A water flow velocity and flow direction measuring device and method based on a magnetic suspension robot

Abstract

The application belongs to the field of underwater measurement, and discloses a flow velocity and flow direction measuring device and method based on a magnetic suspension robot. The device comprises a float assembly and a base assembly, and the float assembly is magnetically suspended above the base assembly. The application determines the flow direction of the water body according to the yaw angle of the float assembly under the action of the water flow, and determines the flow velocity of the water body according to the pitch angle. The synchronous measurement of the flow velocity and flow direction of the water body is realized through a single magnetic suspension structure. Meanwhile, the application has no mechanical contact and no friction and wear, and eliminates the friction, corrosion and biological adhesion problems of the bearing, rotating shaft and other components in the traditional mechanical flowmeter. In addition, the flow velocity and flow direction measuring precision of the application is high. The sensing module simultaneously monitors the magnetic field change of the float assembly and the attitude change of the base assembly. The operation unit eliminates the interference caused by the movement or installation inclination of the base assembly through attitude compensation, extracts the attitude change of the float assembly caused by the real water flow, and the measurement result is more accurate.

Description

Technical Field

[0001] This invention belongs to the field of underwater measurement, specifically relating to a device and method for measuring water flow velocity and direction based on a magnetic levitation robot. Background Technology

[0002] With the continuous development of underwater exploration technology, the demand for in-situ, long-term, and high-precision measurements of hydrodynamic parameters such as water flow velocity and direction is increasing. Water flow velocity and direction are important parameters characterizing the dynamic properties of water bodies such as oceans, lakes, and rivers, and their measurement results are widely used in marine scientific research, marine engineering design, underwater equipment operation evaluation, and environmental monitoring.

[0003] Existing water flow velocity and direction measurement devices mostly employ mechanical, electromagnetic, or acoustic measurement principles. Among them, mechanical current meters typically rely on impeller or shaft structures, which are susceptible to wear, corrosion, or biofouling during long-term underwater operation, leading to a decrease in measurement accuracy. Electromagnetic current meters have high requirements for installation posture and electrode contact conditions, and their sensitivity is limited under low flow velocity conditions. Although acoustic Doppler current profilers can obtain relatively comprehensive flow field information, they are large in size, consume a lot of power, and are limited in use near the bottom or in complex environments.

[0004] Furthermore, in practical underwater applications, water flow is often multidirectional and unstable. Fluid disturbances can easily cause changes in the attitude of the measuring device, thus affecting the accuracy of the measurement results. In existing technologies, some devices require mechanical supports or fixed structures to maintain attitude stability. However, such structures not only increase system complexity but also introduce additional friction and wear problems, making it difficult to meet the requirements of long-term, low-maintenance underwater operation.

[0005] Therefore, it is necessary to design a new type of water flow velocity and direction measurement device that, while ensuring structural reliability, can sense the attitude changes caused by water flow without mechanical contact and achieve synchronous measurement of water flow velocity and direction, so as to solve the problems of insufficient measurement accuracy, poor reliability and limited adaptability in the existing technology. Summary of the Invention

[0006] The purpose of this invention is to provide a water flow velocity and direction measurement device and method based on a magnetic levitation robot, which can realize the synchronous measurement of water flow velocity and direction.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A water flow velocity and direction measuring device based on a magnetic levitation robot includes a float assembly and a base assembly; The float assembly is magnetically levitated above the base assembly; The float assembly includes a float housing and a magnet disposed inside the float housing; the magnet is connected to the float housing, the magnet has an axial magnetization structure, and the magnetization direction of the magnet is consistent with the axial direction of the float housing; The base assembly includes a base shell, a ring-shaped permanent magnet, and a sensing module. Both the ring-shaped permanent magnet and the sensing module are located inside the base shell. The ring-shaped permanent magnet is used to provide magnetic levitation force for the float assembly, and the sensing module is used to monitor the motion status of the float assembly and the base assembly.

