A water channel flow intelligent measuring device, measuring method and storage medium

Abstract

The application discloses a kind of water channel flow intelligent measurement methods, comprising: obtaining the attitude data of measurement equipment measurement part, judge whether the attitude data satisfies preset vertical condition;In response to the attitude data satisfying the preset vertical condition, obtain the total depth data and silt depth data of water channel;Based on the total depth data and the silt depth data, determine effective water depth;Based on the effective water depth, determine several target flow depth, in response to the attitude data satisfying the preset vertical condition, control flow velocity measurement unit to move to each target flow depth and carry out flow velocity collection;Based on the effective water depth, water channel section parameter, the flow velocity of each target flow depth, calculate water channel flow.The application can automatically detect silt depth, accurately deduct silt influence, ensure vertical installation, and realize flow velocity accurate positioning measurement.

Description

Technical Field

[0001] This invention relates to the field of water channel flow detection, specifically to an intelligent water channel flow measurement device, measurement method, and storage medium. Background Technology

[0002] In the management of farmland irrigation canals, accurately measuring the actual water depth and flow rate of the canals is an important basis for rational water allocation and scientific irrigation.

[0003] Currently, water measurement in irrigation canals is mostly done manually, which still has the following significant drawbacks and limitations:

[0004] 1. Silt often accumulates at the bottom of irrigation canals. This accumulation reduces the effective cross-sectional area of ​​the canal. If the silt depth is not factored in, the calculated flow rate will be significantly overestimated, leading to water distribution errors. Traditional manual measurement methods require operators to use depth gauges or ropes to enter the canal, which is not only inefficient and time-consuming but also poses safety hazards in deep water areas. Existing automatic measurement solutions sometimes use ultrasonic transducers to measure silt thickness via sound wave echoes; however, these solutions are either affected by water quality and topography, or are structurally complex and costly.

[0005] 2. The verticality of the equipment installation directly affects measurement accuracy. Both radar level sensors and guy-wire sensors use verticality as a reference; if the equipment is inserted into the canal at an angle, systematic errors will occur in the measurement. Most existing equipment lacks automatic detection and alarm functions for installation verticality, making it difficult for operators to determine whether the equipment is placed vertically.

[0006] 3. In existing flow velocity measurement schemes, multi-point flow measurement (such as measuring flow velocity at locations with different water depth ratios) usually requires complex walking devices or manual adjustment, which makes it difficult to achieve fast and accurate positioning, and the equipment is bulky and energy-intensive.

[0007] 4. There is a lack of integrated intelligent equipment that organically integrates functions such as silt measurement, water depth measurement, flow velocity measurement, and verticality detection. Existing solutions are mostly independent devices with single functions, resulting in fragmented measurement processes, requiring the use of multiple devices in conjunction, and cumbersome on-site operation.

[0008] Therefore, there is an urgent need for an intelligent water channel flow measurement device and method that can automatically detect silt depth, accurately deduct the influence of silt, ensure vertical installation, and achieve precise flow velocity measurement. Summary of the Invention

[0009] In view of the above-mentioned deficiencies of the prior art, the purpose of this invention is to provide an intelligent water channel flow measurement device and its measurement method, which can automatically detect silt depth, accurately deduct the influence of silt, ensure vertical installation, and achieve precise positioning and measurement of flow velocity.

[0010] The objective of this invention is achieved through the following technical solution:

[0011] A method for intelligent measurement of water channel flow, characterized in that it includes:

[0012] Acquire the attitude data of the measuring unit of the measuring device, and determine whether the attitude data meets the preset vertical condition;

[0013] In response to the attitude data satisfying the preset vertical condition, the total depth data and silt depth data of the water channel are obtained;

[0014] Based on the total depth data and the silt depth data, the effective water depth is determined;

[0015] Based on the effective water depth, several target flow measurement depths are determined. In response to the attitude data satisfying the preset vertical condition, the flow velocity measurement unit is controlled to move to each of the target flow measurement depths to collect flow velocity.

[0016] The canal flow rate is calculated based on the effective water depth, canal cross-sectional parameters, and flow velocity at each target flow measurement depth.

