CN107202570A - Water level flow rate monitoring integration device, monitoring system and monitoring method - Google Patents
Water level flow rate monitoring integration device, monitoring system and monitoring method Download PDFInfo
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Abstract
本发明公开了一种水位流速流量监测一体化装置、监测系统及监测方法，所述装置包括雷达水位测量模块、雷达流速测量模块、风速测量模块和流量计算模块，所述雷达水位测量模块、雷达流速测量模块和风速测量模块分别与流量计算模块连接；雷达水位测量模块，用于非接触式测量河道/渠道的实时水位数据；雷达流速测量模块，用于非接触式测量河道/渠道的实时表面流速数据；风速测量模块，用于测量实时风速数据以校正水面流速；流量计算模块，用于根据水位数据、流速数据和风速数据，结合输入的河道/渠道控制断面相关参数，计算得到当前时刻河道/渠道控制断面的流量大小。本发明可以实时监测河道/渠道的水位和流速，并且可以实现实时的流量监测。
The invention discloses an integrated device for monitoring water level, velocity and flow, a monitoring system and a monitoring method. The device includes a radar water level measurement module, a radar flow velocity measurement module, a wind speed measurement module and a flow calculation module. The flow velocity measurement module and the wind velocity measurement module are respectively connected with the flow calculation module; the radar water level measurement module is used for non-contact measurement of the real-time water level data of the river/channel; the radar flow measurement module is used for the non-contact measurement of the real-time surface of the river/channel Flow speed data; wind speed measurement module, used to measure real-time wind speed data to correct the water surface flow speed; flow calculation module, used to calculate the current moment river course according to the water level data, flow speed data and wind speed data, combined with the input related parameters of the river course/channel control section /channel controls the flow size of the section. The invention can monitor the water level and flow velocity of the river course/canal in real time, and can realize real-time flow monitoring.
Description
技术领域technical field
本发明涉及一种监测一体化装置、监测系统及监测方法，尤其是一种水位流速流量监测一体化装置、监测系统及监测方法，属于水文监测技术领域。The invention relates to a monitoring integrated device, a monitoring system and a monitoring method, in particular to a water level, velocity and flow monitoring integrated device, a monitoring system and a monitoring method, belonging to the technical field of hydrological monitoring.
背景技术Background technique
在水文监测中，流量监测是其中的核心内容，也是监测难度最大的一项，传统的监测手段一般需要依靠测量人员下水完成，流量测量工作量大，耗时长，测量效率低下，测量精度与测量人员的经验技术有很大关系，对于洪水时期的流量测量就更难实现了。In hydrological monitoring, flow monitoring is the core content, and it is also the most difficult item in monitoring. Traditional monitoring methods generally need to rely on surveyors to launch into the water. Flow measurement is heavy, time-consuming, and low in efficiency. It has a lot to do with the experience and technology of personnel, and it is even more difficult to realize the flow measurement in flood period.
随着水利信息化技术的进步，非接触式的测量技术凭借安全高效的测量方式、准确的测量结果等优势得到了长足的发展，雷达式的水位和流速测量装置在国内得到了推广应用，尤其是近年新建的站点。但是，国内基于非接触式的雷达流量测量设备的研究较少，尚未形成成熟的产品。With the advancement of water conservancy information technology, non-contact measurement technology has made great progress with the advantages of safe and efficient measurement methods and accurate measurement results. Radar-type water level and flow velocity measurement devices have been popularized and applied in China, especially It is a newly built site in recent years. However, domestic research on non-contact radar flow measurement equipment is less, and mature products have not yet been formed.
一方面，雷达流速测量设备测量的是水体表面流速，风速可能影响表面流速，尤其是靠近入海口等沿海河道，从而影响雷达流速测量结果，因此有必要修正流速测量结果。On the one hand, the radar current velocity measurement equipment measures the surface velocity of the water body, and the wind speed may affect the surface velocity, especially near coastal rivers such as estuaries, thereby affecting the radar velocity measurement results, so it is necessary to correct the velocity measurement results.
另一方面，要想推算河道的流量数据，除要获取水位和流速这些水文数据外，还要结合控制断面的高程、糙率、坡降等相关参数，利用该河道河段的水文模型等基础数据，这样才能得到准确的流量大小。On the other hand, in order to calculate the flow data of the river, in addition to obtaining the hydrological data such as water level and flow velocity, it is also necessary to combine the elevation, roughness, slope and other related parameters of the control section, and use the hydrological model of the river section and other basic data, so as to get accurate traffic size.
发明内容Contents of the invention
本发明的目的是为了解决上述现有技术的缺陷，提供了一种水位流速流量监测一体化装置，该监测一体化装置结构简单、使用方便，可以实时监测河道/渠道的水位和流速，并且可以根据输入的控制断面相关参数计算出当前时刻的河道/渠道控制断面流量大小，从而实现实时的流量监测。The purpose of the present invention is to solve the above-mentioned defects in the prior art, and to provide an integrated device for monitoring water level, velocity, and flow rate. According to the relevant parameters of the input control section, the flow rate of the river channel/canal control section at the current moment is calculated, so as to realize real-time flow monitoring.
本发明的第二个目的在于提供一种水位流速流量监测系统，该系统可以遥测功能，方便实现远程流量监测，大大提高了流量测量的效率，提高了测量人员的安全性。The second object of the present invention is to provide a water level, velocity, and flow monitoring system, which can perform remote measurement functions, facilitate remote flow monitoring, greatly improve the efficiency of flow measurement, and improve the safety of measuring personnel.
本发明的第三个目的在于提供一种水位流速流量监测方法。The third object of the present invention is to provide a method for monitoring water level, velocity and flow.
