Self-adaptive radian hydrometric cableway hanging box and water flow velocity accurate measurement method thereof

Abstract

The invention discloses a self-adaptive radian hydrological cableway hanging box and a water flow velocity accurate measurement method thereof, relates to the technical field of hydrological measurement, and aims to solve the problem that depth deviation and angle deviation of a mounted sensor are caused by terrain and weight factors of a current cable during operation. The system comprises a data processing platform used for hydrological data transmission and detection attitude fine tuning, a data acquisition assembly installed on one side of the data processing platform and used for hydrological data acquisition, and a carrying basic platform hung on a cable main body. According to the invention, the adjustment of the gravity balance point of the cableway hanging box is realized by adjusting the water entry depth of the fish lead and the relative position of the data acquisition assembly and the data processing platform, so that the influence of the data acquisition assembly on the radian of the cable caused by the impact of water flow is balanced, and the operation angle and depth of the hydrological sensor during operation are guaranteed; and the measurement accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrological measurement, and more specifically to an adaptive arc hydrological cableway hanging box and a method for accurately measuring water flow velocity thereof. Background Art

[0002] The hydrographic cableway is one of the main river crossing facilities for hydrological surveys at the station. It is the basic infrastructure used by the hydrological station to measure depth, distance and flow. In hydrological surveys, the cableway hanging box is an important test platform and is widely used to measure water flow velocity.

[0003] The hydrographic cableway is mainly composed of a cableway house, cableway foundation, tower, guy wire, anchor, pulley, transport crane, main cable, working cable, test platform, winch, operation control equipment, signal transmission system and lightning protection system. It can be divided into suspension cableway, hanging box cableway, gondola cableway and multi-span cableway according to the different ways of suspending components. Among them, the hanging box cableway has become the preferred solution in hydrographic survey due to its solid structure, good visibility all around, and sufficient working space and storage space.

[0004] At present, cableway boxes are widely used in hydrological surveys to measure water flow velocity. However, since cableways often have curvatures in actual environments, traditional boxes are prone to depth deviations during measurement, affecting measurement accuracy.

[0005] At present, the cableway hanging box technology is widely adopted in the field of hydrological measurement to accurately capture the flow velocity. This method has greatly promoted the efficiency of hydrological data collection. However, in complex natural environments, the cables often present a certain curvature due to factors such as terrain. Due to the existence of curvature, the cables are loose, and the cable hanging box is washed by the water flow, which can easily cause the sensors mounted under the hanging box to have depth deviation and angle deviation during operation, which in turn has an adverse effect on the accuracy of the measurement results and becomes a major obstacle to improving the measurement accuracy. In view of this, we propose an adaptive curvature hydrological cableway hanging box and its water flow velocity accurate measurement method. Summary of the invention

[0006] The purpose of the present invention is to provide an adaptive curvature hydrological cableway hanging box and a method for accurately measuring water flow velocity thereof, so as to solve the technical problem that the current cable, due to terrain and weight factors, causes depth deviation and angle deviation of the mounted sensor during operation, thereby adversely affecting the accuracy of the measurement results.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: an adaptive curvature hydrographic cableway hanging box, comprising a data processing platform for hydrographic data transmission and detection posture fine-tuning, a data acquisition component for hydrographic data acquisition installed on one side of the data processing platform, and a carrying base platform mounted on the cable body;

[0008] The carrier base platform is installed on the other side of the data processing platform, and is used to collect the curvature data of the cable body, so as to cooperate with the data processing platform to fine-tune the detection posture of the data acquisition component;

[0009] The data processing platform includes a hanging box body, a winding mechanism provided in the hanging box body and connected to the data acquisition component, a communication device provided on one side of the hanging box body for transmitting hydrological data, and an acquisition terminal and a data processor installed in the hanging box body for performing hydrological data acquisition control and data processing;

[0010] Among them, the data processing platform equipped with the data acquisition component and the gravity balance point of the carrying base platform are on the same vertical line, and the gravity balance point of the data processing platform equipped with the data acquisition component is adjusted by fine-tuning the posture of the data acquisition component to balance the influence of the curvature of the cable body caused by the impact of water flow on the data acquisition component.

[0011] The present invention can obtain the curvature data of the cable body through the carrying base platform through the setting of the data processing platform, the data acquisition component, and the carrying base platform, and then perform posture detection fine-tuning on the data acquisition component through the data processing platform. The water immersion depth and the relative position of the data acquisition component and the data processing platform can be adjusted through the posture detection fine-tuning, and the gravity balance point of the cableway hanging box can be adjusted, thereby balancing the curvature effect of the data acquisition component affected by the impact of the water flow, so as to ensure the operating angle and depth of the hydrological sensor during operation, thereby improving the measurement accuracy.

[0012] Preferably, the hanging box body comprises a box body and a box door hingedly connected to one side of the box body, a solar energy storage box is fixedly installed on one side of the box body, and an infrared camera is fixedly installed on the bottom of the box body;

[0013] The winding mechanism includes an automatic shrinking drum, which is arranged at the center of the box body, and a cable is installed on the automatic shrinking drum. A through groove for the cable to pass through is opened at the top of the box body, and a roller A that cooperates with the cable is arranged in the through groove.

[0014] Preferably, the communication device includes a support frame and a network transmitter, the support frame is fixedly arranged on the top of one side of the box body, the network transmitter is installed on the support frame, and the network transmitter is electrically connected to the acquisition terminal.

