Merging original water topography point cloud data sets O1 (x 0 ,y 0 ,z 0 ) Obtaining an accurate water-on-water underwater point cloud data set O4 (x 1 ',y' 1 ,z 1 '）;
S5: and importing the point cloud data set into a three-dimensional data display program to obtain the cloud image of the erosion and deposition terrain of the indoor test.
2. The method for measuring the topography integration on water and under water for an indoor dredging test according to claim 1, wherein the ultrasonic liquid level meter (41) and the near infrared depth camera (43) are relatively consistent in height and keep a horizontal state.
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