CN113899426A - Water-sand interface judgment module and estuary coast physical model underwater topography measuring device - Google Patents
Water-sand interface judgment module and estuary coast physical model underwater topography measuring device Download PDFInfo
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- CN113899426A CN113899426A CN202110967703.1A CN202110967703A CN113899426A CN 113899426 A CN113899426 A CN 113899426A CN 202110967703 A CN202110967703 A CN 202110967703A CN 113899426 A CN113899426 A CN 113899426A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B1/00—Equipment or apparatus for, or methods of, general hydraulic engineering, e.g. protection of constructions against ice-strains
- E02B1/02—Hydraulic models
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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Abstract
The application discloses module and estuary coast physical model topography survey device under water are judged to water sand interface, and this module includes: the probe unit comprises a light guide unit and a light receiving unit, and light through holes are formed in the side faces of the opposite sides of the light guide unit and the light receiving unit; the photoelectric receiving and processing unit comprises a light emitting diode, a triode, a voltage comparison module, a digital-to-analog conversion module, a digital display panel and a precise adjustable resistor, wherein the precise adjustable resistor is adjusted to adjust the luminous intensity of the light emitting diode, the light emitting diode transmits light to the light guide unit and then is received by the light receiving unit, the received light is transmitted to the triode through an optical fiber, the digital-to-analog conversion module converts the resistance value change of the triode into a digital quantity, the digital display panel displays a flux value, the voltage comparison module judges the actual flux amount and the flux threshold value, and when the actual flux amount is lower than the flux threshold value, the voltage comparison module outputs a high-level switching value signal.
Description
Technical Field
The application relates to the field of estuary coast physical model topographic surveying, in particular to a water-sand interface judgment module and an estuary coast physical model underwater topographic surveying device.
Background
The sediment research is a key research direction of hydraulic engineering, and the estuary and coast physical model test is an important method for researching the sediment problem. In the test process, a terrain measuring instrument is needed to accurately monitor the change trend and the change amplitude of the sediment terrain. The measurement is divided into two methods, namely manual measurement and automatic measurement.
The manual method is used for measurement, the hand-held interface instrument is matched with the level instrument to observe data, the hand-held interface instrument adopts a photoelectric sensor to judge a sediment interface, at least three persons are matched during measurement, one worker holds the interface instrument, the other worker observes the reading of a measuring rod of the interface instrument through the level instrument, and the other worker is also required to record data; the disadvantages of manual measurement are summarized as follows: the measurement precision is low, and the actual precision is more than 2 mm; the measurement efficiency is low, and the data real-time performance is not good; the probe has a large body size and great damage to the terrain.
Automatic measurement mainly adopts ultrasonic wave ground as the sensor, and silt topography must all be under water and submerge the degree of depth and exceed 10cm, and the actual measurement error is more than 2mm, can not measure silt muddy water model topography and topography on water.
Disclosure of Invention
In view of the above, an object of the embodiments of the present application is to provide a water-sand interface determining module and an underwater topography measuring device for a estuary coast physical model, so as to solve the above problems.
The invention aims to overcome the defects of the model terrain measurement and provides the three-dimensional terrain measuring device which is high in measuring precision and efficiency, convenient to use and light, and a single probe can simultaneously measure underwater muddy water terrain, water terrain and hard ground terrain.
According to a first aspect of embodiments of the present application, there is provided a water-sand interface determination module, including:
the probe unit comprises a light guide unit and a light receiving unit, and light through holes are formed in the side faces of the opposite sides of the light guide unit and the light receiving unit;
the photoelectric receiving and processing unit comprises a light emitting diode, a triode, a voltage comparison module, a digital-to-analog conversion module, a digital display panel and a precise adjustable resistor, the light emitting intensity of the light emitting diode is adjusted by adjusting the precise adjustable resistor, the light emitted by the light emitting diode is transmitted to the light guide unit through the light through hole and then through the optical fiber, then the light is received by the light receiving unit, the light received by the light receiving unit is transmitted to the triode through the light through hole and then is transmitted to the triode through the optical fiber, the resistance value change of the triode is converted into digital quantity by the digital-to-analog conversion module, then the digital display panel displays the actual flux value, the voltage comparison module outputs an on-light quantity signal by judging the actual flux and a flux threshold value, when the actual light flux is lower than the light flux threshold, the voltage comparison module is triggered and outputs a high-level switching value signal.