[0008] Furthermore, the float assembly also includes a magnetic ring and a damping disk; The magnetic rings are placed at both ends of the magnet, and the damping disk is placed below the magnet. The magnetic rings are connected to the damping disk through a fixing frame.

[0009] Furthermore, the tail of the float shell is provided with multiple tail fins, which are evenly distributed along the circumference of the float shell.

[0010] Furthermore, the float shell has a streamlined structure and is made of a non-magnetic material.

[0011] Furthermore, the damping disc is made of a conductive metal material.

[0012] Furthermore, the float housing itself is also equipped with a counterweight, which is located at the bottom of the float housing.

[0013] Furthermore, the base assembly also includes a support base, a lower base plate, an upper base plate, and multiple electromagnetic coils disposed inside the base housing; The support base is located at the bottom of the base housing; The lower base plate is connected to the support base, and the upper base plate is connected to the lower base plate, with a gap between the upper base plate and the lower base plate; A ring-shaped permanent magnet is positioned at the top of the upper base plate; Multiple electromagnetic coils are arranged inside the ring-shaped permanent magnet, and a probe is set at the center of each electromagnetic coil. The probe has a conical structure, and the top of the probe is higher than the electromagnetic coil.

[0014] Furthermore, the sensing module includes a Hall sensor, an attitude sensor, and a computing unit; The Hall sensor is located on the top of the upper base plate and inside the annular permanent magnet body; The attitude sensor is located on the top of the lower base plate, and the attitude sensor is located in the gap between the upper base plate and the lower base plate; The processing unit is connected to the Hall sensor, attitude sensor, and driver for each electromagnetic coil.

[0015] Furthermore, the base shell is made of a non-magnetic material, and a cover plate is provided on the top of the base shell.

[0016] Furthermore, a method for measuring water flow velocity and direction based on a magnetic levitation robot, using the aforementioned water flow velocity and direction measuring device based on a magnetic levitation robot, is as follows: S1. Under conditions of no water flow, the initial magnetic field data is obtained through the Hall sensor, and the initial attitude data of the base assembly is obtained through the attitude sensor; the water flow velocity and direction measuring device based on the magnetic levitation robot is placed in the water body, so that the float assembly is in a magnetic levitation state under the action of the magnetic field generated by the base assembly. S2. When the water flows, the water flow acts on the tail fin at the tail of the float assembly, causing the float assembly to yaw and tilt relative to the base assembly; S3. The computing unit collects the magnetic field change data monitored by the Hall sensor in real time, and simultaneously collects the attitude change data of the base component monitored by the attitude sensor. S4. The arithmetic unit performs attitude compensation on the magnetic field change data collected by the Hall sensor based on the attitude change data collected by the attitude sensor, and obtains the effective magnetic field change caused by the attitude change of the float assembly. S5. The calculation unit calculates the yaw angle and pitch angle of the float assembly based on the effective magnetic field change; and determines the water flow direction based on the yaw angle and the water flow velocity based on the pitch angle, thereby realizing the synchronous measurement of water flow velocity and flow direction.

[0017] Compared with the prior art, the present invention has the following advantages: (1) The present invention determines the direction of water flow based on the yaw angle of the float assembly under the action of water flow, determines the magnitude of water flow velocity based on the pitch angle, and realizes the synchronous measurement of water flow velocity and direction through a single magnetic levitation structure.

[0018] (2) The present invention provides a basic levitation magnetic field through a ring permanent magnet and forms an adjustable control magnetic field with the probe through an electromagnetic coil. The computing unit adjusts the current of the electromagnetic coil according to the magnetic field change data collected by the Hall sensor, so that the float assembly is always in the preset levitation area, thereby improving the attitude stability and anti-disturbance ability in the magnetic levitation state.

[0019] (3) The sensing module simultaneously monitors the magnetic field changes of the float assembly and the attitude changes of the base assembly. The computing unit eliminates the interference caused by the movement or installation tilt of the base assembly through attitude compensation, and extracts the attitude changes of the float assembly caused by the real water flow, so that the measurement results are more accurate.

