Full-automatic double-track radar wave flow measurement system and online monitoring method thereof

Abstract

The invention discloses a full-automatic double-track radar wave flow measurement system and an online monitoring method thereof, relates to the technical field of hydrological monitoring, and aims to solve the problems that a current double-track radar wave flow measurement system is easily interfered by environment, equipment and application aspects in acquisition devices, especially in flood peaks and low water periods with violent data changes, so that data acquisition errors exist, and the flow measurement accuracy is poor. The system comprises two tracks, a self-driven trolley, a radar wave flow measuring instrument, a control module, a data acquisition unit, a data processing unit, a data processing unit and a data processing unit, wherein the data acquisition unit is used for acquiring river water flow velocity data acquired by the radar wave flow measuring instrument, and the data processing unit is used for processing and calculating the acquired river water flow velocity data. According to the method, dynamic error correction is adopted, statistical analysis is performed by using a probability method, flow velocity data with large abnormal errors are eliminated, and the flow measurement precision of the system is effectively improved by correcting the data in flood peak and low water periods with violent data change.

Description

Technical Field

[0001] The invention relates to the technical field of hydrological monitoring, and more specifically to a full-automatic dual-track radar wave flow measurement system and an online monitoring method thereof. Background Art

[0002] With the continuous development of radar technology, the cost of radar equipment has been continuously reduced, the weight has been continuously reduced, and the size has been continuously reduced. Radar speed measurement technology has gradually developed from air-based to air, land, sea, water, underwater and other directions, forming a three-dimensional, comprehensive speed measurement system.

[0003] As a typical representative of radar speed measurement technology, pulse radar speed measurement technology has unique advantages in speed measurement and has been widely used.

[0004] The existing dual-track radar wave flow measurement system has errors in data during collection. Due to interference from the environment, equipment, and applications during the measurement process, the collected data often has certain errors, especially during flood peaks and dry periods when the data changes dramatically. This error is more obvious, affecting the system's flow measurement accuracy. The existing technology does not correct the data, and the flow measurement accuracy is low. In view of this, we propose a fully automatic dual-track radar wave flow measurement system and its online monitoring method. Summary of the invention

[0005] The purpose of the present invention is to provide a fully automatic dual-track radar wave flow measurement system and an online monitoring method thereof, so as to solve the technical problems that the current dual-track radar wave flow measurement system is susceptible to interference from the environment, equipment, and application in the acquisition device, especially during the peak and dry periods when the data changes drastically, resulting in errors in the collected data, affecting the accuracy of the system flow measurement, and lack of data correction.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a fully automatic dual-track radar wave flow measurement system, comprising two tracks, a self-driving trolley, a radar wave flow meter, a control module, a data acquisition unit for collecting river water flow velocity data obtained by the radar wave flow meter, a data processing unit for processing and calculating the acquired river water flow velocity data to determine the actual flow velocity of the river during this period of time, a wireless communication module for sending the actual flow velocity of the river during this period of time to a data center, a flow velocity information storage module for storing the actual flow velocity of the river during this period of time, and a data display module for displaying the actual flow velocity of the river during this period of time;

[0007] The two tracks are both across the river and arranged on both sides of the river, and the two tracks are arranged in parallel;

[0008] The self-driving trolley is slidably arranged on the two tracks and can reciprocate along the track direction;

[0009] The radar wave flow meter is mounted on the bottom of the self-driving vehicle and is used to monitor the flow velocity data of the river;

[0010] The control module is respectively connected with the self-driving vehicle, the radar wave flow meter, the data acquisition unit, the data processing unit, the data display module, the wireless communication module, and the flow rate information storage module for integrated control;

[0011] Wherein, the data acquisition unit, data processing unit, data display module, wireless communication module, flow rate information storage module and control module are all arranged in the self-driving vehicle.

[0012] The present invention adopts a radar wave flow meter to provide a flow velocity error sequence, and performs relevant calculations based on the error and double-track difference data to dynamically obtain the actual flow velocity of the radar wave flow meter, reduce the error measured by the radar wave flow meter, and improve the accuracy of the data to a certain extent. During the data acquisition process, the error is dynamically corrected, and statistical analysis is performed using a probability method to exclude flow velocity data with large abnormal errors. During the flood peak and dry seasons when the data changes dramatically, the system flow measurement accuracy is effectively improved by correcting the data.

