Programmable calibration platform and programmable calibration method for three-dimensional flow field observation

Abstract

The application provides a three-dimensional flow field observation program-controlled calibration platform and a program-controlled calibration method, which comprise a rotating shaft, an instrument frame, a plurality of spray devices, a plurality of semicircular tracks and a plurality of sliding blocks; the instrument frame is arranged on the rotating shaft; the instrument frame is used for mounting a first flow field observation device. The semicircular tracks are different in size and concentrically arranged; the semicircular tracks are respectively rotated on the rotating shaft; the center of the instrument frame and the center of the semicircular track are located at the same position; the sliding blocks are respectively arranged on the semicircular tracks; and the spray devices are respectively arranged on the sliding blocks. The application refers to a structure of a celestial globe to design a program-controlled rotatable structure with a wind speed instrument in the center and spray devices on a support (semicircular track) as a precision calibration platform, so as to comprehensively and accurately simulate and measure the three-dimensional flow field movement of a fluid (for example, a cloud) and calibrate the flow field observation precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of three-dimensional flow field, fluid mechanics and precision calibration, in particular to a program-controlled calibration platform and method for three-dimensional flow field observation. BACKGROUND

[0002] Flow field observation, as an important part of fluid mechanics research, has become one of the research fields that are currently focused on by the scientific community and the public, and is widely used in the fields of industry, agriculture, astronomy, geology, climate change, etc. To fully understand the thermodynamic process of fluid, detailed three-dimensional flow field space-time data is needed to study its thermodynamic process.

[0003] At present, the traditional observation means is based on electromagnetic principle and computer technology, which can use satellites or radars for observation, or use ground optical instruments for observation, such as ultrasonic flowmeter, image type velocity measurement method, etc. However, various measurement methods have certain problems, such as uneven sampling time interval, low resolution, low precision, high cost, high error, etc., which cannot solve the current observation technology bottleneck.

[0004] In addition, for a three-dimensional precision calibration platform, a complete high-precision, ultra-low-speed workbench is the crystallization of many high-tech technologies and is the research focus of many scientific research institutions at home and abroad, which includes ultra-precision control method, high-precision sensor technology, advanced computer technology, and how to solve the contradiction between high measurement precision and large measurement range.

[0005] From the research at home and abroad, it is found that most of the existing devices are expensive special instruments with complex structure and are not easy to operate. Their research work mainly focuses on pursuing high-precision target positioning, while ignoring the speed stability of the precision motion platform during the motion process and the cost of the motion platform. The difficulty of operation is not the focus of their research.

[0006] The Chinese invention patent document with publication number CN114563593A discloses a Doppler ultrasonic flowmeter, which comprises a flowmeter body, the flowmeter body comprises an ultrasonic generator, a receiver, a long gear and an elastic belt, the ultrasonic generator is installed at the top of the pipeline through the fixing plate at the bottom, the side of the ultrasonic generator is connected with the elastic belt through the clasp ring one, the other end of the elastic belt is connected with the side of the receiver through the clasp ring two, the surface of the receiver is connected with the support through the rotating shaft, the top of the support is installed with a moving collar, the top of the moving collar is provided with a sliding plate, the outer side of the support is fixedly connected with the rack one or the rack two through the cross buckle, and the middle of the rack one and the rack two passes through the inside of the connecting pipe.

[0007] For the related technology in the above, the inventors think that the existing various observation methods cannot obtain the high-precision three-dimensional flow field data required for researching fluid thermodynamic process, and there is a lack of a simple operation, low-speed, stable motion, high positioning accuracy, and low-cost motion platform to meet the calibration requirements of three-dimensional flow field sensor calibration. SUMMARY

[0008] In view of the defects in the prior art, the purpose of the present application is to provide a program-controlled calibration platform and method for three-dimensional flow field observation.

[0009] According to the present application, a program-controlled calibration platform for three-dimensional flow field observation is provided, which comprises a rotating shaft, an instrument frame, a plurality of spray devices, a plurality of semicircular tracks and a plurality of sliders.

[0010] The instrument frame is arranged on the rotating shaft;

[0011] The first flow field observation device is installed in the instrument frame;

[0012] The semicircular tracks are different in size and concentrically arranged;

[0013] The semicircular tracks are respectively rotated on the rotating shaft;

[0014] The center of the instrument frame and the center of the semicircular track are in the same position;

[0015] The sliders are respectively arranged on the semicircular tracks;

[0016] The spray devices are respectively arranged on the sliders.

[0017] Preferably, the slider comprises a slider control box, a slider gear and a slider motor;

[0018] The semicircular track comprises an inner gear and a track;

[0019] The slider gear is rotatably arranged on the slider control box;

[0020] The slider motor is fixedly arranged on the slider control box;

[0021] The slider motor is used to drive the movement of the slider gear;

[0022] The slider gear and the inner gear are engaged;

[0023] The inner gear is arranged in the track.

[0024] Preferably, the slider further comprises a pulley;

[0025] The pulley is arranged on the slider control box;

[0026] The pulley and the track are rollingly connected.

[0027] Preferably, the program-controlled calibration platform further comprises a control system;

[0028] The control system controls the rotation of the shaft and the sliding block;

[0029] The control system controls the spraying device by using a program.

[0030] Preferably, the spraying device comprises a fixed frame, a spraying nozzle and an angle adjusting rod;

[0031] The fixed frame is arranged on the sliding block;

[0032] The angle adjusting rod is arranged on the fixed frame;

[0033] The spraying nozzle is connected to the angle adjusting rod;

[0034] The angle adjusting rod adjusts the angle of the spraying nozzle.

