CN207991621U - A kind of flow measurement robot - Google Patents
A kind of flow measurement robot Download PDFInfo
- Publication number
- CN207991621U CN207991621U CN201820274123.8U CN201820274123U CN207991621U CN 207991621 U CN207991621 U CN 207991621U CN 201820274123 U CN201820274123 U CN 201820274123U CN 207991621 U CN207991621 U CN 207991621U
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- China
- Prior art keywords
- module
- robot
- flow measurement
- radar
- stepper motor
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Abstract
The utility model discloses a kind of flow measurement robots, including robot control module, robot module and radar flow measurement module, robot control module is connected with robot module by bus, robot module is connected with radar flow measurement module by connector, and robot module and radar flow measurement module are connected with remote controller module by way of infrared emitting and reception.It is inaccurate to solve the problems, such as that contact current surveying device existing in the prior art is influenced to cause to measure by water level fluctuation.
Description
Technical field
The utility model belongs to flow monitoring technical field, is related to a kind of flow measurement robot.
Background technology
Water resource monitor and management in, it is extremely important for the acquisition of water flow this index, volume flow is usually taken
Water flow is calculated, i.e., obtains water flow velocity first, under the premise of known gaging section area, takes its product, as water flow,
How much the index is often used in weighs water, is also used in flood control and disaster reduction, intelligent irrigation.
Traditional current surveying device, using the rotator type measurement instrument or mark float glass process flow measurement contacted with river surface, flow measurement precision is low, together
When have higher requirements to placement location, manual operation makes the result of each flow measurement be not quite similar, and multiple flow measurement is needed to be averaged
Value, and limited by device condition itself, range is little when to river channel current surveying.
Utility model content
The purpose of this utility model is to provide a kind of flow measurement robot, solves contact flow measurement existing in the prior art
Device is influenced to cause to measure inaccurate problem by water level fluctuation.
The utility model is the technical scheme adopted is that a kind of flow measurement robot, including robot control module, robot
Module and radar flow measurement module, robot control module are connected with robot module by bus, and robot module and radar are surveyed
Flow module is connected by connector, and robot module is connected by way of infrared emitting and reception with radar flow measurement module
There is remote controller module.
The utility model is also characterized by
Robot control module includes the instruction analysis being connect with the robot module and position computation module, instruction point
Analysis and position computation module are connected separately with control command input module and control signal output module.
Instruction analysis and position computation module use the microcontroller of model 89C51, control command input module to use type
Number be RFAO2 super extrapolation receiving module.
Robot module includes flow measurement robot shells, and flow measurement robot shells bottom is provided with pulley, and pulley is embedded in machine
In device people's sliding rail, flow measurement robot shells are internally provided with the robot main control module being connect with robot control module, machine
People's main control module is connected separately with control signal receiving module and stepper motor power supply, stepper motor power supply are connected with
The shaft of stepper motor, stepper motor is inserted into progress torque connection in the socket of pulley, and the side of flow measurement robot shells is set
It is equipped with holder, connector is fixed on holder.
Robot main control module uses STM32F407 microcontrollers, and control signal receiving module is using the super of model RFAO2
Extrapolation receiving module, stepper motor use TM23-57mm right-angle reduction stepper motors, stepper motor power supply to use
KA3606MA three-phase dcs source.
Radar flow measurement module includes main controller module, and main controller module is connected separately with display module and analog-to-digital conversion
Module, analog-to-digital conversion module are connected with Radar Signal Processing module, radar sensor in turn.
Main controller module uses STM32F407 microcontrollers, and display module is LCD liquid crystal display screen, analog-to-digital conversion module
Use conversion accuracy for 8 or more A/D conversion chips, Radar Signal Processing module is using RT8187L chips, radar sensor
Using 24GHz radar sensors.
Connector is bolt.
The utility model has the beneficial effects that a kind of flow measurement robot of the utility model, it can be real by controlling robot
Now flow measuring device position is accurately controlled so that flow measurement precision effectively improves；In addition a kind of flow measurement machine of the utility model
Device people calculates water velocity indirectly using the electromagnetic wave that radar sensor emits, and takes the flow measurement mode of contactless type, excellent
In the defect that conventional contact measuring device is influenced by water level fluctuation.
