CN115187854A - Monitoring method and system for local change of underwater terrain - Google Patents
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Abstract
The application discloses a monitoring method and a system for local change of underwater topography, wherein the method comprises the following steps: and acquiring three-dimensional point cloud data of the underwater topography of the target water area. And establishing a connection relation of the three-dimensional point cloud data of the underwater topography of the target water area based on the three-dimensional point cloud data, and labeling space-time information in the connection relation. And carrying out data preprocessing on the three-dimensional point cloud data, and carrying out refraction correction processing to obtain real point cloud data. And acquiring local change data of the underwater topography based on the real point cloud data and the linking relation. The system comprises point cloud data acquisition equipment, a time-space relation module, a data correction module and a monitoring module. The method and the device can find local changes of the underwater terrain in time, and further are beneficial to analysis of terrain change influence.
Description
Technical Field
The application belongs to the technical field of local monitoring of underwater terrains, and particularly relates to a monitoring method and system for local changes of underwater terrains.
Background
Along with the rapid development and the increasing demand of economy, the development and utilization of water and land spaces by human beings are increasingly extensive, for example, the construction of wading structures (such as bridges, wharfs, wind power plants, hydrology stations and the like) can change the flow condition of water flow nearby the structures to form local strong turbulent flow, the change of the flow speed can break the balance state of the original underwater bottom bed to cause the transport of silt to be enhanced, and certain local scouring is generated in the near region of a foundation to form an inverted conical scouring pit with the diameter being several times of the outer diameter of the foundation. The existence of the peripheral local scouring pit of basis has not only reduced the buried depth of basis, reduces the bearing capacity of basis, still can change the natural frequency of vibration of structure, especially the pile foundation that offshore wind farm adopted, the appearance is slender body, and its security is extremely sensitive to structure natural frequency of vibration, can cause the pile foundation structure to shake acutely, the problem such as horizontal amplitude transfinites seriously threatens structure safety.
However, in the prior art, technologies such as depth sonar and AUV can acquire underwater topography, but the cost is high, and it is difficult to detect slight changes in the underwater topography. Therefore, a new method for acquiring and monitoring the underwater topography is needed, which can monitor the underwater topography in real time and discover abnormal changes in time.
Disclosure of Invention
The application provides a monitoring method for local changes of an underwater topography, which is used for continuously monitoring the underwater topography and finding out abnormal changes of the underwater topography in time.
In order to achieve the above purpose, the present application provides the following solutions:
a monitoring method for local change of underwater topography comprises the following steps:
acquiring three-dimensional point cloud data of underwater topography of a target water area;
establishing a connection relation of the three-dimensional point cloud data of the underwater topography of the target water area based on the three-dimensional point cloud data;
carrying out data preprocessing on the three-dimensional point cloud data, and carrying out refraction correction processing to obtain real point cloud data;
and acquiring the underwater terrain local change data based on the real point cloud data and the connection relation.
Preferably, an underwater terrain image of the target water area is shot by using Kinect2.0, and the underwater terrain image is converted into the three-dimensional point cloud data.
Preferably, the three-dimensional point cloud data is data with three-dimensional coordinate values and acquisition time.
Preferably, the connection relationship includes a left-right position relationship of the three-dimensional point cloud data, a front-back position relationship of the three-dimensional point cloud data, and a time relationship of the three-dimensional point cloud data.
Preferably, the data preprocessing includes filtering noise reduction processing, data reduction processing and data smoothing processing.
Preferably, the refraction correction processing method includes: and obtaining a function of associating the refraction angle and the incidence angle with the real and virtual image point coordinates by utilizing a differential form of a refraction law, and finishing the refraction correction processing.
On the other hand, in order to achieve the purpose, the application also provides a monitoring system for local change of underwater topography, which comprises point cloud data acquisition equipment, a time-space relation module, a data correction module and a monitoring module;
the point cloud data acquisition equipment is used for acquiring three-dimensional point cloud data of underwater topography of a target water area;
the space-time relation module is used for establishing a connection relation of the three-dimensional point cloud data of the underwater topography of the target water area based on the three-dimensional point cloud data;
the data correction module is used for carrying out data preprocessing on the three-dimensional point cloud data and carrying out refraction correction processing to obtain real point cloud data;
the monitoring module is used for acquiring the underwater topography local change data based on the real point cloud data and the connection relation.
Preferably, the point cloud data acquisition equipment adopts Kinect 2.0;
the three-dimensional point cloud data is data with three-dimensional coordinate values and acquisition time.