Furthermore, the digital display panel has two groups of numerical values, one group is the actual light flux amount, and the other group is the light flux amount threshold.
According to a second aspect of embodiments of the present application, there is provided an underwater topography measuring device for a physical model of a estuary coast, comprising:
a three-axis mobile platform;
the water-sand interface judgment module of claim 1, mounted on the Z-axis of the three-axis mobile platform;
the servo controller is electrically connected with the three-axis mobile platform and controls the movement of the three-axis mobile platform; the PLC is electrically connected with the servo controller;
and the touch screen is connected with the PLC.
Further, the three-axis mobile platform comprises:
a pair of X-axis linear sliding track modules which are arranged in parallel and can slide along the X axis;
the Y-axis linear sliding track module is arranged on the X-axis linear sliding track module;
and the Z-axis linear sliding track module is arranged on the Y-axis linear sliding track module.
The water-sand interface judging module is arranged on the Z-axis linear sliding track module.
Furthermore, the probe unit is fixed on the Z-axis linear sliding track module through a probe fixing device.
Furthermore, probe fixing device is a pipe cylinder, and there are two round holes cylinder below for fixed probe unit, cylinder top be the screw hole of an interior tapping, be used for carrying out fixed connection with Z axle straight line slip track module.
Further, the X-axis linear sliding rail module includes:
a first linear guide rail assembly;
and the first servo motor drives the first linear guide rail assembly.
Further, the Y-axis linear sliding rail module includes:
a second linear guide assembly;
and the second servo motor drives the second linear guide rail assembly.
Further, the Z-axis linear sliding track module comprises:
a third linear guide assembly;
and the third servo motor drives the third linear guide rail assembly.
Furthermore, the first, second and third servo motors are high-precision servo motors adopting absolute value encoders.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the embodiment, the photoelectric type judging mode with the adjustable threshold and the real-time display light transmission amount is adopted, the problems that the water-sand interface of the traditional photoelectric probe is not clearly judged and is troublesome to adjust are solved, the purpose of accurately judging the water-sand interface is achieved, and the photoelectric type judging device is convenient to use. The method for carrying the three-axis mobile platform to carry out underwater topography overcomes the problems of inaccurate positioning and poor repeatability precision in the prior art, and enables the topography measurement to be more accurate.
The water and sand interface judgment module can judge the water and sand interface, the three-axis mobile platform can provide space movement, the servo controller, the PLC and the touch screen are matched to realize space movement and accurate positioning, when the water and sand interface judgment module judges the water and sand interface of a certain measuring point, a light opening state is immediately returned to the PLC, the PLC records current position information, and the position information comprises elevation information of the water and sand interface of the measuring point and two-dimensional position information of the measuring point, so that sediment terrain data of the measuring point can be accurately obtained.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic view of a probe unit shown in accordance with an exemplary embodiment.
Fig. 2 is a circuit diagram illustrating a photo-reception processing unit according to an exemplary embodiment.
Fig. 3 is a schematic view illustrating an overall structure of an underwater topography measuring apparatus for a physical model of a estuary coast according to an exemplary embodiment.
Fig. 4 is a partially enlarged view of a portion a in fig. 3.
