CN116627136A - Obstacle avoidance method, equipment and medium for hydrologic flow measurement - Google Patents
Obstacle avoidance method, equipment and medium for hydrologic flow measurement Download PDFInfo
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Abstract
The embodiment of the specification discloses an obstacle avoidance method, equipment and medium for hydrologic flow measurement, and relates to the technical field of flow measurement obstacle avoidance, wherein the method comprises the following steps: acquiring device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, and determining layout parameters of the video acquisition devices through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device, wherein the video acquisition devices are arranged parallel to the flow measurement standard section; acquiring real-time current measurement region video data, and performing target detection on the real-time current measurement region video data to obtain at least one floater data in the real-time current measurement region video data, wherein the floater data comprises floater pixel coordinates; determining the relative running states of the floaters and the current measuring ship according to the pixel coordinates of the floaters, the parameters of the current measuring ship and the real-time water flow speed acquired in advance, wherein the relative running states comprise an encountering state and a non-encountering state; and when the ship meets the conditions, controlling the current measuring ship to execute obstacle avoidance operation.
Description
Technical Field
The present disclosure relates to the field of flow measurement obstacle avoidance technologies, and in particular, to an obstacle avoidance method, apparatus, and medium for hydrologic flow measurement.
Background
The hydrologic test work plays an extremely important role in natural disasters such as flood control at present, plays a key role in preventing natural disasters from being affected, and the development of the hydrologic test work is seriously influenced by complex working conditions, water flow changes, exposed field running environments and other factors. Traditional hydrologic flow measurement usually adopts cableway to pull lead, and lead carries the current measurement ship that is equipped with acoustic Doppler current profiler (Acoustic Doppler Current Profiler, ADCP) and walks on standard section, and this kind of mode is because test time is long, and surface of water environment is changeable, and the floater seriously influences current measurement efficiency, and current measurement ship is very easy because the floater causes the damage even loses. Particularly, the flood control system cannot be developed in a night flow measurement scene under an emergency condition, and flood control emergency rescue and emergency dispatch are difficult to ensure. In actual operation, the biggest interference factor is channel floaters, especially larger floaters, which are easy to wind with the current measuring plumb fish to influence the current measurement and even destroy the current measuring equipment such as the current measuring plumb fish.
At present, cameras are arranged on one side of a channel to position, calculate the area, identify the track and measure and calculate the influence range of the floating objects of the channel, so that the damage of the obstacle (floating objects) is avoided by the automatic control flow measurement unit. However, the camera is arranged on one side of the channel, so that the camera is only suitable for channels or narrower rivers, and the natural river conditions are complex and changeable and cannot be suitable for application environments of natural rivers with extreme, night or large cross section.
Disclosure of Invention
One or more embodiments of the present disclosure provide an obstacle avoidance method, apparatus, and medium for hydrologic flow measurement, for solving the following technical problems: the camera is arranged on one side of the channel, so that the camera can be only suitable for channels or narrower rivers, and the natural river conditions are complex and changeable and cannot be suitable for application environments of natural rivers with extreme, night or large cross section.
One or more embodiments of the present disclosure adopt the following technical solutions:
one or more embodiments of the present disclosure provide an obstacle avoidance method for hydrologic flow measurement, the method comprising: acquiring device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, and determining layout parameters of the video acquisition devices through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device, wherein the video acquisition devices are arranged parallel to the flow measurement standard section, and the layout parameters comprise layout quantity and layout height; acquiring real-time current measurement area video data acquired by a plurality of video acquisition devices, and performing target detection on the real-time current measurement area video data to obtain at least one floater data in the real-time current measurement area video data, wherein the floater data comprise floater pixel coordinates; determining the relative running states of the floaters and the current measuring ship according to the pixel coordinates of the floaters, the parameters of the current measuring ship and the real-time water flow speed acquired in advance, wherein the relative running states comprise an encountering state and a non-encountering state; and when the relative running state of the floating objects and the current measuring ship is an encountering state, controlling the current measuring ship to execute obstacle avoidance operation.
Further, determining the layout parameters of the video acquisition devices through the device parameters, the current measurement standard section parameters and the current measurement ship parameters of each video acquisition device specifically comprises the following steps: determining theoretical navigation time of the current measuring ship when the current measuring ship walks once through the current measuring standard section according to the current measuring standard section width in the current measuring standard section parameters and the current measuring ship speed in the current measuring ship parameters; acquiring a historical maximum water flow speed in a current flow measurement area, and determining a theoretical shooting distance threshold value of each video acquisition device through the theoretical navigation time and the historical maximum water flow speed; and determining the layout parameters of the video acquisition devices through the theoretical shooting distance threshold and the device parameters of each video acquisition device.
