CN1710394A - Deep sea pressure, current velocity and direction sensor and its application - Google Patents
Deep sea pressure, current velocity and direction sensor and its application Download PDFInfo
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- CN1710394A CN1710394A CN 200510041167 CN200510041167A CN1710394A CN 1710394 A CN1710394 A CN 1710394A CN 200510041167 CN200510041167 CN 200510041167 CN 200510041167 A CN200510041167 A CN 200510041167A CN 1710394 A CN1710394 A CN 1710394A
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- pressure
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- flow velocity
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- 238000000034 method Methods 0.000 claims description 7
- 238000009530 blood pressure measurement Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 abstract description 7
- 239000011888 foil Substances 0.000 description 50
- 239000013535 sea water Substances 0.000 description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 230000009189 diving Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
Abstract
A transducer of pressure , flow speed and flow direction at deep sea features having column formed seat and its ring shell , setting elastic beam support used as strain plate carrier between seat and shell , setting four said beams on one plane vertical to seat axis and arranging them two by two symmetrically in cross based on seat axis , using top and bottom end covers as well as bellows to form closed oil cavity , using strain plate to output collected signal and solid connecting gyro-rotor with seat axis as rotation centre at centre of top end cover.
Description
Technical field:
The present invention relates to the sensing technology of Ocean Surveying, particularly the flow rate and direction of deep sea hydraulic and current measure, eliminate water flow the pressure of influence and bathymetric survey, obtain the sensor of pressure information, flow rate and direction information, diving speed information in robot or the underwater vehicle motion under water.
Background technology:
Advanced underwater robot or underwater vehicle be unable to do without the sensor of dependable performance, deep sea pressure and flow speed and direction sensor be robot or underwater vehicle move towards the deep-sea a kind of pedestal sensor that can not ignore.The working condition requirement at the difficult competent deep-sea of the principle of work of present pressure transducer, domestic still do not have a pressure transducer product that can be directly used in the deep-sea, though the external report that has fathometer in the deep-sea, to use, but it costs an arm and a leg, function singleness, the speed of the flow velocity of energy measurement seawater, underwater robot or underwater vehicle is not eliminated the influence of current to pressure than difficulty, reduced the precision of bathymetric survey, cannot say for sure to demonstrate,prove underwater robot or underwater vehicle and obtain reliable pressure and water signal at the volley.
Summary of the invention:
The present invention is for avoiding above-mentioned existing in prior technology weak point, simple in structure, dependable performance is provided, can be competent at deep sea pressure, flow speed and direction sensor in the deep-sea.
The application mode that the present invention provides this sensor to measure at pressure, flow rate and direction simultaneously.
The technical scheme that technical solution problem of the present invention is adopted is:
Design feature of the present invention is:
The column bearing is set, and setting is positioned at the circular shell of column bearing outer shroud, elastic beam as the carrier of foil gauge is bearing between circular shell and the column bearing, four elastic beams are with being on the plane perpendicular to bearing axis, and be the center with the bearing axis, symmetrical cross is arranged in twos;
Ripple tubular type oil closed cavity is set, described oil closed cavity by connect firmly discoid upper end cover at the bearing top, the discoid bottom end cover below the bearing, be connected between upper end cover and the housing coboundary on corrugated tube, and the following corrugated tube that is connected between housing lower margin and the bottom end cover constitutes, be injected with insulation fluid in the chamber, be output as sensor output with foil gauge;
In the central authorities of described upper end cover, the axis with bearing that is fixedly connected with projection is the solid of revolution of the centre of gyration.
The pressure measurement method of sensor of the present invention is:
The one group of foil gauge signal that is on the same straight line in four elastic beams of arranging with cross and is positioned on the elastic beam same side is an acquired signal, with this group foil gauge signal plus summation, obtains pressure signal.
The flow rate and direction measuring method of sensor of the present invention is:
With four foil gauge signals being positioned on four elastic beams on the same side is acquired signal, is in foil gauge signal subtraction on two elastic beams on the same straight line during cross is arranged, and obtains the velocity component on the orthogonal both direction respectively; With the vector superposed size and Orientation that obtain flow velocity of the velocity component on the described orthogonal both direction by flow velocity.
