CN117928680A

CN117928680A - Automatic positioning method and system for transducer, electronic equipment and storage medium

Info

Publication number: CN117928680A
Application number: CN202410323129.XA
Authority: CN
Inventors: 王记军; 马云飞; 刘志泉; 张作开; 冷吉强
Original assignee: Qingdao Qingwan Water Technology Co ltd
Current assignee: Qingdao Qingwan Water Technology Co ltd
Priority date: 2024-03-21
Filing date: 2024-03-21
Publication date: 2024-04-26
Anticipated expiration: 2044-03-21
Also published as: CN117928680B

Abstract

The application discloses an automatic positioning method and system for a transducer, electronic equipment and a storage medium, and relates to the technical field of transducer positioning. In the method, the erection position of a total station in a flow channel is determined; after the total station is set at the erection position, determining the installation range of the plurality of transducers; a plurality of runner inner wall measuring points are arranged in the installation range; scanning the installation range by using a total station to obtain the coordinate data of the wall surface of the flow channel; fitting a plurality of measuring points of the inner wall of the runner based on the coordinate data of the wall surface of the runner to obtain a function of the inner wall surface of the runner corresponding to the fitting surface; screening a plurality of runner inner wall measuring points based on a runner inner wall surface function to obtain a plurality of effective inner wall measuring points; and determining actual installation coordinate data corresponding to each transducer based on the plurality of effective inner wall measuring points. By implementing the technical scheme of the application, the accuracy of transducer positioning can be effectively improved.

Description

Automatic positioning method and system for transducer, electronic equipment and storage medium

Technical Field

The application relates to the technical field of transducer positioning, in particular to an automatic transducer positioning method, an automatic transducer positioning system, electronic equipment and a storage medium.

Background

The ultrasonic flowmeter flow measurement system consists of a host, a module, a transducer and other devices, wherein the transducer is equivalent to an ultrasonic sensor and is used for transmitting and receiving ultrasonic waves, and the flow velocity and the flow rate are measured based on the time difference of the acoustic waves in forward flow and backward flow.

For the installation of an ultrasonic flow meter transducer, comprising: positioning, mounting, aligning, retesting and the like. Because the signal emitting surface of the ultrasonic sensor is smaller, the requirement on the positioning accuracy of the transducer is higher. The traditional transducer positioning mainly takes manual operation as a main mode, and personnel are required to perform field measurement through instruments such as theodolites, laser rangefinders and the like to determine the installation position of the transducer. However, the traditional transducer positioning method involves a large amount of calculation and is inconvenient to operate, so that manual operation errors are large, and the accuracy of transducer positioning is low.

Therefore, how to improve the accuracy of the positioning of the transducer is a technical problem to be solved.

Disclosure of Invention

The application provides an automatic positioning method, an automatic positioning system, electronic equipment and a storage medium for a transducer, which can effectively improve the accuracy of transducer positioning.

In a first aspect, the present application provides a method for automatically positioning a transducer, the method comprising: determining the erection position of a total station in a runner; determining a mounting range of a plurality of transducers after the total station is set at the erection location; a plurality of runner inner wall measuring points are arranged in the installation range; scanning the installation range by using the total station to obtain runner wall surface coordinate data; fitting a plurality of measuring points of the inner wall of the flow channel based on the coordinate data of the wall surface of the flow channel to obtain a function of the inner wall surface of the flow channel corresponding to the fitting surface; screening a plurality of measuring points of the inner wall of the flow channel based on the function of the inner wall surface of the flow channel to obtain a plurality of effective measuring points of the inner wall; and determining actual installation coordinate data corresponding to each transducer based on the plurality of effective inner wall measuring points.

By adopting the technical scheme, the erection position of the total station in the flow channel is determined, so that the total station can measure all transducer probe points without shielding, and the accuracy and the reliability of measured data are improved. The measuring points of the inner wall of the flow channel are fitted based on the coordinate data of the wall surface of the flow channel, so that an accurate function of the inner wall surface of the flow channel is obtained, and a key geometric reference is provided for accurate installation of the transducer. The effective inner wall measuring points are obtained by screening the inner wall measuring points of the flow channel based on the inner wall surface function of the flow channel, so that potential abnormal points are eliminated, and the accuracy of transducer mounting point selection is improved. The actual installation coordinate data of the transducer is determined based on the effective inner wall measuring points, so that the transducer can be accurately installed at the optimal position, and the accuracy of the positioning of the effective transducer is further ensured.

Optionally, the runner inner wall surface function comprises a rectangular runner inner wall surface function and a round runner inner wall surface function; fitting a plurality of measuring points of the inner wall of the flow channel based on the coordinate data of the wall surface of the flow channel to obtain a function of the inner wall surface of the flow channel corresponding to the fitting surface, specifically comprising: determining the type of a runner; the flow channel type comprises a rectangular flow channel and a circular flow channel; when the flow channel type is the rectangular flow channel, determining a rectangular flow channel wall plane equation corresponding to the rectangular flow channel; fitting the rectangular runner wall plane equation based on runner wall coordinate data corresponding to a plurality of runner inner wall measuring points to obtain the rectangular runner inner wall function; when the flow channel type is the circular flow channel, determining a circular flow channel wall surface cylindrical equation corresponding to the circular flow channel; and fitting the circular flow channel wall surface cylindrical equation based on the flow channel wall surface coordinate data corresponding to the flow channel inner wall measuring points to obtain the circular flow channel inner wall surface function.

By adopting the technical scheme, the type of the flow channel is determined to be a rectangular or circular flow channel, so that a definite geometric basis is provided for subsequent measurement and analysis, and the applicability and the accuracy of the fitting method are ensured. By determining the corresponding rectangular flow channel wall plane equation for the rectangular flow channel, the geometric characteristics of the inner wall of the rectangular flow channel are accurately described, and the accuracy of accurate modeling of the rectangular flow channel and the accuracy of transducer positioning are improved. The rectangular runner wall plane equation is fitted based on the coordinate data of the runner inner wall measuring points, so that an accurate rectangular runner inner wall function is obtained, and the accuracy of transducer installation and runner monitoring is further improved. By determining the corresponding circular flow channel wall surface cylindrical equation for the circular flow channel, the accuracy of the accurate modeling of the circular flow channel and the accuracy of the positioning of the transducer are improved. The circular flow channel wall surface cylindrical equation is fitted based on the coordinate data of the flow channel inner wall measuring points, so that an accurate circular flow channel inner wall surface function is obtained, and the accuracy of transducer positioning is ensured.

