CN112373625B

CN112373625B - Buoy for monitoring sedimentation state of river bottom sludge

Info

Publication number: CN112373625B
Application number: CN202011553386.0A
Authority: CN
Inventors: 毛宁; 郑清松; 张炜煌; 邱爱平
Original assignee: Nanjing Hydraulic Research Institute of National Energy Administration Ministry of Transport Ministry of Water Resources
Current assignee: Nanjing Institute of Water Conservancy Sciences, State Energy Bureau, Ministry of Transportation, Ministry of Water Conservancy
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2021-09-24
Anticipated expiration: 2040-12-24
Also published as: CN112373625A

Abstract

The invention relates to a buoy for monitoring the siltation state of river bottom silt, which comprises a buoy body, an anchor and an anchoring system device, wherein the buoy body is fixed at a specific position of a river through the anchor and the anchoring system device; the buoy body is also internally provided with an anchor rope angle measuring device, the bottom of the buoy body is provided with an ultrasonic distance meter, and ultrasonic waves are emitted towards the river bottom at a certain inclination angle relative to the bottom of the buoy body and are used for measuring the depth of the buoy body from the river bottom; historical data is established through the measured anchor rope angle and water depth data, so that the sedimentation condition of sludge in the river can be monitored in real time by utilizing the existing buoy, the sedimentation condition of the river bottom can be timely obtained, and prompt and warning information can be accurately given.

Description

Buoy for monitoring sedimentation state of river bottom sludge

Technical Field

The invention relates to the field of navigation marks, in particular to a buoy capable of monitoring the sedimentation state of river bottom silt.

Background

The navigation mark is a mark for indicating the direction, boundary and obstructions of the channel, is an artificial mark for guiding the ship to navigate, positioning, marking the obstructions and indicating warning, provides a facility or system for various water activities with safety information, is used for marking the positions of the channel, anchorage, beach and other obstructions, indicates the water depth and the wind condition and directs the traffic of a narrow water channel.

For buoys placed in inland rivers, they are used to indicate the channel and the dangerous beach or obstacle in the river. Whether natural river channels or manually dug canals are used as discharge channels in municipal and rural areas. The municipal drainage pipeline is an important drainage system of a city and is a foundation for guaranteeing safe and healthy operation of the city as an important infrastructure for collecting and conveying municipal sewage and rainwater. However, the sanitation conditions of the earth surfaces of the country and the city in China are poor at present, when rainstorm or daily municipal maintenance is carried out, garbage or waste on the earth surfaces can enter rivers along with the scouring of the earth surface runoff, and the garbage or the waste can form sludge in the river channels of the rivers and can be deposited on the river bottoms of the rivers, so that the navigation of the rivers is seriously influenced, the sludge can cause unhealthy influence on the water quality of the rivers, and therefore, the monitoring of the sludge conditions of the river bottoms becomes a very important work in the current river channel management.

At present, for monitoring the thickness of sludge deposition, a mechanical measuring rod is usually used manually to measure the thickness of the sludge at the bottom of a river. Such a measurement method requires a lot of manpower and physical resources, and also cannot monitor the siltation condition of the sludge in real time and automatically, and in the manual operation process, personal injury and drowning are also easy to occur. Meanwhile, because vast rivers in China are located in subtropical or temperate climate areas, the rainfall in summer is usually greater than that in winter, so that the surface runoff in summer is greater than that in winter, and as a result, the river flow in summer is large, the sludge carried by the water level is large at the same time, but the large flow also has a strong washing effect on the river bottom sludge; meanwhile, in the same section of river channel or channel, due to different ground runoff conditions added along the way, the sludge deposition conditions at different positions of the river channel or channel are different, namely, the sludge deposited at the river bottom is influenced by a plurality of factors, and the condition of paying attention to the sludge in real time has great beneficial effect on river management. Therefore, there is a need for a real-time, automatic and efficient monitoring method for monitoring the sludge deposition condition.

