Method for controlling rotation reset of a flow guiding float and a shore-based water quality monitoring system

Abstract

The application provides a method for resetting a float based on flow guide control and a shore-based water quality monitoring system, which comprises the following steps: measuring the angular velocity of the rotation of the float in real time; calculating the cumulative angle of the rotation of the float by running an integral algorithm based on the real-time measured angular velocity, and calculating the net rotation number of the float based on the cumulative angle; controlling the flow guide plate installed at the water exchange hole position of the monitoring well, adjusting the water flow direction flowing into the monitoring well from the water exchange hole, forming a vortex opposite to the current rotation direction of the float in the monitoring well, and driving the float to rotate reversely and reset; and resetting the flow guide plate until the net rotation number is 0 or less than a preset stop threshold. The application monitors the rotation state of the float in real time, and externally arranges the unwinding execution mechanism in the monitoring well. By actively regulating and controlling the water flow direction flowing into the monitoring well, the reverse rotation torque of the float is generated, so that the cable winding problem is fundamentally solved.

Description

A method for buoy rotation and reset based on flow guidance control and a shore-based water quality monitoring system Technical Field

[0001] This invention belongs to the field of marine water quality monitoring technology, specifically relating to a method for rotating and resetting a float based on flow guidance control and a shore-based water quality monitoring system. Background Technology

[0002] Shore-based seawater monitoring stations (shore-based water quality monitoring systems) are an important component of marine environmental monitoring. Existing shore-based seawater monitoring stations typically construct seawater monitoring wells along the sidewall of the shoreline. Water exchange holes are opened in the sidewalls of the monitoring wells, and sensor floats are deployed inside the wells. Seawater monitoring sensors are installed on the floats to monitor water quality parameters in real time. The floats are connected to the equipment above the well via cables and tow ropes and rise and fall with the tides. However, in practical applications, when water flows into the monitoring well under rapid and turbulent conditions, eddies are formed. These eddies cause the floats to rotate continuously or intermittently. Prolonged rotation can lead to tangling and knotting between cables or between cables and tow ropes, causing cable wear and even breakage. This, in turn, damages the monitoring equipment and causes data interruptions, requiring frequent manual maintenance, resulting in high costs and poor reliability.

[0003] To address this problem, mechanical methods are currently commonly considered, such as using anti-rotation hinges, universal joints, or strengthening the cables. However, these methods have limited effectiveness in strong vortex environments and only provide temporary relief. Therefore, a new technological solution that can fundamentally solve the problem of float rotation and entanglement is urgently needed. Summary of the Invention

[0004] This invention proposes a method for buoy rotation and reset based on flow guidance control and a shore-based water quality monitoring system. By monitoring the buoy's rotation state in real time and placing the unwinding actuator outside the monitoring well, the direction of the water flow into the monitoring well is actively adjusted to generate a reverse rotation torque on the buoy, thereby fundamentally solving the cable entanglement problem.

[0005] A method for resetting a float based on flow guidance control includes:

[0006] S1. Real-time measurement of the angular velocity of the float's rotation;

[0007] S2. By measuring the angular velocity in real time, run the integral algorithm to calculate the cumulative angle of the float's rotation, and calculate the net number of rotations of the float by the cumulative angle;

[0008] S3. When the net number of rotations is greater than or equal to a preset threshold, the guide plate installed at the water exchange hole of the monitoring well is controlled to adjust the direction of water flow from the water exchange hole into the monitoring well, forming a vortex in the monitoring well opposite to the current rotation direction of the float, driving the float to rotate in the opposite direction and reset.

[0009] S4. During the reverse rotation reset process, the angular velocity of the float rotation is continuously measured and the integral algorithm is continuously run to calculate the decrease of the net number of rotations until the net number of rotations is 0 or less than the preset stop threshold. Then, the guide plate is reset and the process returns to step S1.

[0010] Furthermore, in step S4, before returning to step S1, the cumulative angle and net number of rotations are forcibly reset to zero to eliminate the accumulated error.

[0011] Furthermore, the calculation process in step S2 includes:

[0012] Cumulative angle += angular velocity × sampling period;

[0013] Net number of rotations = cumulative angle / 360°.

