CN113884070A - Measurement method based on intelligent flow measurement robot - Google Patents
Measurement method based on intelligent flow measurement robot Download PDFInfo
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- CN113884070A CN113884070A CN202111111953.1A CN202111111953A CN113884070A CN 113884070 A CN113884070 A CN 113884070A CN 202111111953 A CN202111111953 A CN 202111111953A CN 113884070 A CN113884070 A CN 113884070A
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- 238000005259 measurement Methods 0.000 title claims abstract description 36
- 238000000691 measurement method Methods 0.000 title claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 59
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- 238000004891 communication Methods 0.000 claims description 24
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
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Abstract
The invention discloses a measuring method based on an intelligent flow measuring robot, belonging to the technical field of channel tests of river channels and irrigation areas, comprising the following steps: the flow measuring robot operates to a flow measuring point; measuring the water surface height at the flow measuring point by using a water level meter, then lowering the mud level meter to the bottom contact position, and acquiring the bottom contact depth to further obtain the water depth; and obtaining the measurement depth of the current meter according to the water depth, and carrying out current measurement.
Description
Technical Field
The invention belongs to the technical field of channel tests of riverways and irrigation areas, and particularly relates to a measuring method based on an intelligent flow measuring robot.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The river flow measurement is an important component of hydrology work, and the acquisition of various hydrology data plays an important role in the full utilization of water resources and the development of flood prevention and flood fighting work.
The current flow measuring means is usually fixed flow measuring, the fixed flow measuring is that a plurality of flow measuring instruments are fixedly installed on a bridge, data are obtained for each flow measuring instrument, then flow measuring results are obtained after integration, the flow measuring process is complex, the efficiency is low, deviation is easy to occur in the process of comprehensively processing a plurality of data, and the precision is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a measuring method based on an intelligent flow measuring robot, which has the advantages of simple and feasible measuring mode, high automation degree and high measuring precision.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the invention provides a measurement method based on an intelligent flow measuring robot, which comprises the following steps:
the flow measuring robot operates to a flow measuring point;
measuring the water surface height at the flow measuring point by using a water level meter, then lowering the mud level meter to the bottom contact position, and acquiring the bottom contact depth to further obtain the water depth;
and obtaining the measurement depth of the current meter according to the water depth, and carrying out current measurement.
As a further technical scheme, the mud level meter and the current meter are connected with a communication cable, the communication cable is connected with a winch, after the water surface height is obtained, the winch starts to work and lowers the communication cable, and the mud level meter stops lowering after contacting the bottom to obtain the bottom contact depth.
As a further technical solution, the water depth is the bottoming depth-water surface height.
As a further technical scheme, the measurement depth of the current meter is 60% of the water depth.
As a further technical scheme, the current meter is fixedly connected with the angle sensor, after the measurement depth of the current meter is obtained, the current meter is moved to a corresponding depth to carry out measurement, the current data and the angle sensor data of the current meter are obtained, and then the current data in a vertical state are obtained through calculation.
As a further technical scheme, after the flow velocity data are obtained, the measurement operation is repeated to obtain a plurality of instantaneous flow velocity data, and then the instantaneous flow is obtained according to the instantaneous flow velocity.
As a further technical scheme, after the flow velocity is obtained, a water cross-section diagram is drawn according to the shape of the cross section of the river channel, and the instantaneous flow and the accumulated flow of the cross section at the flow measuring point are calculated according to the water cross-section diagram.
As a further technical scheme, the cross-sectional area of the current flow measuring point is calculated by the cross-sectional diagram.
As a further technical scheme, the instantaneous flow of the cross section at the flow measurement point is as follows:
Q＝V*A；
wherein Q-instantaneous flow, V-instantaneous flow velocity and A-water cross section area.
As a further technical scheme, the calculation formula of the accumulated flow of the cross section at the flow measuring point is as follows:
Qg＝Q1+Q2+Q3+…+Qn；
wherein Qg-cumulative flow, Q (1 … n) -multiple instantaneous flows.
The beneficial effects of the invention are as follows:
according to the measuring method, after the current surveying robot runs to the current surveying point, the height of the water surface of the current surveying point is measured, then the water depth is obtained according to the bottom contact depth, and the flow velocity measurement is carried out after the water depth is obtained.
