阅读说明：本技术 一种一体化走航式多普勒剖面测流方法 (Integrated navigation type Doppler profile flow measurement method ) 是由 于树利 于子朔 张喜 张家铭 于 2021-07-02 设计创作，主要内容包括：本发明涉及一种一体化走航式多普勒剖面测流方法,属于水利河道或渠道流速监测技术领域。技术方案是：动力驱动走航索移动,带动测流仪在河道或渠道横向移动；二维稳定舵机(9)是一个二维运动机构,基于重力传感器进行自动调节,通过流速传感器上的重力传感器输出的信号,自动进行二维平面调整,使得声学多普勒传感器(11)的声学多普勒波束(18)保持与垂线45度角度,水位传感器的声学水位波束保持与垂线平行,实现一体化走航式测流。本发明无需人工充电,保持传感器始终对着水流方向,无需考虑水流方向、水流波浪颠簸对传感器对测流角度影响,免挂住水中漂浮物允许长期水中测流,可确保达到无人值守,实现输水断面流速的自动测流。(The invention relates to an integrated navigation type Doppler profile flow measurement method, and belongs to the technical field of water conservancy river channel or channel flow velocity monitoring. The technical scheme is as follows: the power drives the sailing cable to move to drive the flow measuring instrument to transversely move in the river channel or the channel; the two-dimensional stable steering engine (9) is a two-dimensional movement mechanism, automatic adjustment is carried out based on a gravity sensor, and two-dimensional plane adjustment is automatically carried out through signals output by the gravity sensor on the flow velocity sensor, so that an acoustic Doppler wave beam (18) of the acoustic Doppler sensor (11) keeps an angle of 45 degrees with a vertical line, and an acoustic water level wave beam of the water level sensor keeps parallel to the vertical line, so that integrated sailing type flow measurement is realized. The invention does not need manual charging, keeps the sensor always facing to the water flow direction, does not need to consider the influence of the water flow direction and the water flow wave jolt on the flow measuring angle of the sensor, avoids hanging floating objects in water, allows long-term flow measurement in water, can ensure unattended operation and realizes automatic flow measurement of the flow velocity of the water delivery cross section.)

1. An integrated navigation type Doppler profile flow measurement method is characterized by comprising the following steps:

firstly, arranging a sailing cable across a river channel or a channel, fixing a flow measuring instrument on the sailing cable through a traction cable, and driving the sailing cable to move by power to drive the flow measuring instrument to transversely move in the river channel or the channel;

the flow meter comprises a multi-hull ship (1), a tail rudder connecting rod (4), a tail rudder floater (5), a tail rudder plate (6), a two-dimensional stable steering engine (9), a sensor (10) and a solar panel (13); the multiple floating bodies (2) are assembled together through the connecting frame (3) to form the multi-hull ship (1), the tail part of the multi-hull ship (1) is connected with a tail rudder floater (5) through a tail rudder connecting rod (4), and a tail rudder plate (6) is arranged below the tail rudder floater (5); a two-dimensional stable steering engine (9) and a solar cell panel (13) are arranged on the multi-hull vessel (1), a sensor (10) is arranged below the two-dimensional stable steering engine (9), and a traction cable (16) is fixed on the multi-hull vessel (1); the sensor (10) at least comprises an acoustic Doppler flow velocity sensor (11) and a gravity sensor, and the gravity sensor is arranged on the acoustic Doppler flow velocity sensor; the sensor (10) further comprises a water level sensor (12);

the two-dimensional stable steering engine (9) is a two-dimensional movement mechanism, automatic adjustment is carried out based on a gravity sensor, and two-dimensional plane adjustment is automatically carried out through signals output by the gravity sensor on the flow velocity sensor, so that an acoustic Doppler wave beam (18) of the acoustic Doppler sensor (11) keeps an angle of 45 degrees with a vertical line, and an acoustic water level wave beam (19) of the water level sensor (12) keeps parallel with the vertical line;

fourthly, measuring and determining a sediment layer and an overflow section at the bottom of the river channel or the open channel by a water level sensor, and drawing the sediment section and the overflow section by upper monitoring software; a plurality of vertical lines are set on the cross section of a river channel or an open channel, and the integrated sailing type flow measurement is realized through the profile flow measurement of the acoustic Doppler sensor (11).

