Sonar control method based on real-time rendering of water depth three-dimensional model based on multi-dimensional mechanical sonar

Abstract

This application discloses a sonar control method for real-time rendering of a three-dimensional water depth model based on a multi-dimensional mechanical sonar. The control method includes the following steps: Step S21: configuring a control byte for a PLC control module and setting the clock for the PLC control module; Step S22: controlling the sonar power supply; and Step S23: controlling the sonar rotation. Through sonar rotation control, the sonar can acquire the riverbed silt thickness monitoring and analysis data required for real-time rendering of a three-dimensional water depth model based on a multi-dimensional mechanical sonar. This method achieves relatively accurate data while being unattended and power consumption controlled, enabling precise control of the sonar rotation angle. This method is well-suited to achieving accurate monitoring of riverbed silt in an automated, unmanned environment.

Description

Technical Field

[0001] The present application relates to the field of river monitoring technology, and in particular to a sonar control method for real-time drawing of a three-dimensional water depth model based on a multi-dimensional mechanical sonar. Background Art

[0002] The increasing accumulation of silt in river channels has severely impacted their functions, including flood control, drainage, irrigation, water supply, and navigation. To restore these functions, dredging and desilting are often necessary. Since it's impossible to detect silt levels within river channels, the extent of siltation in both open channels and culverts remains unknown. Regular desilting is necessary to maintain the proper functioning of river channels when silt reaches a certain thickness.

[0003] To effectively measure the thickness of river sedimentation, existing technologies typically use a combination of photosensitive sonar and density sonar within a monitoring module, resulting in a complex structure. Manual monitoring of sedimentation levels is not only labor-intensive but also prone to missed detections and even personal injury. If timely desilting fails, the river's flood control and drainage capabilities will decline, further deteriorating the regional water environment.

[0004] The existing technology lacks effective, real-time, and visual monitoring methods and means to improve the detection effect and accuracy of river siltation.

[0005] The existing technology lacks an effective control method for sonar to conduct comprehensive scanning and monitoring of riverbed silt. The existing control method cannot accurately control the sonar to move back and forth and rotate in the river channel. The acquired riverbed silt data in the river channel has large deviations and cannot meet the needs of silt analysis and monitoring. Summary of the Invention

[0006] The present application provides a sonar control method for real-time drawing of a three-dimensional water depth model based on a multi-dimensional mechanical sonar, which is used to solve the technical problems in the prior art that riverbed silt is difficult to be reliably monitored by sonar and the existing control methods are unable to control the sonar to accurately detect the silt.

[0007] The present application provides a sonar control method for real-time rendering of a three-dimensional water depth model based on a multi-dimensional mechanical sonar. The method for real-time rendering of a three-dimensional water depth model based on a multi-dimensional mechanical sonar comprises the following steps:

[0008] Step S10: The sonar is fixedly installed under the water surface of the river. The sonar is connected to the steering gear. The sonar rotates downward or swings back and forth with the steering gear. After the sonar rotates to a certain position, it can return to the original monitoring point in the opposite direction.

[0009] Step S20: An attitude meter is provided above the sonar, which monitors the attitude of the sonar and obtains the real-time rotation angle of the sonar as the sonar rotates;

[0010] Step S30: The sonar scans each scanning point of the underwater silt in the river channel, calculates the silt thickness at the scanning point and the distance between any two scanning points according to the rotation angle of the sonar, and draws a three-dimensional model of the underwater silt based on the calculation results;

[0011] Step S40: Obtaining the thickness of the silt in the underwater silt cross-section siltation map based on the obtained three-dimensional model, and determining whether the silt needs to be cleaned in combination with the river channel depth;

[0012] It includes: a PLC control module, a detection drive module, a power supply pole, a wind power generation component, a solar power generation component, a control box, and a suspension bracket; a sonar detection device and a steering gear are arranged in the detection drive module; the detection drive module is arranged on the bottom surface of the suspension bracket; the suspension bracket is installed on the inner wall of the river channel through a bolt assembly; the sonar and the steering gear are accommodated in the detection drive module; the PLC control module is electrically connected to the steering gear;

[0013] The control method comprises the following steps:

[0014] Step S21: configuring control bytes for the PLC control module and setting the clock of the PLC control module;

[0015] Step S22: Control the sonar power supply: configure the communication transmission parameters, move the number of bytes to be sent 0D into VB45, and move the start character and end character into VB46, VB47, and VB58 respectively; call the communication subroutine; call the clock setting subroutine; call the read clock instruction and store the PLC clock in VB53-VB58; determine whether the current time is in any time period of 0-1 o'clock, 8-9 o'clock, or 16-17 o'clock. If the condition is met, set the virtual coil M1.5 to 1; if M1.5 is 1, let Q0.2 output be 1 to turn on the sonar power supply; determine the received instruction, if the power supply enable VB97 is hexadecimal 11, turn on the sonar power supply; call the rotation control subroutine; determine the received instruction, when VB97 is not hexadecimal 11 and M1.5 is in the reset state, disconnect the sonar power supply;