The reference numerals in the figures are:
100. a water-sand interface judgment module; 10. a probe unit; 11. a light guide unit; 12. a light receiving unit; 20. a photoelectric receiving processing unit; 21. a light emitting diode; 22. a triode; 23. a voltage comparison module; 24. a digital-to-analog conversion module; 25. a digital display panel; 26. a precise adjustable resistor;
200. a three-axis mobile platform; 210. an X-axis linear sliding track module; 211. a first linear guide rail assembly; 220. a Y-axis linear sliding track module; 221. a second linear guide assembly; 222. a second servo motor; 230. a Z-axis linear sliding track module; 231. a third linear guide assembly; 232. a third servo motor;
300. a touch screen; 400. moving the handle; 500. a control box; 600. a wire dragging groove; 700. and (4) a bracket.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Referring to fig. 1-2, the present embodiment provides a water-sand interface determining module 100, which may include: the probe unit 10 comprises a light guide unit 11 and a light receiving unit 12, and the side surfaces of the light guide unit 11 opposite to the light receiving unit 12 are provided with light through holes 13; the photoelectric receiving processing unit 20 comprises a light emitting diode 21, a triode 22, a voltage comparison module 23, a digital-to-analog conversion module 24, a digital display panel 25 and a precision adjustable resistor 26, the light emitting intensity of the light emitting diode 21 is adjusted by adjusting the precision adjustable resistor 26, light emitted by the light emitting diode 21 is transmitted to the light guide unit 11 through an optical fiber after passing through a light through hole 13 and then received by the light receiving unit 12, light received by the light receiving unit 12 is transmitted to the triode 22 through the optical fiber after passing through the light through hole 13, the digital-to-analog conversion module 24 converts the resistance change of the triode 22 into a digital quantity and then displays the actual pass quantity value through the digital display panel 25, the voltage comparison module 23 outputs an on-light quantity signal by judging the actual pass quantity and the pass quantity threshold value, when the actual pass quantity is lower than the pass quantity threshold value, the voltage comparison module 23 is triggered and outputs a high level switching value signal.
From the above embodiments, the water-sand interface determination module of the present application can display the value of the actual light flux in real time and set the light flux threshold, and determine the water-sand interface by comparing with the light flux threshold, taking the high-concentration wood-flour sand water body as an example, the water-sand interface determination module has the full light flux in the air or in the clear water (1000 as an example), the light flux of the high-concentration wood-flour sand water body is 50 to 900, and the light flux of the wood-flour sand terrain is 10 or less, in the practical use, the threshold is generally set to be 10 to 50, and is assumed to be 30, when the water-sand interface determination module is inserted into the high-concentration wood-flour sand water body, the actual light flux is greater than the set light flux threshold, and the switching value signal is not triggered, when the actual light flux instantaneously drops to 10 or less than the light flux threshold at the moment of touching the wood-flour sand terrain, the water-sand interface determination module instantaneously sends the switching value signal, indicating that the water-sand interface has been touched. The real-time display of the value of the actual light flux and the setting of the threshold value of the light flux have the advantages that the water-sand interfaces of different model sands can be accurately judged by setting different threshold values of the light flux aiming at different model sands.
As shown in fig. 2, which is a circuit diagram of the photo-reception processing unit 20, in the diagram, a first coil end of the precision adjustable resistor 26, an emitter of the triode 22, a VCC end of the digital-to-analog conversion module 24, and a VCC end of the voltage comparison module 23 are all connected to a power VCC, a second coil end of the precision adjustable resistor 26 is connected to an anode of the light emitting diode 21, a cathode of the light emitting diode 21 is grounded, bases of the triode 22 are respectively connected to a positive input end of the digital-to-analog conversion module 24 and a positive input end of the voltage comparison module 23, a collector of the triode 22 is respectively connected to one end of the resistor R, a negative input end of the digital-to-analog conversion module 24, and a negative input end of the voltage comparison module 23, the other end of the resistor R, a ground of the digital-to-analog conversion module 24, and a ground of the voltage comparison module 23 are all grounded, an output end of the digital-to-analog conversion module 24 is connected to the digital display panel 25, the output end of the voltage comparison module 23 is connected with the anode of the diode.
