A high-precision automatic flow measurement system based on a large-span rigid carrier

Abstract

The present invention discloses a high-precision automatic flow measurement system based on a large-span rigid carrier, including a rigid track, a track-type vehicle operation system and a host computer; the rigid track includes a plurality of square steel pipes welded together, which are erected above the channel section in the form of a simply supported beam; the length of the channel section is not less than 50 meters; positioning plates are evenly distributed on the rigid track; the track-type vehicle operation system is installed on the rigid track and moves along the rigid track; the track-type vehicle operation system includes a vehicle body, a driving wheel, a driving component, a driven wheel, a lifting component, a flow measurement component and a controller. The present invention can adapt to large-span channels with a cross-sectional width greater than 50 meters and application scenarios where bridge construction is difficult; and it can still maintain a high moving accuracy and a stable moving speed on a rectangular track, and the maximum driving speed can reach 2m / s, ensuring the stability and timeliness of flow data during multi-point measurement.

Description

Technical Field

[0001] The invention relates to the technical field of channel section hydrological measurement, and in particular to a high-precision automatic flow measurement system based on a large-span rigid carrier. Background Art

[0002] Flow is one of the core elements of hydrological testing and water conservancy measurement. It is of great significance for hydrological and water resources monitoring, flood prevention and scheduling management, water metering and charging, etc. The timeliness and accuracy of its test data are very important.

[0003] The method recognized by the channel management department for flow measurement accuracy is the rotor flowmeter method. The use of rotor flowmeters to realize the automation of channel flow measurement has always been a goal of hydrological measurement. At present, devices that use rotor flowmeters to realize online automatic flow measurement on irrigation channels have appeared. However, existing products cannot fully meet the needs of automatic measurement of channel flow. The main problems are the reliability of the flow measurement vehicle, the durability of the power supply system, and the accuracy of the rotor flowmeter measurement point positioning at a large flow rate (when the flow rate is greater than 2 meters). It cannot meet the requirements, especially the flow measurement requirements of large-span sections. When the channel span exceeds 20 meters, the structural strength of the track decreases. In order to achieve accurate positioning, the flow measurement vehicle can only travel slowly at a low speed, the flow measurement stability and timeliness are poor, and the amount of effective data collected is sharply reduced. Even so, when the track is used for a long time, structural errors will inevitably occur. Therefore, the current research and development of automatic flow measurement equipment for large-span channels is still one of the pain points of the industry. There is an urgent need for a high-precision automatic flow measurement system based on a large-span rigid carrier with long battery life, high positioning accuracy of the flowmeter measurement point, good overall reliability, and good field protection effect. Summary of the invention

[0004] The purpose of the present invention is to propose a high-precision automatic flow measurement system based on a large-span rigid carrier, which can adapt to large-span channels with a cross-sectional width greater than 50 meters and application scenarios where bridge construction is difficult; and it can still maintain a high moving accuracy and a stable moving speed on a rectangular track, with a maximum driving speed of up to 2m / s, ensuring the stability and timeliness of flow data during multi-point measurement.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] A high-precision automatic flow measurement system based on a large-span rigid carrier, the high-precision automatic flow measurement system comprising a rigid track, a track-type vehicle operation system and a host computer;

[0007] The rigid track includes a plurality of square steel pipes welded together and erected above the channel section in the form of a simply supported beam; the length of the channel section is not less than 50 meters; positioning plates are evenly distributed on the rigid track; the track-type vehicle operation system is installed on the rigid track and moves along the rigid track;

[0008] The rail-type vehicle operation system comprises a vehicle body, a driving wheel, a driving component, a driven wheel, a lifting component, a flow measuring component and a controller;

[0009] The host computer analyzes the external input flow measurement task, and sends the multiple target vertical line positions obtained by the analysis to the track-type vehicle operation system;

[0010] The controller includes a driving module, a first position acquisition module, a second position acquisition module, a position correction module, a driving speed adjustment module, a flow measurement module and a target update module;

