KR20220170173A - A system measuring water level and flow velocity of river using a LiDAR sensor and image processing technology - Google Patents

A system measuring water level and flow velocity of river using a LiDAR sensor and image processing technology Download PDF

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KR20220170173A
KR20220170173A KR1020210080891A KR20210080891A KR20220170173A KR 20220170173 A KR20220170173 A KR 20220170173A KR 1020210080891 A KR1020210080891 A KR 1020210080891A KR 20210080891 A KR20210080891 A KR 20210080891A KR 20220170173 A KR20220170173 A KR 20220170173A
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South Korea
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river
water level
lidar sensor
level
flow rate
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KR1020210080891A
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Korean (ko)
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최민호
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주식회사 매트릭스
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Publication of KR20220170173A publication Critical patent/KR20220170173A/en

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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
    • 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
    • G01F23/80—Arrangements for signal processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • G01P5/001—Full-field flow measurement, e.g. determining flow velocity and direction in a whole region at the same time, flow visualisation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • G01P5/18—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the time taken to traverse a fixed distance
    • G01P5/20—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the time taken to traverse a fixed distance using particles entrained by a fluid stream
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services

Abstract

Disclosed is a system for measuring a water level and flow speed of a river using a LiDAR sensor and image processing technology. According to one embodiment of the present invention, the system for measuring a water level and flow speed of a river comprises: river water level and flow speed measurement equipment (100) having a camera (110) and a LiDAR sensor (120); a data analysis server (200) receiving image data and LiDAR sensor data from the river water level and flow speed measurement equipment (100) to analyze a water level and flow speed of a river; and a user terminal (300) receiving an analysis result from the data analysis server (200) to display the analysis result.

Description

LiDAR 센서와 영상 처리 기술을 활용한 하천 수위 및 유속 계측 시스템{A system measuring water level and flow velocity of river using a LiDAR sensor and image processing technology}A system measuring water level and flow velocity of river using a LiDAR sensor and image processing technology}

본 발명은 하천 수위 및 유속 계측 시스템에 관한 것으로서, 보다 구체적으로는, LiDAR 센서와 영상 처리 기술을 활용한 하천 수위 및 유속 계측 시스템에 관한 것이다.The present invention relates to a river level and flow rate measurement system, and more particularly, to a river level and flow rate measurement system using a LiDAR sensor and image processing technology.

장마나 태풍 등의 날씨 환경에 의한 하천의 범람 여부를 모니터링하기 위해 하천 수위/유속 모니터링 장비가 모니터링 대상 하천에 설치되어 사용되고 있다. 하천 수위/유속 모니터링 장비에 의해 측정된 데이터는 재난상황실로 전송되어 공무원 등의 관계자가 하천의 범람 여부 판단 및 그에 대한 대책 수립에 이용된다.In order to monitor whether a river is flooded due to weather conditions such as a rainy season or a typhoon, a river level/velocity monitoring device is installed and used in the river to be monitored. The data measured by the river level/velocity monitoring equipment is transmitted to the emergency situation room and used by officials such as public officials to determine whether the river is overflowing and to establish countermeasures.

기존의 하천 모니터링 장비는 초음파를 이용하는 방식으로 개당 비용이 수천 만원에 이를 정도로 고가이지만 우리나라의 경우 국산 장비가 없어 해외로부터 수입하여 사용하는 실정이다.Existing river monitoring equipment uses ultrasound and is expensive enough to cost tens of thousands of won per unit, but in Korea, there is no domestic equipment, so it is imported from overseas.

본 발명은 기존의 초음파 방식의 하천 수위/유속 모니터링 장비와 달리 카메라 및 라이다 센서가 적용된 하천 수위/유속 모니터링 장비를 개발하여 하천 수위/유속 모니터링 장비의 저가형 국산화에 기여하고자 한다.Unlike conventional ultrasonic river level/velocity monitoring equipment, the present invention aims to contribute to low-cost localization of river water level/velocity monitoring equipment by developing a river water level/velocity monitoring equipment to which a camera and lidar sensor are applied.

