CN116086568A - Water level detection method, device, electronic equipment and storage medium - Google Patents
Water level detection method, device, electronic equipment and storage medium Download PDFInfo
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- CN116086568A CN116086568A CN202111315087.8A CN202111315087A CN116086568A CN 116086568 A CN116086568 A CN 116086568A CN 202111315087 A CN202111315087 A CN 202111315087A CN 116086568 A CN116086568 A CN 116086568A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The embodiment of the invention discloses a water level detection method, a water level detection device, electronic equipment and a storage medium. The water level detection method is measured by a millimeter wave radar obliquely installed on a water bank and comprises the following steps: determining the measurement capability of the millimeter wave radar; determining target echo information of a water surface target point on a target azimuth angle, which is acquired by a millimeter wave radar, according to the measurement capability; and determining a water level value according to the target echo information. The embodiment of the invention avoids the problem that the traditional water level detection radar needs to extend to the cross rod on the water surface, simplifies the complexity of the installation and construction of detection equipment, and reduces the difficulty of subsequent maintenance.
Description
Technical Field
The embodiment of the invention relates to the technical field of water level measurement, in particular to a water level detection method, a water level detection device, electronic equipment and a storage medium.
Background
The current technology for river water level detection generally adopts a contact type water level meter for detection, and the water level meter sensor adopted by the technology is easy to damage and short in service life, and meanwhile, the defects of periodic detection of the surrounding environment of the sensor and the like are also required. There are also millimeter wave radars for detecting water level, but currently, when detecting water level using a millimeter wave radar, it is required to install the millimeter wave radar above the water level to be detected, for example, it is required to install the millimeter wave radar at the bottom of a bridge crossing a river.
Therefore, the millimeter wave radar is only applicable to rivers with bridges at present, is not applicable to rivers without bridges or water areas such as reservoirs, lakes and the like, is troublesome to install and maintain, and has certain danger.
Disclosure of Invention
The embodiment of the invention provides a water level detection method, a device, electronic equipment and a storage medium, which avoid the problem that a traditional water level detection radar needs to extend to a cross rod on the water surface, simplify the complexity of installation and construction of detection equipment and reduce the difficulty of subsequent maintenance.
In a first aspect, an embodiment of the present invention provides a water level detection method, which is measured by a millimeter wave radar installed obliquely on a water shore, including:
determining the measurement capability of the millimeter wave radar;
determining target echo information of a water surface target point on a target azimuth angle, which is acquired by a millimeter wave radar, according to the measurement capability;
and determining a water level value according to the target echo information.
In a second aspect, an embodiment of the present invention further provides a water level detection apparatus for measuring by a millimeter wave radar installed obliquely on a water shore, including:
a radar measurement capability determining module for determining a measurement capability of the millimeter wave radar;
the echo information determining module is used for determining target echo information of a water surface target point on a target azimuth angle, which is acquired by the millimeter wave radar, according to the measurement capability;
and the water level value determining module is used for determining a water level value according to the target echo information.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
storage means for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the water level detection method according to any one of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a water level detection method according to any of the embodiments of the present invention.
The embodiment of the invention is characterized in that millimeter wave radars obliquely installed on the water bank are used for measuring, and the measuring capability of the millimeter wave radars is determined; determining target echo information of a water surface target point on a target azimuth angle, which is acquired by a millimeter wave radar, according to the measurement capability; and determining a water level value according to the target echo information. The problem that the traditional water level detection radar needs to extend to a cross rod on the water surface is avoided, the complexity of installation and construction of detection equipment is simplified, and the difficulty of subsequent maintenance is reduced. Meanwhile, more water level information such as water surface wave fluctuation, water flow speed and the like can be obtained.
Drawings
Fig. 1 is a flowchart of a water level detection method in a first embodiment of the present invention;
FIG. 2 is a schematic diagram of information that can be obtained when a millimeter wave radar is tilted for incidence;
fig. 3 is a schematic diagram of the installation of a millimeter wave radar;
fig. 4 is an installation schematic diagram of a millimeter wave radar with tilt incidence;
FIG. 5 is a schematic diagram of the installation of a millimeter wave radar with oblique incidence in azimuth;
FIG. 6 is a schematic diagram of the distance-angle relationship obtained by a conventional water level detection radar;
FIG. 7 is a schematic diagram of a distance-angle relationship obtained by a water level detection radar according to an embodiment of the present invention;
fig. 8 is a schematic structural view of a water level detecting device in a second embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device in a third embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a water level detection method in a first embodiment of the present invention, which is applicable to the case of water level detection of a river, a reservoir, a lake, etc., and is measured by a millimeter wave radar installed obliquely on a water bank. The method may be performed by a water level detection device, which may be implemented in software and/or hardware, and may be configured in an electronic device, e.g. a background server or the like having communication and computing capabilities. As shown in fig. 1, the method specifically includes:
and step 101, determining the measurement capability of the millimeter wave radar.