Preferably, the connection relationship comprises a left-right position relationship of the three-dimensional point cloud data, a front-back position relationship of the three-dimensional point cloud data and a time relationship of the three-dimensional point cloud data.
Preferably, the data correction module comprises a preprocessing unit and a correction unit;
the preprocessing unit is used for preprocessing the three-dimensional point cloud data, and the data preprocessing comprises filtering and noise reduction processing, data simplification processing and data smoothing processing;
and the correction unit is used for performing refraction correction processing on the preprocessed three-dimensional point cloud data to obtain real point cloud data.
The beneficial effect of this application does:
the application discloses a monitoring method and system for local changes of underwater topography, which are used for continuously monitoring the underwater topography, can find the local changes of the underwater topography in time and further are beneficial to analysis of the influence of the topography changes.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings without any inventive exercise.
Fig. 1 is a schematic flow chart of a monitoring method for local changes in underwater topography according to a first embodiment of the present application;
fig. 2 is a schematic structural diagram of a monitoring system for local underwater topography change according to a second embodiment of the present application.
Detailed Description
The flow condition of nearby water flow of wading structures (such as bridges, wharfs, wind power plants, hydrological stations and the like) can be changed underwater to form local strong turbulent flow, the change of the flow speed breaks the original balance state of an underwater bottom bed to cause the transport of silt to be enhanced, certain local scouring is generated in the near area of a foundation, and an inverted-cone-shaped scouring pit with the diameter being several times of the outer diameter of the foundation is formed. The existence of the peripheral local scouring pit of basis has not only reduced the buried depth of basis, reduces the bearing capacity of basis, still can change the natural frequency of vibration of structure, especially the pile foundation that offshore wind farm adopted, the appearance is slender body, and its security is extremely sensitive to structure natural frequency of vibration, can cause the pile foundation structure to shake acutely, the problem such as horizontal amplitude transfinites seriously threatens structure safety.
In the prior art, technologies such as depth sonar and AUV can acquire underwater topography, but slight changes of the underwater topography are difficult to perceive.
The application provides a monitoring method for local changes of an underwater topography, which is used for continuously monitoring the underwater topography and finding out abnormal changes of the underwater topography in time.
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all 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 application.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
Example one
As shown in fig. 1, a schematic flow chart of a monitoring method for local changes in underwater topography according to an embodiment of the present application mainly includes the following steps:
s102, three-dimensional point cloud data of underwater topography of the target water area are obtained.
In the present embodiment, the method of capturing an underwater topographic image of a target water area using kinect2.0 and converting the underwater topographic image into three-dimensional point cloud data is adopted.
Kinect2.0 has three cameras, including a color camera, an infrared pulse projection camera, and an infrared reading camera. Kinect2.0 uses a TOF (Time of Flight) depth sensor to acquire depth information, and this sensing mode refers to that the depth sensor sends out modulated near-infrared pulses, and after encountering object reflection, the depth sensor calculates the Time difference or phase difference between light emission and reflection reception, and converts the Time difference or phase difference into the distance from the object to be measured to the camera, so as to obtain the depth information of each part of the object. In terms of configuration, the Kinect2.0 frame rate can reach 30fps, and a color camera can obtain 1920 × 1080 images and can obtain a depth map with 512 × 424 resolution. In terms of detection range, the optimal detection range of Kinect2.0 is between 0.5 and 4.5 m. The kinect2.0 device is capable of capturing both scanned depth maps and color RGB maps at a frame rate of about 30fps, and the fusion of depth and color data forms a color point cloud, each frame of which contains about 30 ten thousand points. The depth sensor emits modulated near-infrared pulses which can penetrate water flow with certain turbidity, so that the Kinect2.0 has the capability of acquiring underwater topography.
On the other hand, a set of data conversion tools is developed by using a Visual Studio 2013 writing program, the underwater terrain image of the target water area shot by Kinect2.0 is converted into three-dimensional point cloud data, and in the embodiment, the three-dimensional point cloud data is data with three-dimensional coordinate values and acquisition time. In this embodiment, the three-dimensional point cloud data is saved as a file in ". Pcd" format. The application does not limit specific development tools, can be written by using corresponding depth cameras in other modes, and also does not limit Visual Studio 2013, development by other programming platforms is also feasible,
and S104, establishing a connection relation of the three-dimensional point cloud data of the underwater topography of the target water area based on the three-dimensional point cloud data.