According to the measuring method, after the flow velocity of the flow measuring points is measured, the water passing section diagram is drawn, the water passing section area of the flow measuring points is obtained, then the water passing area is subdivided according to the positions of the flow measuring points, the section flow of the current flow measuring points is obtained, the data of each flow measuring point is further processed, and the automatic comprehensive processing and analysis of the data are realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a flow diagram of a measurement method according to one or more embodiments of the invention;
FIG. 2 is a schematic view of an intelligent flow metering robot of the present invention;
FIG. 3 is a schematic view of a lateral flow robot housing;
FIG. 4 is another perspective schematic view of a lateral flow robot housing;
FIG. 5 is a schematic view of a flow measuring robot chassis;
FIG. 6 is a schematic bottom view of the carriage assembly of the lateral flow robot;
FIG. 7 is a schematic view of a lateral flow robot control pod;
FIG. 8 is a schematic view of a lateral flow robotic power pod;
FIG. 9 is a schematic view of the arrangement of an on-board controller of the lateral flow robot;
in the figure: the mutual spacing or size is exaggerated to show the position of each part, and the schematic diagram is only used for illustration;
the device comprises a shell 1, a chassis 2, a front lamp 11, an indicator lamp 12, a starting button 13, a solar cell panel 14, an upper cover 15, a wireless transmission antenna 16, an emergency button 17, a side door 18, an infrared induction photoelectric device 19, a back lamp 20, an equipment cabin 21, a control cabin 22, a power cabin 23, a frame device 24, a vehicle-mounted controller 221, a controller power supply system 222, a touch display screen 223, an anti-interference protective shell 2211, a storage battery 231, a stepping motor 232, a stepping motor controller 233, a small belt pulley 234, a large belt pulley 235, a wheel 241, a shaft 242, a bearing 243, a travel switch fixing support 244, a contact charger fixing support 245 and a wireless charger fixing support 246.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
The intelligent flow measuring robot comprises a shell 1 and a chassis 2, wherein the shell 1 is fixedly arranged on the chassis 2, and a shell cover is arranged on the chassis, as shown in fig. 2.
As shown in fig. 3, the housing includes a front light 11, an indicator light 12, a start button 13, a solar panel 14, an upper cover 15, a wireless transmission antenna 16, an emergency button 17, a side door 18, an infrared induction photoelectric device 19, and a rear light 20.
The shell is a shell structure formed by enclosing an upper cover 15 and side plates, and the upper cover is detachably arranged at the top of the shell, so that later maintenance and installation are facilitated; the solar cell panel 14 is arranged on the upper cover, and when the device works outdoors, the solar cell panel can automatically charge the vehicle-mounted storage battery, so that energy is saved; in outdoor work, and under the condition that there is the sun, solar cell panel can begin work.
The left side and the right side of the shell are respectively provided with a side door 18, and a plane lock is arranged on each side door, so that later maintenance and debugging are facilitated.
The top surface of the rear part of the shell is provided with 1 emergency button 17 and 1 wireless transmission antenna 16, and the emergency button is used for pressing to stop the robot in case of emergency; through the wireless transmission antenna, the robot can be in wireless communication with external control equipment.
2 back lamps 20 are installed to the shell back, and 1 infrared induction photoelectric ware is installed to the preceding and back bottom of shell, and infrared induction photoelectric ware is used for detecting the barrier, parks after reacing the bridge tail or exploring the barrier in the current survey room.
2 headlights 11, 3 indicator lights 12 and 1 start button 13 are arranged at the front part of the shell, the start button is used for controlling the on-off of the power supply of the whole system, and the robot can be started to work by pressing the start button; the pilot lamp instructs the operating condition of robot.
As shown in fig. 5, the chassis includes an equipment compartment 21, a control compartment 22, a power compartment 23, and a carriage assembly 24.
The equipment cabin, the control cabin and the power cabin are sequentially arranged on the top of the frame device in an abutting mode, and the equipment cabin, the control cabin and the power cabin are covered in the shell.
As shown in fig. 6, the carriage assembly includes a wheel 241, a shaft 242, a bearing 243, a travel switch fixing bracket 244, a contact charger fixing bracket 245, and a wireless charger fixing bracket 246.
4 wheels are arranged at the bottom of the frame device, and the wheels are arranged in pairs in opposite mode, so that the robot can walk conveniently; the two opposite wheels are connected through a shaft, the shaft is fixed at the bottom of the frame device through a bearing, and a belt pulley is arranged on the shaft and connected with a power device of the power cabin.
A travel switch is fixedly arranged on the travel switch fixing support and plays a role in limiting; the position of the vehicle can be judged after the travel switch contacts the contact on the track, the function of the vehicle is the same as that of the infrared induction photoelectric device, and the infrared induction photoelectric device can be replaced for positioning when in fault.