Optionally, the fitting is performed on the rectangular flow channel wall plane equation based on the flow channel wall coordinate data corresponding to the flow channel inner wall measuring points to obtain the rectangular flow channel inner wall function, which specifically includes: the rectangular runner wall plane equation is expressed by the following formula: ; wherein/> Normal vector/>, which is the plane equation of the wall surface of the rectangular flow channelAnd A, B, C, D are constant; (x, y, z) is runner wall surface coordinate data corresponding to the runner inner wall measuring points on the rectangular runner wall surface; substituting the runner wall surface coordinate data corresponding to the n runner inner wall measuring points into the rectangular runner wall surface plane equation, minimizing the square sum of the vertical distances from the n runner inner wall measuring points to the rectangular runner wall surface, and determining coefficient values respectively corresponding to the first coefficient, the second coefficient and the third coefficient; the square sum of the vertical distances from the n measuring points of the inner wall of the flow channel to the wall surface of the rectangular flow channel is minimized, and the square sum is expressed by the following formula: ; wherein/> For the first coefficient,/>Is the second coefficient,/>Is a third coefficient, and/>；/>The coordinate data of the wall surface of the flow channel corresponding to the i-th measuring point of the inner wall of the flow channel; and obtaining the rectangular runner inner wall surface function based on the coefficient values respectively corresponding to the first coefficient, the second coefficient and the third coefficient.

Optionally, the fitting is performed on the circular flow channel wall surface cylindrical equation based on the flow channel wall surface coordinate data corresponding to the flow channel inner wall measuring points to obtain the circular flow channel inner wall surface function, which specifically includes: the circular flow passage wall surface cylindrical equation is expressed by the following formula: ; wherein, Is a base point on the axis of the cylinder, (x, y, z) is the flow channel wall surface coordinate data corresponding to the flow channel inner wall measuring point on the circular flow channel wall surface,/>Unit direction vector of cylindrical axis/>L, m, n are all constants, and; R is the radius of the cylinder; substituting the flow channel wall surface coordinate data corresponding to the n flow channel inner wall measuring points into the rectangular flow channel wall surface plane equation, minimizing the square sum of distances from the n flow channel inner wall measuring points to the circular flow channel wall surface, and determining coefficient values corresponding to x ₀、y₀、z₀, l, m, n and r respectively; the square sum of the distances from the n measuring points of the inner wall of the flow channel to the wall surface of the circular flow channel is minimized, and the square sum is expressed by the following formula: /(I)；; Wherein,The coordinate data of the wall surface of the flow channel corresponding to the i-th measuring point of the inner wall of the flow channel; /(I)The distance from the measuring point of the inner wall of the flow channel to the unit direction vector of the cylindrical axis is the i-th measuring point of the inner wall of the flow channel; and obtaining the function of the inner wall surface of the circular flow passage based on the coefficient values corresponding to x ₀、y₀、z₀, l, m, n and r respectively.

Optionally, the screening the plurality of the measuring points of the inner wall of the flow channel based on the function of the inner wall surface of the flow channel to obtain a plurality of measuring points of the effective inner wall specifically includes: calculating the distances from all the measuring points of the inner wall of the flow channel to the fitting surface based on the function of the inner wall surface of the flow channel to obtain a plurality of fitting errors; carrying out statistical analysis on a plurality of fitting errors to obtain an average value and a standard deviation; and screening a plurality of effective inner wall measuring points from a plurality of runner inner wall measuring points based on the fitting errors, the average value and the standard deviation.

By adopting the technical scheme, the distances from the measuring points of the inner wall of the flow channel to the fitting surface are calculated based on the function of the inner wall surface of the flow channel, so that a plurality of fitting errors are obtained, and the accurate measurement and evaluation of the geometric shape of the wall surface of the flow channel are ensured. And the plurality of fitting errors are subjected to statistical analysis to obtain an average value and a standard deviation, so that the overall quality and consistency of data are effectively evaluated, and the screened effective inner wall measuring points are ensured to be in high consistency with the actual geometric shape of the flow channel in mathematics. The effective inner wall measuring points are obtained by screening from the inner wall measuring points of the flow channel based on fitting errors, average values and standard deviations, so that potential abnormal points are removed, and the accuracy of transducer mounting point selection is improved.

Optionally, determining actual installation coordinate data corresponding to each transducer based on the plurality of effective inner wall measuring points specifically includes: constructing a first point cloud based on the runner wall surface coordinate data corresponding to all the runner inner wall measuring points; the runner wall surface coordinate data in the first point cloud are coordinate data under a total station coordinate system; converting the first point cloud to obtain a second point cloud; the flow channel wall surface coordinate data in the second point cloud are coordinate data under a drawing coordinate system; converting the runner wall surface coordinate data corresponding to all the runner inner wall measuring points in the second point cloud to obtain the relative coordinate data of all the runner inner wall measuring points under a total station coordinate system; and taking each effective inner wall measuring point as an actual installation position corresponding to each transducer, and determining the actual installation coordinate data corresponding to each transducer based on the relative coordinate data corresponding to each effective inner wall measuring point.

By adopting the technical scheme, the first point cloud is constructed based on the runner wall surface coordinate data corresponding to all the runner inner wall measuring points, so that a highly detailed and accurate three-dimensional view is provided for the runner inner wall surface, and an accurate basis is provided for subsequent data processing and transducer installation. The coordinate data of the wall surface of the flow channel in the first point cloud is converted into the coordinate data under the drawing coordinate system, so that the consistency of the actual measurement data and the data of the design stage is ensured. And converting the flow channel wall surface coordinate data corresponding to all the flow channel inner wall measuring points in the second point cloud to obtain the relative coordinate data of all the flow channel inner wall measuring points under the total station coordinate system, thereby ensuring the accuracy of transducer installation. By taking each effective inner wall measuring point as the corresponding actual installation position of the transducer and determining the actual installation coordinate data of the transducer based on the relative coordinate data of the measuring points, the transducer can be accurately installed at the optimal position.

Optionally, the converting the first point cloud to obtain a second point cloud specifically includes: based on a first rotation matrix, rotating the first point cloud around an x axis by a first preset angle to enable an axis corresponding to the first point cloud to be parallel to a yoz plane, so as to obtain a third point cloud; rotating the third point cloud around the y axis by a second preset angle based on a second rotation matrix to enable an axis corresponding to the second point cloud to be parallel to a zox plane, so as to obtain a fourth point cloud; and translating the center point corresponding to the fourth point cloud to the original point corresponding to the drawing coordinate system based on the translation vector to obtain the second point cloud.

Through adopting above-mentioned technical scheme, through the first angle of predetermineeing of rotation around x axle with first point cloud based on first rotation matrix to make the axis of point cloud parallel with yoz planes, for subsequent coordinate conversion and data analysis provide correct orientation and align, strengthened the accuracy and the usability of data. The third point cloud is rotated around the y axis by a second preset angle based on the second rotation matrix, so that the axis of the point cloud is parallel to the zox plane, the point cloud data is further ensured to be consistent with the preset design or analysis direction in space, and the space positioning of the data is optimized. And the center point of the fourth point cloud is translated to the original point corresponding to the drawing coordinate system based on the translation vector, so that the second point cloud is obtained, the point cloud data is ensured to be completely aligned with engineering design or analysis requirements in space position, and the accurate positioning of the transducer is realized.