2. The integrated walkabout Doppler profile flow measurement method according to claim 1, wherein: on each flow plumb, the number of test points is up to 128 points or 256 points.

3. The integrated walkabout Doppler profile flow measurement method according to claim 1 or 2, wherein: remotely setting a navigation flow measuring mode, and automatically returning to a channel central line after navigation is finished; when the sailing flow measurement is completed, the flow measuring instrument stops in the middle of the river channel or the open channel, the relation between the middle flow velocity of the river channel or the open channel and the average flow velocity is obtained through self-learning, and the real-time flow measurement can be realized through measuring the middle flow velocity of the river channel or the open channel in real time.

4. The integrated walkabout Doppler profile flow measurement method according to claim 1 or 2, wherein: and when the water drainage is finished, and the fault, the maintenance and the cleaning are needed, the flow measuring instrument is manually controlled to return to the shore.

5. The integrated walkabout Doppler profile flow measurement method according to claim 1 or 2, wherein: the current meter is provided with a Beidou positioning system, so that theft and loss are prevented, faults are prevented from being lost, and the current meter is recovered after being lost.

6. The integrated walkabout Doppler profile flow measurement method according to claim 1 or 2, wherein: one end of the traction cable is fixed on the multi-body ship, and the other end of the traction cable is fixed on one point or two separated points of the sailing cable; and the sailing cable crossing the channel is closed in a vertical closed loop mode, one end of the sailing cable is connected with the traction box, and the other end of the sailing cable is connected with the tensioning box.

7. The integrated walkabout Doppler profile flow measurement method according to claim 1 or 2, wherein: and (4) timing flow measurement, and setting the flow measurement times and the flow measurement starting time every day.

8. The integrated walkabout Doppler profile flow measurement method according to claim 1 or 2, wherein: the water level of the river channel or the open channel changes, and the automatic navigation flow measurement is automatically started when the upstream flow or the downstream flow changes.

Technical Field

The invention relates to an integrated navigation type Doppler profile flow measurement method, and belongs to the technical field of water conservancy river channel or channel flow velocity monitoring.

Background

At present, in the water conservancy industry, a profile flow meter is used for measuring the flow of a river channel or an open channel, a catamaran or trimaran structure is adopted, personnel standing on two banks carry out manual traction, and after the flow measurement is finished, the personnel manually bring back, read flow measurement data, charge and prevent loss. The prior art has the following defects: firstly, the operation of pulling the device from the bank to the bank, charging, theft prevention and the like is all manual operation, and unattended operation and automatic flow measurement cannot be realized; secondly, during flow measurement, floating objects in water can be hung on the flow measuring instrument and need to be manually cleaned; when measuring the current, because the current measuring wave beam of the Doppler flow velocity sensor points to the front lower part, uncertain factors such as the ship body direction, the water flow direction, the water surface wave jolt influence the current measuring angle, the water flow velocity, the artificial traction velocity synthesis and the like of the sensor, the water level measuring wave beam is not downward vertically any more, and the uncertain factors cause that the current measuring algorithm is very difficult and seriously influence the application; and fourthly, floating objects in the water are often hung on the flow meter and have to be manually cleaned. The main problems of the prior art are as follows: the unpredictability of the direction of the flow measurement wave beam and the superposition of the algorithm with the complicated flow measurement value after being influenced and the cruising speed enable the flow measurement algorithm to be more complicated and uncertain. Above defects, with the addition of the floating objects in the water, the prior art can not realize unattended automatic flow measurement, the flow measurement algorithm is extremely complex, the stability of the flow measurement precision is extremely poor, and no better solution exists at present.