[0035] Preferably, the program-controlled calibration platform further comprises a control box;

[0036] The control box is provided with a semi-circular track rotating mechanism;

[0037] The semi-circular track rotating mechanism comprises an upper step motor, a lower step motor, an upper planetary gear reducer, a lower planetary gear reducer, a first upper synchronous pulley, a second upper synchronous pulley, an upper synchronous belt, a first lower synchronous pulley, a second lower synchronous pulley and a lower synchronous belt;

[0038] The semi-circular track comprises a large semi-circular track and a small semi-circular track;

[0039] The upper step motor drives the upper planetary gear reducer to move;

[0040] The upper planetary gear reducer drives the first upper synchronous pulley to rotate;

[0041] The first upper synchronous pulley drives the second upper synchronous pulley to rotate through the upper synchronous belt;

[0042] The second upper synchronous pulley drives the connecting member on the large semi-circular track to rotate, thereby driving the large semi-circular track to rotate;

[0043] The lower step motor drives the lower planetary gear reducer to move;

[0044] The lower planetary gear reducer drives the first lower synchronous pulley to rotate;

[0045] The first lower synchronous pulley drives the second lower synchronous pulley to rotate through the lower synchronous belt;

[0046] The second lower synchronous pulley drives the connecting member under the small semi-circular track to rotate, thereby driving the small semi-circular track to rotate.

[0047] Preferably, the program-controlled calibration platform further comprises a plurality of first universal wheels, a plurality of second universal wheels and a plurality of foldable supporting legs;

[0048] The first universal wheels are arranged at the bottom of the control box;

[0049] The foldable supporting legs are respectively arranged around the control box;

[0050] The second universal wheels are respectively arranged at the end of the foldable supporting legs away from the control box;

[0051] The control box is provided with a plurality of folding holes and a plurality of unfolding holes;

[0052] The foldable supporting legs are respectively provided with a plug-in pin for plugging into the folding hole and the unfolding hole;

[0053] When the foldable supporting leg is folded, the plug-in pin is plugged into the folding hole;

[0054] When the foldable supporting leg is unfolded, the plug-in pin is plugged into the unfolding hole.

[0055] According to the program-controlled calibration method provided by the application, the program-controlled calibration platform for three-dimensional flow field observation is used, and the method comprises the following steps:

[0056] The first flow field observation device observation step: adjust the slide block and the semicircular track to make the spray nozzle run according to the set track, spray the cloud to the first flow field observation device installed in the instrument frame, and measure the wind speed under the condition that the first flow field observation device is not interfered by cloud dew;

[0057] The second flow field observation device observation step: control the second flow field observation device to complete the detection process.

[0058] Preferably, in the first flow field observation device observation step, the motion track of the spray nozzle is made by using the control system, the spray nozzle is controlled by using the spherical surface rotating mechanism composed of the semicircular track and the rotating shaft, the program control of the rotating shaft and the slide block is performed, the cloud change is controlled, and the generation of the cloud and the three-dimensional turbulent motion under different weathers are simulated in a three-dimensional entity.

[0059] Preferably, the program-controlled calibration method further comprises a repeating step: multiple experiments are performed, the data of the second flow field observation device and the first flow field observation device are collected respectively, and the data are input into a computer for subsequent program analysis; the outliers are removed, and the error is obtained by calculation:

[0060]

[0061]

[0062]

[0063] Wherein, Ux represents the velocity in the three-dimensional orthogonal x-axis direction obtained by the first flow field observation device; Ux' represents the velocity in the three-dimensional orthogonal x-axis direction obtained by the second flow field observation device; Uy represents the velocity in the three-dimensional orthogonal y-axis direction obtained by the first flow field observation device; Uy' represents the velocity in the three-dimensional orthogonal y-axis direction obtained by the second flow field observation device; Uz represents the velocity in the three-dimensional orthogonal z-axis direction obtained by the first flow field observation device; Uz' represents the velocity in the three-dimensional orthogonal z-axis direction obtained by the second flow field observation device; ΔAx represents the error in the three-dimensional orthogonal x-axis direction; ΔAy represents the error in the three-dimensional orthogonal y-axis direction; ΔAz represents the error in the three-dimensional orthogonal z-axis direction respectively; n represents the number of repeated experiments.

[0064] Compared with the prior art, the present application has the following beneficial effects:

[0065] 1. The present application refers to the structure of a celestial globe and designs a programmable rotating structure with a wind speed meter in the center and a spray device on the support (half circular track) as a precision calibration platform, which can comprehensively and accurately simulate the three-dimensional flow field motion of fluid (such as cloud) and calibrate the flow field observation precision.

[0066] 2. The spherical trajectory mechanism of the present application has a unique feature, and the combination of the rotating shaft and the slider can freely control the spray device to obtain spray in different positions and motion states, while ensuring that the cloud passes through the center of the platform.

[0067] 3. The double circular ring design of the present application has both stability and flexibility. When balance and stability are needed, the included angle of the two rings is 180°, and when the position of the spray device is required, the included angle of the two circular rings is changed to the specified position.

[0068] 4. The wind speed meter is placed in the center of the precision calibration platform, which can effectively and accurately measure the state of wind speed in different directions changing with the environment and obtain relatively accurate actual data. BRIEF DESCRIPTION OF DRAWINGS

[0069] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0070] Figure 1 It is the overall structure diagram of the programmable calibration platform for three-dimensional flow field observation in the present application;

[0071] Figure 2 It is the overall intuitive schematic diagram of the present application;

[0072] Figure 3 It is the schematic diagram of the spray nozzle and the slider in the present application;

[0073] Figure 4 Figure 1 is a schematic diagram of the present invention showing the semi-circular track;

[0074] Figure 5 Figure 2 is a schematic diagram of the present invention showing the control box, battery, semi-circular track rotation mechanism;

[0075] Figure 6 Figure 3 is a schematic diagram of the present invention showing the foldable support legs;

[0076] Figure 7 Figure 4 is a schematic diagram of the present invention showing the safety protection mechanism;

[0077] Figure 8 Figure 5 is a schematic diagram of the present invention showing the maintenance and servicing of parts;

[0078] Figure 9 Figure 6 is a schematic diagram of the present invention showing the storage and transportation;

[0079] Figure 10 Figure 7 is a schematic diagram of the present invention showing the scalability;

[0080] Figure 11 Figure 8 is a schematic diagram of the present invention showing the mechanical and control framework;

[0081] Figure 12 Figure 9 is a schematic diagram of the present invention showing the system control logic;

