CN209764666U - Multi-angle combined measuring device for concentration of underwater suspended matters - Google Patents
Multi-angle combined measuring device for concentration of underwater suspended matters Download PDFInfo
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Abstract
the utility model discloses an underwater suspended matter concentration multi-angle combined measuring device based on echo signal modeling, which utilizes Gauss noise with limit as measuring signal, the transmitting time is not limited by measuring signal frequency range, and the device can be flexibly adjusted to adapt to different measuring environments; establishing a zero-pole model for the received echo signals to obtain more accurate suspended matter linearity; the transmitting-receiving transducer is fixed by the angle-adjustable sawtooth support, multi-angle combined measurement is carried out by changing the included angle of the sawteeth, and the stability of the measurement result is better; multiple measurements are carried out at each measurement angle, and measurement solving results are averaged, so that the suspension concentration distribution condition at the current angle can be better reflected, and the robustness of the measurement result is better; considering that the water quality to be measured can influence the performance of the transducer, the transducer is fixed by a buckle structure so as to be convenient to replace, and meanwhile, the transducer is protected by a full-transmission waterproof material to be ensured to be in a good working state.
Description
Technical Field
The utility model relates to a suspended solid dynamic monitoring technical field under water, concretely relates to suspended solid concentration multi-angle combination measuring device under water based on echo signal modeling.
Background
The concentration of suspended matters is one of important influence factors of the water environment quality, can comprehensively reflect the water quality characteristics of a water body to a certain extent, and is an important index for monitoring the water quality. The detection technology of the underwater suspended matters has important significance for water quality monitoring and ocean economic development.
The current method for measuring the concentration of suspended matters in water (hereinafter referred to as SSC) mainly comprises the following steps: gravimetric filtration, optical, remote sensing, and acoustic methods. The SSC is measured by analyzing the acoustic retroreflection intensity in the liquid by an acoustic method, and the method has the advantages of quickness, intuition and large coverage area. The existing acoustic method for measuring the concentration of underwater suspended matters, such as CA201610229384.3, CA201710474523.3 and other methods, can obtain the linear size and the relative concentration distribution of the suspended matters in a large range only by single measurement, and is simple and convenient to operate. However, the above method also has the following disadvantages: the measurement angle is single, and the measurement of the single angle is not accurate enough because suspended matters are not uniformly distributed in the water body; the emission duration of the measurement signal is limited by the frequency range of the LFM signal and cannot be flexibly adjusted; the signal model is single, the echo signals in the actual situation comprise reflection signals and transmission signals, and the actual situation cannot be well fitted by modeling the echo signals into a single all-zero model or all-pole model; in addition, the existing method only carries out single measurement, and the robustness of the measurement result is not good enough.
In addition, the conventional matrix structure is mostly adopted in the conventional signal modeling-based underwater suspended matter concentration measuring device. The conventional matrix structure is fixed and difficult to maintain, has poor anti-interference performance and cannot be flexibly adjusted.
In order to overcome the defects of the existing suspended matter concentration measuring method, an underwater suspended matter concentration multi-angle combined measuring device based on echo signal modeling is urgently needed to be provided.
SUMMERY OF THE UTILITY MODEL
the utility model aims at solving the above-mentioned defect among the prior art, provide a suspended solid concentration multi-angle combination measuring device under water based on echo signal modeling. In order to overcome the not enough of single angular surveying accuracy inadequately, the utility model discloses an angularly adjustable measuring device improves measuring result's accuracy through multi-angle combined measurement. In order to overcome the not enough of single measurement, the utility model discloses carry out a lot of measurements under every angle to get the average to measuring the solution result, with the robustness that improves the measuring result.
The purpose of the utility model can be achieved by adopting the following technical scheme:
The utility model provides a suspended solid concentration multi-angle combination measuring device under water based on echo signal modeling, measuring device include interactive module, data processing module, transceiver module, power module to and supplementary measuring reflector and measurement chamber. The transceiver module, the reflector and the measuring cavity form a measuring module.
