Fluid velocity and flow rate detection method based on attitude recognition

Abstract

This invention relates to a fluid velocity and flow rate detection method based on attitude recognition, belonging to the field of fluid detection technology. The method includes: installing an elastic steel sheet with a first sensor mounted at its free end inside a fluid pipe; acquiring an initial position reference value in an empty pipe state and calibrating it to obtain a full-pipe static position calibration value; when fluid is present in the pipe, the first sensor acquires acceleration detection data and three-dimensional motion trajectory data in real time, and obtains attitude change data by calculating the difference between the three-dimensional motion trajectory data and the position calibration value; integrating the acceleration detection data to obtain a basic fluid velocity value, and correcting it with the attitude change data to obtain the actual flow velocity; acquiring pipe inlet and outlet pressure and fluid temperature data to fit a calibration coefficient for the operating conditions, and calculating and outputting the real-time volumetric flow rate by combining the actual flow velocity and the pipe cross-sectional area. This invention improves the accuracy of the detection reference through dual-reference calibration and multi-dimensional data acquisition, adapts to various operating conditions, and enhances detection robustness and accuracy.

Description

Technical Field

[0001] This invention relates to the field of fluid detection technology, and in particular to a method for detecting fluid velocity and flow rate based on attitude recognition. Background Technology

[0002] In the field of fluid velocity and flow rate detection, existing detection devices are limited by their technical principles and structural design, and generally suffer from technical defects such as limited application scenarios and insufficient stability. Mechanical flow detection devices rely on the mechanical coupling of moving components to acquire flow signals, but their moving pairs are prone to wear and jamming due to long-term friction, leading to deterioration of detection accuracy or even device failure. Electromagnetic flow detection devices work based on the principle of electromagnetic induction and are only suitable for detecting conductive fluids. They cannot effectively detect non-conductive fluids such as oil and gas. Although ultrasonic flow detection devices adopt a non-contact detection method, they have strict requirements for the coaxiality and spacing accuracy of the installation position and are easily affected by interference factors such as the attenuation characteristics of pipeline materials and the gas content of the fluid, making it difficult to guarantee detection stability. The detection principle of vortex flow detection devices relies on the generation and detection of fluid vortices. They have poor resistance to pipeline vibration interference, and the detection error increases significantly under vibration conditions. At the same time, their applicable flow rate range has a high lower limit, which cannot meet the detection needs of low-velocity fluids.

[0003] In addition, the functions of existing mainstream detection devices are mostly limited to the collection of basic parameters such as flow rate and flow volume, and lack the ability to actively identify abnormal operating conditions such as blockage by foreign objects in the pipeline. When a blockage occurs in the pipeline, additional operating condition detection equipment needs to be configured for troubleshooting, which not only increases the hardware cost of the system, but also increases the complexity of the operation and maintenance process. Summary of the Invention

[0004] Therefore, it is necessary to provide a fluid velocity and flow rate detection method based on attitude recognition that is adaptable to a wide range of media, has strong anti-interference ability, and also has the function of abnormal working condition identification, in order to address the above-mentioned technical problems.

[0005] A method for detecting fluid velocity and flow rate based on attitude recognition, the method comprising:

[0006] Step 1: Install at least one elastic steel sheet inside the fluid pipeline, with a first sensor mounted on the free end of the elastic steel sheet; Step 2: Acquire the initial position reference value of each first sensor when the fluid pipeline is empty, and calibrate using the initial position reference value as the zero point to obtain the position calibration value of each first sensor when the pipeline is full and stationary. Step 3: When there is fluid in the fluid pipeline, acceleration detection data and three-dimensional motion trajectory data are collected in real time by each first sensor; the difference between the three-dimensional motion trajectory data and the position calibration value is calculated to obtain the attitude change data; Step 4: Perform time integration on the acceleration detection data to obtain the basic value of fluid velocity, and then correct the basic value of fluid velocity by combining it with attitude change data to obtain the actual flow velocity in the fluid pipe. Step 5: Collect pressure detection data at the inlet and outlet of the fluid pipeline, combine it with the temperature detection data of the fluid medium to obtain the operating condition calibration coefficient, and calculate and output the real-time volumetric flow rate in the fluid pipeline based on the actual flow velocity, the cross-sectional area parameters of the fluid pipeline and the operating condition calibration coefficient.

[0007] Compared with existing technologies, the fluid velocity and flow rate detection method based on attitude recognition provided by this invention has the following advantages: 1. By using the initial position reference value in the empty pipe state and the position calibration value in the full pipe static state for dual reference calibration, the inherent errors of the system, such as device installation deviation and initial deformation of elastic steel sheet, are effectively eliminated. This provides an accurate reference basis for the subsequent calculation of real-time detection data and significantly improves the accuracy and reliability of the detection results.

[0008] 2. By synchronously acquiring acceleration detection data and three-dimensional motion trajectory data through the first sensor, multi-dimensional capture of the motion state of the elastic steel sheet is achieved. Compared with the single-dimensional detection method, it can more comprehensively and accurately reflect the deformation and motion characteristics of the elastic steel sheet under the action of fluid, avoid the information loss caused by the single detection dimension, provide richer input for the calculation of attitude change data, and enhance the comprehensiveness of motion state detection.

[0009] 3. A two-layer calculation logic is adopted to obtain the basic velocity value through acceleration integration and correct it with attitude change data. It captures the dynamic change trend of the fluid through acceleration data and effectively corrects the influence of factors such as the characteristics of the elastic steel sheet itself, installation deviation and working condition changes through attitude change data. This greatly improves the accuracy and stability of flow velocity detection, and can maintain high detection accuracy even under complex working conditions.