本发明的第一个目的可以通过采取如下技术方案达到：First purpose of the present invention can be achieved by taking the following technical solutions:
一种水位流速流量监测一体化装置，所述监测一体化装置包括雷达水位测量模块、雷达流速测量模块、风速测量模块和流量计算模块，所述雷达水位测量模块、雷达流速测量模块和风速测量模块分别与流量计算模块连接；An integrated device for monitoring water level, velocity, and flow, the integrated device for monitoring includes a radar water level measurement module, a radar flow velocity measurement module, a wind velocity measurement module, and a flow calculation module, the radar water level measurement module, the radar velocity measurement module and the wind velocity measurement module respectively connected with the flow calculation module;
所述雷达水位测量模块，用于非接触式测量河道/渠道的实时水位数据；The radar water level measurement module is used for non-contact measurement of real-time water level data of river courses/channels;
所述雷达流速测量模块，用于非接触式测量河道/渠道的实时表面流速数据；The radar velocity measurement module is used for non-contact measurement of real-time surface velocity data of river courses/channels;
所述风速测量模块，用于测量实时风速数据以校正表面流速；The wind speed measurement module is used to measure real-time wind speed data to correct surface velocity;
所述流量计算模块，用于根据水位数据、流速数据和风速数据，结合输入的河道/渠道控制断面相关参数，计算得到当前时刻河道/渠道控制断面的流量大小；其中，所述控制断面相关参数包括高程、糙率和坡降参数。The flow calculation module is used to calculate the flow rate of the river/channel control section at the current moment according to the water level data, flow velocity data and wind speed data, combined with the input related parameters of the river channel/channel control section; wherein, the control section related parameters Includes elevation, roughness, and slope parameters.
进一步的，所述雷达水位测量模块采用K波段的雷达收发器，调制方式为线性调频连续波调制方式；Further, the radar water level measurement module adopts a K-band radar transceiver, and the modulation mode is a linear frequency modulation continuous wave modulation mode;
所述雷达流速测量模块采用K波段的雷达收发器，调制方式为连续波调制模式；The radar velocity measurement module adopts a radar transceiver of the K-band, and the modulation mode is a continuous wave modulation mode;
所述风速测量模块采用风速风向测量仪；The wind speed measuring module adopts wind speed and direction measuring instrument;
所述流量计算模块采用单片机。The flow calculation module adopts a single-chip microcomputer.
本发明的第二个目的可以通过采取如下技术方案达到：The second purpose of the present invention can be achieved by taking the following technical solutions:
一种水位流速流量监测系统，所述系统包括远程上位机以及上述的水位流速流量监测一体化装置，所述远程上位机与流量计算模块进行无线通信连接。A water level, flow, velocity, and flow monitoring system, the system includes a remote host computer and the above-mentioned integrated device for monitoring water level, flow, velocity, and flow, and the remote host computer is wirelessly connected to a flow calculation module.
进一步的，所述远程上位机与一体化装置采用数据传输单元进行无线通信连接，所述数据传输单元上具有通信天线，所述通信天线与远程上位机进行无线通信连接。Further, the remote upper computer and the integrated device are connected by wireless communication using a data transmission unit, and the data transmission unit is provided with a communication antenna, and the communication antenna is connected by wireless communication with the remote upper computer.
进一步的，所述水位流速流量监测一体化装置为一台或多台，所述水位流速流量监测一体化装置为一台时，固定安装在立杆支架上；所述水位流速流量监测一体化装置为多台时，组成阵列固定安装在桥梁下方。Further, there are one or more integrated devices for monitoring water level, velocity, and flow, and when there is one integrated device for monitoring water level, velocity, and flow, it is fixedly installed on a pole bracket; the integrated device for monitoring water level, velocity, and flow When there are multiple sets, the formation array is fixedly installed under the bridge.
进一步的，所述水位流速流量监测一体化装置可便携式地固定在桥梁的栏杆上。Further, the integrated device for monitoring water level, velocity and flow can be portablely fixed on the railing of the bridge.
本发明的第三个目的可以通过采取如下技术方案达到：The third purpose of the present invention can be achieved by taking the following technical solutions:
一种水位流速流量监测方法，所述方法包括：A method for monitoring water level, velocity, and flow, the method comprising:
获取河道/渠道的水位数据；Obtain the water level data of the river course/channel;
获取风速数据及风向；Obtain wind speed data and wind direction;
获取河道/渠道的表面流速数据，并根据风速风向校正流速，根据风速和风向，求取风速在水流方向上的速度分量，若该分量与流向相同，将河道/渠道的表面流速数据减去此分量，若该分量与流向相反，将河道/渠道的表面流速数据加上此分量，以实现对流速数据的校正；Obtain the surface velocity data of the river/channel, and correct the flow velocity according to the wind speed and direction. According to the wind speed and wind direction, obtain the velocity component of the wind speed in the direction of the water flow. If the component is the same as the flow direction, subtract this from the surface velocity data of the river/channel. Component, if the component is opposite to the flow direction, add this component to the surface velocity data of the channel/channel to correct the velocity data;
根据获取的水位数据和校正后的流速数据，结合预先输入的河道/渠道控制断面相关参数，基于河道/渠道的水文模型计算得到当前时刻的控制断面流量大小；其中，所述控制断面相关参数包括高程、糙率和坡降参数；According to the obtained water level data and the corrected flow velocity data, combined with the relevant parameters of the river channel/channel control section input in advance, the flow rate of the control section at the current moment is calculated based on the hydrological model of the river channel/channel; wherein, the control section related parameters include Elevation, roughness and slope parameters;
将计算得到的控制断面流量数据发送到远程上位机。Send the calculated control section flow data to the remote host computer.