The interactive module consists of an input/output unit, a serial port communication unit and a display, and is connected with the data processing module and the power supply module. The user of the measuring device inputs a control command through the input/output unit according to an application scene and sends the control command to the data processing module through the serial port communication unit; the result of the data processing is also returned through the serial communication unit and displayed on the display.
the data processing module comprises a data processor (adopting an STM32F407 chip), an A/D converter, a D/A converter and a serial port communication unit, and is connected with the interaction module, the transceiver module and the power module. The data processing module generates a measuring signal according to the control command of the interactive module, transmits the measuring signal to the transceiver module for transmission, and receives data transmitted back from the transceiver module; and processing the received data, and returning the result to the interactive module through the serial port communication unit.
The data processing module further comprises a large capacity memory for storing data received by the transducer array.
The receiving and transmitting module comprises a transducer array formed by paired transmitting transducers and receiving transducers and a BUF634 high-frequency power amplification unit, and the transducer array and the BUF634 high-frequency power amplification unit are respectively connected with the data processing module and the power supply module. The data processing module generates an analog measurement signal through a D/A converter, performs power amplification through a BUF634 high-frequency power amplification unit, and then transmits the analog measurement signal through a transmitting transducer; the signal received by the receiving transducer also passes through a BUF634 high-frequency power amplification unit and an A/D converter, and the digital signal is transmitted to the data processing module.
The transmitting transducer is connected with the data processing module through a D/A converter, and the receiving transducer is connected with the data processing module through an A/D converter.
the power module consists of a power supply, is connected with the data processing module, the transceiving module and the interaction module and provides power.
the reflector surface is made of a fully-transmissive waterproof material and is used for reflecting the measurement signal to the maximum extent.
The inner wall of the measuring cavity is made of sound absorption materials, so that the interference of leaked sound waves to a measuring result can be prevented. The measuring device is fixed in the measuring cavity together with the reflector, and the upper cover and the left and right side surfaces of the measuring cavity can be opened or closed. The left side and the right side of the measuring cavity are provided with MBR curtain type membrane assemblies which can filter suspended matters in the water quality to be measured. The left side surface, the right side surface and the upper cover are closed, so that the sealing in the cavity can be ensured, and a measuring environment without suspended matters is created; the left and right sides are opened, and a measuring environment containing the water quality to be measured can be created. A suction pump is used to assist in creating the measurement environment.
further, the paired transmitting transducer and receiving transducer are wrapped in a full-transmission sound-permeable waterproof membrane and fixed on the serrated bracket through a buckling structure. The included angle of the serrated bracket can be adjusted through a stepping motor, a reflector with an adjustable position is arranged under the bracket, and the requirement for measuring the concentration of suspended matters at different depths can be met by adjusting the serrated angle and the position of the reflector.
Further, the measuring method of the underwater suspended matter concentration multi-angle combined measuring device based on the echo signal modeling comprises the following steps:
S1, initializing the system;
Considering the limited frequency range in which a single transmitting transducer works, the measuring signal is divided into N sections with the frequency f0,f1)、[f1,f2)、......[fN-1,fN) The band-limited signals are transmitted by the corresponding N transmitting transducers on the sawtooth respectively. Wherein the length of each section of saw tooth is L, the distance between the saw tooth bracket and the reflector is D, and the included angle alpha of the saw teeth is adjustable from 0 degree to 180 degrees. Dividing the included angle of the sawtooth into E equal parts, and recording the corresponding included angle as a measurement angle alphaeE1, 2, E, setting the number of measurements at each angle to 2K. And closing the MBR curtain type membrane assemblies on the left side and the right side of the measuring cavity, hermetically placing the measuring cavity fixed with the measuring device into the water quality to be measured, and starting to measure when the measuring cavity is filled with liquid.
