CN105652343B - A kind of level formula undersea detection localization method - Google Patents
A kind of level formula undersea detection localization method Download PDFInfo
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- CN105652343B CN105652343B CN201610134088.5A CN201610134088A CN105652343B CN 105652343 B CN105652343 B CN 105652343B CN 201610134088 A CN201610134088 A CN 201610134088A CN 105652343 B CN105652343 B CN 105652343B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention belongs to search for field of locating technology under water, it is related to a kind of level formula undersea detection localization method, specifically include equipment installation, underwater search, undersea ranging, angular surveying and Underwater Navigation, its by the cooperation of distance-measurement module and Angle Measurement Module to obtain the distance parameter and angle parameter of works or measuring point to be measured, so as to accurately realize coordinate detection；Underwater a wide range of interior object, structure search, and the works to searching or measuring point be can be applied not only into the positioning of row distance and angle, accuracy, precision easy to operate, cost savings while higher；Its detection process is simple, and principle is reliable, and equipment therefor is simple in structure, conveniently moving, and measure effect is good, and determination efficiency is high, and application environment is friendly.
Description
Technical field
The invention belongs to search for field of locating technology under water, and in particular to a kind of level formula undersea detection localization method, profit
Coordinated with the distance including spirit level and angle measuring instrument synthesis, realize the search positioning to immersed body or structure.
Background technology
Undersea detection search technique is the important content of ocean observation technology, and the composition portion of ocean stereo monitoring net
Point, it is mainly used for underwater acoustic technology, underwater television and camera technique, submersible and underwater robot technology etc..Diver at present
On the one hand it is that the method for directly taking artificial visual scans for, and borrow under water used by reconnaissance probe, positioning in method
Positioned with ancillary equipments such as steel ruler, tape measures, such a method is since using eye recognition, therefore visibility and accuracy are all deposited
It is even more particularly to be difficult to search under dirty aquatic environment in limitation；On the other hand then use underwater video device, dive
The large and medium-sized high-end devices such as hydrophone, underwater robot, this kind equipment is not only complicated, bulky, with high costs, Er Qiejun
It is a kind of in the presence of the technical barrier for being difficult to measurement angle, such as disclosed in Chinese patent ZL201520304882.0 of the prior art
Undersea detection device, a kind of underwater detectoscope disclosed in Chinese patent ZL201410193989.2, Chinese patent
A kind of swing type undersea detection device and its display methods, Chinese patent disclosed in ZL201510447965.X
A kind of synchronizing detection device for shallow water detection disclosed in ZL201520215267.2 etc., although water can intuitively be checked by solving
Lower situation, improve the technical problem such as detection accuracy, but can not realize angular surveying to object and determine；Therefore this hair
A kind of detection method for being used to search for positioning under water of bright research and design, can realize under dirty aquatic environment and object is searched
Rope detects, and is realized and be accurately positioned according to the survey calculation of distance and angle.
The content of the invention
It is an object of the invention to overcome shortcoming existing in the prior art, seek design and a kind of level formula undersea detection is provided
Localization method, solves the technical barrier that current all kinds of underwater detection equipments can not achieve angular surveying calculating.
To achieve these goals, level formula undersea detection localization method of the present invention Detection location device under water
Middle realization, its concrete technology comprise the following steps：
(1) equipment is installed：The above water and underwater portion of installation undersea detection positioner are checked respectively for, by diver
Underwater portion is brought into waters to be measured and chassis is fixedly mounted in water on fixture, then adjust the distance respectively measurement module and
Instrument in Angle Measurement Module is installed, leveling and rotation pre-process, and completes the adjustment and installation of equipment.