[0010] 4. By collecting pressure detection data at the inlet and outlet of the fluid pipeline and temperature detection data of the fluid medium, a calibration coefficient for the operating condition is obtained through fitting, and this coefficient is introduced into the calculation of volumetric flow rate. This effectively eliminates the interference of operating condition factors such as temperature and pressure on the detection results, making the flow detection results more stable and accurate, and further improving the applicability and reliability of the device in complex industrial scenarios. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention, and those skilled in the art can obtain other related drawings based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart illustrating the fluid velocity and flow rate detection method based on attitude recognition in Example 1. Figure 2 This is a schematic diagram of the motion trajectory of the elastic steel sheet in three-dimensional space in Example 1; Figure 3 This is a schematic diagram of the fluid velocity and flow rate detection device based on attitude recognition in Example 2; Figure 4 This is a schematic diagram of the back structure of the elastic steel sheet in Example 2; Figure 5 This is a schematic diagram of foreign object detection in Example 2.

[0013] Explanation of reference numerals in the attached figures: Fixed small steel plate 1, fixing part 11, elastic steel sheet 2, wiring groove 21, second mounting hole 22, first sensor 3, pressure detection assembly 4, second sensor 41, third sensor 42, signal interface 5, fluid pipeline 6.

[0014] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0016] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0017] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0018] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0019] It is understood that the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0020] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0021] Example 1 like Figure 1 As shown in the figure, this embodiment discloses a fluid velocity and flow rate detection method based on attitude recognition, the method comprising: Step 1: Install at least one elastic steel sheet inside the fluid pipeline, with a first sensor mounted on the free end of the elastic steel sheet.

[0022] Step 2: Acquire the initial position reference value of each first sensor when the fluid pipeline is empty, and calibrate using the initial position reference value as the zero point to obtain the position calibration value of each first sensor when the pipeline is full and stationary.

[0023] Step 3: When there is fluid in the fluid pipe, the acceleration detection data and three-dimensional motion trajectory data are collected in real time by each first sensor; the difference between the three-dimensional motion trajectory data and the position calibration value is calculated to obtain the attitude change data.

[0024] Step 4: Perform time integration on the acceleration detection data to obtain the basic value of fluid velocity. Then, combine the attitude change data to correct the basic value of fluid velocity and obtain the actual flow velocity in the fluid pipe.

[0025] Step 5: Collect pressure detection data at the inlet and outlet of the fluid pipeline, combine it with the temperature detection data of the fluid medium to obtain the operating condition calibration coefficient, and calculate and output the real-time volumetric flow rate in the fluid pipeline based on the actual flow velocity, the cross-sectional area parameters of the fluid pipeline and the operating condition calibration coefficient.

[0026] In step 1, the specific structure of the elastic steel sheet installed in the fluid pipeline is detailed in Example 2 and will not be repeated here.

[0027] In step 2, the initial position reference value refers to the initial position data of the elastic steel sheet collected by each of the first sensors when the fluid pipe is empty and there is no fluid flow. Zero-point calibration refers to offsetting and correcting the position calibration value in the full-pipe static state by using the initial position reference value in the empty pipe state as zero. The position calibration value refers to the position data of the elastic steel sheet under the action of fluid static pressure collected by each of the first sensors when the fluid pipe is full and the fluid is static.

[0028] In the specific implementation of step 2, the detection device is first powered on and initialized. In the state of an empty pipe with no fluid medium after the fluid pipeline is completely emptied, the initial position data of the corresponding elastic steel sheet is collected synchronously by each first sensor and recorded as the initial position reference value.

[0029] Subsequently, fluid is continuously injected into the fluid pipe until the pipe is full. After the fluid is completely still and no longer flowing, the position data of the corresponding elastic steel sheet is collected again by each first sensor. The position offset is corrected by using the initial position reference value in the empty pipe state as the zero point, and the position calibration value of each first sensor in the full pipe static state is obtained.

[0030] Meanwhile, when collecting the initial position reference value and position calibration value, the data should be recorded according to the installation position number (F1-F5) of the elastic steel sheet. Different numbers of elastic steel sheets correspond to different radiation distribution angles and detection area difference parameters.

[0031] This step, through dual-benchmark calibration with empty and full pipes, eliminates inherent system errors such as device installation deviations and initial deformation of the elastic steel sheet, providing a precise reference basis for subsequent real-time detection data calculations and improving the accuracy and reliability of the overall detection results.

[0032] In step 3, the acceleration detection data refers to the acceleration change value of the elastic steel sheet under the action of fluid dynamic pressure, collected by the first sensor. The three-dimensional motion trajectory data refers to the real-time position coordinate sequence of the elastic steel sheet in the X, Y, and Z axes, collected by the first sensor. The attitude change data refers to the displacement change of the elastic steel sheet obtained by subtracting the real-time collected three-dimensional motion trajectory data from the position calibration value, which is used to characterize the real-time deformation state of the elastic steel sheet.

[0033] In the specific implementation of step 3, when there is fluid in the fluid pipeline, each first sensor synchronously collects the acceleration detection data and three-dimensional motion trajectory data of the corresponding elastic steel sheet at a preset frequency.

[0034] After data acquisition, the acceleration detection data and 3D motion trajectory data are preprocessed to remove abnormal detection data exceeding a preset threshold, and the continuously acquired valid data is smoothed and denoised. Then, the first coordinate value is extracted from the preprocessed real-time 3D motion trajectory data. And extract the second coordinate value from the position calibration value after zero-point calibration in step 1. ; set the first coordinate value With the second coordinate value By performing interpolation calculations along each axis, the displacement change of each elastic steel plate in the X-axis direction is obtained. displacement change in the Y-axis direction and the displacement change in the Z-axis direction Then, the displacement changes in the X-axis, Y-axis, and Z-axis directions are... , , By performing correlation and combination, the posture change data corresponding to each elastic steel sheet is generated.