[0082] Figure 13 Figure 10 is a schematic diagram of the present invention showing the position control of the control interface;

[0083] Figure 14 Figure 11 is a schematic diagram of the present invention showing the calibration of the control interface;

[0084] Figure 15 Figure 12 is a schematic diagram of the present invention showing the diagnostic information of the control interface;

[0085] Figure 16 Figure 13 is a schematic diagram of the present invention showing the circuit of the slave controller;

[0086] Figure 17 Figure 14 is a schematic diagram of the present invention showing the circuit of the master controller;

[0087] Figure 18 Figure 15 is a schematic diagram of the present invention highlighting the semi-circular track rotation mechanism;

[0088] Figure 19 Figure 16 is a schematic diagram of the present invention highlighting the bearings;

[0089] Figure 20 Figure 17 is a schematic diagram of the present invention highlighting the proximity switches and mechanical limit stops for the large and small circular tracks respectively;

[0090] Figure 21The schematic diagram of the steel limit piece and the mechanical limit block.

[0091] Reference signs:

[0092] Spray nozzle 1

[0093] Slider 2

[0094] Half-circle track 3

[0095] Control box 4

[0096] Foldable support feet and universal wheels 5

[0097] Glue sealing part 6

[0098] Slider gear 7

[0099] Nozzle 8

[0100] Angle adjusting rod 9

[0101] Stepping motor and planetary gear reducer 10

[0102] Slider control box and rechargeable battery 11

[0103] Spray tube 12

[0104] Slider limit switch 13

[0105] Pulley 14

[0106] Slider mechanical limit 15

[0107] Removable maintenance panel 18

[0108] Power switch 19

[0109] Charging port 20

[0110] Expansion interface 21 DETAILED DESCRIPTION

[0111] The present application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present application. These are within the scope of the present application.

[0112] This invention discloses a programmable calibration platform for three-dimensional flow field observation, such as... Figure 1 and Figure 2 As shown, it includes a rotating shaft, an instrument frame, multiple spray devices, multiple semi-circular tracks 3, multiple sliders 2, a control system, a control box 4, multiple first casters, multiple second casters, and multiple foldable support feet.

[0113] The instrument frame is mounted on the rotating shaft. The instrument frame houses the primary flow field observation equipment (e.g., an anemometer). The semicircular tracks 3 are of different sizes and concentrically arranged. Each of the semicircular tracks 3 rotates on the rotating shaft. The center of the instrument frame and the center of each semicircular track 3 are located at the same position; sliders 2 are mounted on each of the semicircular tracks 3; and spray devices are mounted on each of the sliders 2.

[0114] Slider 2 includes a slider control box, pulley 14, slider gear 7, and slider motor (stepper motor and planetary gear reducer 10). Semicircular track 3 includes an internal gear 16 and track 17; slider gear 7 is rotatably mounted on the slider control box; slider motor is fixedly mounted on the slider control box; slider motor drives slider gear 7; slider gear 7 meshes with internal gear 16; internal gear 16 is located within track 17. Pulley 14 is mounted on the slider control box; pulley 14 and track 17 are in a rolling connection.

[0115] The control system performs programmed control of the rotating shaft and slider 2; the control system uses the controller to control and plan the spraying device through the program.

[0116] The spraying device includes a fixed frame, a spray nozzle 1, and an angle adjusting rod 9. The fixed frame is mounted on the slider control box; the angle adjusting rod 9 is mounted on the fixed frame; the spray nozzle 1 is connected to the angle adjusting rod 9; the angle adjusting rod 9 adjusts the angle of the spray nozzle 1.

[0117] like Figure 18 and Figure 19 As shown, the control box 4 is equipped with a semi-circular track rotation mechanism; the mechanism includes a rotating shaft, a stepper motor and planetary gear reducer, a synchronous pulley and synchronous belt, proximity switches for the maximum and minimum angles of the semi-circular track, and mechanical limit devices.

[0118] The semi-circular track motion mechanism includes an upper stepper motor, a lower stepper motor, an upper planetary gear reducer, a lower planetary gear reducer, a first upper synchronous pulley 30, a second upper synchronous pulley 31, an upper synchronous belt 32, a first lower synchronous pulley 33, a second lower synchronous pulley 34, and a lower synchronous belt.

[0119] The semi-circular track comprises a large semi-circular track and a small semi-circular track; the upper stepper motor drives an upper planetary gear reducer to move; the upper planetary gear reducer drives a first upper synchronous pulley 30 to rotate; the first upper synchronous pulley 30 drives a second upper synchronous pulley 31 to rotate through an upper synchronous belt 32; the second upper synchronous pulley 31 drives a connecting piece 35 on the large semi-circular track to rotate, thereby driving the large semi-circular track to rotate. The lower stepper motor drives a lower planetary gear reducer to move; the lower planetary gear reducer drives a first lower synchronous pulley 33 to rotate; the first lower synchronous pulley 33 drives a second lower synchronous pulley 34 to rotate through a lower synchronous belt; the second lower synchronous pulley 34 drives a connecting piece 35 under the small semi-circular track to rotate, thereby driving the small semi-circular track to rotate.

[0120] The connecting piece 35 and the rotating shaft are connected through a bearing 36. The semi-circular track is linked with the rotating shaft through the connecting piece 35, and a ball bearing is used between the connecting piece and the rotating shaft. Two synchronous pulleys are connected with the connecting piece 35 respectively. Specifically, the large semi-circular track is connected with the second upper synchronous pulley 31, and the small semi-circular track is connected with the second lower synchronous pulley 34. The two first upper or lower synchronous pulleys are driven by the stepper motor and the planetary reducer, and through the synchronous belt, they act on the second upper or lower synchronous pulley to drive the large semi-circular track and the small semi-circular track to perform deflection movement.

