CN112284492B - Ultrasonic water level detection method and device for aquaculture with fault self-diagnosis - Google Patents

Abstract

The invention discloses an ultrasonic water level detection method and device with fault self-diagnosis function for aquaculture, which belongs to the field of aquaculture and detection, wherein an ultrasonic probe sends a ranging sound wave to calculate the water level depth h, a steering engine rotates clockwise by a fixed angle of 90 degrees to enable a metal detection plate to rotate to the position below the ultrasonic probe and shield the measurement path of the ultrasonic probe, the ultrasonic probe is controlled to send a measurement signal to measure the measurement distance d from the ultrasonic probe to the metal detection plate, the measurement distance d is compared with the actual vertical distance L between the ultrasonic probe and the metal detection plate to judge whether the difference is in a set error range, if the difference exceeds the error range, ranging is failed, and if the difference does not exceed the error range, the water level depth h is accurate water level data.

Description

Ultrasonic water level detection method and device for aquaculture with fault self-diagnosis

technical field

The invention relates to the field of aquaculture and detection, in particular to a device and a method for detecting the water level of an aquaculture pond by using ultrasonic technology.

Background technique

In the process of aquaculture, real-time monitoring of the water level of the aquaculture pond is very important. The water level of the aquaculture pond affects the temperature of each area at the bottom of the water. In an automated aquaculture environment, the failure of the water level detection will lead to unreasonable water levels and reduce the output of various aquatic products. In a more serious situation, once the water level detection equipment fails, the measured water level is completely wrong and the entire system goes wrong. If the water level control is too low, the pool will be emptied, resulting in the death of a large area of aquatic products, resulting in irreparable losses.

The existing aquaculture water level detection generally adopts the floating ball detection method. For example, the water level device disclosed in the Chinese patent No. 201720681384.7 is to judge the water level by detecting the position of the floating ball and the iron block through the sensor. The device disclosed in the Chinese patent No. 201810615020.8 is to control the water level through a floating ball and a supporting mechanical structure. The floating ball water level detection device does not have the function of automatic fault detection. The long-term operation of the device in the outdoor environment cannot avoid equipment aging and damage. Failure will cause the water level of the aquaculture pond to be out of control.

Compared with the traditional floating ball detection method, ultrasonic water level detection has the advantages of no direct contact, reduced equipment loss, and strong anti-interference ability. Ultrasonic water level not only measures accurately, but also continuously measures and records the water level in detail, which greatly improves the scientificity of monitoring. In aquatic product breeding bases, most of the ultrasonic devices are installed in harsh outdoor environments. After long-term sun exposure, wind and rain, it is very likely to cause interference or even damage to the internal circuit. The existing ultrasonic devices only have the function of alarming the abnormality of the operating circuit, but cannot judge whether the distance measuring function is normal. In the automated aquaculture system, there is no human intervention in the entire water level control system. Once the ultrasonic equipment crashes or the detection probe fails, the detected water level will remain unchanged, and the system will continue to operate as usual if it cannot identify the fault. If the measured water level is much higher than the actual water level, the automatic breeding system will continuously release water. When the water level in the breeding pond is empty, the aquatic products will die due to lack of water. If the measured water level is far lower than the actual water level, the automatic breeding system will continuously add water to the breeding pond. If the water level is too high, it will overflow the breeding pond, and a large amount of aquatic products will be lost. Therefore, it is extremely important to design an ultrasonic water level detection device with fault self-detection to prevent the water level of the automatic breeding system from being out of control.

Contents of the invention

Under the background that the existing technology cannot automatically detect water level measurement faults, the present invention provides an ultrasonic water level detection method and device with automatic fault detection function, which realizes fault self-detection without changing the structure of the existing distance measuring device function to ensure the accuracy of each distance measurement.