[0035] like Figure 2 As shown, the linear motion trajectory of a single elastic steel sheet in three-dimensional space from the starting point (full tube static reference position) to the ending point (real-time motion position) is displayed. It intuitively reflects the acquisition logic of the planar dimension in the three-dimensional motion trajectory data, as well as the physical meaning of the difference operation with the position calibration value.

[0036] This step acquires the dynamic motion characteristics of the elastic steel sheet through real-time acquisition and preprocessing. Then, the real-time state is quantitatively compared with the baseline state through difference calculation, providing core input parameters for subsequent flow velocity calculation and data support for pipeline foreign object detection.

[0037] In step 4, the baseline fluid velocity value refers to the theoretical flow velocity value obtained solely through time integration of acceleration detection data. The actual flow velocity refers to the flow velocity value that is more closely approximated to the actual fluid flow state after correction by incorporating attitude change data.

[0038] In the specific implementation of step 4, the acceleration detection data is first processed by time integration to obtain the basic value of fluid velocity. The calculation expression is as follows: ; In the formula, This represents the basic value of fluid velocity; This represents acceleration detection data; Represents the initial velocity component of the fluid; Indicates the time.

[0039] Subsequently, the attitude change data obtained in step 3, i.e., the displacement change, is... , , The mapping solution model corrects the basic fluid velocity values. This mapping solution model is a pre-defined multi-condition calculation model with three branches: full-pipe static condition, non-full-pipe condition, and full-pipe flow condition.

[0040] In specific calculations, the mapping solution model is based on attitude change data, i.e., displacement change. , , Calculate the uniaxial force corresponding to each elastic steel sheet. Here, uniaxial force refers to the displacement change of the elastic steel sheet under the action of the fluid. , , The equivalent force acting on the elastic steel sheet along the direction of fluid flow, obtained by conversion, is uniquely determined by the amplitude of the attitude change.

[0041] After obtaining the unidirectional force, the operating condition is determined based on the unidirectional force, and corresponding correction calculations are performed. If the unidirectional force of each elastic steel sheet exhibits a differentiated distribution, such as some steel sheets having a unidirectional force of 0 and others having non-constant values, it is determined to be a non-full pipe operating condition. In this case, the mapping solution model first calculates the real-time liquid level height in the pipe based on the differences in the unidirectional forces of different steel sheets, and then combines the liquid level height with the preset non-full pipe correction coefficient curve to output a liquid level correction coefficient adapted to the current situation. Simultaneously, the data of steel sheets not in contact with the fluid is masked, and only the unidirectional force of steel sheets affected by the fluid is used to calculate the weighted correction coefficient. Then, the liquid level correction coefficient and the weighted correction coefficient are fused and multiplied to obtain the final velocity correction coefficient. This velocity correction coefficient is multiplied by the base velocity value to obtain the corrected actual flow velocity, which reflects the true flow state of the fluid.

[0042] If the uniaxial forces of each elastic steel sheet are non-constant values ​​and change dynamically with time, it is determined to be a full-pipe flow condition. Under the full-pipe flow condition, the mapping solution model first performs a weighted summation of the uniaxial forces of each elastic steel sheet to obtain a comprehensive force value representing the overall force of the fluid; then, based on the preset mapping relationship between the comprehensive force value and the velocity correction coefficient, it calculates the velocity correction coefficient that adapts to the current fluid dynamic pressure; finally, it multiplies the velocity correction coefficient by the base velocity value to obtain the corrected actual flow velocity.

[0043] If the unidirectional force of each elastic steel sheet is a fixed value (0 or a non-zero constant value) and there is no fluctuation, it is determined to be a full-pipe static condition. At this time, the elastic steel sheet is only subjected to the hydrostatic pressure of the fluid. The mapping solution model is based on this fixed value and outputs a velocity correction coefficient to compensate for installation deviation and initial deformation of the steel sheet according to the preset hydrostatic pressure-correction coefficient mapping table. Multiplying this velocity correction coefficient by the velocity base value yields the corrected actual flow velocity.

[0044] It is worth noting that the static pressure-correction coefficient mapping table and the comprehensive force-flow velocity correction coefficient mapping relationship in this invention were obtained through calibration experiments on various elastic steel sheet structures of this invention. On a standard flow test bench, data on steel sheet displacement, unidirectional force, and standard flow velocity under different working conditions were collected. Piecewise correction curves and parameter tables were obtained through fitting and stored in the mapping solution model. The calibration experiments here are existing technologies and will not be described in detail here.

[0045] This step employs a two-tiered computational logic of acceleration integration and attitude data correction. It captures the dynamic changes of the fluid using acceleration data and effectively corrects for the influence of factors such as the inherent characteristics of the elastic steel sheet, installation deviations, and changes in operating conditions by using attitude change data and a mapping solution model. This significantly improves the accuracy and stability of flow velocity detection.

[0046] In step 5, the operating condition calibration coefficient refers to a set of correction parameters composed of temperature coefficient, pressure coefficient, and calibration coefficient, used to eliminate the influence of operating condition factors such as temperature and pressure on flow detection. Real-time volumetric flow rate is the volume of fluid passing through the cross-section of the fluid pipe per unit time, and is the core detection result ultimately output by the method proposed in this invention.

