CN209230613U - A kind of doppler ultrasound flow measuring system - Google Patents
A kind of doppler ultrasound flow measuring system Download PDFInfo
- Publication number
- CN209230613U CN209230613U CN201920129744.1U CN201920129744U CN209230613U CN 209230613 U CN209230613 U CN 209230613U CN 201920129744 U CN201920129744 U CN 201920129744U CN 209230613 U CN209230613 U CN 209230613U
- Authority
- CN
- China
- Prior art keywords
- flow
- unmanned boat
- measuring system
- doppler ultrasound
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model discloses a kind of doppler ultrasound flow measuring systems, including unmanned boat, remote control end, the power device being sequentially connected is provided on the unmanned boat, current surveying device, controller, communication device, the remote control end is wirelessly connected with communication device, the current surveying device includes high-precision GNSS RTK module, Doppler ultra sonic wave flow speed measurement module, supersonic sounding module, obtain unmanned boat coordinate corresponding to flow measurement point in current river in real time by current surveying device, fluid flow rate and the corresponding depth of water of flow measurement point, if carrying out the arroyo section flow that data calculate acquisition river section to be measured by processor, if and the arroyo section flow is added by processor to obtain entire river section total flow, traditional work mode inefficiency can effectively be solved, by factors such as terrain environments Larger situation is limited, while also solving the problems, such as that more vertical line measurement of discharges can not be carried out in the prior art.
Description
Technical field
The utility model relates to fields of automation technology, and in particular to a kind of doppler ultrasound flow measuring system.
Background technique
China's water conservancy Hydrology flow measurement mainly uses traditional mechanical rotor current meter at present, due to rotor flow velocity
Instrument is to obtain by water jet propulsion blade (or rotation cup) sensor rotation to carry out conversion by certain relationship output pulse number
Flow speed value, but work as water jet propulsion sensor rotation while, also destroys the kenel in nature flow field, so such current meter is surveyed
What is obtained is not the flow speed value in nature flow field, affects measurement accuracy.Just when flow velocity too low thrust is not enough to push blade rotation
It is unable to measure, so weak current can not be surveyed.Since sensor is that rotatable parts determine that it fears silt blocking and water plant floating material
Winding will affect measurement accuracy or even be unable to measure, fears collision, be easily deformed, and measurement is linear poor.
With the development of science and technology, under water flow velocity measurement project in, traditional work mainly with manually use RTK, chartering,
The mode finished item of boat.Shoal region is often through manually with the mode operation of RTK, but lower water gaging is more endangered
The danger and activity duration is longer；For boat, marine equipment is difficult to fix, so the requirement of precision usually makes operator's head
Pain；And in chartering, as long as the time before surveying every time would generally spend 2-3 hours, the expense of chartering and feeding ship is relatively
Height, some special areas are even looking for ship is also a problem.So traditional approach is difficult to meet project duration requirement and operation in fact
It is required that.
Traditional Doppler ultra sonic wave flow speed can only measure a flow velocity point, and can only individually vertical line measure, for wider
River generally select import ADCP, cost is quite high, and using complicated.
Summary of the invention
The purpose of this utility model is that propose a kind of doppler ultrasound flow measuring system, it is artificial in the prior art to solve
It rows the boat risk, the trouble property of flow measurement, while also solving the problems, such as more vertical line flow measurements compared with wide river course.
To achieve the above object, the utility model provides the following technical solutions:
A kind of doppler ultrasound flow measuring system, including unmanned boat, remote control end are arranged on the unmanned boat dynamic
Device, current surveying device, controller, communication device, the power device and controller are separately positioned on unmanned boat hull interior, institute
It states communication device to be arranged in unmanned boat upper surface, the current surveying device includes the high-precision GNSS that unmanned boat upper surface is arranged in
RTK module, and the Doppler ultra sonic wave flow speed measurement module and supersonic sounding module of unmanned boat bottom, the control are set
Device processed is separately connected the power device, current surveying device, communication device, and the remote control end is wirelessly connected with communication device
It connects.
Further, the power device includes propeller, electron speed regulator, the electron speed regulator and the propeller
Electrical connection, the electron speed regulator control start and stop, revolving speed and the rotation direction of the propeller.