[0121] The first universal wheels are arranged at the bottom of the control box 4; the foldable supporting legs are rotatably arranged around the control box 4; the second universal wheels are arranged at the ends of the foldable supporting legs away from the control box 4; the control box 4 is provided with a plurality of folding holes and a plurality of unfolding holes; the foldable supporting legs are respectively provided with plug pins (such as prismatic pins) for plugging into the folding holes and the unfolding holes; when the foldable supporting legs are folded, the plug pins are plugged into the folding holes; when the foldable supporting legs are unfolded, the plug pins are plugged into the unfolding holes.

[0122] The semi-circular track 3 and the rotating shaft structure 4 constitute a 4Π spherical surface rotating mechanism, which is used to control the cloud spray device (spray device, cloud spray gun) to realize program control of the rotating shaft and the sliding block 2. The movement trajectory of the spray gun (spray nozzle 1) is designed by using a computer touch panel and upper computer software, the cloud change is controlled, and the generation and three-dimensional turbulent motion of the cloud under different weather conditions are simulated in a full-range three-dimensional solid manner. The rotating shaft rotating support (semi-circular track 3) is controlled, and the sliding block 2 is moved to change the position of the spray gun (single, double or four spray guns are linked to produce turbulent interaction) to simulate near uniform motion; or a diversified spray gun running track (rotation, sinusoidal vibration, random motion and various fancy combinations between the spray guns) is designed to simulate the variable cloud motion.

[0123] As shown in Figure 2 The present application provides a program-controlled calibration platform for three-dimensional flow field observation, taking the cloud radiation feedback as an example, which comprises:

[0124] a. The basic structure and movement mode are as follows: four spray nozzles 1 are respectively placed on two large and small semicircular tracks 3 through sliders 2, the four spray nozzles 1 are aligned with the common center of the semicircular tracks 3. The four sliders 2 can be independently or two groups of positions kept or relatively moved (two sliders 2 on the same track 17) along the track 17 circumference through independent motors and guide rail systems (semicircular tracks 3). At the same time, the two semicircular tracks 3 are respectively connected with the axis perpendicular to the ground, and can be respectively rotated along the axis without interfering with each other (limiting can be set). Movement index: the movement accuracy of the slider 2 along the guide rail (semicircular track 3) is 1°, and the rotation speed of the semicircular track 3 along the axis is 180° / 10s.

[0125] b. The control system is as follows: for the control system, the program control of the rotation shaft and the slider 2 is realized, including position control and running track control. The cloud spray device can be controlled and planned by the controller, including switch control and flow control.

[0126] Specifically, the track and slider system can be manually controlled by the controller or automatically planned by the APP, including position control and running track control. The cloud spray device can be manually controlled by the controller or automatically planned by the APP, including switch control and flow control. The hardware development of the present application meets the IP66 or IP67 level requirements, involves the development of the main controller; the selection of the stepper motor controller, the customization of the sensor; USB and Bluetooth wireless communication. The software development involves the main controller 22; position control, motor control, valve control, dynamic track planning; UART communication; position detection, safety monitoring, power management; host computer development; interface development; UART communication development. The test verification uses the integrated verification method. The full name of UART is Universal Asynchronous Receiver / Transmitter, and the Chinese translation is universal asynchronous receiver / transmitter.

[0127] c. The communication system is as follows: the touch panel communicates with the main control board through the RS232 serial port, and the main control board communicates with the sub-control board through the Bluetooth SPP protocol. Data storage can be selected (track 17 path planning, actual movement, running time, etc.).

[0128] The total height of the platform structure of the present application is about 2.4 m, wherein the main body is about 2 m high, and is composed of a base (the integrated circuit and the driver are placed on the base, two motors (track motors) respectively driving the movement of two semicircular tracks 3), a main shaft (rotation shaft), a middle instrument frame (1.25 m*0.5 m, two buckles on each side of the instrument frame, and up to 4 ultrasonic anemometers can be placed), two concentric semicircular arc sliding tracks (the outer ring has a radius of 1 m, and the inner ring has a radius of 0.85 m), four sliding blocks 2, and a cloud spray gun (spray nozzle 1) on the sliding block 2. The diameter of the large track is 2 m (the diameter of the small track is slightly smaller than that of the large track), and the total weight (excluding the controller, control box 4, and battery) is not more than 200 kg. The main body stress structure is preferably a steel structure in terms of rigidity, and a detachable base that needs to be fixed to the ground. The cloud spray device and the sliding block 2 are fixed by bolts to reduce shaking. The cloud spray device can be adjusted up and down by 15° or adjusted in plane by the angle adjusting rod 9.

[0129] The sliding block 2 support track is set, including but not limited to the following examples: a. The sliding block 2 is arranged and combined at the six equal parts of the two semicircular rings (semicircular tracks 3) or moves correspondingly, and records the data of the different movement paths of the sliding block 2 at different positions of the support (semicircular tracks 3); b. The support movement path includes the following examples, which can be continuously adjusted and optimized in actual operation.

[0130] i. The inner and outer rings are each rotated 360°;

[0131] ii. The inner and outer rings maintain a 180° angle while rotating 360° clockwise;

[0132] iii. The inner and outer rings maintain a 90° angle while rotating 360° clockwise;

[0133] iv. The outer ring remains stationary, and the inner ring reciprocates back and forth at an amplitude of 90° / 180°;

[0134] v. The inner ring remains stationary, and the outer ring reciprocates back and forth at an amplitude of 90° / 180°;

[0135] vi. The inner and outer rings rotate in clockwise and counterclockwise directions respectively;

[0136] vii. The inner and outer rings rotate in clockwise directions at different speeds.

[0137] The sliding block 2 and the support are adjusted comprehensively to make the spray gun run according to the set track and spray cloud and mist to the anemometer in the center of the platform; under the condition that the anemometer is not disturbed by cloud and mist condensation, the wind speed is measured normally; the flow field observation equipment (such as the three-dimensional cloud exploration system) is controlled and debugged without error to complete the detection process. During the experiment, factors such as weather conditions, temperature and humidity factors, support installation and inclination should be considered to affect the data.