[0011] The driving drive module is connected to the driving wheel through the driving component, driving the driving wheel to rotate so that the vehicle body moves on the rigid track; the first position acquisition module is connected to the driving component, and obtains the first track position information of the vehicle body according to the feedback data of the driving component; the second position acquisition module obtains the second track position information of the vehicle body according to the feedback information of the positioning plate passed by; the position correction module uses the second track position information to correct the first track position information; the driving speed adjustment module adjusts the driving speed in real time based on the current position and the spacing between the positioning plate closest to the target vertical position and the distance between the positioning plate closest to the target vertical position and the target vertical position, and sends the adjusted driving speed to the driving drive module, so that the vehicle body approaches the target vertical position at the preset driving speed at the positioning plate closest to the target vertical position, and starts the first deceleration program after reaching the preset distance, so that the vehicle body stays at the target vertical position, and sends a flow measurement signal to the flow measurement module;

[0012] The flow measurement module responds to the flow measurement signal, starts the lifting component, releases the flow measurement component to collect flow velocity data at the target vertical position, and retracts the flow measurement component after the flow measurement is completed; the target update module is used to set the next vertical position as the target vertical position according to the analysis result of the upper computer after the flow measurement data at the current vertical position is collected, and sends the updated target vertical position to the driving speed adjustment module until the flow measurement at all vertical positions is completed.

[0013] Furthermore, at least one positioning plate is provided between two adjacent vertical lines.

[0014] Furthermore, when the target update module updates the target vertical line position, it sends a first recovery signal to the flow measuring module, so that the flow measuring module controls the lifting component to recover the flow measuring component above the water surface; in response to the completion of flow measurement at all vertical line positions, the target update module sends a second recovery signal to the flow measuring module, so that the flow measuring module controls the lifting component to completely recover the flow measuring component into the vehicle body.

[0015] Furthermore, the flow measurement assembly includes a counting wheel, a stopper, a river bottom signal generator, a lead fish and a flow meter;

[0016] The counting wheel and the stopper are installed on the cross beam above the front of the vehicle body. One end of the wire rope is fixed on the lifting component and tightly wound. After passing around the counting wheel, the other end is connected with the lead fish through a river bottom signal generator.

[0017] Furthermore, a flow measuring room is provided on one side of the rigid track, and a charging pile is provided in the flow measuring room;

[0018] Electrodes are installed at positions on the vehicle body corresponding to the charging piles, reflective plates are provided at the starting point and the end point of the rigid track, and laser ranging sensors are installed at positions on the vehicle body corresponding to the reflective plates; the controller collects the actual distance between the vehicle body and the reflective plate returned by the laser ranging sensor, and when the preset distance is reached, the first deceleration program is started, the vehicle body is driven to decelerate at a fixed acceleration and stop at the charging pile, so that the electrodes on the vehicle body are in contact with the charging pile.

[0019] Furthermore, the wheel assembly includes two driving wheels and two driven wheels, and the circumference of the driving wheels and the driven wheels is wrapped with a polyurethane wrapping layer. The surface width of the polyurethane wrapping layer is greater than the width of the square steel and contacts the upper plane of the square steel track. A guide slide is installed on the inner side of the driving wheel and the driven wheel. The guide slide is arranged on the inner side of the square steel track and is provided with an offset margin. The guide slide is coaxial with the driving wheel and the driven wheel and its radius is greater than the radius of the driving wheel and the driven wheel; the two driving wheels and the two driven wheels are respectively installed at the front end and the rear end of the vehicle body, and the two driving wheels are connected to the drive motor, and under the action of the drive motor, they carry the vehicle body together with the driven wheels to move on the rigid track.

[0020] Furthermore, the circumferences of the driving wheel and the driven wheel are wrapped with a 10 mm thick polyurethane wrapping layer; and polytetrafluoroethylene guide slide plates are installed on the inner sides of the driving wheel and the driven wheel.