[0016] Step S23: Control sonar rotation: Determine whether the received command VB97 starts power supply and whether VB98 automatic rotation is enabled, or whether M1.5 is 1; if the conditions are met, timer T106 starts timing and resets every 10 minutes; counter C50 is used to record the number of times T106 is reset. When the number of rotations is greater than or equal to 11 times, the counter is automatically reset; when timer T106 starts timing or communication causes the servo to rotate to zero degrees, the special byte of the output PWM signal is configured according to the control mode of the servo; the pulse output control word includes PWM0 control byte SMB67, PWM0 cycle time value SMW68, and PWM0 high level width value SMW70; configure SMB67 to 0X83, that is, the time base is turned on for 1us, which can update the cycle time and pulse width output mode PWM0; configure PWM0 cycle time value SMW68 to 20000 (20ms), The PWM0 pulse width value SMW70 is configured to the middle value 1500 to return the servo angle to zero; call the pulse output instruction PLS and configure the port to 0, so that a pulse signal with a period of 20ms and a pulse width of 1.5ms can be generated at Q0.0; set M0.3 to 1 as a flag, and move the angle information 0X00 into VB49 to prepare for waiting for query, start timer T36 timing, set the pulse width to 0 after two cycles, call the pulse sending instruction again, stop sending pulses, and reset M0.3; after turning to 45 degrees and measuring the angle reset, it is necessary to turn off the power and rotation enable. According to the conditions, when the number of rotations is greater than 10 times and the timer is greater than 500ms, set the power enable VB97 and the automatic rotation enable VB98 to 0X10, set the pulse output control word to 0, call the pulse output instruction to make it effective, and reset M1.5 at the same time to control the sonar to move in the river channel and obtain the real-time rotation angle of the sonar.

[0017] Preferably, the step S30 includes the following steps:

[0018] Step S301: Set a fixed angle value α for each rotation of the sonar, and calculate the distance E of the silt scanned after the sonar rotates by the fixed angle value according to the following formula:

[0019] E=B*cosα°

[0020] Where B is the depth of the sonar from the river surface;

[0021] Step S302: Calculating the distance between the silt scanning points scanned by the sonar after each rotation of the sonar by a fixed angle value, and calculating the silt thickness D between adjacent silt scanning points based on the distance between the silt scanning points;

[0022] Step S301: After the sonar rotates n times by a fixed angle value, multiple silt scanning point spacing values ​​are obtained according to steps S301 to S302.

[0023] Preferably, the step S30 includes the following steps:

[0024] Step S303: After the sonar rotates by a fixed angle each time, the distance Cn between the sonar and the bottom mud surface is measured, and the mud thickness Dn at each scanning point is calculated according to Dn=B-Cn; where B is the depth of the sonar from the river surface.

[0025] Preferably, the power pole and the suspension bracket are spaced apart; the power pole is set on the river bank; a wind power generation component is set on the top surface of the power pole; a solar power generation component is set on the power pole below the wind power generation component; a control box is set on the power pole below the solar power generation component; the wind power generation component is electrically connected to the control box; the solar photovoltaic panel is electrically connected to the control box; and the control box is electrically connected to the detection drive module.

[0026] Preferably, the PLC control module is Siemens S7-200 Smart.

[0027] Preferably, step S21 includes the following steps:

[0028] Step S211: Configure the free port control byte SMB30, configure the receive message control byte SMB87, enable the message receive function, configure the 6th bit "sc" and the 5th bit "ec" to 1, and the other bits to 0, write the start character 0D to SMB88, the end character 7E to SMB89, set the receive character buffer to 100 bytes, and write 100 to SMB94;

[0029] Step S212: Call the ATCH instruction to enable receive and transmit interrupts. Event 9 is a transmit interrupt, and event 23 is a receive interrupt. Call the (ENI) instruction to enable interrupts. Call the (RCV) receive instruction to start waiting for a receive command. The received data is stored in the bytes following VB94. During communication, the corresponding interrupt service routine will be entered after the send or receive is completed.

[0030] Step S213: After the PLC completes the reception, it will feedback the corresponding power supply status and angle information to the PC. After receiving, when entering the interrupt, the sonar power supply status will be configured to VB48. When the sonar is powered on, VB48 is 11, and when the sonar is powered off, VB48 is 0. The sending instruction XMT is called to send the status information after VB45 to the PC.

[0031] Preferably, step S21 includes the following steps:

[0032] Step S214: The current network time is sent to the PLC via communication. The PC sends it as OD OA XX XX XX XX DC year month day hour minute second 7E.

[0033] Step S215: Set the clock subroutine. After receiving the command, the PLC will judge the correctness of the instruction through the start character (VB95 and VB96) and the end character (VB108), and determine whether to set the clock by setting the clock enable bit (VB101); after the judgment is correct, enable coil M0.1, and use the rising edge of M0.1 to move the time in VB102-VB107 into the transfer register VB202-VB207; then call the set clock instruction (SET_RTC) to write the time in VB202-VB207 into the PLC system; after the setting is completed, move 16#10 into the set clock enable bit (VB101) to disable it.

[0034] The beneficial effects of this application include:

[0035] 1) The sonar control method for real-time drawing of a three-dimensional water depth model based on a multi-dimensional mechanical sonar provided in this application can, through sonar rotation control operations, enable the sonar to obtain the riverbed silt thickness monitoring and thickness analysis data required by the method for real-time drawing of a three-dimensional water depth model based on a multi-dimensional mechanical sonar in the river bottom area. In the case of unmanned operation and controlled power consumption, more accurate data can be obtained, and accurate control of the sonar rotation angle can be achieved, which is well adapted to this method, thereby realizing accurate monitoring of riverbed silt in an automatic unmanned environment.