[0138] To reduce experimental error, the experiment of one trajectory is repeated more than three times as a group, and the data of flow field observation equipment (such as unmanned aerial vehicle stereo cloud exploration system) and anemometer are collected respectively and input into a computer for subsequent program analysis. After removing outliers, the error can be obtained by the following calculation:

[0139]

[0140]

[0141]

[0142] Wherein, Ux represents the velocity in the three-dimensional orthogonal x-axis direction obtained by the anemometer; Ux' represents the velocity in the three-dimensional orthogonal x-axis direction obtained by the flow field observation equipment; Uy represents the velocity in the three-dimensional orthogonal y-axis direction obtained by the anemometer; Uy' represents the velocity in the three-dimensional orthogonal y-axis direction obtained by the flow field observation equipment; Uz represents the velocity in the three-dimensional orthogonal z-axis direction obtained by the anemometer; Uz' represents the velocity in the three-dimensional orthogonal z-axis direction obtained by the flow field observation equipment. ΔAx, ΔAy and ΔAz respectively represent the errors in the three-dimensional orthogonal x, y and z-axis directions, and n represents the number of repeated experiments of the anemometer and unmanned aerial vehicle experiment.

[0143] The platform center can be installed with 1-4 sets of ultrasonic anemometers, which are respectively fixed by four buckles arranged on both sides of the instrument frame. Each buckle is installed with one anemometer. In this way, the partial derivatives of the midpoint vector velocity components of the instrument can be calculated by using the difference, so as to obtain the horizontal divergence and vorticity of the flow field, which are used for further comparison with the results obtained by other observation methods, and high-order calibration of the accuracy.

[0144] The three-dimensional flow field observation program-controlled calibration platform provided by the application takes cloud radiation feedback as an example and comprises the following steps:

[0145] a. Construct an environment in which the cloud movement under different wind directions and speeds can be simulated and controlled.

[0146] b. Obtain accurate actual data as the standard for accuracy calibration.

[0147] c. Collect the data of the flow field observation system for comparative analysis.

[0148] To build an environment simulating cloud movement, the project selects the three-dimensional combination of cloud and fog spraying device: reference to the structure of the celestial globe, a rotatable support is designed, and the cloud and fog spraying gun is installed on the rotatable support in the form of connecting slider 2; the rotatable support is rotated by using program-controlled rotating shaft, and the slider 2 is moved to change the position of the spraying gun (single, double or four spraying guns are linked to produce turbulent interaction) to simulate near uniform motion; or a diversified spraying gun running track (rotation, sinusoidal vibration, random motion, etc. and various combinations among the spraying guns) is designed to simulate variable cloud movement.

[0149] As shown in Figure 2 , it includes spray nozzle 1, slider 2, semicircular track 3, control box 4, foldable support feet and universal wheels 5, and glue sealing part 6. Among them, four spray nozzles 1 are placed on two semicircular tracks 3 of large and small sizes respectively through slider 2, and the four spray nozzles 1 are aligned with the common center of the semicircular track 3; the four sliders 2 can be independently or two at a time position-kept or relatively moved (two sliders 2 on the same track 17) along the track 17 circumference through independent motors and guide rail systems; the two semicircular tracks 3 are respectively connected with the axis perpendicular to the ground, and can be respectively rotated along the axis without interfering with each other (limiting can be set), the spray pipe 12 of the cloud and fog spraying device and the slider 2, and the nozzle 8 structure are fixed, and the nozzle 8 structure can be adjusted up and down by 15°; the control box 4 contains a battery and a semicircular track rotating movement mechanism; the foldable support feet and the bottom universal wheels are foldable support feet and bottom universal wheels (which can be locked and adjusted to be flat); the glue sealing part 6 is a key part for glue sealing treatment, for example, the control box 4 is spliced by six plates, and the splicing part is sealed to reduce the influence of water entering on electronic equipment.

[0150] As shown in Figure 3 , it includes slider gear 7, nozzle 8, angle adjusting rod 9, stepper motor and planetary gear reducer 10, slider control box and rechargeable battery 11, spray pipe 12, slider limit switch 13 and pulley 14; among them, the slider gear 7 drives the slider 2 to move along the semicircular track 3; one end of the spray nozzle 1 is the nozzle 8, and the other end is the spray pipe 12, which is used to connect the adapter of the industrial humidifier, and the industrial humidifier and the adapter are connected through the connecting pipe. That is, the adapter is used to connect the spray pipe 12 of the cloud and fog spraying device. The angle adjusting rod 9 adjusts the angle of the spray nozzle 1, and the slider limit switch 13 is used to limit the position of the slider 2. The stepper motor drives the planetary gear reducer to move, and then the planetary gear reducer drives the slider gear 7 to move. The rechargeable battery is located in the slider control box, and is used to power the slider control board, driver and stepper motor.

[0151] As shown in Figure 4As shown, including the slider mechanical limit 15 (mechanical limit block), the internal gear 16 and the track 17 (guide rail). Wherein the slider mechanical limit 15 only in the limit switch failure or other failure cases to protect the mechanical structure from accidental collision and cause damage; internal gear 16 and slider gear 7 mesh; pulley 14 and track 17 cooperate with each other.

[0152] As shown, including the removable maintenance panel 18, power switch 19, charging port 20, expansion interface 21 and control box 4. Wherein the power switch 19 plays a programmed calibration platform power function; charging port 20 for rechargeable battery charging; control box 4 represents the control panel, driver, rechargeable battery. Removable maintenance panel 18 for easy maintenance control box 4. Figure 5 As shown, including the folding support feet 23 in the unfolded state, the folding support feet 24 in the folded state and the support foot limit switch 25, the micro sensor 27 (trigger structure). Wherein, the folding support feet 24 in the folded state are folded and locked in position with a pin (translational pin) to save space; support foot limit switch 25 to determine whether all the support feet are unfolded in place, and the control box 4 can work only after all the support feet are unfolded in place.