The measurement capability refers to information that can be measured by a millimeter wave radar, and a general millimeter wave radar can measure the length of an echo and the azimuth angle of the echo, wherein the length of the echo represents the distance between a target object touched by a signal transmitted by the radar and the radar, for example, the millimeter wave radar emits a wave beam to the water surface, and after an electromagnetic wave reflected by the water surface is received by the radar, the radar can obtain the length of the reflected electromagnetic wave, and the length represents the linear distance between the target on the water surface and the millimeter wave radar. Establishing a rectangular coordinate system which takes the center of the radar as an origin, takes a connecting line of the radar vertical ground as a Z axis, takes an X axis which is parallel to a horizontal plane and vertical to the bank, takes an axis vertical to X and Z as a Y axis, and the azimuth angle of the echo is the included angle between the echo and the X axis. In addition, other types of millimeter wave radars have the capability of measuring echo pitch angle in addition to the length of the echo and the azimuth angle of the echo, wherein in the established coordinate system, the echo pitch angle refers to the angle between the echo and the echo of the beam center point. As shown in fig. 2, the information diagram that can be obtained when the millimeter wave radar is tilted is shown in the drawing, where the point O represents the center point of the radar transmitting beam, the solid line from the point O corresponding to R represents the echo of the beam center point, the dashed line from the point O represents any echo received by the radar, a represents the azimuth angle of the echo, E represents the pitch angle of the echo, R represents the length of the echo at the center point, and ρ represents the tilt angle of the millimeter wave radar, where the tilt angle can be predetermined.
In one possible embodiment, the tilt angle of the millimeter wave radar is determined according to the following formula:
wherein ρ represents the inclination angle of the millimeter wave radar, θ represents the width of the beam emitted by the millimeter wave radar, h represents the vertical height of the millimeter wave radar reaching the water level in the dead water period, and l represents the horizontal distance of the millimeter wave radar reaching the water level in the dead water period.
Specifically, as shown in fig. 3, a schematic installation diagram of the millimeter wave radar is shown, the millimeter wave radar is installed obliquely on the water shore, and the installation scheme comprises a millimeter wave radar set comprising an array formed by one or more transmitting antennas and a plurality of receiving antennas, and a vertical rod on the shore. The radar is a cuboid shaped like a brick. When the radar is installed, one surface of the radar antenna has a certain inclination angle with the ground. According to the detection range from the radar installation height to the water surface, calculating the angle of radar azimuth inclination, so that electromagnetic wave beams emitted by the radar are obliquely emitted to the water surface. As shown in FIG. 3, the height of the pole is h 1 The height from the shore point of the upright rod to the horizontal plane is h 2 The vertical height of the millimeter wave lightning reaching the horizontal plane in the dead water period is h 1 +h 2 The horizontal distance from the upright rod to the water surface is l. The radar irradiates the water surface mainly to change the pitching direction of the radar, if the pitching angle FOV of the radar is theta, the theta value can be set according to the width of a radar transmitting wave beam, and the water level height at the moment is the water level height in the dead water period, when the radar adopts the conventional design and the antenna pattern is not formed, the angle of the back tilting of the radar in the pitching direction can be calculated and obtained as follows:
is installed withThe measurement capability of the millimeter wave radar of (2) may be predetermined based on the radar properties. For example, it is required that the radar beam is also fully irradiated onto the water surface during the dead water period, thereby setting the distance l of the pole from the water surface. If the height and horizontal distance from the vertical rod to the water surface plane in the dead water period cannot be determined, the height and horizontal distance can be calculated according to the data of the radar during installation, and the actual installed back-rake angle is required to exceed the calculated inclination angle value so as to ensure that the radar beam can be completely irradiated to the water surface in the dead water period.
And 102, determining target echo information of a water surface target point on a target azimuth angle, which is acquired by the millimeter wave radar, according to the measurement capability.
The millimeter wave radar with different measuring capacities can acquire different echo information, and the corresponding scheme is determined according to the different echo information to determine the water level value.
Specifically, when the millimeter wave radar has the capability of measuring the echo pitching angle, the millimeter wave radar can acquire the azimuth angle, pitching angle and echo length of each echo; when the millimeter wave radar does not have the capability of measuring echo pitching angle, the millimeter wave radar can acquire azimuth angles and echo lengths of all echoes.