[0014] Furthermore, in step S3, the guide plate is fixedly installed on the guide control rod, and the guide control rod is rotated by a drive motor.

[0015] Another aspect of the present invention proposes a shore-based water quality monitoring system based on the rotation and reset of a flow-guiding control float, including a monitoring well, a float, cables, a shore-based control cabinet, a solar panel, and a flow-guiding control rod;

[0016] The monitoring well is installed on the embankment, and the float is deployed in the monitoring well; one end of the cable is connected to the float and the other end is connected to the shore-based control cabinet, and the length of the cable left in the monitoring well is sufficient to allow the float to float at the lowest tide level.

[0017] The solar panel, together with the shore-based control cabinet, powers the entire system. A flow control rod is installed on the outside of the monitoring well, and the flow control rod has a flow guide plate. The flow guide plate is installed at the water exchange hole on the side wall of the monitoring well. A drive motor is installed at the top of the flow control rod.

[0018] The float is equipped with a control chamber, which integrates an integrated self-referenced rotation detection module and a controller. The controller is connected to the integrated self-referenced rotation detection module and the drive motor. It receives the angular velocity measured in real time by the integrated self-referenced rotation detection module and calculates the net number of rotations of the float. Based on the net number of rotations, it controls the drive motor to rotate the guide control rod, causing the guide plate to deflect in a specified direction. This adjusts the direction of water flow into the monitoring well through the water exchange hole, forming a vortex in the monitoring well opposite to the current rotation direction of the float, driving the float to rotate in the opposite direction and reset.

[0019] Furthermore, it also includes a traction rope, which is connected to the float and the top of the monitoring well respectively. The length of the traction rope left in the monitoring well is sufficient for the float to float at the lowest tide level.

[0020] Furthermore, a rotating support is provided on the lower outer side of the water exchange hole. The rotating support has a circular hole in the middle for cooperating with the flow control rod to realize the flow control rod rotating around the central axis of the rotating support. The flow guide plate is installed on the position of the flow control rod above the rotating support and adjacent to the rotating support.

[0021] Furthermore, the flow control rods are symmetrically installed on both sides of the monitoring well and correspond to the positions of the water exchange holes.

[0022] Furthermore, the controller's calculations and control include: calculating the cumulative angle of the float's rotation by running an integral algorithm based on the real-time measured angular velocity, and obtaining the net number of rotations of the float by calculating the cumulative angle; when the net number of rotations is greater than or equal to a preset threshold, controlling the drive motor to rotate the guide control rod, causing the guide plate to deflect in a specified direction, thereby adjusting the direction of the water flow into the monitoring well through the water exchange hole, forming a vortex in the monitoring well opposite to the current rotation direction of the float, and driving the float to rotate in the opposite direction to reset;

[0023] During the reverse rotation reset process, the angular velocity of the float rotation is continuously measured and the integral algorithm is continuously run to calculate the decrease of the net number of rotations until the net number of rotations is 0 or less than the preset stop threshold. Then, the guide plate is reset, and the accumulated angle and net number of rotations are forcibly returned to zero to prepare for the next rotation accumulation.

[0024] Furthermore, the monitoring well is fixed to the embankment by a monitoring well fixing frame.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. This invention addresses the source of the disturbance to the float—the water flow—by adjusting the guide plate to change the direction of the water flow and forming a reverse vortex. This not only drives the float to reset but also effectively destroys or weakens the vortex structure that causes entanglement, thus reducing the cause of rotation at its root.

[0027] 2. This invention transfers the core actuator (guide plate and its drive motor) to a fixed monitoring well wall, eliminating the need to add a reset device such as a precision underwater thruster to the float, which greatly simplifies the float structure; and by avoiding the use of a precision underwater thruster, it reduces system power consumption, failure rate and maintenance costs.

[0028] 3. The flow guide plate structure designed in this invention is not easily affected by aquatic organisms attaching or corrosion, and it is easy to modify and install on existing shore-based water quality monitoring systems, with low implementation costs.

