High-precision flow on-line monitoring device and method for siltation section

Abstract

The invention discloses a high-precision flow online monitoring device and method for a siltation section, and belongs to the technical field of hydrological monitoring. The device comprises a sensing terminal, an edge terminal and a mounting mechanism, the sensing terminal is integrated with an upper and lower section layered speed measurement module, an underwater distance measurement module, a first absolute pressure type water level measurement module and an attitude and temperature sensor, and vertical section flow velocity data is obtained by receiving water body reflection signals in a time-sharing manner; and the dynamic deposition section area is corrected in real time in combination with ultrasonic ranging. And the edge terminal compensates water level measurement data by using atmospheric pressure, and calculates the flow through fusion of a telemetering module. The installation mechanism supports fixed or telescopic installation, and the height of the installation mechanism is automatically adjusted according to the distance between a deposition layer and equipment. The method comprises the steps of dynamically correcting the section, calculating the flow through layered integration and compensating errors of multiple sensors, the problems of large area deviation, high operation and maintenance cost and the like caused by sedimentation in a traditional flow measurement technology are solved, and high-precision online monitoring under the high-sand-content complex flow state is achieved.

Description

Technical Field

[0001] The present application relates to the field of hydrological monitoring technology, and in particular to a high-precision online flow monitoring device and method for a silted section. Background Art

[0002] In dynamic siltation sections of high-sediment-laden water flows, such as the Yellow River Irrigation Area in the Yellow River Basin and the Northwest Agricultural Irrigation Area, traditional fixed-section flow measurement methods, such as ultrasonic and radar flowmeters, cannot perceive changes in the thickness of the silt layer in real time, resulting in cross-sectional area calculation errors exceeding 30%, seriously affecting the accuracy of flow monitoring. Existing improvement solutions, such as ultrasonic mud level meters combined with lead fish carts, can partially alleviate the siltation problem, but the mechanical structure relies on manual operation and maintenance and is easily affected by environmental interference, resulting in high operation and maintenance costs and delayed data updates. In addition, the coupling of high-sediment-laden water flows and complex flow patterns further exacerbates the difficulty of flow measurement. There is an urgent need for a low-cost online monitoring technology that can correct dynamic sections in real time and adapt to complex working conditions. Summary of the Invention

[0003] To solve the above technical problems, the present application provides a high-precision online flow monitoring device for a silted section, comprising a sensing terminal, an edge terminal, and a mounting mechanism. The mounting mechanism is used to fix the sensing terminal at a measurement position. The sensing terminal comprises: The upper profile layered velocity measurement module is used to receive the reflected signal of the upper water body in a time-sharing manner, divide the upper water body into several measurement units, and obtain vertical profile flow velocity data in real time; The lower profile layered velocity measurement module is used to receive the reflected signal of the lower water body in a time-sharing manner, divide the lower water body into several measurement units, and obtain vertical profile flow velocity data in real time; The underwater ranging module calculates the height between the device installation location and the bottom sediment layer by sending and receiving ultrasonic waves, and corrects the cross-sectional shape information in real time; The first absolute pressure water level measurement module is used to measure the absolute pressure of the water body to determine the depth of the water body above; The sensing terminal body is equipped with an upper profile layered velocity measurement module on the top, and a lower profile layered velocity measurement module, an underwater ranging module, and a first absolute pressure water level measurement module on the bottom. The edge terminal includes: a second absolute pressure water level measurement module, configured to measure the atmospheric pressure above the liquid surface and perform atmospheric pressure compensation on the first absolute pressure water level measurement module; The telemetry terminal module is in communication with the sensing terminal and is used to collect and calculate the data measured by the sensing terminal.

[0004] Preferably, the mounting mechanism is a fixed mounting mechanism, and the fixed mounting mechanism is used to fix the sensing terminal at a single measurement position.