In a second aspect of the application, there is provided an automatic transducer positioning system, the system comprising a measurement control module and a processing module; the processing module is used for determining the erection position of the total station in the flow channel; the measurement control module is used for determining the installation range of a plurality of transducers after the total station is arranged at the erection position; a plurality of runner inner wall measuring points are arranged in the installation range; the measurement control module is further used for scanning the installation range by using the total station to obtain runner wall surface coordinate data; the processing module is further used for fitting a plurality of measuring points of the inner wall of the flow channel based on the coordinate data of the wall surface of the flow channel to obtain a function of the inner wall surface of the flow channel corresponding to the fitting surface; the processing module is further used for screening a plurality of measuring points of the inner wall of the flow channel based on the function of the inner wall surface of the flow channel to obtain a plurality of effective measuring points of the inner wall; and the processing module is also used for determining the actual installation coordinate data corresponding to each transducer based on the plurality of effective inner wall measuring points.

In a third aspect the application provides an electronic device comprising a processor, a memory for storing instructions, a user interface and a network interface for communicating to other devices, the processor being arranged to execute the instructions stored in the memory to cause the electronic device to perform a method according to any of the first aspects of the application.

In a fourth aspect of the application a computer readable storage medium is provided, storing a computer program capable of being loaded by a processor and performing a method according to any of the first aspects of the application.

In summary, one or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

By determining the erection position of the total station in the flow channel, the total station can measure all transducer probe points without shielding, and the accuracy and reliability of measured data are improved. The measuring points of the inner wall of the flow channel are fitted based on the coordinate data of the wall surface of the flow channel, so that an accurate function of the inner wall surface of the flow channel is obtained, and a key geometric reference is provided for accurate installation of the transducer. The effective inner wall measuring points are obtained by screening the inner wall measuring points of the flow channel based on the inner wall surface function of the flow channel, so that potential abnormal points are eliminated, and the accuracy of transducer mounting point selection is improved. The actual installation coordinate data of the transducer is determined based on the effective inner wall measuring points, so that the transducer can be accurately installed at the optimal position, and the accuracy of the positioning of the effective transducer is further ensured.

Drawings

FIG. 1 is a schematic flow chart of an automatic transducer positioning method according to an embodiment of the present application;

FIG. 2 is a second flow chart of an automatic positioning method for transducers according to the embodiment of the present application;

FIG. 3 is a schematic diagram of calculating a wall distance of a circular flow channel according to an embodiment of the present application;

FIG. 4 is a third flow chart of an automatic transducer positioning method according to an embodiment of the present application;

FIG. 5 is a schematic view of fitting and positioning a circular flow channel according to an embodiment of the present application;

FIG. 6 is a schematic diagram of an automatic transducer positioning system according to an embodiment of the present application;

Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Reference numerals illustrate: 1. a processing module; 2. a measurement control module; 700. an electronic device; 701. a processor; 702. a communication bus; 703. a user interface; 704. a network interface; 705. a memory.

Detailed Description

In order that those skilled in the art will better understand the technical solutions in the present specification, 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 apparent that the described embodiments are only some embodiments of the present application, not all embodiments.

In describing embodiments of the present application, words such as "for example" or "for example" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "such as" or "for example" in embodiments of the application should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "or" for example "is intended to present related concepts in a concrete fashion.

In the description of embodiments of the application, the term "plurality" means two or more. For example, a plurality of systems means two or more systems, and a plurality of screen terminals means two or more screen terminals. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating an indicated technical feature. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The application provides an automatic positioning method for a transducer, and referring to fig. 1, one of flow diagrams of the automatic positioning method for the transducer is shown. The method comprises the steps S1-S6, wherein the steps are as follows:

step S1: and determining the erection position of the total station in the flow channel.

Specifically, the total station is a high-precision measuring instrument, and is widely applied to civil engineering, building construction, mapping, archaeology and other fields for precisely measuring the position (including angle and distance) of a point. The device combines the functions of an angle measuring instrument and a distance measuring instrument, and can measure the angle and the distance simultaneously, thereby determining the accurate position of a measuring point in a three-dimensional space.

The total station is provided with a servo driving motor, so that the angular rotation of the total station can be realized. Meanwhile, the total station has the functions of distance measurement, prism measurement free, automatic target identification, target tracking locking and the like. The total station transmits the acquired three-dimensional coordinates to a computer through a connecting module. The connection module is used for establishing communication between the computer and the total station. The measurement or instrument control function is called in the form of a dynamic link library (DDL) to enable automatic operation of the total station with a computer. The computer comprises a database module, a drawing module and a software module. The database module has a data storage function and stores data acquired by the total station. The database module also has a mathematical operation function and processes the acquired data. The drawing module draws the data processed by the database module into a three-dimensional image and displays the three-dimensional image to the software module. The software module is used for man-machine interaction, so that a user can conveniently set relevant parameters of transducer installation in a computer; the software module is used for connecting the computer with the total station; the software module controls and issues a computer instruction; the software module controls the operation of the database module, inputs the operation result to the drawing module and displays the operation result to the computer interface.

Before determining the erection position of the total station, the connection between the total station and the computer is also required to be established, that is, serial port communication parameters such as serial port number and baud rate of the computer are set to be consistent with the total station, so that normal communication between the computer and the total station is ensured. Through the connection module, the total station can receive and execute instructions issued by the computer.

In the technical scheme, before the total station is erected, firstly, the erection position of the total station needs to be determined so that the total station can detect all probe points without shielding. More specifically, two key factors are mainly considered when selecting the position of the total station: firstly, the measuring range of the total station needs to cover the probe points in the whole flow channel, and secondly, the sight of the total station is ensured not to be blocked, so that errors of measured data are avoided. The specific way to do this is to first estimate the optimal position of the total station based on the size and shape of the flow channel, which usually requires consideration of the length, width and possible obstructions of the flow channel. Then, an on-site survey is performed, which actually checks whether the preselected location can meet the measurement requirements, in particular whether the total station can be left unobstructed to cover all predetermined transducer mounting points. If necessary, the validity of this location can be verified by simulating measurements in the field. And finally, finely adjusting the position of the total station according to the field condition, so that the total station can cover all probe points and can be kept stable and free of shielding.

Step S2: after the total station is set at the erection position, determining the installation range of the plurality of transducers; a plurality of measuring points of the inner wall of the runner are arranged in the installation range.

Specifically, a total station is erected at the bottom of a flow channel at a proper position, namely the total station is arranged at an erection position, so that all probe points can be detected without shielding, and the total station is adjusted to be horizontal. And setting relevant measurement parameters of the total station, mainly including atmospheric correction (temperature, humidity and atmospheric pressure), prism parameter configuration, laser buzzing, measurement modes and the like.

After the total station is accurately mounted in place, it is next critical to determine the mounting range of the transducers within the flow channel. The primary purpose of this process is to ensure that the transducer is mounted in an optimal position for effective measurement. For this purpose, it is first necessary to analyze and determine the ideal mounting position of the transducer according to the size, shape and flow characteristics of the fluid. This includes considering the spatial layout of the interior of the flow channel, ensuring that the transducer mounting points capture enough hydrodynamic data without being disturbed by obstructions or structural features within the flow channel.

After the approximate areas of transducer mounting are determined, the next step is to precisely index a plurality of flow channel inner wall measurement points within those areas. This process typically involves precisely measuring and marking specific points on the flow channel wall that will be used as the basis for subsequent flow channel inner wall geometry measurements and fits. The selection and calibration of these stations requires both accuracy and representativeness to ensure that they reflect the geometric features of the flow channel walls comprehensively and accurately.