进一步的，所述获取河道/渠道的水位数据，具体为：通过测得雷达发射平面到河道/渠道水面之间的距离，再用雷达平面的固定高程减去该距离，即得到河道/渠道水位的高程；Further, the acquisition of the water level data of the river course/channel is specifically: by measuring the distance between the radar emission plane and the water surface of the river course/channel, and then subtracting the distance from the fixed elevation of the radar plane, the water level of the river course/channel is obtained the elevation;
所述雷达发射平面到河道/渠道水面之间的距离测量过程如下：The distance measurement process between the radar launch plane and the water surface of the river/channel is as follows:
雷达波的发射频率随着时间线性递增或递减，当发射的雷达波遇到河道/渠道水面后反射，并经过时间τ后被雷达接收，河道/渠道水面与雷达发射平面之间的距离R满足：The transmission frequency of the radar wave increases or decreases linearly with time. When the transmitted radar wave meets the water surface of the river channel/channel, it is reflected and received by the radar after time τ. The distance R between the water surface of the river channel/channel and the radar emission plane satisfies :
其中，c为光速；where c is the speed of light;
根据三角形相似原理，有：According to the triangle similarity principle, there are:
其中，T为调制周期，ΔF为调制带宽，f0为发射波与回波之间的频率差；Among them, T is the modulation period, ΔF is the modulation bandwidth, and f0 is the frequency difference between the transmitted wave and the echo;
由式(1)和式(2)，得：From formula (1) and formula (2), get:
进一步的，获取河道/渠道的表面流速数据，并根据风速风向校正流速，根据风速和风向，求取风速在水流方向上的速度分量，若该分量与流向相同，将河道/渠道的表面流速数据减去此分量，若该分量与流向相反，将河道/渠道的表面流速数据加上此分量，以实现对流速数据的校正，具体为：Further, obtain the surface velocity data of the river channel/channel, and correct the flow velocity according to the wind speed and direction, and obtain the velocity component of the wind speed in the direction of the water flow according to the wind speed and wind direction. If the component is the same as the flow direction, the surface velocity data of the river channel/channel Subtract this component. If this component is opposite to the flow direction, add this component to the surface velocity data of the channel/channel to correct the velocity data, specifically:
基于多普勒频移测速原理，雷达的发射频率固定为f0，当雷达发射波打到流动的水面后，雷达波返回到雷达接收平面，在多普勒效应下，接收信号的频率会发生改变，发射信号与接收信号之间的频率差fd，即差频信号，满足以下等式：Based on the principle of Doppler frequency shift speed measurement, the transmission frequency of the radar is fixed at f 0 . When the radar transmission wave hits the flowing water surface, the radar wave returns to the radar receiving plane. Under the Doppler effect, the frequency of the received signal will change Change, the frequency difference f d between the transmitted signal and the received signal, that is, the difference frequency signal, satisfies the following equation:
其中，c为光速，α为水流方向与目标点-雷达连线之间的夹角，雷达安装角度调整完毕后，α保持不变，当得到fd时，求得目标流速为：Among them, c is the speed of light, and α is the angle between the water flow direction and the target point-radar line. After the radar installation angle is adjusted, α remains unchanged. When f d is obtained, the target flow velocity is obtained as:
求出当前流速测量的平均表面流速，具体如下：Find the average superficial velocity for the current velocity measurement as follows:
设vsi＝Kv·fi，其中vsi为各个表面点流速，fi为对应的差频频率；Let v si =K v ·f i , where v si is the flow velocity at each surface point, and f i is the corresponding beat frequency;
表面平均流速如下式：The surface average velocity is as follows:
其中wi为各个差频频率对应的权重；Wherein w i is the weight corresponding to each beat frequency;
考虑风速的影响，加入风速校正以后的表面平均流速如下式所示：Considering the influence of wind speed, the surface average velocity after adding wind speed correction is shown as follows:
其中，vw为风速大小，kw为风速系数，θw为风向；风速系数kw的取值与风向θw有关，当风向与流向相同时，kw为正值；当风向与流向相反时，kw为负值。Among them, v w is the wind speed, k w is the wind speed coefficient, θ w is the wind direction; the value of the wind speed coefficient kw is related to the wind direction θ w , when the wind direction is the same as the flow direction, k w is a positive value; when the wind direction is opposite to the flow direction , k w is a negative value.
进一步的，所述根据获取的水位数据和校正后的流速数据，结合预先输入的河道/渠道控制断面相关参数，基于河道/渠道的水文模型计算得到当前时刻的控制断面流量大小，具体为：Further, according to the obtained water level data and the corrected flow velocity data, combined with the pre-input related parameters of the river course/canal control section, the flow rate of the control section at the current moment is calculated based on the hydrological model of the river course/canal, specifically:
假设当前控制断面的高程数据已知，将当前水位高程Z减去各个控制断面高程点CSi，得到控制断面各个代表点的高程差，即水深，如下：Assuming that the elevation data of the current control section is known, subtract the elevation point CS i of each control section from the current water level elevation Z to obtain the elevation difference of each representative point of the control section, that is, the water depth, as follows:
Hi＝Z-CSi (8)H i =Z-CS i (8)
设控制断面各个代表点的水深为Hi，相邻代表点之间的横向距离为xi，那么控制断面当前的过水截面积为：Assuming that the water depth of each representative point of the control section is H i , and the lateral distance between adjacent representative points is x i , then the current cross-sectional area of the control section is:
控制断面的流量Q与过水面积S的关系为：The relationship between the flow Q of the control section and the passing area S is:
其中，为断面平均流速；in, is the average velocity of the section;
将断面平均流速v转化为表面平均流速断面平均流速与表面平均流速之间的关系满足：Convert the cross-sectional average velocity v to the surface average velocity Cross section average flow velocity vs surface average velocity The relationship between satisfies:
其中，K为平均流速系数，K的取值与断面形状CS、河床糙率n、坡降J、水位Z相关，即Among them, K is the average velocity coefficient, and the value of K is related to the section shape CS, river bed roughness n, slope J, and water level Z, namely
K＝f(CS,n,J,Z) (12)K=f(CS,n,J,Z) (12)
根据断面平均流速计算模型，得到断面流量Q、过水面积S和表面平均流速之间的关系为：According to the cross-section average flow velocity calculation model, the cross-section flow Q, the water passing area S and the surface average flow velocity are obtained The relationship between is:
本发明相对于现有技术具有如下的有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1、本发明的水位流速流量监测一体化装置采用非接触式的雷达水位测量模块和雷达流速测量模块分别测量河道/渠道的实时水位数据和实时表面流速数据，以及采用风速测量模块测量实时风速数据，流量计算模块通过风速数据对表面流速数据进行校正，消除风速对表面流速数据的影响，根据水位数据和校正后的流速数据，结合输入的河道/渠道控制断面高程、糙率、坡降等相关数据，计算出河道/渠道控制断面的流量大小，不仅可用于常规的河道/渠道流量监测，还可以进行高洪流量抢测等应急测量。1. The integrated water level, velocity, and flow monitoring device of the present invention uses a non-contact radar water level measurement module and a radar flow velocity measurement module to measure the real-time water level data and real-time surface velocity data of the river/channel respectively, and adopts the wind velocity measurement module to measure real-time wind velocity data , the flow calculation module corrects the surface velocity data through the wind velocity data to eliminate the influence of the wind velocity on the surface velocity data. The data can be used to calculate the flow rate of the control section of the river/channel, which can not only be used for conventional river/channel flow monitoring, but also for emergency measurement such as rush measurement of high flood flow.
