CN-121977658-A - Irrigation canal system flow real-time monitoring method with multi-sensor fusion

CN121977658ACN 121977658 ACN121977658 ACN 121977658ACN-121977658-A

Abstract

The invention discloses a multi-sensor fusion type irrigation canal flow real-time monitoring method, which relates to the technical field of irrigation canal flow monitoring and comprises the following steps of collecting water level data and flow rate data of irrigation canal water flow based on different sensors, collecting appearance section data of the irrigation canal, correcting the water level and the flow rate of the irrigation canal water flow to obtain corrected water level information and corrected flow rate information, carrying out overcurrent analysis processing according to the appearance section data of the irrigation canal and obtaining overcurrent area information according to the corrected water level and flow rate information, and obtaining the flow rate of the irrigation canal water flow based on the corrected flow rate information and the overcurrent area information to carry out real-time monitoring on the irrigation canal flow.

Inventors

ZHANG QIAOLING
YANG ZHI
MIAO PING
LIU WENTING
CHEN YAN
ZHAO YAN
SU ZHIBO
Bai Mingzhao
WANG XUEPING
LU XINGHANG

Assignees

杭锦旗水利事业发展中心
内蒙古自治区水利科学研究院

Dates

Publication Date: 20260505
Application Date: 20260126

Claims (10)