Description of the drawings
Fig. 1 is a kind of function structure chart of flow measurement robot of the utility model；
Fig. 2 is a kind of robot module's structure chart of flow measurement robot of the utility model；
Fig. 3 is a kind of application layout figure of the flow measurement robot of the utility model in river channel current surveying.
In figure, 1. robot control modules, 2. robot modules, 3. connectors, 4. radar flow measurement modules, 5. remote controler moulds
Block；
101. control command input module, 102. instruction analysis and position computation module, 103. control signal output modules；
201. robot sliding rails, 202. pulleys, 203. stepper motors, 204. stepper motor power supplies, 205. flow measurement machines
Device people's shell, 206. control signal receiving modules, 207. robot main control modules, 208. holders；
401. display modules, 402. main controller modules, 403. analog-to-digital conversion modules, 404. Radar Signal Processing modules,
405. radar sensor.
Specific implementation mode
The utility model is described in detail with reference to the accompanying drawings and detailed description.
A kind of flow measurement robot of the utility model, structure is as depicted in figs. 1 and 2, including robot control module 1, machine
People's module 2 and radar flow measurement module 4, robot control module 1 is connected with robot module 2 by bus, 2 He of robot module
Radar flow measurement module 4 is connected by connector 3, and robot module 1 and radar flow measurement module 4 pass through infrared emitting and reception
Mode be connected with remote controller module 5.
Robot control module 1 includes the instruction analysis being connect with robot module 2 and position computation module 102, instruction
Analysis and position computation module 102 are connected separately with control command input module 101 and control signal output module 103.
Instruction analysis and position computation module 102 are using the microcontroller of model 89C51, control command input module 101
Using the super extrapolation receiving module of model RFAO2, control signal output module (103) is by instruction analysis and position computation module
The P0 mouth pins and P2 mouthfuls of pins of 89C51 microcontrollers used in 102 collectively constitute.
Robot module 2 includes flow measurement robot shells 205, and 205 bottom of flow measurement robot shells is provided with pulley 202,
In the robot sliding rail 201, flow measurement robot shells 205 are internally provided with to be connect pulley 202 with robot control module 1
Robot main control module 207, robot main control module 207 is connected separately with control signal receiving module 206 and stepper motor supplies
Power supply 204, stepper motor power supply 204 are connected with stepper motor 203, and the shaft of stepper motor 203 is inserted into pulley 202
Socket in carry out torque connection, the side of flow measurement robot shells 205 is provided with holder 208, and connector 3 is fixed on holder
On 208.
Robot main control module 207 uses STM32F407 microcontrollers, control signal receiving module 206 to use model
The super extrapolation receiving module of RFAO2, stepper motor 203 use TM23-57mm right-angle reduction stepper motors, stepper motor power supply electricity
Source 204 is using KA3606MA three-phase dcs source.
Radar flow measurement module 4 includes main controller module 402, and main controller module 402 is connected separately with display module 401
With analog-to-digital conversion module 403, analog-to-digital conversion module 403 is connected with Radar Signal Processing module 404, radar sensor 405 in turn.
It is LCD liquid crystal display screen that main controller module 402, which uses STM32F407 microcontrollers, display module 401, and modulus turns
Mold changing block 403 uses conversion accuracy for 8 or more A/D conversion chips, and Radar Signal Processing module 404 is using RT8187L cores
Piece, radar sensor 405 use 24GHz radar sensors.
Connector 3 is bolt.
A kind of operation principle and process of flow measurement robot of the utility model is：When use, as shown in figure 3, by machine
The sliding rail 202 of device people module 2 is fixed on by sliding rail rack on riverbank, when surveying water velocity, passes through the realization pair of remote controller module 5
The remote control of robot module 2 starts, and after startup, the flow measurement position of robot module 2 is arranged by remote controller module 5, specifically may be used
By there are two types of in a manner of, one kind is, by the specific sliding distance of key-press input, another being to be realized by moving to left, moving to right button
The movement of robot module 2；After robot module 2 is moved to designated position, by the beginning button by remote controller module 5,
Control radar flow measurement module 4 proceeds by flow measurement, and detailed process is that radar sensor 405 can emit electromagnetic wave, the electricity to river surface
Magnetic wave and the angle of water (flow) direction are α °, and for calculating flow velocity, calculation formula is the angleWherein v is indicated
Water velocity, Δ f are radar intermediate frequency signal, and c is the aerial spread speed of electromagnetic wave, and f is radar emission signal frequency.Electricity
Magnetic wave can be reflected back radar sensor 405 after touching the water surface, and what radar sensor 405 received is wave frequency signal,
After the frequency signal is by Radar Signal Processing module 404, realization is filtered electromagnetic wave signal, and is converted to speed mould
Quasi- signal, the analog signal export after analog-to-digital conversion module 403 is converted to digital quantity to main controller module 402, master control
Device module 402 processed collected water velocity will be stored in memory at this time, subsequently to carry out the calculating of flow.