Since the underwater topography image of the target water area shot by the kinect2.0 is only a part of the underwater topography of the target water area, when the area of the target water area is very large, the image cannot be reflected by one image, that is, a plurality of images, that is, a plurality of groups of point cloud data are required, and therefore, three-dimensional point cloud data of all the shot topography images need to be spliced to form the underwater topography point cloud data of the whole target water area. In view of the fact that an image stitching algorithm is generally complex and strict in acquisition requirement, the technical scheme of the application does not use a conventional image stitching algorithm, and forms integral three-dimensional point cloud data of an integral water area underwater topography directly by constructing a form of a connection relation for a plurality of groups of three-dimensional point cloud data. In this embodiment, the linking relationship includesThe three-dimensional point cloud data comprises a left-right position relation of the three-dimensional point cloud data, a front-back position relation of the three-dimensional point cloud data and a time relation of the three-dimensional point cloud data. Specifically, according to the acquisition time, the cloud data acquisition sequence of each group of points is established, and the front-back position relation is established. For example, the acquisition time of each group of three-dimensional point cloud data is extracted, namely the shooting time t of the corresponding underwater topography image x Then searching two groups of three-dimensional point cloud data t with the nearest time x-1 、t x+1 。t x-1 -t x Is the largest negative value, t x+1 -t x The smallest positive value. t is t x-1 The corresponding point cloud data is determined as t x The previous set of data of, t x+1 The corresponding point cloud data is determined as t x The latter set of data. According to the position information (mainly referring to plane coordinate position data) in the three-dimensional point cloud data, the left-right position relation of each group of point cloud data is established, and the left-right position relation is established. When the acquired underwater topographic images, namely the acquisition time of the three-dimensional point cloud data is different dates and the three-dimensional coordinate positions point to the same position, the underwater topographic images of the same position shot on different dates are determined, and the time relationship can be constructed. Therefore, the connection relation constructed in the embodiment also marks the space-time information including the space three-dimensional position and the acquisition time. Of course, how to implement this step is determined according to actual conditions, if the photographing range is very small, it may not be necessary to establish a front-back and left-right connection relationship, or only a front-back connection relationship or only a left-right connection relationship, but a time connection relationship is always established.
And S106, carrying out data preprocessing on the three-dimensional point cloud data, and carrying out refraction correction processing to obtain real point cloud data.
In this embodiment, the data preprocessing, that is, the processing of the point cloud data, includes filtering and denoising processing, data simplification processing, and data smoothing processing on the original data, and the elimination of the point cloud outliers and the interference points due to the influence of the physical structure and the external environment is a mature technology, and is not described herein again.
The principle of the refractive correction process is: by utilizing the differential form of the refraction law, the function of the associated refraction angle and incidence angle with the real and virtual image point coordinates is obtained, and the purpose of reducing the error of the sensor measurement caused by the refraction of the water flow to the infrared light is achieved.
And S108, acquiring local change data of the underwater topography based on the real point cloud data and the connection relation.
The point cloud data is a set of vectors in a three-dimensional coordinate system, and besides having geometric positions, it may also have color information, which is usually obtained by a camera to obtain a color image, and then assigning color information (RGB) of pixels of corresponding positions to corresponding points in the point cloud. Intensity information can also be obtained, wherein the intensity information is the echo intensity collected by the collecting device, and the intensity information is related to the surface material, the roughness, the incident angle direction of the target and the emission energy of the instrument.
Therefore, under the established linking relationship, the position and time change of the point cloud data can be intuitively found through the color information difference and the intensity information difference reflected by the real point cloud data, so that the local change of the underwater topography can be found.
Furthermore, the three-dimensional point cloud data of the position at multiple acquisition times can be back-calculated into an image, so that local changes can be observed through the image.
By adopting the method, the underwater topography can be continuously monitored, the local change of the underwater topography can be timely found, and the method is further beneficial to the analysis of the influence of the topography change.
Example two
Flood disasters are highly dangerous social disasters, and seriously threaten the life and property safety of human beings. The water flow generated by flood disasters is large, and simultaneously carries a large amount of silt and impurities, and the real-time and continuous acquisition of underwater topography, breach and riverbed topography is difficult due to the problems of refraction, reflection and transparency of water.
In the second embodiment, technical support will be made for the research on the evolution of the underwater topography.
Firstly, an underwater terrain image of a target water area is shot by using Kinect2.0, and the underwater terrain image is converted into three-dimensional point cloud data.