1. The irrigation canal system flow real-time monitoring method based on multi-sensor fusion is characterized by comprising the following steps of: Collecting water level data and flow rate data of irrigation canal water flow based on different sensors, and collecting appearance section data of the irrigation canal; Carrying out data correction processing based on the water level data and the flow rate data, and correcting the water level and the flow rate of the irrigation canal water flow to obtain corrected water level information and corrected flow rate information; carrying out overcurrent analysis processing according to the appearance section data of the irrigation canal, and obtaining overcurrent area information according to the corrected water level and flow velocity information; and acquiring the flow of irrigation canal water flow based on the corrected flow velocity information and the overflow area information, and monitoring the irrigation canal system flow in real time.
2. The method for monitoring the flow rate of the irrigation canal system by the multi-sensor fusion according to claim 1, wherein the steps of collecting water level data and flow rate data of the water flow of the irrigation canal based on different sensors and collecting appearance section data of the irrigation canal comprise the following sub-steps: The method comprises the steps of recording a position for monitoring water flow in an irrigation canal system as a flow monitoring position, and recording any one flow monitoring position as a first monitoring position; setting an acquisition period as T0 for a first monitoring position, acquiring the depth of a water body of the first monitoring position at a first time interval by using a water level monitoring sensor in each acquisition period of the first monitoring position, and recording the acquisition time of each time and the acquisition period to obtain water level data of the first monitoring position, wherein the first time interval is T1; and collecting the water flow rate of the first monitoring position at a first time interval by using a flow rate monitoring sensor in each collecting period of the first monitoring position, and recording the collecting time of each time and the collecting period to obtain the flow rate data of the first monitoring position.
3. The method for monitoring the flow rate of the irrigation canal system by the multi-sensor fusion according to claim 2, wherein the water level data and the flow rate data of the water flow of the irrigation canal are collected based on different sensors, and the appearance section data of the irrigation canal are collected, and the method further comprises the following substeps: Measuring the maximum water depth which can be accommodated by the irrigation canal at a first monitoring position, and marking the maximum water depth as HM, uniformly selecting k1 depth points from [0, HM ], and marking any depth point as a first depth, wherein k1 is the set number; When the water depth of the first monitoring position is measured to be the first depth, the cross-sectional area corresponding to the irrigation canal is recorded as the overflow area corresponding to the first depth, the overflow areas corresponding to all depth points are repeatedly obtained at the first monitoring position, and the cross-sectional area is recorded as the appearance cross-sectional data of the first monitoring position.
4. The multi-sensor fusion irrigation canal flow real-time monitoring method according to claim 3, wherein the data correction processing is performed based on the water level data and the flow rate data, the water level and the flow rate of the irrigation canal flow are corrected, and the corrected water level information and the corrected flow rate information are obtained, comprising the following sub-steps: Any one acquisition period is recorded as a first acquisition period, and the depth and the flow rate of the water body acquired in the first acquisition period are respectively sequenced from far to near according to the acquisition time and respectively recorded as a first water level sequence and a first flow rate sequence according to the water level data and the flow rate data of the first monitoring position; performing 1-layer wavelet decomposition on the first water level sequence by utilizing a wavelet decomposition function to obtain a low-frequency component and a high-frequency component which are respectively marked as a first low-frequency component and a first high-frequency component; Calculating standard deviation of the first water level sequence, namely PB, setting a denoising threshold value of the first high-frequency component as k2 PB, performing soft threshold processing on the first high-frequency component according to the k2 PB to obtain a second high-frequency component, and reconstructing the sequence by using the first low-frequency component and the second high-frequency component to obtain a second water level sequence, wherein k2 is a set proportionality coefficient.
5. The method for monitoring the flow of an irrigation canal system by multi-sensor fusion according to claim 4, wherein the data correction processing is performed based on water level data and flow rate data, the water level and the flow rate of the water flow of the irrigation canal are corrected, and the corrected water level information and the corrected flow rate information are obtained, further comprising the sub-steps of: acquiring the water depths in the second water level sequence, and recording the water depths as AD (1) -AD (n 1), wherein n1 is the total number of the water depths, and recording any water depth as AD (i), wherein i represents the position sequence number; Calculating a trend depth BD (i) corresponding to the AD (i), and replacing the AD (i) by the BD (i), wherein if i=1, BD (i) =Q1×AD (i) +Q2×AD (i+1), if i=n 1, BD (i) =Q1×AD (i) +Q2×AD (i-1), and if 1< i < n1, BD (i) =Q2×AD (i-1) +Q3×AD (i) +Q2×AD (i+1), Q1, Q2 and Q3 are set weights, Q1+Q2=1, Q3+2×Q2=1; and repeatedly calculating trend depths of all water depths in the second water level sequence, replacing, and obtaining a third water level sequence after the replacement, wherein the third water level sequence is marked as corrected water level information.
6. The method for monitoring the flow of an irrigation canal system by multi-sensor fusion according to claim 5, wherein the data correction processing is performed based on water level data and flow rate data, the water level and the flow rate of the water flow of the irrigation canal are corrected, and the corrected water level information and the corrected flow rate information are obtained, further comprising the sub-steps of: recording any one data in the third water level sequence as BD (i), recording any one data in the first flow rate sequence as BV (i), and calculating a water depth flow rate ratio DV (i) corresponding to BD (i) and BV (i), wherein DV (i) =BD (i)/BV (i); Repeatedly calculating all corresponding water depth and flow speed ratios according to the third water level sequence and the first flow speed sequence, marking the water depth and flow speed ratios as a first ratio sequence, calculating the mean value and standard deviation of the first ratio sequence, and marking the mean value and standard deviation as DP and DB respectively in sequence; If DV (i) is not located in [ DP-k3 DB, DP+k3 DB ], corresponding BD (i) and BV (i) are removed from the corresponding third water level sequence and the corresponding first flow rate sequence, if DV (i) is located in [ DP-k3 DB, DP+k3 DB ], corresponding BD (i) and BV (i) are not removed, judgment and removal are repeatedly carried out according to all water depth flow rate ratios, and a fourth water level sequence and a second flow rate sequence are obtained after completion, wherein k3 is a set proportionality coefficient.