2、本发明的雷达水位测量模块采用K波段的雷达收发器，调制方式为线性调频连续波调制方式，调频频段可以为24.005GHz～24.245GHz，即调频宽度为240MHz，调制波为三角波，调制周期为50Hz，利用傅里叶变换和Chirp Z变换可求得准确的差频信号，通过辨识出差频信号的频率从而求出河道/渠道的水位值，其测量原理简单，测量灵敏度高，测量可靠性优，可适应复杂的测量环境。2, the radar water level measuring module of the present invention adopts the radar transceiver of K band, and the modulation mode is the linear frequency modulation continuous wave modulation mode, and the frequency modulation frequency band can be 24.005GHz～24.245GHz, and promptly the frequency modulation width is 240MHz, and the modulation wave is a triangular wave, and the modulation cycle The frequency is 50Hz, using Fourier transform and Chirp Z transform to obtain an accurate difference frequency signal, and by identifying the frequency of the difference frequency signal to obtain the water level value of the river/channel, the measurement principle is simple, the measurement sensitivity is high, and the measurement reliability Excellent, can adapt to complex measurement environment.
3、本发明的雷达流速测量模块采用K波段的雷达收发器，发射频率可以固定为24.160GHz，调制方式为连续波调制模式，发射的雷达波遇到水流平面后反射雷达波，并产生多普勒频移信号，通过辨识出差频信号的频率从而求出河道/渠道的表面流速值，其测量时间短，测量精度高。3. The radar velocity measurement module of the present invention adopts a radar transceiver of the K band, and the transmission frequency can be fixed at 24.160 GHz, and the modulation mode is a continuous wave modulation mode. Le frequency shift signal, by identifying the frequency of the difference frequency signal to obtain the surface velocity value of the river/channel, the measurement time is short and the measurement accuracy is high.
4、本发明的流量计算模块可以采用单片机作为主控制器，其基于河道/渠道水文模型计算出河道/渠道控制断面的流量大小，专业理论性强，流量计算精度高，适用性强，移植方便。4. The flow calculation module of the present invention can use a single-chip microcomputer as the main controller, which calculates the flow rate of the control section of the river / channel based on the hydrological model of the river / channel. It has strong professional theory, high accuracy of flow calculation, strong applicability, and convenient transplantation .
5、本发明的水位流速流量监测一体化装置拆装方便，既可以固定安装在立杆支架上或桥梁下方进行长期的流量监测，也可以便携式地临时固定在桥梁的栏杆上进行高洪流量抢测等应急测量任务。5. The integrated device for water level, velocity and flow monitoring of the present invention is easy to disassemble and assemble. It can be fixedly installed on the pole support or under the bridge for long-term flow monitoring, and can also be temporarily fixed on the railing of the bridge in a portable manner for high flow monitoring. Emergency measurement tasks such as measurement.
6、本发明的水位流速流量监测一体化装置可以与远程上位机进行无线通信连接，构成水位流速流量监测系统，可以遥测功能，方便实现远程流量监测，大大提高了流量测量的效率，非接触式的测量方式保证了测量人员的安全。6. The integrated water level, velocity, and flow monitoring device of the present invention can be connected to a remote host computer through wireless communication to form a water level, flow, velocity, and flow monitoring system, which can perform remote measurement functions, facilitate remote flow monitoring, and greatly improve the efficiency of flow measurement. Non-contact The measurement method ensures the safety of the measurement personnel.
7、本发明的水位流速流量监测一体化装置与远程上位机采用数据传输单元进行通讯，数据传输单元基于无线传输方式，传输效率高，通信可靠，有效抗雨衰，传输速度较快，功耗低，特别适用于野外遥测应用场合。7. The integrated device for water level, velocity and flow monitoring of the present invention communicates with the remote host computer using a data transmission unit. The data transmission unit is based on a wireless transmission method, with high transmission efficiency, reliable communication, effective resistance to rain fading, fast transmission speed, and low power consumption. Low, especially suitable for field telemetry applications.
附图说明Description of drawings
图1为本发明实施例1的水位流速流量监测一体化装置结构图。FIG. 1 is a structural diagram of an integrated device for monitoring water level, velocity, and flow in Embodiment 1 of the present invention.
图2为本发明实施例1的水位流速流量监测一体化装置结构框图。Fig. 2 is a structural block diagram of an integrated device for monitoring water level, velocity and flow in Embodiment 1 of the present invention.
图3为本发明实施例1的雷达水位测量模块的测量原理图。Fig. 3 is a measurement schematic diagram of the radar water level measurement module in Embodiment 1 of the present invention.
图4为本发明实施例1的雷达流速测量模块的测量原理图。Fig. 4 is a measurement schematic diagram of the radar flow velocity measurement module according to Embodiment 1 of the present invention.
图5为本发明实施例1的雷达流速测量模块获得的流速信号进行傅里叶分析后获取的频谱图。FIG. 5 is a spectrum diagram obtained after Fourier analysis of the flow velocity signal obtained by the radar flow velocity measurement module in Embodiment 1 of the present invention.
图6为本发明实施例1的控制断面的高程曲线图。Fig. 6 is an elevation curve diagram of the control section in Embodiment 1 of the present invention.
图7为本发明实施例1的水位流速流量监测一体化装置安装在立杆支架上的示意图。Fig. 7 is a schematic diagram of the integrated device for monitoring water level, velocity and flow rate of Embodiment 1 of the present invention installed on a pole bracket.