[0036] 2) The sonar control method provided in this application for real-time drawing of a three-dimensional water depth model based on a multi-dimensional mechanical sonar adopts a PLC control module to realize power supply control of the sonar according to clock instructions, thereby reducing the power consumption of the sonar. While ensuring reliable power supply control of the sonar, power consumption is saved, and the sonar used in the field environment is guaranteed to be powered for a longer period of time, thereby reducing the occurrence of situations where the sonar cannot move due to lack of power and thus cannot be monitored, thereby ensuring effective monitoring of riverbed silt. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the method for real-time rendering of a three-dimensional water depth model based on multi-dimensional mechanical sonar provided in this application;

[0038] Figure 2 This is a schematic diagram of the rotation of the sonar setting position in a specific embodiment of the present application;

[0039] Figure 3 This is a schematic diagram of sonar rotation scanning measurement results in a specific embodiment of the present application;

[0040] Figure 4 This is a schematic diagram of the calculation results of the sonar scanning point spacing in a specific embodiment of this application;

[0041] Figure 5 Draw a schematic diagram of the three-dimensional model structure in a specific embodiment of this application;

[0042] Figure 6 This is a schematic diagram of the main structure of the power pole provided for this application;

[0043] Figure 7 A schematic diagram of the rear view of the power pole provided for this application;

[0044] Figure 8 This is a schematic diagram of the main structure of the fixing frame provided in this application;

[0045] Figure 9 Schematic diagram of the explosion structure of the detection drive module provided in this application;

[0046] Figure 10 Schematic diagram of the module connection structure provided for this application;

[0047] Figure 11 Schematic diagram of the sonar control method for real-time rendering of a three-dimensional water depth model based on a multi-dimensional mechanical sonar provided in this application;

[0048] Figure 12 This is a logic block diagram of the communication sub-method in Example 1 of the present application;

[0049] Figure 13 This is a logic block diagram of the receiving interrupt program and the sending interrupt method in Example 1 of the present application; wherein a) is the receiving interrupt program; b) is the sending interrupt program;

[0050] Figure 14 This is a logic block diagram of the clock setting sub-method in Example 1 of the present application;

[0051] Figure 15 This is a logic block diagram of the sonar power control method in Example 1 of the present application;

[0052] Figure 16 This is a logic block diagram of the sonar rotation control method in Example 1 of the present application;

[0053] Legend:

[0054] 1. Wind blades; 2. Solar photovoltaic panels; 3. Control box; 4. Power pole; 5. Mounting base; 7. Mounting plate; 9. Fixing buckle; 10. River channel suspension rod; 11. Mounting sleeve; 12. Strength support frame; 13. First river channel fixing tube; 132. Second river channel fixing tube; 14. Detection drive module; 15. Connecting base; 16. Top plate; 17. Connecting rod; 18. Electronic compartment; 19. Middle plate; 20. Bottom plate; 21. Bearing bracket; 22. Bearing; 23. Drive bracket; 24. Servo; 25. Sensor bracket; 26. Detection sensor; 27. Housing. DETAILED DESCRIPTION

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0056] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0057] The technical means that are not described in detail in this application and are not used to solve the technical problems of this application are all set according to the common knowledge in this field, and can be implemented in a variety of common knowledge settings.

[0058] See also Figures 1 to 10 The method provided in this application for real-time rendering of a three-dimensional water depth model based on a multi-dimensional mechanical sonar comprises the following steps:

[0059] Step S10: The sonar is fixedly installed under the water surface of the river. The sonar is connected to the steering gear 24. The sonar rotates downward or swings back and forth with the steering gear 24. After the sonar rotates to a certain position, it returns to the original monitoring point in the opposite direction.

[0060] Step S20: An attitude meter is provided above the sonar, which monitors the sonar attitude and obtains the real-time rotation angle of the sonar as the sonar rotates;

[0061] Step S30: The sonar scans each scanning point of the underwater silt in the river channel, calculates the silt thickness at the scanning point and the distance between any two scanning points according to the rotation angle of the sonar, and draws a three-dimensional model of the underwater silt based on the calculation results;

[0062] It includes: a PLC control module, a detection drive module, a power supply pole, a wind power generation component, a solar power generation component, a control box, and a suspension bracket; a sonar detection device and a steering gear are arranged in the detection drive module; the detection drive module is arranged on the bottom surface of the suspension bracket; the suspension bracket is installed on the inner wall of the river channel through a bolt assembly; the sonar and the steering gear are accommodated in the detection drive module; the PLC control module is electrically connected to the steering gear;

[0063] The control method comprises the following steps:

[0064] Step S21: configuring control bytes for the PLC control module and setting the clock of the PLC control module;

[0065] Step S22: Control the sonar power supply: configure the communication transmission parameters, move the number of bytes to be sent 0D into VB45, and move the start character and end character into VB46, VB47, and VB58 respectively; call the communication subroutine; call the clock setting subroutine; call the read clock instruction and store the PLC clock in VB53-VB58; determine whether the current time is in any time period of 0-1 o'clock, 8-9 o'clock, or 16-17 o'clock. If the condition is met, set the virtual coil M1.5 to 1; if M1.5 is 1, let Q0.2 output be 1 to turn on the sonar power supply; determine the received instruction, if the power supply enable VB97 is hexadecimal 11, turn on the sonar power supply; call the rotation control subroutine; determine the received instruction, when VB97 is not hexadecimal 11 and M1.5 is in the reset state, disconnect the sonar power supply;