Disclosure of Invention

To solve the above technical problems, the present invention provides a buoy capable of monitoring a sedimentation state of silt at the bottom of a river, comprising a buoy body, an anchor and an anchoring device, the anchor being inserted into a solid layer of the bottom of the river through a silt layer by means of an anchor claw thereof, one end of the anchoring device being connected to the anchor and the other end thereof being connected to the buoy body, thereby fixing the buoy body at a specific position of the river through the anchor and the anchoring device; the anchoring device comprises an anchor rope and a connecting rod, wherein one end of the anchor rope is connected with the anchor, the other end of the anchor rope is connected with one end of the connecting rod, the other end of the connecting rod is connected with the buoy body, the anchor rope is made of fiber materials, and the connecting rod is of a rigid structure; the buoy body is also internally provided with an anchor rope angle measuring device, the anchor rope angle measuring device comprises a measuring shaft and a pivoting body, the anchor rope angle measuring device is used for measuring the relative rotating angle of the pivoting body and the measuring shaft in the circumferential direction, the measuring shaft is fixedly connected with a base fixed on the buoy body, and the pivoting body is fixedly connected with a connecting rod; the bottom of the buoy body is provided with an ultrasonic distance meter which emits ultrasonic waves towards the river bottom at a certain inclination angle relative to the bottom of the buoy body and is used for measuring the depth of the buoy body from the river bottom.

Furthermore, the anchor rope is made of nylon, polypropylene or vinylon.

Further, the buoy further comprises a controller, the controller comprises a processing module and a storage module, the ultrasonic range finder and the anchor rope angle measuring device can send data to the processing module, and the storage module stores a plurality of measured historical records.

Further, the content of each history record includes time, angle of mooring line and depth of water.

Further, the buoy also comprises a communication device, and the controller is connected to the communication device and can perform two-way communication with the upper computer through a GSM network.

Further, still be provided with the gyroscope on the base for measure the inclination of base.

Furthermore, the controller also comprises a correction module, the correction module receives data of the gyroscope and data of the anchor rope angle measuring device, corrects the data measured by the anchor rope angle measuring device by using the data of the gyroscope, and sends the corrected data to the processing module.

Further, the buoy is further provided with a stabilizing mechanism, and the ultrasonic distance measuring instrument is installed at the bottom of the buoy through the stabilizing mechanism and used for ensuring that the ultrasonic distance measuring instrument can stably emit ultrasonic waves to a specific direction.

Further, the stabilizing mechanism comprises a stepping motor and a speed reducing mechanism, the stepping motor is connected with the controller, and the controller sends a control command to the motor by using data of the gyroscope.

Further, a warning lamp is arranged on the buoy body.

The implementation of the invention has the following beneficial effects: by using the buoy provided by the invention, the existing buoy in a river can measure the sedimentation condition of the river bottom sludge at the position of the existing buoy in real time, historical data is formed, the obtained data is analyzed, the sedimentation condition of the river bottom sludge at the position can be obtained in real time, the sedimentation change can be accurately and timely known, the daily measurement task can be met, meanwhile, the warning can be timely given to the sudden accumulation condition of a large amount of sediments, a large amount of manpower and material resources for measuring the depth of the river sludge in the traditional mode can be greatly reduced, the river channel management and dredging work are greatly facilitated, and the timeliness and the efficiency are improved.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic view of the operation of the buoy of the present invention.

Fig. 2 is a schematic view of the structure of the anchor line angle measuring device of the buoy of the present invention.