[0029] 4. This invention constitutes a complete intelligent closed-loop control system, realizing fully automated anti-entanglement protection without manual intervention. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 is a flowchart of the method for buoy rotation and reset based on flow guidance control according to Embodiment 1 of the present invention;

[0032] Figure 2 is a structural diagram of the shore-based water quality monitoring system based on the rotation and reset of the float under flow control according to Embodiment 2 of the present invention;

[0033] Figure 3 is a cross-sectional view of the shore-based water quality monitoring system of Embodiment 2 of the present invention;

[0034] Figure 4 is a partial side view of the monitoring well in Embodiment 2 of the present invention;

[0035] Figure 5 is a structural diagram of the flow control rod in Embodiment 2 of the present invention;

[0036] Figure 6 is a schematic diagram of the guide plate in the reset state in Embodiment 2 of the present invention;

[0037] Figure 7 is a schematic diagram of the working state of the guide plate in Embodiment 2 of the present invention;

[0038] Figure 8 is a partial cross-sectional view of the float in Embodiment 2 of the present invention.

[0039] in:

[0040] 1. Monitoring well; 101. Water exchange hole; 102. Monitoring well mounting bracket; 103. Rotary support;

[0041] 2. Float; 201. Float body; 202. Float frame; 203. Water quality sensor; 204. Control compartment;

[0042] 3. Towing rope; 4. Cable; 5. Shore-based control cabinet; 6. Solar panel;

[0043] 7. Flow control rod; 701. Flow guide plate; 702. Drive motor;

[0044] 8. Bank; 9. Water surface. Detailed Implementation

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0046] Example 1:

[0047] This embodiment uses a method based on flow guidance control for float rotation and reset. This method is executed by a software system, as shown in Figure 1, and includes:

[0048] 1. Initialize the system and clear the parameter "cumulative angle" to zero.

[0049] 2. Measure the angular velocity of the float rotation in real time. The angular velocity parameter is set as ω(t), where t represents the sampling period.

[0050] 3. By measuring the angular velocity in real time, an integral algorithm is run to calculate the cumulative angle of the float's rotation. The net number of rotations of the float is then calculated from the cumulative angle. The specific calculation process is as follows:

[0051] The integral algorithm formula is: cumulative angle + = angular velocity × sampling period; it can also be expressed as θ = ∫ω(t)dt; where θ represents the cumulative angle.

[0052] The formula for calculating the net number of rotations is: Net number of rotations = Cumulative angle / 360°, which can also be expressed as N = θ / 360°, where N represents the net number of rotations.

[0053] 4. Determine whether the net number of rotations is greater than or equal to a preset threshold, i.e., whether N ≥ the preset threshold. If the net number of rotations is greater than or equal to the preset threshold, proceed to the next step.

[0054] 5. Control the guide plate installed at the water exchange hole of the monitoring well, adjust the direction of water flow into the monitoring well from the water exchange hole, and form a vortex in the monitoring well that is opposite to the current rotation direction of the float, driving the float to rotate in the opposite direction and reset.

[0055] 6. During the reverse rotation, continuously measure and update the angular velocity ω(t) of the float rotation and continuously run the integral algorithm to calculate the decrease of the net number of rotations, and update the N value.

[0056] 7. Determine whether the net number of rotations is close to 0. The determination method can be: if the net number of rotations decreases to 0 or is less than the preset stop threshold, then proceed to the next step.

[0057] 8. Reset the deflector plate and return to step 2.

[0058] Additionally, before returning to step 2, the cumulative angle and net number of rotations can be forcibly reset to zero to eliminate accumulated errors.

[0059] The method described in this embodiment monitors the rotation state of the float in real time and places the unwinding actuator outside the monitoring well. It actively adjusts the guide plate to change the direction of water flow and forms a reverse vortex. This not only drives the float to reset, but also effectively destroys or weakens the vortex structure that causes entanglement, thereby reducing the cause of rotation from the root.

[0060] Example 2:

[0061] This embodiment proposes a shore-based water quality monitoring system based on the rotation and reset of a float controlled by a flow guide.