[0017] To ensure the accuracy of water depth and silt depth detection, the measuring unit must be kept vertical. Tilting the equipment will cause the radar ranging reference to shift and the reading error of the wire sensor. Therefore, this solution introduces a real-time attitude monitoring mechanism to eliminate the influence of installation deviation.

[0018] The total depth data of the canal and the silt depth data can be obtained by using two separate sets of detection equipment, or by using a single set of equipment. For example, a dual-sensor fusion scheme can be used, which combines radar non-contact measurement of the total water depth with a wire sensor mechanical measurement of the silt depth. This effectively deducts the influence of silt on the water flow cross section, solves the problem of overestimation of flow caused by neglecting silt deposition in traditional open channel flow meters, and significantly improves measurement accuracy.

[0019] Furthermore, the attitude data includes the tilt angle of the measuring unit of the measuring device;

[0020] The preset vertical condition is that the tilt angle is within a preset angle range.

[0021] Furthermore, the tilt angle is acquired using a gyroscope;

[0022] The preset angle range is ±5°;

[0023] Before the measurement process starts and during the flow rate acquisition process, the step of determining whether the attitude data meets the preset vertical condition is continuously executed;

[0024] If the tilt angle exceeds the preset angle range, the current measurement process will be disabled and an alarm will be triggered.

[0025] The tilt angle can be obtained using a gyroscope, which detects the device's tilt angle in real time. Before the measurement process starts, the controller continuously reads the gyroscope data to determine if the tilt angle exceeds the ±5° threshold. If it does, the measurement function is locked, and a voice prompt indicating device tilt is issued via the voice module.

[0026] Alarm notifications can be delivered via voice broadcasting devices or other display devices, such as by flashing notifications on a display device.

[0027] Furthermore, the acquisition of the total depth data and silt depth data of the canal includes:

[0028] The total depth data is obtained through a non-contact or contact detection unit;

[0029] The silt depth data is obtained through a contact-type detection unit.

[0030] Non-contact detection units can use radar, laser ranging, etc., and the specific choice can be made based on the stability of the water flow surface; contact detection units have structural forms such as probe rods (conductive to determine whether the end is in contact with the water in the channel); the specific choice of method depends on the actual situation.

[0031] The contact detection unit calculates the silt depth by obtaining the height difference between the bottom of the silt and the surface of the silt. Specifically, the probe can be inserted into the silt until it touches the bottom of the channel. At this time, the bottom of the silt is fixed and the surface of the silt is positioned by a pressure plate. The silt thickness is obtained by measuring the insertion depth of the probe relative to the pressure plate. This relative insertion depth can be obtained by using a pull-wire sensor, that is, the relative displacement change between the two will be reflected in the length of the pull-wire sensor's pull-out line.

[0032] Furthermore, the non-contact detection unit is a radar sensor, and the contact detection unit includes a pull-wire sensor and a silt detection plate connected to the pull-wire sensor;

[0033] If the radar and / or the pull-wire sensor measurement data is abnormal, the measurement will stop and an alarm will be triggered.

[0034] The determination of the effective water depth based on the total depth data and the silt depth data includes:

[0035] The effective water depth is obtained by calculating the difference between the total depth data and the silt depth data;

[0036] If the obtained effective water depth is negative, the current measurement is deemed invalid and an alarm is triggered.

[0037] The wire-type displacement sensor uses RS485 for communication. The sensor connects to a silt detection plate via its wire end. It calculates the silt depth by measuring the change in wire length. The sensor's initial position is acquired upon power-up, and the silt depth is determined by measuring the change in wire length at the start of measurement. This sensor features a simple structure, fast response, and strong anti-interference capability.

[0038] The millimeter-wave radar water level sensor communicates via RS485. It measures the total depth from the water surface to the bottom of the device by transmitting radar waves and receiving the reflected echoes. During measurement, the radar transmitting surface must be approximately perpendicular to the water surface. To eliminate the influence of water surface fluctuations, the main controller uses median filtering on the sensor data to ensure stable data acquisition.