[0013] Preferably, the data acquisition unit includes an acquisition module and a first processor, the acquisition module is connected to the first processor; the first processor is respectively connected to the control module and the data display module.

[0014] Preferably, the data processing unit includes a first memory and a second memory, the first memory is connected to the first processor and the second memory respectively; the second memory is connected to the wireless communication module and the flow rate information storage module respectively.

[0015] Preferably, the radar wave flow meter is used to measure the time from the emission to the reception of the radar wave, and transmits it to the data processing unit through the data acquisition unit.

[0016] Preferably, the online monitoring method of fully automatic dual-track radar wave flow measurement comprises the following steps:

[0017] S1: sending the real-time collected flow rate data to the first processor;

[0018] S2: The processed data is sent to the data processing unit, and the flow velocity sequence S of each flow velocity within a period of time is collected by the radar wave flow meter. j And the error δ corresponding to each flow rate sequence corresponding to this period of time n , δ n+1 , and obtain the velocity error sequence (S n ,δ n ,δ n+1 ), j is 1, 2, ..., N (N is a constant);

[0019] S3: The data processing unit processes the data and calculates the velocity error sequence (S n ,δ n ,δ n+1 ), when the difference is less than a preset threshold value K, execute step S4, otherwise execute step S5;

[0020] S4: The data processing unit saves the data and takes the velocity error sequence (S n ,δ n ,δ n+1 )middle The corresponding S n As error abnormal data, it is deleted and step S3 is executed;

[0021] S5: Save the data, send the data to the first memory, and calculate the double-track difference P n , the data processing unit saves the double-track difference at that moment to the second memory;

[0022] S6: When the data reaches the set amount, the first memory sends a message to the second memory, and the second memory obtains the data to be sorted according to the message and calculates the double-track difference sequence P1, p1, P2, p2, ..., P N ,p N The cumulative probability G;

[0023] S7: If P n ,p n+1 >G, then S in the double-track difference sequence n+1 credible, otherwise, S in the double-track difference sequence n+1 If it is untrustworthy, delete the untrustworthy data and then execute step S6;

[0024] S8: For the double-track difference sequence P1, p1, P2, p2, ..., P N ,p N For analysis, take P1, p1, P2, p2, ..., P N ,p N The maximum value P j ,p j =p max ;

[0025] S9: Based on P1, p1, P2, p2, ..., P N ,p N , with j for P1,p1,P2,p2,...,P N ,p N Sort and take the first m values ​​as P1′, p′1, P2′, p′2, ..., P′ M ,p′ M ;

[0026] Take P1′, p′1, P2′, p′2, ..., P′ M ,p′ M The corresponding S′ m ,S j ′ is the flow rate sequence of this period of time, and the correction value Δ is calculated n , and S′ n+1 =S n+1 +Δ n As the actual flow rate during that period;

[0027] S10: According to S′ n+1 Determine the flow rate, obtain the actual flow rate for this period of time, and store, display, and send it to the data center. Preferably, the flow rate error sequence (S n ,δ n ,δ n+1 ) is calculated by In the formula, S n Represents the actual measured flow rate value, δ n and δ n+1 Respectively represent the corresponding flow rate S n and flow rate S n+1 The measurement error of

[0028] when If it is less than a preset threshold value K, execute step S4; otherwise, execute step S5, where the threshold value K is 0.5.

[0029] Preferably, the double-track difference P in step S5 n The calculation formula is: n =S n -S n-1 , where n is 1, 2,…, N-1 respectively.

[0030] Preferably, the dual-track difference sequence P1, p1, P2, p2, ..., P N ,p N A set of data pairs representing the double-track difference values ​​corresponding to different sequence numbers and their corresponding occurrence probabilities, the double-track difference sequence P1, p1, P2, p2, ..., P N ,p N The calculation formula of the cumulative probability G is:

[0031] G=P1+P2+…+P N ;

[0032] Where P n ,p n+1 is the double track difference P nThe probability of occurrence, n is 1, 2, ..., N-1 respectively.