이에 본 발명은 카메라(110)와 라이다 센서(120)가 구비된 하천 수위/유속 계측 장비(100); 상기 하천 수위/유속 계측 장비(100)로부터 영상 데이터 및 라이다 센서 데이터를 전송받아 하천의 수위 및 유속을 분석하는 데이터 분석 서버(200); 및 상기 데이터 분석 서버(200)로부터 분석결과를 수신하여 표시하는 사용자 단말기(300);를 포함하는 하천 수위 및 유속 계측 시스템을 제공한다.Accordingly, the present invention is a river water level / flow rate measuring equipment 100 equipped with a camera 110 and a lidar sensor 120; a data analysis server 200 that receives image data and LIDAR sensor data from the river level/velocity measurement equipment 100 and analyzes the water level and flow velocity of the river; and a user terminal 300 for receiving and displaying analysis results from the data analysis server 200.

상기 데이터 분석 서버(200)는 영상 데이터로부터 하천 가장자리 수위 및 하천 부유물을 인식하며, 라이다 센서 데이터에 기초하여 상기 하천 가장자리 수위의 변화 및 상기 하천 부유물의 속도를 분석하며, 상기 분석된 하천 가장자리 수위의 변화로부터 하천 수위 변화를 산출하며 상기 분석된 하천 부유물의 속도로부터 하천 유속을 산출하는 것일 수 있다.The data analysis server 200 recognizes the river edge water level and river floats from image data, analyzes the change in the river edge water level and the speed of the river floats based on lidar sensor data, and analyzes the analyzed river edge water level. It may be to calculate the river water level change from the change in and calculate the river flow velocity from the velocity of the analyzed river suspension.

본 발명의 하천 수위/유속 계측 장비에 의하면 다음과 같은 효과 내지 장점이 있다.According to the river water level / flow rate measuring equipment of the present invention, there are the following effects or advantages.

1. 수위(수심)와 유속을 모두 측정하는 것이 가능하다.1. It is possible to measure both water level (water depth) and flow velocity.

2. 영상정보를 함께 전송하므로 CCTV를 별도 설치하지 않아도 된다.2. Since video information is transmitted together, there is no need to install a separate CCTV.

3. 측정지역의 Mapping data를 활용하여 유량을 측정할 수 있으므로 측정 범위가 넓다.3. Since the flow rate can be measured using the mapping data of the measurement area, the measurement range is wide.

4. Mapping data와 영상 데이터를 활용하여 수위를 측정할 수 있으므로 국부적인 범람지역을 예측하거나 확인이 가능하다.4. Since the water level can be measured using mapping data and image data, it is possible to predict or confirm the local flooded area.

5. 측정지역의 시뮬레이션이 가능하므로 홍수 예비경보 및 재난에 대비한 다양한 응용이 가능하다.5. Since the measurement area can be simulated, various applications for flood preliminary warning and disaster are possible.

6. 센서의 크기가 상대적으로 작아 소형화가 가능하며, 카메라와 LiDAR 센서의 주시점이 같아 하나의 기구로 제작이 가능6. The size of the sensor is relatively small, so it can be miniaturized, and the camera and LiDAR sensor have the same viewing point, so they can be manufactured as a single device.

7. LiDAR 센서의 가격이 낮아짐으로 제품의 가격 경쟁력이 높다.7. As the price of the LiDAR sensor is lowered, the price competitiveness of the product is high.

8. LiDAR 센서의 Distance data 정밀도가 높아 정밀한 측정이 가능하다.8. Precise measurement is possible due to the high precision of distance data of the LiDAR sensor.