[0015] Preferably, the data acquisition component includes an arc-shaped support arm, one end of the arc-shaped support arm is hingedly connected to the box body, and one end of the arc-shaped support arm is hingedly connected to a lead fish, and a plurality of rollers B are equidistantly arranged at one end of the arc-shaped support arm away from the lead fish, and one of the plurality of rollers B is fixedly connected to one end of the cable, and the remaining rollers B are arranged in coordination with the cable.

[0016] Preferably, the head end of the lead fish is streamlined, and a hydrological sensor electrically connected to the collection terminal is installed at the head end of the lead fish, front balancing fins and rear stabilizing fins for stabilizing the posture are horizontally constructed on both sides of the head end and the tail end of the lead fish, and a stabilizing tail fin for eliminating wake vortex is constructed at the tail end of the lead fish.

[0017] Preferably, the transport base platform includes a stabilizing suspension mechanism installed on one side of the top of the box body and an extension arm constructed on one side of the top of the stabilizing suspension mechanism, the top of the extension arm is constructed with a mounting frame, and a solar panel is installed on the mounting frame, and the solar panel is electrically connected to the solar energy storage box.

[0018] Preferably, the stable suspension mechanism includes a mounting component and extension seats symmetrically arranged on both sides of the mounting component, a servo electrically connected to the data processor is fixedly arranged on one side of the top of the two extension seats, and a movable arm A is installed on the driving end of the servo, a detection wheel abutting against the upper surface of the cable body is rotatably installed in the movable arm A, and movable arms B are hingedly installed on both sides of the movable arm A, an auxiliary wheel abutting against the lower surface of the cable body is installed in the movable arm B, and the movable arm B cooperates with the auxiliary wheel to form a symmetrical wheel group for monitoring the deformation angle of the arc segment on the cable body.

[0019] Preferably, the mounting assembly comprises a bottom plate fixedly arranged on the top of the box body, and a hoisting arm and a damper are respectively hingedly installed on both sides of the top of the bottom plate, and the damper is hingedly connected to one side of the hoisting arm;

[0020] A base is fixedly provided at the top of the lifting arm, and a cable clamp A is constructed at one end of the base away from the damper, and a cable clamp B is hingedly installed on the cable clamp A, and the cable clamp A cooperates with the cable clamp B to form a clamping structure for the cable body;

[0021] The cable clamp B has an end rotatably mounted with an axle rod at a distance from the cable clamp A, and support rods passing through the axle rod are hingedly mounted on both sides of the base, and the support rods are sleeved with springs abutting against the base and the axle rod. The base with the cable clamp A, the cable clamp B with the axle rod and the support rods form an adaptive triangular structure with the help of the springs to maintain the stability of the clamping structure.

[0022] A method for accurately measuring water flow velocity comprises the following steps:

[0023] S1. Equipment layout;

[0024] The staff makes the cable body pass through two symmetrical wheel sets and clamp structures to arrange the cableway gondola. Then, the winch used to drive the cable body cooperates with the visual assistance of the infrared camera to move the cableway gondola above the water surface and immerse the lead fish in the water.

[0025] S2, monitoring of the curvature of the cable body under high-velocity water flow;

[0026] S201, cable body deformation angle data collection;

[0027] Through two detection wheels and auxiliary wheels respectively contacting the upper and lower surfaces of the cable body, when the cable body is bent, the detection wheel with a movable arm B drives the driving end of the steering gear to rotate, so as to collect the deformation angle data of the arc segment of the cable body, and transmit it to the data processor for data processing, so as to obtain the deformation angle data of the arc segment on the cable body that changes continuously as the winch drives away from the two banks, and generate the arc deformation curve model to predict the future changes of the deformation angle data:

[0028]

[0029] In the formula, y1(t i )=a0+a1t+a2t 2 +…+a n t n ,a0,a1,…,a n is the fitting coefficient, t is the time corresponding to the data collection, m is the number of data points collected, Δθ i is the actual measured deformation angle;

[0030] S202, cable body offset data collection;

[0031] When the lead fish enters the water, the impact of the water on the lead fish acts on the data processing platform, causing the data processing platform, together with the data acquisition components and the carrier platform, to deviate, and pull the cable body to deviate. Through the collected water flow velocity data and the water-facing surface area and volume of the lead fish, combined with the arc deformation curve model, the deflection data of the cable body in the direction of the water flow under the influence of the water flow is obtained, and the arc deviation curve model is generated to predict the future changes of the deviation data;

[0032] S202a, the force of water flow on lead fish F=C d ρvV 2 S / 2, where C dis the resistance coefficient, ρ is the density of water, v is the velocity of water flow, V is the volume of the lead fish, and S is the water-facing surface area of ​​the lead fish;

[0033] S202b, assuming that the cable body is affected by the water flow and the offset distance in the direction of the water flow is Δx, the elastic modulus of the cable body itself is E, the cross-sectional area is A, and the initial length is L, then

[0034] S202c, the arc offset curve model is:

[0035]

[0036] In the formula, y2(t i )=b0+b1t+b2t 2 +…+b m t m ,b0,b1,…,b m is the fitting coefficient, t is the time corresponding to the data collection, k is the number of data points collected, Δx i is the actual measured deformation angle;