Disclosure of Invention

The invention aims to provide an integrated navigation type Doppler profile flow measurement method, which keeps a sensor always facing to the water flow direction, does not need to consider the influence of the water flow direction and water flow wave jolt on the flow measurement angle of the sensor, avoids hanging floating objects in water to allow long-term flow measurement in water, adopts solar power supply to achieve unattended operation, realizes automatic flow measurement of the flow velocity of a water delivery profile, and solves the problems in the background technology.

The technical scheme of the invention is as follows:

an integrated navigation type Doppler profile flow measurement method comprises the following steps:

firstly, arranging a sailing cable across a river channel or a channel, fixing a flow measuring instrument on the sailing cable through a traction cable, and driving the sailing cable to move by power to drive the flow measuring instrument to transversely move in the river channel or the channel;

the flow meter comprises a multi-hull ship, a tail rudder connecting rod, a tail rudder floater, a tail rudder plate, a two-dimensional stable steering engine, a sensor, a solar cell panel and a traction cable; the tail part of the multi-hull ship is connected with a tail rudder floater through a tail rudder connecting rod, and a tail rudder plate is arranged below the tail rudder floater; a two-dimensional stable steering engine and a solar cell panel are arranged on the multi-body ship, and a sensor is arranged below the two-dimensional stable steering engine; the traction cable is fixed on the multi-body ship; the sensor at least comprises an acoustic Doppler flow velocity sensor and a gravity sensor, and the gravity sensor is arranged on the acoustic Doppler flow velocity sensor; the sensor further comprises a water level sensor;

the two-dimensional stable steering engine is a two-dimensional movement mechanism, automatic adjustment is carried out based on a gravity sensor, and two-dimensional plane adjustment is automatically carried out through signals output by the gravity sensor on the flow velocity sensor, so that the acoustic Doppler wave beam of the acoustic Doppler sensor keeps an angle of 45 degrees with the vertical line, and the acoustic water level wave beam of the water level sensor keeps parallel with the vertical line;

fourthly, measuring and determining a sediment layer and an overflow section at the bottom of the river channel or the open channel by a water level sensor, and drawing the sediment section and the overflow section by upper monitoring software; a plurality of vertical lines are set on the cross section of a river channel or an open channel, and the integrated sailing type flow measurement is realized through the flow measurement of the acoustic Doppler sensor profile.

According to the provisions of the water measurement specification GB/T21303-2017, multi-perpendicular section flow measurement is set on the cross section of a river channel or an open channel, the number of measurement points on each flow measurement perpendicular line reaches 128 points or 256 points which are far higher than the prescribed 1, 3, 5 and 7 points, and the flow measurement precision is greatly improved.

Remotely setting a navigation flow measuring mode, and automatically returning to a channel central line after navigation is finished; when the navigation flow measurement is finished, the flow measuring instrument stops in the middle of the river channel or the open channel, the relation between the middle flow velocity of the river channel or the open channel and the average flow velocity is obtained through self-learning, and the real-time flow measurement can be realized through measuring the middle flow velocity of the river channel or the open channel in real time; and a flow measuring instruction can be remotely sent to realize flow measurement.

The flow measurement at least comprises the following modes:

1. timing flow measurement, and setting the flow measurement times and the flow measurement starting time every day;

2. the water level of the river channel or the open channel changes, and the automatic navigation flow measurement is automatically started when the upstream flow or the downstream flow changes.

And when the water drainage is finished, and the fault, the maintenance and the cleaning are needed, the flow measuring instrument is manually controlled to return to the shore.

The current meter is provided with a Beidou positioning system, so that theft and loss are prevented, faults are prevented from being lost, and the current meter is recovered after being lost.

And one end of the traction cable is fixed on the multi-body ship, and the other end of the traction cable is fixed at one point or two separated points of the sailing cable. And the sailing cable crossing the channel is closed in a vertical closed loop mode, one end of the sailing cable is connected with the traction box, and the other end of the sailing cable is connected with the tensioning box.