[0153] Figure 6 As shown, including the slider motor (step motor and planetary gear reducer 10), micro sensor 27 (trigger structure), slider limit switch 13, slider mechanical limit 15 (mechanical limit block), semicircular track proximity switch limit 29 and semicircular track mechanical limit 28 (mechanical limit block), the slider motor is the motor that moves the slider 2, with a power-off brake mechanism, when the power is accidentally cut off or during transportation, the slider 2 can be locked on the track 17 to prevent dangerous movement; all four folding support feet are opened and locked in place, triggering all four micro sensors 27 (trigger structure), the device can be unlocked for use to prevent accidental overturning due to unstable center of gravity; slider limit switch 13 limit, as the first safety mechanism of the slider 2; slider mechanical limit 15, as the second safety mechanism of the slider 2 after the failure of the first safety mechanism; semicircular track proximity switch limit 29, as the first safety mechanism of the track 17 rotation; semicircular track mechanical limit 28, as the second safety mechanism of the track 17 rotation.

[0154] As shown, including the slider motor (step motor and planetary gear reducer 10), micro sensor 27 (trigger structure), slider limit switch 13, slider mechanical limit 15 (mechanical limit block), semicircular track proximity switch limit 29 and semicircular track mechanical limit 28 (mechanical limit block), the slider motor is the motor that moves the slider 2, with a power-off brake mechanism, when the power is accidentally cut off or during transportation, the slider 2 can be locked on the track 17 to prevent dangerous movement; all four folding support feet are opened and locked in place, triggering all four micro sensors 27 (trigger structure), the device can be unlocked for use to prevent accidental overturning due to unstable center of gravity; slider limit switch 13 limit, as the first safety mechanism of the slider 2; slider mechanical limit 15, as the second safety mechanism of the slider 2 after the failure of the first safety mechanism; semicircular track proximity switch limit 29, as the first safety mechanism of the track 17 rotation; semicircular track mechanical limit 28, as the second safety Figure 7 One of the four folding support feet: when the device is to be enabled, all the folding feet need to be unfolded, and after unfolding, the trigger structure will be pushed to the limit switch metal sheet (support foot limit switch 25), that is, the limit switch changes from the off state to the on state, and only when all four support feet are unfolded in place, that is, all four limit switches (support foot limit switch 25) are in the on state, can it be considered that all the support feet of the device are unfolded in place.

[0155] ​​

[0156] As shown in Figure 20 and Figure 21 , the function of the proximity switch (semi-circular track proximity switch limit 29) is to give the controller a minimum and maximum angle signal of the semi-circular track. When the steel limit sheet 37 is close to the proximity switch to a certain distance (usually 2-4 mm), the proximity switch is triggered and a signal is given to the controller. The proximity switch component specification is M8 DC three-wire inductive proximity switch, brand is Shanghai Automation. Mechanical limit block (semi-circular track mechanical limit 28): the mechanical limit block is a protection mechanism when the steel limit sheet 37 and the proximity switch mechanism fail, to mechanically block the steel limit sheet 37 from further running. Because the steel limit sheet 37 is connected to the circular track, it can limit the further deflection of the circular track out of control.

[0157] As shown in Figure 8 , it contains a slider control box and a control box 4, where the slider control box represents the control of the spray nozzle 1 and the slider 2 part and the rechargeable battery compartment. If repair, maintenance, replacement, the fastening screws of the shell cover here must be removed; the control box 4 is opened by unscrewing the maintenance panel. Here includes controller (for logic control and communication), driver (for stepper motor drive), rechargeable battery.

[0158] As shown in Figure 9 , the platform structure can be quickly disassembled by bolts into three parts to facilitate storage or transportation.

[0159] As shown in Figure 10 , the platform structure adopts modular split design, which can be easily adjusted, replaced and upgraded through detachable fasteners.

[0160] As shown in Figure 11 , the main control detects the battery voltage and the limit switch position, and communicates with the control panel through UART. The main controller 22 receives the panel command of the host computer, and the command is communicated through the UART serial port. The command includes circular rotation and slider movement.

[0161] As shown in Figure 12 , the main controller 22 receives the command of the slave controller 26, and the command is communicated wirelessly through Bluetooth. The slave controller controls the stepper motor according to the command, so as to control the movement of the slider on the slide rail. The slave controller 26 monitors the limit switch position state, and when the limit switch is triggered and the mechanical position reaches the limit position, the slave controller will limit the stepper motor movement. The stepper motor movement can only move away from the limit position.

[0162] As shown in Figure 13As shown, motors M1 to M6 (first to sixth motors) can be controlled by jogging via buttons; motors M1 and M4 are controlled by rotation, but once the motors reach the limit switch position, they can only move in the opposite direction, and the motor position angle can be displayed in real time; motors M2 and M3 can be controlled in conjunction; motors M5 and M6 can be controlled in conjunction.

[0163] like Figure 14 As shown, motors M1 through M6 can be returned to their starting positions, and the current zero angle can be set.

[0164] like Figure 15 As shown, it is mainly used to detect battery voltage, Bluetooth communication status, and the status of the support foot safety switch.

[0165] like Figure 16 and Figure 17 As shown, it includes a Master Controller (22) and a Slave Controller (26).

[0166] Master control function:

[0167] 1. The main controller 22 controls two stepper motors to perform a semi-circular rotational motion.

[0168] 2. The main control detects battery voltage and limit switch position, and communicates with the control panel via RS232.

[0169] 3. The main controller 22 receives commands from the host computer panel, which are communicated via RS232 serial port. Commands include ring rotation and slider movement.

[0170] 4. When the slider needs to move, the main controller 22 sends a command via Bluetooth. The slave controller then controls the stepper motor according to the command, thereby moving the slider.

[0171] 5. The main controller 22 monitors the position status of the limit switches. When a limit switch is triggered and the mechanical position reaches its limit, the slave controller will restrict the movement of the stepper motor. The stepper motor can only move in the direction away from the limit.

[0172] From control function Slave x4:

[0173] 1. The slave controller receives commands from the main controller 26 via Bluetooth for wireless communication. The slave controller then controls the stepper motor according to the commands, thereby controlling the slider's movement along the slide rail.

[0174] 2. The controller 26 monitors the position status of the limit switch. When the limit switch is triggered and the mechanical position reaches its limit, the controller will restrict the stepper motor's movement. The stepper motor can only move in the direction away from the limit.