7. The method for monitoring the flow of an irrigation canal system by multi-sensor fusion according to claim 6, wherein the data correction processing is performed based on water level data and flow rate data, the water level and the flow rate of the water flow of the irrigation canal are corrected, and the corrected water level information and the corrected flow rate information are obtained, further comprising the sub-steps of: acquiring a value range corresponding to the fourth water level sequence, uniformly dividing the value range into a plurality of subintervals, and recording the subintervals as water level subintervals; Acquiring a water level subinterval in which each data in the fourth water level sequence is located, grouping the fourth water level sequence, marking the fourth water level sequence as a water level group, and marking any water level group as a first water level group; Acquiring data corresponding to the second flow rate sequence according to the data of the first water level group, and recording the data as a first flow rate group, and calculating the average value and standard deviation of the flow rate of the water body in the first flow rate group, and recording the average value and standard deviation as VP and VB respectively in sequence; For any water flow rate in the first flow rate group, if not positioned in [ VP-k 4X VB, VP+k4X VB ], replacing by VP, if not positioned in [ VP-k 4X VB, VP+k4X VB ], repeating judging and replacing all water flow rates in the first flow rate group, and obtaining a corresponding noise filtering flow rate group after finishing, wherein k4 is a set proportionality coefficient; repeatedly acquiring all noise filtering flow rate groups according to all water level groups, and arranging the noise filtering flow rate groups according to a corresponding sequence to obtain a third flow rate sequence after finishing; Recording any one noise filtering flow rate packet in the third flow rate sequence as a first noise filtering packet, calculating the average value of the first noise filtering packet, recording as TV1, acquiring the number of data in a water level packet corresponding to the first noise filtering packet, recording as DG1, and acquiring the number of data in a fourth water level sequence, recording as n2; Calculating a weight VQ1 corresponding to the first noise filtering packet, wherein VQ1=DG1/n 2; calculating a weighted average value EV1 = VQ 1-Tv 1 corresponding to the first noise filtering packet; and repeatedly acquiring weighted average values corresponding to all the noise filtering flow velocity groups, summing, marking the weighted average values as the representative water flow velocity of the first acquisition period, and marking the weighted average values as corrected flow velocity information.
8. The method for monitoring the flow of the irrigation canal system with the multi-sensor fusion according to claim 7, wherein the steps of performing the overcurrent analysis processing according to the appearance section data of the irrigation canal and obtaining the overcurrent area information according to the corrected water level and flow velocity information comprise the following sub-steps: Performing function fitting on the depth of the water body and the overflow area according to the appearance section data of the first monitoring position to obtain a function relation between the depth of the water body and the overflow area, and recording the function relation as a depth area function; substituting the depth of the water body in the third water level sequence into a depth area function in sequence to calculate a corresponding overflow area to obtain a first area sequence, wherein any overflow area in the first area sequence is denoted as SA (m), and m represents a position sequence; calculating the difference degree of SA (m) and adjacent data, and respectively recording the difference degree as a left difference degree LS (m) and a right difference degree RS (m), wherein LS (m) = |SA (m) -SA (m-1) |, and RS (m) = |SA (m) -SA (m+1) |; Calculating left weight LQ, right weight RQ and self weight YQ corresponding to SA (m), respectively, wherein lq=1/(1+ls (m)), rq=1/(1+rs (m)), yq=1/[ 1+ (LS (m) +rs (m))/2 ], and calculating a smoothing area SH (m) corresponding to SA (m), wherein SH (m) = [ lq×sa (m-1) +yq×sa (m) +rq×sa (m+1) ]/(lq+rq+yq; and repeatedly calculating the smooth areas corresponding to all the overcurrent areas in the first area sequence, replacing the corresponding overcurrent areas with the smooth areas, and obtaining a second area sequence after the completion.
9. The method for monitoring the flow of the irrigation canal system by the multi-sensor fusion according to claim 8, wherein the method for monitoring the flow of the irrigation canal system by the multi-sensor fusion is characterized in that the method for carrying out the overcurrent analysis according to the appearance section data of the irrigation canal and obtaining the overcurrent area information according to the corrected water level and flow velocity information comprises the following substeps: Calculating standard deviation of a second area sequence, namely BS, setting the window size as k5 and k5 as an odd number for any smooth area SH (m) in the second area sequence, taking SH (m) as a window center, calculating the standard deviation of the smooth area in the window, namely BC (m), and marking SH (m) as a stable area if BC (m) is not more than BS; And repeatedly acquiring all stable areas in the second area sequence, calculating the average value of all the stable areas, marking the average value as the representative overcurrent area of the first acquisition period, and marking the average value as overcurrent area information.
10. The method for monitoring the flow of the irrigation canal system based on the multi-sensor fusion according to claim 9, wherein the method for monitoring the flow of the irrigation canal system in real time based on the corrected flow rate information and the overflow area information comprises the following sub-steps: Calculating the flow corresponding to the first acquisition period according to the representative water flow rate and the representative overflow area of the first acquisition period to obtain the flow of the first monitoring position in the first acquisition period, and repeatedly and sequentially obtaining the flow of each acquisition period according to the periodically acquired water level data and flow rate data of the first monitoring position to monitor the flow of the first monitoring position of the irrigation canal in real time; and repeatedly monitoring the flow of all the flow monitoring positions in real time according to the selected flow monitoring positions on the irrigation canal system.