The contact charger fixing support is fixedly provided with the contact charger, and when the robot returns to the current measuring room, the charging elastic sheet is in contact with the charger in the current measuring room, and the solar charging and discharging controller in the current measuring room automatically charges electricity.
The wireless charger is fixedly arranged on the wireless charger fixing support, and the wireless charger replaces the wireless charger to work when the contact charging fails.
As shown in fig. 7, the control cabin is fixed on the top of the frame device and is positioned at the position of the side door of the shell, and the control cabin can be operated by opening the door, so that the installation, debugging and later-period maintenance are facilitated; the control cabin is provided with an on-board controller 221, a controller power supply system 222 and a touch display screen 223. The controller power supply system supplies power to the vehicle-mounted controller, and the vehicle-mounted controller is connected with the touch display screen.
The infrared induction photoelectric device and the travel switch are connected with the vehicle-mounted controller.
The vehicle-mounted controller can acquire data such as water level, flow velocity and the like by measuring equipment of the equipment cabin, automatically obtain a water cross-section diagram, instantaneous flow and accumulated flow, and can control the touch display screen to display corresponding data.
The touch display screen has the functions of manual configuration and parameter change, and can show a water cross-section diagram, instantaneous flow and accumulated flow. The touch screen is used during manual operation, and data are called from the vehicle-mounted controller in a serial port communication mode.
The vehicle-mounted controller is connected with a starting button 13, and when the starting button is pressed, the vehicle-mounted controller controls a stepping motor of the power cabin to work and drives the robot to walk.
The vehicle-mounted controller comprises a control circuit board, a storage module (comprising a Flash module and a ferroelectric module), a power module, a switch, a DC-DC interface, a 485 interface, a pulse interface, an optical coupler/infrared module, a Swim interface and a J-Link interface, wherein the control circuit board is provided with a CPU, a relay, a light control module, a driving motor module, a Lora communication module and a clock circuit; the DC-DC module converts 12V voltage provided by a power supply, outputs 12V, 5V and 3.3V and provides current with corresponding voltage for all modules.
The anti-interference protective housing 2211 is sleeved on the outer side of the vehicle-mounted controller, the anti-interference protective housing is grounded, and an interference signal is led out by a grounding method, so that the effects of filtering interference information and preventing static electricity are achieved.
And double-track self-driven flow measurement robot software is embedded into the CPU.
The working principle of the vehicle-mounted controller is as follows: writing a control software program in a CPU, wherein the control program comprises an instruction set such as an LED instruction, a motor instruction, a clock circuit instruction, a communication instruction, a power supply instruction, an interface instruction, a sensor instruction, a data instruction and the like, and the LED instruction controls an LED module through the CPU to realize the functions of opening, alarming, closing and the like of a front lamp, a rear lamp and an indicator lamp of the shell; the motor instruction controls the motor module through the CPU to realize the opening and closing functions of the stepping motor; the clock circuit command controls the clock circuit through the CPU, and the acquisition of the time data of the clock circuit is realized; the communication instruction controls a Lora communication module through a CPU (central processing unit), so that the opening and closing of a communication transmission function are realized, and communication connection state data are collected; the power supply instruction controls the power supply module through the CPU, collects the AD value of the battery and converts the AD value into a voltage value; the interface instruction controls the 485 chip and the reverser through the CPU, so that the 485 module and the pulse detection module are controlled; the sensor instruction realizes the function of opening and closing the external sensor and collects the measurement data of the sensor; the data instruction controls the FLASH module, the ferroelectric module, the J-LINK module and the SWIM module through the CPU, and the functions of data storage and data downloading of external equipment are realized.
As shown in fig. 8, a battery 231, a stepping motor 232, a stepping motor controller 233, a small pulley 234, a large pulley 235, and a belt are provided in the power compartment.
The storage battery is connected with the solar cell panel, so that the power generated by the solar cell panel is stored and supplied to the whole vehicle.
The storage battery is connected with a stepping motor (namely a power device), and the stepping motor provides power for a shaft of the frame device through a small belt pulley, a large belt pulley and a belt, so that the wheels are driven to rotate to realize walking. Specifically, the small belt pulley is connected with the stepping motor, the small belt pulley and the large belt pulley are connected through a belt to transmit power, the large belt pulley is fixed on a shaft of the frame device, the stepping motor is started through a set program, the power is transmitted to the shaft through the belt, and the shaft rotates to drive the motor pulley to roll.
In this embodiment, the ratio of the rotation speed of the stepping motor to the rotation speed of the shaft is 2:1, the ratio value can be calculated according to the rotation speed of the motor and the speed of the vehicle required to run, and the ratio is different, and the running speeds of the vehicles are different.