[0020] (4) The float assembly is magnetically suspended above the base assembly, eliminating the friction, corrosion and biological adhesion problems of bearings, shafts and other components in traditional mechanical flow meters, thus improving the long-term reliability and maintenance-free capability of the device. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the embodiments will be briefly described below.

[0022] Figure 1 This is a perspective view of a water flow velocity and direction measurement device based on a magnetic levitation robot according to the present invention.

[0023] Figure 2 for Figure 1 Perspective view.

[0024] Figure 3 for Figure 2 The front view.

[0025] Figure 4 for Figure 2 Top view.

[0026] Explanation of reference numerals in the attached drawings: 1-Float assembly, 11-Float housing, 12-Magnet, 13-Magnetic ring, 14-Damping disc, 15-Tail fin, 16-Connecting rod, 17-Fixing frame, 2-Base assembly, 21-Base housing, 211-Cover plate, 22-Support base, 23-Lower base plate, 24-Upper base plate, 25-Annular permanent magnet, 26-Electromagnetic coil, 27-Probe, 28-Sensing module, 281-Hall sensor, 282-Attitude sensor, 283-Arithmetic unit, 29-Fixing screw. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figure 1 As shown, a water flow velocity and direction measurement device based on a magnetic levitation robot includes a float assembly 1 and a base assembly 2. The base assembly 2 uses a hybrid magnetic field to synergistically enhance the magnetic levitation force, enabling the float assembly 1 to be stably magnetically levitated above the base assembly 2. Furthermore, the float assembly 1 and the base assembly 2 are supported solely by magnetic levitation, with no mechanical contact whatsoever, thus eliminating problems such as bearing wear, seal failure, and jamming.

[0029] Specifically, such as Figures 2 to 4As shown, the float assembly 1 includes a float shell 11, a magnet 12, a magnetic ring 13, and a damping disk 14, all of which are housed within the float shell 11. The float assembly 1 has an overall axisymmetric structure, and the float shell 11 has a streamlined structure. This structure provides excellent drag reduction and balance in water. The float shell 11 is made of non-magnetic material and is a sealed structure. The float shell 11 is also equipped with a counterweight located at its bottom, ensuring that the center of gravity of the float assembly 1 is lower than the center of the float shell 11. This generates a restoring torque when the float assembly 1 pitches or rolls, enhancing its stability. Multiple tail fins 15 are provided at the tail of the float shell 11, and these tail fins are evenly distributed along the circumference of the float shell 11. In this embodiment, four tail fins 15 are provided, so the included angle between adjacent tail fins 15 is 90°, and the four tail fins 15 have a cross-shaped symmetrical structure. When the water flow impacts the float assembly 1 from one side, it generates a lateral thrust that causes the float assembly 1 to deflect, and at the same time generates a yaw torque. The tail fins 15 apply a reverse torque according to the water flow, causing the float assembly 1 to start rotating until the float assembly 1 is parallel to the direction of the water flow, and finally the float assembly 1 forms a unique stable attitude under the action of the water flow, thereby realizing three-dimensional flow direction measurement. The magnet 12 is located at the geometric center of the float shell 11. The magnet 12 is cylindrical, and one end of the magnet 12 is fixedly connected to the tail of the float shell 11 through a connecting rod 16. The magnet 12 has an axial magnetization structure, and the magnetization direction of the magnet 12 is consistent with the axial direction of the float shell 11. Magnetic guide rings 13 are located at both ends of the magnet 12. Made of a soft magnetic material with high permeability and low coercivity, the magnetic guide rings 13 do not generate a magnetic field themselves. Instead, they serve as magnetic flux guides and optimize the magnetic circuit structure within the magnetic levitation system formed by the float assembly 1 and the base assembly 2. Therefore, the magnetic guide rings 13 can concentrate and guide the magnetic field, optimizing its distribution and enhancing the levitation stability of the float assembly 1, ensuring that changes in the magnetic field accurately reflect changes in the float assembly 1's attitude. A damping disk 14 is located below the magnet 12, and the magnetic guide rings 13 are connected to the damping disk 14 via a mounting bracket 17. The damping disk 14 is made of a conductive metal material. Through interaction with the magnetic field, the damping disk 14 generates resistance, effectively suppressing high-frequency oscillations of the float assembly 1 caused by external water flow disturbances or internal vibrations, ensuring the accuracy of the float assembly 1 in measuring water flow velocity and direction.