[0021] Furthermore, the driving speed adjustment module combines the current position with the spacing between the positioning plate closest to the target vertical position and the distance between the positioning plate closest to the target vertical position and the target vertical position, and the process of adjusting the driving speed in real time includes the following steps:

[0022] A plurality of vertical line positions are set at equal intervals between adjacent positioning plates, and the distance value between the previous positioning plate and the vertical line position is calculated;

[0023] For each vertical line position, the first deceleration program is started after the vehicle passes the previous positioning plate at different driving speeds, so that the vehicle decelerates and stops at a fixed acceleration, and the error value between the actual stop position of the vehicle and the target vertical line position is obtained; the maximum driving speed with an error value less than the allowable error threshold and its corresponding error value are screened to generate a set of sample data;

[0024] For each positioning plate, a relationship function between the distance between the positioning plate and the vertical position and the maximum driving speed obtained by screening is obtained by fitting;

[0025] The distance between the positioning plate closest to the target vertical line position and the target vertical line position is read, and the maximum driving speed of the positioning plate is calculated by combining the fitted relationship function; and the required deceleration distance between different levels of driving speed and the maximum driving speed is calculated;

[0026] The position of the vehicle body is obtained according to the first track position information, and the spacing of the positioning plate closest to the target vertical position is calculated, which is compared with the calculated deceleration distance. The current maximum allowable driving speed is determined according to the maximum allowable deceleration distance, and the driving speed is adjusted; and when the vehicle body is at the maximum allowable deceleration distance, the second deceleration program is started to control the vehicle body to decelerate, so that when the vehicle body is at the positioning plate closest to the target vertical position, the driving speed is lower than the calculated maximum driving speed of the positioning plate passing through.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The high-precision automatic flow measurement system based on a large-span rigid carrier of the present invention can adapt to large-span channels with a cross-sectional width greater than 50 meters and application scenarios where bridge construction is difficult; and it can still maintain a high moving accuracy and a stable moving speed on a rectangular track, with a maximum driving speed of up to 2m / s, ensuring the stability and timeliness of flow data during multi-point measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the structure of the frame components of an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the structure of a vehicle shell component according to an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the installation method of the reinforced aluminum plate according to an embodiment of the present invention;

[0032] Figure 4 A schematic diagram of the structure of a wheel assembly according to an embodiment of the present invention;

[0033] Figure 5A schematic diagram of a rigid track and a track-type vehicle operation system according to an embodiment of the present invention;

[0034] Figure 6 This is an architecture diagram of a high-precision automatic flow measurement system based on a large-span rigid carrier according to an embodiment of the present invention.

[0035] Explanation of the accompanying drawings: 1. Driving wheel and driving parts; 2. Electrode; 3. Frame; 4. Battery; 5. Lifting parts; 6. Control parts; 7. Wire rope; 8. Counting wheel; 9. Limiter; 10. River bottom signal generator; 11. Lead fish; 12. Driven wheel; 2-1. Lower cover; 2-2. Rear cover; 2-3. Antenna; 2-4. Upper cover; 2-5. Front cover 2-6. Handle; 3-1. Reinforced aluminum plate; 3-2. Vehicle shell; 4-1. Driving wheel; 4-2. Track; 4-3. Driven wheel; 4-4. Adjustment baffle; 5-1. Truss bridge; 5-2. Rigid track; 5-3. Flow measurement room; 5-4. Track-type vehicle operation system; 5-5. Charging pile. DETAILED DESCRIPTION

[0036] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0037] See also Figure 5 and Figure 6 , the embodiment of the present invention discloses a high-precision automatic flow measurement system based on a large-span rigid carrier, the high-precision automatic flow measurement system includes a rigid track, a track-type vehicle operation system and a host computer;

[0038] The rigid track includes a plurality of square steel pipes welded together and erected above the channel section in the form of a simply supported beam; the length of the channel section is not less than 50 meters; positioning plates are evenly distributed on the rigid track; the track-type vehicle operation system is installed on the rigid track and moves along the rigid track;

[0039] The rail-type vehicle operation system comprises a vehicle body, a driving wheel, a driving component, a driven wheel, a lifting component, a flow measuring component and a controller;

[0040] The host computer analyzes the external input flow measurement task, and sends the multiple target vertical line positions obtained by the analysis to the track-type vehicle operation system;

