CN113092815B - Ultrasonic method for measuring three-dimensional speed of water flow in real time - Google Patents
Ultrasonic method for measuring three-dimensional speed of water flow in real time Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/24—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave
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Abstract
The invention discloses an ultrasonic method for measuring three-dimensional speed of water flow in real time, which particularly relates to the technical field of hydrologic environment measurement.
Description
Technical Field
The invention relates to the technical field of hydrologic environment measurement, in particular to an ultrasonic method for measuring three-dimensional speed of water flow in real time.
Background
There are many methods for measuring the speed, and different measuring methods are available for different targets and different environments. On land, radar velocimetry is commonly used for vehicles to measure speed. Radar velocimetry mainly exploits the principle of the doppler effect. The Doppler effect is a phenomenon that when a wave source and an observer have relative motion, the frequency of the wave received by the observer is inconsistent with the frequency emitted by the wave source, and is specifically expressed in that when the observer moves close to a sound source, the frequency received by the observer is higher than the frequency of the sound wave per se; conversely, when the observer moves away from the sound source, the observer receives a lower frequency than the sound wave itself. The radar velocimeter calculates the moving speed of the moving object according to the frequency offset of the received reflected electromagnetic wave.
When measuring the moving speed of an underwater object, the speed of a moving object is generally measured by using sound waves because electromagnetic waves are severely attenuated under water. At present, the flow velocity measurement of water is mainly divided into three types of methods. The first method is to measure the flow speed of the water body by a mechanical device, and the method uses the rotation information of the wheel axle to measure the flow speed and direction of the water body. The method mainly comprises the steps of mechanical speed measurement, speed measurement of a speed measuring generator type, hall digital rotating speed measurement, magnetic induction type vehicle speed measurement, pulse rotating speed sensor speed measurement and the like. Such a method requires installation of a measuring device on a measurement target position, is inconvenient to use, and is not efficient in measurement. The second type of method is to measure the flow velocity of the water body by using an image processing technology. Such a method does not work properly in environments with poor light, while it can only measure surface flow rate. The third type of method is to make use of the doppler effect of sound waves to make a velocity measurement, which emits sound waves of a specific frequency into the water, and calculate the velocity of the water flow by measuring the frequency change of the received sound waves, the most classical device being Acoustic Doppler Current Profiler (ADCP). ADCP of four wave beam orthogonal configuration transmits sound wave to 4 different directions under water, and the water flow velocity of a certain depth is measured according to the frequency change of the received sound wave.
However, the current ultrasonic wave measurement water flow speed is measured at a fixed position, the measurement result is single, if the inner wall and the outer wall of the pipeline are corroded to different degrees, or the pipeline is sparse, the attenuation degree of the ultrasonic wave signal is serious when the ultrasonic wave signal passes through the pipeline wall, the attenuation cannot be predicted, the result of normal and accurate measurement of the water flow speed is affected, the water flow possibly affects the flow speed due to the fact that the inner wall of the pipeline is worn to different degrees and corroded, but the speed of the water flow at a plurality of positions is different, and the detection result of the water flow speed is affected, so that an ultrasonic method for measuring the three-dimensional speed of the water flow in real time is needed.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an ultrasonic method for measuring the three-dimensional speed of water flow in real time, which aims to solve the technical problems that: the current ultrasonic wave measurement water flow velocity is more at fixed position measurement, and measuring result is comparatively single, if pipeline inner wall and outer wall appear the corrosion of different degree, or pipeline material is dredged, leads to ultrasonic signal's attenuation degree comparatively serious when passing the pipeline wall, and the attenuation can't predict, influence normal accurate measurement water flow velocity's result, and the rivers can be because pipeline inner wall appear different degree wearing and tearing and the corrosion condition influence the velocity of flow, but the velocity of water flow in the different condition of speed emergence in many positions leads to the rivers velocity of water detection result to receive the problem of influence.