[0005] Preferably, the mounting mechanism is a telescopic mounting mechanism, and the telescopic mounting mechanism is used to dynamically adjust the measurement position of the sensing terminal according to the distance between the sedimentation layer and the sensing terminal.

[0006] This application also provides a monitoring method for a high-precision on-line flow monitoring device for a silted section, comprising: Step 1: Fix the sensing terminal at the measurement position through the mounting mechanism and input the initial cross-sectional shape parameters; Step 2: Real-time monitoring of water level status: When the water level does not exceed the installation height of the sensing terminal, the lower profile layered velocity measurement module is activated to receive the reflected signal of the lower water body in a time-sharing manner, divide the lower water body into several measurement units, and obtain the first vertical profile flow velocity in real time. At the same time, the underwater ranging module obtains the height data between the sensing terminal and the bottom silt layer in real time, and corrects the cross-sectional area in real time according to the height data. When the water level exceeds the installation height of the sensing terminal, the upper profile layered velocity measurement module and the lower profile layered velocity measurement module are started at the same time, and the reflected signal of the lower water body is received in time-sharing manner, the lower water body is divided into several measurement units, and the first vertical profile flow velocity is obtained in real time. At the same time, the air height data between the sensing terminal and the bottom siltation layer is obtained in real time through the underwater ranging module, and the reflected signal of the upper water body is received in time-sharing manner, the upper water body is divided into several measurement units, and the second vertical profile flow velocity is obtained in real time. At the same time, the absolute pressure value of the water body is measured by the first absolute pressure water level measurement module, and the atmospheric pressure above the liquid surface is measured by the second absolute pressure water level measurement module. The depth of the upper water body is calculated after compensating the absolute pressure value, and the cross-sectional area is corrected in real time according to the air height data and the depth of the upper water body; Step 3: Calculate the real-time flow rate using a layered integration method based on the vertical profile flow velocity data and the corrected cross-sectional area; when the water level does not exceed the sensing terminal installation height, the profile flow velocity data includes a first vertical profile flow velocity; when the water level exceeds the sensing terminal installation height, the profile flow velocity data includes the first vertical profile flow velocity and the second vertical profile flow velocity; Step 4: Output the flow calculation results.

[0007] Preferably, the mounting mechanism in step 1 is a telescopic mounting mechanism. In step 1, fixing the sensing terminal at the measurement position through the mounting mechanism includes: Real-time monitoring of the relative position of the sensing terminal, the silt layer and the water surface; If the height between the sensing terminal and the sedimentation layer is less than a first threshold, the telescopic mounting mechanism is controlled to rise; If the height between the sensing terminal and the water surface is less than a second threshold and the height between the sensing terminal and the siltation layer is greater than a safety distance, the telescopic mounting mechanism is controlled to descend.

[0008] Preferably, obtaining the height data between the sensing terminal and the bottom sediment layer in real time through the underwater ranging module includes: The underwater ranging module transmits and receives ultrasonic waves to calculate the altitude data: ; Wherein, D is the height between the sensing terminal and the sediment layer, c is the propagation speed of ultrasound in the medium, and t is the time difference between ultrasound emission and echo reception; The calculated value of the cross-sectional area is adjusted in real time according to the difference between the air height data and the initial cross-sectional shape parameters.

[0009] Preferably, the vertical profile flow velocity data in step 2 is obtained by: Calculate vertical profile velocity data using the Doppler frequency shift formula : ; in, is the Doppler shift, is the propagation speed of ultrasound in water, is the transducer transmitting frequency, is the angle between the sound wave beam and the water flow direction.

[0010] Preferably, the depth of the upper water body in step 2 is calculated as follows: The pressure formula of the absolute pressure water level measurement module is used to calculate the depth of the upper water body: ; in, is the pressure of the first absolute pressure water level measurement module, is the density of the liquid being measured, is the local gravitational acceleration, is the atmospheric pressure measured by the second absolute pressure water level measurement module, It is the water depth above the first absolute pressure water level measurement module.