[0033] Preferably, in step S9, P1′, p′1, P2′, p′2, ..., P M ′,p′ M The corresponding S′ m ,S j ′ is the maximum absolute value of the values ​​in the m double-track difference sequence M max The corresponding S′ m ,S j ′.

[0034] Preferably, the correction amount Δ in step S9 is n The calculation formula is: Δ n =P j ′×δ n , where P j ′ is P1′, p′1, P2′, p′2, ..., P M ′,p′ M A filtered and sorted double-track difference.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. The present invention adopts a radar wave flow meter to provide a flow velocity error sequence, and performs relevant calculations based on the error and dual-track difference data to dynamically obtain the actual flow velocity of the radar wave flow meter, reduce the measurement error of the radar wave flow meter, and improve the accuracy of the data to a certain extent. During the data acquisition process, the error is dynamically corrected, and statistical analysis is performed using a probability method to exclude flow velocity data with large abnormal errors. During the flood peak and dry seasons when the data changes dramatically, the system flow measurement accuracy is effectively improved by correcting the data.

[0037] 2. The present invention uses a self-driving car as a carrier and carries a radar wave current meter on the self-driving car to realize dynamic data collection. There is no need to place buoys in the river. It has a simple structure, low maintenance cost, strong reliability, and good real-time performance.

[0038] 3. The present invention also uses a self-driving car as a carrier to carry a radar wave flow meter, so that the self-driving car can move back and forth on two tracks, which can realize continuous dynamic monitoring of the river channel, effectively solve the error interference problem of radar wave flow measurement in actual production measurement, and can accurately determine the actual flow velocity of the river channel during that period of time and store, display and send it to the data center. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0040] Figure 2It is a schematic diagram of the internal structure of the present invention in a disassembled state.

[0041] Description of the numbers in the figure:

[0042] 1. Track; 2. Self-driving car; 3. Radar wave flow meter; 4. Control module; 5. Data acquisition unit; 6. Data processing unit; 7. Wireless communication module; 8. Flow rate information storage module; 9. Data display module. DETAILED DESCRIPTION

[0043] Embodiment 1: Figure 1 , Figure 2 As shown, the fully automatic dual-track radar wave flow measurement system of the present invention comprises two tracks 1, a self-driving trolley 2, a radar wave flow meter 3, a control module 4, a data acquisition unit 5 for collecting the river water flow velocity data obtained by the radar wave flow meter 3, a data processing unit 6 for processing and calculating the obtained river water flow velocity data to determine the actual flow velocity of the river during this period of time, a wireless communication module 7 for sending the actual flow velocity of the river during this period of time to a data center, a flow velocity information storage module 8 for storing the actual flow velocity of the river during this period of time, and a data display module 9 for displaying the actual flow velocity of the river during this period of time;

[0044] The two tracks 1 are both across the river and arranged on both sides of the river, and the two tracks 1 are arranged in parallel. The self-driving car 2 is slidably arranged on the two tracks 1 and can move back and forth along the track 1. The radar wave current meter 3 is mounted on the bottom of the self-driving car 2 to monitor the flow velocity data of the river. The present invention uses the self-driving car 2 as a carrier and carries the radar wave current meter 3 on the self-driving car 2 to realize dynamic data collection. There is no need to place buoys in the river. The structure is simple, the maintenance cost is low, the reliability is strong, and it has good real-time performance.

[0045] The control module 4 is respectively connected to the self-driving car 2, the radar wave flow meter 3, the data acquisition unit 5, the data processing unit 6, the data display module 9, the wireless communication module 7, and the flow rate information storage module 8 for integrated control. The data acquisition unit 5, the data processing unit 6, the data display module 9, the wireless communication module 7, the flow rate information storage module 8 and the control module 4 are all arranged in the self-driving car 2. The present invention also uses the self-driving car 2 as a carrier to carry the radar wave flow meter 3, so that the self-driving car 2 can reciprocate on the two tracks 1, which can realize continuous dynamic monitoring of the river channel, effectively solve the error interference problem of radar wave flow measurement in actual production measurement, and can accurately determine the actual flow rate of the river channel during that period of time and store, display and send it to the data center.