도 1은 본 발명의 실시예에 따른 하천 수위 및 유속 계측 시스템의 구성도이다.
도 2는 도 1의 시스템에 적용되는 하천 수위/유속 계측 장비를 개략적으로 보이는 도면이다.
도 3은 본 발명의 실시예에 따른 하천 수위 및 유속 계측 시스템을 이용한 하천 수위 계측 원리를 설명하기 위한 도면이다.
도 4는 본 발명의 실시예에 따른 하천 수위 및 유속 계측 시스템을 이용한 하천 유속 계측 원리를 설명하기 위한 도면이다.1 is a block diagram of a river water level and flow rate measurement system according to an embodiment of the present invention.
FIG. 2 is a diagram schematically showing a river water level/flow rate measuring device applied to the system of FIG. 1 .
3 is a diagram for explaining a principle of measuring a river level using a system for measuring a river level and flow velocity according to an embodiment of the present invention.
4 is a diagram for explaining the principle of river flow rate measurement using a river water level and flow rate measurement system according to an embodiment of the present invention.

이하에서는 도면을 참조하면서 본 발명의 실시예들에 대해 보다 구체적으로 설명한다.Hereinafter, embodiments of the present invention will be described in more detail with reference to the drawings.

도 1은 본 발명의 실시예에 따른 하천 수위 및 유속 계측 시스템의 구성도이고, 도 2는 도 1의 시스템에 적용되는 하천 수위/유속 계측 장비를 개략적으로 보이는 도면이다.1 is a block diagram of a river water level and flow rate measuring system according to an embodiment of the present invention, and FIG. 2 is a schematic view of a river water level/flow rate measuring device applied to the system of FIG. 1 .

도 1 및 도 2를 참조하면, 본 발명의 실시예에 따른 하천 수위 및 유속 계측 시스템은 하천 수위/유속 계측 장비(100), 데이터 분석 서버(200) 및 사용자 단말기(300)를 포함한다.Referring to FIGS. 1 and 2 , a river level and flow rate measurement system according to an embodiment of the present invention includes a river level/flow rate measurement device 100 , a data analysis server 200 and a user terminal 300 .

하천 수위/유속 계측 장비(100)는 모니터링 대상의 하천의 수위 및 유속 계측을 위한 장비로서, 일 예로 하천 교량의 측면 부위에 설치될 수 있다.The river water level/velocity measurement device 100 is a device for measuring the water level and flow velocity of a river to be monitored, and may be installed, for example, on the side of a river bridge.

하천 수위/유속 계측 장비(100)는 카메라(110), 라이다 센서(120), 콘트롤 보드(130) 및 통신모듈(140)을 포함한다.The river water level/velocity measuring device 100 includes a camera 110, a LiDAR sensor 120, a control board 130, and a communication module 140.

하천 수위/유속 계측 장비(100)는 하천 교량과 같은 대상물에 용이하게 설치될 수 있도록 도 2에 도시된 구조로 제작될 수 있다. 이에 따르면, 하천 수위/유속 계측 장비(100)는 장착부(150), 수직 프레임(160) 및 수평 프레임(170)을 갖는 구조일 수 있으며, 수평 프레임(170)에 카메라(110), 라이다 센서(120), 콘트롤 보드(130) 및 통신모듈(140)이 하나의 장치로 패키지화되어 장착될 수 있다.The river water level/velocity measuring device 100 may be manufactured in the structure shown in FIG. 2 so that it can be easily installed on an object such as a river bridge. According to this, the river water level / flow rate measuring equipment 100 may have a structure having a mounting part 150, a vertical frame 160 and a horizontal frame 170, and a camera 110 and lidar sensor on the horizontal frame 170 120, the control board 130, and the communication module 140 may be packaged and mounted as one device.

카메라(110)는 하천을 촬영하여 영상 이미지를 획득한다. 주간은 물론 야간 촬영이 가능하도록 카메라(110)는 적외선 카메라로 구비되는 것이 바람직하다.The camera 110 acquires a video image by photographing a river. It is preferable that the camera 110 is equipped with an infrared camera so that daytime as well as nighttime photography is possible.