However, in this case, a large amount of impurities are included in the captured image due to the turbidity and inclusion of impurities in the water, and it is impossible to distinguish where the real underwater topography is. At this moment, an image shot by the Kinect needs to be primarily processed once, considering that the Kinect device can simultaneously capture a scanned depth map and a color RGB map, the fusion of depth and color data forms a color point cloud, the underwater terrain is relatively stable as a whole and cannot be changed rapidly along with water flow erosion easily, at this moment, three images (for example, within one fifth of the water flow speed) are continuously shot at the same position according to the water flow speed, the first image and the second image are superposed, the color point cloud is almost unchanged and can be basically determined as the water bottom, the point cloud data of the changed position can be basically determined as impurities in water (the impurities in water can move along with the water flow), and the image point clouds at the positions are all deleted and blank. And then, overlapping the third image, filling the image point cloud of the blank position corresponding to the third image to be used as an underwater image of the position, and converting the image into three-dimensional point cloud data.
And then, establishing a connection relation of the three-dimensional point cloud data of the underwater topography of the target water area based on the three-dimensional point cloud data.
And then, carrying out data preprocessing on the three-dimensional point cloud data, and carrying out refraction correction processing to obtain real point cloud data. In this case, the entire three-dimensional point cloud data should be continuous, but if the three-dimensional point cloud data at a certain position is not continuous, for example, if there is a sudden height change at a certain local position, and there is no continuity or ductility with the surrounding, it means that the position may be a large impurity and is not recognized in the first step. This position can now be marked separately.
And finally, acquiring local change data of the underwater topography based on the integral real point cloud data. And compensating the marked position by using the next point cloud data.
Therefore, real terrain and impurities in water under turbid flood can be distinguished through two times of point cloud judgment, and accordingly the device has the capability of penetrating turbid water flow and acquires underwater terrain.
EXAMPLE III
As shown in fig. 2, the monitoring system for local underwater topography change according to the second embodiment of the present disclosure is a schematic structural diagram, and mainly includes a point cloud data acquisition device, a temporal-spatial relationship module, a data correction module, and a monitoring module.
The point cloud data acquisition equipment is used for acquiring three-dimensional point cloud data of underwater topography of a target water area. The space-time relation module is used for establishing a connection relation of the three-dimensional point cloud data of the underwater topography of the target water area based on the three-dimensional point cloud data. The data correction module is used for carrying out data preprocessing on the three-dimensional point cloud data and carrying out refraction correction processing to obtain real point cloud data. The monitoring module is used for acquiring local change data of the underwater topography based on the real point cloud data and the connection relation.
The following specifically describes the structural composition and functional implementation of each functional module in combination with the present embodiment:
in this embodiment, kinect2.0 is used as a point cloud data acquisition device to shoot an underwater terrain image of a target water area and convert the underwater terrain image into three-dimensional point cloud data, and the three-dimensional point cloud data has three-dimensional coordinate values and acquisition time.
In this embodiment, the spatial-temporal relationship module forms the integral three-dimensional point cloud data of the underwater topography of an integral water area by constructing a form of a connection relationship for a plurality of groups of three-dimensional point cloud data. Specifically, the connection relationship includes a left-right position relationship of the three-dimensional point cloud data, a front-back position relationship of the three-dimensional point cloud data, and a time relationship of the three-dimensional point cloud data. In this embodiment, this is done by the left-right relation unit, the front-back relation unit, and the time relation unit, respectively. Specifically, the front-back relationship unit establishes the cloud data acquisition sequence of each group of points according to the acquisition time, and constructs the front-back position relationship. The left-right relation unit establishes a left-right position relation of each group of point cloud data according to position information (mainly plane coordinate position data) in the three-dimensional point cloud data, and constructs the left-right position relation. When the acquired underwater topographic images, namely the acquisition time of the three-dimensional point cloud data is different dates, and the three-dimensional coordinate positions point to the same position, the time relation unit determines the underwater topographic images at the same position shot on different dates, and then the time relation can be constructed. Therefore, the connection relationship constructed in this embodiment also labels the space-time information, including the spatial three-dimensional position and the acquisition time.