(2) underwater search：For diver by manipulating No. I stent rotation to control transducer to scan for, staff is real
When check that display screen is judged, when the numerical value shown by display screen becomes larger or becomes small suddenly, staff notifies diver
The position of fixing of energy converter, the distance parameter for then reading the angle parameter in orientation and combining on display screen, which calculates, treats geodesic structure
The coordinate value of thing or measuring point, by the coordinate value to calculating to determine whether searched treat compared with theoretical coordinate value
Geodesic structure thing or measuring point；
(3) undersea ranging：Transducer in the underwater portion of undersea detection positioner is directed at works to be measured by diver
Or measuring point, staff by watch display screen in real time to diver send command adapted thereto make its under water slightly adjustment transducing
Device, when the numerical stability of display screen is in a minimum value, which is works to be measured or the distance parameter of measuring point；
(4) angular surveying：Diver realizes the leveling to horizontal circle by adjusting the bubble in circular bubble between two parties,
At the same time by North and South direction pointer, position local device and micro- spiral carry out subsidiary that inclines, then read using horizontal circle
Take with the angle of direct north, the angle with horizontal direction is read using inclinator, angle parameter is obtained to complete angular surveying；
(5) Underwater Navigation：Coordinate value according to being measured in step (2) draws whether be works or measuring point to be measured, according to
The distance parameter of measure and the angle parameter of the middle measure of step (4) in step (3), in conjunction with undersea detection positioner itself
The coordinate value on chassis, the accurate location of works or measuring point to be measured is drawn according to conventional underlying mathematical operations method, realizes water
Under works or measuring point to be measured Detection location.
Further, the ultrasonic frequency that transducer is launched in the step (2) is 200-2000kHz；Surveyed in step (3)
It is ± 1cm away from error；Angle error is in step (4)：0.05 degree of azimuth horizontal accuracy, pitches 0.005 degree of precision.
Undersea detection positioner of the present invention is divided into above water and underwater portion two parts, portion waterborne by function
It is divided into display module, underwater portion includes distance-measurement module, Angle Measurement Module and supporting module, distance-measurement module and angle
Spend measurement module by supporting module connect fix, display module by cable respectively with distance-measurement module and angular surveying mould
Block connects；The distance-measurement module agent structure is transducer, it uses simple beam ultrasonic wave measuring method, utilizes transducer
Launch simple beam ultrasonic wave afield, and receive the ultrasonic wave reflected through works to be measured or measuring point, by calculating ultrasound
The propagation time of ripple and spread speed draw the distance of works or measuring point to be measured；The Angle Measurement Module agent structure includes
Inclinator, horizontal circle, circular bubble, North and South direction pointer and position local device, inclinator is by No. I in supporting module
Stent Implantation is in the overcentre of North and South direction pointer, and horizontal circle is by No. II Stent Implantation in supporting module in the South and the North
To the lower section of pointer, circular bubble is provided with horizontal circle and is used for leveling, position local device is used for after locking leveling
The position of inclinator and horizontal circle, by read level dial and the angle of North and South direction pointer direct north, and
Inclinator and the angle of horizontal direction draw the angle of works or measuring point to be measured；The display module agent structure is to be arranged on
The display screen of land, it is electrically connected by cable with transducer and inclinator, can show the ultrasonic wave that transducer is launched
The path minimum value and inclinator and the angle reading of horizontal direction reflected through works to be measured or measuring point；The support
Module bodies structure includes No. I stent, No. II stent, micro- spiral and chassis of inclining, and the II of three fixed structures is provided with chassis
Number stent, No. II stent in chassis center are socketed with horizontal circle and North and South direction pointer, horizontal scale successively from bottom to top
Disk is relied on by No. II stent of chassis the right and left, be provided with each No. II stent it is micro- incline it is spiral be used for leveling, in chassis
No. II cantilever tip of centre is provided with No. I stent for being adjusted by rotation structure, is used to support connection transducer and inclinator.
Compared with prior art, the present invention solve in the problem that water is muddy, searches, positions under water under conditions of dark,
Joined by the cooperation of distance-measurement module and Angle Measurement Module with obtaining the distance parameter of works or measuring point to be measured and angle
Number, so as to accurately realize coordinate detection；Underwater a wide range of interior object, structure search are can be applied not only to, and to searching
The works or measuring point arrived is into the positioning of row distance and angle, accuracy, precision easy to operate, cost savings while higher；
Its detection process is simple, and principle is reliable, and equipment therefor is simple in structure, conveniently moving, and measure effect is good, and determination efficiency is high, application
It is environmental-friendly.
Brief description of the drawings
Fig. 1 is the flow diagram of level formula undersea detection localization method of the present invention.
Fig. 2 is the agent structure principle schematic of the undersea detection positioner involved in the present invention.
Fig. 3 is the agent structure principle schematic of the underwater portion of the undersea detection positioner involved in the present invention.
