KR102233671B1 - Real-time monitoring apparatus and method for water level, velocity and structure safety of river - Google Patents

Abstract

Provided are an apparatus and a method for monitoring the velocity, water level, and safety level of the river in real time. A radar unit is installed on a structure around the river to analyze a radar signal transmitted to and reflected from the water surface of the river, calculating a plurality of candidate distances at which a Doppler signal is observed, and a Doppler velocity at each of the candidate distances. A gyro/acceleration sensing unit senses an angle (hereinafter referred to as ″water surface angle″) formed between the radar signal transmitted from the radar unit and the water surface of the river. A main processor unit calculates the velocity and water level of the water surface of the river by using the plurality of candidate distances and the Doppler velocities calculated by the radar unit and the water surface angle sensed by the gyro/acceleration sensing unit.

Description

Real-time monitoring apparatus and method for water level, velocity and structure safety of river}

The present invention relates to an apparatus and method for real-time monitoring of river flow rate, water level and safety level, and more particularly, a river that can be installed on a structure such as a pier to measure the water level and flow rate of the river in real time and monitor the stability of the structure. It relates to an apparatus and method for real-time monitoring of flow rate, water level and safety.

There is a trend of increasing severe weather every year due to the effects of climate change and warming.

In particular, the incidence and damage of water disasters due to extreme typhoons and torrential rains are increasing, and a record long rainy season and heavy rain are recorded every year, causing many riverside inundation and personal damage.

In addition, damage due to damage/collapse of river structures such as piers due to an increase in water level and flow velocity during severe injuries occurs frequently.

However, the accuracy of prediction of precipitation and damage caused by rapid climate change is lowering, and in an underdeveloped local environment, measures to respond to close disasters are absent.

In addition, there is no technology that can monitor the damage or collapse of structures installed in structures such as river piers and telephone poles.

Domestic registered patent No. 10-0798406

In order to solve the above-described problems, the technical problem to be achieved by the present invention is to install in a structure in an area where there is a risk of damage to surrounding villages and people due to rapid currents, flooding, etc. of valleys and small rivers during heavy rain, and the dangerous water level of the river. And a real-time monitoring device and method of river flow rate, water level and safety level that can prevent flood damage by providing information to surrounding villages, local governments, central disaster management departments, and self-alarming while monitoring the flow rate in real time.

In addition, the technical problem to be achieved by the present invention is a river flow rate, water level and safety level that can be installed on structures such as river piers and telephone poles to measure the water level and flow rate of the river while monitoring damage and collapse caused by rapid currents of the structure. It is to present a real-time monitoring device and method.

The problem of the present invention is not limited to those mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

As a means for solving the above-described technical problem, according to an embodiment of the present invention, a stream velocity, water level, and safety level real-time monitoring device is installed in a structure around a river to analyze a radar signal transmitted to the river surface and reflected. A radar unit that calculates a plurality of candidate distances at which the Doppler signal is observed and a Doppler velocity at each of the candidate distances; A gyro/acceleration sensing unit that senses an angle between the radar signal transmitted from the radar unit and the water surface of the river (hereinafter, referred to as “water surface angle”); And a main processor unit that calculates a surface flow velocity and a water level of a river using a plurality of candidate distances and Doppler velocities calculated by the radar unit and a water surface angle sensed by the gyro/acceleration sensing unit.

The main processor unit sets an effective observation distance between the radar unit and a river surface, a distance resolution, an effective Doppler velocity observation range, and a velocity resolution to determine a radar reflection intensity expression region, and a reflection intensity of the reflected radar signal and a plurality of After expressing candidate distances and a plurality of Doppler velocities in the predetermined radar reflection intensity expression region, a distance for calculating the surface flow velocity of the river by analyzing the reflection intensity of the radar signal (hereinafter referred to as'flow velocity calculation distance') Judge more than one.