[0030] Without the addition of magnetically conductive structures such as the magnetically conductive rings 13, the magnetic field lines generated by the magnet 12 in space tend to diverge, resulting in a non-concentrated and poorly directional magnetic field distribution. This reduces the sensitivity of the magnetic field to changes in the attitude of the float assembly 1. By placing magnetically conductive rings 13 at both ends of the magnet 12, the magnetic circuit resistance can be effectively reduced, allowing the magnetic flux to preferentially close along the magnetically conductive rings 13. This concentrates and guides the magnetic flux at the ends of the magnet 12, suppressing disordered divergence of the magnetic field. Through this structure, an equivalent magnetic dipole field with stronger directionality and more stable spatial distribution is formed inside the float assembly 1. This makes the changes in the magnetic field distribution of the float assembly 1 clearer and more predictable when yaw or pitch attitude changes occur, thereby enhancing the sensitivity and repeatability of the Hall sensor 281 in the base assembly 2 in monitoring magnetic field changes. At the same time, the magnetically conductive rings 13 can also reduce the nonlinear interference of the magnet 12 on the magnetic field of the electromagnetic coil 26 in the base assembly 2, which is beneficial to improving the overall stability and attitude inversion accuracy of the magnetic levitation system.

[0031] The damping disk 14 achieves non-contact damping control of the float assembly 1's motion based on the principle of electromagnetic induction. When the float assembly 1 experiences minor vibrations, oscillations, or angular velocity changes during water flow disturbances or the dynamic response of the magnetic levitation system, the damping disk 14 generates relative motion with the surrounding magnetic field, thereby inducing closed eddy currents within the damping disk 14. The damping disk 14 can suppress the high-frequency oscillations of the float assembly 1 caused by turbulent disturbances based on eddy current damping. According to Lenz's law, the direction of the induced magnetic field generated by the eddy current is opposite to the motion tendency of the float assembly 1, thus forming a damping torque that opposes the motion of the float assembly 1. Since the magnitude of the eddy current damping force is related to the motion velocity, the damping disk 14 can effectively suppress the high-frequency, small-amplitude vibrations of the float assembly 1, while having little impact on the low-frequency, steady-state attitude changes of the float assembly 1 under the action of water flow. Therefore, it significantly improves the dynamic stability of the float assembly 1 without weakening the measurement sensitivity. By setting the damping disk 14, the high-frequency fluctuation of the magnetic field caused by the buoy's attitude jitter can be effectively reduced, the noise component in the output signal of the Hall sensor 281 in the base assembly 2 can be reduced, the stability and resolvability of the magnetic field change signal can be improved, and the accuracy and reliability of the water flow velocity and direction inversion calculation can be improved.