In this embodiment, the probe unit 10 is an integrated micro photoelectric probe. The integrated micro photoelectric probe adopts an integrated design, has small integral volume and high strength, has small influence on the terrain during measurement, and can be directly and hard contacted with a hard object without deformation. Specifically, the light guide unit 11 is a light guide pipe with a side opening window, a thin stainless steel pipe is sleeved on the optical fiber, the bottom of the optical fiber is a 45-degree oblique plane, an opening is formed in the position, corresponding to the oblique plane, of the stainless steel pipe, and light can be guided out and received from the side face of the opening. The light guide unit 11 is responsible for guiding light out. The hardware design of the light receiving unit 12 is the same as that of the light guiding unit 11, and the light receiving unit 12 is responsible for receiving light guided out of the light guiding unit 11.
In this embodiment, the digital display panel 25 has two sets of values, one set is the actual light flux amount, and the other set is the threshold of the light flux amount.
As shown in fig. 3 and 4, the present embodiment also provides an underwater topography measuring apparatus for a physical model of a estuary coast, which may include: the water-sand interface judgment module 100, the three-axis mobile platform 200, the servo controller, the PLC controller and the touch screen 300 are described above, wherein the water-sand interface judgment module 100 is installed on the Z axis of the three-axis mobile platform 200, and the servo controller is electrically connected with the three-axis mobile platform 200 to control the movement of the three-axis mobile platform 200; the PLC is electrically connected with the servo controller; the touch screen 300 is wirelessly connected with the PLC controller.
According to the embodiment, the water-sand interface judgment module can judge the water-sand interface, the three-axis mobile platform can provide space movement, the three-axis mobile platform can realize space movement and accurate positioning by matching with the servo controller, the PLC and the touch screen, when the water-sand interface judgment module judges the water-sand interface of a certain measuring point, an opening light quantity state is immediately returned to the PLC, the PLC records current position information, and the position information comprises elevation information of the water-sand interface of the measuring point and two-dimensional position information of the measuring point, so that sediment terrain data of the measuring point can be accurately obtained.
In this embodiment, the three-axis mobile platform 200 may include: a pair of X-axis linear sliding rail modules 210 arranged in parallel and capable of sliding along the X-axis; a Y-axis linear sliding rail module 220 disposed on the X-axis linear sliding rail module 210; a Z-axis linear sliding rail module 230 disposed on the Y-axis linear sliding rail module 220; wherein the water-sand interface determining module 100 is disposed on the Z-axis linear sliding track module 230. The sliding in three-axis directions can be realized through the three-axis mobile platform 200.
Specifically, the X-axis linear sliding rail module 210 includes: a first linear guide assembly 211 and a first servo motor (not shown in the figure), the first servo motor driving the first linear guide assembly 211, the Y-axis linear sliding track module 220 comprising: a second linear guide assembly 221 and a second servo motor 222, wherein the second servo motor 222 drives the second linear guide assembly 221, and the Z-axis linear sliding track module 230 includes: a third linear guide assembly 231 and a third servo motor 232, wherein the third servo motor 232 drives the third linear guide assembly 231.
The three-axis moving platform of the device is matched with a PLC and a servo controller to realize, and the motion control precision is high and reaches 0.01 mm; the underwater water-sand interface judgment module adopts a side-looking miniaturized structure matched with a visual photoelectric receiving and processing unit, judges underwater topography quickly and accurately and has little influence, and the actual measurement precision can reach 0.1mm by combining a measurement execution mechanism; the whole frame is made of aluminum alloy, the weight is controlled within 40kg, and the carrying is convenient; a touch-sensitive screen and switch board separation for control, control is more nimble, removes the field wiring from.
The first servo motor, the second servo motor and the third servo motor can adopt high-precision servo motors of absolute value encoders. And the output shaft of the servo motor can be connected with a speed reducer module.
The first, second and third linear guide rail assemblies may be arranged in one of the following ways:
1) the guide rail, a sliding block sleeved on the guide rail and a lead screw meshed with the sliding block realize the movement of the sliding block on the guide rail by driving the lead screw to rotate.
2) The guide rail, a suit are in slider on the guide rail, one with the hold-in range that the slider is fixed through the band pulley of drive hold-in range, realize the rotation of hold-in range, and then realize the removal of slider on the guide rail.