Step S3: and scanning the installation range by using the total station to obtain the coordinate data of the wall surface of the flow channel.

Specifically, the total station is utilized to scan the installation range, so that the coordinate data of the wall surface of the flow channel is obtained, namely, the angle and the distance of each measuring point relative to the total station are determined, and the exact coordinate of each measuring point in the three-dimensional space is calculated.

Before the total station is used to scan the installation range, the channel type, channel angle, channel number, channel surface number and flow integral calculation mode are also required to be set correctly, and software automatically calculates the three-dimensional relative coordinates of each installation point under the drawing coordinate system. The flow channel type is rectangular or circular, and different point acquisition modes are adopted according to the flow channel type. The sound channel angle is the included angle between the emitting surface of a pair of transducers which mutually emit and receive ultrasonic waves and the axis of the flow channel. A pair of transducers forms a channel, the number of which is the logarithm of the transducers. The channel surface is the same channel inclined section where a group of channels are located.

Step S4: fitting a plurality of measuring points of the inner wall of the flow channel based on the coordinate data of the wall surface of the flow channel to obtain a function of the inner wall surface of the flow channel corresponding to the fitting surface.

Specifically, after the coordinate measurement of the points on the inner wall of the flow channel is completed, the next step is to fit the geometric shape of the inner wall surface of the flow channel by using the coordinate data. The purpose of this process is to obtain a mathematical model that accurately describes the flow channel walls. The exact function of the inner wall surface of the flow channel is crucial for the accurate positioning of the subsequent mounting position of the transducer, as it directly influences the effect of the transducer on monitoring the fluid flow.

In a possible implementation manner, reference is made to fig. 2, which shows a second schematic flow chart of a method for automatically positioning a transducer according to an embodiment of the present application. The step S4 specifically comprises the steps S41-S45:

Step S41: the type of flow channel is determined.

Specifically, the key to step S41 is to identify whether the flow channel is rectangular or circular, as this will determine which mathematical model to use to fit the inner wall surface of the flow channel. Correctly identifying the flow channel type is critical to ensuring accuracy and effectiveness of subsequent fits, as flow channels of different shapes require different mathematical equations to describe their inner wall surfaces.

In the foregoing embodiment, before the installation range is scanned by the total station, the channel type needs to be set correctly, that is, the channel type is a rectangular channel or a circular channel; the skilled person will determine this from the cross-section of the flow channel. If the section of the flow channel is rectangular, the flow channel type is rectangular, and a plane equation is used for fitting the wall surface of the flow channel in the subsequent steps; if the cross section of the flow channel is circular, the flow channel type is a circular flow channel, and a cylindrical equation is used for fitting the flow channel wall surface in the subsequent steps.

Step S42: when the flow channel type is a rectangular flow channel, determining a rectangular flow channel wall plane equation corresponding to the rectangular flow channel.

Specifically, the main purpose of step S42 is to create a mathematical model that accurately describes the walls of the rectangular flow channel. This is critical for accurate measurement of geometric features of the inner wall of the flow channel, as these features directly affect the subsequent transducer mounting and hydrodynamic analysis. In the following embodiments, a rectangular flow passage wall plane equation will be described in detail.

Step S43: and fitting a rectangular runner wall plane equation based on the runner wall coordinate data corresponding to the plurality of runner inner wall measuring points to obtain a rectangular runner inner wall function.

Specifically, the key objective of step S43 is to mathematically fit the inner wall surface of the flow channel accurately, providing an accurate geometric reference for accurate mounting of the transducer. After determining that the flow channel is rectangular and establishing a plane equation, the next task is to determine the coefficients in the equation so that the plane equation best fits the actually measured flow channel wall points.

In one possible implementation, step S43 specifically includes the following steps:

The rectangular runner wall plane equation is expressed by the following formula: ; wherein, Normal vector/>, which is a plane equation of a rectangular flow channel wall surfaceAnd A, B, C, D are constant; and (x, y, z) is the flow channel wall surface coordinate data corresponding to the flow channel inner wall measuring points on the rectangular flow channel wall surface.

Specifically, the plane equation is in a standard formRepresentation, where a, B, C are coefficients of an equation representing the spatial direction of a plane, and D is a constant term, related to the position of the plane. These parameters are determined to formally express the plane equation of the flow channel wall surface. In this equation, the coefficients A, B, C, D are initially considered as unknowns, and their specific values will be determined later by the fitting process.

Substituting the flow channel wall surface coordinate data corresponding to the n flow channel inner wall measuring points into a rectangular flow channel wall surface plane equation, minimizing the square sum of the vertical distances from the n flow channel inner wall measuring points to the rectangular flow channel wall surface, and determining coefficient values respectively corresponding to the first coefficient, the second coefficient and the third coefficient; the sum of squares of the vertical distances from the n flow channel inner wall measuring points to the rectangular flow channel wall surface is minimized by the following formula: ; wherein/> As a result of the first coefficient of the coefficient,Is the second coefficient,/>Is a third coefficient, and/>；/>And the coordinate data of the wall surface of the flow channel corresponding to the measuring point of the inner wall of the ith flow channel.

Specifically, it willDefined as equation (1), then transform equation (1) to get/>And is defined as formula (2). Let/>And defines it as formula (3); based on the formula (2) and the formula (3), the/>, is derivedAnd defines it as formula (4); further, the square sum of the vertical distances from the n flow channel inner wall measuring points to the rectangular flow channel wall surface is minimized, and the formula (5) is obtained: /(I). In the calculation process, these coefficients/>，/>/>Will be adjusted to a plane that best represents the measurement point, i.e. determine the coefficient/>，/>/>Thereby obtaining a mathematical model accurately describing the wall surface of the flow channel.

And obtaining a rectangular runner inner wall surface function based on coefficient values respectively corresponding to the first coefficient, the second coefficient and the third coefficient.

Specifically, in determining coefficients，/>/>After the optimal value of (2), the coefficient/>，/>/>Substituting the formula (4) in the foregoing embodiment, the rectangular flow passage inner wall surface function is obtained. Furthermore, the function of the inner wall surface of the rectangular runner enables technicians to accurately determine the positions of the mounting points of the transducers on the wall surface of the runner, and ensures that the transducers are correctly mounted in the runner, so that the monitoring effect and accuracy of the transducers are maximized.

Step S44: when the flow channel type is a circular flow channel, determining a circular flow channel wall surface cylindrical equation corresponding to the circular flow channel.

Specifically, step S44 is similar to step S42, and the main purpose is to create a mathematical model to accurately describe the wall surface of the circular flow channel. In the following embodiments, a detailed description will be given of a circular flow passage wall plane equation.

Step S45: and fitting a circular flow channel wall surface cylindrical equation based on flow channel wall surface coordinate data corresponding to the plurality of flow channel inner wall measuring points to obtain a circular flow channel inner wall surface function.

Specifically, the key objective of step S45 is to mathematically fit the inner wall surface of the flow channel accurately, providing an accurate geometric reference for accurate mounting of the transducer. After determining that the flow channel is circular and establishing a plane equation, the next task is to determine the coefficients in the equation so that the plane equation best fits the actually measured flow channel wall points.