[0066] Step S23: Control sonar rotation: Determine whether the received command VB97 starts power supply and whether VB98 automatic rotation is enabled, or whether M1.5 is 1; if the conditions are met, timer T106 starts timing and resets every 10 minutes; counter C50 is used to record the number of times T106 is reset. When the number of rotations is greater than or equal to 11 times, the counter is automatically reset; when timer T106 starts timing or communication causes the servo to rotate to zero degrees, the special byte of the output PWM signal is configured according to the control mode of the servo; the pulse output control word includes PWM0 control byte SMB67, PWM0 cycle time value SMW68, and PWM0 high level width value SMW70; configure SMB67 to 0X83, that is, the time base is turned on for 1us, which can update the cycle time and pulse width output mode PWM0; configure PWM0 cycle time value SMW68 to 20000 (20ms), The PWM0 pulse width value SMW70 is configured to the middle value 1500 to return the servo angle to zero; call the pulse output instruction PLS and configure the port to 0, so that a pulse signal with a period of 20ms and a pulse width of 1.5ms can be generated at Q0.0; set M0.3 to 1 as a flag, and move the angle information 0X00 into VB49 to prepare for waiting for query, start timer T36, set the pulse width to 0 after two cycles, call the pulse sending instruction again, stop sending pulses, and reset M03.; after turning to 45 degrees and measuring the angle reset, it is necessary to turn off the power and rotation enable. According to the conditions, when the number of rotations is greater than 10 times and the timer is greater than 500ms, set the power enable VB97 and the automatic rotation enable VB98 to 0X10, set the pulse output control word to 0, call the pulse output instruction to make it effective, and reset M1.5 at the same time to control the sonar to move in the river and obtain the real-time rotation angle of the sonar.

[0067] After accurately analyzing and processing the acquired data using this method, a riverbed silt contour map can be drawn in real time, thereby improving the reliability of riverbed silt monitoring.

[0068] The use of a PLC control module for sonar power supply control can achieve remote reduction of sonar power consumption. At the same time, according to the rotation requirements of the above-mentioned riverbed silt monitoring method, accurate control of the remote rotation angle of the sonar can be achieved, thereby achieving remote and automatic acquisition of the data required for monitoring riverbed silt, and performing accurate analysis and measurement of the riverbed silt thickness to achieve automatic monitoring.

[0069] The detection drive module 14 feeds back the data to the cloud platform, which collects the monitoring data of various locations and uses software to perform 3D modeling on the data fed back. The operator can obtain the monitoring data and 3D model remotely, and the monitoring personnel can operate the sensor device to monitor and view the data in real time. The data or 3D model can be used to determine whether to carry out silt removal, the silt removal method and the degree of silt removal. The real-time monitoring device for the siltation depth in front of the water conservancy and hydropower gate can monitor the siltation situation in real time. The silt removal method can be determined by data or 3D model, which can reduce the risk of manual monitoring and avoid missed detection and unsafe factors during manual monitoring. The real-time monitoring device for the siltation depth in front of the water conservancy and hydropower gate can more effectively monitor the siltation situation and river flow situation in real time, and deal with the river siltation situation and water flow situation in a timely manner.

[0070] It includes: a PLC control module, which is electrically connected to the servo 24; by setting the PLC control module, the rotation of the servo 24 can be controlled. The servo 24 can adjust the angle, fixed number of rotations and the duration of each rotation according to the programming settings. The duration between one back and forth rotation of the servo 24 and another back and forth rotation can be set. The above time limits, times and angles can be adjusted and changed according to the measurement position.

[0071] Preferably, step S30 includes the following steps:

[0072] Step S301: Set a fixed angle value α for each rotation of the sonar, and calculate the distance E of the silt scanned after the sonar rotates by the fixed angle value according to the following formula:

[0073] E=B*cosα°

[0074] Where B is the depth of the sonar from the river bottom;

[0075] Step S302: Calculating the distance between the silt scanning points scanned by the sonar after each rotation of the sonar by a fixed angle value, and calculating the silt thickness D between adjacent silt scanning points based on the distance between the silt scanning points;

[0076] Step S301: After the sonar rotates n times by a fixed angle value, multiple silt scanning point spacing values ​​are obtained according to steps S301 to S302.

[0077] Since the mud thickness D=BC, B is the distance between the sonar and the water bottom; C is the distance between the sonar and the mud surface at the bottom of the water.

[0078] Preferably, step S30 includes the following steps:

[0079] Step S303: After the sonar rotates by a fixed angle each time, the distance Cn between the sonar and the bottom mud surface is measured, and the mud thickness Dn at each scanning point is calculated according to Dn=B-Cn; where B is the depth of the sonar from the river bottom.

[0080] The silt thickness at each sonar scanning point can be calculated.

[0081] After drawing a silt cross-section diagram based on the silt thickness Dn at each scanning point and the distance between adjacent scanning points obtained in the above steps, a three-dimensional model diagram of the river channel silt is obtained by drawing along the width of the river channel.

[0082] Preferably, the power pole and the suspension bracket are spaced apart; the power pole is set on the river bank; a wind power generation component is set on the top surface of the power pole; a solar power generation component is set on the power pole below the wind power generation component; a control box is set on the power pole below the solar power generation component; the wind power generation component is electrically connected to the control box; the solar photovoltaic panel is electrically connected to the control box; and the control box is electrically connected to the detection drive module.

[0083] Preferably, it includes: a sonar protection bracket; the sonar protection bracket is connected to the steering gear 24. The sonar protection bracket is driven by the steering gear 24, thereby effectively driving the sonar to rotate.

[0084] Preferably, the method comprises the following steps:

[0085] Step S40: Obtain an underwater silt three-dimensional model according to the above steps, obtain the thickness of the silt in the underwater silt cross-section deposition map based on the obtained three-dimensional model, and determine whether the silt needs to be cleaned in combination with the river channel depth.

[0086] Preferably, it includes: a display screen, the display screen is connected to the attitude meter data; the display screen is arranged in the monitoring room.

[0087] By setting up an attitude meter, the angle can be tilted as the sonar rotates. The sonar can be remotely monitored to see whether it is operating normally and the angle is normal, so that the measured data can be used to more accurately draw a three-dimensional model of underwater siltation.