Further, the high-precision GNSS RTK module include fpga chip, satellite receiver chip, ARM chip with
And RTK processor, the fpga chip according to the electric signal that satellite receiver chip transmits come to satellite carry out tracking with
Obtain satellite information；The ARM chip according to fpga chip tracking demodulate come satellite information handled after obtain
The locating result information that processing obtains is returned to fpga chip by locating result information；The RTK processor is for receiving FPGA
The locating result information of chip transmission.
Further, in the present invention, the high-precision GNSS RTK module carries out in river for unmanned boat
Coordinate setting is carried out to current flow measurement point when flow measurement works.
Further, the Doppler ultra sonic wave flow speed measurement module measures the principle of flow velocity by Doppler method to measure
The flow velocity of current fluid.
Further, the supersonic sounding module is for measuring the depth of water corresponding to current flow measurement point.
Further, the communication device, which can receive the communication device, can receive wired communications signal or channel radio
Interrogate signal.
Further, the remote control end can be any one in computer, mobile phone, Ipad.
Further, the remote control terminal carries out data interchange and access monitoring to processor by communication device.
Further, the driving trace and driving parameters of unmanned boat be can control by the remote control terminal；It can
To obtain unmanned boat coordinate corresponding to flow measurement point, fluid flow rate and the corresponding depth of water of flow measurement point in current river in real time, and
Processor calculate by institute's measured data the multiple river section datas on flows or entire river cross-sectional data summation of acquisition.
A kind of doppler ultrasound flow measuring system described in the utility model, its working principle is that: pass through remote control terminal
The path and travel speed that planning unmanned boat travel along river to be measured in advance, start flow measurement in river on one side, reach and specify opposite bank
Flow measurement work is completed, by more in unmanned boat upper surface setting high-precision GNSS RTK module, and in the setting of unmanned boat bottom
General Le ultrasonic flow-velocity measurement module and supersonic sounding module can obtain unmanned boat flow measurement in current river in real time respectively
The corresponding coordinate of point, fluid flow rate and the corresponding depth of water of flow measurement point carry out data calculating acquisition river to be measured by processor and cut open
If the arroyo section flow in face, and if being added the arroyo section flow to obtain entire river by processor and being cutd open
Face total flow.
The beneficial effects of the utility model are:
1) unmanned boat can flexibly, be controlled by remote control terminal and carry out flow detection in river, can effectively solve to pass
System operation mode inefficiency, larger situation is limited by factors such as terrain environments.
2), by how general in unmanned boat upper surface setting high-precision GNSS RTK module, and in the setting of unmanned boat bottom
Ultrasonic flow-velocity measurement module and supersonic sounding module are strangled, unmanned boat flow measurement point in current river can be obtained in real time respectively
Corresponding coordinate, fluid flow rate and the corresponding depth of water of flow measurement point, complete river can be obtained by carrying out data calculating by processor
Road section total flow solves the problems, such as that more vertical line measurement of discharges can not be carried out in the prior art.
Detailed description of the invention
Fig. 1 is the positive structural schematic diagram of flow measuring system involved in the utility model；
Fig. 2 is flow measuring system side schematic view involved in the utility model；
Fig. 3 is river diagrammatic cross-section involved in the utility model.
In figure: unmanned boat 1, remote control end 2, power device 3, current surveying device 4, controller 5, communication device 6, propeller
31, electron speed regulator 32, high-precision GNSS RTK module 41, Doppler ultra sonic wave flow speed measurement module 42, supersonic sounding mould
Block 43.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and specifically
Embodiment, the present invention will be further described in detail.It should be appreciated that the specific embodiments described herein are only used
To explain the utility model, it is not used to limit the utility model.
Referring to shown in attached drawing 1-2, a kind of doppler ultrasound flow measuring system, including unmanned boat 1, remote control end 2, it is described
Power device 3, current surveying device 4, controller 5, communication device 6 are provided on unmanned boat 1, the power device 3 and controller 5 divide
She Zhi not be in 1 hull interior of unmanned boat, in 1 upper surface of unmanned boat, the current surveying device 4 includes setting for the setting of communication device 6
The high-precision GNSS RTK module 41 in unmanned boat upper surface is set, and the Doppler ultra sonic wave flow of 1 bottom of unmanned boat is set
Fast measurement module 42 and supersonic sounding module 43, the controller 5 are separately connected the power device 3, current surveying device 4, lead to
Device 6 is interrogated, the remote control end 2 is wirelessly connected with communication device 6.