Further, determining the layout parameters of the video acquisition device through the theoretical shooting distance threshold and the device parameters of each video acquisition device specifically includes: acquiring a horizontal field angle and a vertical field angle in device parameters of each video acquisition device; determining a first relation between the layout height and the blind area distance of the video acquisition device through the theoretical shooting distance threshold and the vertical field angle, so as to determine the layout height according to the first relation; the first relation is
M=h×tan (a-arctan (L/H)), where M is a dead zone distance of the video capturing device, H is the layout height, a is the vertical field angle, and L is the theoretical shooting distance threshold; and determining the layout quantity through the theoretical shooting distance threshold, the current measurement standard section width and the horizontal field angle.
Further, determining the relative running state of the floater and the current measuring ship according to the pixel coordinates of the floater, the parameters of the current measuring ship and the pre-acquired real-time water flow speed, specifically includes: converting the floater pixel coordinates into floater geospatial coordinates; determining a plurality of position parameters between the floater and the current measurement standard section through the geographic space coordinates of the floater and the geographic space coordinates of the current measurement ship among the pre-acquired current measurement ship parameters; wherein the location parameters include: the first vertical distance, the second vertical distance and the first included angle between the floating object and the current measurement standard section, wherein the second vertical distance is the distance between the vertical flowing point of the floating object on the current measurement standard section and the current measurement ship, and the first included angle is the included angle between the connecting line of the floating object and the current measurement ship and the north direction; and determining the relative running state of the floating object and the current measuring ship according to a plurality of position parameters between the floating object and the current measuring standard section, the current measuring ship parameters and the pre-acquired real-time water flow speed.
Further, determining a relative running state of the float and the current measuring ship according to a plurality of position parameters between the float and the current measuring standard section, the current measuring ship parameters and the pre-acquired real-time water flow speed, specifically includes: when a first included angle in the plurality of position parameters is smaller than a preset included angle threshold value, determining a first time for the floater to reach the vertical flowing point according to the first vertical distance and the real-time water flow speed; determining a second time for the current measuring ship to reach the vertical flow point according to the second vertical distance and the current measuring ship speed in the current measuring ship parameters; and when the first time and the second time are equal, judging that the relative running states of the floating objects and the current measuring ship are in an encountering state.
Further, converting the pixel coordinates of the floater into geospatial coordinates of the floater, specifically including: acquiring current water level elevation data and acquisition device geospatial coordinates of a video acquisition device corresponding to the floaters in advance; and carrying out coordinate conversion on the pixel coordinates of the floaters according to the current water level elevation data and the geospatial coordinates of the video acquisition device corresponding to the floaters, so as to generate the geospatial coordinates of the floaters.
Further, when the relative running state of the floater and the current measuring ship is an meeting state, after the current measuring ship is controlled to execute the obstacle avoidance operation, the method further comprises the following steps: when the floater meets the current measuring ship, determining the rotation angle of the lighting equipment through the geographic space coordinates of the floater and the geographic space coordinates of the lighting equipment, which are acquired in advance; and adjusting the rotation angle through the pre-acquired real-time water flow speed, and controlling the lighting equipment to carry out lamplight following on the floating object.
Further, determining the layout number by the theoretical shooting distance threshold, the current measurement standard section width and the horizontal field angle specifically includes: and determining the layout quantity according to a formula n=w/(2×tan (B/2) ×l), wherein N is the layout quantity, W is the width of the current measurement standard section, B is the horizontal angle of view, and L is the theoretical shooting distance threshold.
One or more embodiments of the present specification provide an obstacle avoidance apparatus for hydrologic flow measurement, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
The memory stores instructions executable by the at least one processor to enable the at least one processor to:
acquiring device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, and determining layout parameters of the video acquisition devices through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device, wherein the video acquisition devices are arranged parallel to the flow measurement standard section, and the layout parameters comprise layout quantity and layout height; acquiring real-time current measurement area video data acquired by a plurality of video acquisition devices, and performing target detection on the real-time current measurement area video data to obtain at least one floater data in the real-time current measurement area video data, wherein the floater data comprise floater pixel coordinates; determining the relative running states of the floaters and the current measuring ship according to the pixel coordinates of the floaters, the parameters of the current measuring ship and the real-time water flow speed acquired in advance, wherein the relative running states comprise an encountering state and a non-encountering state; and when the relative running state of the floating objects and the current measuring ship is an encountering state, controlling the current measuring ship to execute obstacle avoidance operation.