3) A linear motor.
Because the spatial three-dimensional motion needs to be realized, the X-axis linear sliding track module 210 shown in the drawing of the embodiment mainly comprises a guide rail and a sliding block sleeved on the guide rail, and scales can be marked on the guide rail to realize the spatial three-dimensional motion and positioning.
In this embodiment, the probe unit 10 is fixed on the Z-axis linear sliding rail module 230 by a probe fixing device.
Specifically, the probe fixing device is a cylindrical tubular column, two circular holes are formed below the cylindrical column for fixing the probe unit 10, and an internally threaded hole is formed above the cylindrical column for fixedly connecting with the Z-axis linear sliding track module 230.
For the convenience of transportation, a transportation handle 400 is provided on the three-axis moving platform 200, and generally, the transportation handle 400 is fixed on the X-axis linear sliding rail module 210 or the Y-axis linear sliding rail module 220.
The device can further comprise a sliding rail self-locking device, and the locking is realized in a mode that a screw abuts against and presses the sliding rail, so that the position of the X-axis linear sliding rail module 210 can be locked.
In this example, the servo controller and the PLC controller may be mounted on a control box 500, and the control box 500 is mounted on the Z-axis linear sliding rail module 230.
In order to prevent the signal lines and the power lines from being accidentally dropped or excessively stretched, a towing groove 600 is fixed beside the Y-axis linear sliding track module 220.
In the example, two parallel supports 700 with a distance of 4m are erected in the tested terrain of the hydraulic, river and marine models, the first linear guide rail assembly 211 of the three-axis mobile platform 200 is fixed on the supports 700 through screws, and a straight ruler can be attached to each linear guide rail assembly to serve as a position reference point.
Specifically, the topographic survey points are distributed according to the direction of the survey bridge and are measured by a plurality of single surfaces, the number, the starting point and the density of each section point are set according to the actual measurement requirement, and the measured section positions are marked on the ruler for convenient and direct measurement.
After the device is installed and the measurement point arrangement is completed, point location input is started, information of the measurement points can be configured on the touch screen 300, measurement positions of various sections are input, and the information comprises section numbers, section measurement starting points, measurement distances and measurement point numbers.
After information is input and determined, measuring a first section is started, the water-sand interface judgment module 100 is moved to the position of a marked section through the three-axis moving platform 200, the X-axis linear sliding track module 210 is locked through the sliding rail self-locking device, the point is clicked on the touch screen 300 to start measuring, the Y-axis linear sliding track module 220 starts moving to the left, a signal line and a power line move along with the X-axis linear sliding track module in the line dragging groove 600 during moving, the X-axis linear sliding track module is moved to the position of a measured point and stopped, the Z-axis linear sliding track module 230 drives the water-sand interface judgment module 100 to move downwards, the probe unit 10 is inserted into water and cannot be triggered, when the probe unit 10 touches the interface surface of the water-sand, the probe unit 10 triggers a signal, the device records the Z-axis coordinate of the point, after the point is measured, the Z-axis moves upwards, continues moving to the next measuring point leftwards, after reaching the point, the Z-axis moves downwards, touches the interface and returns, and recording Z-axis information. After the measurement of one section is completed, the slide rail self-locking device is opened, and the X-axis linear sliding rail module 210 slides to the next section. And repeating the steps, and copying the measurement data through the USB flash disk after the measurement of all the topographic information of the points to be measured in the measurement range is finally completed.
In the implementation process, different model sands are selected for different hydraulic, river and marine work tests, the model sands comprise wood powder, coal powder, plastic sands, prototype sands, silt and other materials with different characteristics, the light transmittance at the interface of different model sands and water is different, before each test, simple debugging is needed, a probe is inserted into the tested model sands, if a signal is triggered, adjustment is not needed, if the signal is not triggered, a digital display panel 25 on the visual photoelectric receiving processing unit 20 is observed, and the light transmittance threshold value is adjusted to be larger than the light transmittance displayed at the moment so that the visual photoelectric receiving processing unit 20 is in a triggered state.