In order to achieve the above purpose, the present invention provides the following technical solutions: the ultrasonic method for measuring the three-dimensional speed of the water flow in real time is based on an ultrasonic speed measuring technology, and realizes the detection of ultrasonic waves on multiple positions and multiple angles of the water flow speed in a pipeline by controlling a measuring probe to axially move and circumferentially rotate on the outer side of the pipe wall so as to obtain the water flow speeds in different positions in the pipeline and the water flow speeds measured by different angles in the same position, and finally, the three-dimensional vector values of the water flow speeds are obtained by vector synthesis of the speeds in the same position and the same angle, the three-dimensional vector values of the water flow speeds in different angles in the same position are processed to obtain a single average value, then, the water flow speed average values in the multiple positions are processed to obtain an integral average value, and then, the water flow speed measuring result can be obtained, and the ultrasonic speed measuring method comprises the following steps:
step one, selecting a measuring probe with proper parameters according to the diameter and the wall thickness of a measuring pipeline, connecting the measuring probe with a digital ultrasonic instrument, arranging the measuring probe on the outer wall of the pipeline, wherein the measuring probe consists of four probes, one transmitting probe, three receiving probes and the transmitting probe is arranged in the middle, and the three receiving probes encircle the transmitting probe;
step two, the transmitting probe directly transmits ultrasonic waves, wherein ultrasonic waveforms are special multi-frequency pulses, and the multi-frequency pulses are formed by arranging and combining ultrasonic pulse signals with multiple frequencies;
step three, three receiving probes simultaneously receive ultrasonic waves transmitted by the transmitting probes to obtain three echo signals, and a digital ultrasonic instrument is used for simultaneously receiving the three echo signals;
step four, distinguishing and comparing the echo signal and the transmitting signal, and calculating the frequency offset value of each path of receiving signal by finding out the ultrasonic signal change condition of specific composite frequency, and converting the water flow speed represented by each path of signal according to the frequency offset value of each path of signal, wherein the calculation formula is as follows:
wherein f 0 For transmitting the ultrasonic wave of the transmitting probe, f 1 In order to receive ultrasonic frequency received by the probe, v is the water flow speed in the pipeline, L is the propagation distance of ultrasonic wave in fluid, f d Is the difference between the ultrasonic wave transmitting frequency and the ultrasonic wave receiving frequency;
step five, using a speed vector synthesis algorithm to synthesize the speeds of three paths of signals into an actual three-dimensional vector value of water flow, and obtaining a three-dimensional water flow speed measurement result;
step six, controlling the measuring probe to rotate around the outside of the pipe wall for one circle, stopping once every sixty degrees in the rotation process of the measuring probe, then measuring the water flow speed of the position by the measuring probe, measuring to obtain six groups of measuring data after the measuring probe rotates around, and repeating the calculation mode of the measuring data to obtain six groups of water flow speed measuring results at the same measuring position, v and v 1 、v 2 、v 3 、v 4 、v 5 Processing according to the measurement result to obtain a single average value, wherein the calculation formula is as follows:
wherein v is d Is the single average value of the water flow speed at the same position;
and seventhly, controlling the measuring probe to move along the axial direction, stopping every ten centimeters in the moving process of the measuring probe, repeating the process in the step six to obtain a single average value of the water flow speed, stopping the moving process of the measuring probe for six times, measuring to obtain six groups of data, and repeating the calculation formula in the step six to obtain a final overall average value, wherein the overall average value is the water flow speed measurement result.
As a further aspect of the invention: in the seventh step, the initial position of the measurement probe is kept the same every time the measurement probe moves axially.
As a further aspect of the invention: three receiving probes in the measuring probe are uniformly and circumferentially arranged around the transmitting probe at equal intervals.
As a further aspect of the invention: the digital ultrasonic instrument adopts a digital circuit power supply as a power supply source of each functional circuit on the ultrasonic signal sampling processing circuit board, and the design complexity is that the digital circuit system has a plurality of functions, the working voltage values of components are different, and the power consumption of each part of circuit also needs to be comprehensively considered. In addition, the ultrasonic signal sampling processing circuit board is provided with a high-speed AD conversion circuit and a DA conversion circuit, so that the circuit board actually belongs to a digital-analog hybrid circuit board, wherein the performance of the high-speed AD conversion circuit determines the measurement performance of the whole digital ultrasonic instrument, the power supply of the ultrasonic signal sampling processing circuit board is required to be carefully designed, and the design of a digital circuit power supply is complex relative to that of an ultrasonic circuit power supply.