One or more embodiments of the present specification provide a non-volatile computer storage medium storing computer-executable instructions configured to:
acquiring device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, and determining layout parameters of the video acquisition devices through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device, wherein the video acquisition devices are arranged parallel to the flow measurement standard section, and the layout parameters comprise layout quantity and layout height; acquiring real-time current measurement area video data acquired by a plurality of video acquisition devices, and performing target detection on the real-time current measurement area video data to obtain at least one floater data in the real-time current measurement area video data, wherein the floater data comprise floater pixel coordinates; determining the relative running states of the floaters and the current measuring ship according to the pixel coordinates of the floaters, the parameters of the current measuring ship and the real-time water flow speed acquired in advance, wherein the relative running states comprise an encountering state and a non-encountering state; and when the relative running state of the floating objects and the current measuring ship is an encountering state, controlling the current measuring ship to execute obstacle avoidance operation.
The above-mentioned at least one technical scheme that this description embodiment adopted can reach following beneficial effect: by the technical scheme, the video acquisition device is arranged parallel to the flow measurement standard section, and generates the arrangement quantity and the arrangement height according to the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters, so that the video acquisition device can be suitable for flow measurement operation requirements of wider rivers in extremely complex environments or at night, and has the pertinence of the flow measurement environment; and carrying out target detection on the video data of the real-time flow measurement area to obtain at least one floater data in the video data of the real-time flow measurement area, determining whether the floater collides with the flow measurement ship or not according to the pixel coordinates of the floater, the parameters of the flow measurement ship and the real-time water flow speed acquired in advance, and pre-judging collision alarm, so that the problem of inaccurate flow measurement caused by the collision of the floater is avoided, and the flow measurement efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some of the embodiments described in the present description, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. In the drawings:
Fig. 1 is a schematic flow chart of an obstacle avoidance method for hydrologic flow measurement according to an embodiment of the present disclosure;
fig. 2 is an application schematic diagram of an obstacle avoidance method for hydrologic flow measurement according to an embodiment of the present disclosure;
fig. 3 is a schematic application diagram of another obstacle avoidance method for hydrologic flow measurement according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an obstacle avoidance apparatus for hydrologic flow measurement according to an embodiment of the present disclosure.
Detailed Description
In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present disclosure.
The hydrologic test work plays an extremely important role in natural disasters such as flood control at present, plays a key role in preventing natural disasters from being affected, and the development of the hydrologic test work is seriously influenced by complex working conditions, water flow changes, exposed field running environments and other factors. Traditional hydrologic flow measurement usually adopts cableway to pull lead, and lead carries the current measurement ship that is equipped with acoustic Doppler current profiler (Acoustic Doppler Current Profiler, ADCP) and walks on standard section, and this kind of mode is because test time is long, and surface of water environment is changeable, and the floater seriously influences current measurement efficiency, and current measurement ship is very easy because the floater causes the damage even loses. Particularly, the flood control system cannot be developed in a night flow measurement scene under an emergency condition, and flood control emergency rescue and emergency dispatch are difficult to ensure. In actual operation, the biggest interference factor is channel floaters, especially larger floaters, which are easy to wind with the current measuring plumb fish to influence the current measurement and even destroy the current measuring equipment such as the current measuring plumb fish.
At present, cameras are arranged on one side of a channel to position, calculate the area, identify the track and measure and calculate the influence range of the floating objects of the channel, so that the damage of the obstacle (floating objects) is avoided by the automatic control flow measurement unit. However, the camera is arranged on one side of the channel, so that the camera is only suitable for channels or narrower rivers, and the natural river conditions are complex and changeable and cannot be suitable for application environments of natural rivers with extreme, night or large cross section.
The embodiment of the present disclosure provides an obstacle avoidance method for hydrologic flow measurement, and it should be noted that an execution body in the embodiment of the present disclosure may be a server, or any device having data processing capability. Fig. 1 is a schematic flow chart of an obstacle avoidance method for hydrologic flow measurement according to an embodiment of the present disclosure, as shown in fig. 1, mainly including the following steps:
step S101, obtaining device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, and determining layout parameters of the video acquisition devices through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device.
The video acquisition device is arranged parallel to the current measurement standard section, the layout parameters comprise the layout number and the layout height, and the current measurement standard section is a section perpendicular to a river and connected with two sides of the river;
In one embodiment of the present disclosure, to meet the requirement of night float identification, the video capture device may be a gun camera with night vision function, which may be called a camera. The method comprises the steps of obtaining device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, wherein the device parameters comprise a horizontal view angle and a vertical view angle of each camera, the horizontal view angle and the vertical view angle are fixed parameters of each camera, and the parameters can be obtained through a parameter library of the cameras. The flow measurement standard section parameters comprise flow measurement standard section width, the flow measurement standard section width is set to be W, and the flow measurement ship parameters comprise speed V1 of the flow measurement ship. And determining the layout parameters of the video acquisition devices through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device.