[0062] As shown in Figure 2-7, the shore-based water quality monitoring system based on the rotation and reset of the flow-guiding control float mainly includes: monitoring well 1, float 2, traction rope 3, cable 4, shore-based control cabinet 5, solar panel 6, and flow-guiding control rod 7.

[0063] As shown in Figure 2, the monitoring well 1 is installed on the bank 8, and the float 2 is deployed in the monitoring well 1. A traction rope 3 connects the float 2 and the top of the monitoring well 1. A cable 4 connects one end to the float 2 and the other end to the shore-based control cabinet 5. The cable 4 includes a cable connecting to the water quality sensor 203 on the float 2, and a cable for power supply. The length of the traction rope 3 and cable 4 within the monitoring well 1 is sufficient to allow the float 2 to float at the lowest tide level. A solar panel 6, along with a battery and other power supply equipment in the shore-based control cabinet 5, powers the entire system. The shore-based control cabinet 5 integrates a data acquisition and storage module, a communication module, and a power supply battery module, enabling data sensor acquisition and recording, communication transmission, and system power supply. The system power supply can be either mains power or solar power, depending on the site conditions.

[0064] The monitoring well 1 is provided with multiple water exchange holes 101 on its side wall, and the monitoring well 1 is fixed to the bank 8 by the monitoring well fixing frame 102.

[0065] A flow control rod 7 is installed at a corresponding position on the outside of the monitoring well 1. Figures 3, 4, and 5 show the structure and installation of the flow control rod 7. The flow control rod 7 is fixed with a flow guide plate 701, which can adjust the direction of the water flow into the monitoring well 1 to form a vortex in the well that is opposite to the current rotation direction of the float 2, thereby driving the float 2 to rotate in the opposite direction and reset.

[0066] A rotating support 103 is provided on the lower side of the water exchange hole 101 of the monitoring well 1. The rotating support 103 has a circular hole in the middle for cooperating with the flow control rod 7, so that the flow control rod 7 can rotate around the central axis of the rotating support 103.

[0067] The flow control rods 7 are symmetrically installed on both sides of the monitoring well 1. The flow guide plates 701 fixed on the flow control rods 7 correspond to the positions of the water exchange holes 101. Each water exchange hole 101 has a corresponding flow guide plate 701. The flow guide plate 701 is located on the rotating support 103 of the corresponding water exchange hole and is adjacent to the rotating support 103.

[0068] A drive motor 702 is provided at the top of the flow control rod 7. The rotation of the drive motor 702 can drive the flow control rod 7 to rotate, thereby causing the flow guide plate 701 to swing.

[0069] Figure 6 shows a cross-sectional view of monitoring well 1. Flow control rods 7 are mounted on the outer sides of the water exchange holes 101 on both sides of monitoring well 1. The flow control rods 7 work in conjunction with the rotating support 103 to ensure free rotation. The initial orientation of the flow guide plate 701 is parallel to the sidewall of the embankment. This is an example of the reset state of the flow guide plate 701. Depending on the direction of the surge waves at different stations, the reset state of the flow guide plate 701 is not limited to this parallel angle.

[0070] Figure 7 shows an example of the working state of the guide plate 701, in which the guide plate 701 swings at a certain angle. When the controller determines that the float 2 needs to rotate in the opposite direction to reset, it will control the drive motor 702 to deflect the guide plate 701 in the specified direction. As shown in the deflection angle in Figure 7, when the water flows through the guide plate 701 and is guided into the monitoring well 1, it will form the vortex shown in the figure, which is opposite to the original rotation direction of the float 2, thereby driving the float 2 to reset and rotate.

[0071] As shown in Figure 8, the float 2 mainly consists of a float body 201, a float frame 202, water quality sensors 203, and a control cabin 204. The float body 201 and the float frame 202 are connected to form the structural body of the float 2. Multiple water quality sensors 203 are mounted on the float frame 202 for measuring seawater quality.

[0072] A control cabin 204 is installed in the middle of the float body 201. The control cabin 204 integrates a self-referenced rotation detection module, which is a MEMS gyroscope or a fiber optic gyroscope. For example, it can be a digital output MEMS gyroscope chip, such as MPU-6050 or BMI088. The sensitive axis of the gyroscope is parallel to or coincides with the rotation center axis of the float 2 to accurately measure the angular velocity around that axis.

