Intelligent flow measuring robot monitoring point position self-adaptive adjusting device and monitoring method

Abstract

The invention provides an intelligent flow measuring robot monitoring point position self-adaptive adjusting device and a monitoring method, and relates to the technical field of automatic control, the intelligent flow measuring robot monitoring point position self-adaptive adjusting device comprises a flow measuring robot body, a fish lead and a monitoring mechanism, the monitoring mechanism comprises a waterproof shell, a flow meter and a rotary table, and the lower portion of the flow measuring robot body is connected with the fish lead; the fish lead is connected with the waterproof shell through a connecting rod; the flow velocity meter is installed at the front end of the waterproof shell, the rotary table base is installed at the rear end of the waterproof shell, the rotary table is installed on the rotary table base, the ultrasonic range finder is fixedly installed on the rotary table, and the flow velocity meter and the head of the fish lead face the same direction. The flow measuring robot drives the lead fish and the monitoring mechanism to move below the water surface, the lead fish drives the waterproof shell to rotate under the water flow impact and the guiding effect of the tail of the lead fish, and the flow meter faces the water incoming direction after stabilization. The device disclosed by the invention can automatically adjust the number and position of point locations according to the real-time water surface width on site.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of automation control, in particular to an intelligent flow measurement robot monitoring point adaptive adjustment device and a monitoring method. BACKGROUND

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] The intelligent flow measurement robot is mainly used to replace manual observation to monitor open channel flow and realize the automation of open channel flow measurement. The existing flow measurement process is to set corresponding monitoring points on the flow measurement section in advance in simulation of manual flow measurement, and the intelligent flow measurement robot automatically moves to the corresponding points for flow monitoring according to the pre-set points. Generally, different water surface widths are set with different points. Since the water surface width of the monitoring section is different at different water levels in reality, the traditional method is to manually adjust the number or position of the measurement points regularly according to the actual water surface width, which is a large maintenance work and the management personnel are not completely liberated.

[0004] The existing flow measurement robot repeatedly monitors through the pre-set monitoring points, and cannot automatically adjust the number and position of the measurement points when the water surface width changes, resulting in a large error in the flow measurement result. SUMMARY

[0005] In order to solve the above problems, the present disclosure provides an intelligent flow measurement robot monitoring point adaptive adjustment device and a monitoring method, which sets an intelligent flow measurement robot to automatically adjust the number and position of the points according to the real-time water surface width on site, reduces the personnel supervision workload, reduces the maintenance cost, and at the same time ensures the flow measurement accuracy.

[0006] According to some embodiments, the present disclosure adopts the following technical solutions: An intelligent flow measurement robot monitoring point adaptive adjustment device, characterized in that it comprises a flow measurement robot body, a lead fish, and a monitoring mechanism, the monitoring mechanism comprises a waterproof housing, a flow velocity meter, and a turntable, the flow measurement robot body is connected with the lead fish below, and the lead fish is connected with the waterproof housing through a connecting rod; The flow velocity meter is installed at the front end of the waterproof housing, a turntable base is installed at the rear end of the waterproof housing, a turntable is installed on the turntable base, an ultrasonic range finder is fixedly installed on the turntable, and the flow velocity meter is consistent with the orientation of the head of the lead fish; The flow measurement robot drives the lead fish and the monitoring mechanism to move below the water surface, under the impact of the water flow and the guidance of the tail of the lead fish, the lead fish drives the waterproof housing to rotate, and the flow velocity meter is oriented to the water direction after stabilization.

[0007] Further, the flow measuring robot body is connected with the sinker through a lifting rope, and the sinker is fixedly connected with the waterproof shell through a connecting rod.

[0008] Further, the Doppler flow velocity meter is installed at the front end of the waterproof shell, the pressure type water level gauge is installed at the bottom of the waterproof shell, the rotary table base is fixedly arranged at the rear end of the waterproof shell, and the rotary table is arranged on the rotary table base and rotationally connected with the rotary table base.

[0009] Further, the ultrasonic range finder changes the orientation under the rotation of the rotary table, the default angle of the rotary table is 0 degrees, the rotary table is turned counterclockwise by 90 degrees, at this time, the ultrasonic range finder probe faces one side of the river bank, and the distance L1 of the one side of the river bank is obtained, and the rotary table is turned clockwise by 180 degrees, at this time, the ultrasonic range finder probe faces the other side of the river bank, and the distance L2 of the other side of the river bank is obtained.