The layout parameters of the video acquisition device are determined through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device, and the method specifically comprises the following steps: determining the theoretical navigation time of the current measuring ship for one-time navigation of the current measuring standard section according to the current measuring standard section width in the current measuring standard section parameter and the current measuring ship speed in the current measuring ship parameter; acquiring a historical maximum water flow speed in a current flow measurement area, and determining a theoretical shooting distance threshold value of each video acquisition device through the theoretical navigation time and the historical maximum water flow speed; and determining the layout parameters of the video acquisition devices through the theoretical shooting distance threshold and the device parameters of each video acquisition device.
In one embodiment of the present specification, the theoretical navigation time T of the current measuring ship to navigate through the current measuring standard section is determined by the current measuring standard section width W in the current measuring standard section parameter and the current measuring ship speed V1 in the current measuring ship parameter, that is, t=w/V1. In a pre-constructed historical water flow speed library, determining a historical maximum water flow speed V2 in a current flow measurement area, and obtaining a theoretical shooting distance threshold L of each video acquisition device according to theoretical navigation time T and the historical maximum water flow speed V2, wherein the theoretical shooting distance threshold is the farthest shooting distance of a camera, namely the distance that a floating object moves under the driving of water flow in the time that a current measurement ship passes through a current measurement standard section, so that the floating object can be shot by each camera in the theoretical navigation time. And determining the layout parameters of the video acquisition devices through the theoretical shooting distance threshold and the device parameters of each video acquisition device.
Determining the layout parameters of the video acquisition device through the theoretical shooting distance threshold and the device parameters of each video acquisition device, wherein the method specifically comprises the following steps: acquiring a horizontal view angle and a vertical view angle in device parameters of each video acquisition device; determining a first relation between the layout height and the blind area distance of the video acquisition device through the theoretical shooting distance threshold and the vertical field angle, so as to determine the layout height according to the first relation; the first relation is m=h×tan (a-arctan (L/H)), where M is a dead zone distance of the video capturing device, H is the layout height, a is the vertical field angle, and L is the theoretical shooting distance threshold; and determining the layout quantity through the theoretical shooting distance threshold value, the current measurement standard section width and the horizontal field angle.
In one embodiment of the present disclosure, a horizontal view angle B and a vertical view angle a in device parameters of each of the video capturing devices are obtained, and a first relationship between a layout height and a blind area distance of the video capturing device is determined through a theoretical photographing distance threshold L and the vertical view angle a, where M is the blind area distance of the video capturing device, H is the layout height, a is the vertical view angle, and L is the theoretical photographing distance threshold. And calculating the reasonable height of the camera layout according to the formula so as to reduce the blind area distance of the camera. It should be noted that, the blind area distance and the layout height are corresponding point pairs, and the corresponding layout height can be selected according to the control of the blind area distance.
The number of the layout is determined by the theoretical shooting distance threshold, the current measurement standard section width and the horizontal field angle, and the method specifically comprises the following steps: and determining the layout number according to the formula n=w/(2×tan (B/2) ×l), where N is the layout number, W is the width of the current measurement standard section, B is the horizontal angle of view, and L is the theoretical shooting distance threshold.
In one embodiment of the present disclosure, the number of the layout is determined according to the formula n=w/(2×tan (B/2) ×l), where N is the number of the layout, W is the width of the standard cross section of the current measurement, B is the horizontal angle of view, and L is the theoretical shooting distance threshold, where N is an integer upward.
Step S102, acquiring real-time flow measurement area video data acquired by a plurality of video acquisition devices, and performing target detection on the real-time flow measurement area video data to obtain at least one floater data in the real-time flow measurement area video data.
In an embodiment of the present disclosure, fig. 2 is an application schematic diagram of an obstacle avoidance method for hydrologic flow measurement provided in the embodiment of the present disclosure, as shown in fig. 2, all camera videos are converged by a video acquisition module to obtain real-time flow measurement area video data, and then pushed to a float identification logic module, so as to identify the size of a float, so as to infer whether the size of the float affects the sailing of a flow measurement ship. Firstly, a streaming media server is arranged in the video acquisition module, video streams of all cameras, namely video data of the real-time streaming measurement area can be converged to the video acquisition module, and meanwhile, the video data of the real-time streaming measurement area can be pushed to the floater identification logic module. The floater identification logic module performs frame extraction processing on video data of a real-time current measurement area based on a convolutional neural network target detection algorithm YOLO to ensure efficiency, and obtains the pixel size, the floater pixel coordinates and the confidence of the floater through image scaling, full convolutional neural network and maximum value suppression screening. When the real-time current measurement area video data is subjected to target detection, the suspended matters can be screened according to the pixel size of the suspended matters and a preset experience value, small suspended matters which do not affect the current measurement ship are screened out, at least one suspended matters in the real-time current measurement area video data are determined, the suspended matters and the current measurement ship meet to affect the current measurement ship, and the suspended matters are the pixel coordinates of the suspended matters.