) 와, 상기 자이로/가속도 센싱부 중 자이로 센서로부터 측정되는 수면 각도(θ)를 이용하여 하천의 표면 유속을 상기 유속 산출 거리 별로 산출한다.The main processor unit, the Doppler velocity of the river surface calculated from the radar reflection signal for the at least one flow velocity calculation distance (r) (

) And, the surface flow velocity of the river is calculated for each flow velocity calculation distance using the water surface angle (θ) measured by the gyro sensor among the gyro/acceleration sensing units.

The device is installed so that the roll angle and the yaw angle are 0 degrees so as to face one of the upstream and the downstream of the river, but the pitch angle facing the water surface is the water surface angle.

When a plurality of the flow velocity calculation distances are determined, the main processor unit uses one of the shortest distance at which the surface flow velocity is continuously observed among the plurality of flow velocity calculation distances, and a distance having the highest radar reflection intensity of the Doppler velocity. Calculate the water level of

The main processor unit monitors the stability of the device using the displacement of the angular values with respect to the x, y, and z axes sensed by the gyro sensor among the gyro/acceleration sensing units and the variation width of the acceleration sensed by the acceleration sensor. And a communication unit for transmitting information on the average flow velocity and water level of the river calculated by the main processor unit and a stability monitoring result to the river management server.

On the other hand, according to another embodiment of the present invention, the method for real-time monitoring of river water level, flow velocity, and safety is achieved by analyzing the radar signal reflected by the (A) device installed on the structure around the river and transmitted to the river surface. Calculating a plurality of candidate distances at which a signal is observed and a Doppler velocity at each of the candidate distances; (B) sensing, by the device, an angle between the transmitted radar signal and the water surface of the river (hereinafter, referred to as a "sleep angle"); (C) calculating, by the device, a surface flow velocity of a stream using a plurality of candidate distances and Doppler velocities calculated in step (A) and a water surface angle sensed in step (B); And (D) calculating the water level of the river by referring to the distance at which the surface flow velocity of the river is calculated in step (C).

) 와, 상기 수면 각도(θ)를 이용하여 하천의 표면 유속을 상기 유속 산출 거리 별로 산출하는 단계;를 포함한다.Prior to the step (A), (E) determining a radar reflection intensity expression region by setting an effective observation distance, a distance resolution, an effective Doppler velocity observation range, and a velocity resolution between the radar transmitting the radar signal and the surface of the river; In the step (C), (C1) the reflection intensity of the radar signal reflected in the (A) step, a plurality of candidate distances, and a plurality of Doppler speeds are determined in the (E) step. Expressing in the expression area; (C2) analyzing the reflection intensity of the radar signal expressed in step (C1) to determine one or more distances (hereinafter referred to as'flow velocity calculation distance') for calculating the surface flow velocity of the river; And (C3) the Doppler velocity of the river surface calculated from the radar reflection signal for the at least one flow velocity calculation distance r

) And, calculating a surface flow velocity of a river for each flow velocity calculation distance using the water surface angle (θ).

In the step (D), if a plurality of flow velocity calculation distances are determined in the step (C2), among the plurality of flow velocity calculation distances, the shortest distance at which the surface flow velocity is continuously observed and the distance with the radar reflection intensity having the largest Doppler velocity. Using any one, the water level of the river is calculated.

(F) monitoring, by the device, the stability of the device using the displacement of the angle values with respect to the x, y, and z axes sensed by the gyro sensor and the variation width of the acceleration sensed by the acceleration sensor; And (G) transmitting, by the device, the calculated average flow rate of the river, the water level of the river, and the stability monitoring result to the river management server.

According to the present invention, the dangerous water level and flow rate of the river are monitored in real time by installing it in a structure in an area where there is a risk of damage to the surrounding villages and people due to rapid currents and flooding of valleys and small rivers during heavy rain, and the surrounding villages and local governments In addition, it is possible to prevent flood damage by providing information to the central disaster management department and alarming themselves.