[0010] According to some embodiments, the present disclosure adopts the technical scheme as follows: A monitoring method of an intelligent flow measuring robot monitoring point adaptive adjustment device, comprising: When monitoring, the adaptive adjustment device is self-adjusted and distributed, and the distribution process comprises: controlling the flow measuring robot to start from the garage to reach the river center point position, the river center point position being a set fixed river width observation point, controlling the flow measuring robot to reach the fixed river width observation point, taking the fixed river width observation point as a first observation point, and setting a group of observation points at a set distance on one side, when the distance between the nearest observation point to the bank and the bank is less than the set distance, taking half of the distance between the second nearest observation point to the bank and the bank as the nearest observation point to the bank, and determining each observation point on one side of the center point in this way.

[0011] According to some embodiments, the present disclosure adopts the technical scheme as follows: A computer program product comprising a computer program, which, when executed by a processor, implements the monitoring method of the intelligent flow measuring robot monitoring point adaptive adjustment device.

[0012] According to some embodiments, the present disclosure adopts the technical scheme as follows: A non-transitory computer readable storage medium for storing computer instructions, which, when executed by a processor, implements the monitoring method of the intelligent flow measuring robot monitoring point adaptive adjustment device.

[0013] According to some embodiments, the present disclosure adopts the technical scheme as follows: An electronic device comprises a processor, a memory and a computer program; wherein the processor is connected with the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes a monitoring method for realizing the self-adaptive adjustment device of the monitoring point of the intelligent flow measuring robot.

[0014] Compared with the prior art, the beneficial effects of the present disclosure are: The self-adaptive adjustment device of the monitoring point of the intelligent flow measuring robot comprises a waterproof shell, a flowmeter, a turntable base, a turntable, an ultrasonic range finder, and a lead fish. The flowmeter is installed at the front end of the waterproof shell, the turntable base is installed at the rear end of the waterproof shell, the turntable is installed on the turntable base, the ultrasonic range finder is fixedly installed on the turntable, the flowmeter is consistent with the orientation of the lead fish head, the lead fish and the monitoring mechanism are moved below the water surface by the flow measuring robot, under the impact of the water flow and the guidance of the lead fish tail, the lead fish drives the waterproof shell to rotate, and the flowmeter is oriented to the incoming water direction after stabilization. At this time, the ultrasonic range finder can be adjusted by rotating the turntable to set the distance measuring condition. The intelligent flow measuring robot can automatically adjust the number and position of the monitoring points according to the real-time water surface width on site, which reduces the workload of personnel supervision and maintenance cost, while ensuring the flow measuring accuracy.

[0015] The self-adaptive adjustment method of the monitoring point of the intelligent flow measuring robot comprises setting observation points and setting two groups of observation points on both sides of the bank. The fixed river width observation point is the first observation point, and a group of observation points is set at a set distance to one side. When the distance between the nearest observation point to the bank and the bank is less than the set distance, the distance between the second nearest observation point to the bank and the bank is taken as half the distance between the nearest observation point to the bank and the bank. This reduces human intervention in the automatic flow measuring process of the intelligent flow measuring robot, reduces the operation and maintenance workload of the management personnel, and improves the accuracy of the automatic flow measuring of the intelligent flow measuring robot. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings accompanying the specification of the present disclosure serve to provide a further understanding of the present disclosure, and the illustrative embodiments of the present disclosure and their descriptions serve to explain the present disclosure, and do not constitute an improper limitation on the present disclosure.

[0017] Figure 1 The self-adaptive adjustment device of the present disclosure is a whole structure schematic diagram of the embodiment of the present disclosure. Figure 2 The specific structure schematic diagram of the monitoring mechanism of the embodiment of the present disclosure is shown. Figure 3 The specific observation point layout process schematic diagram of the embodiment of the present disclosure is shown. Figure 4 The self-adaptive adjustment method flowchart of the embodiment of the present disclosure is shown.

[0018] Wherein, 1, flow measurement robot body; 2, hanging rope; 3, lead fish; 4, connecting rod; 5, flow meter; 6, waterproof housing; 7, pressure type water level gauge; 8, rotary table base; 9, ultrasonic range finder; 10 rotary table; DETAILED DESCRIPTION The present disclosure will be further described below in conjunction with the accompanying drawings and examples.

[0019] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0020] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present disclosure. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a presence of a feature, step, operation, device, component and / or combinations thereof.