Under the big hydraulic action at deep-sea, following corrugated tube is compressed, pressure in the oil closed cavity increases thereupon, but because corrugated tube itself has certain rigid, make oil pressure and external water pressure in the oil closed cavity still have pressure differential, this differential pressure is passed to elastic beam by upper end cover, converts electric signal to by foil gauge again and carries out electric signal output, thereby obtain pressure signal.
Flowing of seawater produces acting force to solid of revolution and upper end cover, be subjected to corresponding with it moment loading on the elastic beam, utilize the distortion of elastic beam and the relation of flow rate and direction, but the just flow rate and direction of perception seawater converts electric signal to by foil gauge and carries out electric signal output.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention can be by the rigidity of corrugated tube under the control, make oil closed cavity external and internal pressure difference when the deep-sea, still can reach a scope that helps measuring, thereby make sensor be easier to sealing, reliable and the elastomeric linearity is better, guaranteed that sensor can operate as normal in any depths at deep-sea.
2, the present invention records flow rate and direction then by the solid of revolution generation acting force of marine stream to projection, and method is simple and reliable.
3, the present invention can obtain to eliminate the hydraulic pressure of seawater velocity influence by the collection and the processing of suitable foil gauge signal, and the flow velocity size and the direction that obtain the seawater of elimination seawater pressure influence.
4, the present invention utilizes corrugated tube and end cap package elastic body, can avoid the use of plastics and elastomeric material, make sensor can long-term work in seawater.
5, the cross structure of elastic beam of the present invention makes elastic body processing, paster convenient, and natural frequency is higher, is convenient to pressure and flow speed and direction sensor is integrated.
6, the present invention integrates pressure transducer and flow speed and direction sensor with smaller volume, simple structure and cheap cost.
7, be provided with on the appropriate location of the present invention by robot and underwater vehicle under water, can obtain to eliminate the pressure at this depth of water place after seawater velocity influence, elimination underwater robot or underwater vehicle diving speed influence, and then extrapolate the underwater robot or the residing accurate degree of depth of underwater vehicle, and can obtain the flow velocity and the direction of this depth of water place seawater, or the speed of underwater robot, underwater vehicle dive, rising, and the level speed advancing, retreat.
8, the present invention is used for Ocean Surveying, can realize the test of the big hydraulic pressure at deep-sea and flow rate and direction, and can compensating flow to the influence of pressure, improve tonometric accuracy.
Description of drawings:
Fig. 1 is a structural representation of the present invention.
Fig. 2 is provided with synoptic diagram for elastic beam of the present invention and foil gauge.
Number in the figure: corrugated tube on foil gauges, 44 back foil gauges, 5 upper end covers, 6 bottom end covers, 7 before the 1 column bearing, 2 circular shells, 3 elastic beams, 31 left beams, 32 right beams, 33 front-axle beams, 34 back rest, 4 foil gauges, 41 left foil gauges, 42 right foil gauges, 43,8 times corrugated tubes, 9 solid of revolution.
Embodiment:
As pressure transducer and the application in pressure survey thereof.
Referring to Fig. 1, Fig. 2, present embodiment is provided with column bearing 1, and setting is positioned at the circular shell 2 of column bearing 1 outer shroud, elastic beam 3 as the foil gauge carrier is bearing between housing 2 and the bearing 1, four elastic beams 3 are with being on the plane perpendicular to bearing axis, and be the center with the bearing axis, symmetrical cross arrange (shown in Figure 2) in twos.
Setting by connect firmly discoid upper end cover 5 at the bearing top, the discoid bottom end cover 6 below the bearing, be connected between upper end cover 5 and housing 2 coboundarys on corrugated tube 7, and the lower limb and the following corrugated tube 8 between the bottom end cover 6 that are connected housing 2 constitute the oil pocket that seals, be injected with insulation fluid in the chamber, be output as sensor output with foil gauge 3.