In one possible implementation, step S45 specifically includes the following steps:

The circular flow channel wall cylindrical equation is expressed by the following formula: ; wherein, Is a base point on the axis of the cylinder, (x, y, z) is the flow channel wall surface coordinate data corresponding to the flow channel inner wall measuring point on the circular flow channel wall surface,/>Unit direction vector of cylindrical axis/>L, m, n are all constants, and; R is the radius of the cylinder.

Specifically, the plane equation is in a standard formAnd (3) representing. For facilitating subsequent understanding, referring to fig. 3, a schematic diagram of calculating a wall distance of a circular flow channel according to an embodiment of the present application is shown.

Wherein the method comprises the steps ofIs a base point O on the axis of the cylinder, (x, y, z) is a cylindrical surface, namely an arbitrary point M on the wall surface of the circular flow channel, and r is a cylindrical radius,/>Unit direction vector of cylindrical axis/>. These parameters are determined to formally express the plane equation of the flow channel wall surface.

In this equation, coefficientsThe preliminary is considered as an unknown, and their specific values will be determined later by the fitting process.

Substituting the flow channel wall surface coordinate data corresponding to the n flow channel inner wall measuring points into a rectangular flow channel wall surface plane equation, minimizing the square sum of distances from the n flow channel inner wall measuring points to the circular flow channel wall surface, and determining coefficient values corresponding to x ₀、y₀、z₀, l, m, n and r respectively; the sum of squares of the distances from the n flow channel inner wall measuring points to the circular flow channel wall surface is minimized by the following formula:； ; wherein, The coordinate data of the wall surface of the flow channel corresponding to the measuring point of the inner wall of the ith flow channel; /(I)The distance from the measuring point of the inner wall of the ith flow channel to the unit direction vector of the cylindrical axis is shown.

Specifically, as shown in FIG. 3, the distance from the point of the inner wall of the flow channel to the wall surface of the circular flow channel, i.e., the point M to the vectorIs a distance d of (a). Will/>Defined as equation (6). According to Pythagorean theorem,/>And defines it as formula (7); wherein,And defines it as formula (8); And is defined as formula (9). And then according to the formulas (6, 7, 8 and 9), the square sum of distances from the n measuring points on the inner wall of the flow channel to the wall surface of the circular flow channel is minimized to obtain the formula (10), . In the calculation process, each unknown quantity x ₀、y₀、z₀, l, m and n is subjected to partial derivative and is 0, the unknown quantity x ₀、y₀、z₀, l, m and n are transformed into a parameter matrix form, then the matrix is subjected to eigenvalue decomposition, and the eigenvector corresponding to the maximum eigenvalue is/>To obtain the optimal values of x ₀、y₀、z₀, l, m, n and r.

And obtaining the function of the inner wall surface of the circular flow passage based on the coefficient values corresponding to x ₀、y₀、z₀, l, m, n and r respectively.

Specifically, after the optimum values of the coefficients x ₀、y₀、z₀, l, m, n, and r are determined, the coefficients x ₀、y₀、z₀, l, m, n, and r are substituted into the formula (6) in the foregoing embodiment, thereby obtaining a circular flow path inner wall surface function. Furthermore, the function of the inner wall surface of the circular flow channel enables technicians to accurately determine the positions of the mounting points of the transducers on the wall surface of the flow channel, and ensure that the transducers are correctly mounted in the flow channel, so that the monitoring effect and accuracy of the transducers are maximized.

Step S5: and screening the plurality of runner inner wall measuring points based on the runner inner wall surface function to obtain a plurality of effective inner wall measuring points.

Specifically, after the fitting of the function of the inner wall surface of the flow channel is completed, although a mathematical model describing the wall surface of the flow channel is obtained, some errors or abnormal data points may exist in the actual measurement process. These errors may result from a variety of factors such as measurement errors of the total station, interference with the field environment, or irregularities in the flow channel walls. Therefore, screening out these effective inner wall measurement points with smaller errors becomes a key step in ensuring data quality.

In one possible implementation, step S5 specifically includes the following steps:

And calculating the distances from all the measuring points of the inner wall of the flow channel to the fitting surface based on the function of the inner wall surface of the flow channel to obtain a plurality of fitting errors.

Specifically, the vertical distance from each measuring point to the fitting surface is calculated by using the fitted function of the inner wall surface of the flow channel. This distance is taken as a fitting error, indicating the geometrical deviation of each measurement point from the fitting model. For rectangular flow channels, this typically involves calculating the vertical distance of each point to the plane; for a circular flow channel, it involves calculating the vertical distance of each point to the cylindrical surface.

And carrying out statistical analysis on the fitting errors to obtain an average value and a standard deviation.

Specifically, first, the average of all fitting errors is calculated, which provides a general level of measurement error. The standard deviation of these errors is then calculated to evaluate the variability and distribution range of the errors. The magnitude of the standard deviation indicates the degree of dispersion of the measured point errors, thereby helping to identify those outlier points that differ significantly from the average level.

And screening a plurality of effective inner wall measuring points from a plurality of runner inner wall measuring points based on a plurality of fitting errors, average values and standard deviations.

Specifically, reference is first made to the mean and standard deviation of the fitting error calculated previously. Statistical principles, such as the 3 sigma principle, are then applied to identify and reject outliers. Typically, this means that those points with a fitting error greater than the average plus or minus three standard deviations are considered outliers and are removed from the dataset. In this way, the remaining points are considered effective inner wall points because their errors are within acceptable limits and accurately reflect the geometry of the flow channel walls.

Step S6: and determining actual installation coordinate data corresponding to each transducer based on the plurality of effective inner wall measuring points.

In particular, the primary purpose of step S6 is to determine the optimal mounting location of the transducer using the effective wall stations screened to ensure that the transducer can be accurately mounted within the flow channel to capture hydrodynamic data.

In one possible implementation, referring to fig. 4, a third flow chart of a method for automatically positioning a transducer according to an embodiment of the present application is shown; the step S6 specifically comprises the steps S61-S64:

Step S61: constructing a first point cloud based on the runner wall surface coordinate data corresponding to all the runner inner wall measuring points; the runner wall surface coordinate data in the first point cloud are coordinate data under a total station coordinate system.

Specifically, the main purpose of step S61 is to create a detailed three-dimensional point cloud model that accurately reflects the geometric characteristics of the inner wall surface of the flow channel. First, the total station is used for measuring the inner wall of the flow, and a large amount of space coordinate data is collected. These data points accurately capture the shape and size of the flow channel wall and provide a detailed description of the geometric features of the flow channel inner wall. These measurement data are then aggregated into a point cloud model. The point cloud is a three-dimensional data set consisting of thousands of measurement points on the inner wall of the flow channel, each of which has its exact position in the total station coordinate system. The point cloud model provides a highly detailed and accurate three-dimensional view of the flow channel walls.

Step S62: converting the first point cloud to obtain a second point cloud; the flow channel wall surface coordinate data in the second point cloud are coordinate data under a drawing coordinate system.