The millimeter wave radar can determine the target azimuth angle, the echo length information and the pitch angle corresponding to the received echo signals and serve as the target echo information of the water surface target point on the target azimuth angle when the millimeter wave radar has the capability of measuring the echo pitch angle; similarly, when the millimeter wave radar does not have the capability of measuring the echo pitch angle, the pitch angle corresponding to the received echo signal cannot be directly obtained, and the target azimuth angle and the echo length information are used as the target echo information of the water surface target point on the target azimuth angle.
And step 103, determining a water level value according to the target echo information.
After different target echo information is determined, according to the angle relation formed by the radar coordinate system, the water level value of the water surface target point can be determined according to each information in the target echo information.
Specifically, when the millimeter wave radar has the capability of measuring the echo pitch angle, the target echo information includes the length of the target point echo and the pitch angle of the target point echo on the target azimuth angle, according to the coordinate system shown in fig. 2, the distance of the echo on the Z axis can be determined according to the relationship between the pitch angle of the target point echo and the echo length, and then the water level value of the target point can be determined according to the distance on the Z axis and the length of the radar vertical rod. When the millimeter wave radar does not have the capability of measuring the echo pitching angle, the target echo information comprises the length of the target point echo on the target azimuth, and at the moment, the pitching angle of the target point echo cannot be directly obtained, so that corresponding relation conversion is needed according to the beam center point. Pitch angle E of the corresponding beam due to its echo at the centre point 0 The known inclination angle rho is the inclination angle rho of the millimeter wave radar, and the water level value can be determined on the basis that other echo pitch angles cannot be acquired according to the relation, so that the echo of the beam center point needs to be determined first, on the basis, the distance of the target echo on the Z axis is determined according to the relation of the angle length between triangles, and then the water level value is determined according to the distance on the Z axis.
In one possible embodiment, the measurement capability is not an echo pitch angle measurement capability;
accordingly, prior to step 103, the method further comprises:
determining the center distance from the beam center point emitted by the millimeter wave radar to the water surface according to the echo data acquired by the millimeter wave radar;
accordingly, step 103 includes:
and determining a water level value according to the target echo information and the center distance.
When the measurement capability of the millimeter wave radar is not capable of measuring the echo pitching angle, the central distance from the central point of the beam emitted by the millimeter wave radar to the water surface needs to be determined when the water level value is determined, as shown by the R value in fig. 2. In the coordinate system established as shown in FIG. 2, since the pitch angle of the central point echo is equal to the tilt angle of the radar, the coordinate value X of the target point echo on the X-axis can be obtained n ＝x 0 ＝R 0 cos ρ, coordinate value Y on Y-axis n ＝R n sinA，R 0 Represents the center distance, ρ represents the tilt angle of the millimeter wave radar determined in advance, and the formula is based on
Determining R n The length of the target echo is represented, the target echo is obtained by the measured value of the millimeter wave radar, A represents the target azimuth angle of the target point obtained by the millimeter wave radar, and the target azimuth angle is also directly obtained by the measured value of the millimeter wave radar, so that the coordinate values of the target point in the X axis and the Y axis can be determined according to the measured value of the millimeter wave radar.
Further, according to the coordinate values on the X axis and the Y axis, the projection length of the distance between the water surface target corresponding to the target azimuth A and the radar on the water surface can be calculated to be
And then determining the water level value corresponding to the target point according to the relation among the target echo, the central point echo and the coordinate system.
In a possible embodiment, the target echo information comprises at least the length of the target point echo in the target azimuth;
correspondingly, the water level value is determined according to the following formula:
wherein z is n Representing the water level value of the target point; r is R n Representing the length of a target point echo acquired by the millimeter wave radar; r is R 0 Representing the center distance; ρ represents a predetermined tilt angle of the millimeter wave radar; a is that n And the target azimuth angle of the target point acquired by the millimeter wave radar is represented.
From the coordinate system shown in fig. 2, the coordinate system of the target point on the Z axis can be obtained as follows:
in one possible embodiment, determining a center distance from a beam center point emitted by the millimeter wave radar to a water surface according to echo data acquired by the millimeter wave radar includes:
acquiring azimuth angles of beam echoes transmitted by the millimeter wave radar;
determining an echo with the azimuth angle equal to the difference value between the 90 degrees and the inclination angle of the millimeter wave radar as a center point echo;
the length of the center point echo is determined as the center distance.