S2, transmitting a measuring signal and receiving an echo signal;
in order to overcome the not enough of long limited time of LFM signalling, the utility model discloses a Gaussian noise of area limit is as the measuring signal. The band-limited Gaussian noise is generated by the band-pass filtering of Gaussian white noise, the frequency range of the band-limited Gaussian noise can be flexibly adjusted, and the power spectrogram is approximated to have the frequency range f on the positive half shaftn-1～fn(N ═ 1.., N), rectangular pulses of amplitude a:
S(f)＝A fn-1＜f＜fn (1)
The propagation velocity of sound wave in water is known as upsiloncDistance d between transmitting transducer and reflectoreSatisfies the following conditions:
Therefore, selecting the transmitting information of each measurementNumber duration of Ttx：
Generating a frequency of f0,f1)、[f1,f2)、......[fn-1,fn) And the corresponding transmitting transducer is controlled to transmit the measuring signal. After the transmission is stopped, the receiving transducer starts to receive echo signals, and the receiving time is Trx(Trx＞Ttx). Every other time T (T > T)tx+Trx) One transmission and reception is carried out as a measurement, the number of measurements being denoted as K (K1, 2.., 2K). The received data is stored in a memory after being sampled, the number of sampling points is M, and the current angle alpha is measuredeThe data received by the nth receiving transducer in the next kth measurement is recorded as xekn(M) (M ═ 1, 2.. M). The reflector vertically below the measuring device is used for fully reflecting sound waves, and the inner wall of the measuring cavity can absorb the sound waves to reduce the interference on measurement.
And when the measurement times are K, opening the left side surface and the right side surface of the measurement cavity until the cavity is filled with the liquid to be measured, and continuing to measure. And when the measuring times are 2K, finishing the measurement at the current measuring angle.
S3, establishing an ARMA model for the echo signal to carry out spectrum estimation;
The measuring signals reach the receiving transducer matrix through reflection and transmission in the water quality to be measured, and the received echo signals comprise reflection signals and transmission signals. In order to overcome the single not enough of signal model, the utility model discloses model into the return signal for the zero pole model (ARMA model) that more accords with actual conditions. Will measure the angle alphaeAnd the signals received by the N receiving transducers in the next k measurement are superposed to be used as echo signals y received by the k measurementek(m)：
Determining model orders p and q according to the existing model order estimation criteria (such as AIC criteria and the like), and establishing an ARMA (p, q) model for the echo signal received by the k-th measurement:
Wherein u isek(m) is mean 0 and mean square error is sigmaek 2the white gaussian noise of (a) is,To correspond to yekparameter of (n-a), γekbTo correspond to uek(n-b) parameters. By using the existing ARMA model solving method, the method can solveγekbAnd σek 2And (4) parameters.
According to the relationship that the zero point of the ARMA (p, q) model corresponds to the spectral valley of the power spectrum, the pole of the model corresponds to the spectral peak of the power spectrum, the power spectrum of the echo signal obtained by the k measurement can be obtained as follows:
s4, solving a relative power spectrum;
And taking the power spectrum measured in the water quality without suspended matters as a reference power spectrum, and dividing the power spectrum measured in the water quality to be measured by the reference power spectrum to obtain a relative power spectrum. And respectively averaging the previous K times of spectrum estimation results and the next K times of spectrum estimation results under the current measurement angle.
And (3) closing the MBR curtain type membrane assembly in the previous K times of measurement, namely filling liquid without suspended matters in the measurement cavity, and averaging the previous K times of measurement results to obtain a reference power spectrum:
And (3) opening the MBR curtain type membrane assembly in the next K times of measurement, namely, the measurement cavity is filled with the water quality to be measured, and averaging the next K times of measurement results to obtain the average power spectrum of echo signals in the water quality to be measured:
the measured angle obtained by dividing the formula (8) by the formula (7) is alphaeRelative power spectrum of time:
wherein R ise(f) Is the measured angle alphaeDistribution of the suspended matter concentration below.
Then, the angle is adjusted to continue the measurement, and if E is equal to E +1, the next step S5 is performed; otherwise, go back to step S2.
s5, solving the measurement result of the suspended matter concentration;
Averaging the measurement results at the angle E to obtain a multi-angle combined measurement result:
the distribution is the relative distribution of the concentration of suspended matters in the water quality to be measured, wherein the linear size of the suspended matters with the frequency f and the corresponding size is 4 upsiloncand/f. Therefore, stable suspended matter linear size and suspended matter concentration relative distribution are obtained through multi-angle combined measurement.