[0041] The controller includes a driving module, a first position acquisition module, a second position acquisition module, a position correction module, a driving speed adjustment module, a flow measurement module and a target update module;

[0042] The driving drive module is connected to the driving wheel through the driving component, driving the driving wheel to rotate so that the vehicle body moves on the rigid track; the first position acquisition module is connected to the driving component, and obtains the first track position information of the vehicle body according to the feedback data of the driving component; the second position acquisition module obtains the second track position information of the vehicle body according to the feedback information of the positioning plate passed by; the position correction module uses the second track position information to correct the first track position information; the driving speed adjustment module adjusts the driving speed in real time based on the current position and the spacing between the positioning plate closest to the target vertical position and the distance between the positioning plate closest to the target vertical position and the target vertical position, and sends the adjusted driving speed to the driving drive module, so that the vehicle body approaches the target vertical position at the preset driving speed at the positioning plate closest to the target vertical position, and starts the first deceleration program after reaching the preset distance, so that the vehicle body stays at the target vertical position, and sends a flow measurement signal to the flow measurement module;

[0043] The flow measurement module responds to the flow measurement signal, starts the lifting component, releases the flow measurement component to collect flow velocity data at the target vertical position, and retracts the flow measurement component after the flow measurement is completed; the target update module is used to set the next vertical position as the target vertical position according to the analysis result of the upper computer after the flow measurement data at the current vertical position is collected, and sends the updated target vertical position to the driving speed adjustment module until the flow measurement at all vertical positions is completed.

[0044] In order to take into account both precise positioning and driving speed, preferably, at least one positioning plate is provided between two adjacent vertical lines.

[0045] During continuous multi-point flow measurement, the target updating module continuously updates the target vertical position. After each update of the target vertical position, the target updating module sends a first recovery signal to the flow measuring module, so that the flow measuring module controls the lifting component to recover the flow measuring component above the water surface. After all flow measurement tasks are completed, the target updating module responds to the completion of flow measurement at all vertical positions and sends a second recovery signal to the flow measuring module, so that the flow measuring module controls the lifting component to completely recover the flow measuring component into the vehicle body.