[0039] Further, the step of determining several target flow measurement depths based on the effective water depth, and controlling the flow velocity measurement unit to move to each of the target flow measurement depths to collect flow velocity in response to the attitude data satisfying the preset vertical condition, includes:

[0040] Receive the proportional parameters of the flow measurement points sent from the outside;

[0041] The target flow measurement depth is calculated based on the effective water depth and the ratio parameter of the flow measurement point.

[0042] The control drive unit drives the flow velocity measurement unit to move to each of the target flow measurement depths and collects the flow velocity corresponding to the target flow measurement depth.

[0043] The target flow measurement depth can be determined by referring to the vertical measurement point distribution method in the "Water Measurement Specification for Irrigation Canal System". Three measurement points can be selected: 0.2 times the water depth, 0.6 times the water depth, and 0.8 times the water depth. Alternatively, more and denser measurement points can be selected.

[0044] Furthermore, the drive unit includes a servo motor and a lead screw, the servo motor driving the lead screw to move the flow rate measuring unit;

[0045] During the process of the control drive unit driving the flow rate measurement unit to move, the operating current of the servo motor is monitored in real time;

[0046] If the operating current exceeds the preset current threshold, the power supply to the servo motor will be cut off and a fault alarm will be triggered.

[0047] The servo motor communicates via RS485. The servo motor controls the movement of the lead screw, and a flow meter is mounted on one end of the lead screw. The main controller drives the flow meter up and down along the lead screw via a custom RS485 protocol. The controller monitors the servo motor's operating current and status feedback in real time. If a stall or overload is detected, the controller immediately cuts off the servo motor's power and triggers an alarm.

[0048] The lead screw can be a rod with a rack on its surface along its axis. When the servo motor meshes with the rack, the servo motor can drive the rod to move up and down.

[0049] The flow velocity measurement unit uses a propeller-type flow velocity sensor to measure the water flow velocity at the current location. After receiving the servo motor's positioning signal, the controller starts flow velocity acquisition, calculates the number of pulses from the flow velocity sensor at a set time, and calculates the average flow velocity according to the flow velocity formula after the set time has elapsed.

[0050] A water channel flow measurement device, comprising:

[0051] The attitude detection module acquires the device's attitude data;

[0052] A non-contact detection module acquires the total depth data of the water channel;

[0053] A contact-type detection module is used to acquire data on the depth of silt in the canal.

[0054] The flow velocity measurement unit acquires flow velocity data at its location;

[0055] The drive module drives the flow velocity measurement unit to move within the canal to the target flow measurement depth;

[0056] The control and processing module is electrically connected to the attitude detection module, non-contact detection module, contact detection module, flow velocity measurement unit, and drive module; it parses and processes the data from the attitude detection module, non-contact detection module, contact detection module, flow velocity measurement unit, and drive module; it determines whether the canal flow measurement meets the preset conditions, and controls the measurement process in response to meeting the preset conditions to determine the silt depth data and canal flow data;

[0057] The output module is electrically connected to the control processing module and outputs the information from the control processing module.

[0058] The communication module is electrically connected to the control processing module, enabling data interaction between the control processing module and external devices.

[0059] The control processing module uses an STM32F103RET6 microcontroller as the system core and runs the RL-RTX real-time operating system. This module is responsible for task scheduling, data processing, logic judgment, and communication management throughout the system. The system is divided into multiple parallel tasks, including: system management (responsible for status light control and heartbeat data reporting), Bluetooth communication (responsible for bidirectional data interaction with the handheld device), RS485 sensor task (responsible for sensor self-testing and data acquisition control), flow rate acquisition task (responsible for flow meter sensor data processing), and angle detection task (responsible for gyroscope data processing). This multi-task architecture ensures the real-time response and stable operation of each functional module.

[0060] The control processing module includes a power module, which uses internal power supply (battery pack) and / or external power supply (external power cord). The power module manages the power supply.

[0061] The communication module uses a BLE low-power Bluetooth module, supporting bidirectional data communication with handheld devices (mobile apps) at a distance of ≥10 meters. It employs a custom communication protocol: frame header + data length + command type + data content + CRC8 checksum, ensuring reliable data transmission. The communication module can also implement firmware upgrade packages, enabling online firmware upgrades and updating device functionality without requiring factory return. Through the communication module, the device can interact bidirectionally with external devices (such as mobile phones or tablets), for tasks such as sending measurement plans and changing parameter settings.