[0088] Preferably, the fixed angle value α is 5°, and the sonar rotates n times = 9 times. According to this setting, more accurate measurement results can be obtained with a lower number of rotations.

[0089] Preferably, it includes: multiple sonars, a cloud platform, and a dam database; the sonars are arranged at intervals on the side walls of the river bank, and each sonar is electrically connected to the cloud platform; and the cloud platform is electrically connected to the dam database.

[0090] The sonar moves back and forth along the river channel, effectively surveying the silt within. The detection drive module 14 is powered by wind and solar power generation components installed on the riverbank, which continuously and reliably supply power to the module, enabling accurate, real-time detection of the silt within the river channel.

[0091] In a specific embodiment, the wind power generation component includes: a wind blade 1 and a circuit transmission component, and the wind blade 1 is arranged on the top surface of the power pole 4; the solar power generation component includes: a solar photovoltaic panel 2, and the solar photovoltaic panel 2 is arranged on the power pole 4, and other components are arranged according to the existing technology.

[0092] In a specific embodiment, it includes: multiple fixing buckles 9, the fixing buckles 9 are set on the back of the control box 3, and the fixing buckles 9 are detachably connected to the power pole 4; the solar power generation component includes: a solar photovoltaic panel 2, the solar photovoltaic panel 2 is set on the power pole 4; multiple fixing buckles 9 are set on the back of the solar photovoltaic panel 2, and the fixing buckles 9 are connected to the power pole 4.

[0093] In a specific embodiment, a mounting seat 5 is provided at the lower portion of the power pole 4 , and installation is achieved through the mounting seat 5 .

[0094] In a specific embodiment, a mounting plate 7 is provided on the back of the solar photovoltaic panel 2 , and the solar photovoltaic panel 2 is installed on the power pole 4 through the mounting plate 7 .

[0095] Preferably, the suspension bracket includes: a river channel suspension rod 10, a plurality of fixed brackets; the fixed brackets are inserted at intervals on the side wall of the river bank; the fixed brackets are sleeved on the river channel suspension rod 10 at intervals; and a detection drive module 14 is provided on the bottom surface of the river channel suspension rod 10.

[0096] Preferably, the fixing bracket includes: a first river channel fixing tube 13, a second river channel fixing tube 132, and a strength support frame 12; the first river channel fixing tube 13 is arranged vertically on the river channel side wall and is connected to the river channel side wall through a bolt assembly; the second river channel fixing tube 132 is sleeved on the river channel suspension rod 10 through the installation sleeve 11; the strength support frame 12 is obliquely arranged on the top of the second river channel fixing tube 132 and the side wall of the river channel suspension rod 10.

[0097] This arrangement can improve the reliability of fixing the detection drive module 14 in the river channel.

[0098] In one embodiment, the first channel fixing tube 13 comprises a vertical tube and a horizontal tube. The vertical tube is perpendicular to the horizontal tube and connected to the center of the horizontal tube. The vertical tube has multiple bolt holes in its sidewall, into which bolt assemblies are inserted. The horizontal tube is provided with a bolt assembly. The extended end of the bolt assembly is connected to the second channel fixing tube 132. This arrangement increases the number of fixed connection points between the channel suspension rod 10 and the inner wall of the channel, thereby improving the installation reliability of the in-channel fixing bracket.

[0099] In a specific embodiment, the detection drive module 14 used is similar to the structure of existing commercially available products, wherein the detection drive module 14 used includes: a connecting seat 15, a top plate 16, a connecting rod 17, an electronic compartment 18, a middle plate 19, a bottom plate 20, a bearing bracket 21, a bearing 22, a drive bracket 23, a servo 24, a sensor bracket 25, a detection sensor 26, and a housing 27.

[0100] A connector 15 is located on the top surface of the device. A middle plate 19 and a bottom plate 20 are located inside, dividing the interior into upper and lower layers. The upper layer houses an electronics compartment 18, while the lower layer houses a steering gear 24 and a sonar. The steering gear 24 and sonar are each secured via brackets. An outer shell 27 is located on the outer wall to effectively protect the internal components. The upper end of the connecting seat 15 is fixedly connected to the sensor link rod by welding, the lower end of the connecting seat 15 is fixedly connected to the sensor fixed upper bracket by welding, the sensor fixed upper bracket is fixedly connected to the top plate 16 by screws, the support rod passes through the middle plate 19, the top of the support rod is connected to the top plate 16 by welding, and the bottom of the support rod is fixedly connected to the bottom plate 20 by welding. The electronic warehouse 18 is placed on the middle plate 19, and the electronic warehouse 18 is fixedly connected to the middle plate 19 by screws. The bearing 22 bracket 21 is fixedly connected to one end of the bottom plate 20 by screws, the bearing 22 is fixedly connected to the bearing 22 bracket 21 by screws, the servo 24 bracket is fixedly connected to the other end of the bottom plate 20 by screws, and the servo 24 is fixedly connected to the servo 24 bracket by screws. The left end of the sensor bracket 25 is rotatably connected to the bearing 22 through a shaft, and the right end of the sensor bracket 25 is rotatably connected to the shaft of the servo 24. The sensor is fixedly connected to the sensor bracket 25 by screws, and the sensor housing 27 is fixedly connected to the top plate 16, the middle plate 19 and the bottom plate 20 by screws.

[0101] The detection drive module 14 is a waterproof structure and can be waterproof up to 30 meters underwater.

[0102] The device adopts two power generation modes, namely, wind blades 1 and solar cells, and can supply power to the control box according to different weather conditions.