The invention has the beneficial effects that:
1. according to the invention, the measuring probe is adopted, three receiving probes surround the transmitting probe, after the transmitting probe transmits multi-frequency pulses, ultrasonic waves are received through the three receiving probes, a digital ultrasonic instrument carries out identification comparison on three echo signals and the transmitted ultrasonic signals, the water flow speed of each signal is obtained according to the offset value of the frequency of the ultrasonic signals, and finally the measuring probe is controlled to carry out axial movement and circumferential rotation on the outer wall of a pipeline, so that multi-position and multi-angle speed measurement on the interior of a section of pipeline can be realized, and finally the average value of the water flow speeds measured in the interior of a section of pipeline is obtained, the occurrence of corrosion at a single position of the pipeline or the influence of the material of the pipeline on ultrasonic attenuation on the detection result is avoided, and multiple groups of data acquired at multiple angles and multiple positions can be used for accurately and objectively judging the water flow speed, so that the detection result is more objective and stable;
2. according to the invention, three paths of echo signals are acquired by adopting three receiving probes, so that three paths of detection data can be obtained in the same detection acquisition process, then the water flow speed of the position is calculated by a speed vector synthesis algorithm, and the digital ultrasonic instrument is connected with an external control terminal by an Ethernet transceiver circuit, so that the rapid transmission of the detection data to an external computer can be ensured, the rapid processing of the detection data is realized, and the detection result can be observed by staff in time;
3. according to the invention, the water flow speed is measured by adopting the frequency difference method, the temperature has a larger influence on the propagation speed of sound in water, and the propagation speed of sound in water is not required to be introduced by adopting the frequency difference method, so that the influence of the water flow speed at different temperatures on the frequency difference method is smaller, the invention is applicable to water flow speed detection at various temperatures, and the accuracy of detection results is ensured to a certain extent.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples: the ultrasonic method for measuring the three-dimensional speed of the water flow in real time is based on an ultrasonic speed measuring technology, and realizes the detection of ultrasonic waves on multiple positions and multiple angles of the water flow speed in a pipeline by controlling a measuring probe to axially move and circumferentially rotate on the outer side of the pipe wall so as to obtain the water flow speeds in different positions in the pipeline and the water flow speeds measured by different angles in the same position, and finally, the three-dimensional vector values of the water flow speeds are obtained by vector synthesis of the speeds in the same position and the same angle, the three-dimensional vector values of the water flow speeds in different angles in the same position are processed to obtain a single average value, then, the water flow speed average values in the multiple positions are processed to obtain an integral average value, and then, the water flow speed measuring result can be obtained, and the ultrasonic speed measuring method comprises the following steps:
step one, selecting a measuring probe with proper parameters according to the diameter and the wall thickness of a measuring pipeline, connecting the measuring probe with a digital ultrasonic instrument, arranging the measuring probe on the outer wall of the pipeline, wherein the measuring probe consists of four probes, one transmitting probe, three receiving probes and the transmitting probe is arranged in the middle, and the three receiving probes encircle the transmitting probe;
step two, the transmitting probe directly transmits ultrasonic waves, wherein ultrasonic waveforms are special multi-frequency pulses, and the multi-frequency pulses are formed by arranging and combining ultrasonic pulse signals with multiple frequencies;
step three, three receiving probes simultaneously receive ultrasonic waves transmitted by the transmitting probes to obtain three echo signals, and a digital ultrasonic instrument is used for simultaneously receiving the three echo signals;
step four, distinguishing and comparing the echo signal and the transmitting signal, and calculating the frequency offset value of each path of receiving signal by finding out the ultrasonic signal change condition of specific composite frequency, and converting the water flow speed represented by each path of signal according to the frequency offset value of each path of signal, wherein the calculation formula is as follows:
wherein f 0 For transmitting the ultrasonic wave of the transmitting probe, f 1 In order to receive ultrasonic frequency received by the probe, v is the water flow speed in the pipeline, L is the propagation distance of ultrasonic wave in fluid, f d Is the difference between the ultrasonic wave transmitting frequency and the ultrasonic wave receiving frequency;
step five, using a speed vector synthesis algorithm to synthesize the speeds of three paths of signals into an actual three-dimensional vector value of water flow, and obtaining a three-dimensional water flow speed measurement result;
step six,The measuring probe is controlled to rotate along the circumferential direction at the outer side of the pipe wall for one circle, the measuring probe stops once every sixty degrees in the rotation process, then the measuring probe measures the water flow velocity at the position, after the measuring probe rotates for one circle, six groups of measuring data are obtained by measurement, the measuring data repeat the calculation mode to obtain six groups of water flow velocity measuring results at the same measuring position, and v are measured 1 、v 2 、v 3 、v 4 、v 5 Processing according to the measurement result to obtain a single average value, wherein the calculation formula is as follows:
wherein v is d Is the single average value of the water flow speed at the same position;
and seventhly, controlling the measuring probe to move along the axial direction, stopping every ten centimeters in the moving process of the measuring probe, repeating the process in the step six to obtain a single average value of the water flow speed, stopping the moving process of the measuring probe for six times, measuring to obtain six groups of data, and repeating the calculation formula in the step six to obtain a final overall average value, wherein the overall average value is the water flow speed measurement result.