[0062] The output module uses a language module to broadcast the device's working status information, covering scenarios such as power-on self-test results, level abnormality alarm, measurement start prompt, depth calculation completion, servo motor movement, measurement completion, and fault alarm.

[0063] Furthermore, the attitude detection module includes a gyroscope;

[0064] The non-contact detection module includes a radar sensor;

[0065] The contact detection module includes a pull-wire sensor and a silt detection plate connected to the pull-wire sensor;

[0066] The flow velocity measurement unit includes a flow meter;

[0067] The drive module includes a servo motor and a lead screw meshing with it. The servo motor drives the lead screw to move the flow velocity measurement unit.

[0068] The output module includes a display device and / or a voice broadcasting device;

[0069] The communication module includes a wired communication unit and / or a wireless communication unit.

[0070] The wire-type displacement sensor uses RS485 for communication. The sensor connects to a silt detection plate via its wire end. It calculates the silt depth by measuring the change in wire length. The sensor's initial position is acquired upon power-up, and the silt depth is determined by measuring the change in wire length at the start of measurement. This sensor features a simple structure, fast response, and strong anti-interference capability.

[0071] The radar sensor, specifically the millimeter-wave radar water level sensor, communicates via RS485. It measures the total depth from the water surface to the bottom of the device by emitting radar waves and receiving the reflected echoes. During measurement, the radar transmitter must be approximately perpendicular to the water surface. To eliminate the influence of water surface fluctuations, the main controller uses median filtering on the sensor data to ensure stable data acquisition.

[0072] The servo motor communicates via RS485. The servo motor controls the movement of the lead screw, and a flow meter is mounted on one end of the lead screw. The main controller drives the flow meter up and down along the lead screw via a custom RS485 protocol. The controller monitors the servo motor's operating current and status feedback in real time. If a stall or overload is detected, the controller immediately cuts off the servo motor's power and triggers an alarm.

[0073] The current meter uses a propeller-type current sensor to measure the water flow velocity at the current location. After receiving the servo motor's positioning signal, the controller starts flow velocity acquisition, calculates the number of pulses from the current sensor at a set time, and calculates the average flow velocity according to the flow velocity formula after the set time has elapsed.

[0074] The gyroscope is used to detect the tilt angle of the device in real time. Before the measurement process starts, the controller continuously reads the gyroscope data to determine whether the tilt angle exceeds the ±5° threshold. If it does, the measurement function is locked and a voice prompt indicating that the device is tilted is issued through the voice module.

[0075] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent measurement method for canal flow as described in any one of claims 1 to 7.

[0076] Because of the adoption of the above technical solution, the present invention has the following advantages:

[0077] 1. High measurement accuracy. The system employs a dual-sensor fusion scheme that combines radar non-contact measurement of total water depth with mechanical measurement of silt depth using a wire sensor. This effectively eliminates the impact of silt on the water flow cross-section, solving the problem of overestimating flow rate caused by neglecting silt deposition in traditional open channel flow meters, thus significantly improving measurement accuracy.

[0078] 2. High degree of automation. From power-on self-test, verticality judgment and locking, depth dual sensor fusion acquisition, automatic servo motor positioning, automatic flow velocity measurement to automatic flow calculation, the entire process is automated without human intervention, which greatly reduces the difficulty of on-site operation and labor costs.

[0079] 3. High safety. The device monitors the verticality of the equipment in real time using a gyroscope, and actively stops measurement and alarms when the tilt exceeds the threshold, fundamentally avoiding measurement errors caused by equipment tilt; at the same time, the servo motor has a stall and overload protection mechanism to ensure safe operation of the equipment.

[0080] 4. Precise positioning: The high-precision magnetic encoder servo motor can accurately control the current meter to reach any specified water depth ratio position, realizing multi-point accurate flow measurement and solving the problems of inaccurate positioning and high energy consumption of traditional mobile flow measurement equipment.