The utility model discloses for prior art have following advantage and effect:
1. The utility model discloses the gaussian noise that utilizes the area limit compares with the LFM signal as the measuring signal, does not receive measuring signal frequency range's restriction during the transmission, can adjust in a flexible way in order to adapt to different measuring environment.
2. The utility model discloses to the echo signal of receiving establish the zero pole model, compare with single full zero point or full pole model, more accord with actual conditions, just also can obtain more accurate suspended solid linear degree size.
3. The utility model discloses use fixed receiving and dispatching transducer of sawtooth support with adjustable angle, can carry out multi-angle combination measurement through changing the sawtooth contained angle, compare with single angular surveying, measuring result's stability is better.
4. The utility model discloses carry out multiple measurements under every measurement angle to get averagely to measuring the solution result, get the suspended solid concentration distribution condition under the average after the result can reflect current angle better, compare with the single measurement, the robustness of measuring result is better.
5. the utility model discloses consider to measure the performance that measuring quality of water may influence the transducer, adopt the fixed transducer of buckle structure in order to conveniently change, protect the transducer with the waterproof material of full transmission simultaneously, ensure that it is in good operating condition.
6. The utility model discloses low cost, the required material of device acquires easily, and the data that the measurement obtained can be handled with data processing module, also can send to handle in order to reduce data processing module's complexity for the host computer.
Drawings
FIG. 1 is a flow chart of the steps of the multi-angle combined measurement method for the concentration of suspended solids under water disclosed in the present invention;
FIG. 2 is a schematic diagram of a component module of the multi-angle combined measuring device for the concentration of suspended solids under water disclosed in the present invention;
FIG. 3 is a detailed structure diagram of the multi-angle combined measuring device for the concentration of suspended solids under water disclosed in the present invention;
FIG. 4 is a core structure diagram of a measuring module in the multi-angle combined measuring device for the concentration of suspended solids under water disclosed in the utility model;
FIG. 5 is a supplementary schematic view of a measuring module in the multi-angle combined measuring device for the concentration of suspended solids under water disclosed in the present invention;
Fig. 6 is a flowchart of a specific implementation of the multi-angle combined measuring method for the concentration of suspended solids in water disclosed in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person having ordinary skill in the art without creating labor belong to the protection scope of the present invention.
Example one
the embodiment provides an underwater suspended matter concentration multi-angle combined measurement method based on echo signal modeling. According to the method, band-limited Gaussian noise is used as a measurement signal, an echo signal is modeled into a zero-pole model which is more in line with the actual situation, and multi-angle combined measurement solving is performed in purified water and water to be measured, so that the defects that the transmission time of the measurement signal is limited, the signal model is single, single measurement is performed and the measurement angle is single in the traditional method are overcome, and the stable underwater suspended matter concentration distribution situation with better robustness is finally obtained.
The method for measuring the concentration of suspended matters in the water based on echo signal modeling comprises the following steps:
Supposing that the diameter lambda of the suspended matter of the water body to be measured is (2mm,2cm), the propagation speed of the sound wave in the water to be measured is upsiloncat 1500m/s, it is theoretically necessary to detect the suspended matter size using ultrasound with a wavelength of 0.25 times, depending on f ═ vc/(0.25. lambda.) the frequency range to be measured using acoustics is found to be [300KHz,3MHz]。
The entire frequency band is responsible for 6 transducer pairs, each pair being responsible for the following frequency bands: [300KHz,450KHz), [450KHz,650KHz, [650KHz,950KHz, [950KHz,1.4MHz), [1.4MHz,2.1MHz, [2.1MHz,3 MHz).
The included angle of the sawtooth is divided into six equal parts, the corresponding angles are respectively 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees and 180 degrees, the measurement angle is set, and the measurement times under each angle are set to be 20. Adjusting included angles and reflection positions of the sawteeth, closing MBR curtain type membrane assemblies on the left side and the right side of the measuring cavity, hermetically placing the measuring cavity fixed with the measuring device into the water quality to be measured, and starting to measure after the measuring cavity is filled with liquid.
