Laser radar water level measuring device and method

Abstract

The invention discloses a laser radar water level measuring device and method, and belongs to the technical field of water level monitoring. The device comprises a bottom plate, a case and a driving unit used for driving the case to rotate; the driving unit comprises a motor supporting plate arranged on the bottom plate and a motor arranged on the motor supporting plate, and a rotating shaft of the motor penetrates through the motor supporting plate and is connected with the case through a coupler assembly; a laser radar used for collecting water level information is arranged in the case; a motor controller is arranged on the bottom plate and is used for controlling the running state of the motor according to a control signal sent by a central station, so that the motor drives the case to rotate to a specified angle. The device can adjust the measurement position information in real time according to needs, and all-weather water level measurement of a semi-frozen river channel is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of water level monitoring, and in particular relates to a laser radar water level measurement device and method. Background Art

[0002] The main river often freezes in winter due to low temperatures, which affects daily hydrological monitoring. In order to ensure the normal progress of related work, it is necessary to monitor the water level and other information of the semi-frozen river in real time.

[0003] However, relying solely on traditional monitoring equipment requires designing different measurement positions for different frozen riverbanks. Limited by the monitoring environment and working conditions, the equipment construction and installation time is relatively long. Due to the severe cold climate and long freezing period, the semi-frozen main river has higher requirements for monitoring equipment. Summary of the invention

[0004] The object of the present invention is to provide a laser radar water level measurement device and method, which can adjust the measurement position data in real time according to needs and realize all-weather water level measurement of semi-frozen rivers.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: In the first aspect, the present invention provides a laser radar water level measuring device, comprising a base plate, a chassis and a driving unit for driving the chassis to rotate; the driving unit comprises a motor support plate arranged on the base plate and a motor arranged on the motor support plate, the rotating shaft of the motor passes through the motor support plate and is connected to the chassis through a coupling assembly; a laser radar for collecting water level information is arranged in the chassis; a motor controller is arranged on the base plate, and the motor controller is used to control the operating state of the motor according to a control signal sent by a central station, so that the motor drives the chassis to rotate to a specified angle.

[0006] In combination with the first aspect, further, the power line and the control line of the motor are both connected to the motor controller.

[0007] In combination with the first aspect, further, the laser radar is connected to the chassis via a telescopic rod, and the probe of the laser radar is telescopically moved relative to the chassis via the telescopic rod.

[0008] In combination with the first aspect, further, the drive units are symmetrically arranged in two groups relative to the chassis.

[0009] In combination with the first aspect, further, the coupling assembly includes a first coupling connected to the rotating shaft of the motor and a second coupling connected to the chassis, and the first coupling and the second coupling are connected via a plurality of coupling support plates.

[0010] In combination with the first aspect, further, the first coupling and the second coupling are arranged relatively parallel to each other; and each coupling support plate connected between the first coupling and the second coupling is arranged relatively parallel to each other.

[0011] In combination with the first aspect, further, the base plate, the motor support plate and the coupling support plate are made of aluminum alloy and carbon fiber plate, and the base plate is welded to the motor support plate.

[0012] In combination with the first aspect, further, a solar panel for powering the laser radar is provided on the base plate.

[0013] In combination with the first aspect, further, the laser radar is connected to the central station signal through a built-in Internet of Things card, and feeds back water level information to the central station.

[0014] In a second aspect, the present invention provides a laser radar water level measurement method, comprising: Initialize the running state of the motor; Control the running state of the motor according to the control signal sent by the central station, so that the motor drives the chassis to rotate to the specified angle; The laser radar emits laser at a specified angle to collect water level information of the river and feed it back to the central station; Among them, the control signal is updated by the central station based on the water level information fed back by the lidar.

[0015] In conjunction with the second aspect, further, it also includes: Motor controller signal transmission detection: If there is no response to the signal transmission between the motor controller and the central station, a motor controller signal transmission failure alarm will be issued; LiDAR signal transmission detection: If there is no response to the signal transmission between the LiDAR and the central station, a LiDAR signal transmission failure alarm will be issued.

[0016] In conjunction with the second aspect, further, it also includes: LiDAR operating voltage detection: If the LiDAR operating voltage is detected to be abnormal, an abnormal LiDAR operating voltage alarm will be issued.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The laser radar water level measuring device provided by the present invention has a motor controller that can control the operating state of the motor according to the control signal sent by the central station, so that the motor drives the chassis to rotate to a specified angle, thereby driving the laser radar in the chassis to illuminate the specified position to collect river water level information. By updating the control signal, the measurement position of the laser radar can be adjusted in real time to achieve all-weather water level measurement of semi-frozen rivers.

[0018] The laser radar probe is connected to the chassis through a telescopic rod. The telescopic length of the probe can be adjusted as needed. In conjunction with the drive unit, the measured position data can be flexibly adjusted. When water level measurement is not needed, the probe can be retracted into the chassis through the telescopic rod to avoid the probe being exposed to the outside for a long time.

[0019] The motor and the chassis transmit power through the coupling assembly, which can compensate for deviation and buffer shock. The first coupling and the second coupling are connected through a plurality of coupling support plates to ensure centering and shock absorption.

[0020] A solar panel is installed on the top of the base plate to power the laser radar, eliminating the need for an external power supply, which is energy-saving and environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a laser radar water level measurement device provided in an embodiment of the present invention; Figure 2 is a side view of a laser radar water level measurement device provided by an embodiment of the present invention; Figure 3 is a flow chart of a laser radar water level measurement method provided by an embodiment of the present invention; In the figure: 1. base plate; 2. motor support plate; 3. motor; 4. first coupling; 5. coupling support plate; 6. second coupling; 7. chassis; 8. laser radar; 9. motor controller; 10. solar panel. DETAILED DESCRIPTION

[0022] The technical solution of the present application is further described in detail below in conjunction with specific implementation methods.

[0023] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be construed as limitations on the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0024] The present application embodiment provides a laser radar water level measurement device, such as Figure 1 As shown, it includes a base plate 1, a chassis 7 and a driving unit for driving the chassis 7 to rotate; Figure 2As shown, the driving unit includes a motor support plate 2 arranged on the base plate 1 and a motor 3 arranged on the motor support plate 2. The rotating shaft of the motor 3 passes through the motor support plate 2 and is connected to the chassis 7 through a coupling assembly. A laser radar 8 for collecting water level information is arranged in the chassis 7. A motor controller 9 is arranged on the base plate 1. The motor controller 9 is used to control the operating state of the motor 3 according to the control signal sent by the central station, so that the motor 3 drives the chassis 7 to rotate to a specified angle.

[0025] In this embodiment, the power line and control line of the motor 3 are both connected to the motor controller 9 .

[0026] When the motor controller 9 receives the control signal sent by the central station, it controls the operation of the motor 3 according to the control signal. The rotating shaft of the motor 3 drives the chassis 7 to rotate through the coupling assembly, so that the chassis 7 rotates to a specified angle. The laser radar 8 in the chassis 7 emits laser in a specified direction to collect the water level information of the river and feeds it back to the central station.

[0027] The central station updates the control signal according to the water level information fed back by the laser radar 8, and resends the updated control signal to the motor controller 9. The motor controller 9 adjusts the operating state of the motor 3 according to the updated control signal, rotates the chassis 7 to a new specified angle, and the laser radar 8 in the chassis 7 collects water level information from other sampling points to realize real-time adjustment of the measured position information.

[0028] The motor controller 9 can also feed back the running status of the motor 3, including the working status and speed of the motor 3, to the central station so that the central station can grasp the rotation angle of the chassis 7 in real time, and then adjust the measurement position of the laser radar 8 in real time. If it is detected that there is no response to the signal transmission between the motor controller 9 and the central station, a motor controller signal transmission failure alarm is issued so that the staff can find and troubleshoot the device failure in time.

[0029] The laser radar water level measurement device provided in this embodiment has a motor controller that can control the operating state of the motor according to the control signal sent by the central station, so that the motor drives the chassis to rotate to a specified angle, thereby driving the laser radar in the chassis to illuminate the specified position to collect river water level information. By updating the control signal, the measurement position of the laser radar can be adjusted in real time to achieve all-weather water level measurement of semi-frozen rivers.

[0030] In a possible embodiment, the laser radar 8 is connected to the chassis 7 via a telescopic rod, and the probe of the laser radar 8 is telescopically moved relative to the chassis 7 via the telescopic rod.

[0031] Specifically, Figure 1As shown, the chassis 7 is provided with a central hole, the axes of the laser radar 8 probe, the telescopic rod and the central hole of the chassis 7 coincide, and the laser radar 8 probe is telescopically movable relative to the chassis 7 via the telescopic rod. The telescopic rod is detachably connected relative to the chassis 7.

[0032] When the motor controller 9 controls the operation of the motor 3 according to the control signal and rotates the chassis 7 to a specified angle, the probe of the laser radar 8 extends from the central hole of the chassis 7 and extends to a specified length, emitting laser in a specified direction to collect water level information of the river and feed it back to the central station.

[0033] The laser radar water level measuring device provided in this embodiment is capable of telescopic movement of the laser radar 8 relative to the chassis 7 via a telescopic rod. When water level measurement is required, the laser radar 8 can extend from the central hole of the chassis 7 via the telescopic rod and extend to a specified length as required, and cooperate with the driving unit to flexibly adjust the measuring position. When water level measurement is not required, the laser radar 8 can be retracted from the central hole of the chassis 7 via the telescopic rod to avoid the laser radar 8 being exposed to the outside for a long time, especially in icy and snowy weather. Retracting the laser radar 8 from the central hole of the chassis 7 can protect the laser radar 8, prevent the laser radar 8 from being eroded by wind and snow, and extend the service life of the laser radar 8.

[0034] In a possible embodiment, two groups of drive units are symmetrically arranged relative to the chassis 7 .

[0035] Specifically, Figure 1 As shown, two motor support plates 2 are symmetrically arranged relative to the chassis 7 , the two motor support plates 2 are arranged relatively parallel, and the two motor support plates 2 are both arranged vertically relative to the bottom plate 1 .

[0036] Correspondingly, such as Figure 1 As shown, two motors 3 are also symmetrically arranged relative to the chassis 7, one motor 3 is arranged on the motor support plate 2 on the left side of the chassis 7, and the shaft passes through the motor support plate 2, and is connected to the left side of the chassis 7 through a coupling assembly; the other motor 3 is arranged on the motor support plate 2 on the right side of the chassis 7, and the shaft passes through the motor support plate 2, and is connected to the right side of the chassis 7 through a coupling assembly. The shafts of the two motors 3 are both arranged vertically relative to the motor support plate 2.

[0037] When the motor controller 9 receives the control signal sent by the central station, it controls the two motors 3 to run at the same time, the two motors 3 maintain the same operating state, and the two motors 3 have the same rotation speed. The rotating shafts of the two motors 3 drive the chassis 7 to rotate through the coupling assemblies on both sides of the chassis 7.

[0038] The laser radar water level measurement device provided in this embodiment improves the rotation stability of the chassis 7 through two groups of symmetrically arranged driving units, thereby improving the accuracy and reliability of water level measurement.

[0039] In a possible embodiment, the coupling assembly includes a first coupling 4 connected to the rotating shaft of the motor 3 and a second coupling 6 connected to the chassis 7 , and the first coupling 4 and the second coupling 6 are connected via a plurality of coupling support plates 5 .

[0040] Specifically, Figure 1 As shown, a connecting shaft is provided on the outer wall of the chassis 7, the first coupling 4 is connected to the rotating shaft of the motor 3, the second coupling 6 is connected to the connecting shaft on the outer wall of the chassis 7, and a plurality of coupling support plates 5 are connected between the first coupling 4 and the second coupling 6.

[0041] like Figure 1 As shown, the chassis 7 is vertically arranged relative to the base plate 1 , the connecting shaft is vertically arranged relative to the chassis 7 , and the connecting shaft corresponds to the rotating shaft of the motor 3 .

[0042] like Figure 1 As shown, the first coupling 4 and the second coupling 6 are arranged relatively parallel, and the first coupling 4 and the second coupling 6 are both arranged perpendicularly relative to the rotating shaft and the connecting shaft of the motor 3 .

[0043] like Figure 1 As shown, each coupling support plate 5 connected between the first coupling 4 and the second coupling 6 is arranged relatively parallel, and each coupling support plate 5 is arranged vertically relative to the first coupling 4 and the second coupling 6 .

[0044] When the motor 3 is running, the rotating shaft of the motor 3 drives the first coupling 4 to rotate, the first coupling 4 drives the second coupling 6 to rotate through the coupling support plate 5, and the second coupling 6 drives the chassis 7 to rotate through the connecting shaft.

[0045] Correspondingly, such as Figure 1 As shown, when the driving unit is symmetrically arranged in two groups relative to the chassis 7, the coupling assembly is also symmetrically arranged in two groups relative to the chassis 7, and two connecting shafts are also symmetrically arranged on both sides of the chassis 7. The two groups of coupling assemblies are respectively connected to the two sides of the chassis 7 through the two connecting shafts.

[0046] The laser radar water level measurement device provided in this embodiment transmits power through the coupling assembly, which can play the role of compensating deviation and buffering shock. The first coupling 4 and the second coupling 6 are connected by a plurality of coupling support plates 5, which can ensure centering and shock absorption.

[0047] In a possible embodiment, the base plate 1 , the motor support plate 2 and the coupling support plate 5 are made of aluminum alloy and carbon fiber plate, and the base plate 1 and the motor support plate 2 are welded.

[0048] In a possible embodiment, a solar panel 10 for supplying power to the laser radar 8 is provided on the base plate 1 .

[0049] Specifically, Figure 1 As shown, the motor controller 9 is arranged on one side of the bottom plate 1, and the solar panel 10 is arranged on the other side of the bottom plate 1. The power line of the solar panel 10 is connected to the power line in the middle of the laser radar 8 to supply power to the laser radar 8.

[0050] The laser radar water level measurement device provided in this embodiment uses the solar panel 10 to power the laser radar 8, and does not require an external power supply, which is energy-saving and environmentally friendly.

[0051] In a possible embodiment, the laser radar 8 is connected to the central station signal through a built-in Internet of Things card and feeds back water level information to the central station.

[0052] Specifically, the telemetry terminal is integrated inside the laser radar 8 and connected to the host computer through a USB port to set the site parameters. After the probe of the laser radar 8 completes the water level information collection, it feeds back the water level information to the central station through the built-in Internet of Things card.

[0053] If it is detected that there is no response in the signal transmission between the laser radar 8 and the central station, a laser radar signal transmission failure alarm is issued so that the staff can discover and troubleshoot the device failure in time.

[0054] The laser radar 8 can also feed back the working voltage of the laser radar 8 to the central station. If the working voltage of the laser radar 8 is detected to be abnormal, an abnormal laser radar working voltage alarm will be issued so that the staff can promptly discover and troubleshoot the device failure.

[0055] The present application provides a laser radar water level measurement method, including: Initialize the running state of motor 3; According to the control signal sent by the central station, the running state of the motor 3 is controlled so that the motor 3 drives the chassis 7 to rotate to a specified angle; The laser radar 8 emits laser at a specified angle to collect water level information of the river and feeds it back to the central station.

[0056] In this embodiment, the control signal is updated by the central station based on the water level information fed back by the laser radar 8 .

[0057] The laser radar water level measurement method provided in this embodiment can control the operating state of the motor according to the control signal sent by the central station, so that the motor drives the chassis to rotate to a specified angle, thereby driving the laser radar in the chassis to illuminate the specified position to collect river water level information. By updating the control signal, the measurement position of the laser radar can be adjusted in real time to achieve all-weather water level measurement of semi-frozen rivers.

[0058] In a possible embodiment, the laser radar water level measurement method further includes: Motor controller signal transmission detection: If there is no response to the signal transmission between the motor controller 9 and the central station, a motor controller signal transmission failure alarm is issued; Laser radar signal transmission detection: If there is no response to the signal transmission between the laser radar 8 and the central station, a laser radar signal transmission failure alarm will be issued.

[0059] In a possible embodiment, the laser radar water level measurement method further includes: Laser radar working voltage detection: If the working voltage of the laser radar 8 is detected to be abnormal, an abnormal laser radar working voltage alarm will be issued.

[0060] In one possible embodiment, Figure 3 As shown, the laser radar water level measurement method specifically includes the following steps: Step 1: Initialize the device; Step 2: Set the motor rotation angle; Step 3: Send communication test information to the central station. If the central station responds, go to step 4. Otherwise, send fault information, perform device alarm maintenance, and repeat step 3. Step 4: Control the motor to rotate so that the chassis rotates to a specified angle; Step 5: Use lidar to measure flow and feed back water level information to the central station; Step 6: Determine whether the water level information is reported successfully. If the water level information is reported successfully, output the water level information. Otherwise, feedback the motor rotation angle, perform device alarm maintenance, and repeat step 6.

[0061] The laser radar water level measurement method provided in the embodiment of the present application has the corresponding beneficial effects of the laser radar water level measurement device.

[0062] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A laser radar water level measuring device, characterized in that: The invention comprises a base plate (1), a chassis (7), and a driving unit for driving the chassis (7) to rotate; the driving unit comprises a motor support plate (2) arranged on the base plate (1) and a motor (3) arranged on the motor support plate (2); the rotating shaft of the motor (3) passes through the motor support plate (2) and is connected to the chassis (7) via a coupling assembly; a laser radar (8) for collecting water level information is arranged in the chassis (7); a motor controller (9) is arranged on the base plate (1), and the motor controller (9) is used to control the operating state of the motor (3) according to a control signal sent by a central station, so that the motor (3) drives the chassis (7) to rotate to a specified angle.

2. The laser radar water level measuring device according to claim 1, characterized in that: The laser radar (8) is connected to the chassis (7) via a telescopic rod, and a probe of the laser radar (8) is telescopically movable relative to the chassis (7) via the telescopic rod.

3. The laser radar water level measuring device according to claim 1, characterized in that: The drive units are symmetrically arranged in two groups relative to the chassis (7).

4. The laser radar water level measuring device according to claim 1, characterized in that: The coupling assembly comprises a first coupling (4) connected to the rotating shaft of the motor (3) and a second coupling (6) connected to the chassis (7), wherein the first coupling (4) and the second coupling (6) are connected via a plurality of coupling support plates (5).

5. The laser radar water level measuring device according to claim 3, characterized in that: The first coupling (4) and the second coupling (6) are arranged relatively parallel to each other; and each coupling support plate (5) connected between the first coupling (4) and the second coupling (6) is arranged relatively parallel to each other.

6. The laser radar water level measuring device according to claim 1, characterized in that: A solar panel (10) for supplying power to the laser radar (8) is provided on the base plate (1).

7. The laser radar water level measuring device according to claim 1, characterized in that: The laser radar (8) is connected to the central station signal via a built-in Internet of Things card, and feeds back water level information to the central station.

8. A water level measurement method according to any one of claims 1 to 7, characterized in that: include: Initialize the running state of the motor; Control the running state of the motor according to the control signal sent by the central station, so that the motor drives the chassis to rotate to the specified angle; The laser radar emits laser at a specified angle to collect water level information of the river and feed it back to the central station; Among them, the control signal is updated by the central station based on the water level information fed back by the lidar.

9. The water level measurement method according to claim 8, characterized in that: Also includes: Motor controller signal transmission detection: If there is no response to the signal transmission between the motor controller and the central station, a motor controller signal transmission failure alarm will be issued; LiDAR signal transmission detection: If there is no response to the signal transmission between the LiDAR and the central station, a LiDAR signal transmission failure alarm will be issued.

10. The water level measurement method according to claim 8, characterized in that: Also includes: LiDAR operating voltage detection: If the LiDAR operating voltage is detected to be abnormal, an abnormal LiDAR operating voltage alarm will be issued.

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