The stepping motor is connected with a stepping motor controller, and the stepping motor controller 233 is connected with the onboard controller 221, receives an instruction from the onboard controller, and starts or stops the operation of the stepping motor.
The intelligent flow measuring robot has an electromagnetic brake function when parking at a fixed point, and improves the precision of positioning parking.
The intelligent flow measuring robot has two working modes: an automatic mode and a manual mode. The automatic mode automatically controls the automatic rolling door of the flow measurement room to automatically go out of the vehicle according to the timing time, when the vehicle arrives on a river channel, the flow speed of different depths on a multipoint position vertical line of the channel section and the thickness of sludge at the position are collected at fixed points at fixed time, and after the collection is finished, the vehicle automatically returns to the flow measurement room to close the rolling door and then reports collected data and automatically charges. Manually controlling the vehicle to exit in a manual mode, controlling the flow measuring vehicle to realize one-time reciprocating motion by operating an RTU in the flow measuring room, uploading acquired data after returning to the flow measuring room, and automatically turning to an automatic mode.
In the embodiment of the present invention, as shown in fig. 1, a measurement method based on an intelligent flow measuring robot is provided, and the intelligent flow measuring robot for which the measurement method is based is the intelligent flow measuring robot as described above.
The measuring process is carried out through measuring equipment, a winch, a communication cable, a fish lead and measuring equipment are installed in an equipment cabin of the flow measuring robot, the measuring equipment comprises a mud level meter, a propeller type flow velocity meter and a water level meter, and each measuring equipment is connected with a vehicle-mounted controller. The bottom end of the communication cable is provided with a propeller type current meter, a fish lead and a mud level meter, the fish lead plays a balance role, and the propeller type current meter is provided with an angle sensor. The propeller type current meter is in a working state after the winch is started, and data are always sent to the vehicle-mounted controller through the communication cable.
The measuring method comprises the following steps:
the flow measuring robot operates to a flow measuring point;
measuring the water surface height at the flow measuring point by using a water level meter, then lowering the mud level meter to the bottom contact position, and acquiring the bottom contact depth to further obtain the water depth;
and obtaining the measurement depth of the current meter according to the water depth, and carrying out current measurement.
In a further scheme, when the water surface height is measured, an acquisition control instruction is set in a CPU in the vehicle-mounted controller, when the intelligent flow measurement robot reaches a flow measurement position, the CPU controls a 485 chip through the acquisition control instruction to send a water level measurement instruction to the water level meter, and the water level meter measures the water surface height data of a flow measurement point and returns the water level data to the vehicle-mounted controller.
In the present embodiment, the water level gauge may be a radar water level gauge, an ultrasonic water level gauge, or the like.
The mud level meter and the current meter are connected with a communication cable, the communication cable is connected with the winch, the winch is controlled to start working after the vehicle-mounted controller receives the water surface height data, the communication cable is placed, the mud level meter sends a pulse signal through the communication cable after bottoming, and the vehicle-mounted controller stops the winch after receiving the signal to obtain bottoming depth.
In this embodiment, the water level gauge obtains the water surface height h1, and the mud level gauge obtains the bottoming depth h2 (i.e., the depth of the mud surface), so that the water depth is equal to the bottoming depth h 1-the water surface height h 2.
In an alternative embodiment, the communication cable is connected to a fish lead for balancing purposes.
After the water depth is obtained, the measurement depth of the current flow measurement point of the current flow meter can be obtained according to relevant regulations, wherein the measurement depth of the current flow meter is 60% of the water depth.
In this scheme, the current meter still with angle sensor fixed connection, after obtaining the measurement depth, on-vehicle controller control hoist engine promotes communication cable and stops after 60% department of depth of water, makes the current meter measure the velocity of flow, on-vehicle controller receives the velocity of flow data and the angle sensor data of current meter, and then obtains the velocity of flow data under the vertical state through calculating.
In an alternative embodiment, the flow meter may be a propeller type flow meter.
After the measurement is finished, the vehicle-mounted controller controls the winch to withdraw the communication cable, the fish lead, the mud level meter and the current meter, and the winch is closed after the vehicle-mounted controller enters the cabin.
In a further scheme, after the flow velocity is obtained, a water cross-section diagram is drawn according to the shape of the cross-section of the river channel, and the instantaneous flow and the accumulated flow of the cross-section are calculated according to the water cross-section diagram.
The cross section shape of the river channel is obtained according to field measurement or river channel drawings.
The instantaneous flow calculation formula is as follows:
Q＝V*A；
wherein Q-instantaneous flow, V-instantaneous flow velocity and A-water cross section area.