라이다 센서(120)는 하천 및 주변 지형에 대한 3D 맵핑 데이터(mapping data)를 획득한다. 라이다 센서(120)의 3D 맵핑 데이터로부터 주변 지형에 대한 좌표를 산출할 수 있으며 부유물의 속도를 계측할 수 있다.The lidar sensor 120 acquires 3D mapping data for a river and surrounding terrain. Coordinates of the surrounding terrain may be calculated from 3D mapping data of the lidar sensor 120 and the speed of the floating object may be measured.

콘트롤 보드(130)는 카메라(110), 라이다 센서(120) 및 통신모듈(140)의 동작을 제어한다.The control board 130 controls the operation of the camera 110, lidar sensor 120 and communication module 140.

통신모듈(140)은 데이터 분석 서버(200)와의 통신을 위한 모듈로서, 일 예로 LTE 방식의 무선 통신이 이용될 수 있다.The communication module 140 is a module for communication with the data analysis server 200, and for example, LTE-type wireless communication may be used.

데이터 분석 서버(200)는 하천 수위/유속 계측 장비(100)로부터 데이터를 받아 이를 분석하여 하천의 수위 및 유속을 산출한다.The data analysis server 200 receives data from the river level/flow rate measurement equipment 100 and analyzes it to calculate the water level and flow rate of the river.

사용자 단말기(300)는 데이터 분석 서버(200)에서 산출한 결과를 수신하여 표시하는 단말기로서 스마트폰 등의 모바일 단말기, 또는 PC로 구성될 수 있다.The user terminal 300 is a terminal that receives and displays the result calculated by the data analysis server 200, and may be configured as a mobile terminal such as a smart phone or a PC.

사용자 단말기(300)를 통해 재난상황실의 관계자는 하천 수위/유속 변화를 편리하게 모니터링할 수 있다.Through the user terminal 300, a person concerned in the disaster situation room can conveniently monitor changes in river water level/flow velocity.

도 3은 본 발명의 실시예에 따른 하천 수위 및 유속 계측 시스템을 이용한 하천 수위 계측 원리를 설명하기 위한 도면이다.3 is a diagram for explaining a principle of measuring a river level using a system for measuring a river level and flow rate according to an embodiment of the present invention.

하천 수위 계측을 위해서는 카메라(110)를 통해 얻어진 영상 데이터 및 라이다 센서(120)를 통해 얻어진 맵핑 데이터가 필요하다.Image data obtained through the camera 110 and mapping data obtained through the LIDAR sensor 120 are required to measure the water level of the river.

영상 데이터를 통해서는 수위 변화가 인식된다. 구체적으로, 영상 데이터로부터 하천의 가장자리와 주변 지형과의 경계에서의 수위 이미지를 얻을 수 있으며 이를 통해 수위 변화를 인식할 수 있다.The water level change is recognized through the image data. Specifically, a water level image at a boundary between the edge of a river and the surrounding topography may be obtained from image data, and through this, a change in water level may be recognized.

하지만, 카메라 센서(110)의 데이터는 경계 수위 이미지를 제공하지만 이를 가지고 수위 변화를 계측할 수는 없다.However, although the data of the camera sensor 110 provides a boundary water level image, it is not possible to measure a change in water level using this.

이는 카메라 센서(110)의 데이터와 라이다 센서(120)의 데이터를 조합 분석함으로써 해결할 수 있다.This can be solved by analyzing the data of the camera sensor 110 and the lidar sensor 120 in combination.

라이다 센서(120)의 3D 맵핑 데이터로부터 주변 지형에 대한 좌표를 산출할 수 있으므로, 이러한 3D 맵핑 데이터를 통해 산출되는 주변 지형의 좌표를 기준으로 하여 전술한 경계 수위 이미지를 판독함으로써 수위의 변화를 계측할 수 있다.Since the coordinates of the surrounding terrain can be calculated from the 3D mapping data of the lidar sensor 120, the change in water level can be detected by reading the above-mentioned boundary water level image based on the coordinates of the surrounding terrain calculated through the 3D mapping data. can be measured.