In addition, according to the present invention, the device is installed on structures such as river piers and telephone poles to measure the water level and flow rate of the river, while monitoring the stability of the structure (such as damage caused by rapid currents, etc.) to prevent damage to the structure or In case of damage, it can be responded quickly.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a view showing an example in which a real-time monitoring device for a river flow rate, water level and safety level according to an embodiment of the present invention is installed;
2 is a view showing a vertical side of a river flow rate, water level and safety level real-time monitoring device when installing a river;
3 is a block diagram showing a real-time monitoring device for river flow rate, water level, and safety level according to an embodiment of the present invention;
4 is a diagram for explaining a radar reflection intensity expression area;
FIG. 5 is an example of actually observing the flow rate of a river, and an example of expressing a range of expressing the actual river flow rate according to the effective observation distance using a result of the observation experiment as a 2D distribution diagram of the radar reflection intensity.
6 is another example of actually observing the flow rate of a river, and an exemplary view in which the range of the actual river flow rate according to the effective observation distance is expressed as a 2D distribution diagram of the radar reflection intensity using the result of the observation experiment.
7 is a diagram for explaining a dangerous water level in a river with respect to an effective observation distance;
8 is a flowchart schematically showing a method for real-time monitoring of river water level, flow rate, and safety level according to an embodiment of the present invention;
9 is a flow chart showing in detail step S850 of FIG. 8, and,
10 is a detailed flowchart illustrating step S890 of FIG. 8.

The above objects, other objects, features, and advantages of the present invention will be easily understood through the following preferred embodiments related to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed contents may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In some cases, it is mentioned in advance that parts that are commonly known in describing the invention and are not largely related to the invention are not described in order to avoid confusion in the description of the invention for no apparent reason.

Hereinafter, with reference to the accompanying drawings, specific technical content to be implemented in the present invention will be described in detail.

1 is a view showing an example in which a river flow rate, water level, and safety level real-time monitoring apparatus 100 according to an embodiment of the present invention is installed.

Referring to FIG. 1, a real-time monitoring apparatus 100 for a river flow rate, water level, and safety level may be installed on a pier of a river so as to face an upstream or a downstream direction of the river to transmit a radar signal.

2 is a view showing a vertical side of a river flow rate, water level, and safety monitoring device 100 in real time when a river is installed.

2, the stream velocity, water level, and safety real-time monitoring device 100 is installed so that one of the upstream and downstream of the river is viewed in front, that is, the angle of the roll axis and the yaw axis is 0 degrees, and the water surface is desired. It can be installed so that the angle of the viewing pitch axis (that is, the water surface angle, θ) is 0 degrees or more.

r is the distance between the device 100 and the water surface of the river, which is the distance to the water surface that the radar signal reaches, and h is the vertical distance between the device 100 and the water surface of the river.

3 is a block diagram illustrating an apparatus 100 for real-time monitoring of a river flow rate, water level, and safety level according to an embodiment of the present invention.

Referring to FIG. 3, the apparatus 100 for real-time monitoring of river flow rate, water level and safety level includes a radar unit 110, a gyro/acceleration sensing unit 120, a power supply unit 130, a communication interface unit 140, and a memory 150. ) And a main processor 160.

The radar unit 110 is installed on a structure or pier around a river, transmits a radar signal to the surface of the river, receives and analyzes the radar signal reflected from the surface of the river, and receives and analyzes a plurality of distances at which the Doppler signal is observed (hereinafter referred to as'multiple (Referred to as'candidate distances of') and the Doppler velocity at each of the candidate distances can be calculated. Since the distance at which the Doppler velocity is observed and the method of calculating the Doppler velocity use an existing technique, a detailed description may be omitted.

The radar unit 110 may transmit, for example, a frequency-modulated continuous wave (FMCW) millimeter wave radar signal of 7 GHz.

The gyro/acceleration sensing unit 120 may sense an angle between the radar signal transmitted from the radar unit 110 and the water surface of the river (hereinafter, referred to as a “sleep angle”). That is, the gyro/acceleration sensing unit 120 senses the direction in which the device 100 is installed (the angle from the surface of the antenna of the radar unit 110) as an angle signal and transmits it to the main processor 160.

The distance to the Doppler signal observed by the radar unit 110 and the angle of the gyro sensor are used to measure the vertical distance (i.e., water level) between the device 100 and the river, and sensed by the gyro/acceleration sensing unit 120. Gyro and acceleration measurements can be used to monitor the stability of structures (piers, columns, etc.) in which the device 100 is installed.