In order to achieve the above object, the technical scheme adopted by the ultrasonic water level detection device for aquaculture with fault self-diagnosis of the present invention is: the lower end of the vertical rod is fixed on the bank of the aquaculture pond, and the upper end of the vertical rod is fixedly connected to one end of a horizontal hollow rod , the other end of the horizontal hollow rod extends above the aquaculture pond, the other end of the horizontal hollow rod is provided with an ultrasonic probe and a controller, the middle position of the horizontal hollow rod is fixedly connected to the upper end of the vertical fixed rod, and a Horizontal support plate, the upper surface of the horizontal support plate is equipped with steering gear, the output shaft of the steering gear is coaxially connected to the rudder disc below, and the rudder disc is fixedly connected to the metal detection plate below; The board is connected to the steering wheel, and the ultrasonic probe is above the metal detection board; the controller is respectively connected to the ultrasonic probe and the steering gear through the control line

The technical solution adopted by the detection method of the ultrasonic water level detection device for aquaculture with fault self-diagnosis includes the following steps:

Step A: The controller controls the ultrasonic probe to send the ranging sound wave. The current time is t1. The ranging sound wave hits the water surface of the aquaculture pond and bounces back to be received by the ultrasonic probe. The current time is t2. Calculate the water level depth h=H-v(t2-t1 )/2, H is the distance between the ultrasonic probe and the bottom of the aquaculture pond, and v is the ultrasonic propagation speed;

Step B: The controller controls the steering gear to rotate clockwise at a fixed angle of 90 degrees, so that the metal detection plate rotates to the bottom of the ultrasonic probe and blocks the measurement path of the ultrasonic probe, controls the ultrasonic probe to send measurement signals, and measures the measurement from the ultrasonic probe to the metal detection plate Distance d; the controller controls the steering gear to rotate 90 degrees counterclockwise to drive the metal detection plate back to its original position;

Step C: The controller compares the measured distance d with the actual vertical distance L between the ultrasonic probe and the metal detection plate, and judges whether the comparison difference is within the set error range. If it exceeds the error range, the distance measurement fails. If If it does not exceed the error range, the water level depth h is accurate water level data.

Compared with the prior art, the present invention has the following advantages:

1. The detection device of the present invention realizes the fault self-diagnosis function of ultrasonic water level detection, and avoids the phenomenon that the detection device crashes and the liquid level detection value remains unchanged, thereby causing a large number of aquatic products to die.

2. In the present invention, after the water level detection is completed each time, the controller drives the steering gear, and the metal detection plate is driven by the steering gear to rotate under the ultrasonic probe, and a fixed distance detection is performed to determine whether the detection device is faulty, so as to realize whether the detection device is faulty. The diagnostic function ensures the accuracy of each distance measurement and effectively compensates for the low efficiency and poor real-time performance of manual periodic detection.

3. Since the detection device of the present invention does not make any modification to the original ultrasonic probe, it is suitable for ultrasonic equipment of various precision and shape, and the detachable structure of the protective shell is easy to overhaul and replace different equipment.

4. The controller in the detection device of the present invention is connected with the host computer through the wireless communication module, so that remote monitoring and control can be realized.

3. Considering the service life and failure probability, the detection device of the present invention is equipped with a metal steering gear protective shell and a metal controller protective shell to prevent external damage and interference to the equipment.

Description of drawings

Fig. 1 is the structural representation of the ultrasonic water level detection device for aquaculture with fault self-diagnosis of the present invention;

Fig. 2 is an enlarged view of the assembly structure of the vertical fixing rod 7, the horizontal support plate 5 and the metal steering gear protective case 3 in Fig. 1;

Fig. 3 is the enlarged bottom view of steering gear 4 in Fig. 1;

Fig. 4 is an enlarged top view of the steering wheel 2 in Fig. 1;

Fig. 5 is an enlarged top view of the metal detection board 1 in Fig. 1;

Fig. 6 is a flowchart of a detection method of the ultrasonic water level detection device shown in Fig. 1 .

In the figure: 1. Metal detection plate; 2. Rudder plate; 3. Metal steering gear protective shell; 4. Steering gear; 5. Horizontal support plate; Control line; 9. Metal controller protective case; 10. Controller; 11. Ultrasonic probe; 12. Horizontal hollow rod; 13. Vertical rod; 14. Shore; 15. Aquaculture pond;

101. Center screw hole; 102. Fixing screw hole; 201. Center through hole; 202. Fixing screw hole; 206. Female tooth; 301. Fixing screw; 401, 402. Fixing screw hole; 403. Fixing screw hole; 404. Steering gear output shaft; 405. male tooth; 501. fixing screw.