[0046] In the present embodiment, the flow measuring component includes a counting wheel, a stopper, a river bottom signal generator, a lead fish and a flow meter; the counting wheel and the stopper are installed on the upper crossbeam of the front part of the vehicle body, one end of the wire rope is fixed on the lifting component and tightly wound, and after passing the counting wheel, the other end is connected to the lead fish through the river bottom signal generator. The flow measuring vehicle of this embodiment can be adapted to conventional flow measuring components on the market, and the flow measuring principle is the same as the prior art. That is, the flow measuring vehicle is moved to a certain location, and the lifting component is used to release the lead fish and the river bottom signal generator. After touching the bottom, the flow meter is used to measure the flow velocity of the area. The flow velocity of a large-section river is relatively fast, so the weight of the lead fish usually used is also relatively large. The present invention optimizes the frame structure of the flow measuring vehicle so that the flow measuring vehicle can carry a lead fish weighing more than 100 kg. For details, see Figure 1 The vehicle body includes a frame component and a vehicle shell component; the frame component includes a first longitudinal support, a second longitudinal support, a first longitudinal load-bearing beam, a second longitudinal load-bearing beam, a first transverse support, a second transverse support, a load-bearing crossbeam, two active wheel supports, a drive motor support, a lifting motor support and two driven wheel supports; the first longitudinal support and the second longitudinal support are parallel to each other, the first transverse support and the second transverse support are parallel to each other, the first transverse support is vertically connected to one of the top ends of the first longitudinal support and the second longitudinal support, and the second transverse support is vertically connected to the middle area of ​​the first longitudinal support and the second longitudinal support; the first longitudinal support, the second longitudinal support, the first transverse support and the second transverse support are staggered to form a frame platform; the two active wheel supports are respectively installed on the first longitudinal support and the first The angles of the transverse support and the angles of the first longitudinal support and the second transverse support are used to carry two driving wheels; the two driven wheel supports are arranged oppositely and are respectively installed in the tail areas of the first longitudinal support and the second longitudinal support away from the load beam, and are used to carry two driven wheels; the first longitudinal load beam and the second longitudinal load beam are vertically welded in the middle areas of the first transverse support and the second transverse support, and are used to carry the flow measurement assembly and the power supply unit; the load beam is vertically welded in the middle areas of the first longitudinal support and the second longitudinal support, and is used to carry the flow measurement assembly; the drive motor support is located below the frame platform, directly below one of the driving wheels, and the drive motor is installed in the drive motor support; the lifting motor support is installed above the frame platform, and the lifting motor is installed in the lifting motor support. A column support is vertically arranged above the frame platform, and a reinforcing support is connected between the column support and the frame platform. The longitudinal support and the transverse support form a frame platform, which is reinforced by the driving wheel support and the driven wheel support, and then carries the corresponding wheel assembly. The longitudinal load beam is used to carry heavy electronic devices such as the measurement and control unit and the power supply unit through reliable welding. The drive motor support and the lifting motor support are reliably connected to the longitudinal load beam, and are independently equipped with corresponding motors and reducers to bear the torque generated by them. The load beam is fixed by the column support and strengthened by the reinforcement support, and can withstand a lead fish load of more than 100Kg. In order to reduce the overall weight of the vehicle body, refer to Figure 3 In this embodiment, the vehicle shell component is improved. The vehicle shell component is mounted on the vehicle frame component, including a vehicle shell and a reinforced aluminum plate. The reinforced aluminum plate is fixed on both sides of the vehicle shell, which reduces the weight of the vehicle body while maintaining the firmness of the vehicle body. Figure 2 As shown, the vehicle shell components include a lower cover, a rear cover, an antenna, an upper cover, a front cover and a handle; the lower cover is fixed to the frame platform by M6 bolts, the rear cover and the upper cover are fixed to the lower cover by pins, and closed with a door lock; the antenna is installed at the rear of the frame and led out through a hole on the lower cover; the handles are installed on both sides of the lower cover and on the upper side of the front cover.

[0047] In order to extend the battery life of the vehicle, preferably, a flow measuring room is provided on one side of the rigid track, and a charging pile is provided in the flow measuring room; electrodes are installed at positions on the vehicle body corresponding to the charging piles, reflective plates are provided at the starting point and the end point of the rigid track, and laser ranging sensors are installed at positions on the vehicle body corresponding to the reflective plates; the controller collects the actual distance between the vehicle body and the reflective plate returned by the laser ranging sensor, and when the preset distance is reached, the first deceleration program is started, the vehicle body is driven to decelerate at a fixed acceleration and stop at the charging pile, so that the electrodes on the vehicle body are in contact with the charging pile.

[0048] In order to make the wheels run as smoothly as possible on the square steel track, the wheel structure is also improved in this embodiment. Figure 4 Specifically, the wheel assembly includes two driving wheels and two driven wheels. The driving wheels and the driven wheels are wrapped with a certain thickness of polyurethane wrapping layer around the circumference. The surface width of the polyurethane wrapping layer is greater than the width of the square steel. It contacts the upper plane of the square steel track, has high friction, good wear resistance and physical properties, stable movement, low noise and vibration, and a guide slide is installed on the inner side of the driving wheel and the driven wheel. The guide slide is set on the inner side of the square steel track and has a certain offset margin; the guide slide is coaxial with the driving wheel and the driven wheel and its radius is greater than the radius of the driving wheel and the driven wheel; the two driving wheels and the two driven wheels are respectively installed at the front and rear ends of the vehicle body, and the two driving wheels are connected to the driving motor. Under the action of the driving motor, they carry the vehicle body together with the driven wheel to move on the rigid track. For example, the driving wheel and the driven wheel are wrapped with a 10mm thick polyurethane wrapping layer around the circumference; the driving wheel and the driven wheel are installed with a polytetrafluoroethylene guide slide on the inner side.