The power supply unit 130 supplies power to the radar unit 110, the gyro/acceleration sensing unit 120, the communication interface unit 140, the memory 150, and the main processor 160.

The communication interface unit 140 monitors river flow rate information, river water level information, or stability monitoring of the device 100 observed and monitored in real time through communication networks such as IoT (Internet of Things), LTE (Long Term Evolution) network, and 5G network. The result can be transmitted to a river management server (not shown).

The memory 150 may include volatile memory and/or nonvolatile memory. In the memory 150, for example, in order to implement and/or provide an operation, function, etc. provided by the device 100, instructions or data related to the components 110 to 160, one or more programs and/or software , Operating system, etc. may be stored.

The program stored in the memory 150 is a river management program for calculating the surface flow rate and water level of the river, monitoring the stability of the device 100 or structure, and setting the risk of the surface flow rate and water level of the river. It may include a first threshold value and a second threshold value for determining the dangerous flow rate, the dangerous water level, and the safety of the structure.

The main processor 160 controls the overall operation of the device 100 by executing one or more programs stored in the memory 150.

For example, the main processor 160 executes a river management program stored in the memory 150 to sense a plurality of candidate distances and Doppler velocities calculated by the radar unit 110 and the gyro/acceleration sensing unit 120 The surface flow velocity and water level of the river may be calculated using the water surface angle, and the stability of the device 100 or structure may be monitored.

In detail, the main processor 160 sets the effective observation distance between the radar unit 110 and the river surface, the distance resolution, the effective Doppler velocity observation range, and the velocity resolution through device initialization to set the radar reflection intensity expression region. Can be decided. The effective observation distance, distance resolution, effective Doppler velocity observation range, and velocity resolution may be manually input by an administrator or set by an initial value set in a river management program.

In addition, the main processor 160 transmits the radar signal to the surface of the river and then expresses the reflection intensity of the radar signal reflected, a plurality of candidate distances, and a plurality of Doppler velocities in the radar reflection intensity expression area, thereby providing a 2D distribution map of the radar reflection intensity. After generation, it is possible to determine one or more distances for calculating the surface flow velocity of the river (hereinafter referred to as'flow velocity calculation distance') by analyzing the reflection intensity of the radar signal. The radar reflection intensity can be expressed in different colors depending on the intensity in the distance and velocity domains.

The main processor 160 determines that the distance from the radar reflection intensity 2D distribution map to the distance at which the radar reflection intensity is intermittently displayed is a noise area, and determines the area where the radar reflection intensity is continuously displayed as an area where the actual radar reflection intensity is distributed. It is possible to determine a plurality of flow velocity calculation distances based on the distance resolution unit.

) 와, 자이로/가속도 센싱부(120) 중 자이로 센서로부터 측정되는 수면 각도(θ)를 이용하여 하천의 표면 유속을 유속 산출 거리 별로 산출할 수 있다. 본 발명의 실시 예에서 레이더 안테나 정면 방향을 기준으로 모든 값들이 산출되므로, 수면 각도(θ)는 유속산출 거리와 무관하게 모두 동일한 θ, 즉, 초기화 과정에서 설정된 각도가 적용될 수 있다.And, the main processor 160 is the Doppler velocity of the river surface calculated from the radar reflection signal for the flow velocity calculation distances (r1, r2, r3, ...)

) And, the surface flow velocity of the river can be calculated for each flow velocity calculation distance using the water surface angle θ measured from the gyro sensor among the gyro/acceleration sensing unit 120. In an embodiment of the present invention, since all values are calculated based on the front direction of the radar antenna, the water surface angle θ is the same θ, that is, the angle set in the initialization process may be applied regardless of the flow velocity calculation distance.

The main processor 160 may calculate the surface flow velocity of the river using [Equation 1].

Referring to [Equation 1], V _r is the surface flow velocity of the river, d _r is the Doppler velocity of the river surface, and r is the distance between the device (100, or radar unit 110) and the surface of the river, and the radar signal reach distance , θ is the sleeping angle.