Detailed ways

Referring to Fig. 1-2, the ultrasonic water level detection device for aquaculture with fault self-diagnosis of the present invention is installed on the bank 14 of the aquaculture pond 15, and a vertical rod 13 is installed on the bank 14, and the lower end of the vertical rod 13 is fixed on the bank 14. The upper end of the vertical rod 13 is fixedly connected to one end of a horizontal hollow rod 12 by welding, and the other end of the horizontal hollow rod 12 extends above the aquaculture pond 15 . The horizontal hollow rod 12 maintains a horizontal position to ensure that the ultrasonic probe 11 is in a vertical position. The other end of the horizontal hollow rod 12 is provided with an ultrasonic probe 11 and a controller 10, the controller 10 is installed inside the metal controller protective case 9, and the other end of the horizontal hollow rod 12 is fixedly connected to the metal controller protective case 9 by welding, The metal controller protective case 9 protects the controller 10 . The ultrasonic probe 11 is installed below the controller 10, and the control line of the controller 10 is connected to the ultrasonic probe 11. The ultrasonic probe 11 stretches out from the outside of the metal controller protective case 9, so that the metallic controller protective case 9 and the ultrasonic probe 11 are integrated. Keep the metal controller protective shell 9 in the upper and lower horizontal positions, ensure that the ultrasonic probe head 11 is in a vertical state, and ensure accurate water level measurement. The upper end of the vertical fixed rod 7 is fixedly connected to the middle position of the horizontal hollow rod 12. The lower end of the vertical fixed rod 7 is fixed with a horizontal support plate 5 by a set screw 501. The vertical fixed rod 7 and the horizontal support plate 5 are below the horizontal hollow rod 12. , install the L-shaped fixed bracket 6 additionally at the junction of the horizontal support plate 5 and the vertical fixed rod 7 to ensure the firmness of the two.

The steering gear 4 is installed on the upper surface of the horizontal support plate 5. The steering gear 4 is covered with a metal steering gear protective shell 3. The metal steering gear protective shell 3 is fixedly installed on the horizontal support plate 5 by the fixing screws 301 on both sides. The steering gear protective case 3 protects the core component steering gear 4 . Below the horizontal support plate 5 are the steering wheel 2 and the metal detection plate 1. The output shaft of the steering gear 4 is coaxially fixedly connected to the steering wheel 2 below, and the steering wheel 2 is connected to the metal detection plate 1 below, so that the steering gear 4 passes through the rudder. The disc 2 is connected with the metal detection plate 1 and drives the metal detection plate 1 to rotate.

The horizontal support plate 5 is below the ultrasonic probe 1 but cannot block the normal measurement of the ultrasonic probe 11 . However, the metal detection plate 1 should be able to block the normal measurement of the ultrasonic probe 11 after the rotation. The metal detection plate 1 is in a horizontal position after installation, and the horizontal length of the ultrasonic probe 11 is fixed to ensure that its horizontal length is sufficient to block the detection path of the ultrasonic probe 11. .

The vertical length of the vertical fixing rod 7 determines the vertical distance L between the ultrasonic probe 11 and the detection board 1, and the actual vertical distance between the ultrasonic probe 11 and the metal detection board 1 is L, which is fixed.

There is a small circular hole at the connection between the metal controller protective case 9 and the horizontal hollow rod 12, which is connected to the steering gear control line 8 of the controller 10, passing through the horizontal hollow rod 12, the vertical fixed rod 7, and the metal steering gear protective shell 3 It is connected with the steering gear 4 to realize the control of the steering gear 4 by the controller 10 . At the same time, the controller 10 is also connected to the ultrasonic probe 11 via the control line to control the operation of the ultrasonic probe 11. The controller 10 is also connected to the host computer via the wireless communication module to transmit the processing results to the host computer.