[0073] The control cabin 204 is also equipped with a controller, which can be an STM32 series microcontroller or the like, and communicates with the MEMS gyroscope via SPI or I2C bus to read angular velocity data at a fixed frequency (e.g., 100Hz).

[0074] The controller internally runs an integral algorithm:

[0075] The cumulative angle is calculated as angular velocity × sampling period, and the net number of rotations N is calculated as cumulative angle / 360°.

[0076] During operation, the controller continuously monitors the net number of rotations N. For example, the preset threshold is 5 rotations. When the float rotates clockwise due to the vortex, causing N to reach +5, the controller immediately sends a command to the drive motor 702. The drive motor 702 drives the guide plate 701 to rotate, generating a reverse vortex, which in turn causes the float 2 to rotate in the opposite direction and reset. During the reverse rotation of float 2, the controller continuously integrates and calculates, during which N decreases from +5. When N decreases to near 0, such as when the absolute value of N is less than 0.2 rotations (the stop threshold), the controller considers the reset of float 2 complete and resets the guide plate 701. Afterward, the system continues to monitor and prepare for the next accumulation of rotations.

[0077] In this way, no matter how much the float 2 is disturbed by the vortex, its net number of rotations is always controlled within a very small range, thus ensuring that the traction rope 3 and cable 4 will not get tangled or break due to excessive unidirectional winding.

[0078] Gyroscopes are not perfect; the angular velocities they measure will always have a slight error (zero drift). Even if the float is completely stationary, it may still output a false signal of 0.1° / s.

[0079] This tiny error will be accumulated by this formula: 0.1° / s × 0.01s = 0.001°, which is the amount accumulated with each sample. This calculation corresponds to a sampling frequency of 100Hz.

[0080] Therefore, after a period of operation, even if the float does not rotate, the accumulated error will be significant. This system effectively avoids the long-term accumulation of errors by forcibly resetting the accumulated angle and net number of rotations to zero after each reset operation, ensuring that the system can accurately determine the rotation status during long-term operation. Furthermore, the operating conditions of this system do not have strict error requirements.

[0081] The shore-based water quality monitoring system proposed in this embodiment changes the direction of water flow by adjusting the guide plate, forming a reverse vortex. This not only drives the float to reset but also effectively destroys or weakens the vortex structure that causes entanglement, thus reducing the cause of rotation at its source. Furthermore, by transferring the core actuator (the guide plate and its drive motor) to a fixed monitoring well wall, there is no need to add other reset devices to the float, greatly simplifying the float structure. Moreover, by avoiding the use of other reset devices such as precision underwater thrusters, the system power consumption, failure rate, and maintenance costs are reduced.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A shore-based water quality monitoring system based on flow-guided control and float rotation reset, characterized in that, The system includes a monitoring well (1), a float (2), a cable (4), a shore-based control cabinet (5), a solar panel (6), and a flow control rod (7). The monitoring well (1) is installed on the shore dike (8), and the float (2) is deployed in the monitoring well (1). One end of the cable (4) is connected to the float (2), and the other end is connected to the shore-based control cabinet (5). The length of the cable (4) in the monitoring well (1) is sufficient to allow the float (2) to float at the lowest tide level. The solar panel (6) works with the shore-based control cabinet (5) to power the entire system. A flow control rod (7) is installed on the outside of the monitoring well (1). The flow control rod (7) has a flow guide plate (701), which is installed at the water exchange hole (101) on the side wall of the monitoring well (1). A drive is provided at the top of the flow control rod (7). Motor (702); The float (2) is provided with a control cabin (204), which integrates an integrated self-reference type rotation detection module and a controller. The controller is connected to the integrated self-reference type rotation detection module and the drive motor (702) by signal. It receives the angular velocity measured in real time by the integrated self-reference type rotation detection module and calculates the net number of rotations of the float (2). According to the net number of rotations, it controls the drive motor (702) to drive the flow control rod (7) to rotate, so that the flow guide plate (701) deflects in the specified direction, thereby adjusting the direction of water flow into the monitoring well (1) through the water exchange hole (101), forming a vortex in the monitoring well (1) opposite to the current rotation direction of the float (2), driving the float (2) to rotate in the opposite direction and reset.