Specifically, the main purpose of step S62 is to convert the point cloud data obtained from the total station into coordinates in the drawing coordinate system, in order to interface with the standardized coordinate system used in the engineering design and planning phase. First, a transformation matrix needs to be determined, which typically involves calculating the rotation and translation of the total station coordinate system to the drawing coordinate system. This transformation matrix is based on the relative position and orientation between the two coordinate systems. Once the transformation matrix is determined, the total station coordinates for each point can be applied to this matrix to calculate its corresponding position in the drawing coordinate system. Through the conversion, the obtained second point cloud reflects the accurate geometric shape of the flow channel in a drawing coordinate system and is consistent with the coordinate system used in the engineering design stage.

In one possible implementation, step S62 specifically includes the following steps:

and rotating the first point cloud around the x axis by a first preset angle based on the first rotation matrix, so that the axis corresponding to the first point cloud is parallel to the yoz plane, and a third point cloud is obtained.

Specifically, a first predetermined angle needs to be determined first, and the first predetermined angle of rotation needs to ensure that the main axis or specific feature of the flow channel is parallel to the yoz plane after conversion. Then, the rotation of the point cloud is performed by applying the first rotation matrix R1. The first rotation matrix R1 is calculated according to a preset rotation angle, and y and z coordinates of each point can be adjusted according to the rotation angle, while x coordinates remain unchanged. Assuming that the first preset angle is α degrees, the first rotation matrix R1 may be represented by the following form:

。

and rotating the third point cloud around the y axis by a second preset angle based on the second rotation matrix, so that the axis corresponding to the second point cloud is parallel to the zox plane, and a fourth point cloud is obtained.

Specifically, a second predetermined angle first needs to be determined, and the second predetermined angle of rotation needs to ensure that the main axis or specific feature of the flow channel is parallel to the zox plane after conversion. Then, the second rotation matrix R2 is applied to rotate the point cloud. The second rotation matrix R2 is calculated according to a preset rotation angle, and can adjust the x and z coordinates of each point according to the rotation angle while the y coordinates remain unchanged. Assuming that the second preset angle is β degrees, the second rotation matrix R2 may be represented by the following form:

。

and translating the center point corresponding to the fourth point cloud to the original point corresponding to the drawing coordinate system based on the translation vector to obtain a second point cloud.

Specifically, it is first determined to which specific position the point cloud needs to be translated, i.e., the origin of the drawing coordinate system. This typically involves calculating the difference between the geometric center of the flow channel or a selected reference point and the origin of the drawing coordinate system. Next, a translation vector R ₀ is determined,. The vector represents the distance the point cloud needs to move in the x, y, z directions. And translating the whole point cloud along the determined direction and distance by using the translation vector, so that the center or the datum point of the point cloud coincides with the origin of the drawing coordinate system. Such a translation operation is to ensure that the point cloud data is spatially properly aligned with a predetermined design or analysis framework.

Thus, after the conversion in the above steps, the converted coordinates are obtained as:。

Step S63: and converting the runner wall surface coordinate data corresponding to all the runner inner wall measuring points in the second point cloud to obtain the relative coordinate data of all the runner inner wall measuring points under the total station coordinate system.

Specifically, the main purpose of step S63 is to ensure that the coordinate data that ultimately determines the mounting position of the transducer is consistent with the total station coordinate system in the actual field, thereby ensuring the accuracy of the transducer mounting. Although the analysis and planning in the drawing coordinate system are convenient, the actual installation needs to be based on the actual measurement coordinate system of the site, namely the total station coordinate system.

Therefore, according to the obtained rotation matrix R ₁、R₂ and translation vector R ₀, the relative coordinates (X, Y, Z) in the coordinate system of the drawing of the transducer are converted into the relative coordinates (X, Y, Z) in the coordinate system of the total station before projection, so that the total station can be positioned, and the conversion formula is as follows:。

Step S64: and taking each effective inner wall measuring point as an actual installation position corresponding to each transducer, and determining the actual installation coordinate data corresponding to each transducer based on the relative coordinate data corresponding to each effective inner wall measuring point.

Specifically, the effective inner wall measuring points screened out by the previous steps are firstly taken as candidate positions for transducer installation. Then, based on the relative coordinate data of the measuring points in the total station coordinate system, the actual installation coordinates corresponding to each transducer are determined.

It should be noted that, after determining the actual mounting positions corresponding to the respective transducers, the drawing module mentioned in the foregoing embodiment further constructs a three-dimensional model of the flow channel based on the function of the inner wall surface of the flow channel for the convenience of the technician. And the database module automatically calculates the channel characteristics such as the length, the angle, the height and the like of the channel, and outputs various data in a report form or exports the data into the format of an EXCEL table. Referring to fig. 5, a schematic diagram of fitting and positioning a circular flow channel according to an embodiment of the present application is shown. As shown in fig. 5, points numbered 1_1, 1_2, … … 1 _1_8, 2_1, 2_2, … … 2_8 and the like are runner inner wall measuring points, and points numbered AD4, AU4, BU4, BD4, BU3, BD3 … … AD2, AU2 and the like are effective inner wall measuring points after coordinate conversion in step S62 and step S63, that is, actual mounting positions of the following transducers. Where AD4 and AU4 constitute a pair of channels, BU4 and BD4 constitute a pair of channels, and so on.

Next, after determining the actual installation coordinate data corresponding to each transducer, the total station telescope will be aimed at the central installation position of each transducer in turn, and the installer will install each transducer to the designated position in turn according to the central installation position aimed at by the total station telescope in turn. After the installation is completed, the technician will measure the coordinates of the installed transducers one by one, and at least 2 more measurements are made after all transducer measurements are completed. Comparing the re-measured transducer coordinates with the calculated transducer coordinates, wherein the error is within +/-2 cm, and considering that the installation meets the requirement, otherwise, repositioning is needed.

Referring to fig. 6, a schematic structural diagram of an automatic positioning system for transducers according to an embodiment of the present application is shown, where the system includes a processing module 1 and a measurement control module 2; the processing module 1 is used for determining the erection position of the total station in the flow channel; a measurement control module 2 for determining installation ranges of the plurality of transducers after the total station is set at the erection position; a plurality of runner inner wall measuring points are arranged in the installation range; the measurement control module 2 is also used for scanning the installation range by using the total station to obtain the coordinate data of the wall surface of the flow channel; the processing module 1 is further used for fitting a plurality of measuring points of the inner wall of the runner based on the runner wall coordinate data to obtain a runner inner wall function corresponding to the fitting surface; the processing module 1 is further used for screening a plurality of runner inner wall measuring points based on a runner inner wall surface function to obtain a plurality of effective inner wall measuring points; the processing module 1 is further configured to determine actual installation coordinate data corresponding to each transducer based on the plurality of effective inner wall measurement points.