Description

Irrigation canal system flow real-time monitoring method with multi-sensor fusion Technical Field The invention relates to the technical field of irrigation canal flow monitoring, in particular to a multi-sensor fusion irrigation canal flow real-time monitoring method. Background The irrigation canal flow monitoring technology is a technology system which collects flow data of water flow in an irrigation canal in real time or periodically through standardized equipment, a standardized method and a standardized data processing system, namely, the water quantity of a certain fixed section of the canal in unit time, checks, transmits and analyzes the data, and finally provides quantitative basis for irrigation system dispatching, efficient water resource utilization, canal system maintenance and agricultural water management. The prior irrigation canal flow monitoring technology is used for measuring the water level of an irrigation canal when monitoring the flow of the irrigation canal in real time, and calculating to obtain the corresponding flow according to a water level-flow relation curve, namely an H-Q curve, wherein the H-Q curve is usually measured through an experimental model consistent with the design appearance of an actual irrigation canal, and aims to establish a precise water level flow relation, but in actual construction, the geometric appearance of the irrigation canal at a sensor mounting position is different from that of all the irrigation canals in an experiment, the deviation in an engineering allowable range can lead to the deviation of the actual H-Q curve at the sensor mounting position from the experimental curve, and the greater the deviation degree of the construction deviation is, when the flow is calculated by directly using the experimental H-Q curve, the single error can be smaller, but the total water consumption of the irrigation canal flow monitoring needs to be calculated based on continuous data accumulation, the single small error can be overlapped and amplified along with the monitoring times, the verification of the irrigation water cost can be influenced, and the water supply plan and the water consumption can be not be matched, so that the existing flow can not accurately obtain the irrigation canal flow parameters according to the monitoring technology when the monitoring the flow of the irrigation canal is monitored at the real-time. Disclosure of Invention The invention aims to solve at least one of the technical problems in the prior art to a certain extent, and solves the problems that the flow of irrigation channels cannot be accurately obtained according to sensor data and appearance parameters of irrigation channels at mounting positions when the flow of the monitored irrigation channels is monitored in real time by acquiring water level data and flow rate data of the irrigation channels based on different sensors, correcting the water level and the flow rate of the irrigation channels to obtain corrected water level information and corrected flow rate information, performing overcurrent analysis and obtaining overcurrent area information according to the corrected water level and flow rate information, and acquiring the flow of the irrigation channels based on the corrected flow rate information and the overcurrent area information. In order to achieve the purpose, the application provides a multi-sensor fusion irrigation canal system flow real-time monitoring method, which comprises the following steps: Collecting water level data and flow rate data of irrigation canal water flow based on different sensors, and collecting appearance section data of the irrigation canal; Carrying out data correction processing based on the water level data and the flow rate data, and correcting the water level and the flow rate of the irrigation canal water flow to obtain corrected water level information and corrected flow rate information; carrying out overcurrent analysis processing according to the appearance section data of the irrigation canal, and obtaining overcurrent area information according to the corrected water level and flow velocity information; and acquiring the flow of irrigation canal water flow based on the corrected flow velocity information and the overflow area information, and monitoring the irrigation canal system flow in real time. Further, collecting water level data and flow rate data of irrigation canal water flow based on different sensors, and collecting appearance section data of irrigation canal comprises the following sub-steps: The method comprises the steps of recording a position for monitoring water flow in an irrigation canal system as a flow monitoring position, and recording any one flow monitoring position as a first monitoring position; setting an acquisition period as T0 for a first monitoring position, acquiring the depth of a water body of the first monitoring position at a first time interval by using a water level monitoring se