Further, the power device 3 includes propeller 31, electron speed regulator 32, and the electron speed regulator 32 controls
Start and stop, revolving speed and the rotation direction for promoting 32 devices.By remote control terminal 2 in advance planning unmanned boat 1 travel track with
And it sets the speed of the traveling of unmanned boat 1 and issues data-signal, data-signal is received by communication device 6 and pass these signals
Defeated to arrive controller 5, speed required for controller 5 is implemented according to data-signal control electron speed regulator 32 is described to control
Propeller drives unmanned boat 1 to be travelled according to desired trajectory and speed.
Further, the high-precision GNSS RTK41 module includes fpga chip, satellite receiver chip, ARM chip
And RTK processor, the fpga chip carry out tracking to satellite according to the electric signal that satellite receiver chip transmits
To obtain satellite information；The ARM chip according to fpga chip tracking demodulate come satellite information handled after
To locating result information, the locating result information that processing obtains is returned into fpga chip；The RTK processor is for receiving
The locating result information of fpga chip transmission.
Further, in the present invention, the high-precision GNSS RTK module 41 for unmanned boat in river into
Coordinate setting is carried out to current flow measurement point when row flow measurement works.
In the present embodiment, unmanned boat is set in river one side initial detecting position as origin, when carrying out flow measurement work, when
Preceding flow measurement point is L relative to the vertical range on river starting point bank.
Further, the Doppler ultra sonic wave flow speed measurement module 42 measures the principle of flow velocity by Doppler method to survey
Measure the flow velocity of current fluid, the principle of Doppler method measurement flow velocity are as follows: Doppler effect be due to sound source and observer it
Between there is relative motion, the phenomenon that sound frequency for hearing observer is different from sound source made a sound frequency, in water body
In flow measurement, Doppler's velocity measurement formula is as follows:
Wherein ft is frequency of source, and fr is the ultrasonic frequency returned from water body, and c is to flow the intracorporal velocity of sound, and φ is stream
The angle of speed and ultrasonic wave propagation path, fd=fr-ft is Doppler frequency shift.It can be obtained by stream from there through measurement fd or fr
Body flow velocity V.
Further, the supersonic sounding module 42 is for measuring depth of water H corresponding to current flow measurement point.
Further, the communication device 6, which can receive the communication device, can receive wired communications signal or wireless
Communication signal, wherein wireless communication signal be ZigBee, it is bluetooth (Bluetooh), any one in WiFi, 2G, 3G, 4G, 5G
Kind.
Further, the remote control end 2 can be any one in computer, mobile phone, Ipad.
Further, the remote control terminal 2 carries out data interchange and access monitoring to processor 5 by communication device 6.
Further, the driving trace and driving parameters of unmanned boat 1 be can control by the remote control terminal 2；
Unmanned boat coordinate corresponding to flow measurement point, fluid flow rate and the corresponding depth of water of flow measurement point in current river can be obtained in real time, with
And processor calculate by institute's measured data the multiple river section datas on flows or entire river cross-sectional data summation of acquisition.
Referring to shown in attached drawing 3, a kind of embodiment practical as this, by the way that high-precision GNSS is arranged in unmanned boat upper surface
RTK module 41, and Doppler ultra sonic wave flow speed measurement module 42 and supersonic sounding module 43 are set in unmanned boat bottom, it can
To measure vertical range L, fluid of the flow measurement point relative to starting point bank in the n current rivers in unmanned boat driving process
The flow velocity V and corresponding depth of water H of flow measurement point, flow measurement sampled point is spaced apart to be sampled, and distance can choose at random, more
Intensive precision is higher, while data are also more, such as obtains first sampled point, obtains water depth L1, flow velocity V1, the depth of water
H1, until terminal flow velocity is Vn, depth of water Hn, water depth Ln require according to Code for measurement of fluid flow in open channels, and controller 5 can be with
It calculates
Section 1 area S1=(0+H1) * L1/2,
Section 2 area S2=(H1+H2) * (L2-L1)/2,
Section 3 area S3=(H2+H3) * (L3-L2)/2,
And so on, arrive section n area are as follows: Sn=(H (n-1)+Hn) * (Ln-L (n-1))/2,
Section n+1 area is S (n+1)=(Hn+0) * (flow width-Ln)/2.