Wherein the reference numbers: 1. a float body; 2. an anchor line; 3. an anchor; 4. a base; 5. an anchor line angle measuring device; 6. an ultrasonic range finder; 7. a measuring rod; 8. a gyroscope; 9. a warning light; 51. a pivot body; 52. the shaft is measured.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

For the proposed problems, especially for the yellow river or the Jinghang canal, which is a river receiving a large amount of silt, the flow rate of the river is small or the flow speed of the river is slow, which further aggravates the silting condition of the river bottom, for example, the height of the river bed of the river reach at the downstream of the yellow river rises year by year, and silting of some river reach in the Jinghang canal is serious, which not only affects navigation, but also affects the water quality of the river seriously because the silts are various surface impurities or pollutants brought in from the river flow field, and the silts are piled up at the river bottom, thereby affecting the downstream agricultural safety and environmental safety. At present, for dredging of a yellow river, a small wave bottom reservoir is adopted for concentrated flood discharge under the common condition, the capacity of carrying silt by water flow is increased by utilizing suddenly increased flow, and partial silt or silt on a river bed is taken away, so that the sedimentation condition of the river bottom is reduced or relieved; for an artificial river such as the great canal in Jinghang or a small natural river, an artificial dredging mode is generally adopted, namely a dredging boat is used for cleaning the sludge at the bottom of the river. These require detection of the silt condition at the bottom of the river.

In order to solve the above-mentioned problems, the present invention provides a buoy for monitoring the deposition state of silt on the bottom of a river, which can be installed in a natural river or a man-made river to indicate shoals, underwater obstacles or to indicate a channel, which is an indication device often seen in a river, particularly in a river or a canal with a shipping function, such as: in the Yangtze river, the yellow river or the Jinghang canal.

As shown in fig. 1, the buoy comprises a buoy body 1, anchors 3 and mooring means. The buoy body 1 is a common buoy, and is generally suspended on the water surface, and the buoy itself has a certain color or other indication information for transmitting indication information or warning information to passing ships. Further, the float may have a warning light 9 at its top end.

Wherein the anchor 3 has a shank and a fluke, preferably of steel. Since the sludge at the bottom of the river is relatively thin and soft, for the anchor 3 with heavy weight, when the anchor 3 is placed on the bed of the river, the anchor 3 sinks and then passes through the relatively thin and soft sludge layer at the bottom of the river, and the anchor flukes are inserted into the relatively hard and firm layer below the sludge layer under the dragging and pulling of the buoys, thereby completing the anchoring process.

As shown in fig. 1, the mooring device comprises an anchor line 2 and a connecting rod 7, one end of the anchor line 2 being connected to the anchor 3, the other end of the anchor line 2 being connected to one end of the connecting rod 7, and the other end of the connecting rod 7 being connected to the buoy body 1. The buoy body 1 is anchored by anchors 3 at specific locations of the river by means of anchor lines 2 and connecting rods 7. In the present invention, it is preferable for the mooring line 2 to be made of a strong, strong and light material, such as nylon, polypropylene or vinylon, and for the connecting rod 7 to be made of a rigid material. Then when the buoy body 1 is flushed downstream in a river, the horizontal forces to which the buoy body 1 is subjected are resisted by the anchors 3 via the anchor lines 2, and due to the lighter mass of the anchor lines 2, the anchor lines 2 are now nearly in a straight line. Because the river in China is greatly influenced by seasonal rainfall, the water depth of the river is generally larger when the rainfall is larger in summer; and when the rainfall is smaller in winter, the water depth of the river is generally smaller. This results in that when the water depth of the buoy is different in the river, the anchor lines 2 are in a nearly straight line state, as shown in fig. 1, but when the water depth is greater, the angle b between the anchor lines 2 and the water level of the river bed is greater; and when the water depth is smaller, the included angle a of the anchor line 2 relative to the horizontal plane of the river bed is smaller. Thus, the water depth of the river is constantly changing even for the same sludge fouling state, which is difficult to realize to automatically monitor the sludge fouling condition in real time.