In the present embodiment, in the central authorities of upper end cover 5, lobed is the solid of revolution 9 of the centre of gyration with the bearing axis, and this solid of revolution 9 connects firmly with upper end cover 5.
In concrete the enforcement, at every elastic beam 3 as the foil gauge carrier, at elastic beam 3 on a side of upper end cover 5, and at elastic beam 3 on a side of bottom end cover 6, foil gauge 4 can be set respectively.Fig. 2 shows each foil gauge that is positioned on the same side, by direction shown in Figure 2, include back foil gauge 44 on left foil gauge 41, the right foil gauge 42 on the right beam 32, the preceding foil gauge 43 on the front-axle beam 33 and the back rest 34 on the left beam 31, consider from technology and signal Processing aspect, each foil gauge is that the axis with column bearing 1 is the center, is symmetrical arranged.
The measuring method of pressure signal:
Referring to Fig. 2, gather and to be on the same straight line in four elastic beams that cross arranges and to be positioned at one group of foil gauge signal on the same side of elastic beam, with this group foil gauge signal plus summation, obtain pressure signal.Shown in Figure 2, be one group with left foil gauge 41 and right foil gauge 42, acquired signal addition summation obtains pressure signal; Perhaps, former foil gauge 43 and back foil gauge 44 are one group, and same acquired signal addition summation obtains pressure signal.
In order to improve measuring accuracy, can measure many groups simultaneously and be on the same straight line and be positioned at two foil gauge signals and addition summation on the elastic beam same side.Comprise in arranging for cross that the collection of foil gauge signal is calculated on two elastic beams on another rectilinear direction, and calculate for the collection that is in the other two groups of foil gauge signals on another side of elastic beam.
The measuring method of flow rate and direction signal:
With four foil gauge signals being positioned on four elastic beams on the same side is acquired signal, is in foil gauge signal subtraction on two elastic beams on the same straight line during cross is arranged, and obtains the velocity component on the orthogonal both direction respectively; With the vector superposed size and Orientation that obtain flow velocity of the velocity component on the orthogonal both direction by flow velocity.
Shown in Figure 2, gather and be in each foil gauge signal on the same side on four elastic beams, comprise left foil gauge 41, right foil gauge 42, preceding foil gauge 43 and back foil gauge 44 each signal,, obtain the velocity component on this direction with the signal subtraction of left foil gauge 41 with right foil gauge 42; The signal subtraction of foil gauge 43 and back foil gauge 44 obtained the velocity component on another vertical direction, by the vector superposed size and Orientation that obtains flow velocity of flow velocity signal in the past.
In order to improve sensitivity, can gather four foil gauge signals that are on another side of elastic beam simultaneously, and make corresponding processing.The acquisition of the velocity component on a certain direction is to subtract each other with the difference of the signal on two sides of elastic beam on two correspondence positions to try to achieve.Specifically as shown in Figure 3, at first,, obtain the left side value with the foil gauge signal subtraction of corresponding position on the signal of left foil gauge 41 and left beam 31 another sides; Foil gauge signal subtraction with corresponding position on the signal of right foil gauge 42 and right beam 32 another sides obtains right side value; Subtract each other with left side value and right side value again, can obtain corresponding to the velocity component on this left and right directions.
The present embodiment sensor is used for underwater robot, underwater vehicle, can eliminate the influence that seawater velocity and underwater robot, underwater vehicle diving speed are brought measurement.
