CN109459210A

CN109459210A - A kind of intelligent flow invariance device and method based on inertial navigation

Info

Publication number: CN109459210A
Application number: CN201910005230.XA
Authority: CN
Inventors: 周鑫根
Original assignee: Zhejiang Urban & Rural Planning Design Institute
Current assignee: Zhejiang Urban & Rural Planning Design Institute
Priority date: 2019-01-03
Filing date: 2019-01-03
Publication date: 2019-03-12
Anticipated expiration: 2039-01-03
Also published as: CN109459210B

Abstract

A kind of intelligent flow invariance device and method based on inertial navigation, belongs to field of environment engineering technology.Including shell, setting mutual cooperation connects in shell data acquisition module, data memory module, power plant module.A kind of above-mentioned intelligent flow invariance device and method based on inertial navigation, the flow invariance that can be used in water treatment building, measurement device is launched in water body upstream to be measured, it records every kinematic parameter and stores, after recyclable device, reconstructing flow field is completed by reading data in data memory module, is measured for complex flowfield and analysis provides important technical basis.This equipment dexterity is easy to carry, and can be recycled recycle after use, and cost is relatively low, has good economy and practicability.

Description

A kind of intelligent flow invariance device and method based on inertial navigation

Technical field

The invention belongs to field of environment engineering technology, specially a kind of intelligent flow invariance device based on inertial navigation And method.

Background technique

Water treatment building is many kinds of, and wherein common structures include: coagulating basin, sedimentation basin etc. in water supply process, And common structures include: moving bed biofilm reactor in sewage treatment process, oxidation ditch, Cyclic Activated Sludge System (pond CAST) etc..The factor for influencing structures treatment effect is more complex, including adding of agent, materialization factor, microbiologic properties etc. Multifactor interaction.But for one is to obtain the structures of the fixed volume of optimal running effect, many experiments table Bright, water treatment building moves flow field very sensitive.Flow field condition directly affects the dischargeable capacity of water treatment technology, pollution Object removal effect, operating load etc..Therefore how to measure HYDRODYNAMIC CONDITION RELATING TO in water treatment building, and then it is carried out research and Analysis, final optimization pass flow field, key factor when being the design of water treatment building system and operation.

But the measurement of hydraulics is Research Challenges always in water treatment building.Common hydraulics characterization method is main Be empirical equation fitting, hydrodynamics software simulation and particle image velocimetry method (Particle Image Velocimetry, The technologies such as PIV).Empirical equation fitting is based on structure structure parameter (such as the structure parameters such as length, width and height) and operating parameter (table Face gas velocity, phase density, fluid viscosity etc.) directly calculate Flow Field Distribution and hydraulics.Hydrodynamics software (such as CFD, CFX, Fluent etc.) it simulates by setting reasonable boundary layer and grid dividing, obtaining two dimension or each phase movement velocity of three-dimensional and containing rate, Thus Flow Field Distribution and hydraulics in reactor can be calculated.Hydrodynamics software advantage be simulate when consider geometric configuration, There is promotional value after modeling successfully.But the conclusion of empirical equation fitting and the simulation of hydrodynamics software usually requires to examine with practical Surveying the result side of being mutually authenticated has credibility.

Common practical flow field detection means be particle image velocimetry method (Particle Image Velocimetry, ) and Particle tracking velocity measuring technique (Partical Track Velocimetry, PTV) PIV.PIV/PTV passes through measurement tracer Displacement of the particle in short time interval to measure the instantaneous velocity distribution in flow field indirectly.Measuring entire flow field velocity distribution Meanwhile the kinetic characteristic of different-grain diameter particle in flow field can be distinguished one by one.But PIV/PTV mainly studies the (detection of microcosmic flow field Region is usually less than 50 cm*50 cm), and equipment volume is larger, it is expensive, it usually only uses, is not suitable in the lab Water treatment building flow field measurement in Practical Project.It has not yet to see in cost-effective practical water treatment building and flows Field recognition method.