And a solar cell panel is arranged on the top layer of the multi-hull ship.

The two-dimensional stable steering engine comprises a Y-axis ring, an X-axis ring, a fixing frame, an X-axis motor, a Y-axis motor, an X rotating shaft and a Y rotating shaft, wherein the fixing frame is arranged on the multi-body ship, two sides of the Y-axis ring are respectively arranged on the fixing frame through the Y rotating shaft, the Y-axis ring is connected with the Y-axis motor, and the Y-axis motor drives the Y-axis ring to turn over on the fixing frame; two sides of the X-axis ring are respectively arranged in the Y-axis ring through an X-axis rotating shaft, the X-axis ring is connected with an X-axis motor, and the X-axis motor drives the X-axis ring to turn over in the Y-axis ring; the X rotating shaft and the Y rotating shaft are vertical to each other; a sensor is arranged below the X shaft ring; the sensor at least comprises a flow velocity sensor and a gravity sensor, and the gravity sensor is arranged on the flow velocity sensor. The two-dimensional stable steering engine is a two-dimensional movement mechanism, automatic adjustment is carried out based on a gravity sensor, an X-axis motor and a Y-axis motor are automatically controlled to be started through signals output by the gravity sensor on the flow velocity sensor, and two-dimensional plane adjustment is carried out through overturning of a Y-axis ring and the X-axis ring, so that the flow velocity sensor is downward all the time.

The multi-hull ship is a catamaran or a trimaran and is formed by combining a floating body and a connecting frame, and at least one section of the floating body is arranged on one side of the multi-hull ship.

The front parts of the floating body, the tail rudder plate and the sensor are all provided with anti-floating object rotating wheels. The anti-floating object rotary wheel is a circular plate with a hole in the middle and capable of freely rotating, and the edge of the circular plate can be smooth or provided with teeth. When the anti-floating object rotary wheels are applied, the two anti-floating object rotary wheels are in a group and are respectively arranged on two sides of the front ends of the floating body, the tail rudder plate and the sensor, and the edge of the front ends of the anti-floating object rotary wheels exceeds the front ends of the floating body, the tail rudder plate and the sensor, namely the front ends of the floating body, the tail rudder plate and the sensor are retracted between the two anti-floating object rotary wheels. When the front end of the multi-hull ship comes in with the floating object, the anti-floating object rotary wheel is firstly contacted, and the floating object in the water pulls the anti-floating object rotary wheel to rotate under the action of water flow, so that the floating object slides through the multi-hull ship, and the anti-floating object effect is achieved. If a certain part of the multi-hull ship has deep water, the anti-floating object spinning wheels are provided with a plurality of groups, the plurality of groups of anti-floating object spinning wheels are arranged up and down, and no matter one group or a plurality of groups are arranged, one part of the uppermost group of anti-floating object spinning wheels is exposed out of the water surface, so that the floating objects are ensured to slide under the multi-hull ship.

The main cabin of the multi-hull ship is also provided with a circuit board.

The traction cable is formed by connecting an insulator and a metal cable, the connecting part of the traction cable and the multi-hull ship is a lightning-proof insulator, one end of the insulator is fixed on the multi-hull ship, the other end of the insulator is connected with the metal cable, a section of metal grounding cable is led out from the connecting part of the insulator and the metal cable, and the metal grounding cable is in contact with the water surface and used for leading lightning into the water and protecting the multi-hull ship from being struck by lightning.