6 sections of Gaussian noise conforming to the frequency range are generated to serve as measuring signals, the power of each section of signal is the same, and the signal duration is 6.7 ms. The 6-segment measuring signals are converted into analog signals through D/A converters and are transmitted out through corresponding transmitting transducers. And when the transmitting transducer stops transmitting signals, the receiving transducer starts to receive echo signals, the receiving time is 10ms, and the received echo signals are converted into digital signals through an A/D converter and stored. And transmitting and receiving every 20ms, taking the transmission and the receiving as one measurement, wherein the initial value of the measurement times is 0, and the measurement times of one measurement is increased by one. And when the measurement times are 10, opening MBR curtain type membrane assemblies and suction pumps on the left side and the right side of the measurement cavity, closing the suction pumps after the measurement cavity is filled with liquid to be measured, and continuing to measure. The measurement at the current angle ends when the number of measurements is 20.
the signals received by the 6 receiving transducers in each measurement are superposed to be used as the total echo signal of the measurement. An ARMA model is established for the total echo signal, the order of the model is determined according to the AIC criterion, and the parameter model is solved by the existing method, so that the power spectrum of the current total echo signal can be obtained. And performing ARMA spectrum estimation on the total echo signals received by 20 times of measurement in sequence. And averaging the estimation results of the first 10 times of spectrums to obtain a reference power spectrum, averaging the estimation results of the last 10 times of spectrums and dividing the average result by the reference power spectrum to obtain a relative power spectrum under the current angle.
And changing the measurement angle to continue measurement until the measurement under all angles is completed, and solving to obtain the relative power spectrum under 6 angles. Averaging the 6 relative power spectrums to obtain a result, namely a multi-angle combined measurement result of the concentration of the underwater suspended matters, wherein the distribution of the underwater suspended matters is the relative distribution of the concentration of the suspended matters, and the size corresponding to the frequency of a spectrum peak or a spectrum valley is the size of the linear degree of the suspended matters. Therefore, stable suspended matter linear degree size and suspended matter concentration relative distribution are obtained through multi-angle combined measurement solving based on echo signal modeling.
Example two
The embodiment discloses a device for measuring the concentration of suspended matters in water based on echo signal modeling, which comprises an interaction module, a data processing module, a transceiver module and a power supply module.
The interaction module consists of an input/output unit, a serial port communication unit and a display, and is connected with the data processing module and the power supply module. The user of the measuring device inputs a control command through the input/output unit according to an application scene and sends the control command to the data processing module through the serial port communication unit; the result of the data processing is also returned through the serial communication unit and displayed on the display.
The data processing module mainly comprises an STM32F407 chip, an A/D converter, a D/A converter and a serial port communication unit, and is connected with the interaction module, the transceiver module and the power supply module. The data processing module generates a measuring signal according to the control command of the interactive module, transmits the measuring signal to the transceiver module for transmission, and receives data transmitted back from the transceiver module; and processing the received data, and returning the result to the interactive module through the serial port communication unit.
The receiving and transmitting module consists of a transmitting transducer, a receiving transducer and a BUF634 high-frequency power amplification unit which are paired, and is connected with the power supply module and the data processing module. The data processing module generates an analog measurement signal through a D/A converter, performs power amplification through a BUF634 high-frequency power amplification unit, and then transmits the analog measurement signal through a transmitting transducer; the signal received by the receiving transducer also passes through a BUF634 high-frequency power amplification unit and an A/D converter, and the digital signal is transmitted to the data processing module.
the transmitting transducer is connected with the data processing module through a D/A converter, and the receiving transducer is connected with the data processing module through an A/D converter.