[0046] In the embodiment of the present invention, the data acquisition unit 5 includes an acquisition module and a first processor, and the acquisition module is connected to the first processor; the first processor is connected to the control module 4 and the data display module 9 respectively.

[0047] In an embodiment of the present invention, the data processing unit 6 includes a first memory and a second memory, the first memory is connected to the first processor and the second memory respectively; the second memory is connected to the wireless communication module 7 and the flow rate information storage module 8 respectively.

[0048] In the embodiment of the present invention, the radar wave current meter 3 is used to measure the time from the emission to the reception of the radar wave, and transmits it to the data processing unit 6 through the data acquisition unit 5 .

[0049] Embodiment 2: Figure 1 , Figure 2 As shown, as another embodiment of the present invention, the online monitoring method of fully automatic dual-track radar wave flow measurement includes the following steps:

[0050] S1: When the fully automatic dual-track radar wave flow measurement system performs data collection, the radar wave flow meter 3 and the collection module send the real-time collected flow velocity data to the first processor;

[0051] S2: The first processor sends the processed data to the data processing unit 6, and collects the flow velocity sequence S of each flow velocity within a period of time through the radar wave flow meter 3. j And the error δ corresponding to each flow rate sequence corresponding to this period of time n ,δ n+1 , and obtain the velocity error sequence (S n ,δ n ,δ n+1 ), j is 1, 2, ..., N (N is a constant) and the data information is displayed;

[0052] S3: The data processing unit 6 processes the data and calculates the velocity error sequence (S n ,δ n ,δ n+1 ) is calculated by the following formula: In the formula, S n Represents the actual measured flow rate value, δ n and δ n+1 Respectively represent the corresponding flow rate S n and flow rate S n+1 The measurement error of

[0053] when If it is less than the preset threshold value K, execute step S4; otherwise, execute step S5;

[0054] Among them, the threshold K is 0.5;

[0055] S4: The data processing unit 6 saves the data and takes the velocity error sequence (S n ,δ n ,δ n+1 )middle The corresponding S n As error abnormal data, it is deleted and step S3 is executed;

[0056] S5: Save the data, send the data to the first memory, and calculate the double-track difference P n , the data processing unit 6 saves the double-track difference at that moment to the second memory;

[0057] Among them, the double-track difference P n The calculation formula is: n =S n -S n-1 , where n is 1, 2, ..., N-1 in sequence;

[0058] S6: When the data reaches the set amount, the first memory sends a message to the second memory, and the second memory obtains the data to be sorted according to the message and calculates the double-track difference sequence P1, p1, P2, p2, ..., P N ,p N The cumulative probability G;

[0059] Among them, the double-track difference sequence P1, p1, P2, p2, ..., P N ,p N A set of data pairs representing the double-track difference values ​​corresponding to different sequence numbers and their corresponding occurrence probabilities, the double-track difference sequence P1, p1, P2, p2, ..., P N ,p N The calculation formula of the cumulative probability G is:

[0060] G=P1+P2+…+P N ;

[0061] Among them, P n ,p n+1 is the double track difference P n The probability of occurrence, n is 1, 2, ..., N-1;

[0062] S7: If P n ,p n+1 >G, then S in the double-track difference sequence n+1 credible, otherwise, S in the double-track difference sequence n+1 If it is untrustworthy, delete the untrustworthy data and then execute step S6;

[0063] S8: For the double-track difference sequence P1, p1, P2, p2, ..., P N ,pN For analysis, take P1, p1, P2, p2, ..., P N ,p N The maximum value P j ,p j =p max ;

[0064] S9: Based on P1, p1, P2, p2, ..., P N ,p N , with j for P1,p1,P2,p2,...,P N ,p N Sort and take the first m values ​​as P1′, p′1, P2′, p′2, ..., P M ′,p′ M ;