For this purpose, the present invention provides the ultrasonic ranging devices 6 on the float body 1, and the number of the ultrasonic ranging devices 6 is preferably selected to be one, and the ultrasonic ranging devices 6 are provided on the bottom of the float body 1. The ultrasonic range finder 6 has an ultrasonic transmitting unit and a receiving unit (not shown in the figure), the ultrasonic transmitting unit transmits ultrasonic waves to a specific direction, the ultrasonic waves are transmitted in water and reflected by an obstacle when encountering the obstacle, and the receiving unit receives the reflected ultrasonic waves; the distance from the ultrasonic distance meter 6 to the obstacle in the specific direction is calculated by calculating the time difference between the transmission and reception of the ultrasonic wave.

In order to control the direction of the ultrasonic range finder 6 emitting ultrasonic waves to the outside, it is preferable that a stabilizing mechanism (not shown in the figure) is further provided on the buoy body 1, and the ultrasonic range finder 6 is fixed on the buoy body 1 by the stabilizing mechanism. Wherein, stabilizing mean includes motor and reduction gears, and wherein the motor is preferred to be step motor, and reduction gears can select straight tooth, worm gear or planetary gear set, ultrasonic ranging appearance 6 is installed at reduction gears's output, through step motor's positive and negative rotation, actuates ultrasonic ranging appearance 6 swings, and then control and adjustment ultrasonic ranging appearance 6's launch angle.

The buoy further comprises an anchor line angle measuring device arranged in the buoy body 1. Specifically, as shown in fig. 1-2, the mooring line angle measuring device includes a measuring shaft 52 and a pivot body 51, the measuring shaft 52 can rotate relative to the pivot body 51 in the circumferential direction, and the angle of relative rotation of the pivot body 51 relative to the measuring shaft 52 can be measured. Further, a base 4 is arranged in the buoy body 1, the measuring shaft 52 is fixedly connected with the base 4, and the pivot body 51 is connected with the connecting rod 7 in a torsion-proof manner. When the water depth is different and the height of the buoy body 1 changes, so that the included angle between the anchor rope 2 and the water level of the river bed changes, the connecting rod 7 can drive the pivot body 51 to rotate relative to the measuring shaft 52, and the measuring shaft 52 can measure the rotating angle of the pivot body 51 relative to the measuring shaft 52. Preferably, the mooring line angle measuring device is calibrated and calibrated, e.g. initialized, when the buoy is mounted and released, and the angular position of the pivot body 51 with respect to the measuring shaft 52 is initialized to 0 ° when the connecting stick 7 is directed vertically downwards. Therefore, after the buoy is installed and released, when the buoy body 1 pulls the anchor rope 2 to be straight, the buoy body 1 is assumed to be in a vertical state at the moment, and the geometrical operation can be carried out to obtain the buoy, the sum of the angle x measured by the anchor rope angle measuring device and the included angle y between the anchor rope 2 and the horizontal plane is 90 degrees, namely x + y =90 degrees, namely the included angle y between the anchor rope 2 and the horizontal plane can be obtained by measuring the measuring value x of the anchor rope angle measuring device, namely y = 90-x.

Although in the river, the direction of rivers is more stable, but because the influence of factors such as the wave that wind, river bottom relief, the shape of river levee and past ship produced, the surface of water can have the production of wave, and then causes the swing and the rocking of buoy main part 1, and this data that can lead to the measuring of mooring line angle measuring device can not reflect the contained angle of mooring line 2 and horizontal plane this moment. To solve this problem, further, as shown in fig. 2, a gyroscope 8 is provided in the base 4. A single-coordinate gyroscope can be selected, namely a Z-coordinate gyroscope is selected; a three-coordinate gyroscope may also be selected. The angle m of the base 4 relative to the vertical is measured by the gyroscope 8, the angle x measured by the anchor rope angle measuring device is corrected to obtain a corrected angle x' = x + m, and thus the corrected angle of the horizontal plane is obtained:

y’=90°-x’=90°-x-m。

and the length of the mooring line 2 plus the connecting rod 7 is L.