[0011] Preferably, the calculation formula of the flow rate Q in the layered integration method in step 3 is: ; in, For the The average flow velocity of the water column, For the The real-time corrected cross-sectional area corresponding to the layer, is the total number of vertical layers.

[0012] Preferably, step 2 also includes: obtaining the tilt angle of the sensing terminal through a posture sensor, correcting the calculation error of the vertical profile flow velocity data and the cross-sectional area; obtaining the ambient temperature through a temperature sensor, and adjusting the ultrasonic propagation velocity parameters to optimize the altitude measurement accuracy.

[0013] One or more technical solutions provided in this application have at least the following technical effects or advantages: 1. The cross-sectional area is dynamically corrected by combining the measured altitude data or the depth of the water body above with the initial cross-sectional shape parameters. This solves the problem of area calculation deviation caused by changes in the thickness of the silt layer in traditional fixed-section flow measurement methods, and the accuracy of cross-sectional correction is improved. 2. The upper profile layered velocity measurement module and the lower profile layered velocity measurement module work in a time-sharing manner, automatically switching according to the water level status, covering the entire vertical velocity profile, accurately capturing the complex velocity distribution of high-sediment-content water flow, and adapting to complex flow patterns; 3. A fixed installation mechanism is used, which is easy to maintain. A telescopic installation mechanism can also be used to automatically adjust the height of the sensing terminal through threshold control, avoiding manual intervention and reducing operation and maintenance costs; 4. Atmospheric pressure compensation is achieved through the second absolute pressure water level measurement module. Combined with the attitude sensor and temperature sensor, the influence of the tilt of the sensing terminal and the ambient temperature on the ultrasonic velocity measurement is dynamically corrected, thereby controlling the overall measurement error. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0015] Figure 1 This is a schematic diagram of the sensing terminal provided in this application installed on a fixed mounting mechanism; Figure 2 It is a schematic diagram of the sensing terminal provided in this application installed on a telescopic mounting mechanism; Figure 3 This is a schematic diagram of the perception terminal and edge terminal provided by this application; Figure 4 This is a schematic diagram of the detection at the initial stage of irrigation provided by this application; Figure 5 It is a schematic diagram of the temporary detection of the situation provided by this application; Figure 6 This is a schematic diagram of the detection in the second scenario provided by this application; Figure 7This is a schematic diagram provided in this application when the water level does not exceed the installation height of the sensing terminal and the initial cross-section is trapezoidal.

[0016] In the figure: 1. Sensing terminal; 11. Upper profile layered speed measurement module; 12. Lower profile layered speed measurement module; 13. Underwater ranging module; 14. First absolute pressure water level measurement module; 15. Bubble level; 16. Attitude sensor; 17. Temperature sensor; 21. Second absolute pressure water level measurement module; 22. Telemetry terminal module; 31. Fixed mounting mechanism; 32. Telescopic mounting mechanism. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described in this application are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0018] Please refer to Figures 1 to 3 , high-precision flow online monitoring device for siltation section, including: A perception terminal 1, an edge terminal, and a mounting mechanism, wherein the mounting mechanism is used to fix the perception terminal 1 at a measurement position. The perception terminal 1 includes: The upper profile layered velocity measurement module 11 is used to receive the reflected signal of the upper water body in a time-sharing manner, divide the upper water body into several measurement units, and obtain vertical profile flow velocity data in real time; The lower profile layered velocity measurement module 12 is used to receive the reflected signal of the lower water body in a time-sharing manner, divide the lower water body into a number of measurement units, and obtain vertical profile flow velocity data in real time. The upper profile layered velocity measurement module 11 and the lower profile layered velocity measurement module 12 can use Doppler current profilers; The underwater ranging module 13 calculates the height between the device installation location and the bottom sediment layer by sending and receiving ultrasonic waves, and corrects the cross-sectional shape information in real time; A first absolute pressure water level measurement module 14 is used to measure the absolute pressure of the water body to determine the depth of the water body above; The sensing terminal 1 body is equipped with an upper profile layered velocity measurement module 11 on the top, and a lower profile layered velocity measurement module 12, an underwater ranging module 13 and a first absolute pressure water level measurement module 14 on the bottom. The posture sensor 16 is used to monitor the posture of the sensing terminal 1 in real time; Temperature sensor 17, used to monitor the ambient temperature in real time; A bubble level 15 is used to assist in adjusting the horizontality of the sensing terminal 1 during installation to ensure the initial posture of the sensing terminal 1; The edge terminal includes: A second absolute pressure type water level measurement module 21, configured to measure the atmospheric pressure above the liquid surface and perform atmospheric pressure compensation on the first absolute pressure type water level measurement module 14; A telemetry terminal module 22, communicatively connected to the sensing terminal 1, configured to collect and calculate the data measured by the sensing terminal 1.