The ultrasonic wave generating process adopts an ultrasonic excitation signal generating circuit to receive the transmitted waveform information input by a waveform signal source, utilizes a power amplifying circuit to convert the energy of an ultrasonic power source into a high-voltage power waveform signal, outputs the high-voltage power waveform signal to an ultrasonic wave transmitting probe, enables the ultrasonic wave transmitting probe to generate signal pulses appointed by the waveform signal source, adopts an ultrasonic excitation circuit high-voltage power source, and is used for generating a high-voltage power source required by the ultrasonic excitation signal generating circuit.
The ultrasonic echo signal amplifying circuit is a core design part of an ultrasonic signal transmitting, receiving and amplifying circuit board, and provides the functions of low noise, broadband and controllable high gain amplification of ultrasonic echo signals.
The main body of the digital ultrasonic instrument is designed into a form of simultaneously detecting 4 paths of parallel ultrasonic signals in real time, so that the ultrasonic echo signal amplifying circuit is also designed into a parallel 4-path independent amplifying form, and the design configuration of the two-stage amplifying circuit is adopted, so that the layout and wiring area required by each path of ultrasonic echo signal amplifying circuit is very small, and is only about 33mm multiplied by 27mm, thereby meeting the design miniaturization requirement of the digital ultrasonic instrument.
In the seventh step, the initial position of the measurement probe remains the same every time the measurement probe moves axially.
Three receiving probes in the measuring probe are uniformly and circumferentially arranged around the transmitting probe at equal intervals.
The digital ultrasonic instrument adopts a digital circuit power supply as a power supply source of each functional circuit on the ultrasonic signal sampling processing circuit board, and the design complexity is that the digital circuit system has a plurality of functions, the working voltage values of components are different, and the power consumption of each part of circuit also needs to be comprehensively considered. In addition, the ultrasonic signal sampling processing circuit board is provided with a high-speed AD conversion circuit and a DA conversion circuit, so that the circuit board actually belongs to a digital-analog hybrid circuit board, wherein the performance of the high-speed AD conversion circuit determines the measurement performance of the whole digital ultrasonic instrument, the power supply of the ultrasonic signal sampling processing circuit board is required to be carefully designed, and the design of a digital circuit power supply is complex relative to that of an ultrasonic circuit power supply.
In summary, in the present invention:
according to the invention, the measuring probe is adopted, three receiving probes encircle the transmitting probe, after the transmitting probe transmits multi-frequency pulses, ultrasonic waves are received through the three receiving probes, a digital ultrasonic instrument is used for identifying and comparing three paths of echo signals with the transmitted ultrasonic signals, the water flow speed of each path of signals is obtained according to the offset value of the frequency of the ultrasonic signals, and finally the measuring probe is controlled to axially move and circumferentially rotate on the outer wall of the pipeline, so that the speed measurement of multiple positions and multiple angles in one section of pipeline can be realized, the average value of the water flow speed measured in one section of pipeline is finally obtained, the occurrence of corrosion at a single position of the pipeline or the influence of the material of the pipeline on the ultrasonic waves on the error of the detection result is avoided, and multiple groups of data acquired at multiple angles and multiple positions can be used for accurately and objectively judging the water flow speed, so that the detection result is more objective and stable.
According to the invention, three paths of detection data can be obtained in the same detection and acquisition process by adopting the three receiving probes to acquire three paths of echo signals, then the water flow speed of the position is calculated through the speed vector synthesis algorithm, and the digital ultrasonic instrument is connected with an external control terminal through the Ethernet transceiver circuit, so that the rapid transmission of the detection data to an external computer can be ensured, the rapid processing of the detection data is realized, and the detection result can be conveniently observed in time by workers.
According to the invention, the water flow speed is measured by adopting the frequency difference method, the temperature has a larger influence on the propagation speed of sound in water, and the propagation speed of sound in water is not required to be introduced by adopting the frequency difference method, so that the influence of the water flow speed at different temperatures on the frequency difference method is smaller, the invention is applicable to water flow speed detection at various temperatures, and the accuracy of detection results is ensured to a certain extent.