Step S103, determining the relative running state of the floating objects and the current measuring ship according to the pixel coordinates of the floating objects, the parameters of the current measuring ship and the real-time water flow speed acquired in advance.
According to the pixel coordinates of the floater, the parameters of the current measuring ship and the real-time water flow speed acquired in advance, the relative running state of the floater and the current measuring ship is determined, and the method specifically comprises the following steps: converting the floater pixel coordinates into floater geospatial coordinates; determining a plurality of position parameters between the floater and the current measurement standard section through the geographic space coordinates of the floater and the geographic space coordinates of the current measurement ship among the pre-acquired parameters of the current measurement ship; wherein the location parameters include: the first vertical distance between the floater and the current measurement standard section, the second vertical distance and the first included angle, wherein the second vertical distance is the distance between the vertical flowing point of the floater on the current measurement standard section and the current measurement ship, and the first included angle is the included angle between the connecting line of the floater and the current measurement ship and the north-right direction; and determining the relative running state of the floater and the current measuring ship according to a plurality of position parameters between the floater and the current measuring standard section, the current measuring ship parameters and the pre-acquired real-time water flow speed.
In one embodiment of the present description, the float pixel coordinates are converted to float geospatial coordinates; determining a plurality of position parameters between a floater and a current measurement standard section through the floater geographic space coordinates and the current measurement ship geographic space coordinates in the current measurement ship parameters, wherein the position parameters comprise: the first vertical distance S1, the second vertical distance S2 and the first included angle C between the floating object and the current measurement standard section, wherein the second vertical distance is the distance between the vertical flow-through point of the floating object on the current measurement standard section and the current measurement ship, the vertical flow-through point is the intersection point of the running track and the current measurement standard section when the floating object moves to the current measurement standard section under the driving of water flow, and the distance between the vertical flow-through point and the current measurement ship is the second vertical distance. The first included angle is the included angle between the connecting line of the floating object and the current measuring ship and the north direction. And determining the relative running states of the floaters and the current measuring ship according to a plurality of position parameters between the floaters and the current measuring standard section, the current measuring ship parameters and the pre-acquired real-time water flow speed, wherein the relative running states comprise an encountering state and a non-encountering state, and can also be called as a colliding state and a non-colliding state.
Determining a relative running state of the floater and the current measuring ship according to a plurality of position parameters between the floater and the current measuring standard section, the current measuring ship parameters and the pre-acquired real-time water flow speed, wherein the method specifically comprises the following steps: when a first included angle in the plurality of position parameters is smaller than a preset included angle threshold value, determining a first time for the floater to reach the vertical flowing point according to the first vertical distance and the real-time water flow speed; determining a second time for the current measuring vessel to reach the vertical flow point according to the second vertical distance and the current measuring vessel speed in the current measuring vessel parameters; when the first time and the second time are equal, judging that the relative running states of the floating object and the current measuring ship are the meeting state.
In one embodiment of the present disclosure, it is determined whether the first included angle C is an acute angle less than 90 degrees, and when the first included angle is greater than or equal to 90 degrees, the float does not collide with the current measuring ship. When the first included angle isWhen the acute angle is smaller than 90 degrees, the first time T1=S1/V3 when the floating object reaches the vertical flowing point is determined according to the real-time water flow speed V3 of water and the first vertical distance S1. Determining a second time T2 when the current measuring ship reaches the vertical flow point according to a second vertical distance S2 and the current measuring ship speed V1 in the current measuring ship parameters ＝ S2/V1. Judging whether the first time and the second time are equal, and when the first time and the second time are equal, indicating that the current measuring ship and the floaters reach the vertical flow point at the same time, namely, the current measuring ship and the floaters meet each other, wherein the current measuring ship and the floaters are in a meeting state or are in a collision state.
Converting the floater pixel coordinates into floater geospatial coordinates, comprising: acquiring current water level elevation data and acquisition device geospatial coordinates of a video acquisition device corresponding to the floater in advance; and carrying out coordinate conversion on the pixel coordinates of the floater according to the current water level elevation data and the geospatial coordinates of the video acquisition device corresponding to the floater, so as to generate the geospatial coordinates of the floater.
In one embodiment of the present disclosure, current water level elevation data is obtained and a collection device geospatial coordinate of a video collection device that collects the float is determined, where the geospatial coordinate may be a latitude and longitude coordinate. And combining the current water level elevation data and the geographic space coordinates of the video acquisition device corresponding to the floaters, and performing coordinate conversion on the pixel coordinates of the floaters to convert the pixel coordinates into the geographic space coordinates of the floaters.