Summary of the invention

For the above-mentioned problems in the prior art, it is an object of the invention to design to provide one kind based on inertial navigation Intelligent flow invariance device and method technical solution, the flow invariance that can be used in water treatment building, in water to be measured Measurement device is launched in body upstream, records every kinematic parameter and stores, after recyclable device, by reading in data memory module Data complete reconstructing flow field, measure for complex flowfield and analysis provides important technical basis.This equipment dexterity is easy to carry, and It can be recycled and recycle after use, cost is relatively low, has good economy and practicability.

A kind of intelligent flow invariance device based on inertial navigation, it is characterised in that including shell, in shell Data acquisition module, the data memory module, power plant module of the connection that cooperates are set.

A kind of intelligent flow invariance device based on inertial navigation, it is characterised in that the shell is by upper half Ball, lower semisphere sealing cooperation are constituted, and air bag is wrapped up in outer side of shell, and air bag be bonded with shell when unaerated, inflates rear gasbag and expands； Counterweight is set in shell, and housing top end is arranged hydraulic pressure depth transducer and pops one's head in, and shell side is boxed out inflates for air bag.

A kind of intelligent flow invariance device based on inertial navigation, it is characterised in that the data acquisition module Block is made of gyroscope, acceleration transducer, magnetic compass, the mating connection of hydraulic pressure depth transducer.

A kind of intelligent flow invariance device based on inertial navigation, it is characterised in that the data store mould Block includes single-chip microcontroller, storage chip and the serial ports being cooperatively connected, and single-chip microcontroller and data acquisition module, power plant module are cooperatively connected.

A kind of intelligent flow invariance device based on inertial navigation, it is characterised in that the power plant module packet Lithium battery, Voltage stabilizing module, DC electromagnetic valve and the miniature gas cell of mating connection are included, power plant module passes through pressure stabilizing mould using lithium battery It powers after block boosting to data memory module, data acquisition module.

The method of a kind of intelligent flow invariance device based on inertial navigation, it is characterised in that including following step It is rapid:

1) before launching intelligent flow invariance device, the operation starting time of floating is set by data memory module, will be compressed Air is filled with power plant module, and air pressure is 5-10 MPa；

2) it launches measurement device and starts to measure flow field parameter in water；

3) when running between reach setting floating operation starting the time when, turn on the power module, by the compression in power plant module Air imports air bag；

4) device jacking is emerged by buoyancy to recycle after air bag inflation；

5) after device recycling, data is read by data memory module, accurate submarine site information is obtained, passes through the underwater position of device Confidence breath, rebuilds submerged flow field.

The method of a kind of intelligent flow invariance device based on inertial navigation, it is characterised in that including following step In rapid: air pressure is 6-9 Mpa, preferably 7-8 Mpa.

A kind of above-mentioned intelligent flow invariance device and method based on inertial navigation, can be used in water treatment building Flow invariance launches measurement device in water body upstream to be measured, records every kinematic parameter and stores, after recyclable device, passes through It reads data in data memory module and completes reconstructing flow field, measured for complex flowfield and analysis provides important technical basis.This Equipment dexterity is easy to carry, and can be recycled recycle after use, and cost is relatively low, has good economy and practicability.

Detailed description of the invention

Fig. 1 is apparatus structure appearance diagram in the embodiment of the present invention；

Fig. 2 is apparatus structure perspective view in the embodiment of the present invention；

Fig. 3 is flow invariance device schematic diagram of internal structure；

Fig. 4 is flow invariance device floating schematic diagram；

In figure: 1- shell, 11- episphere, 12- lower semisphere, 13- counterweight, 14- hydraulic pressure depth transducer probe, 15- air bag；2- Data acquisition module, 21- gyroscope, 22- acceleration transducer, 23- magnetic compass, 24- hydraulic pressure depth transducer；The storage of 3- data Module, 31- single-chip microcontroller, 32- storage chip, 33- serial ports；4- power plant module, 41- lithium battery, 42- Voltage stabilizing module, 43- direct current Magnet valve, 44- miniature gas cell.