[0032] like Figures 2 to 4As shown, the base assembly 2 includes a base shell 21, a support base 22, a lower base plate 23, an upper base plate 24, a ring-shaped permanent magnet 25, an electromagnetic coil 26, a probe 27, and a sensing module 28. The support base 22, lower base plate 23, upper base plate 24, ring-shaped permanent magnet 25, electromagnetic coil 26, probe 27, and sensing module 28 are all housed inside the base shell 21. The base shell 21 is made of a non-magnetic material, and a cover plate 211 is provided on the top of the base shell 21, sealing the base shell 21 with the cover plate 211. The support base 22 is located at the bottom of the base shell 21, the lower base plate 23 is connected to the support base 22, and the upper base plate 24 is connected to the lower base plate 23 by fixing screws 29, with a gap between the upper base plate 24 and the lower base plate 23. A ring-shaped permanent magnet 25 is disposed on the top of the upper base plate 24. The ring-shaped permanent magnet 25 provides magnetic levitation force for the float assembly 1. The ring-shaped permanent magnet 25 generates an initially stable strong magnetic field, providing a stable strong levitation force for the float assembly 1. The ring-shaped permanent magnet 25 bears the main levitation force of the measuring device, thereby significantly reducing the current required by the electromagnetic system, effectively reducing levitation power consumption, and improving the overall energy efficiency of the system. Electromagnetic coils 26 are disposed inside the ring-shaped permanent magnet 25, and multiple electromagnetic coils 26 are configured. In this embodiment, four electromagnetic coils 26 are configured, and the four electromagnetic coils 26 are symmetrically distributed around the central axis of the ring-shaped permanent magnet 25. One probe 27 is disposed at the center of each electromagnetic coil 26. The probe 27 has a conical structure, and the top of the probe 27 is higher than the electromagnetic coil 26. The electromagnetic coils 26 and the probes 27 work together to achieve precise control of the float assembly 1 and further enhance the levitation force. By independently controlling the current magnitude of each electromagnetic coil 26, the strength of the generated magnetic field can be adjusted in real time, thereby precisely controlling the position of the float assembly 1. Meanwhile, the probe 27 designed inside each electromagnetic coil 26 can further enhance the magnetic flux density in the area where the magnetic levitation robot is located by changing the magnetic field distribution generated by the electromagnetic coil 26, thereby enhancing the levitation force.

[0033] The sensing module 28 is used to measure the motion state of the float assembly 1. The sensing module 28 includes a Hall sensor 281, an attitude sensor 282, and a processing unit 283. The processing unit 283 is signal-connected to the Hall sensor 281, the attitude sensor 282, and the driver of each electromagnetic coil 26. The processing unit 283 independently adjusts the current of each electromagnetic coil 26 through the driver to adjust the direction and magnitude of the magnetic force on the float assembly 1. The Hall sensor 281 is mounted on the top of the upper base plate 24 and is located inside the annular permanent magnet 25. The Hall sensor 281 is close to the working area of ​​the float assembly 1, and during operation, it is located directly below the float assembly 1. The Hall sensor 281 is a three-dimensional Hall sensor capable of monitoring the components of the magnetic field in the three orthogonal directions (X, Y, and Z), thereby collecting data on magnetic field changes caused by the magnet 12 inside the float assembly 1. The attitude sensor 282 is mounted on the top of the lower base plate 23 and is located in the gap between the upper base plate 24 and the lower base plate 23. Attitude sensor 282 monitors the attitude changes of base assembly 2 during underwater operation and transmits the collected attitude data to computing unit 283. Computing unit 283 can determine the current spatial attitude of base assembly 2 based on this attitude data. Computing unit 283 is mounted on top of lower base plate 23, and is located in the gap between upper base plate 24 and lower base plate 23. Computing unit 283 simultaneously receives magnetic field data output from Hall sensor 281 and attitude data output from attitude sensor 282, and fuses these two types of data to remove measurement errors caused by the attitude changes of base assembly 2 itself during the measurement of float assembly 1's attitude changes.