Step S104, when the relative running state of the floating object and the current measuring ship is the meeting state, the current measuring ship is controlled to execute the obstacle avoidance operation.
In one embodiment of the present disclosure, when the relative running state of the float and the current measuring ship is an meeting state, it is indicated that the float collides with the current measuring ship, in order to avoid collision between the float and the current measuring ship, the current measuring ship is controlled to perform an obstacle avoidance operation, where the obstacle avoidance operation may be to reduce the running speed or pause of the current measuring ship, so as to avoid the current measuring ship meeting with the float.
When the relative running state of the floater and the current measuring ship is an meeting state, the method further comprises the following steps of: when the floater meets the current measuring ship, determining the rotation angle of the lighting equipment through the geographic space coordinates of the floater and the geographic space coordinates of the lighting equipment, which are acquired in advance; through the real-time water flow speed obtained in advance, the rotation angle is adjusted, and the lighting equipment is controlled to carry out lamplight following on the floating object.
In one embodiment of the present disclosure, after the geospatial coordinates of the float are obtained, the horizontal angle D and the vertical angle E of rotation of the head of the searchlight are calculated in combination with the geospatial coordinates of the searchlight and the geospatial coordinates of the float. Under the rotation of the horizontal angle D and the vertical angle E, the searchlight can irradiate the current position of the floater. And according to the obtained rotation angles D and E, the searchlight control logic controls the searchlight to rotate according to the current angle of the searchlight to position the floaters, so that the floaters can be tracked repeatedly. Meanwhile, the position of the floater moves along with the water flow speed, the rotation angle of the searchlight can be further corrected according to the real-time water flow speed, and the lamplight following of the floater is realized.
Fig. 3 is an application schematic diagram of another obstacle avoidance method for hydrologic flow measurement according to the embodiment of the present disclosure, as shown in fig. 3, assuming that the water flow speed is V, the position of a float that affects the flow measurement ship can be calculated in advance, and as the flow measurement ship walks, the float that ultimately affects the flow measurement ship is located in a certain area parallel to the standard section, for example, in fig. 3, and the area is located in front of the flow measurement ship, so that the searchlight only needs to irradiate along the area along with the speed of the flow measurement ship, and the flow measurement can be performed normally without finding the float.
Firstly, the speed V1 of the current measuring ship is assumed that the current measuring time T is smaller than the total measuring time T, i.e. T < T, where the total measuring time is the time that the current measuring ship travels once in a standard section. The distance S2=V1×t of the current measuring ship can be obtained, and the current measuring time t is any time designated. The velocity V2 of the water flow, the distance s1=v2×t of the float from the normal section can be deduced. In an actual application scene, the current time of the current flow measurement is increased during the reaction time of an operator or the mechanical stop time of the cableway, and the specific value T0 of T (T0 < T) is defined, so that the position of the irradiation area can be obtained. The irradiation area is related to the assumed current time t, and the distance between the irradiation area and the standard cross section is smaller as the assumed current time is smaller, and the distance between the irradiation area and the standard cross section is larger as the assumed current time is larger. Since the distance s2=v1×t of the current boat and the distance s1=v2×t of the floating object from the standard cross section, the irradiation area is related to the velocity V1 of the current boat and the velocity V2 of the current. The camera recognizes floaters in the irradiation range, and judges that the size of the floaters can influence the flow measurement, then the camera gives an alarm, and an operator pauses or changes the speed of the flow measurement ship to avoid the obstacle.
By the technical scheme, the video acquisition device is arranged parallel to the flow measurement standard section, and generates the arrangement quantity and the arrangement height according to the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters, so that the video acquisition device can be suitable for flow measurement operation requirements of wider rivers in extremely complex environments or at night, and has the pertinence of the flow measurement environment; and carrying out target detection on the video data of the real-time flow measurement area to obtain at least one floater data in the video data of the real-time flow measurement area, determining whether the floater collides with the flow measurement ship or not according to the pixel coordinates of the floater, the parameters of the flow measurement ship and the real-time water flow speed acquired in advance, and pre-judging collision alarm, so that the problem of inaccurate flow measurement caused by the collision of the floater is avoided, and the flow measurement efficiency is improved.