In concrete the enforcement, on the orthogonal both direction of robot or underwater vehicle the present embodiment sensor is installed respectively under water, comprise the vertical sensor that bearing axis is parallel with underwater robot or underwater vehicle gravity vertical, and the horizon sensor vertical with this direction.Wherein, vertically sensor is used for the marine stream of detection level direction or the movement velocity on the underwater robot horizontal direction; Horizon sensor is used to measure the diving speed of underwater robot or underwater vehicle.Therefore, by horizon sensor being eliminated the flow rate effect of seawater, or just can obtain the pressure at this depth of water place, extrapolate the residing depth of water of underwater robot or underwater vehicle the influence that vertical sensor is eliminated diving speed.If arrange a horizon sensor by opposite towards each with afterbody at its head at underwater robot or underwater vehicle; Respectively arrange a vertical sensor at its top and bottom by opposite direction, then both can measure the speed of underwater robot or underwater vehicle dive, rising, can measure the translational speed that current or underwater robot or underwater vehicle level are advanced, retreated easily again.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100411673A CN100367019C (en) | 2005-07-22 | 2005-07-22 | Deep sea pressure, flow velocity and flow direction measurement method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100411673A CN100367019C (en) | 2005-07-22 | 2005-07-22 | Deep sea pressure, flow velocity and flow direction measurement method |
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| Publication Number | Publication Date |
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| CN1710394A true CN1710394A (en) | 2005-12-21 |
| CN100367019C CN100367019C (en) | 2008-02-06 |
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| CNB2005100411673A Expired - Fee Related CN100367019C (en) | 2005-07-22 | 2005-07-22 | Deep sea pressure, flow velocity and flow direction measurement method |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100451576C (en) * | 2006-07-26 | 2009-01-14 | 中北大学 | Resonant tunnelling bionic vector underwaster sensor |
| CN101354283B (en) * | 2008-09-08 | 2010-06-16 | 中北大学 | Packaging structure of micro-nano bionic vector underwater acoustic sensor |
| CN101788566A (en) * | 2010-02-10 | 2010-07-28 | 合肥工业大学 | Three-dimensional flow transducer |
| CN102678680A (en) * | 2012-05-15 | 2012-09-19 | 哈尔滨工程大学 | Large-capacity hydraulic compensation unit with constant compensation pressure allowance |
| CN103901224A (en) * | 2014-04-17 | 2014-07-02 | 合肥工业大学 | Three-dimensional ocean current sensor capable of measuring upwelling currents and method for measuring upwelling currents and horizontal currents |
| CN104215385A (en) * | 2014-09-30 | 2014-12-17 | 成都卓微科技有限公司 | Dual-diaphragm underwater pressure sensor for water pressure change measurement |
| CN104515545A (en) * | 2013-09-26 | 2015-04-15 | 罗斯蒙特公司 | Multivariable process fluid transmitter for high pressure applications |
| CN105242065A (en) * | 2015-11-16 | 2016-01-13 | 杭州自动化技术研究院有限公司 | Device for measuring wind speed and wind direction |
| CN105486353A (en) * | 2016-01-19 | 2016-04-13 | 山东科技大学 | Rock mass crack water comprehensive information sensor and use method thereof |
| CN105510206A (en) * | 2016-01-19 | 2016-04-20 | 山东科技大学 | Grouting diffusion three-dimensional monitoring system and monitoring method |
| CN105507895A (en) * | 2016-01-19 | 2016-04-20 | 山东科技大学 | Rock fracture detection sensor and using method |
| CN106017777A (en) * | 2016-06-28 | 2016-10-12 | 河北工业大学 | Artificial lateral line array type pressure gradient sensor |
| CN108362334A (en) * | 2018-02-02 | 2018-08-03 | 西安交通大学 | A kind of aquatic bionic side line perception array |
| CN111947813A (en) * | 2020-08-10 | 2020-11-17 | 安徽大学 | A fully flexible capacitive three-dimensional force tactile sensor based on bellows microstructure |