图8为本发明实施例1的水位流速流量监测一体化装置阵列安装在桥梁下方的示意图。Fig. 8 is a schematic diagram of an array of integrated water level, velocity and flow monitoring devices installed under a bridge according to Embodiment 1 of the present invention.
图9为本发明实施例2的水位流速流量监测系统结构框图。Fig. 9 is a structural block diagram of a water level, velocity and flow monitoring system according to Embodiment 2 of the present invention.
图10为本发明实施例3的水位流速流量监测方法流程图。FIG. 10 is a flow chart of a method for monitoring water level, velocity, and flow in Embodiment 3 of the present invention.
其中，1-雷达水位测量模块，2-雷达流速测量模块，3-风速测量模块，4-流量计算模块，5-远程上位机，6-水位流速流量监测一体化装置，7-数据传输单元，8-无线通信天线。Among them, 1-radar water level measurement module, 2-radar flow velocity measurement module, 3-wind velocity measurement module, 4-flow calculation module, 5-remote host computer, 6-integrated device for water level flow velocity and flow monitoring, 7-data transmission unit, 8- Wireless communication antenna.
具体实施方式detailed description
下面结合实施例及附图对本发明作进一步详细的描述，但本发明的实施方式不限于此。The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
实施例1：Example 1:
如图1和图2所示，本实施例提供了一种水位流速流量监测一体化装置，该监测一体化装置包括雷达水位测量模块1、雷达流速测量模块2、风速测量模块3和流量计算模块4，所述雷达水位测量模块1、雷达流速测量模块2、风速测量模块3分别与流量计算模块4连接，各个模块的具体说明如下：As shown in Figures 1 and 2, this embodiment provides an integrated device for monitoring water level, velocity, and flow, which includes a radar water level measurement module 1, a radar flow velocity measurement module 2, a wind speed measurement module 3, and a flow calculation module 4. The radar water level measurement module 1, the radar flow velocity measurement module 2, and the wind velocity measurement module 3 are connected to the flow calculation module 4 respectively, and the specific descriptions of each module are as follows:
所述雷达水位测量模块1通过测得雷达发射平面到河道/渠道水面之间的距离，再用雷达平面的固定高程减去该距离，即得到河道/渠道水位的高程，其采用K波段(24GHz)的雷达收发器，为非接触式测量方式，其调制方式为线性调频连续波调制方式。Described radar water level measurement module 1 is by measuring the distance between the radar launch plane and the river/channel water surface, and then subtracting the distance from the fixed elevation of the radar plane to obtain the elevation of the river/channel water level, which adopts the K-band (24GHz ) radar transceiver is a non-contact measurement method, and its modulation method is linear frequency modulation continuous wave modulation method.
如图3所示，雷达波的发射频率随着时间线性递增或递减(发射信号如图3中实线所示)，当发射的雷达波遇到目标物体(即河道/渠道水面)后反射(回波信号如图3中虚线所示)，并经过时间τ后被雷达接收。可知目标物体与雷达发射平面之间的距离R满足：As shown in Figure 3, the transmission frequency of the radar wave increases or decreases linearly with time (the transmission signal is shown by the solid line in Figure 3), and when the transmitted radar wave encounters the target object (ie, the water surface of the river channel/channel), it is reflected ( The echo signal is shown by the dotted line in Figure 3), and is received by the radar after time τ. It can be seen that the distance R between the target object and the radar emission plane satisfies:
其中，c为光速。where c is the speed of light.
根据图3的中三角形相似原理，有：According to the triangle similarity principle in Figure 3, there are:
其中，T为调制周期，ΔF为调制带宽，f0为发射波与回波之间的频率差。Among them, T is the modulation period, ΔF is the modulation bandwidth, and f 0 is the frequency difference between the transmitted wave and the echo.
由式(1)和式(2)，得：From formula (1) and formula (2), get:
由式(3)可知，c为常数，T、ΔF一旦确定后也为常数，因此距离R与差频信号f0成正比。因此求距离R便转化为求差频信号f0。It can be known from formula (3) that c is a constant, and once T and ΔF are determined, they are also constants, so the distance R is proportional to the difference frequency signal f 0 . Therefore, finding the distance R is transformed into finding the difference frequency signal f 0 .
雷达水位测量模块1的调频频段为24.005GHz～24.245GHz，即调频宽度为240MHz，调制波为三角波，调制周期为50Hz，利用傅里叶(FFT)变换和Chirp Z变换可求得准确的差频信号，通过辨识出差频信号的频率从而求出河道/渠道的水位值，测量原理简单，测量灵敏度高，测量可靠性优，可适应复杂的测量环境。具体可参见申请号为201610984036.7、名称为《一种线性调频连续波雷达水位遥测装置及方法》的发明专利申请的内容。The FM frequency band of the radar water level measurement module 1 is 24.005GHz-24.245GHz, that is, the FM width is 240MHz, the modulation wave is a triangular wave, and the modulation period is 50Hz. The exact difference frequency can be obtained by Fourier (FFT) transform and Chirp Z transform Signal, by identifying the frequency of the difference frequency signal to obtain the water level value of the river/channel, the measurement principle is simple, the measurement sensitivity is high, the measurement reliability is excellent, and it can adapt to complex measurement environments. For details, please refer to the content of the invention patent application with application number 201610984036.7 and titled "A device and method for linear frequency modulation continuous wave radar water level remote measurement".