According to the exemplary diagram of the angular relationship shown in fig. 2, when the echo is a center point echo, a=90- ρ exists, when the acquired echo has an azimuth angle satisfying the relationship, the echo is represented as a beam center point echo, and the length of the echo is determined as the center distance.
In one possible embodiment, the measurement capability is provided with an echo pitch angle measurement capability; the target echo information at least comprises the length of a target point echo in a target azimuth angle and the pitch angle of the target point echo;
correspondingly, the water level value is determined according to the following formula:
z n ＝R n sinE n ；
wherein z is n Representing the water level value of the target point; r is R n Representing the length of a target point echo acquired by the millimeter wave radar; e (E) n And representing the pitch angle of the target point echo acquired by the millimeter wave radar.
When the millimeter wave radar has the capacity of measuring the echo pitch angle, the water level value can be directly determined according to the relation among the pitch angle, the echo length and the Z axis. According to the coordinate system established as shown in FIG. 2, according to the formula z n ＝R n sinE n The coordinates of the target point on the Z-axis can be determined. In addition, the coordinates of the water surface target point with the azimuth angle A on the X axis and the Y axis can be determined as follows:
therefore, if the millimeter wave radar can measure the azimuth angle and the pitch angle, the coordinates of the target point corresponding to the target echo can be directly determined. Also, since the elevation angle E of the beam center point is equal to the inclination angle ρ, the coordinates of the beam center point irradiated onto the water surface are:
in one possible embodiment, step 102 includes:
determining target echo information on at least two target azimuth angles;
accordingly, step 103 includes:
determining target echo information on at least two water surface target points according to the target echo information on at least two target azimuth angles;
determining at least two target point water level values according to target echo information on at least two water surface target points;
determining a final water level value according to the average value of the water level values of at least two target points;
and determining the water wave height value according to the variance of the water level values of at least two target points.
Because the water surface has a certain fluctuation, if the water level value of the whole water surface is determined according to the water level value of a single target point, the measurement result is inaccurate, therefore, in the embodiment, the target echo information of a plurality of target points is determined, the target water level values of the plurality of target points are calculated, the mean value of the plurality of target water level values is used as the final water level value of the water area, and the variance among the water level values of the plurality of target points can be used as the water wave height value of the water area because the difference among the water level values of the plurality of target points is caused by water waves.
The method includes the steps of determining target echo information on all target azimuth angles acquired by a millimeter wave radar, namely determining target echo information corresponding to all target points, determining target point water level values on all the target points according to the target echo information, averaging the target point water level values of all the target points to be output as a final value of water level detection, and calculating variances of the target point water level values of all the target points to be output as a water wave height value of water level detection. And estimating a final water level value according to the water surfaces in a plurality of directions so as to ensure the accuracy of water level value determination, and simultaneously, obtaining the prediction of water waves and improving the richness of water level information acquisition.
In one possible embodiment, the millimeter wave radar is mounted with tilt incidence or azimuth incidence.
When the millimeter wave radar does not have the capability of measuring the echo pitch angle, coordinates on the X axis and the Y axis cannot be obtained. The installation direction of the millimeter wave radar is inclined incidence in pitching direction when the water level value is measured, as shown in fig. 4, which is a schematic installation diagram of the millimeter wave radar inclined incidence, and as can be seen from the figure, the long side of the millimeter wave radar is parallel to the X axis. On the basis, according to the pitching installation scheme, the millimeter wave radar is installed in a mode of rotating 90 degrees along the radar plate direction, as shown in fig. 5, which is an installation schematic diagram of the millimeter wave radar obliquely incident in azimuth, it can be seen from the figure that the short side of the millimeter wave radar is parallel to the X axis, and according to the installation mode shown in fig. 5, the water level value is calculated through the echo length at different pitching angles without considering the measurement at the target azimuth.
In one possible embodiment, the target echo information includes at least a length of the target point echo at the target azimuth and the target point doppler velocity; the millimeter wave radar adopts an installation mode of oblique incidence in azimuth direction;
accordingly, after step 102, the method further comprises:
the water flow rate at the target point is determined according to the following formula:
v dn ＝v x R n cos(ρ+A n )；
wherein v is dn Representing the Doppler velocity of the target point; v x A water flow rate representing the target point; r is R n Representing the length of a target point echo acquired by the millimeter wave radar; ρ represents a predetermined valueInclination angle of millimeter wave radar; a is that n And the target azimuth angle of the target point acquired by the millimeter wave radar is represented.