The embodiment of the present disclosure further provides an obstacle avoidance device for hydrologic flow measurement, as shown in fig. 4, where the device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to:
acquiring device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, and determining layout parameters of the video acquisition device through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device, wherein the video acquisition device is arranged parallel to the flow measurement standard section, and the layout parameters comprise layout quantity and layout height; acquiring real-time current measurement area video data acquired by a plurality of video acquisition devices, and performing target detection on the real-time current measurement area video data to obtain at least one floater data in the real-time current measurement area video data, wherein the floater data comprise floater pixel coordinates; determining the relative running states of the floater and the current measuring ship according to the pixel coordinates of the floater, the parameters of the current measuring ship and the real-time water flow speed acquired in advance, wherein the relative running states comprise an encountering state and a non-encountering state; when the relative running state of the floater and the current measuring ship is an encountering state, the current measuring ship is controlled to execute obstacle avoidance operation.
The present specification embodiments also provide a non-volatile computer storage medium storing computer-executable instructions configured to:
acquiring device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, and determining layout parameters of the video acquisition device through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device, wherein the video acquisition device is arranged parallel to the flow measurement standard section, and the layout parameters comprise layout quantity and layout height; acquiring real-time current measurement area video data acquired by a plurality of video acquisition devices, and performing target detection on the real-time current measurement area video data to obtain at least one floater data in the real-time current measurement area video data, wherein the floater data comprise floater pixel coordinates; determining the relative running states of the floater and the current measuring ship according to the pixel coordinates of the floater, the parameters of the current measuring ship and the real-time water flow speed acquired in advance, wherein the relative running states comprise an encountering state and a non-encountering state; when the relative running state of the floater and the current measuring ship is an encountering state, the current measuring ship is controlled to execute obstacle avoidance operation.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, devices, non-volatile computer storage medium embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
The devices and media provided in the embodiments of the present disclosure are in one-to-one correspondence with the methods, so that the devices and media also have similar beneficial technical effects as the corresponding methods, and since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media are not repeated here.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present description is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely one or more embodiments of the present description and is not intended to limit the present description. Various modifications and alterations to one or more embodiments of this description will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of one or more embodiments of the present description, is intended to be included within the scope of the claims of the present description.
Claims (10)
1. A method of obstacle avoidance for hydrologic flow measurement, the method comprising:
acquiring device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, and determining layout parameters of the video acquisition devices through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device, wherein the video acquisition devices are arranged parallel to the flow measurement standard section, and the layout parameters comprise layout quantity and layout height;
acquiring real-time current measurement area video data acquired by a plurality of video acquisition devices, and performing target detection on the real-time current measurement area video data to obtain at least one floater data in the real-time current measurement area video data, wherein the floater data comprise floater pixel coordinates;
Determining the relative running states of the floaters and the current measuring ship according to the pixel coordinates of the floaters, the parameters of the current measuring ship and the real-time water flow speed acquired in advance, wherein the relative running states comprise an encountering state and a non-encountering state;
and when the relative running state of the floating objects and the current measuring ship is an encountering state, controlling the current measuring ship to execute obstacle avoidance operation.
2. The obstacle avoidance method for hydrologic flow measurement according to claim 1, wherein the layout parameters of the video acquisition devices are determined by device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, specifically comprising:
determining theoretical navigation time of the current measuring ship when the current measuring ship walks once through the current measuring standard section according to the current measuring standard section width in the current measuring standard section parameters and the current measuring ship speed in the current measuring ship parameters;
acquiring a historical maximum water flow speed in a current flow measurement area, and determining a theoretical shooting distance threshold value of each video acquisition device through the theoretical navigation time and the historical maximum water flow speed;
and determining the layout parameters of the video acquisition devices through the theoretical shooting distance threshold and the device parameters of each video acquisition device.
3. The obstacle avoidance method for hydrologic flow measurement according to claim 2, wherein determining the layout parameters of the video acquisition devices by the theoretical shooting distance threshold and the device parameters of each video acquisition device specifically comprises:
acquiring a horizontal field angle and a vertical field angle in device parameters of each video acquisition device;
determining a first relation between the layout height and the blind area distance of the video acquisition device through the theoretical shooting distance threshold and the vertical field angle, so as to determine the layout height according to the first relation;
the first relation is m=h×tan (a-arctan (L/H)), where M is a dead zone distance of the video capturing device, H is the layout height, a is the vertical field angle, and L is the theoretical shooting distance threshold;
and determining the layout quantity through the theoretical shooting distance threshold, the current measurement standard section width and the horizontal field angle.