[0034] In actual underwater measurements, the base assembly 2 may experience attitude changes due to installation angle, water disturbance, or the movement of external carriers. If calculations are based solely on the magnetic field changes monitored by the Hall sensor 281, the tilting or rotation of the base assembly 2 itself will affect the magnetic field monitoring results, thereby reducing the accuracy of water flow velocity and direction measurements. Therefore, the processing unit 283 simultaneously receives magnetic field change data output by the Hall sensor 281 and attitude change data output by the attitude sensor 282. The processing unit 283 calculates the lateral displacement, suspension height, yaw angle, and pitch angle of the float assembly 1 based on the magnetic field components collected by the Hall sensor 281, and compensates for these parameters based on the attitude data of the base assembly 2 collected by the attitude sensor 282. This compensates for the attitude of the float assembly 1, eliminating the influence of the tilting, rotation, or installation attitude changes of the base assembly 2 on the water flow velocity and direction measurement results. When the lateral displacement or levitation height of the float assembly 1 deviates from the preset levitation area, the arithmetic unit 283 connects to the driver of each electromagnetic coil 26 via a signal, thereby adjusting the current of each electromagnetic coil 26 to return the float assembly 1 to the preset levitation area. When the float assembly 1 is in the preset levitation area but exhibits unstable states such as spinning, swaying, or shaking, the arithmetic unit 283 also applies directional restoring torque and damping torque by adjusting the current of the electromagnetic coil 26 to prevent the float assembly 1 from spinning and maintain attitude stability.

[0035] Specifically, the computing unit 283 first acquires the initial magnetic field data monitored by the Hall sensor 281 under no-flow conditions and uses this initial magnetic field data as the reference magnetic field data. Simultaneously, the computing unit 283 acquires the initial attitude data monitored by the attitude sensor 282 under no-flow conditions and uses this initial attitude data as the reference attitude data. When water flow occurs, the computing unit 283 acquires the real-time magnetic field data monitored by the Hall sensor 281 and the real-time attitude data monitored by the attitude sensor 282 in real time, and compares the real-time magnetic field data with the reference magnetic field data to obtain the real-time magnetic field change. Based on the relationship between the real-time attitude data and the reference attitude data, the computing unit 283 corrects the real-time magnetic field change to eliminate the influence of the tilt, rotation, or installation attitude changes of the base assembly 2 on the magnetic field monitoring results, thereby obtaining the effective magnetic field change caused by the attitude change of the float assembly 1. Through the above processing, the accuracy of the inversion calculation of the yaw angle (i.e., the change in rotation direction in the horizontal plane) and pitch angle (i.e., the change in tilt angle in the vertical direction) of the float assembly 1 can be improved.

[0036] By processing the effective magnetic field change after attitude compensation, the yaw angle and pitch angle of float assembly 1 can be obtained. The yaw angle of float assembly 1 characterizes the water flow direction. When water flows onto the tail fin 15, the tail fin 15 can align the axis of float assembly 1 with the water flow direction; therefore, there is a correspondence between the yaw direction of float assembly 1 in the horizontal plane and the water flow direction. The calculation unit 283 calculates the yaw angle of float assembly 1 in the horizontal plane based on the change in the horizontal magnetic field component after attitude compensation, and determines the water flow direction based on the yaw angle. When float assembly 1 reaches a stable attitude, the water flow action on float assembly 1 and the magnetic force exerted on float assembly 1 by the base assembly 2 are in equilibrium. At this point, there is a corresponding relationship between the tilt of float assembly 1 and the intensity of the water flow: the greater the water flow velocity, the greater the force exerted by the water flow on float assembly 1 and tail fin 15, and the greater the tilt of float assembly 1 in the vertical direction; the smaller the water flow velocity, the smaller the force exerted by the water flow on float assembly 1 and tail fin 15, and the smaller the tilt of float assembly 1 in the vertical direction. The calculation unit 283 calculates the pitch angle of float assembly 1 based on the magnetic field change data after attitude compensation, and determines the water flow velocity based on the pitch angle of float assembly 1. The correspondence model between the pitch angle of float assembly 1 and the water flow velocity can be realized through experimental calibration, table lookup, function fitting, or a preset algorithm. By pre-calibrating or establishing a correspondence model, the calculation unit 283 can obtain the corresponding water flow velocity value based on the real-time calculated pitch angle of float assembly 1, thereby achieving synchronous measurement of water flow velocity and direction.