Meanwhile, a 2D distribution diagram showing the Doppler velocity and radar reflection intensity on the surface of the river according to the distance is shown in FIG. 3.

4 is a diagram for describing a radar reflection intensity expression region.

Referring to FIG. 4, the effective observation distance is an effective distance that can be observed using a radar from the apparatus 100 to the surface of a river, and the effective Doppler velocity has a range of a + direction Doppler velocity and a-direction Doppler velocity. Radar reflection intensity is expressed in dB.

For example, if the effective observation distance of the device 100 is set to 20 meters, the distance resolution is 0.1 meters, the effective Doppler velocity observation range is set to ±5 meters/sec, and the velocity resolution is 0.1 meters/sec, the radar reflection intensity expression area is the effective observation distance from 0 to 20meter, Doppler velocity observation range -5 meter/sec ~ +5 meter/sec, and the resolution is determined as 200 x 100. The resolution 200 x 100 is the number of horizontal and vertical pixels of the image, and since the distance resolution is 0.1 meter, the effective observation distance is divided into 200 pixels, and similarly, the Doppler velocity observation range is divided into 100.

5 is an example of actually observing the flow velocity of a river, and an exemplary diagram in which a range of expression of an actual river flow velocity according to an effective observation distance is expressed as a 2D distribution diagram of a radar reflection intensity using a result of the observation experiment.

5, the observation period of the device 100 is 1 second (1 fps), the effective observation distance is 10 meters, the effective Doppler velocity range is set to ±3 meters/sec, and the flow velocity is set at an angle of 30 degrees in the downstream direction of the river. Shows the observed results. As a result of expressing the 2D distribution of the reflection intensity (dB) for the Doppler speed over the effective observation distance, the device 100 measured by transmitting a radar signal to the downstream river, and the main processor 160 was + It can be seen that the large reflection intensity (dB) values are concentrated in the direction.

In detail, with respect to the distribution of the reflection intensity shown in FIG. 5, the main processor 160 intermittently distributes the radar reflection intensity from the device 100 to 0 to 2 meters. It is judged as noise, and since the radar reflection intensity is continuously distributed from a distance of about 2m, it is determined that it is the actual radar reflection intensity from 2meters, and the flow velocity calculation distance can be determined from 2meters in 0.1meter increments. Therefore, in the case of Figure 5, the flow velocity calculation distance is 2meter, 2.1meter, 2.2meter, ... , It can be around 7meter.

로 관측된다.In addition, in the case of FIG. 5, the main processor 160 indicates a large value for the Doppler speed in the (+) direction from about 2 m from the RF-WAVE, and the strongest reflected signal is observed at a distance of about 3 meters, and the maximum flow rate is about At 4meter distance, as follows,

Observed as.

Meanwhile, the main processor 160 may monitor the change in the flow rate by observing and calculating the flow rate as described above every 1 second (1 fps). The main processor 160 may measure the water level of a river by using the _{shortest distance r min} among a plurality of flow velocity calculation distances in which the flow velocity is continuously observed every second for a set reference time.

The main processor 160 may calculate the water level of the river using [Equation 2].

은 최단 유속 산출 거리, θ는 수면 각도이다.Referring to [Equation 2], h is the vertical distance from the radar to the water surface,

Is the shortest flow velocity calculation distance, and θ is the water surface angle.

_{For example, the main processor 160 is 2 meters, which is the shortest distance (r min} ), when the flow rate is continuously observed for a reference time at 2 meters, 2.1 meters, 2.5 meters, and 4 meters among the plurality of flow rate calculation distances observed in FIG. 5. The water level of the river can be calculated using.

6 is another example of actually observing the flow velocity of a river, and an exemplary diagram in which a range of expression of an actual river flow velocity according to an effective observation distance is expressed as a 2D distribution diagram of a radar reflection intensity using a result of the observation experiment.

6, the radar reflection intensity 2D distribution map shows the result of observing the flow velocity at an angle of 30 degrees in the upstream direction of the river on the pier after setting an effective observation distance of 20 meters and an effective Doppler velocity range to ±5 meters/sec.