[0019] Specifically, please refer to Figure 1 , the installation mechanism is a fixed installation mechanism 31, and the fixed installation mechanism 31 is configured to fix the sensing terminal 1 at a single measurement position.

[0020] Specifically, please refer to Figure 2 , the installation mechanism is a telescopic installation mechanism 32, and the telescopic installation mechanism 32 is configured to dynamically adjust the measurement position of the sensing terminal 1 according to the distance between the silt layer and the sensing terminal 1.

[0021] Please refer to Figure 4 , Figure 4 is a schematic diagram of detection at the initial stage of irrigation. At this time, the water depth is B1, the silt height is h1, the water level is H1, and H1 = B1 + h1.

[0022] Please refer to Figure 5 , Figure 5 is a schematic diagram of detection in Case 1. At this time, the water depth is B2, the silt height is h2, the water level is H2, H2 = B2 + h2, and h2 < H2; the height of the installation position of the sensing terminal 1 is between h2 and H1; in the case of Case 1, both the fixed installation mechanism 31 and the telescopic installation mechanism 32 can be used for detection, but the operation and maintenance cost of using the fixed installation mechanism 31 is lower.

[0023] Please refer to Figure 6 , Figure 6 is a schematic diagram of detection in Case 2. At this time, the water depth is B3, the silt height is h3, the water level is H3, H3 = B3 + hx3, and since h3 ≥ H1 at this time, if the installation mechanism is the fixed installation mechanism 31, it cannot be used for detection in Case 2. Therefore, the installation mechanism can be selected as the telescopic installation mechanism 32 to enable the measurement position of the sensing terminal 1 to be dynamically adjusted; the telescopic installation mechanism 32 can specifically be an electric push rod installed in a hanging manner. When the sensing terminal 1 detects that it is too close to the silt surface, the electric push rod will automatically rise. When the sensing terminal 1 detects that it is too close to the water surface and has a certain safety distance from the silt surface, the electric push rod will automatically lower, thereby ensuring that the sensing terminal 1 is always in the best flow measurement position; the telescopic installation mechanism 32 is more suitable for flow measurement in high silt cross-sections than the fixed installation mechanism 31.