[0103] The device can also be used to detect environmental conditions and monitor weather conditions such as wind, sunshine, and heavy rain.

[0104] See also Figure 10When in use, the base is fixed beside the river; the control box and the sensor device are connected through lines; the fixing base is fixed to the side of the river; the sensor is remotely started to make the detection drive module 14 enter normal working state; the sonar transmits the silt detection data back to the cloud platform; the cloud platform uses self-made software to 3D model the data; the 3D model can be transmitted back to the detection platform, so that the staff can remotely monitor the silt situation in the river and deal with the siltation in time.

[0105] The device is equipped with solar cells and blades 1, enabling it to convert solar and wind energy into electricity in the absence of a power source, thus providing real-time power to sensors and simultaneously monitoring weather conditions. Suitable for real-time monitoring of siltation depth in front of water conservancy and hydropower gates, the device includes a sensor device that feeds data back to a cloud platform. The cloud platform aggregates monitoring data from various locations and uses software to create 3D models of the feedback data. Operators can remotely access the monitoring data and 3D models, and monitor the data using the sensor device for real-time monitoring and viewing. The data or 3D model can be used to determine whether silt removal should be performed, the silt removal method, and the extent of silt removal. This device can monitor siltation in real time, and by determining the silt removal method based on the data or 3D model, it can reduce the risks of manual monitoring and avoid missed detections and unsafe factors that can occur during manual monitoring. This device can more effectively monitor siltation and river flow conditions in real time, allowing for timely action to address these issues.

[0106] Preferably, the PLC control module is Siemens S7-200 Smart.

[0107] This PLC control module enables remote and timed control of the sonar's power supply and angle. A Siemens S7-200 Smart PLC with an ST20 CPU is used as the controller to control the sonar's on / off state and rotation angle. The ST20 has 12 digital inputs and 8 digital outputs, including Q0.0 and Q0.1, which can output high-speed pulses (PTO / PWM) and a 7-day real-time clock backup, meeting the system's requirements.

[0108] Preferably, step S21 includes the following steps:

[0109] Step S211: Configure the free port control byte SMB30, configure the receive message control byte SMB87, enable the message receive function, configure the 6th bit "sc" and the 5th bit "ec" to 1, and the other bits to 0, write the start character 0D to SMB88, the end character 7E to SMB89, set the receive character buffer to 100 bytes, and write 100 to SMB94;

[0110] Step S212: Call the ATCH instruction to enable receive and transmit interrupts. Event 9 is a transmit interrupt, and event 23 is a receive interrupt. Call the (ENI) instruction to enable interrupts. Call the (RCV) receive instruction to start waiting for a receive command. The received data is stored in the bytes following VB94. During communication, the corresponding interrupt service routine will be entered after the send or receive is completed.

[0111] Step S213: After the PLC completes the reception, it will feedback the corresponding power supply status and angle information to the PC. After receiving, when entering the interrupt, the sonar power supply status will be configured to VB48. When the sonar is powered on, VB48 is 11, and when the sonar is powered off, VB48 is 0. The sending instruction XMT is called to send the status information after VB45 to the PC.

[0112] Preferably, step S21 includes the following steps:

[0113] Step S214: The current network time is sent to the PLC via communication. The PC sends it as OD OA XX XX XX XX DC year month day hour minute second 7E.

[0114] Step S215: Set the clock subroutine. After receiving the command, the PLC will judge the correctness of the instruction through the start character (VB95 and VB96) and the end character (VB108), and determine whether to set the clock by setting the clock enable bit (VB101); after the judgment is correct, enable coil M0.1, and use the rising edge of M0.1 to move the time in VB102-VB107 into the transfer register VB202-VB207; then call the set clock instruction (SET_RTC) to write the time in VB202-VB207 into the PLC system; after the setting is completed, move 16#10 into the set clock enable bit (VB101) to disable it.

[0115] Example

[0116] Figures 2 to 11 As shown, first configure the free port control byte SMB30 of the PLC control module, and then configure the receive message control byte SMB87. The PLC always responds after receiving a message as a slave, so the 7th bit "en" must be configured to 1, that is, the message receiving function is enabled. Use the start and end characters to detect the start and end of the message, configure the 6th bit "sc" and the 5th bit "ec" to 1, and the others to 0, that is, write 16#E0 to SMB87. Write the start character 0D to SMB88 and the end character 7E to SMB89. Finally, you need to set the size of the receive character buffer to ensure that it can be freely set after receiving all the data. Here it is set to 100 bytes, and 100 is written to SMB94. As shown Figure 12 .

[0117] After configuring the control bytes, enable receive and transmit interrupts by calling the ATCH instruction. Event 9 is the transmit interrupt, and event 23 is the receive interrupt. Enable interrupts by calling the (ENI) instruction. Finally, call the (RCV) receive instruction to begin waiting for a receive command. Received data is stored in the bytes following VB94. After a transmit or receive is completed, the corresponding interrupt service routine is entered, so the next step is to write the transmit and receive interrupt routines.

[0118] After the PLC receives the information, it will feedback the corresponding power supply status and angle information to the PC, such as Figure 13 a) Left, after receiving, when entering the interrupt, the sonar power supply status is configured to VB48. When the sonar is powered on, VB48 is 11, and when the sonar is powered off, VB48 is 0. The send instruction XMT is called to send the status information after VB45 to the PC.

[0119] like Figure 13 b) After the transmission is completed, the interrupt program can be entered by simply placing the PLC in the receiving state. (The communication data are all in hexadecimal.)