[0049] In order to balance the driving speed and the accuracy of the flow measurement position, this embodiment proposes that the driving speed adjustment module adjusts the driving speed in real time based on the current position and the spacing between the positioning plate closest to the target vertical position and the distance between the positioning plate closest to the target vertical position and the target vertical position; the adjustment process includes the following steps:

[0050] Multiple vertical positions are set at equal intervals between adjacent positioning plates, and the distance value between the previous positioning plate and the vertical position is calculated; the vertical position here is to measure the relationship function between the distance value between the positioning plate and the vertical position and the maximum driving speed obtained by screening, which is a temporary vertical position. When setting, the spacing of the temporary vertical positions can be determined according to the actual river flow measurement position accuracy. For rivers with high position accuracy requirements, the spacing is set smaller, and for rivers with low position accuracy requirements, the spacing is set larger.

[0051] For each vertical line position, the first deceleration program is started after the vehicle passes the previous positioning plate at different driving speeds, so that the vehicle decelerates and stops at a fixed acceleration, and the error value between the actual stop position of the vehicle and the target vertical line position is obtained; the maximum driving speed with an error value less than the allowable error threshold and the corresponding error value are screened to generate a set of sample data; the error value is related to the actual river flow measurement accuracy. The higher the accuracy requirement, the smaller the allowable error value.

[0052] For each positioning plate, a relationship function between the distance between the positioning plate and the vertical position and the screened maximum driving speed is obtained by fitting.

[0053] Read the distance between the positioning plate closest to the target vertical position and the target vertical position, and calculate the maximum driving speed of the positioning plate by combining the fitted relationship function; and calculate the required deceleration distance between different levels of driving speed and the maximum driving speed. The deceleration distance can also be obtained through a similar driving test process. For example, set the target driving speed, control the vehicle body to start slowing down at different levels of driving speed, measure the driving distance when the set target driving speed is reached, and use it as the deceleration distance. Considering that the flow measurement vehicle is set outdoors, the deceleration distance measurement in special weather conditions, such as rain, can also be considered. For icy and snowy weather, we usually prefer driving safety and control the vehicle body to continue to drive at a low speed to measure the flow.

[0054] The position of the vehicle body is obtained according to the first track position information, and the spacing of the positioning plate closest to the target vertical position is calculated, which is compared with the calculated deceleration distance. The current maximum allowed driving speed is determined according to the maximum allowed deceleration distance, and the driving speed is adjusted; and when the vehicle body is at the maximum allowed deceleration distance, the second deceleration program is started to control the deceleration of the vehicle body, so that when the vehicle body is at the positioning plate closest to the target vertical position, the driving speed is lower than the calculated maximum driving speed of the path positioning plate. In this embodiment, the first deceleration program is mainly used to control the vehicle body to gradually decelerate to stop, and the second deceleration program is mainly used to control the vehicle body to gradually decelerate to the calculated maximum driving speed of the path positioning plate. Both can use uniform acceleration for deceleration, but the ultimate control targets of the two are slightly different. One tends to control the position error, and the other tends to control the driving speed error. In fact, in most cases, the second deceleration program is used to reduce the driving speed first, and then the first deceleration program is used to further reduce the driving speed to 0. In order to ensure the accuracy of the final parking position, when the first deceleration program is running, when the vehicle body is located at the positioning plate closest to the target vertical position, the driving speed is generally slightly lower than the maximum driving speed of the positioning plate calculated. The purpose of controlling the driving speed in two stages is to enable the vehicle body to travel at the maximum driving speed that can be achieved at any stage. This is also due to the continuous correction of the vehicle body position by the positioning plate. Even if there is an error when the vehicle body is driving at high speed, the two-stage deceleration can also make the vehicle body stop steadily at the set vertical position. In some examples, for occasions with high flow measurement accuracy requirements, three-stage deceleration can be performed through two consecutive positioning plates, but generally speaking, for conventional large-span rivers, slight position errors are allowed, and two-stage deceleration can meet the error requirements.

[0055] In this embodiment, the positioning plate needs to be repositioned only when the square steel is deformed after long-term use, and the deformation of the square steel is slow, so the maintenance frequency of the flow measurement system is very low and it can be used in the field for a long time.