According to the radar reflection intensity 2D distribution map, since the Doppler velocity of a negative value is observed at about 1.6 meters/sec from the effective observation distance of 8 meters, it is possible to know the flow of the river from the upstream in the direction in which the device 100 is installed. From this result, the main processor 160 determines that a water surface having a large reflection intensity with a high Doppler speed is observed from a distance of about 8 meters (minimum distance) from the device 100, and the device 100 and The vertical distance of the water surface can be calculated as h=8meter × sin30 degrees = 4meter.

) 도플러 속도의 큰 값에 표현된다.Therefore, as the flow rate increases and the surface flow rate and water level increase, the vertical distance h becomes shorter, and the strong radar reflection signal is (

) Is expressed in large values of the Doppler velocity.

7 is a diagram for explaining a dangerous water level in a river with respect to an effective observation distance.

Referring to FIG. 7, as the effective observation distance decreases, the water surface angle increases and the water level increases, and the general theory that the flow velocity increases as the water level increases. Accordingly, the dangerous water level of the river can be determined by the location of the strong reflected signal as shown in FIG. 7.

In addition, when the device 100 is installed on a structure, if the installation location and the vertical distance to the bottom of the river are input, the main processor 160 uses the vertical distance h to the surface of the river. The exact water level and flow rate can be monitored from time to time.

Meanwhile, the main processor 160 uses the displacement of the angular values with respect to the x, y, and z axes sensed by the gyro sensor among the gyro/acceleration sensing unit 120 and the variation width of the acceleration sensed by the acceleration sensor. (100) Alternatively, the stability of the structure can be monitored.

In detail, the main processor 160 can determine the position change of the device 100 in the structure by tracking the displacement of each angle value with respect to the x, y, and z axes observed every moment (1 fps) from the gyro sensor. have. When the determined position change exceeds the first threshold, the main processor 160 may determine that the device 100 is damaged or warped, or may predict that it will occur.

In addition, the main processor 160 may track the measured value of the acceleration sensor, and predict that shaking or collapse of the structure or the device 100 has occurred or may occur when the variation width of the instantaneous acceleration exceeds the second threshold value.

The main processor 160 determines that the observed flow rate of the river reaches a preset dangerous flow rate, the surface water level reaches a preset dangerous level, or an abnormal symptom has occurred in the device 100 or structure, the determination result, that is, , It can be processed to transmit the monitoring result to the river management server.

8 is a flowchart schematically illustrating a method for real-time monitoring of a river water level, flow rate, and safety level according to an embodiment of the present invention.

An apparatus for performing a method for monitoring a river level, a flow rate, and a safety level in real time to be described with reference to FIG. 8 may be the apparatus 100 for monitoring a river level, a flow rate, and a safety level in real time described with reference to FIGS. 1 to 7.

Referring to FIG. 8, after the device 100 is installed in a structure, it is initialized by an administrator and a radar reflection intensity expression area may be set (S810).

In step S810, the manager inputs the coordinates of the current location, the average water level, the average flow rate, and the dangerous water level as river information, and establishes a connection with the river management server.

In addition, the manager initializes the gyro/acceleration sensing unit 120 and sets radar parameters optimized for the river. Radar parameters include observation period (e.g., 1 fps (frame per second)), effective observation distance between radar and river surface, distance resolution, effective Doppler velocity observation range and velocity resolution, and the device 100 The radar reflection intensity expression area can be set based on.

The apparatus 100 receives a radar signal reflected by transmitting a radar signal to the surface of the river (S820).

The apparatus 100 analyzes the received radar signal and calculates a plurality of candidate distances at which the Doppler signal is observed and a Doppler velocity at each of the candidate distances (S830).

The apparatus 100 senses an angle between the transmitted radar signal and the water surface of the river (hereinafter, referred to as a “sleep angle”) (S840).

The apparatus 100 calculates the surface flow velocity of the river using a plurality of candidate distances and Doppler velocities observed or calculated in step S830 and the water surface angle sensed in step S840 (S850). Step S850 will be described in detail with reference to FIG. 9.