[0037] S3, fine-tuning of the lead fish posture;

[0038] S301, real-time fine-tuning of lead fish distance;

[0039] The deformation angle data of the cable body is obtained according to the arc deformation curve model of the cable body, and the real-time offset data of the cable body is obtained according to the arc offset curve model of the cable body. The real-time fine-tuning distance d of the automatic retractable cable drum pulling the cable is calculated by the real-time deformation angle data and the real-time offset data:

[0040] d real time = k1Δθ real time + k2Δx real time;

[0041] Wherein, Δθrealtime is the real-time deformation angle data obtained according to the arc deformation curve model, Δxrealtime is the real-time offset data obtained according to the arc offset curve model, and k1 and k2 are conversion coefficients respectively;

[0042] S302, lead fish prediction fine-tuning distance;

[0043] The predicted deformation angle data of the cable body is obtained according to the arc deformation curve model of the cable body, and the predicted offset data of the cable body is obtained according to the arc offset curve model of the cable body. The predicted fine-tuning distance d of the automatic retractable cable drum pulling the cable is calculated by the predicted deformation angle data and the predicted offset data:

[0044] dprediction = k1Δθprediction + k2Δxprediction;

[0045] Wherein, Δθ prediction is the real-time deformation angle data obtained according to the arc deformation curve model, and Δx prediction is the real-time offset data obtained according to the arc offset curve model;

[0046] S303, model optimization;

[0047] Compare the deviation of the real-time fine-tuning distance with the hydrological data collection value after the adjustment of the previous predicted fine-tuning distance, verify the data prediction ability of the arc deformation curve model and the arc offset curve model, and optimize the model through the deep learning algorithm to obtain the attitude fine-tuning distance;

[0048] S304, specific fine-tuning;

[0049] The distance is fine-tuned according to the posture by automatically retracting the line drum to pull or release roller A, so that the arc-shaped support arm is pulled or released by roller A to drive the lead fish to move. By adjusting the water entry depth of the lead fish and the relative position of the lead fish and the data processing platform, the detection depth of the lead fish under the change of curvature and the gravity balance point of the cableway hanging box are adjusted, so as to balance the curvature of the cable body affected by the impact of water flow on the data acquisition component;

[0050] S4. Hydrological data collection;

[0051] The water flow velocity and temperature of the water body are detected through hydrological sensors, and the hydrological data is transmitted to the collection terminal. After data processing by the data processor, it is transmitted to the data center through the network transmitter. The collection frequency and time of the hydrological data are adjusted by the data center through the collection terminal.

[0052] Preferably, the processing method of model optimization is: let the real-time fine-tuning distance be dreal-time, and the past prediction fine-tuning distance be The deviation of hydrological data collection after adjustment is Δe, and the loss function is obtained To verify the data prediction ability of the radian deformation curve model and the radian offset curve model, where N is the number of data samples;

[0053] Use the deep learning algorithm to minimize the loss function L as the goal, and continuously adjust the weight parameter ω of the neural network to optimize the model. Suppose the prediction output fine-tuning distance of the neural network is but Where ω represents the weight parameter set of the neural network, dtrue represents the actual fine-tuning distance data, and a more accurate posture fine-tuning distance doptimization is obtained.

[0054] Compared with the prior art, the present invention has the following beneficial effects:

[0055] 1. The present invention can obtain the curvature data of the cable body through the carrying base platform through the setting of the data processing platform, the data acquisition component, and the carrying base platform, and then perform posture detection fine-tuning on the data acquisition component through the data processing platform. The water immersion depth and the relative position of the data acquisition component and the data processing platform can be adjusted through the posture detection fine-tuning, and the gravity balance point of the cableway hanging box can be adjusted, thereby balancing the curvature effect of the data acquisition component affected by the impact of the water flow, so as to ensure the operating angle and depth of the hydrological sensor during operation, and improve the measurement accuracy.

[0056] 2. The present invention can also accurately monitor the deformation angle of the arc segment on the cable body in real time through the setting of a stable suspension mechanism. When the cable body is bent due to various external factors, the detection wheel and the auxiliary wheel can keenly sense the change, drive the driving end of the servo to rotate, and then accurately collect the deformation angle data of the arc segment of the cable body to generate a curvature deformation curve model. With this model, not only can the current change of the curvature of the cable body be clearly grasped, but also the future change trend of the deformation angle data in the subsequent time can be predicted in advance, which provides a solid and accurate data basis for the subsequent fine-tuning of the lead fish posture, so that the entire measurement process can be adaptively adjusted according to the change of the cable curvature, further ensuring the accuracy of water flow velocity measurement from the root, and reducing the measurement error caused by the cable curvature.