[0047] In the specific implementation of step 5, pressure detection data at the inlet and outlet of the fluid pipeline are collected by the second and third sensors, respectively, while temperature detection data of the fluid medium is also acquired. Specifically, the temperature coefficient is obtained by fitting the real-time temperature to a preset temperature calibration curve, the pressure coefficient is obtained by calculating the inlet and outlet pressure difference and fitting it to the fluid density, and the calibration coefficient is obtained by using the position calibration value from step 2 as a benchmark. Subsequently, based on the actual flow velocity, fluid pipe cross-sectional area parameters, and operating condition calibration coefficient, the real-time volumetric flow rate within the fluid pipe is calculated and output. The calculation expression is as follows: ; In the formula, Indicates real-time volumetric flow rate; This represents the cross-sectional area of ​​the fluid conduit. Indicates the actual flow rate; Indicates the temperature coefficient; Indicates the pressure coefficient; This represents the calibration coefficient.

[0048] This step introduces multi-dimensional operating condition calibration coefficients such as temperature and pressure to comprehensively compensate and correct the real-time flow rate, which can effectively reduce the impact of operating condition fluctuations on the detection results, making the flow detection results more stable and accurate, and further improving the applicability and reliability of the device in complex industrial scenarios.

[0049] Simultaneously, when two or more elastic steel plates are set, it also has the function of detecting foreign objects in the pipeline. This embodiment is explained based on the attitude change data or unidirectional force comparison analysis of five elastic steel plates (F1-F5). Figure 3 As shown, five elastic steel sheets (F1-F5) are evenly distributed circumferentially around the fixed part 11, covering the main flow field area within the fluid pipe 6. Under normal fluid flow conditions, the unidirectional force and attitude change data of each elastic steel sheet under the action of the fluid are consistent. When solid foreign objects or large particles flow or get stuck in the pipe, they will generate additional impact force or obstruction on the contacting elastic steel sheet 2, causing the unidirectional force or attitude change data of the corresponding elastic steel sheet 2 to deviate significantly from those of other steel sheets, forming an identifiable abnormal feature. The specific identification logic is based on the differential characteristics of the data: when the unidirectional force or attitude change data of a certain elastic steel sheet 2 suddenly shows a significant difference from the other four, and this difference is instantaneous and irregular, it is determined that a flowing foreign object has passed through the detection area of ​​that line; when the unidirectional force or attitude change data of two or more adjacent elastic steel sheets continuously show a characteristic of being larger or smaller, and maintains a stable significant difference from the data of the other lines, it is determined that a foreign object is stuck in the coverage area of ​​the adjacent steel sheet, causing the unidirectional force state of the steel sheet to be abnormal. When the detected data characteristics meet the judgment conditions of flowing foreign object or stuck foreign object, the terminal immediately generates foreign object detection alarm information, and records the time of the anomaly, the number of the elastic steel sheet involved, and the specific three-dimensional displacement anomaly value, providing pipeline maintenance personnel with accurate fault warning and foreign object location basis.

[0050] As can be seen, this invention can accurately identify flowing and stuck foreign objects by comparing the posture change data or unidirectional force of the five elastic steel sheets, without the need for additional dedicated detection equipment. This expands the application scenarios of the device and reduces the troubleshooting costs of pipeline maintenance. It is worth noting that this embodiment uses five elastic steel sheets 2 for ease of understanding, but this is not intended to limit the specific scope of this embodiment.

[0051] It should be understood that, although this embodiment Figure 1 The steps are shown sequentially as indicated by the arrows, but they are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order in which these steps are performed; they can be executed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps. Example 3 Example 2 Based on the fluid velocity and flow rate detection method based on attitude recognition in Embodiment 1, this embodiment discloses a fluid velocity and flow rate detection device based on attitude recognition. The device includes: at least one elastic steel sheet 2, one end of which is fixed to the inner wall of the fluid pipe 6, and the other end is a free end, on which a first sensor is provided.

[0052] When only one elastic steel sheet 2 is used, the end face of the fixed end of the elastic steel sheet 2 is a flat fitting structure, and it is sealed and fixed to the inner wall of the fluid pipeline 6 by welding or bolt fastening. Welding employs a full welding process; bolt fastening can be combined with a sealing washer to ensure the sealing of the connection. By using a full welding process or bolt fastening with a sealing washer, fluid leakage from the connection gap can be prevented, while ensuring that the device remains stable and does not shift under continuous fluid impact.

[0053] When the elastic steel sheet 2 can also be set to at least two, such as Figure 4 The diagram shows a structure with two or more elastic steel sheets 2. The difference is that when there are two or more elastic steel sheets 2, a small steel plate 1 needs to be fixed for convergence and fixation, while when there is only one elastic steel sheet 2, it is directly fixed to the inner wall of the fluid pipe 6. The rest of the structure is the same.

[0054] This embodiment illustrates the use of two or more elastic steel sheets 2, such as... Figure 4 and Figure 5 As shown, a small steel plate 1 and an elastic sensing unit are fixed together; both the small steel plate 1 and the elastic sensing unit are disposed inside the fluid pipe 6 to be detected; wherein, the lower end of the small steel plate 1 is fixedly connected to the inner wall of the fluid pipe 6, and the upper end is provided with a fixing part 11; the elastic sensing unit includes at least two elastic steel plates 2, one end of each elastic steel plate 2 is connected to the fixing part 11, and each elastic steel plate 2 is radially distributed with the fixing part 11 as the center; the other end of each elastic steel plate 2 is equipped with a first sensor 3.

[0055] Specifically, the fixed small steel plate 1 is an integrated columnar rigid structure with a hollow, through-type design, forming an internal hollow wiring channel. This hollow wiring channel connects to the signal interface 5 and is used to run the signal lines of each sensor. The inner diameter of this hollow wiring channel is designed according to the actual number of signal lines to be run through it, allowing multiple sensor signal lines to be run through simultaneously. This achieves a concealed and centralized arrangement of all signal lines, effectively preventing the signal lines from being exposed and in direct contact with the fluid.