[0120] 2. Because the PLC system clock has only 7 days of power-off backup time, the PLC clock needs to be set to prevent clock distortion after a power outage. The current network time is sent via communication from the PC to the PLC using OD OA XX XX XX XX DC YYYYYMMDD HMMSS 7E.

[0121] Set the clock subroutine as Figure 14 As shown, after receiving the command, the PLC verifies the correctness of the instruction using the start character (VB95 and VB96) and the end character (VB108). It then determines whether to set the clock by setting the clock enable bit (VB101). If these are correct, coil M0.1 is enabled, and the rising edge of M0.1 shifts the times in VB102-VB107 into transfer registers VB202-VB207. The Set Clock instruction (SET_RTC) is then called to write the times in VB202-VB207 into the PLC system. Once the clock is set, bit 16#10 is shifted into the Set Clock Enable bit (VB101) to disable it.

[0122] 3. After setting the clock, you can write the sonar power control program. Here, put the sonar power control into the main program. Figure 15 ,The function of the main program also includes calling each subroutine and configuring related ,parameters.

[0123] The first step is to configure the parameters to be sent in the communication, move the number of bytes to be sent 0D (13 bits) into VB45, and move the start character and end character into VB46, VB47, and VB58 respectively.

[0124] The second step is to call the communication subroutine.

[0125] The third step calls the clock setting subroutine, and the fourth step calls the read clock instruction and stores the PLC clock in VB53-VB58.

[0126] The fifth step is to determine whether the current time is in any of the time periods of 0-1 o'clock, 8-9 o'clock, and 16-17 o'clock. If the condition is met, the virtual coil M1.5 is set to 1.

[0127] Step 6. If M1.5 is 1, set Q0.2 output to 1 to turn on the sonar power supply.

[0128] Step 7: Determine the received command. If the power supply enable VB97 is hexadecimal 11, turn on the sonar power supply.

[0129] Step 8: Call the rotation control subroutine.

[0130] Step 9. Determine the received command. When VB97 is not hexadecimal 11 and M1.5 is in reset state, disconnect the sonar power supply.

[0131] 4. Finally, write the sonar rotation control program.

[0132] First, it is determined whether the received command VB97 starts power supply and whether VB98 automatic rotation is enabled, or whether M1.5 is 1. If the conditions are met, timer T106 starts timing and resets every 10 minutes.

[0133] The second step is to use the counter C50 to record the number of times T106 is reset to control the number of rotations. When the number of rotations is greater than or equal to 11 times, the counter is automatically reset.

[0134] Step 3: When timer T106 starts or communication is initiated to cause the servo to rotate to zero degrees, configure the special bytes for the PWM output signal based on the servo's control method (requiring a pulse signal with a period of 20ms and a high level of 1-2ms). The pulse output control word includes the PWM0 control byte SMB67, the PWM0 cycle time value SMW68, and the PWM0 high level width value SMW70. Configuring SMB67 to 0x83 activates the 1µs time base, updating the cycle time and pulse width output mode of PWM0. Configuring the PWM0 cycle time value SMW68 to 20000 (20ms) and the PWM0 pulse width value SMW70 to an intermediate value of 1500 returns the servo angle to zero. Invoking the pulse output instruction PLS and configuring the port to 0 generates a pulse signal with a period of 20ms and a pulse width of 1.5ms at Q0.0. At the same time, M0.3 is set to 1 as a flag, and the angle information 0X00 is moved into VB49 to prepare for waiting for query. Timer T36 is started, and the pulse width is set to 0 after two cycles. The pulse sending instruction is called again to stop sending pulses and reset M0.3.

[0135] The same principle applies to rotating to other angles. You only need to change the judgment conditions and adjust the pulse width. I will not list them one by one here.

[0136] After turning to 45 degrees, measuring, and resetting the angle, it is necessary to turn off the power and rotation enable. When the number of rotations is greater than 10 times and the timer is greater than 500ms, set the power enable VB97 and the automatic rotation enable VB98 to 0X10, set the pulse output control word to 0, call the pulse output instruction to make it effective, and reset M1.5 at the same time. The program is as follows Figure 16 shown.

[0137] The distance between the sonar and the water surface is A. After scanning, the sonar determines the distance between the sonar and the water bottom is B, the distance between the sonar and the mud surface is C, and the sediment thickness D = BC. This formula is used to calculate the sediment thickness at each point. The silt thickness at that location can be calculated. The programmed measurement values ​​for the current embodiment are sediment values ​​at nine points, and the average sediment thickness can be calculated.

[0138] The sonar rotates with the rotation of the steering gear 24 according to the programmed adjustment angle, the fixed number of rotations and the duration of each rotation. In the embodiment, a fixed angle of 5° is used to rotate, and the distance E between two angle rotations of the silt is calculated:

[0139]

[0140] E=B*cos5°

[0141] The above formula is used to calculate the silt distance E between the two angles. The silt distance F between the third and first angles can be calculated for the point measured by the sonar for the third time. The silt distance F1 between the fourth and first angles can be calculated for the point measured by the sonar for the fourth time. The silt distance F2 between the fifth and first angles can be calculated for the point measured by the sonar for the fifth time. This is used to calculate the distance between the points measured at different angles and the first angle. By calculation, the silt distance between the second and third angles is E1=FE, the silt distance between the third and fourth angles is E2=F1-F, and the silt distance between the fourth and fifth angles is E3=F2-F1. This is used to calculate the distance between the points measured at different angles and the previous angle. Figure 4 When the sonar is scanning in the river, the siltation distance between each two angles is E, E1, E2, E3, etc. Figure 4 Where d is the width of the river, Figure 4 The middle image is a simplified sonar view showing the distance between two siltation points after every 5-degree sonar scan.