The cumulative flow calculation formula is:
Qg＝Q1+Q2+Q3+…+Qn；
wherein Qg-cumulative flow, Q (1 … n) -multiple instantaneous flows.
In the measuring process, the flow section value can be visually displayed through a touch display screen through an automatic mode or a manual mode, and the measured data is transmitted to a data platform in real time through 2G, 3G and 4G wireless transmission modes.
When the intelligent current surveying robot is used, a starting button is pressed firstly, then the intelligent current surveying robot is automatically started according to the starting time set by a program, a door opening command is sent, a current surveying room roller shutter door is waited to be opened, then the intelligent current surveying robot moves, collects and stores according to the set time, after the intelligent current surveying robot runs for a period of time, an infrared induction photoelectric device is used for detecting a bridge tail barrier or a travel switch to contact the bridge tail barrier, whether the intelligent current surveying robot reaches the bridge tail is judged, the collection is stopped, the intelligent current surveying robot returns to the current surveying room, the intelligent current surveying robot reaches the automatic charging pile and sends a door closing command, and the collected data are wirelessly transmitted to a remote measuring terminal in the current surveying room.
The flow measuring robot is driven by the stepping motor to walk in the measuring process, the CPU sends PWM pulses to control a driver of the stepping motor to realize the control of the stepping motor, the number of the pulses can reach 400 pulses per second, the control precision is high, and the subdivision of the control pulses of the stepping motor can be increased according to the actual requirement; the number of the PWM is calculated through a high-speed clock in the CPU, so that the movement accuracy of the stepping motor is improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A measuring method based on an intelligent flow measuring robot is characterized by comprising the following steps:
the flow measuring robot operates to a flow measuring point;
measuring the water surface height at the flow measuring point by using a water level meter, then lowering the mud level meter to the bottom contact position, and acquiring the bottom contact depth to further obtain the water depth;
and obtaining the measurement depth of the current meter according to the water depth, and carrying out current measurement.
2. The measurement method based on the intelligent flow measuring robot as claimed in claim 1, wherein the mud level meter and the current meter are both connected with a communication cable, the communication cable is connected with a winch, after the water surface height is obtained, the winch starts to work, the communication cable is lowered, and after the mud level meter is in a bottom contact state, the lowering is stopped, so that the bottom contact depth is obtained.
3. The measurement method based on the intelligent flow measuring robot as claimed in claim 1 or 2, wherein the water depth is the bottoming depth-water surface height.
4. The intelligent flow-metering robot-based measurement method as claimed in claim 1, wherein the measurement depth of the current meter is 60% of the water depth.
5. The measurement method based on the intelligent flow measuring robot as claimed in claim 1, wherein the current meter is further fixedly connected with the angle sensor, after the measurement depth of the current meter is obtained, the current meter is moved to the corresponding depth for measurement, the current data and the angle sensor data of the current meter are obtained, and then the current data in the vertical state is obtained through calculation.
6. The intelligent flow-measuring robot-based measuring method according to claim 1, wherein after the flow rate data is obtained, the measuring operation is repeated to obtain a plurality of instantaneous flow rate data, and the instantaneous flow rate is obtained from the instantaneous flow rate.
7. The measurement method based on the intelligent flow measurement robot as claimed in claim 6, wherein after the flow velocity is obtained, a cross-sectional view of the river is drawn according to the cross-sectional shape of the river, and the instantaneous flow and the accumulated flow of the cross-section at the flow measurement point are calculated according to the cross-sectional view of the river.
8. The intelligent flow-metering robot-based measuring method as claimed in claim 7, wherein the cross-sectional area of the current flow-metering point is calculated from the cross-sectional view.
9. The measurement method based on the intelligent flow measuring robot as claimed in claim 8, wherein the instantaneous flow of the cross section at the flow measuring point is as follows:
Q＝V*A；
wherein Q-instantaneous flow, V-instantaneous flow velocity and A-water cross section area.
10. The intelligent flow-measuring robot-based measuring method according to claim 9, wherein the cumulative flow calculation formula of the cross section at the flow-measuring point is as follows:
Qg＝Q1+Q2+Q3+…+Qn；
wherein Qg-cumulative flow, Q (1 … n) -multiple instantaneous flows.
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| CN109764935A (en) * | 2018-12-26 | 2019-05-17 | 南京渤溢电子科技有限公司 | A kind of radar wave measuring automatically flow robot |
| CN109839513A (en) * | 2019-02-28 | 2019-06-04 | 北京瞭望者科技有限责任公司 | Current velocity flow-measuring method, apparatus and system |
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