Specific embodiment

Below in conjunction with Figure of description, the invention will be further described.

As shown, being somebody's turn to do the intelligent flow invariance device based on inertial navigation, including shell 1, setting is mutual in shell 1 Data acquisition module 2, data memory module 3, the power plant module 4 of mating connection.

Further, the shell 1 is constituted with episphere 11, the sealing of lower semisphere 12, between episphere 11, lower semisphere 12 Envelope O circle sealing is encrypted by screw thread, guarantees 1 waterproof of shell.Air bag 15 is wrapped up on the outside of shell 1, air bag 15 and shell 1 when unaerated Fitting, inflation rear gasbag 15 expand；Counterweight 13 is set in shell 1, and 1 top of shell is arranged hydraulic pressure depth transducer probe 14, opens Using the sealing of the forms such as flange at hole.1 side of shell is boxed out inflates for air bag 15.

Further, the data acquisition module 2 is by gyroscope 21, acceleration transducer 22, magnetic compass 23, hydraulic pressure depth Sensor 24, which is cooperatively connected, to be constituted, and hydraulic pressure depth transducer 24 and hydraulic pressure depth transducer probe 14 are cooperatively connected.Gyroscope 21 For obtaining rotating angular acceleration, acceleration transducer 22 is for obtaining linear acceleration, and magnetic compass 23 is for obtaining real-time inclination angle With device posture, hydraulic pressure depth transducer 24 is for obtaining the depth of water.Based on what is measured gyroscope 21 and acceleration transducer 22 Angular acceleration and linear acceleration integral, can rapid solving go out device speed during the motion, to rate integrating can get movement Location information in the process.Due to gyroscope 21 and the intrinsic physical characteristic of acceleration transducer 22 cause drift and noise also by Integral, causes error constantly to accumulate increase.Therefore it also needs further to correct gyroscope 21 using additional element and accelerates Spend the information that sensor 22 obtains.Invention obtains real-time inclination angle and device posture, hydraulic pressure depth transducer 24 using magnetic compass 23 The depth of water is obtained, is assisted by magnetic compass 23 and hydraulic pressure depth transducer 24, gyroscope 21 is eliminated and acceleration transducer 22 integrates Error, calibrating position information.

Further, the data memory module 3 includes single-chip microcontroller 31, storage chip 32 and the serial ports 33 being cooperatively connected, Single-chip microcontroller 31 and data acquisition module 2, power plant module 4 are cooperatively connected；Single-chip microcontroller 31 and gyroscope 21, acceleration transducer 22, Magnetic compass 23, hydraulic pressure depth transducer 24 are connected, and the data input storage chip 32 after reading is stored.Single-chip microcontroller 31 is simultaneously Floating interval of floating dock in power plant module 4 is controlled.Data memory module 3 passes through after end of run for saving determination data Serial ports 33 reads data in storage chip 32.

Further, the power plant module 4 includes the lithium battery 41 being cooperatively connected, Voltage stabilizing module 42, DC electromagnetic valve 43 And miniature gas cell 44, power plant module 4 adopt data memory module 3, data after being boosted using lithium battery 41 by Voltage stabilizing module 42 Collect all devices power supplies such as module 2.Lithium battery 41 to single-chip microcontroller 31, storage chip 32, gyroscope 21, acceleration transducer 22, Magnetic compass 23, hydraulic pressure depth transducer 24 and DC electromagnetic valve 43 are powered.Miniature gas cell 44 and air bag 15 pass through DC electromagnetic valve 43 connections.DC electromagnetic valve 43 is direct current supply, using normally closed solenoid valve.Power plant module 4 after reaching default detection time, It provides power for device to float, convenient for the recycling of measurement device.