In one possible embodiment, the target echo information includes at least a length of the target point echo at the target azimuth and the target point doppler velocity; the millimeter wave radar adopts a mounting mode of pitching incidence to incline;
accordingly, after step 102, the method further comprises:
the water flow rate at the target point is determined according to the following formula:
v dn ＝v x R n cosA n cosE n ；
wherein v is dn Representing the Doppler velocity of the target point; v x A water flow rate representing the target point; r is R n Representing the length of a target point echo acquired by the millimeter wave radar; e (E) n Representing a pitch angle of a target point echo acquired by the millimeter wave radar; a is that n And the target azimuth angle of the target point acquired by the millimeter wave radar is represented.
The millimeter wave radar can measure the length of the target point echo in the azimuth of the target, and can acquire the Doppler velocity in each azimuth, and in the embodiment, the water flow velocity can be calculated through the Doppler velocities in a plurality of target azimuths. Specifically, the coordinates and speeds of the targets on the N azimuth measurement target points are obtained by millimeter wave radar, and the method can be according to a formula v dn ＝v x x n +v y y n The speed of the direction of the water flow is determined. Wherein n= … … N represents the sequence number of the target point; v dn Representing the Doppler velocity in the nth target point position; v x Indicating the water flow velocity in the X-axis direction; v y Indicating the water flow velocity in the Y-axis direction; x is x n Representing coordinate values of the target point on the X axis; y is n The coordinate value of the target point on the Y axis can be determined by the formula during the measurement of the water level value, and will not be described herein.
Specifically, when the millimeter wave radar adopts an installation mode of pitching incidence, coordinate information of a target point acquired by the radar is as follows:
when the millimeter wave radar adopts an installation mode of oblique incidence in azimuth, the coordinate information of the target point acquired by the radar is as follows: />
According to formula z n ＝R n sinE n Determining a water level value, wherein E n For the n-th measurement target point pitch angle, when the installation mode of oblique incidence in azimuth is adopted, E exists n ＝ρ+A n Relation of A n The azimuth angle of the nth measurement target point is measured for the radar, and ρ is the inclination angle of the radar array surface. If the water velocity vector has a value v in the X-axis and Y-axis in a rectangular coordinate system centered on the radar x And v y With corresponding target position vector [ x ] n ＝R n cos(ρ+A n ),y n ＝0,z n ＝R n sin(ρ+A n )]Substituted into formula v dn ＝v x x n +v y y n The corresponding Doppler velocity v can be obtained dn ＝v x R n cos(ρ+A n ). By adopting the millimeter wave radar with the oblique incidence of the azimuth direction, the method for calculating the water level is simple and convenient, and the water flow speed can be determined when the millimeter wave radar cannot determine the pitch angle, so that the richness and convenience of water level information acquisition are improved.
The embodiment of the invention is characterized in that millimeter wave radars obliquely installed on the water bank are used for measuring, and the measuring capability of the millimeter wave radars is determined; determining target echo information of a water surface target point on a target azimuth angle, which is acquired by a millimeter wave radar, according to the measurement capability; and determining the water level value according to the target echo information. The problem that the traditional water level detection radar needs to extend to a cross rod on the water surface is avoided, the complexity of installation and construction of detection equipment is simplified, and the difficulty of subsequent maintenance is reduced. Meanwhile, more water level information such as water surface wave fluctuation, water flow speed and the like can be obtained.
In one possible embodiment, the millimeter wave radar is mounted in a radar housing with an angle sensor. The embodiment of the invention also provides a radar shell with the angle sensor, and the inclination angle of the radar can be directly read according to the angle sensor during installation, so that the installation is simplified, and the installation accuracy is improved.
As shown in fig. 6, the distance-angle relationship obtained by the conventional water level detection radar is schematically shown, the adopted radar is installed as an L-shaped rod, and in this detection mode, the range of the water surface detected by the radar is the beam range of the radar antenna. The range that electromagnetic wave energy reflected from the water surface can be effectively received, amplified, processed by the radar receiver and detected at the signal processing end is the 3dB beam range of the antenna beam. Then if the beam width in the vertical and horizontal directions of the beam is 3dB respectively is theta h And theta v (double-pass beam width of transmitting and receiving), if the distance between the radar and the water surface is R, the area where the radar electromagnetic wave irradiates the water surface is an ellipse, the major and minor axes thereof are respectively (assuming that the beam width in the pitching direction is smaller than that in the azimuth direction, the minor and major axes are
And->
The distance from the extreme edge of the beam to the water surface can be obtained as follows:
the difference between the horizontal beam edge distance and the beam center water surface distance is: />
If the range resolution of the radar is greater than δr, then like multiple scattering centers within the same range resolution unit, the measurement error due to this difference may be ignored, i.e. a signal waveform of relatively large range resolution is selected. But selecting a signal waveform of a larger distance resolution will result in a decrease in ranging accuracy. Thus, the detection of the water level in this way may introduce certain errors into the measurement results.