[0175] 3. The controller communicates via Bluetooth to provide feedback on battery voltage, limit switch position, and slider position information.

[0176] This invention also discloses a programmable calibration method, which utilizes a three-dimensional flow field observation programmable calibration platform, and includes the following steps:

[0177] The observation steps of the first flow field observation equipment are as follows: Adjust the slider 2 and the semi-circular track 3 to make the spray nozzle 1 run along the set trajectory and spray clouds and mist into the first flow field observation equipment installed in the instrument frame; under the condition that the first flow field observation equipment is not affected by cloud and mist condensation, the wind speed is measured normally.

[0178] The system uses a control system to create the motion trajectory of the spray nozzle 1. A spherical rotating mechanism consisting of a semi-circular track 3 and a rotating shaft is used to manipulate the spray nozzle 1. The rotating shaft and slider 2 are programmed to control the changes in clouds and fog, and the three-dimensional solid simulation of cloud formation and three-dimensional turbulent motion under different weather conditions is achieved.

[0179] The second flow field observation equipment observation steps: Operate and debug the second flow field observation equipment correctly to complete the detection process.

[0180] Repeat the steps: conduct multiple experiments, collecting data from both the second and first flow field observation devices, and input the data into a computer for subsequent program analysis; remove outliers and calculate the error:

[0181]

[0182]

[0183]

[0184] Wherein, Ux represents the velocity along the three-dimensional orthogonal x-axis obtained by the first flow field observation device; Ux' represents the velocity along the three-dimensional orthogonal x-axis obtained by the second flow field observation device; Uy represents the velocity along the three-dimensional orthogonal y-axis obtained by the first flow field observation device; Uy' represents the velocity along the three-dimensional orthogonal y-axis obtained by the second flow field observation device; Uz represents the velocity along the three-dimensional orthogonal z-axis obtained by the first flow field observation device; Uz' represents the velocity along the three-dimensional orthogonal z-axis obtained by the second flow field observation device; ΔAx represents the error along the three-dimensional orthogonal x-axis; ΔAy represents the error along the three-dimensional orthogonal y-axis; ΔAz represents the error along the three-dimensional orthogonal z-axis; and n represents the number of repeated experiments.

[0185] This invention designs and builds a platform that can calibrate three-dimensional flow field observations using program control.

[0186] To address the shortcomings of existing observation technologies and accuracy calibration platform designs, the purpose of this invention is to design and construct a program-controlled motion platform that is simple to operate, exhibits good low-speed performance, smooth motion, high positioning accuracy, and low cost. This platform is designed to meet the accuracy calibration requirements of three-dimensional flow field sensors, thereby determining the errors in three-dimensional flow field observations. This platform will help accurately calibrate the accuracy of three-dimensional flow field observations, ensure the validity of data from the observation system, and serve more precise analysis of flow field thermodynamic processes. This will improve upon this new technology and equipment, enabling its widespread application in research fields such as aerodynamics, cloud thermodynamics, hydrodynamics, and turbulence.

[0187] This invention, referencing the structure of a celestial globe, designs a programmable, electrically controlled, rotatable structure with a centrally mounted anemometer and a spray device mounted on a support as a precision calibration platform. This platform comprehensively and accurately simulates and measures the three-dimensional flow field motion of fluids (e.g., clouds), calibrating the accuracy of flow field observations. The spherical trajectory mechanism of this invention is unique; the combination of the rotating shaft and slider 2 allows for free control of the spray device, acquiring sprays at different positions and motion states, while ensuring that the cloud passes through the center of the platform. Secondly, the double-ring design achieves both stability and flexibility. When balance and stability are required, the angle between the two rings is 180°; when the position of the spray device is critical, the angle between the two rings is adjusted to a specified position. Finally, placing the anemometer in the center of the precision calibration platform effectively and accurately measures the wind speed in different directions as the environment changes, obtaining relatively accurate actual data.

[0188] Taking the study of cloud radiation feedback as an example, in order to construct a realistic and controllable environment that can simulate cloud movement under different wind speeds, this invention selects a cloud and fog spraying device for three-dimensional combined application.

[0189] This platform can accommodate 1-4 ultrasonic anemometers, secured by four clips on each side of the instrument frame, with one anemometer mounted on each clip. This allows for the calculation of the partial derivatives of the vector velocity components at the midpoint of the instrument using differential methods, yielding the horizontal divergence and curl of the flow field. This information can then be compared with results obtained from other observation methods to perform higher-order calibration of the anemometer's accuracy. (*This invention does not include an ultrasonic anemometer.)

[0190] Flow field observation is a crucial research method in fluid mechanics and has become one of the most prominent research areas in the scientific community and among the public. Calibration of its observation accuracy is an essential step, but technical means are still lacking, making it a hot research topic for many research institutions both domestically and internationally. Therefore, this invention designs and constructs a program-controlled accuracy calibration experimental platform to determine the errors in three-dimensional flow field observations. The platform uses a 4π spherical rotating mechanism to manipulate the flow field simulation device. Taking cloud radiation feedback as an example, it is equipped with a cloud spraying device to achieve programmable control of the rotating shaft and slider 2. The computer-designed trajectory of the spray gun controls cloud changes, providing a comprehensive, three-dimensional simulation of cloud formation and three-dimensional turbulent motion under different weather conditions. One to four ultrasonic anemometers can be installed at the center of the platform. This allows for the calculation of the partial derivatives of the vector velocity components at the midpoint of the instruments using differential calculations, yielding the horizontal divergence and curl of the flow field. This data can then be compared with results obtained from other observation methods to perform high-order accuracy calibration. This platform will be used to accurately calibrate the accuracy of three-dimensional flow field observations, ensuring the validity of the observation system's data and serving more precise analysis of flow field thermodynamic processes. The improvement of this new technology and equipment will contribute to the development of research fields such as aerodynamics, cloud thermal dynamics, hydrodynamics, and turbulence.