The invention has the advantages that:

firstly, solar energy is adopted for power supply, and manual charging is not needed;

secondly, a tail rudder is adopted to keep the sensor always opposite to the water flow direction;

the steering engine is stabilized in two-dimensional posture, and water flow wave jolting is overcome;

fourthly, solar energy is adopted for power supply, and the influence of the water flow direction and water flow wave jolt on the sensor on the current measuring angle is not required to be considered;

fifthly, the anti-floating structure avoids hanging floating objects in water and allows long-term flow measurement in water;

the characteristics can ensure that the unattended operation is achieved, and the automatic flow measurement of the flow velocity of the water delivery cross section is realized.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

FIG. 2 is a schematic top view of an embodiment of the present invention;

FIG. 3 is a schematic diagram of a two-dimensional stable steering engine according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a multi-hull nose-up tilt in accordance with an embodiment of the present invention;

FIG. 5 is a schematic view of a multiple hull head downtilt according to an embodiment of the present invention;

FIG. 6 is a schematic view of a multi-hull bow-turn according to an embodiment of the present invention;

FIG. 7 is a schematic view of a multiple hull right inclination head of an embodiment of the present invention;

in the figure: the device comprises a multi-hull body 1, a floating body 2, a connecting frame 3, a tail rudder connecting rod 4, a tail rudder floater 5, a tail rudder plate 6, a main cabin 7, a circuit board 8, a two-dimensional stable steering engine 9, a sensor 10, an acoustic Doppler sensor 11, a water level sensor 12, a solar cell panel 13, a solar cell panel support 14, a storage battery 15, a traction cable 16, an anti-floating object rotary wheel (anti-pollution wheel) 17, an acoustic Doppler wave beam 18, an acoustic water level wave beam 19, a Y shaft collar 22, an X shaft collar 21, a fixing frame 20, an X shaft motor 23, a Y shaft motor 24, an X rotating shaft 25 and a Y rotating shaft 26.

Detailed Description

The invention is further illustrated by the following examples in conjunction with the accompanying drawings.

Referring to fig. 1-3, an integrated walkthrough doppler profile flow measurement method includes the following steps:

firstly, arranging a sailing cable across a river channel or a channel, fixing a flow measuring instrument on the sailing cable through a traction cable, and driving the sailing cable to move by power to drive the flow measuring instrument to transversely move in the river channel or the channel;

the flow meter comprises a multi-hull ship 1, a tail rudder connecting rod 4, a tail rudder floater 5, a tail rudder plate 6, a two-dimensional stable steering engine 9, a sensor 10, a solar cell panel 13 and a traction cable 16; the multiple floating bodies 2 are assembled together through the connecting frame 3 to form the multi-hull ship 1, the tail part of the multi-hull ship 1 is connected with a tail rudder floater 5 through a tail rudder connecting rod 4, and a tail rudder plate 6 is arranged below the tail rudder floater 5; a two-dimensional stable steering engine 9 and a solar cell panel 13 are arranged on the multi-hull vessel 1, a sensor 10 is arranged below the two-dimensional stable steering engine 9, and a traction cable 16 is fixed on the multi-hull vessel 1; the sensor 10 at least comprises an acoustic Doppler flow velocity sensor 11 and a gravity sensor, and the gravity sensor is arranged on the acoustic Doppler flow velocity sensor; the sensor 10 also includes a water level sensor 12;

the two-dimensional stable steering engine 9 is a two-dimensional movement mechanism, automatically adjusts based on a gravity sensor, and automatically adjusts a two-dimensional plane through a signal output by the gravity sensor on the flow velocity sensor, so that an acoustic Doppler wave beam 18 of the acoustic Doppler sensor 11 keeps an angle of 45 degrees with a vertical line, and an acoustic water level wave beam 19 of the water level sensor 12 keeps parallel with the vertical line;

fourthly, measuring and determining a sediment layer and an overflow section at the bottom of the river channel or the open channel by a water level sensor, and drawing the sediment section and the overflow section by upper monitoring software; a plurality of vertical lines are set on the cross section of a river channel or an open channel, and the integrated sailing type flow measurement is realized through the flow measurement of the section of the acoustic Doppler sensor 11.

According to the provisions of the water measurement specification GB/T21303-2017, multi-perpendicular section flow measurement is set on the cross section of a river channel or an open channel, the number of measurement points on each flow measurement perpendicular line reaches 128 points or 256 points which are far higher than the prescribed 1, 3, 5 and 7 points, and the flow measurement precision is greatly improved.