The flow that each section can successively be calculated is, 1 flow Q1=a*V1*S1 of section (a is bank coefficient, constant,
The empirical value selected according to different riverbanks), 2 flow of section is Q2=(V1+V2) * S2/2, and 3 flow of section is Q3=(V2+
V3) * S3/2, and so on, section n flow are as follows: Qn=(V (n-1)+Vn) * Sn/2, section n+1 flow are as follows: Q (n+1)=a*
Vn*S(n+1)。
By Q1, the cumulative flow Q=Q1+Q2+ ...+Qn+Q (n+ that entire river section can be obtained of Q2 ... Qn, Q (n+1)
1)。
It is above-described, the only preferable specific embodiment of the utility model, but the protection scope of the utility model is simultaneously
It is not limited to this, anyone skilled in the art within the technical scope disclosed by the utility model, according to this reality
It is subject to equivalent substitution or change with novel technical solution and its utility model design, should all covers the protection in the utility model
Within the scope of.
Claims (10)
1. a kind of doppler ultrasound flow measuring system, it is characterised in that: including unmanned boat, remote control end, on the unmanned boat
It is provided with power device, current surveying device, controller, communication device, the power device and controller are separately positioned on unmanned boat
Hull interior, the communication device are arranged in unmanned boat upper surface, and the current surveying device includes that unmanned boat upper surface is arranged in
High-precision GNSS RTK module, and Doppler ultra sonic wave flow speed measurement module and the supersonic sounding of unmanned boat bottom are set
Module, the controller are separately connected the power device, current surveying device, communication device, and the remote control end and communication fill
It sets and is wirelessly connected.
2. a kind of doppler ultrasound flow measuring system according to claim 1, it is characterised in that: the power device includes
Propeller, electron speed regulator, the electron speed regulator are electrically connected with the propeller, and the electron speed regulator controls the propulsion
Start and stop, revolving speed and the rotation direction of device.
3. a kind of doppler ultrasound flow measuring system according to claim 1, it is characterised in that: the high-precision GNSS
RTK module includes fpga chip, satellite receiver chip, ARM chip and RTK processor, and the fpga chip is according to satellite
Receiver chip transmission electric signal come to satellite carry out tracking to obtain satellite information；The ARM chip is according to FPGA
Chip tracking demodulates after the satellite information come is handled and obtains locating result information, the positioning result that processing is obtained
Information returns to fpga chip；The RTK processor is used to receive the locating result information of fpga chip transmission.
4. a kind of doppler ultrasound flow measuring system according to claim 2, it is characterised in that: the high-precision GNSS
Coordinate setting is carried out to current flow measurement point when RTK module carries out flow measurement work for unmanned boat in river.
5. a kind of doppler ultrasound flow measuring system according to claim 1, it is characterised in that: the doppler ultrasound
Flow velocity measurement module measures the principle of flow velocity by Doppler method to measure the flow velocity of current fluid.
6. a kind of doppler ultrasound flow measuring system according to claim 1, it is characterised in that: the supersonic sounding mould
Block is for measuring the depth of water corresponding to current flow measurement point.
7. a kind of doppler ultrasound flow measuring system according to claim 1, it is characterised in that: the communication device can be with
Receive wired communications signal or wireless communication signal.
8. a kind of doppler ultrasound flow measuring system according to claim 1, it is characterised in that: the remote control end can
Think computer, mobile phone, any one in Ipad.
9. a kind of doppler ultrasound flow measuring system according to claim 7, it is characterised in that: the remote control end is logical
It crosses communication device and data interchange and access monitoring is carried out to processor.