[0081] 5. Integrated and portable design. This device integrates functions such as silt measurement, water depth measurement, flow velocity measurement, verticality detection, voice prompts, and Bluetooth communication into a single unit. It can be inserted vertically into the irrigation canal for immediate use, making it highly portable and particularly suitable for rapid on-site measurements in farmland irrigation canals.

[0082] 6. High level of intelligence: It supports two-way interaction between Bluetooth and mobile APP, voice prompts, fault self-diagnosis, remote firmware upgrade and other functions, providing a user-friendly experience and convenient operation and maintenance.

[0083] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0084] The accompanying drawings of this invention are described below:

[0085] Figure 1 This is a schematic diagram of the system architecture of the intelligent water canal flow measurement device in the embodiment;

[0086] Figure 2 This is a flowchart illustrating the intelligent flow measurement method for water channels in this embodiment.

[0087] Figure 3 This is a schematic diagram of the flow velocity measurement process in the intelligent flow measurement method for water channels in the embodiment. Detailed Implementation

[0088] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0089] Example:

[0090] like Figure 1 As shown, a water channel flow measurement device includes:

[0091] The attitude detection module acquires the device's attitude data;

[0092] A non-contact detection module acquires the total depth data of the water channel;

[0093] A contact-type detection module is used to acquire data on the depth of silt in the canal.

[0094] The flow velocity measurement unit acquires flow velocity data at its location;

[0095] The drive module drives the flow velocity measurement unit to move within the canal to the target flow measurement depth;

[0096] The control and processing module is electrically connected to the attitude detection module, non-contact detection module, contact detection module, flow velocity measurement unit, and drive module; it parses and processes the data from the attitude detection module, non-contact detection module, contact detection module, flow velocity measurement unit, and drive module; it determines whether the canal flow measurement meets preset conditions (such as verticality, whether various sensor indicators are normal, etc.), and controls the measurement process in response to meeting the preset conditions to determine the silt depth data and canal flow data;

[0097] The output module is electrically connected to the control processing module and outputs the information from the control processing module.

[0098] The communication module is electrically connected to the control processing module, enabling data interaction between the control processing module and external devices.

[0099] The control processing module uses an STM32F103RET6 microcontroller as the system core and runs the RL-RTX real-time operating system. This module is responsible for task scheduling, data processing, logic judgment, and communication management throughout the system. The system is divided into multiple parallel tasks, including: system management (responsible for status light control and heartbeat data reporting), Bluetooth communication (responsible for bidirectional data interaction with the handheld device), RS485 sensor task (responsible for sensor self-testing and data acquisition control), flow rate acquisition task (responsible for flow meter sensor data processing), and angle detection task (responsible for gyroscope data processing). This multi-task architecture ensures the real-time response and stable operation of each functional module.

[0100] The control processing module includes a power module, which uses internal power supply (battery pack) and / or external power supply (external power cord). The power module manages the power supply.

[0101] The communication module uses a BLE low-power Bluetooth module, supporting bidirectional data communication with handheld devices (mobile apps) at a distance of ≥10 meters. It employs a custom communication protocol: frame header + data length + command type + data content + CRC8 checksum, ensuring reliable data transmission. The communication module can also implement firmware upgrade packages, enabling online firmware upgrades and updating device functionality without requiring factory return. Through the communication module, the device can interact bidirectionally with external devices (such as mobile phones or tablets), for tasks such as sending measurement plans and changing parameter settings.

[0102] The output module can use a language module to broadcast the device's working status information, covering scenarios such as power-on self-test results, level abnormality alarm, measurement start prompt, depth calculation completion, servo motor movement, measurement completion, and fault alarm. It can also output corresponding information through visuals, vibration, light, and other means.

[0103] The attitude detection module includes a gyroscope;

[0104] The non-contact detection module includes a radar sensor;

[0105] The contact detection module includes a pull-wire sensor and a silt detection plate connected to the pull-wire sensor;

[0106] The flow velocity measurement unit includes a flow meter;

[0107] The drive module includes a servo motor and a lead screw meshing with it. The servo motor drives the lead screw to move the flow velocity measurement unit.

[0108] The output module includes a display device and / or a voice broadcasting device;

[0109] The communication module includes a wired communication unit and / or a wireless communication unit.