As shown in FIG. 3 , the steering gear 4 is fixed on the support plate 5 through the fixing screw holes 401 and 402 on both sides. A circle of male teeth 405 is arranged on the side wall of the output shaft 404 of the steering gear 4, and a fixing screw hole 403 is provided in the middle. As shown in Figure 4, the steering wheel 2 is disc-shaped, and its central through hole 201 is coaxial with the fixing screw hole 403 on the output shaft 404 of the steering gear. The inner wall of the steering wheel 2 is provided with a ring of female teeth 206. When the steering gear 4 is connected to the steering wheel 2 , the male teeth 405 on the output shaft 404 of the steering gear mesh with the female teeth 206 on the steering wheel 2 . Have several fixing screw holes 202 on the disk surface of the steering wheel 2, and connect the metal detection plate 1 below it through the fixing screw holes 202. As shown in Figure 5, the metal detection plate 1 is a rectangular plate, with a central screw hole 101 on the plate surface biased to one end, and the central screw hole 101 is connected to the central through hole 201 of the steering wheel 2 and the output shaft 404 of the steering gear. The fixing screw holes 403 on the top are coaxial, and there are several fixing screw holes 102 around the central screw hole 101. The fixing screw holes 102 correspond to the fixing screw holes 202 on the surface of the steering wheel 2, and are used for metal detection. Both the plate 1 and the steering wheel 2 are fixedly connected. Metal detection plate 1, steering wheel 2, the center of steering gear 4 pass through fixing screw hole 102, central through hole 201 fixing screw hole 403 by a screw successively and are fixedly connected together from bottom to top. When the steering gear 4 is running, the steering gear output shaft 404 rotates, relying on the male teeth 405 to drive the female teeth 206, and the female teeth 206 and the steering wheel 2 rotate simultaneously, so that the steering wheel 2 drives the metal detection plate 1 fixedly connected to it to rotate , so that the metal detection plate 1 changes position, the metal detection plate 1 is connected to the rudder wheel 2 at the plate surface of one end, and the ultrasonic probe 11 above can be blocked at the other end. Since the metal detection plate 1 has a rectangular structure, there are two positions after its rotation, the two positions differ by 90 degrees, and one position is directly below the ultrasonic probe 11 to block the ultrasonic probe 11. The vertical distance L is fixed, so it can be confirmed whether a malfunction occurs by comparing the fixed distance L with the water level distance measured by the ultrasonic probe 11 . Another position of the metal detection plate 1 is that the ultrasonic probe 11 is rotated 90 degrees clockwise again, and this position is kept away from the ultrasonic probe 11, which will not block the normal water level measurement of the ultrasonic probe 11.

Referring to Figures 1-6, when the ultrasonic water level detection device for aquaculture with fault self-diagnosis of the present invention is working, the upper computer sends an ultrasonic detection command, and the command is sent to the controller 10 through the control wireless communication module, and it is judged whether it is a detection If the water level command is a detection command, after the controller 10 receives the ranging command, it controls the ultrasonic probe 11 to perform water level detection; if it is not a detection command, it does not operate and continues to wait.

When the controller 10 detects the water level, it controls the ultrasonic probe 11 to send a measurement signal, that is, sends a distance-measuring sound wave, and records the current time t1 at the same time. Immediately record the current time t2. The depth h of the current water level can be calculated according to the propagation velocity v of the ultrasonic wave. The calculation formula is: h=H-v(t2-t1)/2, where H is the distance between the ultrasonic probe 1 and the bottom of the aquaculture pond 15, before detection Pre-measured, is a fixed distance. After the calculation is completed, the controller 10 saves the measured water level depth h, and completes the normal water level measurement. The data of water level and depth h indicates that the circuit inside the detection device is normal and there is no abnormality, but it cannot judge whether the ranging function is normal, so it is necessary to judge whether the measurement data is accurate.

After the normal water level measurement is completed, the equipment performs fault self-detection. If the fault detection is performed first and then the water level measurement is performed, the device may fail during operation, resulting in misjudgment. First, the controller 10 controls the operation of the steering gear 4, and rotates the fixed angle 90 degrees clockwise, so that the metal detection plate 1 rotates at a fixed angle to the bottom of the ultrasonic probe 11, blocking the measurement path of the ultrasonic probe 11, and ensuring that the ultrasonic probe 11 is measured this time. Distance to metal detection board 1. The controller 10 controls the ultrasonic probe 11 to send a measurement signal once, and the measured distance from the ultrasonic probe 11 to the metal detection plate 1 is d. The controller 10 controls the steering gear to rotate counterclockwise by 90 degrees to drive the metal detection plate 1 back to its original position, so that the metal detection plate 1 no longer blocks the measurement of the water level by the ultrasonic probe 11 for the next normal water level measurement.