Embodiment
It is described in further details below in conjunction with the accompanying drawings and by embodiment to the present invention, but the present invention is not limited to following
Embodiment.
Embodiment 1：
The level formula undersea detection localization method that the present embodiment is related to realized in Detection location device under water, its specific work
Skill comprises the following steps：
(1) equipment is installed：The above water and underwater portion of installation undersea detection positioner are checked respectively for, by diver
Underwater portion is brought into waters to be measured and chassis 11 is fixedly mounted in water on fixture, then measurement module of adjusting the distance respectively
Installed with the instrument in Angle Measurement Module, leveling and rotation pretreatment, complete the adjustment and installation of equipment.
(2) underwater search：Diver is rotated to control transducer 1 to scan for by manipulating No. I stent 8, staff
Real time inspection display screen 7 is judged, when the numerical value shown by display screen 7 becomes larger or becomes small suddenly, staff's notice is latent
The position of water person's fixing of energy converter 1, the distance parameter for then reading the angle parameter in orientation and combining on display screen 7, which calculates, to be treated
The coordinate value of geodesic structure thing or measuring point, by the coordinate value to calculating to determine whether to be searched compared with theoretical coordinate value
The works or measuring point to be measured of rope；
(3) undersea ranging：Transducer 1 in the underwater portion of undersea detection positioner is directed at works to be measured by diver
Or measuring point, staff by watch display screen 7 in real time to diver send command adapted thereto make its under water slightly adjustment transducing
Device 1, when the numerical stability of display screen 7 is in a minimum value, which is works to be measured or the distance parameter of measuring point；
(4) angular surveying：Diver realizes the tune to horizontal circle 3 by adjusting the bubble in circular bubble 4 between two parties
It is flat, while by North and South direction pointer 5, position local device 6 and micro- spiral 10 progress subsidiary that inclines, then carved using horizontal
Scale 3 reads with the angle of direct north, using inclinator 2 and reads the angle with horizontal direction, is obtained with completing angular surveying
Angle parameter；
(5) Underwater Navigation：Coordinate value according to being measured in step (2) draws whether be works or measuring point to be measured, according to
The distance parameter of measure and the angle parameter of the middle measure of step (4) in step (3), in conjunction with undersea detection positioner itself
The coordinate value on chassis 11, the accurate location of works or measuring point to be measured is drawn according to conventional underlying mathematical operations method, is realized
The Detection location of underwater works or measuring point to be measured.
The ultrasonic frequency that transducer 1 is launched in the step of the present embodiment (2) is 200-2000kHz；Ranging in step (3)
Error is ± 1cm or ± 0.1%；Angle error is in step (4)：Azimuth horizontal accuracy is 0.05 degree, pitches precision and is
0.005 degree.
Undersea detection positioner used in the present embodiment is divided into above water and underwater portion two parts by function,
Above water is display module, and underwater portion includes distance-measurement module, Angle Measurement Module and supporting module, range measurement mould
Block and Angle Measurement Module connect fixation by supporting module, display module by cable respectively with distance-measurement module and angle
Measurement module connects；The distance-measurement module agent structure is transducer 1, it uses simple beam ultrasonic wave measuring method, profit
Launch simple beam ultrasonic wave afield with transducer 1, and receive the ultrasonic wave reflected through works to be measured or measuring point, pass through
Calculate the propagation time of ultrasonic wave and spread speed draws the distance of works or measuring point to be measured；The Angle Measurement Module main body
Structure includes inclinator 2, horizontal circle 3, circular bubble 4, North and South direction pointer 5 and position local device 6, and inclinator 2 is logical
The overcentre that No. I stent 8 in supporting module is placed in North and South direction pointer 5 is crossed, horizontal circle 3 passes through in supporting module II
Number stent 9 is placed in the lower section of North and South direction pointer 5, and circular bubble 4 is provided with horizontal circle 3 and is used for leveling, position lock
Device 6 is determined for the inclinator 2 after locking leveling and the position of horizontal circle 3, passes through read level dial 3 and the South and the North
The angle of works or measuring point to be measured is drawn to the angle of 5 direct north of pointer, and inclinator 2 and the angle of horizontal direction；
To set display screen 7 on land, it is electrically connected the display module agent structure by cable and transducer 1 and inclinator 2
Connect, can show path minimum value and incline that the ultrasonic wave that transducer 1 is launched reflects through works to be measured or measuring point
Angle instrument 2 and the angle reading of horizontal direction；The supporting module agent structure include 8, No. II stents 9 of No. I stent, it is micro- incline it is spiral
10 and chassis 11, be provided with No. II stent 9 of three fixed structures on chassis 11, No. II stent 9 in the center of chassis 11 from lower and
On be socketed with horizontal circle 3 and North and South direction pointer 5, No. II branch that horizontal circle 3 passes through 11 the right and left of chassis successively
Frame 9 relies on, be provided with each No. II stent 9 it is micro- incline spiral 10 be used for leveling, No. II 9 top of the stent installation in the center of chassis 11
There is No. I stent 8 for being adjusted by rotation structure, be used to support connection transducer 1 and inclinator 2.