[0056] The lower end face of the fixed small steel plate 1 is a flat, fitted structure, and it is sealed and fixed to the inner wall of the fluid pipeline 6 by welding or bolting. Welding employs a full welding process; bolting can be combined with sealing washers to ensure the sealing of the connection. By using full welding or bolting with sealing washers, fluid leakage from the connection gaps can be prevented, while ensuring that the device remains stable and does not shift under continuous fluid impact.

[0057] The lower side wall of the fixed small steel plate 1 has a sealed wire-passing hole adapted to the signal line for connecting the signal line of the pressure detection component 4. The upper surface of the fixed small steel plate 1 is a flat structure, and a fixing part 11 is provided on the upper side wall. The fixing part 11 serves as the converging connection base between the elastic sensing unit and the fixed small steel plate 1. It is designed as a planar structure, and the converging end of the elastic steel sheet 2 fits into the planar structure of the fixing part 11 and is fixed by a fixing screw engaging with the first mounting hole. Specifically, a first mounting hole is provided on the fixing part 11. The elastic steel sheet 2 is fixed to the upper side wall of the fixed small steel plate 1 through the structure of the first mounting hole engaging with the fixing screw. The inner diameter of the first mounting hole is precisely matched with the outer diameter of the screw, which is the core connection structure between the elastic steel sheet 2 and the fixed small steel plate 1.

[0058] Each elastic steel sheet 2 has a second mounting hole 22 at its converging end, which has the same diameter as the first mounting hole. During assembly, all the converging ends of the elastic steel sheets 2 are stacked together. Anti-slip pads can be added between the stacked elastic steel sheets 2 to ensure that the second mounting holes 22 on each elastic steel sheet 2 are precisely aligned with the first mounting holes of the fixing small steel plate 1. Then, the fixing screws are passed through the stacked second mounting holes 22, the anti-slip pads and the first mounting holes, and the locking nuts are used to complete the locking and fixing. This achieves a detachable and secure connection between multiple elastic steel sheets 2 and the fixing small steel plate 1. This connection method allows for convenient disassembly and replacement of elastic steel sheets 2 with different rigidities according to subsequent testing needs, adapting to different fluid media and flow rate testing scenarios, and improving the applicability of the device.

[0059] Meanwhile, the screw connection structure provides a stable rotational basis for the angle adjustment of the elastic steel sheet 2. When the anti-loosening nut is not fully tightened, each elastic steel sheet 2 and the fixing part 11 can rotate together, that is, each elastic steel sheet 2 can rotate freely around the screw of the fixing screw. The operator can adjust the tilt angle of each elastic steel sheet 2 relative to the fixed small steel plate 1 according to the pipe diameter of the fluid pipeline 6 and the actual liquid level height required for testing. This allows multiple elastic steel sheets 2 to be distributed radially at different angles around the fixing part 11, adapting to the testing requirements of different liquid levels and different flow fields. After the angle is adjusted to the correct position, tightening the anti-loosening nut again will fix the position of the elastic steel sheet 2, ensuring the structural stability of the elastic steel sheet 2 during the testing process and preventing angle displacement due to fluid impact.

[0060] The elastic steel sheet 2 is a thin sheet-like metal structure with good elastic recovery performance. Its thickness and length are designed according to the pipe diameter of the fluid pipeline 6 and the detection sensitivity requirements. It can undergo elastic deformation under external force and can quickly return to the initial state after the external force disappears, ensuring the repeatability and accuracy of the detection.

[0061] The number of elastic steel sheets 2 is at least two, and can be flexibly increased or decreased according to the actual detection accuracy requirements. One end of each elastic steel sheet 2 is a converging connection end, with a second mounting hole 22 that matches the fixing part 11, for screw connection with the fixing small steel plate 1. The other end is a detection end, used to assemble the first sensor 3, and the detection end is thickened to improve the structural strength of the connection with the first sensor 3.

[0062] After each elastic steel sheet 2 is connected to the fixing part 11 by screws, it is radially distributed inside the fluid pipeline 6 with the fixing part 11 as the center. The distribution can be uniform or non-uniform, or the central axis of the fixing steel plate can be symmetrically arranged. Furthermore, when the anti-loosening nut is not tightened, each elastic steel sheet 2 can freely rotate around the screw to adjust its tilt angle, thereby adapting to the detection requirements of different liquid levels and meeting the detection requirements of different working conditions such as non-full pipe and full pipe. Preferably, there are five elastic steel sheets 2, denoted as F1, F2, F3, F4, and F5, which are circumferentially and radially distributed. This layout enables multi-directional and multi-dimensional fluid attitude detection within the fluid pipeline 6, improving the comprehensiveness of the detection data.

[0063] The elastic steel sheet 2 has a long strip-shaped cable tray 21 along its own length. The cable tray 21 has a concave structure. The length of the cable tray 21 extends from the assembly position of the first sensor 3 to the front of the second mounting hole 22. The width and depth are adapted to the outer diameter of the signal line of the first sensor 3.

[0064] On the side wall of the fixed small steel plate 1, near the second mounting hole 22, a sealed wire-passing hole adapted to the signal line is provided in the wiring groove 21. This sealed wire-passing hole is specifically used to pass the signal line of the first sensor 3, so that the signal line of the first sensor 3 can be smoothly passed into the hollow wiring channel, achieving the continuity of the wiring. Through the design of the wiring groove 21, the signal line can be arranged close to the elastic steel sheet 2, avoiding the signal line from being suspended in the fluid and being washed away or tangled. At the same time, it prevents the signal line from affecting the normal elastic deformation of the elastic steel sheet 2. Furthermore, the wiring groove 21 does not extend to the through hole, which can ensure the structural strength of the converging connection end of the elastic steel sheet 2 and avoid the connection position being easily deformed or broken due to the opening.