As shown in FIG. 7, the distance-angle relationship obtained by the water level detection radar according to the embodiment of the invention is schematically shown, the adopted radar is installed in an inclined manner, and the accuracy and convenience of determining the water level value are improved according to the above-mentioned problem that the determination of the water level value does not need to pay excessive attention to the distance resolution selection of the radar. The complexity of radar installation and the difficulty of maintenance are simplified, and compared with an L-shaped rod, the complexity of the radar installation is reduced, and the cost of the radar installation is reduced. Besides the water level value information, water level information such as wave and water flow speed can be provided.
Example two
Fig. 8 is a schematic structural diagram of a water level detection device in a second embodiment of the present invention, which is applicable to the case of detecting water levels in a river, a reservoir, a lake, etc., and is measured by a millimeter wave radar installed obliquely on a water bank. As shown in fig. 8, the apparatus includes:
a radar measurement capability determining module 810 for determining a measurement capability of the millimeter wave radar;
an echo information determining module 820, configured to determine, according to the measurement capability, target echo information of a water surface target point on a target azimuth acquired by a millimeter wave radar;
the water level value determining module 830 is configured to determine a water level value according to the target echo information.
The embodiment of the invention is characterized in that millimeter wave radars obliquely installed on the water bank are used for measuring, and the measuring capability of the millimeter wave radars is determined; determining target echo information of a water surface target point on a target azimuth angle, which is acquired by a millimeter wave radar, according to the measurement capability; and determining the water level value according to the target echo information. The problem that the traditional water level detection radar needs to extend to a cross rod on the water surface is avoided, the complexity of installation and construction of detection equipment is simplified, and the difficulty of subsequent maintenance is reduced. Meanwhile, more water level information such as water surface wave fluctuation, water flow speed and the like can be obtained.
Optionally, the measuring capability is not capable of measuring an echo pitch angle;
correspondingly, the device also comprises a center distance determining module, which is used for determining the water level value before the water level value is determined according to the target echo information,
determining the center distance from the beam center point emitted by the millimeter wave radar to the water surface according to echo data acquired by the millimeter wave radar;
correspondingly, the water level value determining module is specifically configured to:
and determining a water level value according to the target echo information and the center distance.
Optionally, the target echo information includes at least a length of a target point echo in a target azimuth;
correspondingly, the water level value is determined according to the following formula:
wherein z is n Representing the water level value of the target point; r is R n Representing the length of the target point echo acquired by the millimeter wave radar; r is R 0 Representing the center distance; ρ represents a predetermined tilt angle of the millimeter wave radar; a is that n And representing the target azimuth angle of the target point acquired by the millimeter wave radar.
Optionally, the center distance determining module is specifically configured to:
acquiring azimuth angles of beam echoes transmitted by the millimeter wave radar;
determining an echo with the azimuth angle equal to the difference value between the 90 degrees and the inclination angle of the millimeter wave radar as a center point echo;
the length of the center point echo is determined as the center distance.
Optionally, the measuring capability is capable of measuring an echo pitch angle; the target echo information at least comprises the length of a target point echo in a target azimuth angle and the pitch angle of the target point echo;
correspondingly, the water level value is determined according to the following formula:
z n ＝R n sinE n ；
wherein z is n Representing the water level value of the target point; r is R n Representing the length of the target point echo acquired by the millimeter wave radar; e (E) n And representing the pitch angle of the target point echo acquired by the millimeter wave radar.
Optionally, the echo information determining module is specifically configured to:
determining target echo information on at least two target azimuth angles;
correspondingly, determining the water level value according to the target echo information comprises the following steps:
determining target echo information on at least two water surface target points according to the target echo information on the at least two target azimuth angles;
determining at least two target point water level values according to the target echo information on the at least two water surface target points;
determining a final water level value according to the average value of the water level values of the at least two target points;
and determining a water wave height value according to the variance of the water level values of the at least two target points.