[0021] Example 1 An embodiment of the present disclosure provides an intelligent flow measurement robot monitoring point adaptive adjustment device, as shown in Figure 1 , Figure 2 The device includes a flow measurement robot body 1, a lead fish 3, and a monitoring mechanism, the monitoring mechanism includes a waterproof housing 6, a flow meter 5, and a rotary table 10, the flow measurement robot body 1 is connected with the lead fish 3 below, the lead fish 3 is connected with the waterproof housing 6 through the connecting rod 4; The flow meter 5 is installed at the front end of the waterproof housing 6, the rotary table base 8 is installed at the rear end of the waterproof housing 6, the rotary table 10 is installed on the rotary table base 8, the ultrasonic range finder 9 is fixedly installed on the rotary table 10, and the flow meter 5 is consistent with the orientation of the head of the lead fish 3; The flow measurement robot drives the lead fish 3 and the monitoring mechanism to move below the water surface, under the impact of the water flow and the guidance of the tail of the lead fish, the lead fish drives the waterproof housing to rotate, and the flow meter is oriented to the direction of incoming water after stabilization.

[0022] As an embodiment, as shown in Figure 2As shown, the intelligent flow measurement robot body 1 is connected with the lead fish 3 through the hanging rope 2, and the hanging rope is a soft connection. The lead fish and the monitoring device will turn under the action of the flow impact force, and the head of the lead fish will face the direction of the incoming water, so as to ensure the accuracy of the flow measurement data of the current meter. At the same time, the intelligent flow measurement robot will collect the lead fish and other monitoring devices into the internal part of the intelligent flow measurement robot after the flow measurement is completed. The lead fish 3 is fixedly connected with the waterproof shell 6 through the connecting rod 4, the front end of the waterproof shell 6 is provided with the current meter 5, the current meter 5 is a Doppler current meter, the bottom of the waterproof shell 6 is provided with the pressure type water level gauge 7, the rear end of the waterproof shell 6 is the rotary table base 8, the rotary table 10 is connected to the rotary table base 8, and the ultrasonic range finder 9 is arranged on the rotary table. In order to ensure that the Doppler current meter 5 and the head of the lead fish face the same direction, the pressure water level gauge is used to monitor the depth of the monitoring device in water. When the distance between the two banks is automatically measured, the ultrasonic range finder needs to enter water to a certain distance to measure the distance under water, which is used to control the ultrasonic range finder to reach the specified depth. When the flow is measured at each observation point, the current meter needs to be lowered to a suitable position to measure the flow rate, for example, the position 0.6 times the underwater position. The water depth of the position is measured by the ultrasonic range finder at 0 degree position, that is, vertically downward, and the pressure water level gauge.

[0023] As an embodiment, the intelligent flow measurement robot body lowers the hanging rope, so that the lead fish and the monitoring mechanism are lowered below the water surface, and the pressure type water level gauge monitors the depth of the water in real time. When the depth reaches 20 cm under water, the tail of the lead fish has entered the water at this time, and under the action of the flow impact and the guide of the tail of the lead fish, the lead fish will drive the waterproof shell to rotate. After stabilization, the Doppler current meter will face the direction of the incoming water at this time, and the flow rate of water is measured by the current meter, that is, m / S. The ultrasonic range finder 9 changes the direction under the rotation of the rotary table. The default angle of the rotary table is 0 degree, and when the rotary table is counterclockwise rotated by 90 degrees, the probe of the ultrasonic range finder faces the left bank at this time, and the distance L1 between the probe and the left bank is measured. When the rotary table is clockwise rotated by 180 degrees, the probe of the ultrasonic range finder faces the right bank at this time, and the distance L2 between the probe and the right bank is measured. At this time, the width L of the entire water surface can be measured, that is, L=L1+L2.

[0024] Embodiment 2 In an embodiment of the present disclosure, a monitoring method of an intelligent flow measurement robot monitoring point self-adaptive adjustment device is provided, which comprises: when monitoring, the self-adaptive adjustment device is self-adjusted and distributed. The distribution process comprises: controlling the flow measurement robot to start from the garage to reach the river center point position, the river center point position being a set fixed river width observation point, controlling the flow measurement robot to reach the fixed river width observation point, taking the fixed river width observation point as a first observation point, and setting a group of observation points at a set distance on one side. When the distance between the nearest observation point to the bank and the bank is less than the set distance, taking half of the distance between the second nearest observation point to the bank and the bank as the nearest observation point to the bank, so as to determine each observation point on one side of the center point.