[0065] The first sensor 3 is a dedicated integrated sensor for attitude detection. Preferably, it is a six-axis attitude sensor that integrates acceleration detection and angle / displacement detection functions. It can synchronously and accurately collect acceleration detection data and three-dimensional motion trajectory data of the elastic steel sheet 2. The acquisition frequency and detection accuracy are selected according to actual needs. It can accurately capture the minute deformation and displacement of the elastic steel sheet 2 under the action of fluid dynamic pressure.

[0066] A sealing gasket is added between the mounting base of the first sensor 3 and the detection end face of the elastic steel sheet 2. Sealing bolts are sequentially passed through the sensor mounting base, the sealing gasket, and the detection end of the elastic steel sheet 2 to complete the fixation. The gap between the sensor and the steel sheet is sealed using a potting process to ensure that the first sensor 3 and the elastic steel sheet 2 deform and displace synchronously. The detection data can truly and accurately reflect the actual posture changes of the elastic steel sheet 2, highly matching the fluid flow state. The signal line of the first sensor 3, after being led out from the sensor body, is directly passed through the wiring groove 21 of the elastic steel sheet 2, extending along the wiring groove 21 to the hollow wiring channel of the fixed small steel plate 1, achieving a concealed arrangement of the signal line and effectively protecting the signal line from fluid erosion damage.

[0067] The pressure detection component 4 is an independent pressure detection structure, which is installed inside the fluid pipeline 6. It works in conjunction with the fixed small steel plate 1 to realize pressure data acquisition. It consists of two pressure sensors, a second sensor 41 (front S1) and a third sensor 42 (rear S2). Both are pressure detection elements of the same specification and accuracy. It is preferably a diffused silicon pressure sensor, which has good corrosion resistance and detection stability. It can adapt to the pressure detection requirements of different fluid media such as liquids and gases. The detection range is selected according to the actual working pressure of the fluid pipeline 6.

[0068] The second sensor 41 is fixedly installed at a preset position on the inner wall of the inlet end of the fluid pipeline 6 using a sealing gasket and fastening bolts. The third sensor 42 is installed at a preset position on the inner wall of the outlet end of the fluid pipeline 6 using the same fixing method. Both sensors are symmetrically distributed on both sides of the inlet and outlet of the fluid pipeline 6, centered on the fixing steel plate 1, and are installed on straight sections of the fluid pipeline 6. This ensures that the collected pressure data accurately reflects the actual fluid pressure at the inlet and outlet of the pipeline, avoiding detection errors caused by flow field disturbances. The sealing gasket is made of oil-resistant and corrosion-resistant elastic material and is fitted onto the outside of the fastening bolts, forming a sealing layer between the sensor and the inner wall of the pipeline. This ensures the stability of the sensor's fixation and effectively prevents fluid leakage from the installation position.

[0069] The signal lines of the second sensor 41 and the third sensor 42 are led out from the sensor body and run along the inner wall of the fluid pipe 6 to the sealing wire hole on the lower side wall of the fixed small steel plate 1. They are then passed through the wire hole into the hollow wire channel of the fixed small steel plate 1. After the wires are passed through, the wire hole is sealed with glue to prevent fluid from seeping into the hollow channel. The signal lines of the second sensor 41 and the third sensor 42 are then combined in the channel to achieve the centralized arrangement of all sensor signal lines.

[0070] Signal interface 5 is a waterproof integrated signal output interface, which is directly mounted on the wall of fluid pipe 6 using an embedded installation method. It is preferably located directly below the fixed small steel plate 1 and is connected to the hollow wiring channel inside the fixed small steel plate 1.

[0071] The signal interface 5 is a through-wall waterproof structure. Its wiring end extends to the inside of the fluid pipe 6 and is connected to the hollow wiring channel of the fixed small steel plate 1, and is firmly connected to the signal lines of each sensor gathered in the channel. The signal output end extends to the outside of the fluid pipe 6 and can be directly connected to the external data processing terminal and display terminal to realize the real-time and stable transmission of detection data.

[0072] The assembly gap between the signal interface 5 and the wall of the fluid pipeline 6, as well as the connection between the signal interface 5 and the hollow wiring channel of the fixed small steel plate 1, are all treated with double sealing by sealing gaskets and potting process. That is, the gap is first filled by sealing gaskets, and then the connection is sealed with potting. This ensures the overall sealing performance of the fluid pipeline 6 and prevents fluid leakage. It also effectively isolates the fluid medium from contact with the internal components of the interface, avoiding faults such as short circuits and signal interruptions, and is suitable for fluid detection conditions in the pipeline.

[0073] All electronic components and wiring structures in this device undergo comprehensive sealing and protection. Specifically, the circuit boards of the first sensor 3, the second sensor 41, and the third sensor 42 are all encapsulated with potting compound. The interior of the wiring groove 21 of the elastic steel sheet 2 and all openings in the hollow wiring channel of the fixing small steel plate 1 are also sealed and filled using potting compound. After potting, a dense and robust sealing layer is formed, effectively isolating the fluid medium from direct contact with electronic components and signal lines, preventing corrosion and short circuits caused by fluids. Simultaneously, it enhances the structural strength of the wiring groove 21 and the hollow wiring channel, preventing channel damage caused by fluid impact.