[0110] The wire-type displacement sensor uses RS485 for communication. The sensor connects to a silt detection plate via its wire end. It calculates the silt depth by measuring the change in wire length. The sensor's initial position is acquired upon power-up, and the silt depth is determined by measuring the change in wire length at the start of measurement. This sensor features a simple structure, fast response, and strong anti-interference capability.

[0111] The radar sensor, specifically the millimeter-wave radar water level sensor, communicates via RS485. It measures the total depth from the water surface to the bottom of the device by emitting radar waves and receiving the reflected echoes. During measurement, the radar transmitter must be approximately perpendicular to the water surface. To eliminate the influence of water surface fluctuations, the main controller uses median filtering on the sensor data to ensure stable data acquisition.

[0112] The servo motor communicates via RS485. The servo motor controls the movement of the lead screw, and a flow meter is mounted on one end of the lead screw. The main controller drives the flow meter up and down along the lead screw via a custom RS485 protocol. The controller monitors the servo motor's operating current and status feedback in real time. If a stall or overload is detected, the controller immediately cuts off the servo motor's power and triggers an alarm.

[0113] The current meter uses a propeller-type current sensor to measure the water flow velocity at the current location. After receiving the servo motor's positioning signal, the controller starts flow velocity acquisition, calculates the number of pulses from the current sensor at a set time, and calculates the average flow velocity according to the flow velocity formula after the set time has elapsed.

[0114] The gyroscope is used to detect the tilt angle of the device in real time. Before the measurement process starts, the controller continuously reads the gyroscope data to determine whether the tilt angle exceeds the ±5° threshold. If it does, the measurement function is locked and a voice prompt indicating that the device is tilted is issued through the voice module.

[0115] A smart method for measuring water canal flow, the measurement process is as follows: Figure 2 As shown, it includes the following steps:

[0116] Step S1: Device Power-On Self-Test. After the device is powered on, the main controller automatically executes the hardware self-test process, including: checking whether the communication of each sensor (radar, cable, current meter, gyroscope, servo motor) is normal and calibrating the gyroscope zero bias. The self-test results are broadcast through the voice module and simultaneously reported to the mobile APP via Bluetooth.

[0117] Step S2: Servo Zeroing. In automatic mode, press and hold the zeroing button on the device to control the servo to drive the flow meter to the zero position. Zeroing is divided into manual and automatic modes. In manual mode, the flow meter needs to be manually moved to the bottom of the lead screw before executing the zeroing process. The control board controls the servo to run to the zero position. In automatic mode, the position of the flow meter does not need to be considered. The servo movement determines whether it has reached the zero point by stalling.

[0118] Step S3: Verticality Detection and Locking. The controller collects the device's attitude data in real time via the gyroscope module and calculates the current tilt angle. If the tilt angle is within ±5°, it is considered vertical, and the measurement process is allowed. If it exceeds ±5°, it is considered an abnormal tilt, the measurement function is disabled, the device tilt is announced via voice module, and an alarm message is sent to the mobile APP via Bluetooth, prompting the operator to reinsert the device vertically. This step is executed before each measurement to ensure that each measurement is performed with the device in a vertical position. This step is also executed during flow rate measurement; if the device remains tilted for an extended period, the measurement result is deemed invalid.

[0119] Step S4: Depth Acquisition and Data Fusion. After receiving the "Start Measurement" command from the mobile app, the controller sequentially initiates the depth acquisition process:

[0120] a. Control the wire sensor to measure and obtain the silt depth H_silt;

[0121] b. Control the radar sensor to perform multiple samplings, and take the median average as the total depth H_total;

[0122] c. Calculate the actual water depth: H_water = H_total - H_silt.

[0123] If the calculated actual water depth is negative (i.e., H_silt > H_total, indicating that the silt height exceeds the water surface), it is determined that the measurement environment is abnormal, the measurement process is stopped, and a voice prompt "Data acquisition failed" is given, while a fault code is reported to the APP. Depth data (H_total, H_silt, H_water) are uploaded to the mobile APP in real time.

[0124] If the calculated actual water depth is negative, the measurement is deemed invalid, a voice prompt will say "Check water depth", and the result will be reported to the app.