Using a kind of method of intelligent flow invariance device based on inertial navigation, comprising the following steps:

1) before launching intelligent flow invariance device, the floating operation starting time is set in single-chip microcontroller 31 by serial ports 33, Compressed air is filled with miniature gas cell 44, air pressure is 5-10 Mpa, preferably 6-9 Mpa, more preferable 7-8 Mpa；Then it closes DC electromagnetic valve 43 is closed, compressed air is stored in miniature gas cell 44；It can be using independent high pressure gas cylinder to miniature gas cell 44 inflations；

2) lithium battery 41 is connected, be put into water treatment building to be measured after shell 1 is sealed and records dispensing place position；Flow field Measurement device moves in water treatment building under by flow action；Gyroscope 21, acceleration transducer 22, magnetic compass 23, water Pressure depth transducer 24 records angular acceleration, linear acceleration, real-time inclination angle and the practical depth of water respectively, and is recorded in storage chip 32 In；

3) when running between reach setting floating operation starting the time when, normally closed type DC electromagnetic valve 43 open, be connected to it is miniature Compressed air in miniature gas cell 44 is imported air bag 15 by gas chamber 44 and air bag 15；

4) device jacking is emerged by buoyancy to recycle after 15 inflation of air bag；

5) after device recycling, angular acceleration and linear acceleration are read by serial ports 33, and by real-time inclination angle, device posture and The depth of water eliminates integral error, solves device speed during the motion, can get the position in motion process to rate integrating Information；By device submarine site information, submerged flow field is rebuild.

This equipment volume is small easy to carry, and can be recycled recycle after use, and cost is relatively low, has good economy And practicability.

Claims

1. An intelligent flow field measurement device based on inertial navigation, characterized in that it comprises a casing (1), and a data acquisition module (2), a data storage module (3), a power module that are connected to each other are arranged in the casing (1) (4).

2. The intelligent flow field measurement device based on inertial navigation according to claim 1, characterized in that the casing (1) is composed of an upper hemisphere (11) and a lower hemisphere (12) in a sealed fit, and the casing (1) 1) The airbag (15) is wrapped on the outside, and the airbag (15) is attached to the casing (1) when not inflated, and the airbag (15) expands after inflation; the counterweight (13) is set in the casing (1), and the top of the casing (1) is set A water pressure depth sensor probe (14), a hole is left on one side of the casing (1) for the air bag (15) to inflate.

3. The intelligent flow field measurement device based on inertial navigation according to claim 1, characterized in that the data acquisition module (2) consists of a gyroscope (21), an acceleration sensor (22), a magnetic compass ( 23) The water pressure depth sensor (24) is matched and connected to form.

4 . The intelligent flow field measurement device based on inertial navigation according to claim 1 , wherein the data storage module ( 3 ) comprises a single-chip microcomputer ( 31 ), a memory chip ( 32 ), and a serial port that are connected with each other. 5 . (33), the single-chip microcomputer (31) is cooperatively connected with the data acquisition module (2) and the power module (4).

5. The intelligent flow field measurement device based on inertial navigation according to claim 1, characterized in that the power module (4) comprises a lithium battery (41), a voltage regulator module (42), The DC solenoid valve (43) and the micro air chamber (44), the power module (4) uses the lithium battery (44) to boost the voltage through the voltage stabilization module (42) to supply power to the data storage module (3) and the data acquisition module (2) .

6. the method for the intelligent flow field measuring device based on inertial navigation as claimed in claim 2 is characterized in that comprising the following steps:

1) Before placing the intelligent flow field measuring device, set the start time of the floating operation through the data storage module (3), and charge the compressed air into the power module (4), and the air pressure is 5-10 Mpa;

2) Put in the measuring device and start to measure the parameters of the water flow field;

3) When the running time reaches the set start time of the floating operation, the power module (4) is turned on, and the compressed air in the power module (4) is introduced into the air bag (15);

4) The air bag (15) is inflated and inflated by buoyancy, and the device is lifted out of the water for recovery;

5) After the device is recovered, the data is read through the data storage module (3) to obtain accurate underwater position information, and the underwater flow field is reconstructed through the underwater position information of the device.

7. The method for an intelligent flow field measuring device based on inertial navigation as claimed in claim 6, characterized in that it comprises the following step 1): the air pressure is 6-9 Mpa, preferably 7-8 Mpa.