Claims (8)
1. a kind of flow measurement robot, which is characterized in that including robot control module (1), robot module (2) and radar flow measurement
Module (4), the robot control module (1) are connected with robot module (2) by bus, the robot module (2) and
Radar flow measurement module (4) is connected by connector (3), and the robot module (2) and radar flow measurement module (4) are by infrared
The mode that line emits and receives is connected with remote controller module (5).
2. a kind of flow measurement robot according to claim 1, which is characterized in that the robot control module (1) includes
The instruction analysis and position computation module (102) being connect with the robot module (2), described instruction analysis and position calculate mould
Block (102) is connected separately with control command input module (101) and control signal output module (103).
3. a kind of flow measurement robot according to claim 2, which is characterized in that described instruction is analyzed and position computation module
(102) microcontroller of model 89C51, the control command input module (101) is used to use the super extrapolation of model RFAO2
Receiving module.
4. a kind of flow measurement robot according to claim 1, which is characterized in that the robot module (2) includes flow measurement
Robot shells (205), flow measurement robot shells (205) bottom are provided with pulley (202), and the pulley (202) is embedded in
In robot sliding rail (201), the flow measurement robot shells (205) are internally provided with to be connect with robot control module (1)
Robot main control module (207), the robot main control module (207) be connected separately with control signal receiving module (206) and
Stepper motor power supply (204), the stepper motor power supply (204) are connected with stepper motor (203), the stepping electricity
The shaft of machine (203) is inserted into progress torque connection, the flow measurement robot shells (205) in the socket of the pulley (202)
Side be provided with holder (208), the connector (3) is fixed on holder (208).
5. a kind of flow measurement robot according to claim 4, which is characterized in that the robot main control module (207) is adopted
With STM32F407 microcontrollers, the control signal receiving module (206) uses the super extrapolation receiving module of model RFAO2, institute
Stating stepper motor (203) uses TM23-57mm right-angle reduction stepper motors, the stepper motor power supply (204) to use
KA3606MA three-phase dcs source.
6. a kind of flow measurement robot according to claim 1, which is characterized in that the radar flow measurement module (4) includes master
Controller module (402), the main controller module (402) are connected separately with display module (401) and analog-to-digital conversion module
(403), the analog-to-digital conversion module (403) is connected with Radar Signal Processing module (404), radar sensor (405) in turn.
7. a kind of flow measurement robot according to claim 6, which is characterized in that the main controller module (402) uses
STM32F407 microcontrollers, the display module (401) are LCD liquid crystal display screen, and the analog-to-digital conversion module (403), which uses, to be turned
The A/D conversion chips that precision is 8 or more are changed, the Radar Signal Processing module (404) uses RT8187L chips, the thunder
24GHz radar sensors are used up to sensor (405).
8. a kind of flow measurement robot according to claim 1, which is characterized in that the connector (3) is bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820274123.8U CN207991621U (en) | 2018-02-27 | 2018-02-27 | A kind of flow measurement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820274123.8U CN207991621U (en) | 2018-02-27 | 2018-02-27 | A kind of flow measurement robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207991621U true CN207991621U (en) | 2018-10-19 |
Family
ID=63824915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820274123.8U Expired - Fee Related CN207991621U (en) | 2018-02-27 | 2018-02-27 | A kind of flow measurement robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207991621U (en) |
-
2018
- 2018-02-27 CN CN201820274123.8U patent/CN207991621U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181019 Termination date: 20200227 |