Optionally, the millimeter wave radar adopts a mounting mode of pitching incidence to oblique incidence or azimuth incidence to oblique incidence. Optionally, the target echo information at least includes a length of a target point echo in a target azimuth and a target point doppler velocity; the millimeter wave radar adopts an installation mode of oblique incidence in azimuth direction;
correspondingly, the device also comprises a first water flow speed determining module which is used for determining the target echo information of the water surface target point on the target azimuth angle acquired by the millimeter wave radar according to the measurement capability,
determining the water flow speed of the target point according to the following formula:
v dn ＝v x R n cos(ρ+A n )；
wherein v is dn Representing the target point doppler velocity; v x A water flow rate representing the target point; r is R n Representing the length of the target point echo acquired by the millimeter wave radar; ρ represents a predetermined tilt angle of the millimeter wave radarA degree; a is that n And representing the target azimuth angle of the target point acquired by the millimeter wave radar.
Optionally, the target echo information at least includes a length of a target point echo in a target azimuth and a target point doppler velocity; the millimeter wave radar adopts a mounting mode of pitching incidence obliquely;
correspondingly, the device also comprises a second water flow speed determining module which is used for determining the target echo information of the water surface target point on the target azimuth angle acquired by the millimeter wave radar according to the measurement capability,
determining the water flow speed of the target point according to the following formula:
v dn ＝v x R n cosA n cosE n ；
wherein v is dn Representing the target point doppler velocity; v x A water flow rate representing the target point; r is R n Representing the length of the target point echo acquired by the millimeter wave radar; e (E) n Representing a pitch angle of a target point echo acquired by the millimeter wave radar; a is that n And representing the target azimuth angle of the target point acquired by the millimeter wave radar.
Optionally, the tilt angle of the millimeter wave radar is determined according to the following formula:
wherein ρ represents the inclination angle of the millimeter wave radar, θ represents the width of the beam emitted by the millimeter wave radar, h represents the vertical height of the millimeter wave radar reaching the water level in the dead water period, and l represents the horizontal distance of the millimeter wave radar reaching the water level in the dead water period.
Optionally, the millimeter wave radar is mounted in a radar housing with an angle sensor.
The water level detection device provided by the embodiment of the invention can execute the water level detection method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the water level detection method.
Example III
Fig. 9 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention. Fig. 9 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 9 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 9, the electronic device 12 is in the form of a general purpose computing device. Components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory device 28, a bus 18 that connects the various system components, including the system memory device 28 and the processing unit 16.
The system storage 28 may include computer system readable media in the form of volatile memory such as Random Access Memory (RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 9, commonly referred to as a "hard disk drive"). Although not shown in fig. 9, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The storage device 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in storage 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the device 12, and/or any devices (e.g., network card, modem, etc.) that enable the device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 20. As shown in fig. 9, the network adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be appreciated that although not shown in fig. 9, other hardware and/or software modules may be used in connection with electronic device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system storage 28, for example, implementing a water level detection method provided by an embodiment of the present invention, the measurement by a millimeter wave radar installed obliquely on the water shore, including:
determining the measurement capability of the millimeter wave radar;
determining target echo information of a water surface target point on a target azimuth angle, which is acquired by a millimeter wave radar, according to the measurement capability;
and determining a water level value according to the target echo information.
Example IV
The fourth embodiment of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the water level detection method as provided by the embodiment of the present invention, the method being measured by a millimeter wave radar installed obliquely on a water shore, comprising:
determining the measurement capability of the millimeter wave radar;
determining target echo information of a water surface target point on a target azimuth angle, which is acquired by a millimeter wave radar, according to the measurement capability;
and determining a water level value according to the target echo information.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (14)
1. A water level detection method characterized by measuring by a millimeter wave radar installed obliquely on a water shore, comprising:
determining the measurement capability of the millimeter wave radar;
determining target echo information of a water surface target point on a target azimuth angle, which is acquired by a millimeter wave radar, according to the measurement capability;
and determining a water level value according to the target echo information.
2. The method of claim 1, wherein the measurement capability is a lack of echo pitch angle measurement capability;
accordingly, before determining the water level value according to the target echo information, the method further comprises:
determining the center distance from the beam center point emitted by the millimeter wave radar to the water surface according to echo data acquired by the millimeter wave radar;
correspondingly, determining the water level value according to the target echo information comprises the following steps:
and determining a water level value according to the target echo information and the center distance.
3. The method according to claim 2, wherein the target echo information comprises at least a length of a target point echo at a target azimuth;
correspondingly, the water level value is determined according to the following formula:
wherein z is n Representing the water level value of the target point; r is R n Representing the length of the target point echo acquired by the millimeter wave radar; r is R 0 Representing the center distance; ρ represents a prioriThe inclination angle of the millimeter wave radar is determined; a is that n And representing the target azimuth angle of the target point acquired by the millimeter wave radar.