In one possible embodiment, the processing module 1 is further configured to determine a flow channel type; the flow channel type comprises a rectangular flow channel and a round flow channel; the processing module 1 is further used for determining a rectangular runner wall plane equation corresponding to the rectangular runner when the runner type is the rectangular runner; the processing module 1 is further used for fitting a rectangular runner wall plane equation based on runner wall coordinate data corresponding to a plurality of runner inner wall measuring points to obtain a rectangular runner inner wall function; the processing module 1 is also used for determining a circular flow passage wall surface cylindrical equation corresponding to the circular flow passage when the flow passage type is a circular flow passage; the processing module 1 is further used for fitting a circular runner wall surface cylindrical equation based on runner wall surface coordinate data corresponding to the plurality of runner wall surface measuring points to obtain a circular runner wall surface function.

In one possible implementation manner, the processing module 1 is further configured to substitute the runner wall coordinate data corresponding to the n runner inner wall measurement points into a rectangular runner wall plane equation, minimize a sum of squares of vertical distances from the n runner inner wall measurement points to the rectangular runner wall, and determine coefficient values corresponding to the first coefficient, the second coefficient and the third coefficient respectively; the processing module 1 is further configured to obtain a rectangular runner inner wall surface function based on coefficient values corresponding to the first coefficient, the second coefficient and the third coefficient, respectively.

In one possible implementation manner, the processing module 1 is further configured to substitute the runner wall coordinate data corresponding to the n runner inner wall measurement points into a rectangular runner wall plane equation, minimize the sum of squares of distances from the n runner inner wall measurement points to the circular runner wall, and determine coefficient values corresponding to x ₀、y₀、z₀, l, m, n, and r respectively; the processing module 1 is further configured to obtain a function of the inner wall surface of the circular flow channel based on coefficient values corresponding to x ₀、y₀、z₀, l, m, n, and r, respectively.

In a possible implementation manner, the processing module 1 is further configured to calculate, based on the function of the inner wall surface of the flow channel, distances from all measurement points of the inner wall of the flow channel to the fitting surface, so as to obtain a plurality of fitting errors; the processing module 1 is also used for carrying out statistical analysis on a plurality of fitting errors to obtain an average value and a standard deviation; the processing module 1 is further configured to screen and obtain a plurality of effective inner wall measurement points from a plurality of inner wall measurement points of the flow channel based on a plurality of fitting errors, average values and standard deviations.

In one possible implementation manner, the processing module 1 is further configured to construct a first point cloud based on the runner wall coordinate data corresponding to all the runner inner wall measurement points; the runner wall surface coordinate data in the first point cloud is coordinate data under a total station coordinate system; the processing module 1 is further used for converting the first point cloud to obtain a second point cloud; the flow channel wall surface coordinate data in the second point cloud is coordinate data under a drawing coordinate system; the processing module 1 is further used for converting the runner wall surface coordinate data corresponding to all the runner inner wall measuring points in the second point cloud to obtain the relative coordinate data of all the runner inner wall measuring points under the total station coordinate system; the processing module 1 is further configured to use each effective inner wall measurement point as an actual installation position corresponding to each transducer, and determine actual installation coordinate data corresponding to each transducer based on the relative coordinate data corresponding to each effective inner wall measurement point.

In a possible implementation manner, the processing module 1 is further configured to rotate, based on the first rotation matrix, the first point cloud by a first preset angle around the x axis, so that an axis corresponding to the first point cloud is parallel to the yoz plane, and obtain a third point cloud; the processing module 1 is further configured to rotate the third point cloud by a second preset angle around the y axis based on the second rotation matrix, so that an axis corresponding to the second point cloud is parallel to the zox plane, and a fourth point cloud is obtained; the processing module 1 is further configured to translate, based on the translation vector, the center point corresponding to the fourth point cloud to an origin corresponding to the drawing coordinate system, so as to obtain a second point cloud.

It should be noted that: in the device provided in the above embodiment, when implementing the functions thereof, only the division of the above functional modules is used as an example, in practical application, the above functional allocation may be implemented by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. In addition, the embodiments of the apparatus and the method provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the embodiments of the method are detailed in the method embodiments, which are not repeated herein.

The application also discloses electronic equipment. Referring to fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. The electronic device 700 may include: at least one processor 701, at least one network interface 704, a user interface 703, a memory 705, at least one communication bus 702.

Wherein the communication bus 702 is used to enable connected communications between these components.

The user interface 703 may include a Display screen (Display), a Camera (Camera), and the optional user interface 703 may further include a standard wired interface, and a wireless interface.

The network interface 704 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.

Wherein the processor 701 may include one or more processing cores. The processor 701 connects various portions of the overall server using various interfaces and lines, performs various functions of the server and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 705, and invoking data stored in the memory 705. Alternatively, the processor 701 may be implemented in hardware in at least one of digital signal processing (DigitalSignalProcessing, DSP), field programmable gate array (Field-ProgrammableGateArray, FPGA), and programmable logic array (ProgrammableLogicArray, PLA). The processor 701 may integrate one or a combination of several of a central processor (CentralProcessingUnit, CPU), an image processor (GraphicsProcessingUnit, GPU), a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 701 and may be implemented by a single chip.

The memory 705 may include a random access memory (RandomAccessMemory, RAM) or a Read-only memory (rom). Optionally, the memory 705 includes a non-transitory computer readable medium (non-transitorycomputer-readablestoragemedium). Memory 705 may be used to store instructions, programs, code, sets of codes, or instruction sets. The memory 705 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, etc.; the storage data area may store data or the like involved in the above respective method embodiments. The memory 705 may also optionally be at least one storage device located remotely from the processor 701. Referring to fig. 7, an operating system, a network communication module, a user interface module, and an application program may be included in the memory 705, which is a computer-readable storage medium.

In the electronic device 700 shown in fig. 7, the user interface 703 is mainly used for providing an input interface for a user, and acquiring data input by the user; and processor 701 may be configured to invoke storage of an application program in memory 705 that, when executed by one or more processors 701, causes electronic device 700 to perform a method as in one or more of the embodiments described above. It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all of the preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, such as a division of units, merely a division of logic functions, and there may be additional divisions in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some service interface, device or unit indirect coupling or communication connection, electrical or otherwise.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in whole or in part in the form of a software product stored in a memory, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present application. And the aforementioned memory includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a magnetic disk or an optical disk.

The above are merely exemplary embodiments of the present disclosure and are not intended to limit the scope of the present disclosure. That is, equivalent changes and modifications are contemplated by the teachings of this disclosure, which fall within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure.

This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a scope and spirit of the disclosure being indicated by the claims.

Claims

1. A method for automatically positioning a transducer, the method comprising:

Determining the erection position of a total station in a runner;

Determining a mounting range of a plurality of transducers after the total station is set at the erection location; a plurality of runner inner wall measuring points are arranged in the installation range;

Scanning the installation range by using the total station to obtain runner wall surface coordinate data;

Fitting a plurality of measuring points of the inner wall of the flow channel based on the coordinate data of the wall surface of the flow channel to obtain a function of the inner wall surface of the flow channel corresponding to the fitting surface;

screening a plurality of measuring points of the inner wall of the flow channel based on the function of the inner wall surface of the flow channel to obtain a plurality of effective measuring points of the inner wall;

And determining actual installation coordinate data corresponding to each transducer based on the plurality of effective inner wall measuring points.