The apparatus 100 calculates the water level of the river by referring to the distance from which the surface flow velocity was calculated in step S850 (S860).

When it is determined that the water level of the river calculated in step S860 has reached the dangerous water level, the device 100 operates the alarm system and reports that the dangerous water level has been reached to the river management server (S870 and S880).

Meanwhile, after step S810, the device 100 monitors the stability of the structure or device 100 by using the gyro sensing value and the acceleration sensing value (S890).

If it is determined that there is an abnormal symptom as a result of the monitoring, the device 100 operates the alarm system (S900) and reports the structure stability monitoring result to the river management server (S880).

9 is a detailed flowchart illustrating step S850 of FIG. 8.

Referring to FIG. 9, the apparatus 100 calculates a reflection intensity of a radar signal reflected in step S830 and a plurality of candidate distances at which a Doppler signal is observed, and a Doppler velocity at each candidate distance, and calculates the reflection intensity of the radar signal reflected in step S830. By expressing it, a 2D distribution map of the radar reflection intensity is generated (S852).

The apparatus 100 determines one or more distances for calculating the surface flow velocity of the river (hereinafter referred to as'flow velocity calculation distance') by analyzing the reflection intensity of the radar signal expressed in step S852 (S854).

) 와, 최단 거리에서 측정되는 수면 각도(θ)를 이용하여 하천의 표면 유속을 유속 산출 거리 별로 산출한다(S856).The device 100 is the Doppler velocity of the river surface calculated from the radar reflection signal for the flow velocity calculation distance determined in step S854 (

) And, the surface flow velocity of the river is calculated for each flow velocity calculation distance using the water surface angle (θ) measured at the shortest distance (S856).

10 is a detailed flowchart illustrating step S890 of FIG. 8.

Referring to FIG. 10, the apparatus 100 acquires a gyro sensing value and an acceleration sensing value observed every second from the gyro/acceleration sensing unit 120 (S891).

The device 100 removes noise by filtering the gyro sensing value, that is, each angle value of the x, y, and z axes by Kalman filtering (S893), and the displacement of each angle value with respect to the x, y, and z axes and The gyro displacement is tracked by comparing the first threshold (S895).

In addition, the device 100 calculates the acceleration deviation by tracking the measured value of the acceleration sensor (S897), and compares the calculated acceleration deviation with the second threshold value (S898).

The device 100 monitors the stability of the structure or the device 100 according to whether the gyro displacement exceeds the first threshold value or the acceleration deviation exceeds the second threshold value (S899).

On the other hand, although it has been described and illustrated in connection with a preferred embodiment for exemplifying the technical idea of the present invention, the present invention is not limited to the configuration and operation as illustrated and described as described above, and deviates from the scope of the technical idea. It will be appreciated by those skilled in the art that a number of changes and modifications can be made to the present invention without limitation. Accordingly, all such appropriate changes and modifications and equivalents should be regarded as belonging to the scope of the present invention. Therefore, the true technical protection scope of the present invention should be determined by the technical idea of the attached registration claims.

100: Stream flow rate, water level and safety level real-time monitoring device
110: radar unit
120: gyro/acceleration sensing unit
130: power supply
140: communication interface unit
150: memory
160: main processor

Claims (10)

In a real-time monitoring device for river flow rate, water level and safety,
A radar unit installed in a structure around a river, analyzing a radar signal transmitted to the surface of the river and reflected, and calculating a plurality of candidate distances at which a Doppler signal is observed and a Doppler velocity at each of the candidate distances;
A gyro/acceleration sensing unit that senses an angle between the radar signal transmitted from the radar unit and the water surface of the river (hereinafter, referred to as “water surface angle”); And
Including; a main processor unit that calculates a surface flow velocity and a water level of a river using a plurality of candidate distances and Doppler velocities calculated by the radar unit and a water surface angle sensed by the gyro/acceleration sensing unit,
The main processor unit,
By setting the effective observation distance, distance resolution, effective Doppler velocity observation range, and velocity resolution between the radar unit and the water surface, the radar reflection intensity expression area is determined, and the reflection intensity of the reflected radar signal and a plurality of candidate distances and a plurality of After expressing the Doppler velocities of the specified radar reflection intensity expression region, the reflection intensity of the radar signal is analyzed to determine one or more distances for calculating the surface flow velocity of the river (hereinafter referred to as'flow velocity calculation distance'). Stream flow rate, water level and safety level real-time monitoring device. delete The method of claim 1,
The main processor unit,
The Doppler velocity of the river surface calculated from the radar reflection signal for the one or more flow velocity calculation distances r