[0024] This application also provides a monitoring method for a high-precision on-line flow monitoring device for a silted section, comprising: Step 1: Fix the sensing terminal 1 at the measuring position through the mounting mechanism and input the initial cross-sectional shape parameters. Figure 7 When the initial cross section is a trapezoid, the initial cross section shape parameters include the length of the upper base of the trapezoid , the length of the lower base of the trapezoid and trapezoidal height ; When the initial section is a rectangle, the initial section shape parameters include the length of the rectangle and the rectangle height ; Step 2: Real-time monitoring of water level status: When the water level does not exceed the installation height of the sensing terminal, the lower profile layered velocity measurement module is activated to receive the reflected signal of the lower water body in a time-sharing manner, divide the lower water body into several measurement units, and obtain the first vertical profile flow velocity in real time. At the same time, the underwater ranging module obtains the height data between the sensing terminal and the bottom silt layer in real time, and corrects the cross-sectional area in real time according to the height data. When the water level exceeds the installation height of the sensing terminal, the upper profile layered velocity measurement module and the lower profile layered velocity measurement module are started at the same time, and the reflected signal of the lower water body is received in time-sharing manner, the lower water body is divided into several measurement units, and the first vertical profile flow velocity is obtained in real time. At the same time, the air height data between the sensing terminal and the bottom siltation layer is obtained in real time through the underwater ranging module, and the reflected signal of the upper water body is received in time-sharing manner, the upper water body is divided into several measurement units, and the second vertical profile flow velocity is obtained in real time. At the same time, the absolute pressure value of the water body is measured by the first absolute pressure water level measurement module, and the atmospheric pressure above the liquid surface is measured by the second absolute pressure water level measurement module. The depth of the upper water body is calculated after compensating the absolute pressure value, and the cross-sectional area is corrected in real time according to the air height data and the depth of the upper water body; Step 3: Calculate the real-time flow rate using the layered integration method based on the vertical profile velocity data and the corrected cross-sectional area. The calculation formula for the flow rate Q using the layered integration method in step 3 is: ; in, For the The average flow velocity of the water column, For the The real-time corrected cross-sectional area corresponding to the layer, is the total number of vertical layers, in this embodiment n≤128; Please refer to Figure 7 When the water level does not exceed the installation height of the sensing terminal and the initial cross section is trapezoidal, the cross-sectional flow velocity data includes the first vertical cross-sectional flow velocity, That is the The first vertical profile velocity of the water body, For the The real-time corrected cross-sectional area of the trapezoidal profile corresponding to the water layer can be calculated according to step 2. Altitude data of trapezoidal profile of layered water body , according to the initial cross-sectional shape parameters, the Upper base length of the trapezoidal section of the water body , the length of the lower base of the trapezoid , Figure 7 middle equal , and then according to the calculation formula of the trapezoid area, we can get the Real-time correction of cross-sectional area of trapezoidal section of layered water body ,Right now = ,Finally, the real-time traffic can be obtained using the hierarchical integration method; When the water level exceeds the installation height of the sensing terminal and the initial cross-section is trapezoidal, the profile flow velocity data includes the first vertical profile flow velocity and the second vertical profile flow velocity. The layered integration method is used to calculate the first real-time flow under the first vertical profile flow velocity and the second real-time flow under the second vertical profile flow velocity respectively. The real-time flow at this time is the sum of the first real-time flow and the second real-time flow.

[0025] Step 4: Output the flow calculation results.

[0026] Specifically, the mounting mechanism in step 1 is a telescopic mounting mechanism 32. In step 1, the sensing terminal 1 is fixed at the measurement position by the mounting mechanism, including: Real-time monitoring of the relative position of the sensing terminal 1, the siltation layer and the water surface; If the height between the sensing terminal 1 and the sedimentation layer is less than the first threshold, the telescopic mounting mechanism 32 is controlled to rise; If the height between the sensing terminal 1 and the water surface is less than the second threshold and the height between the sensing terminal 1 and the silt layer is greater than the safety distance, the telescopic mounting mechanism 32 is controlled to descend; in this embodiment, the first threshold is 10-20 cm, the second threshold is 5-10 cm, and the safety distance is not less than 30 cm.

[0027] Specifically, the underwater ranging module 13 is used to obtain the height data between the sensing terminal 1 and the bottom sediment layer in real time, including: The underwater distance measurement module 13 transmits and receives ultrasonic waves to calculate the altitude data: ; Wherein, D is the height between the sensing terminal 1 and the sediment layer, c is the propagation speed of ultrasound in the medium, and t is the time difference between ultrasound emission and echo reception; The calculated value of the cross-sectional area is adjusted in real time according to the difference between the air height data and the initial cross-sectional shape parameters.