Further, the buoy further comprises a controller, the controller comprises a processing module and a storage module, the ultrasonic distance meter 6, the anchor rope angle measuring device and the gyroscope 8 send obtained data to the processing module for processing and operation, corresponding historical records are obtained, and the historical records are stored in the storage module. For each measurement, a history record is formed, and the history record comprises the measurement time, a result m measured by the gyroscope, a result x measured by the anchor rope angle measuring device, an included angle y' between the anchor rope 2 and the horizontal plane, which is obtained by operation, ultrasonic range finder data H, water depth data H and sludge depth d.

Measuring time

Gyroscope data

Anchor line angle measuring device data

Angle of anchor rope to horizontal plane

Ultrasonic range finder data

Emission angle of ultrasonic distance measuring instrument

Depth of water H

Depth d of sludge

t1

m1

x1

y’1

h1

n1

H1

d1

t2

m2

x2

y’2

h2

n2

H2

d2

t3

m3

x3

y’3

h3

n3

H3

d3

In which, in a simple case, for example, when the buoy body 1 is hovering vertically and the ultrasonic rangefinder is launched vertically towards the bottom of a river, as shown in fig. 1, then at this time,

m=0， y’=90°-x，H=h，

and the height of the water surface from the solid layer of the riverbed D = L sin (y') = L sin (90-x),

and the depth of the water surface from the river bed measured by the ultrasonic distance measuring instrument 6 is h, then the depth of the sludge at the moment can be obtained as follows:

d=D-H= L*sin(90°-x)-h。

in the case of a complex situation, when the buoy body 1 is in a rocking state during the measurement, then this time

Water depth H = H sin (90 ° -m),

the depth of the sludge D = D-H = L sin (90 ° -x-m) -H sin (90 ° -m).

Further, the controller further comprises a correction module, the correction module receives data of the gyroscope and data of the anchor rope angle measuring device, the data measured by the anchor rope angle measuring device is corrected by the data of the gyroscope, namely the correction is carried out, an accurate included angle y 'between the anchor rope 2 and the horizontal plane is obtained through correction, the corrected data of the included angle y' between the anchor rope 2 and the horizontal plane is sent to the processing module, the processing module processes the received data and the corrected data to obtain information of the historical records, and the historical records are stored in the storage module.

Further, the buoy also comprises a communication device, the controller is connected to the communication device, the controller can be in two-way communication with an upper computer through a GSM network, measured data, specifically historical records stored in the storage module, are sent to the upper computer, and an administrator analyzes the data to obtain the deposition condition at a specific position in the river.

Further, the stabilizing mechanism comprises a stepping motor and a speed reducing mechanism, wherein the stepping motor is connected with the controller, and the controller sends an instruction to the stepping motor, namely, the emission angle of the ultrasonic distance meter 6 can be changed. Here, the reduction mechanism is preferably selected to be a combination structure of a ball screw and a sector gear, and since the precision of the ball screw structure in terms of the actuating stroke is relatively high, the PWM signal amount sent to the stepping motor of the stabilizing mechanism by the controller enables the stepping motor to rotate by a corresponding angle, so that the screw also rotates by the same angle, the outer sleeve of the ball screw generates a precisely corresponding lateral displacement by the ball, and the lateral displacement is converted into a rotation of the sector gear by the sector gear engaged or coupled with the outer sleeve, thereby accurately controlling the swing angle of the ultrasonic distance measuring instrument 6.

When the emitting angle of the ultrasonic range finder 6 is changed, instead of emitting to the river bed in the direction perpendicular to the bottom of the buoy body 1, the correction module also receives the change n of the emitting angle and corrects the data measured by the ultrasonic range finder 6 based on the change of the emitting angle, so as to obtain the data at the moment

The depth of the buoy body 1 from the riverbed H = H sin (90 ° -m-n),

and the depth of the sludge D = D-H = L sin (90 ° -x-m) -H sin (90 ° -m-n).

