Design Of The Automatic Robot For Determining Flow Velocity

Every June to August,floods occur frequently in rivers and lakes nationwide.However,hydro-logical data collection and early warning methods for downstream floods are relatively lacking.At present,the hydro-logical data collection in flood season is mainly by manual measurement and site equipment.In order to reduce the risk of on-site measurement and the integrity of measurement data collection during flood period,unmanned robot for automatic measurement of river flow is an urgent means for hydro-logical departments.At present,relevant research units and company are actively researching the technology of this field.The automatic robot for determining flow velocity is a research direction in this field.Based on the non-contact method of radar current for flow measurement,Integrated of automation,design of an automatic flow measurement system;and it is a complete solution designed to realize the automatic measurement of hydro-logical data in natural river channels of small and medium rivers.The thesis geared toward the problem of robot to measure flow water level measurement error which is caused by the sag of wire rope track.The technology of RTK(Real Time Kinematic)is used to solve it,through the RTK carrier wanted to ask the difference principle,foreign hung on the robot to measure flow of RTK receiver and fixed benchmark stood on the shore of difference carrier phase observation value,realize the water level automatic measurement,correction error of water level;In view of the error of the water level velocity caused by the change of inclination,the inclination Angle is collected by the inclination sensor,and the error of the water level velocity is corrected by the correction algorithm.In order to facilitate subsequent equipment maintenance and optimize software logic,the hardware adopts modular design.Modular logic is provided for software design through hardware modular design,and module troubleshooting can be realized in case of failure,which is convenient for subsequent maintenance.Aiming at the problem that the automatic measuring flow robot could not return to the charging pile due to skidding,the automatic booster device was designed to deal with the faults such as skidding by combining the operation logic and the fault handling mechanism.To optimize the robot to measure flow measuring results,by collecting a habitat a site real data data optimization model is established,and the collected data and the traditional rotor current meter compares the data collected,the correction coefficient for fixed flow deviation rate set,allowing the robot to measure flow can be used to the actual project,It is one of the means to measure the flow of natural river in flood period.