[0074] Simultaneously, when two or more elastic steel plates are set, it also has the function of detecting foreign objects in the pipeline. This embodiment is explained based on the attitude change data or unidirectional force comparison analysis of five elastic steel plates (F1-F5). Figure 3As shown, five elastic steel sheets (F1-F5) are evenly distributed circumferentially around the fixed part 11, covering the main flow field area within the fluid pipe 6. Under normal fluid flow conditions, the unidirectional force and attitude change data of each elastic steel sheet under the action of the fluid are consistent. When solid foreign objects or large particles flow or get stuck in the pipe, they will generate additional impact force or obstruction on the contacting elastic steel sheet 2, causing the unidirectional force or attitude change data of the corresponding elastic steel sheet 2 to deviate significantly from those of other steel sheets, forming an identifiable abnormal feature. The specific identification logic is based on the difference characteristics of the data: when the unidirectional force or attitude change data of a certain elastic steel sheet 2 suddenly shows a significant difference from the other four, and this difference is instantaneous and irregular, it is determined that a flowing foreign object has passed through the detection area of ​​that line; when the unidirectional force or attitude change data of two or more adjacent elastic steel sheets continuously show a characteristic of being larger or smaller, and maintains a stable significant difference from the data of the other lines, it is determined that a foreign object is stuck in the coverage area of ​​the adjacent steel sheet, causing the unidirectional force state of the steel sheet to be abnormal. It can be seen that the present invention can accurately identify flowing foreign objects and stuck foreign objects by comparing the attitude change data or unidirectional force of five elastic steel sheets, without the need for additional special detection equipment, thus expanding the application scenarios of the device and reducing the troubleshooting cost of pipeline operation and maintenance. It is worth noting that this embodiment uses five elastic steel sheets 2 for illustration for ease of understanding, but it is not intended to limit the specific embodiment.

[0075] The working process of the device in this embodiment is as follows: First, the on-site installation and debugging of the device are completed. The fixing small steel plate 1 is sealed and fixed to the preset detection position on the inner wall of the fluid pipeline 6 by welding or bolting. At the same time, the signal interface 5 is embedded and assembled in the corresponding position below the fixing small steel plate 1. According to the actual pipe diameter of the fluid pipeline 6 and the liquid level required for detection, the converging ends of the elastic steel plates 2 are stacked and connected to the fixing part 11 of the fixing small steel plate 1 by screws. With the anti-loosening nut not locked, the tilt angle of each elastic steel plate 2 is adjusted so that the multiple steel plates are radially distributed with the fixing part 11 as the center. After adapting to the detection conditions, the anti-loosening nut is locked to complete the layout of the elastic sensing unit. The first sensor 3 is fixedly mounted on the detection end of the elastic steel sheet 2 with sealing bolts. Its signal line passes through the wiring groove 21 and is connected to the hollow wiring channel of the fixing small steel plate 1. The second sensor 41 and the third sensor 42 are then fixedly installed on the inner walls of the inlet and outlet of the fluid pipeline 6, respectively. Their signal lines run along the inner wall of the pipeline and are introduced into the hollow wiring channel through the sealing wiring hole at the lower end of the fixing small steel plate 1. After the signal lines of all sensors are gathered in the channel, they are firmly connected to the terminal of the signal interface 5. Finally, each sensor is debugged to normal working condition to complete the installation of the entire device.

[0076] After installation, the device enters the benchmark calibration phase. Upon power-up and initialization, with the fluid pipe 6 empty, the initial position benchmark values ​​of the corresponding elastic steel plates 2 are collected by each of the first sensors 3 and stored in an external data processing terminal. Subsequently, fluid is injected into the fluid pipe 6 until it is full and stationary. Calibration is performed using the initial position benchmark value as zero. The position calibration values ​​of the corresponding elastic steel plates 2 are collected again by each of the first sensors 3, completing the benchmark data calibration and storage, providing a reference basis for subsequent detection data calculations.

[0077] Once in the real-time detection phase, when fluid flows within the fluid pipe 6, the dynamic pressure of the fluid continuously acts on each elastic steel sheet 2, causing the elastic steel sheet 2 to undergo elastic deformation matching the fluid velocity and flow rate. This, in turn, drives each of the first sensors 3 to generate three-dimensional displacement. The first sensors 3 synchronously and in real-time collect acceleration detection data and three-dimensional motion trajectory data of the elastic steel sheet 2. Simultaneously, the second sensor 41 and the third sensor 42 synchronously collect pressure detection data at the inlet and outlet ends of the fluid pipe 6. All detection data collected by the sensors are transmitted to the signal interface 5 through the hollow wiring channel of the fixed small steel plate 1, and then uniformly transmitted from the signal interface 5 to the external data processing terminal, providing accurate, comprehensive, and real-time data support for subsequent calculation of fluid velocity and flow rate.

[0078] Simultaneously, during the real-time detection phase, the device performs foreign object detection. Based on the acceleration detection data received for flow velocity calculation, the external data processing terminal performs cross-comparison analysis of the real-time values ​​and trends of the data from the five first sensors 3. When the detected data characteristics meet the criteria for determining flowing or stuck foreign objects, the terminal immediately generates a foreign object detection alarm, simultaneously recording the time of the anomaly, the number of the involved elastic steel sheet, and the specific three-dimensional displacement anomaly value, providing pipeline maintenance personnel with accurate fault warnings and foreign object location information.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A method for detecting fluid velocity and flow rate based on attitude recognition, characterized in that, The method includes: Step 1: Install at least one elastic steel sheet inside the fluid pipeline, with a first sensor mounted on the free end of the elastic steel sheet; Step 2: Acquire the initial position reference value of each first sensor when the fluid pipeline is empty, and calibrate using the initial position reference value as the zero point to obtain the position calibration value of each first sensor when the pipeline is full and stationary. Step 3: When there is fluid in the fluid pipeline, acceleration detection data and three-dimensional motion trajectory data are collected in real time by each first sensor; the difference between the three-dimensional motion trajectory data and the position calibration value is calculated to obtain the attitude change data; Step 4: Perform time integration on the acceleration detection data to obtain the basic value of fluid velocity, and then correct the basic value of fluid velocity by combining it with attitude change data to obtain the actual flow velocity in the fluid pipe. Step 5: Collect pressure detection data at the inlet and outlet of the fluid pipeline, combine it with the temperature detection data of the fluid medium to obtain the operating condition calibration coefficient, and calculate and output the real-time volumetric flow rate in the fluid pipeline based on the actual flow velocity, the cross-sectional area parameters of the fluid pipeline and the operating condition calibration coefficient.