[0125] Step S5: Flow Measurement Point Setting. The mobile app sends flow measurement point setting parameters to the device based on the user's selected measurement mode (automatic or manual). In automatic mode, the system defaults to setting three flow measurement points: 0.2 times the water depth, 0.6 times the water depth, and 0.8 times the water depth (this ratio refers to the vertical measurement point distribution method in the "Water Measurement Specification for Irrigation Canal Systems"). In manual mode, the user can customize the flow measurement point locations. After receiving the flow measurement point parameters, the controller calculates the target depth value corresponding to each flow measurement point.

[0126] Step S6: Precise servo positioning. Based on the first target depth value, the controller sends a drive signal to the servo, driving the current meter to move downwards along the guide rail. Simultaneously, the controller continuously reads the servo's current actual position. When the difference between the actual position and the target depth is less than the preset error tolerance, the controller determines that the servo is in position, stops the servo drive, and sends a position confirmation signal. During servo movement, the controller monitors the servo's operating current in real time. If the current exceeds a preset threshold (indicating potential stall or overload), the controller immediately cuts off the servo power, announces "servo malfunction" via the voice module, and reports the fault information to the APP.

[0127] Step S7: Flow velocity measurement. After confirming the flow meter is in position, the controller activates the flow meter sensor to collect data. The flow velocity measurement flowchart is as follows: Figure 3 As shown. Within a preset sampling time period, the controller continuously collects the number of pulses returned by the flow meter. After the set sampling time is reached, the average flow velocity is calculated using the flow velocity calculation formula, and the flow velocity data is uploaded to the mobile APP in real time. The flow meter uses the following formula for calculation:

[0128] V = a + (b * AX / T)

[0129] V: Average flow velocity over time T, in m / s.

[0130] a: The constant of the flow meter, in m / s, is given by the calibration certificate.

[0131] b: The hydraulic pitch of the flow meter, in meters, is given by the calibration certificate.

[0132] A: The ratio of the number of revolutions of the flow meter to the number of signals. The propeller generates 4 signals per revolution, so A=0.25.

[0133] X: The cumulative number of pulse signals within the time period T during the flow measurement.

[0134] T: Duration time, in seconds (s).

[0135] Step S8: Multi-point measurement and flow calculation. If multiple flow measurement points exist, repeat steps S6 and S7 to sequentially collect flow velocity data at all measurement points. After all measurement points are completed, the controller uploads the measured water depth, channel cross-sectional parameters, and average flow velocity data for each measurement point to the mobile app. The flow rate is then calculated using the velocity-area method. The flow calculation formula is as follows:

[0136] Q = A * V_avg

[0137] Where Q is the flow rate, A is the effective cross-sectional area after deducting the silt area, and V_avg is the average cross-sectional velocity calculated based on the weighted average flow velocity at each measuring point.

[0138] Step S9: Measurement Completed and Standby. After the measurement is completed, the mobile APP saves the measurement data (including timestamp, water depth, silt depth, flow velocity at each measuring point, flow rate, etc.), drives the servo motor to zero, and waits for the next measurement command.

[0139] If any sensor data anomalies occur during the entire measurement process, such as no data or data exceeding the range of the radar or wire sensor, the measurement will stop, and a voice or APP prompt will indicate "Acquisition failed". At the same time, the system will record the relevant information and generate the corresponding fault code for the measurement personnel to view.

[0140] If an abnormal power status is detected during the measurement process, such as the battery voltage being lower than the preset threshold, a low battery warning will be given via voice and reported in the APP.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for intelligent measurement of water channel flow, characterized in that, include: Acquire the attitude data of the measuring unit of the measuring device, and determine whether the attitude data meets the preset vertical condition; In response to the attitude data satisfying the preset vertical condition, the total depth data and silt depth data of the water channel are obtained; Based on the total depth data and the silt depth data, the effective water depth is determined; Based on the effective water depth, several target flow measurement depths are determined. In response to the attitude data satisfying the preset vertical condition, the flow velocity measurement unit is controlled to move to each of the target flow measurement depths to collect flow velocity. The canal flow rate is calculated based on the effective water depth, canal cross-sectional parameters, and flow velocity at each target flow measurement depth.