The last points to be described are: while the invention has been described in detail in the foregoing general description and with reference to specific embodiments, the foregoing embodiments are merely illustrative of the technical aspects of the invention and are not limiting thereof; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. The ultrasonic method for measuring the three-dimensional speed of the water flow in real time is characterized in that based on an ultrasonic speed measuring technology, the detection of ultrasonic waves on multiple positions and multiple angles of the water flow speed in a pipeline is realized by controlling a measuring probe to axially move and circumferentially rotate on the outer side of the pipe wall, so that the water flow speeds in different positions in the pipeline and the water flow speeds obtained by measuring the different angles in the same position are obtained, finally, the three-dimensional vector values of the water flow speeds are obtained by vector synthesis of the speeds in the same position and the same angle, the three-dimensional vector values of the water flow speeds in different angles in the same position are processed to obtain a single average value, then, the water flow speed average value in the multiple positions is processed to obtain an overall average value, and then, the water flow speed measuring result can be obtained, and the ultrasonic speed measuring method comprises the following steps:
step one, selecting a measuring probe with proper parameters according to the diameter and the wall thickness of a measuring pipeline, connecting the measuring probe with a digital ultrasonic instrument, arranging the measuring probe on the outer wall of the pipeline, wherein the measuring probe consists of four probes, one transmitting probe, three receiving probes and the transmitting probe is arranged in the middle, and the three receiving probes encircle the transmitting probe;
step two, the transmitting probe directly transmits ultrasonic waves, wherein ultrasonic waveforms are special multi-frequency pulses, and the multi-frequency pulses are formed by arranging and combining ultrasonic pulse signals with multiple frequencies;
step three, three receiving probes simultaneously receive ultrasonic waves transmitted by the transmitting probes to obtain three echo signals, and a digital ultrasonic instrument is used for simultaneously receiving the three echo signals;
step four, distinguishing and comparing the echo signal and the transmitting signal, and calculating the frequency offset value of each path of receiving signal by finding out the ultrasonic signal change condition of specific composite frequency, and converting the water flow speed represented by each path of signal according to the frequency offset value of each path of signal, wherein the calculation formula is as follows:
f d ＝f 1 -f o ,
wherein f 0 For transmitting the ultrasonic wave of the transmitting probe, f 1 For receiving ultrasonic frequency received by probe, v is the interior of pipelineThe water flow speed, L is the propagation distance of ultrasonic wave in fluid, f d Is the difference between the ultrasonic wave transmitting frequency and the ultrasonic wave receiving frequency;
step five, using a speed vector synthesis algorithm to synthesize the speeds of three paths of signals into an actual three-dimensional vector value of water flow, and obtaining a three-dimensional water flow speed measurement result;
step six, controlling the measuring probe to rotate around the outside of the pipe wall for one circle, stopping once every sixty degrees in the rotation process of the measuring probe, then measuring the water flow speed of the position by the measuring probe, measuring to obtain six groups of measuring data after the measuring probe rotates around, and repeating the calculation mode of the measuring data to obtain six groups of water flow speed measuring results at the same measuring position, v and v 1 、v 2 、v 3 、v 4 、v 5 Processing according to the measurement result to obtain a single average value, wherein the calculation formula is as follows:
wherein v is d Is the single average value of the water flow speed at the same position;
and seventhly, controlling the measuring probe to move along the axial direction, stopping every ten centimeters in the moving process of the measuring probe, repeating the process in the step six to obtain a single average value of the water flow speed, stopping the moving process of the measuring probe for six times, measuring to obtain six groups of data, and repeating the calculation formula in the step six to obtain a final overall average value, wherein the overall average value is the water flow speed measurement result.
2. An ultrasonic method for measuring three-dimensional velocity of water flow in real time according to claim 1, wherein: in the seventh step, the initial position of the measurement probe is kept the same every time the measurement probe moves axially.
3. An ultrasonic method for measuring three-dimensional velocity of water flow in real time according to claim 1, wherein: three receiving probes in the measuring probe are uniformly and circumferentially arranged around the transmitting probe at equal intervals.
4. An ultrasonic method for measuring three-dimensional velocity of water flow in real time according to claim 1, wherein: the digital ultrasonic instrument adopts a digital circuit power supply as a power supply source of each functional circuit on the ultrasonic signal sampling processing circuit board.
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| CA2465256A1 (en) * | 2001-10-26 | 2003-05-01 | The Tokyo Electric Power Company, Incorporated | Doppler ultrasonic flowmeter |
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| CN210690621U (en) * | 2019-09-04 | 2020-06-05 | 厦门博意达科技股份有限公司 | Multi-dimensional ultrasonic Doppler current meter |
| CN113091785A (en) * | 2021-04-06 | 2021-07-09 | 武汉上善绎科技有限公司 | Multi-channel ultrasonic detector for measuring hydrological parameters |
| CN215294221U (en) * | 2021-04-06 | 2021-12-24 | 武汉上善绎科技有限公司 | Ultrasonic probe mounting structure for measuring three-dimensional water flow velocity |
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| CA2465256A1 (en) * | 2001-10-26 | 2003-05-01 | The Tokyo Electric Power Company, Incorporated | Doppler ultrasonic flowmeter |
| CN104133217A (en) * | 2014-07-17 | 2014-11-05 | 华南理工大学 | Method and device for three-dimensional velocity joint determination of underwater moving target and water flow |
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