2. The method of claim 1, wherein the flow channel inner wall surface function comprises a rectangular flow channel inner wall surface function and a circular flow channel inner wall surface function; fitting a plurality of measuring points of the inner wall of the flow channel based on the coordinate data of the wall surface of the flow channel to obtain a function of the inner wall surface of the flow channel corresponding to the fitting surface, specifically comprising:

determining the type of a runner; the flow channel type comprises a rectangular flow channel and a circular flow channel;

when the flow channel type is the rectangular flow channel, determining a rectangular flow channel wall plane equation corresponding to the rectangular flow channel;

Fitting the rectangular runner wall plane equation based on runner wall coordinate data corresponding to a plurality of runner inner wall measuring points to obtain the rectangular runner inner wall function;

when the flow channel type is the circular flow channel, determining a circular flow channel wall surface cylindrical equation corresponding to the circular flow channel;

and fitting the circular flow channel wall surface cylindrical equation based on the flow channel wall surface coordinate data corresponding to the flow channel inner wall measuring points to obtain the circular flow channel inner wall surface function.

3. The method according to claim 2, wherein the fitting the rectangular runner wall plane equation based on the runner wall coordinate data corresponding to the plurality of runner wall measurement points to obtain the rectangular runner wall function specifically includes:

The rectangular runner wall plane equation is expressed by the following formula: ; wherein, Normal vector/>, which is the plane equation of the wall surface of the rectangular flow channelAnd A, B, C, D are constant; (x, y, z) is runner wall surface coordinate data corresponding to the runner inner wall measuring points on the rectangular runner wall surface;

Substituting the runner wall surface coordinate data corresponding to the n runner inner wall measuring points into the rectangular runner wall surface plane equation, minimizing the square sum of the vertical distances from the n runner inner wall measuring points to the rectangular runner wall surface, and determining coefficient values respectively corresponding to the first coefficient, the second coefficient and the third coefficient; the square sum of the vertical distances from the n measuring points of the inner wall of the flow channel to the wall surface of the rectangular flow channel is minimized, and the square sum is expressed by the following formula: ; wherein/> For the first coefficient,/>Is the second coefficient,/>Is a third coefficient, and/>；The coordinate data of the wall surface of the flow channel corresponding to the i-th measuring point of the inner wall of the flow channel;

and obtaining the rectangular runner inner wall surface function based on the coefficient values respectively corresponding to the first coefficient, the second coefficient and the third coefficient.

4. The method according to claim 2, wherein fitting the circular runner wall cylindrical equation based on runner wall coordinate data corresponding to the plurality of runner wall measurement points to obtain the circular runner inner wall function specifically includes:

The circular flow passage wall surface cylindrical equation is expressed by the following formula: ; wherein, Is a base point on the axis of the cylinder, (x, y, z) is the flow channel wall surface coordinate data corresponding to the flow channel inner wall measuring point on the circular flow channel wall surface,/>Unit direction vector of cylindrical axis/>L, m, n are all constants, and; R is the radius of the cylinder;

Substituting the flow channel wall surface coordinate data corresponding to the n flow channel inner wall measuring points into the rectangular flow channel wall surface plane equation, minimizing the square sum of distances from the n flow channel inner wall measuring points to the circular flow channel wall surface, and determining coefficient values corresponding to x ₀、y₀、z₀, l, m, n and r respectively; the square sum of the distances from the n measuring points of the inner wall of the flow channel to the wall surface of the circular flow channel is minimized, and the square sum is expressed by the following formula: ； ; wherein, The coordinate data of the wall surface of the flow channel corresponding to the i-th measuring point of the inner wall of the flow channel; /(I)The distance from the measuring point of the inner wall of the flow channel to the unit direction vector of the cylindrical axis is the i-th measuring point of the inner wall of the flow channel;

5. The method according to claim 1, wherein the screening the plurality of the flow channel inner wall measurement points based on the flow channel inner wall surface function to obtain a plurality of effective inner wall measurement points specifically comprises:

calculating the distances from all the measuring points of the inner wall of the flow channel to the fitting surface based on the function of the inner wall surface of the flow channel to obtain a plurality of fitting errors;

carrying out statistical analysis on a plurality of fitting errors to obtain an average value and a standard deviation;

And screening a plurality of effective inner wall measuring points from a plurality of runner inner wall measuring points based on the fitting errors, the average value and the standard deviation.

6. The method according to claim 1, wherein determining actual installation coordinate data corresponding to each transducer based on the plurality of effective inner wall measurement points specifically comprises:

Constructing a first point cloud based on the runner wall surface coordinate data corresponding to all the runner inner wall measuring points; the runner wall surface coordinate data in the first point cloud are coordinate data under a total station coordinate system;

Converting the first point cloud to obtain a second point cloud; the flow channel wall surface coordinate data in the second point cloud are coordinate data under a drawing coordinate system;

Converting the runner wall surface coordinate data corresponding to all the runner inner wall measuring points in the second point cloud to obtain the relative coordinate data of all the runner inner wall measuring points under a total station coordinate system;

and taking each effective inner wall measuring point as an actual installation position corresponding to each transducer, and determining the actual installation coordinate data corresponding to each transducer based on the relative coordinate data corresponding to each effective inner wall measuring point.

7. The method of claim 6, wherein the converting the first point cloud to obtain a second point cloud specifically comprises:

based on a first rotation matrix, rotating the first point cloud around an x axis by a first preset angle to enable an axis corresponding to the first point cloud to be parallel to a yoz plane, so as to obtain a third point cloud;

Rotating the third point cloud around the y axis by a second preset angle based on a second rotation matrix to enable an axis corresponding to the second point cloud to be parallel to a zox plane, so as to obtain a fourth point cloud;

and translating the center point corresponding to the fourth point cloud to the original point corresponding to the drawing coordinate system based on the translation vector to obtain the second point cloud.

8. An automatic positioning system for a transducer, which is characterized by comprising a processing module and a measurement control module;

The processing module is used for determining the erection position of the total station in the flow channel;

the measurement control module is used for determining the installation range of a plurality of transducers after the total station is arranged at the erection position; a plurality of runner inner wall measuring points are arranged in the installation range;

the measurement control module is further used for scanning the installation range by using the total station to obtain runner wall surface coordinate data;

the processing module is further used for fitting a plurality of measuring points of the inner wall of the flow channel based on the coordinate data of the wall surface of the flow channel to obtain a function of the inner wall surface of the flow channel corresponding to the fitting surface;

the processing module is further used for screening a plurality of measuring points of the inner wall of the flow channel based on the function of the inner wall surface of the flow channel to obtain a plurality of effective measuring points of the inner wall;

And the processing module is also used for determining the actual installation coordinate data corresponding to each transducer based on the plurality of effective inner wall measuring points.

9. An electronic device comprising a processor (701), a memory (705), a user interface (703) and a network interface (704), the memory (705) being configured to store instructions, the user interface (703) and the network interface (704) being configured to communicate to other devices, the processor (701) being configured to execute the instructions stored in the memory (705) to cause the electronic device (700) to perform the method according to any one of claims 1-7.

10. A computer readable storage medium storing instructions which, when executed, perform the method of any one of claims 1-7.