所述雷达流速测量模块2采用K波段(24GHz)的雷达收发器，发射频率固定为24.160GHz，调制方式为连续波调制模式(cw模式)，发射的雷达波遇到水流平面后反射雷达波，并产生多普勒频移信号(差频信号)，通过辨识出差频信号的频率从而求出河道/渠道的表面流速值，其测量时间短，测量精度高。具体测量原理与方法如下：Described radar velocity measuring module 2 adopts the radar transceiver of K band (24GHz), and transmission frequency is fixed as 24.160GHz, and modulation mode is continuous wave modulation mode (cw mode), and the radar wave of emission encounters the reflection radar wave after the water flow plane, And generate a Doppler frequency shift signal (beat frequency signal), by identifying the frequency of the difference frequency signal to obtain the surface velocity value of the river/channel, the measurement time is short and the measurement accuracy is high. The specific measurement principles and methods are as follows:
流速的测量基于多普勒频移测速原理，如图4所示，雷达的发射频率固定为f0，当雷达发射波打到流动的水面后，雷达波返回到雷达接收平面，由于多普勒效应，接收信号的频率会发生改变，发射信号与接收信号之间的频率差fd(即差频信号)满足以下等式：The measurement of flow velocity is based on the principle of Doppler frequency shift velocity measurement. As shown in Figure 4, the radar transmission frequency is fixed at f 0 . When the radar transmission wave hits the flowing water surface, the radar wave returns to the radar receiving plane. Due to the Doppler effect, the frequency of the received signal will change, and the frequency difference f d (ie, the difference frequency signal) between the transmitted signal and the received signal satisfies the following equation:
其中，c为光速，α为水流方向与目标点-雷达连线之间的夹角，雷达安装角度调整完毕后，α保持不变，当得到fd时，求得目标流速为：Among them, c is the speed of light, and α is the angle between the water flow direction and the target point-radar line. After the radar installation angle is adjusted, α remains unchanged. When f d is obtained, the target flow velocity is obtained as:
上式(5)表明，角度是参与计算的物理量之一，当水流方向与雷达发射平面完全垂直时(α＝90°)，cosα为0，此时将没有多普勒频移。因此要实现测速功能，雷达平面须与水平面保持一定的角度(一般可取30°～60°)。The above formula (5) shows that the angle is one of the physical quantities involved in the calculation. When the water flow direction is completely perpendicular to the radar emission plane (α=90°), cosα is 0, and there will be no Doppler frequency shift at this time. Therefore, in order to realize the speed measurement function, the radar plane must maintain a certain angle with the horizontal plane (generally 30°~60°).
由于雷达发射的电磁波是一个面，因此测量的流速是一块水面的流速，不是点流速，在测量水面区域内，流速大小可能各不相同，方向也不完全一致。因此，本实施例测量的水流表面流速是一个表面平均流速的概念。Since the electromagnetic wave emitted by the radar is a surface, the measured flow velocity is the flow velocity of a piece of water surface, not a point flow velocity. In the measured water surface area, the flow velocity may be different and the direction may not be exactly the same. Therefore, the water surface velocity measured in this embodiment is a concept of surface average velocity.
由于测量区域可能有多种速度分量，也就意味着存在着多种差频信号fd，如何利用这些差频信号来求出表面平均流速，是本实施例的一大难点，本实施例给出了一个可能在流速测量中获得的信号，该信号包含了多种差频频率，对于典型的流速信号进行傅里叶分析，获取的频谱如图5所示，图5中，横坐标是频率，纵坐标是该频率的幅值，fL是对应流速测量下限的差频频率，fH是对应流速测量上限的差频频率，fm是该频段中对应幅值最大的频率分量，以fm为中心，频谱分布近似符合高斯分布。Since there may be many kinds of velocity components in the measurement area, which means that there are many kinds of difference frequency signals f d , how to use these difference frequency signals to obtain the surface average flow velocity is a major difficulty in this embodiment. A signal that may be obtained in flow velocity measurement is obtained. This signal contains a variety of beat frequencies. For a typical flow velocity signal, Fourier analysis is performed. The obtained spectrum is shown in Figure 5. In Figure 5, the abscissa is the frequency , the ordinate is the amplitude of the frequency, f L is the beat frequency corresponding to the lower limit of flow velocity measurement, f H is the beat frequency corresponding to the upper limit of flow velocity measurement, f m is the frequency component with the largest corresponding amplitude in this frequency band, and f m as the center, the spectral distribution approximately conforms to the Gaussian distribution.
流速测量中的各个差频频率对应的幅值大小是不一样的，其中幅值最大的频率分量fm对应流速的主要分量。以fm为中心，给各个频率赋予权重w，频谱幅值越大，权重越大，其中fm对应的权重wm最大，确定权值后，对各个差频频率分量进行加权处理，求出本次流速测量的平均差频频率值，从而求出表面平均流速。具体如下：The amplitudes corresponding to each difference frequency in the flow velocity measurement are different, and the frequency component f m with the largest amplitude corresponds to the main component of the flow velocity. With f m as the center, weight w is given to each frequency. The larger the spectrum amplitude, the greater the weight, and the weight w m corresponding to f m is the largest. After the weight is determined, weighting is performed on each difference frequency component to obtain The average beat frequency value of this flow velocity measurement, so as to obtain the surface average flow velocity. details as follows:
设vsi＝Kv·fi，其中vsi为各个表面点流速，fi为对应的差频频率。Let v si =K v ·f i , where v si is the flow velocity at each surface point, and f i is the corresponding beat frequency.
表面平均流速如下式：The surface average velocity is as follows:
其中wi为各个差频频率对应的权重。Wherein w i is the weight corresponding to each beat frequency.
所述风速测量模块3采用风速风向测量仪，可获取当前时刻的风速、风向，并转化为485信号输出。The wind speed measurement module 3 adopts a wind speed and direction measuring instrument, which can obtain the wind speed and wind direction at the current moment, and convert them into 485 signal output.
所述流量计算模块4采用单片机(MCU)作为主控制器，嵌入软件算法和河道/渠道的水文模型，可以根据风向消除风速对表面流速的影响。根据风速和风向，求取风速在水流方向上的速度分量，若该分量与流向相同，将河道/渠道的表面流速数据减去此分量，若相反，将河道/渠道的表面流速数据加上此分量，以实现对流速数据的校正，根据获取的水位值和校正后的流速值，结合预先输入的河道/渠道控制断面高程、糙率、坡降等相关数据，基于河道/渠道的水文模型计算得到当前时刻河道/渠道控制断面的流量大小。The flow calculation module 4 adopts a single-chip microcomputer (MCU) as a main controller, and embeds a software algorithm and a hydrological model of a river/channel, which can eliminate the influence of the wind speed on the surface flow speed according to the wind direction. According to the wind speed and wind direction, find the velocity component of the wind speed in the direction of the water flow. If the component is the same as the flow direction, subtract this component from the surface velocity data of the river/channel; otherwise, add this component to the surface velocity data of the river/channel In order to realize the correction of the flow velocity data, according to the obtained water level value and the corrected flow velocity value, combined with the pre-input river/channel control section elevation, roughness, slope and other related data, based on the hydrological model calculation of the river/channel Obtain the flow rate of the river channel/channel control section at the current moment.