The power supply module consists of a power supply, is connected with the data processing module, the transceiving module and the interaction module, and provides power for the modules.
the transmitting transducer and the receiving transducer are wrapped in the sound-transmitting waterproof membrane, and the paired transmitting transducer and the paired receiving transducer are fixed on the serrated acrylic support through the buckles. A totally reflecting rectangular reflector is arranged vertically below the support and used for reflecting an echo. According to the actual measurement requirement, the included angle of the sawteeth is adjusted through the stepping motor, and the reflector is manually adjusted to a proper position. After the device is adjusted, the measuring device is fixed in the measuring cavity, and the upper cover of the measuring cavity is closed. The inner wall of the measuring cavity is made of sound absorption materials, and sound waves can be absorbed to reduce interference on measurement.
and during actual measurement, the measuring device and the measuring cavity are placed in the water quality to be measured. By closing the MBR curtain-type membrane assemblies on the left and right sides of the measurement chamber, a measurement environment free of suspended matter can be created. The left side and the right side of the measuring cavity are opened, and a measuring environment containing the water quality to be measured can be created. A suction pump is used to assist in creating the measurement environment.
the above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (5)
1. A multi-angle combined measuring device for the concentration of suspended solids in water is characterized by comprising an interaction module, a data processing module, a transceiver module, a power supply module, a reflector and a measuring cavity for auxiliary measurement,
The measurement cavity comprises an interaction module, a data processing module, a transceiver module, a power supply module and a reflector, wherein the interaction module, the data processing module, the transceiver module, the power supply module and the reflector are fixed in a measurement cavity, an upper cover and left and right side surfaces of the measurement cavity can be opened or closed, MBR curtain type membrane modules are arranged on the left and right sides of the measurement cavity and used for filtering suspended matters in water to be measured, when the left and right side surfaces and the upper cover are closed, the measurement cavity is sealed to create a measurement environment without suspended matters, when the left and right side surfaces are opened, a measurement environment with the water to be measured is created, and a suction;
the interactive module comprises an input/output unit, a serial communication unit and a display, is connected with the data processing module and the power module, inputs a control command through the input/output unit, sends the control command to the data processing module through the serial communication unit, and returns a data processing result through the serial communication unit and displays the data on the display;
The data processing module comprises a data processor, an A/D converter, a D/A converter and a serial port communication unit, and is connected with the interaction module, the transceiver module and the power supply module; the data processing module generates a measuring signal according to a control command of the interactive module, transmits the measuring signal to the transceiver module for transmission, receives data transmitted back from the transceiver module, processes the received data, and returns a result to the interactive module through the serial port communication unit;
The data processing module also comprises a large-capacity memory for storing the data received by the transducer array;
The receiving and transmitting module comprises a transducer array consisting of a transmitting transducer and a receiving transducer in pair and a BUF634 high-frequency power amplification unit which are respectively connected with the data processing module and the power supply module, the data processing module generates an analog measurement signal through a D/A converter, the power amplification is carried out through the BUF634 high-frequency power amplification unit, then the analog measurement signal is transmitted out by the transmitting transducer, and the signal received by the receiving transducer transmits a digital signal to the data processing module through the BUF634 high-frequency power amplification unit and the A/D converter;
The power module is composed of a power supply, and is respectively connected with the data processing module, the transceiving module and the interaction module and provides power.
2. the device for multi-angle combined measurement of concentration of suspended solids in water as claimed in claim 1, wherein the transmitting transducer is connected with the data processing module through a D/A converter, and the receiving transducer is connected with the data processing module through an A/D converter.
3. The device for multi-angle combined measurement of concentration of suspended solids in water as claimed in claim 1, wherein the reflector surface is made of a fully transmissive waterproof material for reflecting the measurement signal; the inner wall of the measuring cavity is made of sound absorption materials and used for preventing sound waves from leaking.
4. the underwater suspended matter concentration multi-angle combined measuring device as claimed in claim 1, wherein the paired transmitting transducer and receiving transducer are wrapped in a full-transmission sound-transmitting waterproof membrane and fixed on a serrated acrylic support through a buckle structure, the included angle of the serrated acrylic support is adjusted through a stepping motor, and the reflector is arranged below the serrated acrylic support vertically and meets the suspended matter concentration measuring requirements of different depths by adjusting the serrated angle and the position of the reflector.
5. The device for multi-angle combined measurement of concentration of suspended solids in water as claimed in claim 1, wherein the data processor employs an STM32F407 chip.
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