[0191] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0192] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A programmable calibration platform for three-dimensional flow field observation, characterized in that, It includes a rotating shaft, an instrument frame, multiple spray devices, multiple semi-circular tracks (3) and multiple sliders (2); The instrument frame is mounted on the rotating shaft; The instrument frame is used to install the first flow field observation equipment; The semicircular tracks (3) are of different sizes and are concentrically arranged; The semicircular tracks (3) rotate on the rotating shafts respectively; The center of the instrument frame is at the same position as the center of the semicircular track (3); The sliders (2) are respectively set on the semi-circular track (3); The spraying devices are respectively installed on the slider (2); Two semicircular tracks (3) are connected to the axes perpendicular to the ground and rotate along the axes without interfering with each other, providing a three-dimensional simulation of cloud formation and three-dimensional turbulent motion under different weather conditions. The slider (2) includes a slider control box, a slider gear (7), and a slider motor; The semicircular track (3) includes an internal gear (16) and a track (17). The slider gear (7) is rotatably mounted on the slider control box; The slider motor is fixedly mounted on the slider control box; The slider motor is used to drive the slider gear (7) to move; The sliding gear (7) and the internal gear (16) mesh; The internal gear (16) is disposed within the track (17); The programmable calibration platform also includes a control system; The control system performs programmed control of the rotating shaft and the slider (2); The control system uses a controller to programmatically control and plan the spraying device. The spraying device includes a fixed frame, a spray nozzle (1), and an angle adjustment rod (9); The fixing frame is set on the slider (2); An angle adjustment rod (9) is provided on the fixed frame. The spray nozzle (1) is connected to the angle adjustment rod (9); The angle adjustment rod (9) adjusts the angle of the spray nozzle (1); The programmable calibration platform also includes a control box (4); The control box (4) is equipped with a semi-circular track rotation mechanism; The semi-circular track motion mechanism includes an upper stepper motor, a lower stepper motor, an upper planetary gear reducer, a lower planetary gear reducer, a first upper synchronous pulley, a second upper synchronous pulley, an upper synchronous belt, a first lower synchronous pulley, a second lower synchronous pulley, and a lower synchronous belt; The semicircular track includes a large semicircular track and a small semicircular track; The upper stepper motor drives the upper planetary gear reducer to move; The upper planetary gear reducer drives the first upper synchronous belt pulley to rotate; The first upper synchronous pulley drives the second upper synchronous pulley to rotate via the upper synchronous belt; The second upper synchronous belt pulley drives the semi-circular track to rotate by rotating the connecting parts on the semi-circular track. The lower stepper motor drives the lower planetary gear reducer to move; The lower planetary gear reducer drives the first lower synchronous belt pulley to rotate; The first lower synchronous pulley drives the second lower synchronous pulley to rotate via the lower synchronous belt; The second synchronous pulley drives the connecting piece under the small semicircular track to rotate, which in turn drives the small semicircular track to rotate.

2. The programmable calibration platform for three-dimensional flow field observation according to claim 1, characterized in that, The slider (2) also includes a pulley (14); The pulley (14) is mounted on the slider control box; The pulley (14) and the track (17) are connected by a rolling connection.

3. The programmable calibration platform for three-dimensional flow field observation according to claim 1, characterized in that, The programmable calibration platform also includes multiple first omnidirectional wheels, multiple second omnidirectional wheels, and multiple foldable support legs; The first universal wheels are all located at the bottom of the control box (4); The foldable support legs are respectively rotatably arranged around the control box (4); The second universal wheels are respectively located at the ends of the foldable support feet away from the control box (4); The control box (4) is provided with multiple folding holes and multiple unfolding holes; The foldable support legs are respectively provided with folding holes and unfolding holes for inserting pins; When the foldable support leg is folded, insert the pin into the folding hole; When the foldable support legs are unfolded, insert the pins into the unfolding holes.

4. A programmable calibration method, characterized in that, The programmable calibration platform for three-dimensional flow field observation according to any one of claims 1-3 includes the following steps: First flow field observation equipment observation steps: comprehensively adjust the slider (2) and the semi-circular track (3) to make the spray nozzle (1) run according to the set trajectory and spray clouds and fog into the first flow field observation equipment installed in the instrument frame; under the condition that the first flow field observation equipment is not affected by cloud and fog condensation, the wind speed is measured normally. The second flow field observation equipment observation steps: Operate and debug the second flow field observation equipment correctly to complete the detection process.

5. The programmable calibration method according to claim 4, characterized in that, In the observation step of the first flow field observation device, the motion trajectory of the spray nozzle (1) is made by the control system. The spray nozzle (1) is manipulated by a spherical rotating mechanism composed of a semi-circular track (3) and a rotating shaft. The rotating shaft and slider (2) are programmed to control the changes in clouds and fog, and the three-dimensional solid simulation of cloud generation and three-dimensional turbulent motion under different weather conditions is achieved.

6. The programmable calibration method according to claim 4, characterized in that, This programmed calibration method also includes repeating steps: multiple experiments. Data from the second and first flow field observation devices were collected separately and input into a computer for subsequent analysis. Outliers were removed, and the error was calculated. in, Ux This represents the three-dimensional orthogonal flow field obtained from the first flow field observation device. x Velocity in the axial direction; Ux' This represents the three-dimensional orthogonal flow field obtained by the second flow field observation device. x Velocity in the axial direction; Uy This represents the three-dimensional orthogonal flow field obtained from the first flow field observation device. y Velocity in the axial direction; Uy' This represents the three-dimensional orthogonal flow field obtained by the second flow field observation device. y Velocity in the axial direction; Uz This represents the three-dimensional orthogonal flow field obtained from the first flow field observation device. z Velocity in the axial direction; Uz' This represents the three-dimensional orthogonal flow field obtained by the second flow field observation device. z Velocity in the axial direction; Δ Ax Represents three-dimensional orthogonality x Error in the axial direction; Δ Ay Represents three-dimensional orthogonality y Error in the axial direction; Δ Az Representing three-dimensional orthogonality z Error in the axial direction; n Indicates the number of times the experiment was repeated.

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