[0025] Using the center point of the water surface width as the first observation point, a set of observation points are set at predetermined intervals on the other side of the first observation point. When the distance between the observation point closest to the right bank on that side and the right bank is less than the predetermined distance, the distance from the second closest observation point to the right bank is taken as half the distance from the right bank to that side, thus determining the observation points from the center point to that bank. This is because if the distance is too close to the bank, the underwater surface at this location is generally a slope, and the monitoring equipment may not be able to fully enter the water, affecting the measurement accuracy. Taking the distance from the second closest observation point to the bank as half the distance from the right bank solves the problem of the monitoring equipment not being able to fully enter the water, and at the same time, the water flow at this location is relatively stable compared to the original location, which facilitates flow meter calculation.

[0026] The monitoring process based on the deployment points specifically includes: after the robot reaches the first observation point, it first measures the distance L1 to the left bank and the distance L2 to the right bank. Based on the total distance L=L1+L2, it monitors each observation point in sequence according to the deployment points. After the monitoring is completed, it returns to the garage for charging and data reporting.

[0027] As one embodiment, the specific implementation process of a monitoring method for an intelligent flow measurement robot monitoring point adaptive adjustment device is as follows: by Figure 3 As shown, during monitoring, the adaptive adjustment device performs self-adjustment point placement. The point placement process includes: taking a garage on the right bank as an example, the intelligent flow measurement robot first starts from the garage and moves to the center point of the river channel to the left. This position is the pre-set river width observation point G (fixed point). After reaching the river width observation point, the measurement process is performed to measure the width of the river surface. Taking the center point of the water surface width as the first observation point, a group of observation points is set every 2 meters to the left, namely Z1, Z2, Z3, ... When the distance between the observation point Zn closest to the left bank and the left bank is less than 1 meter, the distance from the second closest observation point Zn-1 to the left bank is taken as half the distance to the left bank as the leftmost observation point Zn. In this way, the points to the left of the center point are determined as Z1, Z2, ... Zn. Similarly, taking the center point of the water surface width as the first observation point, set a group of observation points every 2 meters to the right, namely Y1, Y2, Y3, ... When the distance between the observation point Yn closest to the right bank and the right bank is less than 1 meter, take half the distance from the right bank to the observation point Yn-1, which is the second closest to the right bank, as the rightmost observation point Yn. In this way, the points to the right of the center point are determined as Y1, Y2, ..., YN.

[0028] The monitoring sequence after self-adjusting the distribution of points: after the observation point is distributed, start monitoring the data point by point. First, monitor the data of the first point D0, then monitor the data of Z1-Zn in turn, and then monitor the data of Y1-Yn. When Yn is reached, the intelligent flow monitoring robot reaches the rightmost shore, and then returns to the right shore garage for charging and data transmission.

[0029] Further, according to the monitoring process of the distribution of points, specifically comprising: The flow monitoring robot determines whether to go out to monitor data according to the timing time or the platform remote control instruction. After determining that it can go out, it first reaches the G point, then measures the distance L1 to the left bank and the distance L2 to the right bank, determines the points D0, Z1-Zn, Y1-Yn according to the total degree L, and then monitors the points in the order of D0, Z1-Zn, Y1-Yn. When Yn point monitoring is completed, return to the garage for charging and data reporting.

[0030] Embodiment 3 In an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the monitoring method of the self-adaptive adjustment device of the intelligent flow monitoring robot monitoring point.

[0031] Embodiment 4 In an embodiment of the present disclosure, a non-transitory computer readable storage medium is provided for storing computer instructions, which, when executed by a processor, implement the monitoring method of the self-adaptive adjustment device of the intelligent flow monitoring robot monitoring point.

[0032] Embodiment 5 In an embodiment of the present disclosure, an electronic device is provided, comprising a processor, a memory, and a computer program; wherein the processor is connected with the memory, and the computer program is stored in the memory; when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the monitoring method of the self-adaptive adjustment device of the intelligent flow monitoring robot monitoring point.

[0033] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the flowcharts and / or block diagrams. Figure 1apparatuses that implement functionalities specified in one or more flows and / or blocks. Figure 1

[0034] These computer program instructions can also be loaded into computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable data processing devices to generate a computer implemented process, so that the instructions executed on the computer or other programmable data processing devices provide a process for implementing the flows Figure 1 apparatuses that implement functionalities specified in one or more flows and / or blocks. Figure 1 steps that implement functionalities specified in one or more blocks.