[0028] Specifically, the method for obtaining the vertical profile flow velocity data in step 2 includes: Calculate vertical profile velocity data using the Doppler frequency shift formula : ; in, is the Doppler shift, is the propagation speed of ultrasound in water, is the transducer transmitting frequency, is the angle between the sound wave beam and the water flow direction.

[0029] Specifically, the calculation method of the upper water depth in step 2 is: The pressure formula of the absolute pressure water level measurement module is used to calculate the depth of the upper water body: ; in, is the pressure of the first absolute pressure water level measurement module 14, is the density of the liquid being measured, is the local gravitational acceleration, is the atmospheric pressure measured by the second absolute pressure water level measurement module 21, is the water depth above the first absolute pressure water level measurement module 14 .

[0030] Specifically, step 2 also includes: obtaining the tilt angle of the sensing terminal 1 through the attitude sensor 16, correcting the calculation error of the vertical profile flow velocity data and the cross-sectional area; obtaining the ambient temperature through the temperature sensor 17, and adjusting the ultrasonic propagation velocity parameters to optimize the altitude measurement accuracy.

[0031] It should also be noted that, in this specification, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. High-precision on-line flow monitoring device for sedimentation section, characterized by: The system comprises a sensing terminal, an edge terminal and a mounting mechanism, wherein the mounting mechanism is used to fix the sensing terminal at a measurement position, and the sensing terminal comprises: The upper profile layered velocity measurement module is used to receive the reflected signal of the upper water body in a time-sharing manner, divide the upper water body into several measurement units, and obtain vertical profile flow velocity data in real time; The lower profile layered velocity measurement module is used to receive the reflected signal of the lower water body in a time-sharing manner, divide the lower water body into several measurement units, and obtain vertical profile flow velocity data in real time; The underwater ranging module calculates the height between the device installation location and the bottom sediment layer by sending and receiving ultrasonic waves, and corrects the cross-sectional shape information in real time; The first absolute pressure water level measurement module is used to measure the absolute pressure of the water body to determine the depth of the water body above; The sensing terminal body is equipped with an upper profile layered velocity measurement module on the top, and a lower profile layered velocity measurement module, an underwater ranging module, and a first absolute pressure water level measurement module on the bottom. The edge terminal includes: a second absolute pressure water level measurement module, configured to measure the atmospheric pressure above the liquid surface and perform atmospheric pressure compensation on the first absolute pressure water level measurement module; The telemetry terminal module is in communication with the sensing terminal and is used to collect and calculate the data measured by the sensing terminal.

2. The high-precision on-line flow monitoring device for silted sections according to claim 1 is characterized in that: The mounting mechanism is a fixed mounting mechanism, and the fixed mounting mechanism is used to fix the sensing terminal at a single measurement position.

3. The high-precision on-line flow monitoring device for silted sections according to claim 1 is characterized in that: The mounting mechanism is a telescopic mounting mechanism, and the telescopic mounting mechanism is used to dynamically adjust the measurement position of the sensing terminal according to the distance between the sedimentation layer and the sensing terminal.