[0056] Preferably, we can also judge whether a large track error has occurred in combination with the flow velocity measurement results, so that the position of the positioning plate needs to be corrected. This is because the automatic flow measurement system of this embodiment is a multi-point measurement with a large span, and there is a dual correlation between the flow measurement data in space and time. By analyzing the historical flow measurement data, once a large track error occurs, the flow measurement data will also show abnormalities in space and time at the same time. Therefore, we can take each historical flow measurement data as a vector, and then take the flow measurement data vector within a certain period of time (excluding the end of the period) as a set of time series data, as input into the LSTM network for training, and output as the flow measurement data vector at the end of the period; then use the trained LSTM network to make an abnormal judgment on the current flow measurement data vector. Specifically, the flow measurement data vector within a certain period of time before the current flow measurement data vector is taken as a set of time series data, as input into the trained LSTM network, to obtain the estimated value of the current flow measurement data vector, analyze the similarity between the estimated value of the current flow measurement data vector and the measured value, if the similarity between the estimated value and the measured value of multiple consecutive groups of flow measurement data vectors is lower than the preset similarity threshold, it is necessary to dispatch staff to inspect the track.

[0057] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The schemes in the embodiments of the present application may be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0058] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0059] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0060] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0061] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0062] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A high-precision automatic flow measurement system based on a large-span rigid carrier, characterized in that: The high-precision automatic flow measurement system includes a rigid track, a track-type driving system and a host computer; The rigid track includes a plurality of square steel pipes welded together and erected above the channel section in the form of a simply supported beam; the length of the channel section is not less than 50 meters; positioning plates are evenly distributed on the rigid track; the track-type vehicle operation system is installed on the rigid track and moves along the rigid track; The rail-type vehicle operation system comprises a vehicle body, a driving wheel, a driving component, a driven wheel, a lifting component, a flow measuring component and a controller; The host computer analyzes the external input flow measurement task, and sends the multiple target vertical line positions obtained by the analysis to the track-type vehicle operation system; The controller includes a driving module, a first position acquisition module, a second position acquisition module, a position correction module, a driving speed adjustment module, a flow measurement module and a target update module; The driving drive module is connected to the driving wheel through the driving component, driving the driving wheel to rotate so that the vehicle body moves on the rigid track; the first position acquisition module is connected to the driving component, and obtains the first track position information of the vehicle body according to the feedback data of the driving component; the second position acquisition module obtains the second track position information of the vehicle body according to the feedback information of the positioning plate passed by; the position correction module uses the second track position information to correct the first track position information; the driving speed adjustment module adjusts the driving speed in real time based on the current position and the spacing between the positioning plate closest to the target vertical position and the distance between the positioning plate closest to the target vertical position and the target vertical position, and sends the adjusted driving speed to the driving drive module, so that the vehicle body approaches the target vertical position at the preset driving speed at the positioning plate closest to the target vertical position, and starts the first deceleration program after reaching the preset distance, so that the vehicle body stays at the target vertical position, and sends a flow measurement signal to the flow measurement module; The flow measurement module responds to the flow measurement signal, starts the lifting component, releases the flow measurement component to collect the flow velocity data at the target vertical position, and retracts the flow measurement component after the flow measurement is completed; the target update module is used to set the next vertical position as the target vertical position according to the analysis result of the upper computer after the flow measurement data at the current vertical position is collected, and sends the updated target vertical position to the driving speed adjustment module until the flow measurement at all vertical positions is completed; The driving speed adjustment module combines the current position with the spacing between the positioning plate closest to the target vertical position and the distance between the positioning plate closest to the target vertical position and the target vertical position to adjust the driving speed in real time, including the following steps: A plurality of vertical line positions are set at equal intervals between adjacent positioning plates, and the distance value between the previous positioning plate and the vertical line position is calculated; For each vertical line position, the first deceleration program is started after the vehicle passes the previous positioning plate at different driving speeds, so that the vehicle decelerates and stops at a fixed acceleration, and the error value between the actual stop position of the vehicle and the target vertical line position is obtained; the maximum driving speed with an error value less than the allowable error threshold and its corresponding error value are screened to generate a set of sample data; For each positioning plate, a relationship function between the distance between the positioning plate and the vertical position and the maximum driving speed obtained by screening is obtained by fitting; The distance between the positioning plate closest to the target vertical line position and the target vertical line position is read, and the maximum driving speed of the positioning plate is calculated by combining the fitted relationship function; and the required deceleration distance between different levels of driving speed and the maximum driving speed is calculated; The position of the vehicle body is obtained according to the first track position information, and the spacing of the positioning plate closest to the target vertical position is calculated, which is compared with the calculated deceleration distance. The current maximum allowable driving speed is determined according to the maximum allowable deceleration distance, and the driving speed is adjusted; and when the vehicle body is at the maximum allowable deceleration distance, the second deceleration program is started to control the vehicle body to decelerate, so that when the vehicle body is at the positioning plate closest to the target vertical position, the driving speed is lower than the calculated maximum driving speed of the positioning plate passing through.