) And, using the water surface angle (θ) measured from the gyro sensor of the gyro/acceleration sensing unit, the surface flow velocity of the river is calculated for each flow velocity calculation distance. The method of claim 1,
The device is installed so that the roll angle and the yaw angle are 0 degrees so as to face one of the upstream and downstream of the river, but the pitch angle facing the water surface is the water surface angle. Even real-time monitoring device. The method of claim 1,
The main processor unit,
When a plurality of the flow velocity calculation distances are determined, the water level of the river is calculated using one of the shortest distance at which the surface flow velocity is continuously observed among the plurality of flow velocity calculation distances, and the distance having the highest radar reflection intensity with the Doppler velocity. Stream flow rate, water level and safety level real-time monitoring device, characterized in that. The method of claim 1,
The main processor unit,
In the gyro/acceleration sensing unit, the stability of the device is monitored using the displacement of the angle values with respect to the x, y, and z axes sensed by the gyro sensor and the variation width of the acceleration sensed by the acceleration sensor,
A communication unit for transmitting information on the average flow rate and water level of the river calculated by the main processor unit and a stability monitoring result to a river management server; In the method of real-time monitoring of river water level, flow rate, and safety,
(A) A device is installed in a structure around a river, and the radar signal transmitted to the surface of the river and reflected is analyzed to calculate a number of candidate distances at which the Doppler signal is observed and the Doppler velocity at each of the candidate distances. ;
(B) sensing, by the device, an angle between the transmitted radar signal and the water surface of the river (hereinafter, referred to as a "sleep angle");
(C) calculating, by the device, a surface flow velocity of a stream using a plurality of candidate distances and Doppler velocities calculated in step (A) and a water surface angle sensed in step (B); And
(D) calculating the water level of the river by referring to the distance from which the surface flow velocity of the river is calculated in the step (C); Including,
Before step (A),
(E) setting an effective observation distance, distance resolution, effective Doppler velocity observation range, and velocity resolution between the radar transmitting the radar signal and the surface of the river to determine a radar reflection intensity expression region; and
The (C) step,
(C1) expressing the reflection intensity of the radar signal reflected in step (A), a plurality of candidate distances, and a plurality of Doppler velocities in the radar reflection intensity expression region determined in step (E);
(C2) analyzing the reflection intensity of the radar signal expressed in step (C1) to determine one or more distances (hereinafter referred to as'flow velocity calculation distance') for calculating the surface flow velocity of the river; And
(C3) Doppler velocity of the river surface calculated from the radar reflection signal for the one or more flow velocity calculation distances r

) And, calculating a surface flow velocity of a river for each flow velocity calculation distance using the water surface angle (θ); a method for monitoring river water level, flow velocity, and safety in real time, including. delete The method of claim 7,
The step (D),
If a plurality of flow velocity calculation distances are determined in step (C2), the river is selected from the shortest distance at which the surface flow velocity is continuously observed among the plurality of flow velocity calculation distances, and the distance having the highest radar reflection intensity with the Doppler velocity. A method for real-time monitoring of river water level, flow rate, and safety, characterized in that to calculate the water level of. The method of claim 7,
(F) monitoring, by the device, the stability of the device using the displacement of the angle values with respect to the x, y, and z axes sensed by the gyro sensor and the variation width of the acceleration sensed by the acceleration sensor; And
(G) the device, transmitting the calculated average flow rate of the river, the water level and stability monitoring result of the river to a river management server; river water level, flow rate and safety real-time monitoring method further comprising a.

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