[0057] 3. The present invention also obtains the deformation angle data of the cable body through the curvature deformation curve model, and then obtains the corresponding real-time offset data and predicted offset data in combination with the curvature offset curve model, and then calculates the real-time fine-tuning distance and predicted fine-tuning distance of the automatic retractable reel pulling the cable, and then compares the real-time fine-tuning distance with the previous predicted fine-tuning distance and the deviation of the adjusted hydrological data collection, and uses the loss function to verify the data prediction ability of the curvature deformation curve model and the curvature offset curve model, and uses the deep learning algorithm to minimize the loss function as the goal, and continuously optimizes the model parameters, so as to obtain a more accurate and reliable posture fine-tuning distance, which can flexibly adjust the water entry depth of the lead fish and its relative position with the data processing platform, and well balance the influence of the water flow impact on the curvature of the cable body. During the entire measurement process, according to the changes in the water flow velocity and the curvature of the cable, it can ensure that the lead fish is always in the best detection posture, and the accuracy of the measurement results is guaranteed to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a schematic diagram of the overall structure of the present invention in a right-side view;

[0059] Figure 2 It is a schematic diagram of the overall structure of the present invention in a left-side viewing state;

[0060] Figure 3It is a schematic diagram of the internal structure of the data processing platform and the data acquisition component in the present invention in a coordinated state;

[0061] Figure 4 It is a structural schematic diagram of the data acquisition component in the present invention;

[0062] Figure 5 It is a structural schematic diagram for showing the state of the gravity balance point in the present invention;

[0063] Figure 6 It is a structural schematic diagram of the carrier base platform in the present invention;

[0064] Figure 7 It is a structural schematic diagram of the stable suspension mechanism in the present invention;

[0065] Figure 8 It is a structural schematic diagram of the mounting component in the present invention.

[0066] Description of the numbers in the figure:

[0067] 1. Data processing platform; 101. Box; 102. Collection terminal; 103. Data processor; 104. Support frame; 105. Network transmitter; 106. Automatic retractable cable drum; 107. Roller A; 108. Cable; 109. Solar energy storage box; 110. Box door;

[0068] 2. Data acquisition component; 201. Arc support arm; 202. Lead fish; 203. Hydrological sensor; 204. Roller B; 205. Front balance fin; 206. Rear stabilizing fin; 207. Stabilizing tail fin;

[0069] 3. Cable body;

[0070] 4. Carrying base platform; 401. Extension arm; 402. Mounting frame; 403. Solar panel;

[0071] 5. Stable suspension mechanism; 501. Extension seat; 502. Servo; 503. Movable arm A; 504. Detection wheel; 505. Movable arm B; 506. Auxiliary wheel;

[0072] 6. Mounting assembly; 601. Base plate; 602. Lifting arm; 603. Damper; 604. Base; 605. Cable clamp A; 606. Cable clamp B; 607. Shaft rod; 608. Support rod; 609. Spring. DETAILED DESCRIPTION

[0073] Embodiment 1: Figures 1 to 8As shown, the present invention relates to an adaptive curvature hydrographic cableway hanging box, comprising a data processing platform 1 for hydrographic data transmission and posture fine-tuning detection, a data acquisition component 2 for hydrographic data acquisition installed on one side of the data processing platform 1, and a carrying base platform 4 mounted on a cable body 3;

[0074] The carrier base platform 4 is installed on the other side of the data processing platform 1, and is used to collect the curvature data of the cable body 3, so as to cooperate with the data processing platform 1 to fine-tune the detection posture of the data acquisition component 2;

[0075] The data processing platform 1 includes a hanging box body, a winding mechanism provided in the hanging box body and connected to the data acquisition component 2, a communication device provided on one side of the hanging box body for hydrological data transmission, and a collection terminal 102 and a data processor 103 installed in the hanging box body for hydrological data collection control and data processing. The communication device includes a support frame 104 and a network transmitter 105. The support frame 104 is fixed on the top of one side of the box body 101. The network transmitter 105 is installed on the support frame 104, and the network transmitter 105 is electrically connected to the collection terminal 102. The hydrological data collected by the data acquisition component 2 is transmitted to the data processor 103 through the collection terminal 102 for processing, and then sent to the data center through the network transmitter 105.

[0076] Among them, the data processing platform 1 provided with the data acquisition component 2 and the gravity balance point of the carrying base platform 4 are on the same vertical line. The gravity balance point of the data processing platform 1 provided with the data acquisition component 2 is adjusted by fine-tuning the posture of the data acquisition component 2 to balance the curvature effect of the data acquisition component 2 on the cable body 3 caused by the impact of the water flow. Through the arrangement of the data processing platform 1, the data acquisition component 2 and the carrying base platform 4, the present invention can obtain the curvature data of the cable body 3 through the carrying base platform 4, and then fine-tune the posture of the data acquisition component 2 through the data processing platform 1. Through the fine-tuning of the posture detection, the water immersion depth and the relative position of the data acquisition component 2 and the data processing platform 1 can be adjusted, and the gravity balance point of the cableway hanging box can be adjusted, thereby balancing the curvature effect of the data acquisition component 2 on 3 caused by the impact of the water flow, so as to ensure the operating angle and depth of the hydrological sensor 203 during operation, thereby improving the measurement accuracy.

[0077] In an embodiment of the present invention, the main body of the hanging box includes a box body 101 and a box door 110 hingedly connected to one side of the box body 101. A solar energy storage box 109 is fixedly installed on one side of the box body 101, and an infrared camera is fixedly installed at the bottom of the box body 101. The solar energy storage box 109 stores the electric energy generated by the solar panel 403, and the electric energy is processed by the inverter and then transmitted to the solar energy storage box 109. The solar energy storage box 109 is used to power the entire cable hanging box, and the infrared camera is used to detect the state of floating objects on the water surface to prevent them from being entangled in the data acquisition component 2;

[0078] In an embodiment of the present invention, the winding mechanism includes an automatic shrinking drum 106, which is arranged at the center of the box body 101, and a cable 108 is installed on the automatic shrinking drum 106, and a through groove for the cable 108 to pass through is opened at the top of the box body 101, and a roller A107 matching the cable 108 is arranged in the through groove, and the data acquisition component 2 includes an arc-shaped support arm 201, one end of the arc-shaped support arm 201 is hingedly connected to the box body 101, and one end of the arc-shaped support arm 201 is hingedly connected to a lead fish 202, and a plurality of rollers B204 are equidistantly arranged at one end of the arc-shaped support arm 201 away from the lead fish 202, and one of the plurality of rollers B204 is fixedly connected to one end of the cable 108, and the remaining rollers B204 are fixedly connected to the cable 108 is arranged in coordination. When it is necessary to fine-tune the posture of the lead fish 202, the cable 108 can be pulled or released by the automatic retracting wire drum 106, so that the arc-shaped support arm 201 with the lead fish 202 is pulled or released by the cable 108 to lift or drop, thereby achieving fine-tuning of the posture of the lead fish 202. In order to avoid damage to the cableway hanging box caused by excessive water flow velocity, the arc-shaped support arm 201 is respectively hingedly connected to the box body 101 and the lead fish 202. Within a certain range of water flow velocity, the lead fish 202 cannot drive the arc-shaped support arm 201 to rotate, but it will drive the box body 101 to drive the cable body 3 to deviate. When the water flow velocity is too high, the water flow will drive the lead fish 202 to drive the arc-shaped support arm 201 to rotate, thereby achieving the force unloading for the impact under excessive water flow velocity.

[0079] In the embodiment of the present invention, the head end of the lead fish 202 is streamlined, and the head end of the lead fish 202 is installed with a hydrological sensor 203 electrically connected to the collection terminal 102. Both sides of the head end and the tail end of the lead fish 202 are horizontally constructed with a front balancing fin 205 and a rear stabilizing fin 206 for stabilizing the posture, and the tail end of the lead fish 202 is constructed with a stabilizing tail fin 207 for eliminating wake vortexes. The pair of front balancing fins 205 and the pair of rear stabilizing fins 206 arranged on the lead fish 202 improve the stability of the lead fish 202, and the wake vortex is eliminated by the stabilizing tail fin 207 of the lead fish 202, which greatly improves the running stability of the streamlined lead fish 202 in the water flow and improves the measurement accuracy.

[0080] In an embodiment of the present invention, the carrying base platform 4 includes a stable suspension mechanism 5 installed on one side of the top of the box body 101 and an extension arm 401 constructed on one side of the top of the stable suspension mechanism 5, the top of the extension arm 401 is constructed with a mounting frame 402, and a solar panel 403 is installed on the mounting frame 402, the solar panel 403 is electrically connected to the solar energy storage box 109, the stable suspension mechanism 5 includes a mounting component 6 and extension seats 501 symmetrically arranged on both sides of the mounting component 6, the top side of the two extension seats 501 are fixedly provided with a steering gear 502 electrically connected to the data processor 103, and the driving end of the steering gear 502 is installed with a movable arm A503, a detection wheel 504 abutting against the upper surface of the cable body 3 is rotatably installed in the movable arm A503, and movable arms B505 are hingedly installed on both sides of the movable arm A503, an auxiliary wheel 506 abutting against the lower surface of the cable body 3 is installed in the movable arm B505, and the movable arm B 505 cooperates with the auxiliary wheel 506 to form a symmetrical wheel group for monitoring the deformation angle of the arc segment on the cable body 3. Through the setting of the stable suspension mechanism 5, the deformation angle of the arc segment on the cable body 3 can be accurately monitored in real time. When the cable body 3 is bent due to various external factors, the detection wheel 504 and the auxiliary wheel 506 can keenly sense the change, drive the driving end of the steering gear 502 to rotate, and then accurately collect the deformation angle data of the arc segment of the cable body 3, and generate an arc deformation curve model. With this model, not only can the current change of the arc of the cable body 3 be clearly grasped, but also the future change trend of the deformation angle data in the subsequent time can be predicted in advance, which provides a solid and accurate data basis for the subsequent fine-tuning of the posture of the lead fish 202, so that the entire measurement process can be adaptively adjusted according to the change of the cable curvature, further ensuring the accuracy of the water flow velocity measurement from the root, and reducing the measurement error caused by the cable curvature.

[0081] In an embodiment of the present invention, the mounting assembly 6 includes a bottom plate 601 fixedly arranged on the top of the box body 101, and a lifting arm 602 and a damper 603 are hingedly installed on both sides of the top of the bottom plate 601, and the damper 603 is hingedly connected to one side of the lifting arm 602, and a base 604 is fixedly arranged on the top of the lifting arm 602, and a cable clamp A605 is constructed at one end of the base 604 away from the damper 603, and a cable clamp B606 is hingedly installed on the cable clamp A605, and the cable clamp A605 cooperates with the cable clamp B606 to form a clamping structure for the cable body 3, and the end of the cable clamp B606 away from the cable clamp A605 is rotatably installed with an axle rod 607, and the base Support rods 608 passing through the shaft 607 are hingedly installed on both sides of the seat 604, and springs 609 are sleeved on the support rods 608 to abut against the base 604 and the shaft 607. The base 604 with the cable clamp A605, the cable clamp B606 with the shaft 607 and the support rods 608 form an adaptive triangular structure that can maintain the stability of the clamping structure with the help of the spring 609. The cable clamp A605 and the cable clamp B606 are respectively arranged on both sides of the cable body 3, and the spring 609 is released to push the adaptive triangular structure to reset, so as to ensure the stability of the clamping structure formed by the cable clamp A605 and the cable clamp B606, thereby completing the connection with the cable body 3.

[0082] Embodiment 2: Figures 1 to 8 As shown, as another embodiment of the present invention, a method for accurately measuring water flow velocity includes the following steps:

[0083] S1. Equipment layout;

[0084] The staff makes the cable body 3 pass through two symmetrical wheel sets and clamp structures to arrange the cableway gondola, and then uses a winch for driving the cable body 3 with the visual assistance of an infrared camera to move the cableway gondola above the water surface and immerse the lead fish 202 into the water.

[0085] S2, monitoring the curvature of the cable body 3 under high velocity water flow;

[0086] S201, cable body 3 deformation angle data collection;

[0087] Through the two detection wheels 504 and the auxiliary wheel 506 respectively contacting the upper and lower surfaces of the cable body 3, when the cable body 3 has a bending arc, the detection wheel 504 provided with the movable arm B505 drives the driving end of the steering gear 502 to rotate, so as to collect the deformation angle data of the arc segment of the cable body 3, and transmit it to the data processor 103 for data processing, so as to obtain the deformation angle data of the arc segment on the cable body 3 that changes continuously as the winch drives away from the two banks, and generate the arc deformation curve model to predict the future change of the deformation angle data:

[0088]

[0089] In the formula, y1(t i )=a0+a1t+a2t 2 +…+a n t n ,a0,a1,…,a n is the fitting coefficient, t is the time corresponding to the data collection, m is the number of data points collected, Δθ i is the actual measured deformation angle;

[0090] S202, collecting cable body 3 offset data;

[0091] When the lead fish 202 enters the water, the impact of the water on the lead fish 202 acts on the data processing platform 1, causing the data processing platform 1 together with the data acquisition component 2 and the carrier base platform 4 to deviate, and pull the cable body 3 to deviate. Through the collected water flow velocity data and the water-facing surface area and volume of the lead fish 202, combined with the arc deformation curve model, the deflection data of the cable body 3 in the direction of the water flow under the influence of the water flow is obtained, and the arc deflection curve model is generated to predict the future changes of the deflection data;

[0092] S202a, the force F of the water flow on the lead fish 202 = C d ρvV 2 S / 2, where C d is the resistance coefficient, ρ is the density of water, v is the water flow velocity, V is the volume of the lead fish 202, and S is the water-facing surface area of ​​the lead fish 202;

[0093] S202b, assuming that the cable body 3 is affected by the water flow and the offset distance in the direction of the water flow is Δx, the elastic modulus of the cable body 3 itself is E, the cross-sectional area is A, and the initial length is L, then

[0094] S202c, the arc offset curve model is:

[0095]

[0096] In the formula, y2(t i )=b0+b1t+b2t 2 +…+b m t m ,b0,b1,…,b m is the fitting coefficient, t is the time corresponding to the data collection, k is the number of data points collected, Δx i is the actual measured deformation angle;

[0097] S3, lead fish 202 posture fine-tuning;

[0098] S301, lead fish 202 real-time fine-tuning distance;

[0099] The deformation angle data of the cable body 3 is obtained according to the arc deformation curve model of the cable body 3, and the real-time offset data of the cable body 3 is obtained according to the arc offset curve model of the cable body 3. The real-time fine-tuning distance d real-time of the automatic retractable cable drum 106 pulling the cable 108 is calculated by the real-time deformation angle data and the real-time offset data:

[0100] d real time = k1Δθ real time + k2Δx real time;

[0101] Wherein, Δθrealtime is the real-time deformation angle data obtained according to the arc deformation curve model, Δxrealtime is the real-time offset data obtained according to the arc offset curve model, and k1 and k2 are conversion coefficients respectively;

[0102] S302, lead fish 202 prediction fine-tuning distance;

[0103] The predicted deformation angle data of the cable body 3 is obtained according to the arc deformation curve model of the cable body 3, and the predicted offset data of the cable body 3 is obtained according to the arc offset curve model of the cable body 3. The predicted fine-tuning distance d predicted by the automatic retractable cable drum 106 pulling the cable 108 is calculated by the predicted deformation angle data and the predicted offset data:

[0104] dprediction = k1Δθprediction + k2Δxprediction;

[0105] Wherein, Δθ prediction is the real-time deformation angle data obtained according to the arc deformation curve model, and Δx prediction is the real-time offset data obtained according to the arc offset curve model;

[0106] S303, model optimization;

[0107] Compare the deviation of the real-time fine-tuning distance with the hydrological data collection value after the adjustment of the previous predicted fine-tuning distance, verify the data prediction ability of the arc deformation curve model and the arc offset curve model, and optimize the model through the deep learning algorithm to obtain the attitude fine-tuning distance;

[0108] S304, specific fine-tuning;

[0109] The distance is fine-tuned according to the posture by automatically retracting the wire drum 106 to pull or release the roller A107, thereby pulling or releasing the arc-shaped support arm 201 through the roller A107 to drive the lead fish 202 to move, and by adjusting the water entry depth of the lead fish 202 and the relative position of the lead fish 202 and the data processing platform 1, the detection depth of the lead fish 202 under the curvature change and the gravity balance point of the cableway hanging box are adjusted, thereby balancing the curvature effect of the water flow impact on the cable body 3 of the data acquisition component 2;

[0110] S4. Hydrological data collection;

[0111] The water flow velocity and temperature of the water body are detected by the hydrological sensor 203, and the hydrological data is transmitted to the collection terminal 102. After the data is processed by the data processor 103, it is transmitted to the data center through the network transmitter 105. The collection frequency and time of the hydrological data are adjusted by the data center through the collection terminal 102.

[0112] As another embodiment of the present invention, the processing method of model optimization is: assuming that the real-time fine-tuning distance is dreal-time, and the past prediction fine-tuning distance is The deviation of hydrological data collection after adjustment is Δe, and the loss function is obtained To verify the data prediction ability of the radian deformation curve model and the radian offset curve model, where N is the number of data samples;

[0113] Use the deep learning algorithm to minimize the loss function L as the goal, and continuously adjust the weight parameter ω of the neural network to optimize the model. Suppose the prediction output fine-tuning distance of the neural network is but Where ω represents the weight parameter set of the neural network, dtrue represents the actual fine-tuning distance data, and a more accurate posture fine-tuning distance doptimization is obtained.

[0114] 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. An adaptive curvature hydrological cableway hanging box, characterized in that: include: Data processing platform (1), used for hydrological data transmission and detection attitude fine-tuning; A data acquisition component (2), the data acquisition component (2) being installed on one side of the data processing platform (1) and being used for collecting hydrological data; A carrier base platform (4) mounted on the cable body (3), the carrier base platform (4) being installed on the other side of the data processing platform (1) and used for collecting curvature data of the cable body (3) so as to cooperate with the data processing platform (1) to fine-tune the detection posture of the data collection component (2); The data processing platform (1) comprises a hanging box body, a reeling mechanism disposed in the hanging box body and connected to the data acquisition component (2), a communication device disposed on one side of the hanging box body for transmitting hydrological data, and a collection terminal (102) and a data processor (103) installed in the hanging box body for performing hydrological data collection control and data processing; The gravity balance points of the data processing platform (1) provided with the data acquisition component (2) and the carrier base platform (4) are located on the same vertical line, and the gravity balance point of the data processing platform (1) provided with the data acquisition component (2) is adjusted by fine-tuning the posture of the data acquisition component (2) to balance the influence of the curvature of the cable body (3) caused by the impact of water flow on the data acquisition component (2).

2. The adaptive curvature hydrographic cableway hanging box according to claim 1, characterized in that: The hanging box body comprises a box body (101) and a box door (110) hingedly connected to one side of the box body (101); a solar energy storage box (109) is fixedly installed on one side of the box body (101), and an infrared camera is fixedly arranged on the bottom of the box body (101); The winding mechanism comprises an automatic shrinking wire drum (106), which is arranged at the center of the box body (101), and a cable (108) is installed on the automatic shrinking wire drum (106), and a through groove for the cable (108) to pass through is opened at the top of the box body (101), and a roller A (107) matching the cable (108) is arranged in the through groove.

3. The adaptive curvature hydrographic cableway hanging box according to claim 2, characterized in that: The communication device comprises a support frame (104) and a network transmitter (105); the support frame (104) is fixedly arranged on the top of one side of the box (101); the network transmitter (105) is installed on the support frame (104); and the network transmitter (105) is electrically connected to the acquisition terminal (102).

4. The adaptive curvature hydrographic cableway hanging box according to claim 2, characterized in that: The data acquisition component (2) comprises an arc-shaped support arm (201), one end of the arc-shaped support arm (201) is hingedly connected to the box body (101), and one end of the arc-shaped support arm (201) is hingedly connected to a lead fish (202), a plurality of rollers B (204) are equidistantly arranged at one end of the arc-shaped support arm (201) away from the lead fish (202), and one of the plurality of rollers B (204) is fixedly connected to one end of the cable (108), and the remaining rollers B (204) are arranged in coordination with the cable (108).

5. The adaptive curvature hydrographic cableway hanging box according to claim 4, characterized in that: The head end of the lead fish (202) is streamlined, and a hydrological sensor (203) electrically connected to the acquisition terminal (102) is installed at the head end of the lead fish (202). Both sides of the head end and the tail end of the lead fish (202) are horizontally constructed with a front balancing fin (205) and a rear stabilizing fin (206) for stabilizing the posture, and the tail end of the lead fish (202) is constructed with a stabilizing tail fin (207) for eliminating wake vortices.

6. The adaptive curvature hydrographic cableway hanging box according to claim 2, characterized in that: The transport base platform (4) comprises a stabilizing suspension mechanism (5) installed on one side of the top of the box body (101) and an extension arm (401) constructed on one side of the top of the stabilizing suspension mechanism (5); a mounting frame (402) is constructed at the top of the extension arm (401); and a solar panel (403) is installed on the mounting frame (402); and the solar panel (403) is electrically connected to the solar energy storage box (109).

7. The adaptive curvature hydrographic cableway hanging box according to claim 6, characterized in that: The stable suspension mechanism (5) comprises a mounting assembly (6) and extension seats (501) symmetrically arranged on both sides of the mounting assembly (6); a steering gear (502) electrically connected to the data processor (103) is fixedly arranged on one side of the top of each of the two extension seats (501); and a movable arm A (503) is installed at the driving end of the steering gear (502); a detection wheel (504) abutting against the upper surface of the cable body (3) is rotatably installed in the movable arm A (503); and movable arms B (505) are hingedly installed on both sides of the movable arm A (503); an auxiliary wheel (506) abutting against the lower surface of the cable body (3) is installed in the movable arm B (505); and the movable arm B (505) cooperates with the auxiliary wheel (506) to form a symmetrical wheel set for monitoring the deformation angle of the arc segment on the cable body (3).

8. The adaptive curvature hydrographic cableway hanging box according to claim 7, characterized in that: The mounting assembly (6) comprises a bottom plate (601) fixedly arranged on the top of the box body (101), and a hanging arm (602) and a damper (603) are respectively hingedly installed on both sides of the top of the bottom plate (601), and the damper (603) is hingedly connected to one side of the hanging arm (602); A base (604) is fixedly provided at the top end of the lifting arm (602), and a cable clamping claw A (605) is constructed at one end of the base (604) away from the damper (603), and a cable clamping claw B (606) is hingedly installed on the cable clamping claw A (605), and the cable clamping claw A (605) cooperates with the cable clamping claw B (606) to form a clamping structure for the cable body (3); The cable clamp B (606) has an end that is rotatably mounted away from the cable clamp A (605) and has an axle rod (607), and support rods (608) that pass through the axle rod (607) are hingedly mounted on both sides of the base (604), and the support rods (608) are sleeved with springs (609) that abut against the base (604) and the axle rod (607). The base (604) with the cable clamp A (605), the cable clamp B (606) with the axle rod (607), and the support rods (608) form an adaptive triangular structure that can maintain the stability of the clamping structure with the help of the springs (609).

9. A method for accurately measuring water flow velocity, applied to an adaptive curvature hydrographic cableway hanging box as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Equipment layout; The staff completes the arrangement of the cableway gondola, and then uses a winch to move the cableway gondola above the water surface; S2, arc monitoring under high velocity water flow; S201, deformation angle data collection; The deformation angle data of the continuously changing arc segment on the cable body (3) is obtained to generate an arc deformation curve model: In the formula, y1(t i )=a0+a1t+a2t 2 +…+a n t n ,a0,a1,…,a n is the fitting coefficient, t is the time corresponding to the data collection, m is the number of data points collected, Δθ i is the actual measured deformation angle; S202, offset data collection; By using the collected water flow velocity data and the water-facing surface area and volume of the lead fish (202), combined with the arc deformation curve model, the deflection data of the cable body (3) toward the water flow direction is obtained, and the arc deflection curve model is generated; S202a, force F of water flow on lead fish (202) = C d ρvV 2 S / 2, where C d is the resistance coefficient, ρ is the density of water, v is the velocity of the water flow, V is the volume of the lead fish (202), and S is the water-facing surface area of ​​the lead fish (202); S202b, assuming that the offset distance of the cable body (3) in the direction of the water flow is Δx, the elastic modulus of the cable body (3) itself is E, the cross-sectional area is A, and the initial length is L, then S202c, the arc offset curve model is: In the formula, y2(t i )=b0+b1t+b2t 2 +…+b m t m ,b0,b1,…,b m is the fitting coefficient, t is the time corresponding to the data collection, k is the number of data points collected, Δx i is the actual measured deformation angle; S3, posture fine-tuning; Deformation angle data and real-time offset data are obtained according to the radian deformation curve model and the radian offset curve model, and the real-time fine-tuning distance dreal-time=k1Δθreal-time+k2Δxreal-time is calculated, where Δθreal-time is the real-time deformation angle data, Δxreal-time is the real-time offset data, and k1 and k2 are conversion coefficients; Then, the predicted deformation angle data and the predicted offset data are obtained according to the radian deformation curve model and the radian offset curve model, and the predicted fine-tuning distance dprediction=k1Δθprediction+k2Δxprediction is calculated, where Δθprediction is the real-time deformation angle data, and Δxprediction is the real-time offset data; Then, the model is optimized according to the hydrological data collection value adjusted according to the real-time fine-tuning distance and the previously predicted fine-tuning distance, and the posture fine-tuning distance is obtained, and the water entry depth of the lead fish (202) and the relative position of the lead fish (202) and the data processing platform (1) are adjusted according to the posture fine-tuning distance; S4. Hydrological data collection; The water flow velocity and temperature of the water body are detected by the hydrological sensor (203), and the hydrological data is transmitted to the collection terminal (102). After the data is processed by the data processor (103), it is transmitted to the data center through the network transmitter (105).

10. A method for accurately measuring water flow velocity according to claim 9, characterized in that: The processing method of model optimization is: let the real-time fine-tuning distance be dreal-time, and the previous forecast fine-tuning distance be The deviation of hydrological data collection after adjustment is Δe, and the loss function is obtained To verify the data prediction ability of the radian deformation curve model and the radian offset curve model, where N is the number of data samples; Use the deep learning algorithm to minimize the loss function L as the goal, and continuously adjust the weight parameter ω of the neural network to optimize the model. Suppose the prediction output fine-tuning distance of the neural network is but Where ω represents the weight parameter set of the neural network, dtrue represents the actual fine-tuning distance data, and a more accurate posture fine-tuning distance doptimization is obtained.

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