[0142] By rotating and scanning the sonar, the sediment thickness D1, D2, D3, D4, D5 at each scanning point and the sediment distance E between the two angles are calculated to draw a three-dimensional model of the sedimentation. Figure 5 shown.

[0143] The cross-sectional sedimentation diagram of this section of silt can be drawn based on the sedimentation thickness and sedimentation distance, and the thickness of the sedimentation can be analyzed to determine whether silt removal is necessary.

[0144] The above method can realize real-time monitoring of river siltation and quickly and effectively draw three-dimensional models. The three-dimensional model can accurately analyze the river siltation situation and locate the most convenient place to start silt removal, saving a lot of manpower and material resources, making silt monitoring faster, more effective, convenient and real-time.

[0145] The attitude meter detects the rotation angle of the sonar component and performs the above calculation process, and then outputs the result as follows: Figure 5 The silt thickness shown makes it easier for river monitoring personnel to understand the silt situation in a timely manner and determine whether it needs to be cleaned up.

[0146] By adopting the above method, the sonar can be remotely and automatically controlled to turn on the sonar and collect the required data when it is needed to monitor the thickness of the river silt. The obtained data is then transmitted back for analysis and processing, thereby obtaining the required river silt thickness monitoring results.

[0147] This method does not require manual on-site supervision and can achieve automatic monitoring with high monitoring accuracy.

[0148] The manual method was used to detect the silt thickness at the same location in the river channel, and the results were consistent, indicating that this method can be used to accurately detect the silt thickness on shore, which can effectively improve the accuracy of the test results.

[0149] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for real-time rendering of a three-dimensional water depth model based on multi-dimensional mechanical sonar, characterized in that: The following steps are involved: step S10: The sonar is fixedly set under the water surface of the river, and the sonar is connected to the steering gear (24). The sonar rotates downward or swings back and forth with the steering gear (24). After the sonar rotates to a certain position, it can return to the original monitoring point in the opposite direction; Step S20: An attitude meter is provided above the sonar, which monitors the attitude of the sonar and obtains the real-time rotation angle of the sonar as the sonar rotates; Step S30: The sonar scans each scanning point of the underwater silt in the river channel, calculates the silt thickness at the scanning point and the distance between any two scanning points according to the rotation angle of the sonar, and draws a three-dimensional model of the underwater silt based on the calculation results; The invention comprises: a detection drive module (14), a power supply pole (4), a wind power generation component, a solar power generation component, a control box (3), and a suspension bracket; a sonar detection device and a steering gear (24) are arranged in the detection drive module (14); the detection drive module (14) is arranged on the bottom surface of the suspension bracket; the suspension bracket is installed on the inner wall of the river channel through a bolt assembly; the sonar and the steering gear (24) are accommodated and arranged in the detection drive module (14); The power pole (4) is spaced apart from the suspension bracket; the power pole (4) is arranged on the river bank; a wind power generation assembly is arranged on the top surface of the power pole (4); a solar power generation assembly is arranged on the power pole (4) below the wind power generation assembly; a control box (3) is arranged on the power pole (4) below the solar power generation assembly; the wind power generation assembly is electrically connected to the control box (3); the solar photovoltaic panel (2) is electrically connected to the control box (3); and the control box (3) is electrically connected to the detection drive module (14); The step S30 includes the following steps: Step S301: Set a fixed angle value α for each rotation of the sonar, and calculate the distance E of the silt scanned after the sonar rotates by the fixed angle value according to the following formula: E=B*cosα° Where B is the depth of the sonar from the river surface; Step S302: Calculating the distance between the silt scanning points scanned by the sonar after each rotation of the sonar by a fixed angle value, and calculating the silt thickness D between adjacent silt scanning points based on the distance between the silt scanning points; Step S301: After the sonar rotates n times by a fixed angle value, multiple silt scanning point spacing values ​​are obtained according to steps S301 to S302; The step S30 includes the following steps: Step S303: After the sonar rotates by a fixed angle each time, the distance Cn between the sonar and the bottom mud surface is measured, and the mud thickness Dn at each scanning point is calculated according to Dn=B-Cn; where B is the depth of the sonar from the river surface; It includes: multiple sonars and cloud platforms; the sonars are installed at intervals on the river bank sidewalls, and each sonar is electrically connected to the cloud platform; the cloud platform is electrically connected to the dam database; It comprises: a PLC control module, the PLC control module is electrically connected to a steering engine (24); The following steps are involved: Step S40: Obtaining the thickness of the silt in the underwater silt cross-section siltation map based on the obtained three-dimensional model, and determining whether the silt needs to be cleaned in combination with the river channel depth; The display screen is connected to the attitude meter data; the display screen is set in the monitoring room, and the fixed angle value α is 5°; the sonar rotates n times = 9 times; The suspension bracket comprises: a river channel suspension rod (10), a plurality of fixed brackets; the fixed brackets are inserted at intervals on the river bank side wall; the fixed brackets are sleeved at intervals on the river channel suspension rod (10); a detection drive module (14) is provided on the bottom surface of the river channel suspension rod (10) The fixing bracket comprises: a first river channel fixing tube (13), a second river channel fixing tube (132), and a strength support frame (12); the first river channel fixing tube (13) is arranged perpendicular to the river channel side wall and is connected to the river channel side wall through a bolt assembly; the second river channel fixing tube (132) is sleeved on the river channel suspension rod (10) through a mounting sleeve (11); and the strength support frame (12) is obliquely arranged on the top end of the second river channel fixing tube (132) and the side wall of the river channel suspension rod (10).

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