[0037] A method for measuring water flow velocity and direction based on a magnetically levitated robot, the method steps are as follows: S1. Under conditions of no water flow, the initial magnetic field data is obtained through Hall sensor 281 and the initial attitude data of base component 2 is obtained through attitude sensor 282. Then, the water flow velocity and direction measuring device based on the magnetic levitation robot is placed in the water body, so that the float component 1 is in a magnetic levitation state under the action of the magnetic field generated by the base component 2.

[0038] S2. When the water flows, the water flow acts on the tail fin 15 at the tail of the float assembly 1, causing the float assembly 1 to yaw and tilt relative to the base assembly 2.

[0039] S3. The computing unit 283 collects the magnetic field change data monitored by the Hall sensor 281 in real time, and simultaneously collects the attitude change data of the base assembly 2 monitored by the attitude sensor 282.

[0040] S4. The arithmetic unit 283 performs attitude compensation on the magnetic field change data collected by the Hall sensor 281 based on the attitude change data collected by the attitude sensor 282, and obtains the effective magnetic field change caused by the attitude change of the float assembly 1.

[0041] S5. The calculation unit 283 calculates the yaw angle and pitch angle of the float assembly 1 based on the effective magnetic field change obtained in step S4, and determines whether the float assembly 1 is in the preset suspension area based on the effective magnetic field change. When the lateral displacement or suspension height of the float assembly 1 deviates from the preset suspension area, the calculation unit 283 connects to the driver of each electromagnetic coil 26 through a signal, and then adjusts the current of each electromagnetic coil 26 to make the float assembly 1 return to the preset suspension area. When the float assembly 1 is in the preset suspension area but exhibits unstable states such as spinning, swaying or shaking, the calculation unit 283 also applies directional restoring torque and damping torque by adjusting the current of the electromagnetic coil 26 to prevent the float assembly 1 from spinning and maintain attitude stability.

[0042] S6. The calculation unit 283 determines the direction of water flow based on the yaw angle of the float assembly 1 in a steady state, and determines the water flow velocity based on the pre-calibrated correspondence between the pitch angle and the water flow velocity, thereby realizing the synchronous measurement of water flow velocity and direction.

[0043] The present embodiment has now been described in detail with reference to the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the present invention. Of course, the above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the content of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention and should be protected by the present invention.

Claims

1. A water flow velocity and direction measurement device based on a magnetic levitation robot, characterized in that, Includes float assembly and base assembly; The float assembly is magnetically levitated above the base assembly; The float assembly includes a float housing and a magnet disposed inside the float housing; The magnet is connected to the float shell. The magnet has an axial magnetization structure, and the magnetization direction of the magnet is consistent with the axial direction of the float shell. The float shell has a streamlined structure, and multiple tail wings are provided at the tail of the float shell. The multiple tail wings are evenly distributed along the circumference of the float shell. The float assembly also includes a magnetic ring and a damping disk; The magnetic rings are placed at both ends of the magnet, and the damping disk is placed below the magnet. The magnetic rings are connected to the damping disk through a fixing frame. The base assembly includes a base housing, a ring-shaped permanent magnet, and a sensing module; Both the ring-shaped permanent magnet and the sensing module are located inside the base housing. The ring-shaped permanent magnet is used to provide magnetic levitation force for the float assembly, and the sensing module is used to monitor the motion status of the float assembly and the base assembly. The sensing module includes a Hall sensor, an attitude sensor, and a processing unit; the Hall sensor is a three-dimensional Hall sensor used to monitor the components of the magnetic field in the three orthogonal directions of X, Y, and Z; the attitude sensor is used to monitor the attitude changes of the base assembly; the processing unit is connected to the Hall sensor, the attitude sensor, and the driver of each electromagnetic coil in the base assembly. When the float assembly undergoes yaw or pitch changes, the change in its magnetic field distribution causes the Hall sensor to generate corresponding magnetic field change data. The processing unit synchronously receives the magnetic field change data output from the Hall sensor and the attitude change data output from the attitude sensor, and performs attitude compensation on the magnetic field change data based on the attitude change data to eliminate the influence of the base assembly's own attitude change on the measurement results, thus obtaining the effective magnetic field change caused by the float assembly's attitude change. The processing unit calculates the yaw and pitch angles of the float assembly based on the effective magnetic field change, and determines whether the float assembly is in a preset suspension area based on the effective magnetic field change. When the float assembly's... When the lateral displacement or suspension height deviates from the preset suspension area, the computing unit connects to the driver of each electromagnetic coil via a signal, thereby adjusting the current of each electromagnetic coil to return the float assembly to the preset suspension area. When the float assembly is within the preset suspension area but exhibits a spinning, oscillating, or jittering unstable state, the computing unit also adjusts the current of the electromagnetic coil to apply directional restoring torque and damping torque to prevent the float assembly from spinning and maintain attitude stability. The computing unit is also used to calculate the yaw angle and pitch angle of the float assembly in a stable state based on the effective magnetic field change, and to determine the water flow direction based on the yaw angle and the water flow velocity based on the pitch angle.