In addition, in the measurement, when there is a possibility that the terrain is not covered by silt or is directly the light plate cement terrain, the photoelectric switching value signal cannot be triggered after the measurement probe is touched, the probe can move downwards continuously, the torque value output by the servo motor is changed due to the stress of the probe at the moment and exceeds a preset torque value threshold value, the Z value of the point change is directly recorded by the system and moves upwards, the probe is protected from being damaged, and then the next point is measured continuously.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A water sand interface judgment module, comprising:
the probe unit comprises a light guide unit and a light receiving unit, and light through holes are formed in the side faces of the opposite sides of the light guide unit and the light receiving unit;
the photoelectric receiving and processing unit comprises a light emitting diode, a triode, a voltage comparison module, a digital-to-analog conversion module, a digital display panel and a precise adjustable resistor, the light emitting intensity of the light emitting diode is adjusted by adjusting the precise adjustable resistor, the light emitted by the light emitting diode is transmitted to the light guide unit through the light through hole and then through the optical fiber, then the light is received by the light receiving unit, the light received by the light receiving unit is transmitted to the triode through the light through hole and then is transmitted to the triode through the optical fiber, the resistance value change of the triode is converted into digital quantity by the digital-to-analog conversion module, then the digital display panel displays the actual flux value, the voltage comparison module outputs an on-light quantity signal by judging the actual flux and a flux threshold value, when the actual light flux is lower than the light flux threshold, the voltage comparison module is triggered and outputs a high-level switching value signal.
2. The module of claim 1, wherein the digital display panel has two sets of values, one set being an actual amount of light passing and one set being a threshold amount of light passing.
3. An underwater topography measuring device of a estuary coast physical model, comprising:
a three-axis mobile platform;
the water-sand interface judgment module of claim 1, mounted on the Z-axis of the three-axis mobile platform;
the servo controller is electrically connected with the three-axis mobile platform and controls the movement of the three-axis mobile platform;
the PLC is electrically connected with the servo controller;
and the touch screen is connected with the PLC.
4. The apparatus of claim 3, wherein the three-axis mobile platform comprises:
a pair of X-axis linear sliding track modules which are arranged in parallel and can slide along the X axis;
the Y-axis linear sliding track module is arranged on the X-axis linear sliding track module;
the Z-axis linear sliding track module is arranged on the Y-axis linear sliding track module;
the water-sand interface judging module is arranged on the Z-axis linear sliding track module.
5. The apparatus of claim 3, wherein the probe unit is fixed on the Z-axis linear sliding rail module by a probe fixing device.
6. The device of claim 4, wherein the probe fixing device is a cylindrical tube, two round holes are formed below the cylindrical tube for fixing the probe unit, and an internally tapped threaded hole is formed above the cylindrical tube for fixedly connecting with the Z-axis linear sliding track module.
7. The apparatus of claim 4, wherein the X-axis linear sliding rail module comprises:
a first linear guide rail assembly;
and the first servo motor drives the first linear guide rail assembly.
8. The apparatus of claim 4, wherein the Y-axis linear sliding rail module comprises:
a second linear guide assembly;
and the second servo motor drives the second linear guide rail assembly.
9. The apparatus of claim 4, wherein the Z-axis linear sliding track module comprises:
a third linear guide assembly;
and the third servo motor drives the third linear guide rail assembly.
10. The apparatus of claim 7, 8 or 9, wherein the first, second and third servomotors are high precision servomotors using absolute value encoders.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114674297A (en) * | 2022-03-24 | 2022-06-28 | 浙江省水利河口研究院(浙江省海洋规划设计研究院) | Method and device for detecting accuracy of river channel management range line and electronic equipment |
| CN115812646A (en) * | 2022-12-05 | 2023-03-21 | 中国电建集团成都勘测设计研究院有限公司 | Method for analyzing fish behaviors in fishway |
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