도 4는 본 발명의 실시예에 따른 하천 수위 및 유속 계측 시스템을 이용한 하천 유속 계측 원리를 설명하기 위한 도면이다.4 is a diagram for explaining the principle of river flow velocity measurement using the river water level and flow velocity measurement system according to an embodiment of the present invention.

하천 유속 계측을 위해서는 카메라(110)를 통한 영상 데이터 및 라이다 센서(120)를 통한 맵핑 데이터가 필요하다.Image data through the camera 110 and mapping data through the LIDAR sensor 120 are required to measure the flow rate of the river.

하천 유속 계측을 위해 부유물의 영상 이미지가 활용될 수 있다.Video images of floating objects can be used to measure river flow rates.

도 4를 참조하면, 카메라 영상을 통해 하천에 떠가는 나뭇잎과 등의 부유물이 인식되며, 라이다 센서를 통해서는 그 인식된 부유물의 이동거리, 이동시간을 측정하여 이로부터 부유물의 속도를 산출할 수 있으며 이로부터 하천 유속이 계측된다.Referring to FIG. 4, floating objects such as leaves and leaves floating on the river are recognized through camera images, and the moving distance and moving time of the recognized floating object are measured through the lidar sensor to calculate the speed of the floating object from this. and from which the river flow velocity is measured.

100 : 하천 수위/유속 계측 장비
200 : 데이터 분석 서버
300 : 사용자 단말기100: River water level/flow rate measurement equipment
200: data analysis server
300: user terminal

Claims (2)

카메라(110)와 라이다 센서(120)가 구비된 하천 수위/유속 계측 장비(100);
상기 하천 수위/유속 계측 장비(100)로부터 영상 데이터 및 라이다 센서 데이터를 전송받아 하천의 수위 및 유속을 분석하는 데이터 분석 서버(200); 및
상기 데이터 분석 서버(200)로부터 분석결과를 수신하여 표시하는 사용자 단말기(300);를 포함하는
하천 수위 및 유속 계측 시스템.
River water level / flow rate measuring equipment 100 equipped with a camera 110 and lidar sensor 120;
a data analysis server 200 that receives image data and LiDAR sensor data from the river level/velocity measurement equipment 100 and analyzes the water level and velocity of the river; and
A user terminal 300 that receives and displays analysis results from the data analysis server 200;
River level and flow rate measurement system.
 청구항 1에 있어서,
상기 데이터 분석 서버(200)는 영상 데이터로부터 하천 가장자리 수위 및 하천 부유물을 인식하며, 라이다 센서 데이터에 기초하여 상기 하천 가장자리 수위의 변화 및 상기 하천 부유물의 속도를 분석하며, 상기 분석된 하천 가장자리 수위의 변화로부터 하천 수위 변화를 산출하며 상기 분석된 하천 부유물의 속도로부터 하천 유속을 산출하는
하천 수위 및 유속 계측 시스템.
The method of claim 1,
The data analysis server 200 recognizes the river edge water level and river floats from image data, analyzes the change in the river edge water level and the speed of the river floats based on lidar sensor data, and analyzes the analyzed river edge water level. Calculating the change in river level from the change in and calculating the river flow rate from the velocity of the analyzed river suspension
River level and flow rate measurement system.
KR1020210080891A 2021-06-22 2021-06-22 A system measuring water level and flow velocity of river using a LiDAR sensor and image processing technology KR20220170173A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116625465A (en) * 2023-07-24 2023-08-22 青岛彬源科技有限公司 Buoy type ocean water level observation platform

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116625465A (en) * 2023-07-24 2023-08-22 青岛彬源科技有限公司 Buoy type ocean water level observation platform
CN116625465B (en) * 2023-07-24 2023-10-13 青岛彬源科技有限公司 Buoy type ocean water level observation platform

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