[0065] Take P1′,p′1,P2′,p′2,...,P M ′,p′ M The corresponding S′ m ,S j ′ is the flow rate sequence of this period of time, and the correction value Δ is calculated n , and S′ n+1 =S n+1 +Δ n As the actual flow rate during that period;

[0066] Among them, P1′,p′1,P2′,p′2,...,P M ′,p′ M The corresponding S′ m ,S j ′ is the maximum absolute value of the values ​​in the m double-track difference sequence M max The corresponding S′ m ,S j ′;

[0067] Among them, the correction amount Δ n The calculation formula is: Δ n =P j ′×δ n , where P j ′ is P1′, p′1, P2′, p′2, ..., P M ′,p′ M A filtered and sorted double-track difference.

[0068] S10: According to S′ n+1 Determine the flow rate, obtain the actual flow rate during the period, and store, display, and send it to the data center.

[0069] The present invention adopts the radar wave flow meter 3 to provide a flow velocity error sequence, and performs relevant calculations based on the error and the double-track difference data, dynamically obtains the actual flow velocity of the radar wave flow meter 3, reduces the measurement error of the radar wave flow meter 3, and improves the accuracy of the data to a certain extent. During the data acquisition process, the error is dynamically corrected, and at the same time, the probability method is used for statistical analysis to exclude the flow velocity data with large abnormal errors. During the flood peak and dry seasons when the data changes dramatically, the data is corrected, and the flow measurement accuracy of the system is effectively improved.

[0070] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. Fully automatic dual-track radar wave flow measurement system, characterized by: include: Two tracks (1), both of which are arranged across the river and on both sides of the river, and the two tracks (1) are arranged in parallel; A self-propelled trolley (2), the self-propelled trolley (2) being slidably disposed on the two tracks (1) and being capable of reciprocating along the tracks (1); A radar wave flow meter (3), the radar wave flow meter (3) is mounted on the bottom of the self-driving vehicle (2) and is used to monitor the flow velocity data of the river; A data acquisition unit (5) is used to collect the river flow velocity data obtained by the radar wave current meter (3); A data processing unit (6) is used to process and calculate the acquired river flow velocity data to determine the actual flow velocity of the river during that period of time; The data processing unit (6) processes data by using a probability calculation method of a double-track difference; A data display module (9) is used to display the actual flow velocity of the river during that period of time; A wireless communication module (7) is used to send the actual flow velocity of the river during that period of time to a data center; A flow rate information storage module (8) is used to store the actual flow rate of the river during that period of time; A control module (4), wherein the control module (4) is respectively connected to the self-driving vehicle (2), the radar wave flow meter (3), the data acquisition unit (5), the data processing unit (6), the data display module (9), the wireless communication module (7), and the flow rate information storage module (8) for integrated control; The data acquisition unit (5), the data processing unit (6), the data display module (9), the wireless communication module (7), the flow rate information storage module (8) and the control module (4) are all arranged in the self-driving vehicle (2).

2. The fully automatic dual-track radar wave flow measurement system according to claim 1 is characterized in that: The data acquisition unit (5) comprises an acquisition module and a first processor, wherein the acquisition module is connected to the first processor; the first processor is respectively connected to the control module (4) and the data display module (9).

3. The fully automatic dual-track radar wave flow measurement system according to claim 2 is characterized in that: The data processing unit (6) comprises a first memory and a second memory, wherein the first memory is connected to the first processor and the second memory respectively; and the second memory is connected to the wireless communication module (7) and the flow rate information storage module (8) respectively.

4. The fully automatic dual-track radar wave flow measurement system according to claim 3 is characterized in that: The radar wave current meter (3) is used to measure the time from the emission to the reception of the radar wave, and transmits the time to the data processing unit (6) through the data acquisition unit (5).