[0035] The above description of the specific embodiments of the present disclosure is made with reference to the accompanying drawings, but is not a limitation on the scope of protection of the present disclosure. Those skilled in the art should understand that various modifications or changes made on the basis of the technical solutions of the present disclosure without the need for creative labor are still within the scope of protection of the present disclosure.​

Claims

1. An intelligent flow measuring robot monitoring point adaptive adjustment device, characterized in that, Including flow measurement robot body, lead fish and monitoring mechanism, the monitoring mechanism includes waterproof shell, flowmeter and turntable, the flow measurement robot body is connected with lead fish below, the lead fish is connected with waterproof shell through connecting rod; The flowmeter is installed at the front end of the waterproof shell, and the turntable base is installed at the rear end of the waterproof shell, the turntable is installed on the turntable base, and the ultrasonic range finder is fixedly installed on the turntable, the flowmeter is consistent with the orientation of the head of the lead fish; The flow measurement robot drives the lead fish and the monitoring mechanism to move below the water surface, under the impact of the water flow and the guidance of the tail of the lead fish, the lead fish drives the waterproof shell to rotate, and after stabilization, the flowmeter is oriented to the water direction.

2. The intelligent flow measuring robot monitoring point adaptive adjustment device according to claim 1, characterized in that, The flow measurement robot body is connected with the lead fish through a hanging rope below, and the lead fish is fixedly connected with the waterproof shell through a connecting rod.

3. The intelligent flow measuring robot monitoring point adaptive adjustment device according to claim 1, characterized in that, A Doppler flowmeter is installed at the front end of the waterproof shell, a pressure type water level gauge is installed at the bottom of the waterproof shell, a turntable base is fixedly arranged at the rear end of the waterproof shell, a turntable is arranged on the turntable base, the turntable is rotatably connected with the turntable base, the turntable can rotate on the turntable base, and the ultrasonic range finder changes the orientation under the rotation of the turntable.

4. The intelligent flow measuring robot monitoring point adaptive adjustment device according to claim 3, characterized in that, The ultrasonic range finder changes the orientation under the rotation of the turntable, the default angle of the turntable is 0 degrees, when the turntable is turned counterclockwise by 90 degrees, the ultrasonic range finder probe is oriented to one side of the river bank, and the distance L1 of the one side of the river bank is obtained, and when the turntable is turned clockwise by 180 degrees, the ultrasonic range finder probe is oriented to the other side of the river bank, and the distance L2 of the other side of the river bank is obtained.

5. The monitoring method of the intelligent flow measuring robot monitoring point adaptive adjustment device according to any one of claims 1-4, characterized in that, When monitoring, the self-adaptive adjustment device is self-adjusted, and the point arrangement process comprises: controlling the flow measurement robot to start from the garage to reach the river center point position, the river center point position is a set fixed river width observation point, controlling the flow measurement robot to reach the fixed river width observation point, taking the fixed river width observation point as a first observation point, and setting a group of observation points at a set distance on one side, when the distance between the nearest observation point to the bank and the bank is less than a set distance, taking half of the distance between the second nearest observation point to the bank and the bank as the nearest observation point to the bank, and determining each observation point on one side of the center point in this way.

6. The monitoring method of the intelligent flow measuring robot monitoring point adaptive adjustment device according to claim 5, characterized in that, Taking the water surface width center point as the first observation point, a group of observation points are arranged at a set distance on the other side of the first observation point, when the distance between the nearest observation point to the bank and the bank is less than a set distance, taking half of the distance between the second nearest observation point to the bank and the bank as the nearest observation point to the bank, and determining each observation point on the bank of the center point in this way.

7. The monitoring method of the intelligent flow measuring robot monitoring point adaptive adjustment device according to claim 5, characterized in that, According to the monitoring process of the point arrangement, the specific steps comprise: controlling the robot to reach the first observation point, first measuring the distance L1 of the left bank and the distance L2 to the right bank, according to the total degree L=L1+L2, and sequentially monitoring each point according to the observation point arrangement, and returning to the garage for charging and data reporting after the monitoring is completed.

8. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the monitoring method of the self-adaptive adjustment device of the intelligent flow measurement robot monitoring point in any one of claims 5-7.

9. A non-transitory computer-readable storage medium, comprising: The non-transitory computer readable storage medium is configured to store computer instructions, and the computer instructions are executed by a processor to implement a monitoring method of the intelligent flow measurement robot monitoring point adaptive adjustment device according to any one of claims 5-7.

10. An electronic device, comprising: Comprise: A processor, a memory and a computer program; wherein the processor is connected with the memory, and the computer program is stored in the memory; when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the monitoring method of the intelligent flow measurement robot monitoring point adaptive adjustment device according to any one of claims 5-7.

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