Remotely setting a navigation flow measuring mode, and automatically returning to a channel central line after navigation is finished; when the navigation flow measurement is finished, the flow measuring instrument stops in the middle of the river channel or the open channel, the relation between the middle flow velocity of the river channel or the open channel and the average flow velocity is obtained through self-learning, and the real-time flow measurement can be realized through measuring the middle flow velocity of the river channel or the open channel in real time; and a flow measuring instruction can be remotely sent to realize flow measurement.

The flow measurement at least comprises the following modes:

1. timing flow measurement, and setting the flow measurement times and the flow measurement starting time every day;

2. the water level of the river channel or the open channel changes, and the automatic navigation flow measurement is automatically started when the upstream flow or the downstream flow changes.

And when the water drainage is finished, and the fault, the maintenance and the cleaning are needed, the flow measuring instrument is manually controlled to return to the shore.

The current meter is provided with a Beidou positioning system, so that theft and loss are prevented, faults are prevented from being lost, and the current meter is recovered after being lost.

And one end of the traction cable is fixed on the multi-body ship, and the other end of the traction cable is fixed at one point or two separated points of the sailing cable. And the sailing cable crossing the channel is closed in a vertical closed loop mode, one end of the sailing cable is connected with the traction box, and the other end of the sailing cable is connected with the tensioning box.

And a solar cell panel is arranged on the top layer of the multi-hull ship.

The two-dimensional stable steering engine 9 comprises a Y-axis ring 22, an X-axis ring 21, a fixing frame 20, an X-axis motor 23, a Y-axis motor 24, an X rotating shaft 25 and a Y rotating shaft 26, the fixing frame 20 is arranged on the multi-hull ship 1, two sides of the Y-axis ring 22 are respectively arranged on the fixing frame 20 through the Y rotating shaft 26, the Y-axis ring 22 is connected with the Y-axis motor 24, and the Y-axis motor 24 drives the Y-axis ring 22 to turn over on the fixing frame; two sides of the X shaft collar 21 are respectively arranged in the Y shaft collar 22 through an X rotating shaft 25, the X shaft collar 21 is connected with an X shaft motor 23, and the X shaft motor 23 drives the X shaft collar 21 to turn in the Y shaft collar 22; the X rotating shaft 25 and the Y rotating shaft 26 are vertical to each other; a sensor 10 is arranged below the X shaft ring 21; the sensor 10 at least comprises a flow rate sensor and a gravity sensor, and the gravity sensor is arranged on the flow rate sensor. The two-dimensional stable steering engine 9 is a two-dimensional movement mechanism, automatically adjusts based on a gravity sensor, automatically controls the starting of an X-axis motor 23 and a Y-axis motor 24 through signals output by the gravity sensor on the flow velocity sensor, and adjusts a two-dimensional plane through the overturning of a Y-axis ring 22 and an X-axis ring 21, so that the flow velocity sensor always faces downwards.

The multi-hull ship 1 is a catamaran or a trimaran and is formed by combining a floating body 2 and a connecting frame 3, and at least one section of floating body is arranged on one side of the multi-hull.

The front parts of the floating body 2, the tail rudder plate 6 and the sensor 10 are all provided with anti-floating object rotary wheels 17. The anti-floating object rotary wheel is a circular plate with a hole in the middle and capable of freely rotating, and the edge of the circular plate can be smooth or provided with teeth. When the anti-floating object rotary wheels are applied, the two anti-floating object rotary wheels are in a group and are respectively arranged on two sides of the front ends of the floating body, the tail rudder plate and the sensor, and the edge of the front ends of the anti-floating object rotary wheels exceeds the front ends of the floating body, the tail rudder plate and the sensor, namely the front ends of the floating body, the tail rudder plate and the sensor are retracted between the two anti-floating object rotary wheels. When the front end of the multi-hull ship comes in with the floating object, the anti-floating object rotary wheel is firstly contacted, and the floating object in the water pulls the anti-floating object rotary wheel to rotate under the action of water flow, so that the floating object slides through the multi-hull ship, and the anti-floating object effect is achieved. If a certain part of the multi-hull ship has deep water, the anti-floating object spinning wheels are provided with a plurality of groups, the plurality of groups of anti-floating object spinning wheels are arranged up and down, and no matter one group or a plurality of groups are arranged, one part of the uppermost group of anti-floating object spinning wheels is exposed out of the water surface, so that the floating objects are ensured to slide under the multi-hull ship.