5. A fully automatic dual-track radar wave flow measurement online monitoring method, which is used in the fully automatic dual-track radar wave flow measurement system according to claim 4, characterized in that: The following steps are involved: S1: sending the real-time collected flow rate data to the first processor; S2: The processed data is sent to the data processing unit (6), and the radar wave flow meter (3) collects the flow velocity sequence S within a period of time. j And the error δ corresponding to each flow rate sequence corresponding to this period of time n , δ n+1 , and obtain the velocity error sequence (S n ,δ n ,δ n+1 ), j is 1, 2, ..., N (N is a constant); S3: The data processing unit (6) processes the data and calculates the velocity error sequence (S n ,δ n ,δ n+1 ), when the difference is less than a preset threshold value K, execute step S4, otherwise execute step S5; S4: The data processing unit (6) saves the data and takes the velocity error sequence (S n ,δ n ,δ n+1 )middle The corresponding S n As error abnormal data, it is deleted and step S3 is executed; S5: Save the data, send the data to the first memory, and calculate the double-track difference P n , the data processing unit (6) saves the double-track difference at that moment to the second memory; S6: When the data reaches the set amount, the first memory sends a message to the second memory, and the second memory obtains the data to be sorted according to the message and calculates the double-track difference sequence P1, p1, P2, p2, ..., P N ,p N The cumulative probability G; S7: If P n ,p n+1 >G, then S in the double-track difference sequence n+1 credible, otherwise, S in the double-track difference sequence n+1 If it is untrustworthy, delete the untrustworthy data and then execute step S6; S8: For the double-track difference sequence P1, p1, P2, p2, ..., P N ,p N For analysis, take P1, p1, P2, p2, ..., P N ,p N The maximum value P j ,p j =p max ; S9: Based on P1, p1, P2, p2, ..., P N ,p N , with j for P1,p1,P2,p2,...,P N ,p N Sort and take the first m values ​​as P1′, p′1, P′2, p′2, ..., P′ M ,p′ M ; Take P1′, p′1, P′2, p′2, ..., P′ M ,p′ M The corresponding S′ m ,S′ j For the flow rate sequence of this period of time, calculate the correction value Δ n , and S′ n+1 =S n+1 +Δ n As the actual flow rate during that period; S10: According to S′ n+1 Determine the flow rate, obtain the actual flow rate during the period, and store, display, and send it to the data center.

6. The online monitoring method of fully automatic dual-track radar wave flow measurement according to claim 5 is characterized in that: The velocity error sequence (S n ,δ n ,δ n+1 ) is calculated by In the formula, S n Represents the actual measured flow rate value, δ n and δ n+1 Respectively represent the corresponding flow rate S n and flow rate S n+1 The measurement error of when If it is less than a preset threshold value K, execute step S4; otherwise, execute step S5, where the threshold value K is 0.

5.

7. The online monitoring method of fully automatic dual-track radar wave flow measurement according to claim 6 is characterized in that: In step S5, the double-track difference P n The calculation formula is: n =S n -S n-1 , where n is 1, 2,…, N-1 respectively.

8. The online monitoring method of full-automatic dual-track radar wave flow measurement according to claim 7 is characterized in that: In step S6, the double-track difference sequence P1, p1, P2, p2, ..., P N ,p N A set of data pairs representing the double-track difference values ​​corresponding to different sequence numbers and their corresponding occurrence probabilities, the double-track difference sequence P1, p1, P2, p2, ..., P N ,p N The calculation formula of the cumulative probability G is: G=P1+P2+…+P N ; Where P n ,p n+1 is the double track difference P n The probability of occurrence, n is 1, 2, ..., N-1 respectively.

9. The online monitoring method of fully automatic dual-track radar wave flow measurement according to claim 8 is characterized in that: In step S9, P1 ′ ,p ′ 1, P2 ′ ,p ′ 2, ..., P M ′ M ,p ′ M The corresponding S ′ m ,S j ′ is the maximum absolute value M of the values ​​in the m double-track difference sequences max The corresponding S ′ m ,S j ′ .

10. The online monitoring method of full-automatic dual-track radar wave flow measurement according to claim 9 is characterized in that: The correction amount Δ in step S9 n The calculation formula is: Δ n =P′ j ×δ n , where P j ′ is P1′, p′1, P2′, p′2, ..., P′ M ,p′ M A filtered and sorted double-track difference.

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