4. The method of claim 2, wherein determining a center distance from a beam center point of millimeter wave radar emissions to a water surface from echo data acquired by the millimeter wave radar comprises:
acquiring azimuth angles of beam echoes transmitted by the millimeter wave radar;
determining an echo with the azimuth angle equal to the difference value between the 90 degrees and the inclination angle of the millimeter wave radar as a center point echo;
the length of the center point echo is determined as the center distance.
5. The method of claim 1, wherein the measurement capability is an echo pitch angle measurement capability; the target echo information at least comprises the length of a target point echo in a target azimuth angle and the pitch angle of the target point echo;
correspondingly, the water level value is determined according to the following formula:
z n ＝R n sinE n ；
wherein z is n Representing the water level value of the target point; r is R n Representing the length of the target point echo acquired by the millimeter wave radar; e (E) n And representing the pitch angle of the target point echo acquired by the millimeter wave radar.
6. The method according to claim 1, wherein determining target echo information of a water surface target point at a target azimuth acquired by a millimeter wave radar according to the measurement capability comprises:
determining target echo information on at least two target azimuth angles;
correspondingly, determining the water level value according to the target echo information comprises the following steps:
determining target echo information on at least two water surface target points according to the target echo information on the at least two target azimuth angles;
determining at least two target point water level values according to the target echo information on the at least two water surface target points;
determining a final water level value according to the average value of the water level values of the at least two target points;
and determining a water wave height value according to the variance of the water level values of the at least two target points.
7. The method of claim 1, wherein the millimeter wave radar is mounted with tilt incidence or azimuth tilt incidence.
8. The method of claim 7, wherein the target echo information includes at least a length of a target point echo at a target azimuth and a target point doppler velocity; the millimeter wave radar adopts an installation mode of oblique incidence in azimuth direction;
accordingly, after determining the target echo information of the water surface target point on the target azimuth acquired by the millimeter wave radar according to the measurement capability, the method further comprises:
determining the water flow speed of the target point according to the following formula:
v dn ＝v x R n cos(ρ+A n )；
wherein v is dn Representing the target point doppler velocity; v x A water flow rate representing the target point; r is R n Representing the length of the target point echo acquired by the millimeter wave radar; ρ represents a predetermined tilt angle of the millimeter wave radar; a is that n And representing the target azimuth angle of the target point acquired by the millimeter wave radar.
9. The method of claim 7, wherein the target echo information includes at least a length of a target point echo at a target azimuth and a target point doppler velocity; the millimeter wave radar adopts a mounting mode of pitching incidence obliquely;
accordingly, after determining the target echo information of the water surface target point on the target azimuth acquired by the millimeter wave radar according to the measurement capability, the method further comprises:
determining the water flow speed of the target point according to the following formula:
v dn ＝v x R n cosA n cosE n ；
wherein v is dn Representing the target point doppler velocity; v x A water flow rate representing the target point; r is R n Representing the length of the target point echo acquired by the millimeter wave radar; e (E) n Representing a pitch angle of a target point echo acquired by the millimeter wave radar; a is that n And representing the target azimuth angle of the target point acquired by the millimeter wave radar.
10. The method of claim 1, wherein the tilt angle of the millimeter wave radar is determined according to the following formula:
wherein ρ represents the inclination angle of the millimeter wave radar, θ represents the width of the beam emitted by the millimeter wave radar, h represents the vertical height of the millimeter wave radar reaching the water level in the dead water period, and l represents the horizontal distance of the millimeter wave radar reaching the water level in the dead water period.
11. The method of claim 1, wherein the millimeter wave radar is mounted in a radar housing with an angle sensor.
12. A water level detection apparatus characterized by measuring by a millimeter wave radar installed obliquely on a water shore, comprising:
a radar measurement capability determining module for determining a measurement capability of the millimeter wave radar;
the echo information determining module is used for determining target echo information of a water surface target point on a target azimuth angle, which is acquired by the millimeter wave radar, according to the measurement capability;
and the water level value determining module is used for determining a water level value according to the target echo information.
13. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the water level detection method of any one of claims 1-11.
14. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a water level detection method as claimed in any one of claims 1-11.
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| CN117351647A (en) * | 2023-12-06 | 2024-01-05 | 阳光学院 | Tidal water environment monitoring and alarming device and monitoring and alarming method |
| CN117351647B (en) * | 2023-12-06 | 2024-02-06 | 阳光学院 | Tidal water environment monitoring and alarming device and monitoring and alarming method |
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