2. The high-precision automatic flow measurement system based on a large-span rigid carrier according to claim 1 is characterized in that: At least one positioning plate is arranged between two adjacent vertical lines.

3. The high-precision automatic flow measurement system based on a large-span rigid carrier according to claim 1 is characterized in that: When the target updating module updates the target vertical line position, it sends a first recovery signal to the flow measuring module, so that the flow measuring module controls the lifting component to recover the flow measuring component above the water surface; in response to the completion of flow measurement at all vertical line positions, the target updating module sends a second recovery signal to the flow measuring module, so that the flow measuring module controls the lifting component to completely recover the flow measuring component into the vehicle body.

4. The high-precision automatic flow measurement system based on a large-span rigid carrier according to claim 1 is characterized in that: The flow measurement assembly includes a counting wheel, a stopper, a river bottom signal generator, a lead fish and a flow meter; The counting wheel and the stopper are installed on the cross beam above the front of the vehicle body. One end of the wire rope is fixed on the lifting component and tightly wound. After passing around the counting wheel, the other end is connected with the lead fish through a river bottom signal generator.

5. The high-precision automatic flow measurement system based on a large-span rigid carrier according to claim 1 is characterized in that: A flow measuring room is provided on one side of the rigid track, and a charging pile is provided in the flow measuring room; Electrodes are installed at positions on the vehicle body corresponding to the charging piles, reflective plates are provided at the starting point and the end point of the rigid track, and laser ranging sensors are installed at positions on the vehicle body corresponding to the reflective plates; the controller collects the actual distance between the vehicle body and the reflective plate returned by the laser ranging sensor, and when the preset distance is reached, the first deceleration program is started, the vehicle body is driven to decelerate at a fixed acceleration and stop at the charging pile, so that the electrodes on the vehicle body are in contact with the charging pile.

6. The high-precision automatic flow measurement system based on a large-span rigid carrier according to claim 1 is characterized in that: The wheel assembly includes two driving wheels and two driven wheels. The circumference of the driving wheels and the driven wheels is wrapped with a polyurethane wrapping layer. The surface width of the polyurethane wrapping layer is greater than the width of the square steel and is in contact with the upper plane of the square steel track. A guide slide is installed on the inner side of the driving wheel and the driven wheel. The guide slide is arranged on the inner side of the square steel track and is provided with an offset margin. The guide slide is coaxial with the driving wheel and the driven wheel and its radius is greater than the radius of the driving wheel and the driven wheel; the two driving wheels and the two driven wheels are respectively installed at the front end and the rear end of the vehicle body. The two driving wheels are connected to the driving motor and carry the vehicle body together with the driven wheels under the action of the driving motor to move on the rigid track.

7. The high-precision automatic flow measurement system based on a large-span rigid carrier according to claim 6 is characterized in that: The circumferences of the driving wheel and the driven wheel are wrapped with a 10 mm thick polyurethane wrapping layer; polytetrafluoroethylene guide slide plates are installed on the inner sides of the driving wheel and the driven wheel.

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