In the present embodiment, the data correction module is composed of a preprocessing unit and a correction unit. The preprocessing unit is used for preprocessing the three-dimensional point cloud data, including filtering and noise reduction processing, data simplification processing and data smoothing processing, and eliminating point cloud outliers and interference points caused by the influence of a physical structure and an external environment. The correction unit is used for performing refraction correction processing on the preprocessed three-dimensional point cloud data, and the principle is as follows: by utilizing the differential form of the refraction law, the function of the associated refraction angle and incidence angle with the real and virtual image point coordinates is obtained, and the purpose of reducing the error of the sensor measurement caused by the refraction of the water flow to the infrared light is achieved.
In the embodiment, in view of the color information and the intensity information carried by the point cloud data, the monitoring module can visually find the position where the point cloud data changes and the time change through the difference of the color information and the difference of the intensity information reflected by the real point cloud data under the established linking relationship, so as to find the local change of the underwater topography.
Further, the three-dimensional point cloud data of the position at a plurality of acquisition times can be inversely calculated into an image, so that local changes can be observed through the image.
By adopting the system device of the embodiment, the underwater topography can be continuously monitored, the local change of the underwater topography can be timely found, and the analysis of the influence of the topography change is further facilitated.
The above-described embodiments are merely illustrative of the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the design spirit of the present application should fall within the protection scope defined by the claims of the present application.
Claims (10)
1. A monitoring method for local changes of underwater topography is characterized by comprising the following steps:
acquiring three-dimensional point cloud data of underwater topography of a target water area;
establishing a connection relation of the three-dimensional point cloud data of the underwater topography of the target water area based on the three-dimensional point cloud data;
carrying out data preprocessing on the three-dimensional point cloud data, and carrying out refraction correction processing to obtain real point cloud data;
and acquiring the underwater topography local change data based on the real point cloud data and the connection relation.
2. Method for monitoring local variations in underwater topography according to claim 1,
and shooting an underwater terrain image of the target water area by using Kinect2.0, and converting the underwater terrain image into the three-dimensional point cloud data.
3. Method for monitoring local variations in underwater topography according to claim 1,
the three-dimensional point cloud data is data with three-dimensional coordinate values and acquisition time.
4. Method for monitoring local variations in underwater topography according to claim 3,
the connection relation comprises a left-right position relation of the three-dimensional point cloud data, a front-back position relation of the three-dimensional point cloud data and a time relation of the three-dimensional point cloud data.
5. Method for monitoring local variations in underwater topography, according to claim 1,
the data preprocessing comprises filtering noise reduction processing, data simplification processing and data smoothing processing.
6. Method for monitoring local variations in underwater topography according to claim 1,
the refraction correction processing method comprises the following steps: and obtaining a function for associating the refraction angle and the incidence angle with the real and virtual image point coordinates by utilizing a differential form of a refraction law, and finishing the refraction correction processing.
7. A monitoring system for local change of underwater topography is characterized by comprising point cloud data acquisition equipment, a time-space relation module, a data correction module and a monitoring module;
the point cloud data acquisition equipment is used for acquiring three-dimensional point cloud data of underwater topography of a target water area;
the space-time relation module is used for establishing a connection relation of the three-dimensional point cloud data of the underwater topography of the target water area based on the three-dimensional point cloud data;
the data correction module is used for carrying out data preprocessing on the three-dimensional point cloud data and carrying out refraction correction processing to obtain real point cloud data;
the monitoring module is used for acquiring the underwater terrain local change data based on the real point cloud data and the connection relation.
8. The underwater topography local change oriented monitoring system of claim 7,
the point cloud data acquisition equipment adopts Kinect 2.0;
the three-dimensional point cloud data is data with three-dimensional coordinate values and acquisition time.
9. The underwater topography local change oriented monitoring system of claim 8,
the connection relation comprises a left-right position relation of the three-dimensional point cloud data, a front-back position relation of the three-dimensional point cloud data and a time relation of the three-dimensional point cloud data.
10. The underwater topography local change oriented monitoring system of claim 7,
the data correction module comprises a preprocessing unit and a correction unit;
the preprocessing unit is used for performing data preprocessing on the three-dimensional point cloud data, and the data preprocessing comprises filtering noise reduction processing, data simplification processing and data smoothing processing;
and the correction unit is used for performing refraction correction processing on the preprocessed three-dimensional point cloud data to obtain real point cloud data.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210814387.9A CN115187854A (en) | 2022-07-11 | 2022-07-11 | Monitoring method and system for local change of underwater terrain |
| NL2032646A NL2032646B1 (en) | 2022-07-11 | 2022-07-30 | Method and system for monitoring local changes of underwater topography |
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