2. The intelligent water channel flow measurement method according to claim 1, characterized in that, The attitude data includes the tilt angle of the measuring unit of the measuring device; The preset vertical condition is that the tilt angle is within a preset angle range.

3. The intelligent water channel flow measurement method according to claim 2, characterized in that, The tilt angle is acquired using a gyroscope; The preset angle range is ±5°; Before the measurement process starts and during the flow rate acquisition process, the step of determining whether the attitude data meets the preset vertical condition is continuously executed; If the tilt angle exceeds the preset angle range, the current measurement process will be disabled and an alarm will be triggered.

4. The intelligent water channel flow measurement method according to claim 1, characterized in that, The acquisition of the total depth data and silt depth data of the canal includes: The total depth data is obtained through a non-contact or contact detection unit; The silt depth data is obtained through a contact-type detection unit.

5. The intelligent water channel flow measurement method according to claim 4, characterized in that, The non-contact detection unit is a radar sensor, and the contact detection unit includes a pull-wire sensor and a silt detection plate connected to the pull-wire sensor. If the radar and / or the pull-wire sensor measurement data is abnormal, the measurement will stop and an alarm will be triggered. The determination of the effective water depth based on the total depth data and the silt depth data includes: The effective water depth is obtained by calculating the difference between the total depth data and the silt depth data; If the obtained effective water depth is negative, the current measurement is deemed invalid and an alarm is triggered.

6. The intelligent water channel flow measurement method according to claim 1, characterized in that, The process of determining several target flow measurement depths based on the effective water depth, and controlling the flow velocity measurement unit to move to each of the target flow measurement depths to collect flow velocity in response to the attitude data satisfying the preset vertical condition, includes: Receive the proportional parameters of the flow measurement points sent from the outside; The target flow measurement depth is calculated based on the effective water depth and the ratio parameter of the flow measurement point. The control drive unit drives the flow velocity measurement unit to move to each of the target flow measurement depths and collects the flow velocity corresponding to the target flow measurement depth.

7. The intelligent water channel flow measurement method according to claim 6, characterized in that, The drive unit includes a servo motor and a lead screw, and the servo motor drives the lead screw to move the flow velocity measuring unit. During the process of the control drive unit driving the flow rate measurement unit to move, the operating current of the servo motor is monitored in real time; If the operating current exceeds the preset current threshold, the power supply to the servo motor will be cut off and a fault alarm will be triggered.

8. A water channel flow measurement device, characterized in that, include: The attitude detection module acquires the device's attitude data; A non-contact detection module acquires the total depth data of the water channel; A contact-type detection module is used to acquire data on the depth of silt in the canal. The flow velocity measurement unit acquires flow velocity data at its location; The drive module drives the flow velocity measurement unit to move within the canal to the target flow measurement depth; The control and processing module is electrically connected to the attitude detection module, non-contact detection module, contact detection module, flow velocity measurement unit, and drive module; it parses and processes data from the attitude detection module, non-contact detection module, contact detection module, flow velocity measurement unit, and drive module; the control and processing module is configured to: receive real-time data from each detection module; determine whether the attitude data and sensor status meet the measurement allowable conditions based on a preset threshold; if so, generate a drive command to control the drive module to move the flow velocity measurement unit, and call the flow calculation algorithm to output silt depth data and canal flow data; The output module is electrically connected to the control processing module and outputs the information from the control processing module. The communication module is electrically connected to the control processing module, enabling data interaction between the control processing module and external devices.

9. The canal flow measurement device according to claim 8, characterized in that, The attitude detection module includes a gyroscope; The non-contact detection module includes a radar sensor; The contact detection module includes a pull-wire sensor and a silt detection plate connected to the pull-wire sensor; The flow velocity measurement unit includes a flow meter; The drive module includes a servo motor and a lead screw meshing with it. The servo motor drives the lead screw to move the flow velocity measurement unit. The output module includes a display device and / or a voice broadcasting device; The communication module includes a wired communication unit and / or a wireless communication unit.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the intelligent water channel flow measurement method as described in any one of claims 1 to 7.

Images