考虑风速的影响，加入风速校正以后的表面平均流速如下式所示：Considering the influence of wind speed, the surface average velocity after adding wind speed correction is shown as follows:
其中，vw为风速大小，kw为风速系数，θw为风向；风速系数kw的取值与风向θw有关，当风向与流向相同时，kw为正值；当风向与流向相反时，kw为负值。Among them, v w is the wind speed, k w is the wind speed coefficient, θ w is the wind direction; the value of the wind speed coefficient kw is related to the wind direction θ w , when the wind direction is the same as the flow direction, k w is a positive value; when the wind direction is opposite to the flow direction , k w is a negative value.
流量计算函数原型如下：The prototype of the flow calculation function is as follows:
floatFlowCal(*float CtrlSection,float WaterLevel,float Velocity,floatroughness,float slope)floatFlowCal(*float CtrlSection,float WaterLevel,float Velocity,floatroughness,float slope)
上述函数原型中，CtrlSection为断面高程数组名，存储着一组断面高程数据，反映了断面形状，以下记为CS；WaterLevel为断面的水位高程值，以下记为Z；Velocity为水表面平均流速，即roughness为河床糙率，以下记为n；slope为坡降，以下记为J。In the above function prototype, CtrlSection is the name of the section elevation array, which stores a set of section elevation data, which reflects the shape of the section, and is hereinafter denoted as CS; WaterLevel is the water level elevation value of the section, hereinafter denoted as Z; Velocity is the average velocity of the water surface, which is Roughness is the roughness of the river bed, which is denoted as n below; slope is the slope, which is denoted as J below.
具体流程计算方法如下：The specific process calculation method is as follows:
在计算流量前，应先对河道/渠道控制断面进行高程测量。设控制断面的高程曲线为如下图6所示。Elevation measurements should be taken on the control section of the channel/channel prior to flow calculations. Let the elevation curve of the control section be as shown in Figure 6 below.
假设当前控制断面的高程数据已知(断面高程数据应符合GB50179-2015《河流流量测验规范》中断面测量的要求)，将当前水位高程Z减去各个控制断面高程点CSi，可得控制断面各个代表点的高程差(即水深)，如下：Assuming that the elevation data of the current control section is known (the elevation data of the section should comply with the requirements of section measurement in GB50179-2015 "Code for River Flow Measurement"), subtract the elevation point CS i of each control section from the current water level elevation Z to obtain the control section The elevation difference (ie water depth) of each representative point is as follows:
Hi＝Z-CSi (8)H i =Z-CS i (8)
设控制断面各个代表点的水深为Hi，相邻代表点之间的横向距离为xi，那么控制断面当前的过水截面积为：Assuming that the water depth of each representative point of the control section is H i , and the lateral distance between adjacent representative points is x i , then the current cross-sectional area of the control section is:
控制断面的流量Q与过水面积S的关系为：The relationship between the flow Q of the control section and the passing area S is:
其中，为断面平均流速。由于雷达测量的流速是表面流速，需要将断面平均流速转化为表面平均流速 in, is the average velocity of the cross section. Since the flow velocity measured by the radar is the surface velocity, the average velocity of the section needs to be Converted to Surface Average Velocity
断面平均流速与表面平均流速之间的关系满足：Cross section average flow velocity vs surface average velocity The relationship between satisfies:
其中，K为平均流速系数，K的取值与断面形状CS、河床糙率n、坡降J、水位Z相关，即Among them, K is the average velocity coefficient, and the value of K is related to the section shape CS, river bed roughness n, slope J, and water level Z, namely
K＝f(CS,n,J,Z) (12)K=f(CS,n,J,Z) (12)
通常0.6<K<1。Usually 0.6<K<1.
根据断面平均流速计算模型，可得断面流量Q、过水面积S和表面平均流速之间的关系为：According to the cross-section average flow velocity calculation model, the cross-section flow Q, the water passing area S and the surface average flow velocity can be obtained The relationship between is:
本实施例的水位流速流量监测一体化装置可固定安装在立杆支架上或桥梁下方进行长期的流量监测，也可以便携式地临时固定在桥梁的栏杆上进行常规流量测验和高洪流量抢测(指洪水涨落急剧、流速大、漂浮物多、断面冲淤变化显著等困难条件下的流量抢先测量)，待测验完毕即可拆卸装置，十分适合临时性的流量测量。The integrated device for water level, velocity and flow monitoring of this embodiment can be fixedly installed on the pole support or under the bridge for long-term flow monitoring, and can also be temporarily fixed on the railing of the bridge in a portable manner for routine flow testing and rush testing of high flood flow ( Refers to the pre-emptive flow measurement under difficult conditions such as rapid flood fluctuations, high flow velocity, large floating objects, and significant changes in cross-section erosion and silting), and the device can be disassembled after the test is completed, which is very suitable for temporary flow measurement.
一般来说，对于流态稳定、河面宽度小于10米的断面，只需要安装一台水位流速流量监测一体化装置，安装时一般要求设备对着河道中泓位置或主流分量，如图7所示。对于宽度大于10米的河道断面，可采用多台水位流速流量监测一体化装置组成阵列安装，以提高测量精度，如图8所示。Generally speaking, for a section with a stable flow state and a river surface width of less than 10 meters, only one integrated device for monitoring water level, velocity and flow needs to be installed. When installing, the device is generally required to face the middle of the river or the mainstream component, as shown in Figure 7 . For river sections with a width greater than 10 meters, multiple water level, velocity and flow monitoring integrated devices can be installed in an array to improve measurement accuracy, as shown in Figure 8.
实施例2：Example 2:
如图1、图2和图9所示，本实施例提供了一种水位流速流量监测系统，该系统包括远程上位机5和上述实施例1的水位流速流量监测一体化装置6，所述远程上位机5与流量计算模块4采用串口数据转IP数据方式的数据传输单元(Data Transfer unit，DTU)7进行无线通信连接，所述数据传输单元7上具有无线通信天线8，所述无线通信天线8与远程上位机5进行无线通信连接。As shown in Fig. 1, Fig. 2 and Fig. 9, the present embodiment provides a water level, velocity, and flow monitoring system, which includes a remote host computer 5 and the integrated device 6 for monitoring water level, flow, velocity, and flow of the above-mentioned embodiment 1, and the remote The host computer 5 and the flow calculation module 4 adopt a data transfer unit (Data Transfer unit, DTU) 7 of the serial port data to IP data mode to carry out wireless communication connection, and the data transfer unit 7 has a wireless communication antenna 8, and the wireless communication antenna 8 and remote host computer 5 carry out wireless communication connection.
在本实施例中，数据传输单元7将流量计算模块4的串口数据转换为IP数据，采用无线传输方式将IP数据发送到给远程上位机5的数据库中，同时远程上位机5可以查看水位、流速、流量这些监测数据，实现野外遥测的功能，并且通过数据传输单元7可以远程对水位流速流量监测一体化装置6的流量计算模块4的软件进行升级。In this embodiment, the data transmission unit 7 converts the serial port data of the flow calculation module 4 into IP data, and uses wireless transmission to send the IP data to the database of the remote host computer 5, and the remote host computer 5 can check the water level, The monitoring data of flow velocity and flow can realize the function of remote measurement in the field, and the software of the flow calculation module 4 of the water level flow velocity flow monitoring integrated device 6 can be remotely upgraded through the data transmission unit 7 .
实施例3：Example 3:
如图10所示，本实施例提供了一种水位流速流量监测方法，该方法基于上述实施例2的系统实现，包括以下步骤：As shown in Figure 10, this embodiment provides a method for monitoring water level, velocity, and flow, which is implemented based on the system of Embodiment 2 above, and includes the following steps:
S1、通过雷达水位测量模块获取河道/渠道的水位数据；S1. Obtain the water level data of the river course/channel through the radar water level measurement module;
S2、通过风速测量模块获取风速数据及风向；S2. Obtain wind speed data and wind direction through the wind speed measurement module;
S3、通过雷达流速测量模块获取河道/渠道的表面流速数据；S3. Obtain the surface velocity data of the river course/canal through the radar velocity measurement module;
S4、考虑了风速对表面流速的影响，加入了风速校正，调用流量计算模块，根据风速和风向，求取风速在水流方向上的速度分量，若该分量与流向相同，将河道/渠道的表面流速数据减去此分量，若相反，将河道/渠道的表面流速数据加上此分量，以实现对流速数据的校正；S4. Taking into account the influence of wind speed on the surface flow velocity, adding wind speed correction, calling the flow calculation module, according to the wind speed and wind direction, to obtain the velocity component of the wind speed in the direction of water flow, if the component is the same as the flow direction, the surface of the river/channel Subtract this component from the flow velocity data, and if it is the opposite, add this component to the surface flow velocity data of the channel/channel to correct the flow velocity data;
S5、流量计算模块根据获取的水位数据和校正后的流速数据，结合预先输入的河道/渠道控制断面高程、糙率、坡降等相关参数，基于河道/渠道的水文模型计算得到当前时刻的控制断面流量大小；此外，通过计算各个时刻的控制断面流量大小，可以计算得到控制断面平均流量大小；S5. The flow calculation module calculates the current control based on the hydrological model of the river/channel based on the obtained water level data and the corrected flow velocity data, combined with the pre-input river/channel control section elevation, roughness, slope and other related parameters. The flow rate of the section; in addition, by calculating the flow rate of the control section at each time, the average flow rate of the control section can be calculated;
S6、利用数据传输单元将计算得到的控制断面流量数据通过无线传输方式发送到远程上位机，并保存到数据库中。S6. Using the data transmission unit, the calculated flow data of the control section is sent to the remote host computer through wireless transmission, and stored in the database.
本实施例的雷达水位测量模块、雷达流速测量模块和流量计算模块的具体原理同上述实施例1。The specific principles of the radar water level measurement module, the radar flow velocity measurement module and the flow calculation module of this embodiment are the same as those of the first embodiment above.
综上所述，本发明的水位流速流量监测一体化装置采用非接触式的雷达水位测量模块和雷达流速测量模块分别测量河道/渠道的实时水位数据和实时表面流速数据，以及采用风速测量模块测量实时风速数据，流量计算模块通过风速数据对表面流速数据进行校正，消除风速对表面流速数据的影响，根据水位数据和校正后的流速数据，结合输入的河道/渠道控制断面高程、糙率、坡降等相关参数，计算出河道/渠道控制断面的流量大小，不仅可用于常规的河道/渠道流量监测，还可以进行高洪流量抢测等应急测量。In summary, the integrated water level, velocity, and flow monitoring device of the present invention uses a non-contact radar water level measurement module and a radar flow velocity measurement module to measure the real-time water level data and real-time surface velocity data of the river/channel respectively, and uses the wind velocity measurement module to measure Real-time wind speed data, the flow calculation module corrects the surface velocity data through the wind speed data, eliminates the influence of wind speed on the surface velocity data, and controls the elevation, roughness, and slope of the section according to the water level data and the corrected flow velocity data combined with the input river/channel It can calculate the flow rate of the control section of the river/canal by lowering related parameters, which can not only be used for conventional river/channel flow monitoring, but also for emergency measurement such as rush measurement of high flood flow.
以上所述，仅为本发明专利较佳的实施例，但本发明专利的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明专利所公开的范围内，根据本发明专利的技术方案及其发明专利构思加以等同替换或改变，都属于本发明专利的保护范围。The above is only a preferred embodiment of the patent of the present invention, but the scope of protection of the patent of the present invention is not limited thereto. The equivalent replacement or change of the technical solution and its invention patent concept all belong to the protection scope of the invention patent.
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