| CN112556920A (en) * | 2020-12-22 | 2021-03-26 | 湖南五新隧道智能装备股份有限公司 | Concrete conveying state monitoring device and method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2127785Y (en) * | 1991-10-26 | 1993-03-03 | 江苏农学院 | Differential pressure transducer and its interface |
| JPH1114477A (en) * | 1997-06-23 | 1999-01-22 | Japan Marine Sci & Technol Center | Maybe a force detector |
| CN2833543Y (en) * | 2005-07-22 | 2006-11-01 | 合肥工业大学 | Deep-sea pressure, flow velocity and flow direction transducer |
-
2005
- 2005-07-22 CN CNB2005100411673A patent/CN100367019C/en not_active Expired - Fee Related
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100451576C (en) * | 2006-07-26 | 2009-01-14 | 中北大学 | Resonant tunnelling bionic vector underwaster sensor |
| CN101354283B (en) * | 2008-09-08 | 2010-06-16 | 中北大学 | Packaging structure of micro-nano bionic vector underwater acoustic sensor |
| CN101788566A (en) * | 2010-02-10 | 2010-07-28 | 合肥工业大学 | Three-dimensional flow transducer |
| CN101788566B (en) * | 2010-02-10 | 2011-11-23 | 合肥工业大学 | 3D Velocity Sensor |
| CN102678680B (en) * | 2012-05-15 | 2014-10-22 | 哈尔滨工程大学 | Large-capacity hydraulic compensation unit with constant compensation pressure allowance |
| CN102678680A (en) * | 2012-05-15 | 2012-09-19 | 哈尔滨工程大学 | Large-capacity hydraulic compensation unit with constant compensation pressure allowance |
| CN104515545B (en) * | 2013-09-26 | 2017-10-24 | 罗斯蒙特公司 | Multivariable process fluid transmitter for high-voltage applications |
| CN104515545A (en) * | 2013-09-26 | 2015-04-15 | 罗斯蒙特公司 | Multivariable process fluid transmitter for high pressure applications |
| CN103901224A (en) * | 2014-04-17 | 2014-07-02 | 合肥工业大学 | Three-dimensional ocean current sensor capable of measuring upwelling currents and method for measuring upwelling currents and horizontal currents |
| CN103901224B (en) * | 2014-04-17 | 2016-04-06 | 合肥工业大学 | A kind of three-dimensional ocean current sensor surveying upward flow and the measuring method measuring upward flow and horizontal flow |
| CN104215385A (en) * | 2014-09-30 | 2014-12-17 | 成都卓微科技有限公司 | Dual-diaphragm underwater pressure sensor for water pressure change measurement |
| CN105242065A (en) * | 2015-11-16 | 2016-01-13 | 杭州自动化技术研究院有限公司 | Device for measuring wind speed and wind direction |
| CN105242065B (en) * | 2015-11-16 | 2019-01-01 | 杭州自动化技术研究院有限公司 | A kind of device measuring wind speed and direction |
| CN105510206A (en) * | 2016-01-19 | 2016-04-20 | 山东科技大学 | Grouting diffusion three-dimensional monitoring system and monitoring method |
| CN105486353B (en) * | 2016-01-19 | 2017-08-01 | 山东科技大学 | A comprehensive information sensor for rock mass fissure water and its application method |
| CN105507895A (en) * | 2016-01-19 | 2016-04-20 | 山东科技大学 | Rock fracture detection sensor and using method |
| CN105510206B (en) * | 2016-01-19 | 2017-11-28 | 山东科技大学 | A kind of slip casting diffusion three-dimension monitor system and monitoring method |
| CN105507895B (en) * | 2016-01-19 | 2018-05-08 | 山东科技大学 | A kind of rock cranny detection sensor and application method |
| CN105486353A (en) * | 2016-01-19 | 2016-04-13 | 山东科技大学 | Rock mass crack water comprehensive information sensor and use method thereof |
| CN106017777A (en) * | 2016-06-28 | 2016-10-12 | 河北工业大学 | Artificial lateral line array type pressure gradient sensor |
| CN108362334A (en) * | 2018-02-02 | 2018-08-03 | 西安交通大学 | A kind of aquatic bionic side line perception array |
| CN108362334B (en) * | 2018-02-02 | 2021-01-19 | 西安交通大学 | An underwater bionic lateral line sensing array |
| CN111947813A (en) * | 2020-08-10 | 2020-11-17 | 安徽大学 | A fully flexible capacitive three-dimensional force tactile sensor based on bellows microstructure |
| CN112556920A (en) * | 2020-12-22 | 2021-03-26 | 湖南五新隧道智能装备股份有限公司 | Concrete conveying state monitoring device and method |
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| CN100367019C (en) | 2008-02-06 |
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