The main cabin 7 of the multi-hulled vessel 1 is also provided with a circuit board 8.

The traction cable 16 is formed by connecting an insulator and a metal cable, the connecting part of the traction cable 16 and the multi-hull vessel 1 is a lightning-proof insulator, one end of the insulator is fixed on the multi-hull vessel 1, the other end of the insulator is connected with the metal cable, a section of metal grounding cable is led out from the connecting part of the insulator and the metal cable, and the metal grounding cable is in contact with the water surface and is used for leading lightning into the water and protecting the multi-hull vessel from being struck by lightning.

This embodiment is illustrated in conjunction with FIGS. 4-7:

fig. 4 is a schematic diagram of the multi-hull bow-up inclination of the embodiment of the present invention, when the bow of the multi-hull vessel is inclined, the gravity sensor on the flow velocity sensor sends a signal, the X-axis motor 23 and the Y-axis motor 24 are automatically controlled to be started through a known control system, and the two-dimensional plane adjustment is performed through the turning of the Y-axis collar 22 and the X-axis collar 21, so that the flow velocity sensor is always downward, the acoustic doppler beam 18 of the acoustic doppler sensor 11 is kept at an angle of 45 degrees with the vertical line, and the acoustic water level beam 19 of the water level sensor 12 is kept parallel with the vertical line.

FIG. 5 is a schematic view of a multiple hull head downtilt according to an embodiment of the present invention; when the bow of the multi-hulled vessel is declined, the gravity sensor on the flow velocity sensor sends a signal, the X-axis motor 23 and the Y-axis motor 24 are automatically controlled to be started through a known control system, two-dimensional plane adjustment is carried out through the overturning of the Y-axis ring 22 and the X-axis ring 21, the flow velocity sensor is enabled to be downward all the time, the acoustic Doppler wave beam 18 of the acoustic Doppler sensor 11 keeps an angle of 45 degrees with a vertical line, and the acoustic water level wave beam 19 of the water level sensor 12 keeps parallel with the vertical line.

FIG. 6 is a schematic view of a multi-hull bow-turn according to an embodiment of the present invention; when the bow of the multi-hulled vessel inclines left, the gravity sensor on the flow velocity sensor sends a signal, the X-axis motor 23 and the Y-axis motor 24 are automatically controlled to start through a known control system, two-dimensional plane adjustment is carried out through the overturning of the Y-axis ring 22 and the X-axis ring 21, the flow velocity sensor is enabled to be downward all the time, the acoustic Doppler wave beam 18 of the acoustic Doppler sensor 11 keeps an angle of 45 degrees with the vertical line, and the acoustic water level wave beam 19 of the water level sensor 12 keeps parallel with the vertical line.

FIG. 7 is a schematic view of a multiple hull right inclination head of an embodiment of the present invention; when the bow of the multi-hulled vessel inclines rightwards, the gravity sensor on the flow velocity sensor sends a signal, the X-axis motor 23 and the Y-axis motor 24 are automatically controlled to be started through a known control system, two-dimensional plane adjustment is carried out through the overturning of the Y-axis ring 22 and the X-axis ring 21, the flow velocity sensor is enabled to be downward all the time, the acoustic Doppler wave beam 18 of the acoustic Doppler sensor 11 keeps an angle of 45 degrees with a vertical line, and the acoustic water level wave beam 19 of the water level sensor 12 keeps parallel with the vertical line.