As described above, the position of the measured water depth data and the calculated sludge depth is different according to the water depth because the buoy body 1 drifts a certain distance upstream or downstream in the river direction due to the difference in water depth. Due to the fact that the weight of the anchor 3 is large, even if the depth of sludge at the position of the anchor 3 is increased in the later period, the fixed position of the anchor 3 cannot be affected; meanwhile, the anchor rope 2 which is thin and light in weight is adopted, so that even if the depth of the sludge changes, the nearly straight line state of the anchor rope 2 between the anchor 3 and the buoy body 1 is not influenced. Therefore, for the sludge conditions at different time points at the same position, the selected included angle between the anchor rope 2 and the horizontal plane can be used for corresponding, that is, the selected included angle between the anchor rope 2 and the horizontal plane is selected, so that the corresponding history records at different time points can be obtained, and the change conditions of the sludge depth at different time points can be obtained. And the sludge conditions at different time points at corresponding different positions can be obtained by changing the numerical value of the included angle between the anchor rope 2 and the horizontal plane. Moreover, the time-varying curves of the depth of the sludge at different positions can be drawn according to the mode, so that the variation trend can be simply and intuitively obtained.

While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A buoy for monitoring the siltation of river bottom silt, comprising a buoy body, an anchor and an anchoring system, the anchor being inserted into a solid layer of the river bottom through a silt layer by means of an anchor claw thereof, one end of the anchoring system being connected to the anchor and the other end thereof being connected to the buoy body, thereby fixing the buoy body at a specific position of the river through the anchor and the anchoring system; the anchoring device comprises an anchor rope and a connecting rod, wherein one end of the anchor rope is connected with the anchor, the other end of the anchor rope is connected with one end of the connecting rod, the other end of the connecting rod is connected with the buoy body, the anchor rope is made of fiber materials, and the connecting rod is of a rigid structure; the buoy body is also internally provided with an anchor rope angle measuring device, the anchor rope angle measuring device comprises a measuring shaft and a pivoting body, the anchor rope angle measuring device is used for measuring the relative rotating angle of the pivoting body and the measuring shaft in the circumferential direction, the measuring shaft is fixedly connected with a base fixed on the buoy body, and the pivoting body is fixedly connected with a connecting rod; the bottom of the buoy body is provided with an ultrasonic distance meter which emits ultrasonic waves towards the river bottom at a certain inclination angle relative to the bottom of the buoy body and is used for measuring the depth of the buoy body from the river bottom.

2. The buoy of claim 1, wherein the anchor line is made of nylon, polypropylene or vinylon.

3. The buoy of claim 1, wherein the buoy further comprises a controller, the controller comprises a processing module and a storage module, the ultrasonic distance meter and the anchor line angle measuring device can send data to the processing module, and the storage module stores a plurality of history records.

4. The buoy for monitoring the siltation of river bottom according to claim 3, wherein the contents of each history record include time, angle of anchor line and depth of water depth.

5. The buoy of claim 1, wherein the buoy further comprises a communication device, and the controller is connected to the communication device and can perform two-way communication with the upper computer through a GSM network.

6. The buoy for monitoring the deposition state of silt at the bottom of a river as claimed in claim 3, wherein a gyroscope is further provided on the base for measuring the inclination angle of the base.

7. The buoy of claim 6, wherein the controller further comprises a correction module, the correction module receives data from the gyroscope and data from the anchor line angle measuring device, corrects the data from the anchor line angle measuring device using the data from the gyroscope, and sends the corrected data to the processing module.

8. The buoy for monitoring the siltation of river bottom according to claim 7, wherein the buoy is further provided with a stabilizing mechanism by which the ultrasonic ranging apparatus is installed at the bottom of the buoy to ensure that the ultrasonic ranging apparatus can stably emit ultrasonic waves in a specific direction.

9. The buoy of claim 8, wherein the stabilizing mechanism comprises a stepping motor and a speed reducing mechanism, the stepping motor is connected with the controller, and the controller sends control commands to the motor by using data of the gyroscope.

10. The buoy for monitoring the deposition state of silt at the bottom of a river according to claim 1, wherein a warning lamp is further provided on the buoy body.