10. a kind of doppler ultrasound flow measuring system according to claim 1, it is characterised in that: pass through the long-range behaviour
Control end can control the driving trace and driving parameters of unmanned boat；Unmanned boat flow measurement point in current river can be obtained in real time
Corresponding coordinate, fluid flow rate and the corresponding depth of water of flow measurement point and processor carry out calculating the more of acquisition by institute's measured data
A river section data on flows or entire river cross-sectional data summation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920129744.1U CN209230613U (en) | 2019-01-25 | 2019-01-25 | A kind of doppler ultrasound flow measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920129744.1U CN209230613U (en) | 2019-01-25 | 2019-01-25 | A kind of doppler ultrasound flow measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209230613U true CN209230613U (en) | 2019-08-09 |
Family
ID=67510931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920129744.1U Active CN209230613U (en) | 2019-01-25 | 2019-01-25 | A kind of doppler ultrasound flow measuring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209230613U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823143A (en) * | 2019-10-09 | 2020-02-21 | 中水淮河规划设计研究有限公司 | Novel sensing device for monitoring sedimentation depth of front pool of pump station on line and monitoring method |
| CN112113611A (en) * | 2020-08-24 | 2020-12-22 | 深圳市国艺园林建设有限公司 | Unmanned ship flow velocity and flow measurement system |
| CN113419557A (en) * | 2021-06-17 | 2021-09-21 | 哈尔滨工业大学 | Audio synthesis method for unmanned aerial vehicle |
| CN114001718A (en) * | 2021-10-12 | 2022-02-01 | 山东华特智慧科技有限公司 | Hydrological monitoring method and system based on intelligent flow measuring robot |
-
2019
- 2019-01-25 CN CN201920129744.1U patent/CN209230613U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823143A (en) * | 2019-10-09 | 2020-02-21 | 中水淮河规划设计研究有限公司 | Novel sensing device for monitoring sedimentation depth of front pool of pump station on line and monitoring method |
| CN112113611A (en) * | 2020-08-24 | 2020-12-22 | 深圳市国艺园林建设有限公司 | Unmanned ship flow velocity and flow measurement system |
| CN112113611B (en) * | 2020-08-24 | 2021-08-06 | 深圳市国艺园林建设有限公司 | Unmanned ship flow velocity and flow measurement system |
| CN113419557A (en) * | 2021-06-17 | 2021-09-21 | 哈尔滨工业大学 | Audio synthesis method for unmanned aerial vehicle |
| CN114001718A (en) * | 2021-10-12 | 2022-02-01 | 山东华特智慧科技有限公司 | Hydrological monitoring method and system based on intelligent flow measuring robot |
| CN114001718B (en) * | 2021-10-12 | 2024-06-21 | 山东华特智慧科技有限公司 | Hydrologic monitoring method and system based on intelligent flow measuring robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209230613U (en) | A kind of doppler ultrasound flow measuring system | |
| CN102495420B (en) | Underwater object precision positioning system and method | |
| CN109901205A (en) | A kind of underwater robot Multi-sensor Fusion and motion profile prediction technique | |
| CN109116360A (en) | A kind of deep-sea real-time high-precision locating method and system | |
| CN209231364U (en) | A kind of Doppler ultra sonic wave flow speed instrument | |
| CN109631857B (en) | Multi-unmanned-boat combined island and reef surveying and mapping system and method | |
| CN110491174A (en) | A kind of inland navigation craft bridge-collision-avoidance detection system and method | |
| CN105004413A (en) | Acoustic propagation path comprehensive speed measuring method and apparatus for underwater target positioning | |
| CN106525006A (en) | Surface layer wave current moving observation system | |
| CN110672075A (en) | Remote water area detection system and method based on three-dimensional stereo imaging | |
| CN109655056A (en) | A kind of compound positioning system of Sea miner and its localization method | |
| KR20170078835A (en) | Method of calculating the surface speed of at least one ship and method for deduction of each vector derived at any point of the trajectory of said ship | |
| CN111289944B (en) | Unmanned ship position and course measuring method based on UWB positioning | |
| CN204925388U (en) | Underwater target positioning system based on multiple hydrolocation technique | |
| CN105137439B (en) | A kind of two-dimentional rotary type simple beam underwater acoustic measurement system and its measuring method | |
| CN215066606U (en) | Open-air hydrodynamic force-topography-synchronous measurement integrated device of quality of water | |
| CN104818740A (en) | Reamer non-tide precision releasing method and reamer non-tide precision releasing and positioning system for cutter suction dredger | |
| CN112731382B (en) | Ratio evaluation method and system for high-frequency ground wave radar observation wind wave flow field | |
| RU110503U1 (en) | HYDROACOUSTIC SYSTEM OF UNDERWATER NAVIGATION FOR DIVERS AND THE UNDERWATER DIVER UNIT | |
| CN107340531A (en) | A kind of positioner and method of underwater passive basic point | |
| JPH10300467A (en) | Surveying system and surveying method using the same | |
| Zhao et al. | Ocean Current Velocity Measuring Device Based on Acoustic Time Difference Current Meter. | |
| Shi | Underwater Terrain Measurement Based on Unmanned Measurement Ship Multi-Beam Bathymeter | |
| CN207096464U (en) | A kind of positioner of underwater passive basic point | |
| CN217520528U (en) | Unmanned survey ship for river-crossing shield construction monitoring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |