H-ADCP rail type installation accurate adjustment control system and operation method thereof

Abstract

The invention discloses an H-ADCP rail type installation accurate adjustment control system and an operation method thereof, and the control system comprises an H-ADCP flow velocity meter which is used for measuring the flow velocity of a section layer and obtaining section flow data; the travelling crane running module is used for controlling the running direction of the travelling crane and further adjusting the measurement depth of the H-ADCP flow velocity meter; the traveling brake module is used for controlling a brake cylinder of a traveling crane to be locked, so that the position of the traveling crane is locked, and the stability of the H-ADCP flow velocity meter is kept; the angle adjusting module is used for automatically adjusting the angle of the H-ADCP mounting plane and correcting the vertical and horizontal rocking angle of the H-ADCP flow meter; and the EX3G programmable control module is used for controlling the H-ADCP current meter, the operation control module, the brake control module and the angle adjusting module. The problems of installation angle deviation, insufficient driving stability and manual dependence are solved through the control system with high integration degree and high automation degree, and the measurement precision and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of hydrological monitoring equipment. Specifically, it relates to an H-ADCP orbital installation precise adjustment control system and its operation method. Background Art

[0002] The traditional installation method of H-ADCP relies on manual operation and has the following problems: 1) The adjustment accuracy of the installation angle is low, and the equipment is prone to deviation due to the impact of water flow; 2) The running and braking stability of the traveling crane is insufficient, affecting the reliability of measurement data; 3) Lack of automatic control, frequent manual intervention is required, and the efficiency is low.

[0003] In the prior art, there is no integrated traveling crane control, automatic braking, angle adjustment of the H-ADCP installation plane, and intelligent main control module. Therefore, it is necessary to propose an H-ADCP orbital installation precise adjustment control system and its operation method. Summary of the Invention

[0004] The present invention provides an H-ADCP orbital installation precise adjustment control system and its operation method, which solves the problems of installation angle deviation, insufficient traveling crane stability, and manual dependence through a highly integrated and automated control system, and improves the measurement accuracy and efficiency.

[0005] The technical solution adopted by the present invention is as follows:

[0006] An H-ADCP orbital installation precise adjustment control system includes:

[0007] An H-ADCP current meter, which is used to measure the flow velocity of the cross-section layer and obtain the cross-section flow rate data;

[0008] An orbital traveling crane, on which a pitching and rolling angle adjuster is provided, and the pitching and rolling angle adjuster is detachably connected to the H-ADCP current meter for obtaining the pitching and rolling angles of the H-ADCP current meter;

[0009] A traveling crane operation module, which is used to control the running direction of the traveling crane so as to adjust the measurement depth of the H-ADCP current meter;

[0010] A traveling crane braking module, which is used to control the braking cylinder of the traveling crane to lock so as to lock the position of the traveling crane and maintain the stability of the H-ADCP current meter;

[0011] An angle adjustment module, which is used to automatically adjust the angle of the H-ADCP installation plane and correct the pitching and rolling angles of the H-ADCP current meter;

[0012] The EX3G programmable control module is respectively communicatively connected to the H-ADCP current meter, the operation control module, the brake control module and the angle adjustment module, and is used to control the H-ADCP current meter, the operation control module, the brake control module and the angle adjustment module.

[0013] Furthermore, the traveling operation module is integrated with an anti-collision sensor. When the distance between the traveling crane and the track end point is less than 10 cm, the traveling crane brake module is forcibly triggered to lock.

[0014] Furthermore, the traveling crane brake module includes an air compressor, a cylinder and a brake clamp, and ensures the measurement stability through pneumatic locking.

[0015] Furthermore, the angle adjustment module includes an angle adjustment unit, an angle control switch, a stepping motor and a handwheel pulse generator, wherein the stepping motor and the handwheel pulse generator are used to support automatic / manual dual-mode adjustment.

[0016] Furthermore, the step angle of the stepping motor ≤ 0.05°, and the minimum adjustment accuracy of the handwheel pulse generator is ±0.01°.

[0017] Furthermore, the angle adjustment module further includes a power supply unit, a stepping controller connected to the stepping motor and an angle sensor for reading the angle of the H-ADCP installation plane.

[0018] Furthermore, the pitching and rolling angle error of the H-ADCP current meter and the angle deviation of the H-ADCP installation plane satisfy: when the angle deviation of the installation plane ≤ 0.2°, the pitching and rolling angle error ≤ 1%.

[0019] Furthermore, it further includes a redundant control unit. When the EX3G programmable control module fails, it automatically switches to the standby PLC controller to maintain the operation of basic functions.

[0020] Another technical solution adopted by the present invention is:

[0021] An operation method of an H-ADCP track-mounted precise adjustment control system specifically includes the following steps:

[0022] S1. The EX3G programmable control module controls the traveling operation module to determine the up and down running position of the track-mounted traveling crane, and further adjusts the depth of the pitching and rolling angle adjuster on the track traveling crane;

[0023] S2. When the track-mounted traveling crane reaches the specified position, the EX3G programmable control module controls the traveling crane brake module to stop the track-mounted traveling crane from braking. The H-ADCP current meter reaches the measurement depth, and the pitching and rolling angle adjuster performs automatic adjustment;

[0024] S3. The angle sensor transmits the H-ADCP installation plane angle obtained and the pitching and rolling angle regulator transmits the pitching and rolling angles of the H-ADCP current meter to the EX3G programmable control module respectively. The EX3G programmable control module controls the angle adjustment module to automatically micro-adjust to the target value;

[0025] S4. After the angle adjustment module completes the automatic adjustment, the H-ADCP current meter measures the flow velocity of the cross-sectional layer, obtains the cross-sectional flow rate data, and transmits the cross-sectional flow rate data to the monitoring platform in real time;

[0026] S5. After the measurement by the H-ADCP current meter is completed, the EX3G programmable control module controls the traveling brake module to unlock the traveling vehicle, and controls the traveling operation module through the EX3G programmable control module to make the traveling vehicle return to the initial position.

[0027] The present invention has the following beneficial effects compared with the prior art:

[0028] 1) The EX3G programmable control module serves as the main control unit to realize the automatic control of traveling vehicle positioning, angle adjustment, and measurement data of the H-ADCP current meter;

[0029] 2) The traveling operation module and the brake module are linked to ensure the precise docking of the rail-mounted traveling vehicle;

[0030] 3) The set angle adjustment module automatically adjusts the angle of the H-ADCP installation plane and corrects the pitching and rolling angles of the H-ADCP current meter;

[0031] 4) By setting the flow velocity error and angle deviation, a clear threshold is provided for calibration. Description of the Drawings

[0032] The present invention will be further described below in conjunction with the drawings and specific embodiments:

[0033] Figure 1 It is a schematic structural diagram of the precise adjustment control system for the rail-mounted installation of H-ADCP in the present invention. Specific Embodiments

[0034] Embodiment 1

[0035] As Figure 1 shown, a precise adjustment control system for the rail-mounted installation of H-ADCP includes:

[0036] An H-ADCP current meter for measuring the flow velocity of the cross-sectional layer and obtaining the cross-sectional flow rate data;

[0037] A rail-mounted traveling vehicle provided with a pitching and rolling angle regulator, the pitching and rolling angle regulator is detachably connected to the H-ADCP current meter for obtaining the pitching and rolling angles of the H-ADCP current meter;

[0038] The traveling crane operation module is used to control the running direction of the traveling crane and thus adjust the measurement depth of the H-ADCP current meter;

[0039] The traveling crane braking module is used to control the braking cylinder of the traveling crane to lock, so that the position of the traveling crane is locked and the stability of the H-ADCP current meter is maintained;

[0040] The angle adjustment module is used to automatically adjust the angle of the H-ADCP installation plane and correct the pitching and rolling angles of the H-ADCP current meter;

[0041] The EX3G programmable control module is respectively communicatively connected with the H-ADCP current meter, the operation control module, the braking control module and the angle adjustment module, and is used to control the H-ADCP current meter, the operation control module, the braking control module and the angle adjustment module.

[0042] In a preferred implementation manner of this embodiment, the traveling crane operation module is integrated with an anti-collision sensor. When the distance between the traveling crane and the track end point is less than 10 cm, the traveling crane braking module is forcibly triggered to lock.

[0043] In a preferred implementation manner of this embodiment, the traveling crane braking module includes an air compressor, a cylinder and a brake clamp, and ensures the measurement stability through pneumatic locking.

[0044] In a preferred implementation manner of this embodiment, the angle adjustment module includes an angle adjustment unit, an angle control switch, a stepping motor and a handwheel pulse generator, wherein the stepping motor and the handwheel pulse generator are used to support automatic / manual dual-mode adjustment.

[0045] In a preferred implementation manner of this embodiment, the step angle of the stepping motor ≤ 0.05°, and the minimum adjustment accuracy of the handwheel pulse generator is ±0.01°.

[0046] In a preferred implementation manner of this embodiment, the angle adjustment module further includes a power supply unit and a stepping controller connected to the stepping motor and an angle sensor for reading the angle of the H-ADCP installation plane.

[0047] In a preferred implementation manner of this embodiment, the pitching and rolling angle error of the H-ADCP current meter and the angle deviation of the H-ADCP installation plane satisfy: when the angle deviation of the installation plane ≤ 0.2°, the pitching and rolling angle error ≤ 1%.

[0048] In a preferred implementation manner of this embodiment, it further includes a redundant control unit. When the EX3G programmable control module fails, it automatically switches to the standby PLC controller to maintain the operation of the basic functions.

[0049] Embodiment 2

[0050] Such asFigure 1 As shown in Figure 1 , an operation method of a precise adjustment control system for H-ADCP orbital installation specifically includes the following steps:

[0051] S1. The EX3G programmable control module controls the traveling crane operation module to determine the up and down running position of the orbital traveling crane, and then adjusts the depth of the pitch and roll angle adjuster on the orbital traveling crane;

[0052] S2. When the orbital traveling crane reaches the specified position, the EX3G programmable control module controls the traveling crane braking module to stop the orbital traveling crane from braking. The H-ADCP current meter reaches the measurement depth, and the pitch and roll angle adjuster performs automatic adjustment;

[0053] S3. The angle sensor transmits the H-ADCP installation plane angle obtained and the pitch and roll angle adjuster transmits the pitch and roll angle of the H-ADCP current meter obtained to the EX3G programmable control module respectively. The EX3G programmable control module controls the angle adjustment module to automatically micro-adjust to the target value;

[0054] S4. After the automatic adjustment of the angle adjustment module is completed, the H-ADCP current meter measures the flow velocity of the cross-section layer, obtains the cross-section flow rate data, and transmits the cross-section flow rate data to the monitoring platform in real time;

[0055] S5. After the measurement of the H-ADCP current meter is completed, the EX3G programmable control module controls the traveling crane braking module to unlock the traveling crane, and controls the traveling crane operation module through the EX3G programmable control module to make the traveling crane return to the initial position.

[0056] The control system and operation method of the present invention realize the automatic installation, angle adjustment and stable measurement of H-ADCP in a complex water flow environment.

[0057] The above embodiments are only used to describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the principle and essence of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A H-ADCP track-mounted precision adjustment control system, characterized in that: include: H-ADCP flow meter, used to measure cross-sectional layer flow velocity and obtain cross-sectional flow data; A track-type vehicle, on which a pitch and roll angle regulator is provided, wherein the pitch and roll angle regulator is detachably connected to the H-ADCP flow meter and is used to obtain the pitch and roll angles of the H-ADCP flow meter; The crane operation module is used to control the running direction of the crane and adjust the measurement depth of the H-ADCP flow meter; The vehicle brake module is used to control the locking of the vehicle brake cylinder so that the vehicle position is locked and the stability of the H-ADCP flow meter is maintained; Angle adjustment module, used to automatically adjust the angle of the H-ADCP installation plane and correct the pitch and roll angle of the H-ADCP flow meter; The EX3G programmable control module is respectively connected to the H-ADCP flow meter, the operation control module, the brake control module and the angle adjustment module for controlling the H-ADCP flow meter, the operation control module, the brake control module and the angle adjustment module.

2. A H-ADCP track-mounted precision adjustment control system according to claim 1, characterized in that: The driving operation module is integrated with an anti-collision sensor. When the distance between the vehicle and the track end point is less than 10 cm, the driving brake module is forcibly triggered to lock.

3. A H-ADCP track-mounted precision adjustment control system according to claim 1, characterized in that: The service brake module includes an air compressor, an air cylinder and a brake clamp, and pneumatic locking is used to ensure measurement stability.

4. A H-ADCP track-mounted precision adjustment control system according to claim 1, characterized in that: The angle adjustment module includes an angle adjustment unit, an angle control switch, a stepper motor and a handwheel pulse generator, wherein the stepper motor and the handwheel pulse generator are used to support automatic / manual dual-mode adjustment.

5. A H-ADCP track-mounted precision adjustment control system according to claim 4, characterized in that: The step angle of the stepping motor is ≤0.05°, and the minimum adjustment accuracy of the handwheel pulse generator is ±0.01°.

6. A H-ADCP track-mounted precision adjustment control system according to claim 4, characterized in that: The angle adjustment module also includes a power supply unit and a stepping controller connected to the stepping motor and an angle sensor for reading the angle of the H-ADCP installation plane.

7. A H-ADCP track-mounted precision adjustment control system according to claim 4, characterized in that: The pitch and roll angle errors of the H-ADCP current meter and the angle deviation of the H-ADCP installation plane satisfy the following conditions: when the angle deviation of the installation plane is ≤0.2°, the pitch and roll angle errors are ≤1%.

8. The H-ADCP track-mounted precision adjustment control system according to claim 1, characterized in that: It also includes a redundant control unit, which automatically switches to the backup PLC controller to maintain basic functions when the EX3G programmable control module fails.

9. The method for operating a H-ADCP track-mounted precision adjustment control system according to any one of claims 1 to 8, characterized in that: The specific steps include: S1, EX3G programmable control module controls the crane operation module to determine the up and down running position of the rail-type crane, and then adjusts the depth of the pitch and roll angle adjuster on the rail-type crane; S2. When the track-type vehicle reaches the designated position, the EX3G programmable control module controls the vehicle brake module to stop the track-type vehicle, the H-ADCP flow meter reaches the measuring depth, and the pitch and roll angle regulator is automatically adjusted; S3, the angle sensor obtains the H-ADCP installation plane angle and the pitch and roll angle adjuster obtains the H-ADCP velocity meter pitch and roll angle and transmits them to the EX3G programmable control module respectively, and the EX3G programmable control module controls the angle adjustment module to automatically fine-tune to the target value; S4, after the angle adjustment module is automatically adjusted, the H-ADCP flow meter measures the cross-sectional layer flow velocity, obtains the cross-sectional flow data, and transmits the cross-sectional flow data to the monitoring platform in real time; After S5 and the H-ADCP flow meter has completed the measurement, the EX3G programmable control module controls the driving brake module to unlock the driving vehicle, and controls the driving operation module through the EX3G programmable control module to return the driving vehicle to the initial position.

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