2. The water flow velocity and direction measuring device based on a magnetic levitation robot according to claim 1, characterized in that, The float's outer shell is made of a non-magnetic material.

3. The water flow velocity and direction measuring device based on a magnetic levitation robot according to claim 1, characterized in that, The damping disc is made of conductive metal material.

4. The water flow velocity and direction measuring device based on a magnetic levitation robot according to claim 1, characterized in that, The float housing itself is also equipped with a counterweight, which is located at the bottom of the float housing.

5. The water flow velocity and direction measuring device based on a magnetic levitation robot according to claim 1, characterized in that, The base assembly also includes a support base, a lower base plate, an upper base plate, and multiple electromagnetic coils disposed inside the base housing; The support base is located at the bottom of the base housing; The lower base plate is connected to the support base, and the upper base plate is connected to the lower base plate, with a gap between the upper base plate and the lower base plate; A ring-shaped permanent magnet is positioned at the top of the upper base plate; Multiple electromagnetic coils are arranged inside the ring-shaped permanent magnet, and a probe is set at the center of each electromagnetic coil. The probe has a conical structure, and the top of the probe is higher than the electromagnetic coil.

6. The water flow velocity and direction measuring device based on a magnetic levitation robot according to claim 5, characterized in that, The Hall sensor is located on the top of the upper base plate and inside the annular permanent magnet body; The attitude sensor is located on the top of the lower base plate, and the attitude sensor is located in the gap between the upper base plate and the lower base plate.

7. The water flow velocity and direction measuring device based on a magnetic levitation robot according to claim 1, characterized in that, The base shell is made of non-magnetic material, and a cover plate is provided on the top of the base shell.

8. A method for measuring water flow velocity and direction based on a magnetic levitation robot, using the water flow velocity and direction measuring device based on a magnetic levitation robot as described in any one of claims 1-7, characterized in that, The method is as follows: S1. Under conditions of no water flow, the initial magnetic field data is obtained through the Hall sensor, and the initial attitude data of the base assembly is obtained through the attitude sensor; the water flow velocity and direction measuring device based on the magnetic levitation robot is placed in the water body, so that the float assembly is in a magnetic levitation state under the action of the magnetic field generated by the base assembly. S2. When the water flows, the water flow acts on the tail fin at the tail of the float assembly, causing the float assembly to yaw and tilt relative to the base assembly; S3. The computing unit collects the magnetic field change data monitored by the Hall sensor in real time, and simultaneously collects the attitude change data of the base component monitored by the attitude sensor. S4. The arithmetic unit performs attitude compensation on the magnetic field change data collected by the Hall sensor based on the attitude change data collected by the attitude sensor, and obtains the effective magnetic field change caused by the attitude change of the float assembly. S5. The calculation unit calculates the yaw angle and pitch angle of the float assembly based on the effective magnetic field change; and determines the water flow direction based on the yaw angle and the water flow velocity based on the pitch angle, thereby realizing the synchronous measurement of water flow velocity and flow direction.

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