4. The obstacle avoidance method for hydrographic flow measurement as set forth in claim 1, wherein determining the relative operational status of the float and the flow vessel based on the float pixel coordinates, the flow vessel parameters, and a pre-acquired real-time water flow rate, comprises:
Converting the floater pixel coordinates into floater geospatial coordinates;
determining a plurality of position parameters between the floater and the current measurement standard section through the geographic space coordinates of the floater and the geographic space coordinates of the current measurement ship among the pre-acquired current measurement ship parameters;
wherein the location parameters include: the first vertical distance, the second vertical distance and the first included angle between the floating object and the current measurement standard section, wherein the second vertical distance is the distance between the vertical flowing point of the floating object on the current measurement standard section and the current measurement ship, and the first included angle is the included angle between the connecting line of the floating object and the current measurement ship and the north direction;
and determining the relative running state of the floating object and the current measuring ship according to a plurality of position parameters between the floating object and the current measuring standard section, the current measuring ship parameters and the pre-acquired real-time water flow speed.
5. The obstacle avoidance method for hydrographic flow measurement as set forth in claim 4, wherein determining the relative operational status of the float and the flow measurement vessel based on a plurality of positional parameters between the float and the flow measurement standard section, the flow measurement vessel parameters, and a pre-acquired real-time water flow velocity, comprises:
When a first included angle in the plurality of position parameters is smaller than a preset included angle threshold value, determining a first time for the floater to reach the vertical flowing point according to the first vertical distance and the real-time water flow speed;
determining a second time for the current measuring ship to reach the vertical flow point according to the second vertical distance and the current measuring ship speed in the current measuring ship parameters;
and when the first time and the second time are equal, judging that the relative running states of the floating objects and the current measuring ship are in an encountering state.
6. The obstacle avoidance method for hydrologic flow measurement as set forth in claim 4, wherein converting the float pixel coordinates to float geospatial coordinates, comprising:
acquiring current water level elevation data and acquisition device geospatial coordinates of a video acquisition device corresponding to the floaters in advance;
and carrying out coordinate conversion on the pixel coordinates of the floaters according to the current water level elevation data and the geospatial coordinates of the video acquisition device corresponding to the floaters, so as to generate the geospatial coordinates of the floaters.
7. The obstacle avoidance method for hydrographic current measurement according to claim 4, wherein when the relative operational state of the float and the current measurement vessel is an encounter state, the method further comprises, after controlling the current measurement vessel to perform an obstacle avoidance operation:
When the floater meets the current measuring ship, determining the rotation angle of the lighting equipment through the geographic space coordinates of the floater and the geographic space coordinates of the lighting equipment, which are acquired in advance;
and adjusting the rotation angle through the pre-acquired real-time water flow speed, and controlling the lighting equipment to carry out lamplight following on the floating object.
8. A method for obstacle avoidance for hydrographic flow measurement according to claim 3, wherein determining the number of deployments by the theoretical shooting distance threshold, the flow measurement standard section width and the horizontal field angle comprises:
and determining the layout quantity according to a formula n=w/(2×tan (B/2) ×l), wherein N is the layout quantity, W is the width of the current measurement standard section, B is the horizontal angle of view, and L is the theoretical shooting distance threshold.
9. An obstacle avoidance device for hydrologic flow measurement, the device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
Acquiring device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, and determining layout parameters of the video acquisition devices through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device, wherein the video acquisition devices are arranged parallel to the flow measurement standard section, and the layout parameters comprise layout quantity and layout height;
acquiring real-time current measurement area video data acquired by a plurality of video acquisition devices, and performing target detection on the real-time current measurement area video data to obtain at least one floater data in the real-time current measurement area video data, wherein the floater data comprise floater pixel coordinates;
determining the relative running states of the floaters and the current measuring ship according to the pixel coordinates of the floaters, the parameters of the current measuring ship and the real-time water flow speed acquired in advance, wherein the relative running states comprise an encountering state and a non-encountering state;
and when the relative running state of the floating objects and the current measuring ship is an encountering state, controlling the current measuring ship to execute obstacle avoidance operation.
10. A non-transitory computer storage medium storing computer-executable instructions, the computer-executable instructions configured to:
Acquiring device parameters, flow measurement standard section parameters and flow measurement ship parameters of each video acquisition device, and determining layout parameters of the video acquisition devices through the device parameters, the flow measurement standard section parameters and the flow measurement ship parameters of each video acquisition device, wherein the video acquisition devices are arranged parallel to the flow measurement standard section, and the layout parameters comprise layout quantity and layout height;
acquiring real-time current measurement area video data acquired by a plurality of video acquisition devices, and performing target detection on the real-time current measurement area video data to obtain at least one floater data in the real-time current measurement area video data, wherein the floater data comprise floater pixel coordinates;
determining the relative running states of the floaters and the current measuring ship according to the pixel coordinates of the floaters, the parameters of the current measuring ship and the real-time water flow speed acquired in advance, wherein the relative running states comprise an encountering state and a non-encountering state;
and when the relative running state of the floating objects and the current measuring ship is an encountering state, controlling the current measuring ship to execute obstacle avoidance operation.
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