4. The monitoring method of the high-precision on-line flow monitoring device for silted sections according to claim 1 is characterized in that: include: Step 1: Fix the sensing terminal at the measurement position through the mounting mechanism and input the initial cross-sectional shape parameters; Step 2: Real-time monitoring of water level status: When the water level does not exceed the installation height of the sensing terminal, the lower profile layered velocity measurement module is activated to receive the reflected signal of the lower water body in a time-sharing manner, divide the lower water body into several measurement units, and obtain the first vertical profile flow velocity in real time. At the same time, the underwater ranging module obtains the height data between the sensing terminal and the bottom silt layer in real time, and corrects the cross-sectional area in real time according to the height data. When the water level exceeds the installation height of the sensing terminal, the upper profile layered velocity measurement module and the lower profile layered velocity measurement module are started at the same time, and the reflected signal of the lower water body is received in time-sharing manner, the lower water body is divided into several measurement units, and the first vertical profile flow velocity is obtained in real time. At the same time, the air height data between the sensing terminal and the bottom siltation layer is obtained in real time through the underwater ranging module; the reflected signal of the upper water body is received in time-sharing manner, the upper water body is divided into several measurement units, and the second vertical profile flow velocity is obtained in real time. At the same time, the absolute pressure value of the water body is measured by the first absolute pressure water level measurement module, and the atmospheric pressure above the liquid surface is measured by the second absolute pressure water level measurement module. The depth of the upper water body is calculated after compensating the absolute pressure value, and the cross-sectional area is corrected in real time according to the air height data and the depth of the upper water body; Step 3: Calculate the real-time flow rate using a layered integration method based on the vertical profile flow velocity data and the corrected cross-sectional area; when the water level does not exceed the sensing terminal installation height, the profile flow velocity data includes a first vertical profile flow velocity; when the water level exceeds the sensing terminal installation height, the profile flow velocity data includes the first vertical profile flow velocity and the second vertical profile flow velocity; Step 4: Output the flow calculation results.

5. The high-precision online flow monitoring method for a silted section according to claim 4 is characterized in that: The mounting mechanism in step 1 is a telescopic mounting mechanism. In step 1, fixing the sensing terminal at the measurement position through the mounting mechanism includes: Real-time monitoring of the relative position of the sensing terminal, the silt layer and the water surface; If the height between the sensing terminal and the sedimentation layer is less than a first threshold, the telescopic mounting mechanism is controlled to rise; If the height between the sensing terminal and the water surface is less than a second threshold and the height between the sensing terminal and the siltation layer is greater than a safety distance, the telescopic mounting mechanism is controlled to descend.

6. The high-precision on-line flow monitoring method for a silted section according to claim 4 is characterized in that: The underwater ranging module is used to obtain the height data between the sensing terminal and the bottom sediment layer in real time, including: The underwater ranging module transmits and receives ultrasonic waves to calculate the altitude data: ； Wherein, D is the height between the sensing terminal and the sediment layer, c is the propagation speed of ultrasound in the medium, and t is the time difference between ultrasound emission and echo reception; The calculated value of the cross-sectional area is adjusted in real time according to the difference between the air height data and the initial cross-sectional shape parameters.

7. The high-precision on-line flow monitoring method for a silted section according to claim 4, characterized in that: The method for obtaining the vertical profile flow velocity data in step 2 includes: Calculate vertical profile velocity data using the Doppler frequency shift formula : ； in, is the Doppler shift, is the propagation speed of ultrasound in water, is the transducer transmitting frequency, is the angle between the sound wave beam and the water flow direction.

8. The high-precision on-line flow monitoring method for a silted section according to claim 4 is characterized in that: The calculation method of the upper water depth in step 2 is: The pressure formula of the absolute pressure water level measurement module is used to calculate the depth of the upper water body: ； in, is the pressure of the first absolute pressure water level measurement module, is the density of the liquid being measured, is the local gravitational acceleration, is the atmospheric pressure measured by the second absolute pressure water level measurement module, It is the water depth above the first absolute pressure water level measurement module.

9. The high-precision online flow monitoring method for a silted section according to claim 4 is characterized in that: The calculation formula of the flow rate Q of the layered integration method in step 3 is: ； in, For the The average flow velocity of the water column, For the The real-time corrected cross-sectional area corresponding to the layer, is the total number of vertical layers.

10. The high-precision on-line flow monitoring method for a silted section according to claim 4, characterized in that: The step 2 further comprises: The tilt angle of the sensing terminal is obtained through the attitude sensor to correct the calculation errors of the vertical profile flow velocity data and cross-sectional area; The ambient temperature is obtained through the temperature sensor, and the ultrasonic propagation velocity parameters are adjusted to optimize the altitude measurement accuracy.

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