The controller 10 compares the measured distance d with the actual vertical distance L between the ultrasonic probe 11 and the metal detection plate 1, and judges whether the difference between the comparison is within the set error range. Once it exceeds the error range, it means that the distance measurement device When a fault occurs, the controller 10 lights the fault lamp and sends fault information through the wireless communication module to give a fault alarm and wait for processing. If it does not exceed the error range, it means that the water level detection is normal. The previously measured water level depth h is accurate data. Upload the water level depth h to the host computer, and the host computer will save it to the database after receiving it and display it in real time for the inspection personnel to observe.

Claims (5)

1. The utility model provides an ultrasonic water level detection method for aquaculture of taking trouble self-diagnosis, the lower extreme of the bank fixed vertical pole (13) in aquaculture pond, the one end of the hollow pole of a level (12) of vertical pole (13) upper end fixed connection, the other end of the hollow pole of level (12) extends in the top in aquaculture pond, characterized by: the ultrasonic probe (11) and the controller (10) are arranged at the other end of the horizontal hollow rod (12), the middle position of the horizontal hollow rod (12) is fixedly connected with the upper end of the vertical fixing rod (7), the lower end of the vertical fixing rod (7) is fixedly provided with a horizontal supporting plate (5), the upper surface of the horizontal supporting plate (5) is provided with a steering engine (4), the output shaft of the steering engine (4) is coaxially connected with the steering wheel disc (2) below, and the steering wheel disc (2) is fixedly connected with the metal detection plate (1) below; the metal detection plate (1) is rectangular plate-shaped, the surface of the plate which is deviated to one end is connected with the rudder disk (2), and the ultrasonic probe (11) is arranged above the metal detection plate (1); controller (10) are connected ultrasonic probe (11) and steering wheel (4) respectively through the control line, characterized by includes following step:

step A: the controller (10) controls the ultrasonic probe (11) to send a measuring signal, the current time is t1, the sent ranging sound wave bounces against the water surface of the aquaculture pond and then is received by the ultrasonic probe (11), the current time is t2, the water level depth H = H-v (t 2-t 1)/2 is calculated, H is the distance from the ultrasonic probe (11) to the bottom of the aquaculture pond, and v is the ultrasonic propagation speed;

and B: the controller (10) controls the steering engine (4) to rotate clockwise for 90 degrees at a fixed angle, so that the metal detection plate (1) rotates to the position below the ultrasonic probe (11) and shields a measurement path of the ultrasonic probe (11), the ultrasonic probe (11) is controlled to send a measurement signal, the measurement distance from the ultrasonic probe (11) to the metal detection plate (1) is measured as d, and then the controller (10) controls the steering engine to rotate counterclockwise for 90 degrees to drive the metal detection plate (1) to return;

and C: the controller (10) compares the measured distance d with the actual vertical distance L between the ultrasonic probe (11) and the metal detection plate (1), judges whether the compared difference is within a set error range, if the difference exceeds the error range, the distance measurement is failed, and if the difference does not exceed the error range, the water level depth h is accurate water level data.

2. The ultrasonic water level detection method for aquaculture with fault self-diagnosis according to claim 1, characterized in that: in the step C, when the distance measurement fails, the controller (10) lights a fault lamp and sends fault information through the wireless communication module.

3. The ultrasonic water level detection method with fault self-diagnosis for aquaculture of claim 1, wherein: the other end of the horizontal hollow rod (12) is fixedly connected with a metal controller protective shell (9), and the controller (10) is arranged inside the metal controller protective shell (9).

4. The ultrasonic water level detection method for aquaculture with fault self-diagnosis according to claim 1, characterized in that: a metal steering engine protective shell (3) is covered outside the steering engine (4), and the metal steering engine protective shell (3) is fixedly arranged on the horizontal supporting plate (5).

5. The ultrasonic water level detection method for aquaculture with fault self-diagnosis according to claim 1, characterized in that: be equipped with round public tooth (405) on the output shaft lateral wall of steering wheel (4), rudder dish (2) are the disc and open the form, are equipped with round female tooth (206) on the inner wall of rudder dish (2), and public tooth (405) and female tooth (206) mesh mutually.

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