2. The shore-based water quality monitoring system based on flow-guided control and float rotation reset according to claim 1, characterized in that, It also includes a traction rope (3), which is connected to the top of the float (2) and the monitoring well (1) respectively. The length of the traction rope (3) in the monitoring well (1) is sufficient to allow the float (2) to float at the lowest tide level.

3. The shore-based water quality monitoring system based on flow-guided control and float rotation reset according to claim 1, characterized in that, A rotating support (103) is provided on the lower side of the outer side of the water exchange hole (101). The rotating support (103) has a circular hole in the middle for cooperating with the flow control rod (7) to realize the flow control rod (7) rotating around the central axis of the rotating support (103). The flow guide plate (701) is installed on the position of the flow control rod (7) above the rotating support (103) and adjacent to the rotating support (103).

4. The shore-based water quality monitoring system based on flow-guided control float rotation and reset as described in claim 1 or 3, characterized in that, The flow control rod (7) is symmetrically installed on both sides of the monitoring well (1) and corresponds to the position of the water exchange hole (101).

5. The shore-based water quality monitoring system based on flow-guided control and float rotation reset according to claim 1, characterized in that, The controller's calculation and control include: calculating the cumulative angle of the float (2) rotation by running an integral algorithm based on the real-time measured angular velocity, and obtaining the net number of rotations of the float (2) by calculating the cumulative angle; when the net number of rotations is greater than or equal to a preset threshold, controlling the drive motor (702) to drive the flow control rod (7) to rotate, causing the flow guide plate (701) to deflect in a specified direction, thereby adjusting the direction of the water flow into the monitoring well (1) through the water exchange hole (101), forming a vortex in the monitoring well (1) opposite to the current rotation direction of the float (2), driving the float (2) to rotate in the opposite direction and reset; during the reverse rotation reset process, continuously measuring the angular velocity of the float (2) rotation and continuously running an integral algorithm to calculate the decrease of the net number of rotations until the net number of rotations is 0 or less than a preset stop threshold, resetting the flow guide plate (701), forcibly returning the cumulative angle and the net number of rotations to zero, and preparing to deal with the next rotation accumulation.

6. The shore-based water quality monitoring system based on flow-guided control and float rotation reset according to claim 1, characterized in that, The monitoring well (1) is fixed to the bank (8) by a monitoring well fixing frame (102).

7. A method for resetting a float based on flow guidance control, using the shore-based water quality monitoring system based on the float rotation and reset as described in any one of claims 1-6, characterized in that, include: S1. Real-time measurement of the angular velocity of the float's rotation; S2. By measuring the angular velocity in real time, the cumulative angle of the float's rotation is calculated using an integral algorithm, and the net number of rotations of the float is obtained by calculating the cumulative angle; S3. When the net number of rotations is greater than or equal to a preset threshold, the guide plate installed at the water exchange hole of the monitoring well is controlled to adjust the direction of the water flow into the monitoring well from the water exchange hole, forming a vortex in the monitoring well opposite to the current rotation direction of the float, driving the float to rotate in the opposite direction and reset. S4. During the reverse rotation reset process, the angular velocity of the float rotation is continuously measured and the integral algorithm is continuously run to calculate the decrease of the net number of rotations until the net number of rotations is 0 or less than the preset stop threshold. Then, the guide plate is reset and the process returns to step S1.

8. The method for resetting a float based on flow guidance control according to claim 7, characterized in that, In step S4, before returning to step S1, the cumulative angle and net number of rotations are forcibly reset to zero to eliminate the accumulated error.

9. The method for resetting a float based on flow guidance control according to claim 7, characterized in that, The calculation process in step S2 includes: cumulative angle += angular velocity × sampling period; net number of rotations = cumulative angle / 360°.

10. The method for resetting a float based on flow guidance control according to claim 7, characterized in that, In step S3, the guide plate is fixedly installed on the guide control rod, and the guide control rod is rotated by a drive motor.

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