2. The fluid velocity and flow rate detection method based on attitude recognition according to claim 1, characterized in that, In step 2, when collecting the initial position reference value and position calibration value, the data should be recorded according to the installation position number of the elastic steel sheet. Different numbers of elastic steel sheets correspond to different radiation distribution angles and detection area difference parameters.

3. The fluid velocity and flow rate detection method based on attitude recognition according to claim 1, characterized in that, Step 3, after collecting acceleration detection data and three-dimensional motion trajectory data, also includes: performing data preprocessing on the acceleration detection data and three-dimensional motion trajectory data, removing abnormal detection data that exceeds a preset threshold, and performing smoothing and noise reduction processing on the continuously collected valid data.

4. The fluid velocity and flow rate detection method based on attitude recognition according to claim 3, characterized in that, In step 3, the difference between the three-dimensional motion trajectory data and the position calibration value is calculated to obtain attitude change data, including: Extract the first coordinate value from the three-dimensional motion trajectory data, and extract the second coordinate value from the position calibration value; By performing an axis-by-axis difference calculation on the first coordinate value and the second coordinate value, the displacement changes of each elastic steel sheet in the X-axis direction, Y-axis direction, and Z-axis direction are calculated. The displacement changes in the X-axis, Y-axis, and Z-axis directions are correlated and combined to generate the attitude change data corresponding to each elastic steel plate.

5. The fluid velocity and flow rate detection method based on attitude recognition according to any one of claims 1 to 4, characterized in that, In step 4, the acceleration detection data is integrated over time to obtain the basic fluid velocity value, and the calculation expression is: ； In the formula, This represents the basic value of fluid velocity; This represents acceleration detection data; Represents the initial velocity component of the fluid; Indicates the time.

6. The fluid velocity and flow rate detection method based on attitude recognition according to claim 5, characterized in that, In step 4, the baseline fluid velocity value is corrected based on the attitude change data, including: Based on the mapping solution model, the uniaxial force of each elastic steel sheet is calculated according to the attitude change data. Based on the numerical and distribution characteristics of the uniaxial force, the current working condition is determined and corresponding correction calculations are performed. If the unidirectional force of each elastic steel sheet is distributed differently, it is determined to be a non-full pipe condition. At this time, the liquid level in the pipe is calculated based on the difference in unidirectional force of different elastic steel sheets. Then, the velocity correction coefficient is obtained by combining the liquid level and the preset non-full pipe correction coefficient curve, and the basic value of fluid velocity is corrected. If the uniaxial force of each elastic steel sheet is non-constant and changes dynamically with time, it is determined to be a full-pipe flow condition. Under the full-pipe flow condition, the weighted sum of each uniaxial force is used to obtain the comprehensive force value. Then, according to the preset comprehensive force value-flow velocity correction coefficient mapping relationship, the velocity correction coefficient is obtained to correct the basic value of fluid velocity. If the uniaxial force of each elastic steel sheet is a fixed value and there is no fluctuation, it is determined to be a full-pipe static working condition. The velocity correction coefficient is obtained according to the preset static pressure-correction coefficient mapping table, and the basic value of fluid velocity is corrected.

7. The fluid velocity and flow rate detection method based on attitude recognition according to any one of claims 1 to 4, characterized in that, In step 5, the real-time volumetric flow rate within the fluid pipe is calculated and output based on the actual flow velocity, the cross-sectional area parameters of the fluid pipe, and the operating condition calibration coefficient. The calculation expression is as follows: ； In the formula, Indicates real-time volumetric flow rate; This represents the cross-sectional area of ​​the fluid conduit; Indicates the actual flow rate; Indicates the temperature coefficient; Indicates the pressure coefficient; This represents the calibration coefficient.

8. The fluid velocity and flow rate detection method based on attitude recognition according to any one of claims 1 to 4, characterized in that, The elastic steel sheet is set in two or more, and foreign objects in the pipeline are detected by using two or more elastic steel sheets.

9. The fluid velocity and flow rate detection method based on attitude recognition according to claim 8, characterized in that, Foreign object detection in pipelines is performed using two or more elastic steel plates, including: Real-time acquisition of attitude change data or unidirectional force output from each first sensor; When the attitude change data or unidirectional force of a certain elastic steel sheet suddenly shows a significant difference from other sheets, and the difference is instantaneous and irregular, it is determined that a flowing foreign object has passed through the coverage area of ​​the corresponding elastic steel sheet. When the attitude change data or unidirectional force of two or more adjacent elastic steel sheets continuously show a characteristic of being too large or too small, and maintains a stable and significant difference from the data of the other lines, it is determined that there is a foreign object stuck in the coverage area of ​​the corresponding elastic steel sheet.

10. The fluid velocity and flow rate detection method based on attitude recognition according to claim 9, characterized in that, Also includes: When a foreign object is detected, a foreign object detection alarm is generated, and the time of the anomaly, the number of the elastic steel sheet involved, and the abnormal displacement value are recorded.

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