Transducer 1 involved in the present embodiment is Conventional transducers of the prior art, due to the unicast of transducer transmitting
Beam ultrasonic wave there are certain angle i.e. a long way off formed a disc, as long as in the case of non-specular surface in the range of this rounded face
There are object or structure, the path minimum value that ultrasonic reflections are returned will be shown on the display screen being attached thereto.
The foregoing is merely the present invention better embodiment, protection scope of the present invention not using the above embodiment as
Limit, as long as those skilled in the art's equivalence changes that the content is made according to the present invention, should all include the protection model of the present invention
In enclosing.
Claims (2)
1. a kind of level formula undersea detection localization method, it is characterised in that concrete technology comprises the following steps：
(1) equipment is installed：The above water and underwater portion of installation undersea detection positioner are checked respectively for, by diver by water
Lower part brings into waters to be measured and chassis is fixedly mounted in water on fixture, then adjust the distance respectively measurement module and angle
Instrument in measurement module is installed, leveling and rotation pre-process, and completes the adjustment and installation of equipment；Wherein, undersea detection
Positioner is divided into above water and underwater portion two parts by function, and above water is display module, underwater portion include away from
From measurement module, Angle Measurement Module and supporting module, distance-measurement module is connected with Angle Measurement Module by supporting module
Fixed, display module is connected with distance-measurement module and Angle Measurement Module respectively by cable；The distance-measurement module master
Body structure is transducer, it uses simple beam ultrasonic wave measuring method, using transducer transmitting simple beam ultrasonic wave afield, and
The ultrasonic wave reflected through works to be measured or measuring point is received, is drawn by the propagation time and spread speed that calculate ultrasonic wave
The distance of works or measuring point to be measured；The Angle Measurement Module agent structure includes inclinator, horizontal circle, circle level
Device, North and South direction pointer and position local device, inclinator is by No. I Stent Implantation in supporting module in North and South direction pointer
Overcentre, horizontal circle is by No. II Stent Implantation in supporting module in the lower section of North and South direction pointer, horizontal circle
On be provided with circular bubble and be used for leveling, position local device is used to locking the position of the inclinator and horizontal circle after leveling
Put, pass through read level dial and the angle of North and South direction pointer direct north, and inclinator and the angle of horizontal direction
Draw the angle of works or measuring point to be measured；To set display screen on land, it passes through the display module agent structure
Cable is electrically connected with transducer and inclinator, can show that the ultrasonic wave that transducer is launched is reflected through works to be measured or measuring point
The path minimum value and inclinator and the angle reading of horizontal direction returned；The supporting module agent structure includes No. I branch
Frame, No. II stent, micro- spiral and chassis of inclining, are provided with No. II stent of three fixed structures on chassis, No. II of chassis center
Stent is socketed with horizontal circle and North and South direction pointer successively from bottom to top, and horizontal circle passes through the II of chassis the right and left
Number stent relies on, be provided with each No. II stent it is micro- incline it is spiral be used for leveling, No. II cantilever tip in chassis center is provided with
No. I stent of structure is adjusted by rotation, is used to support connection transducer and inclinator；
(2) underwater search：By manipulating No. I stent rotation to control transducer to scan for, staff looks into diver in real time
See that display screen is judged, when the numerical value shown by display screen becomes larger or becomes small suddenly, staff notifies diver to fix
The position of transducer, then read orientation angle parameter and combine display screen on distance parameter calculate works to be measured or
The coordinate value of measuring point, by the coordinate value to calculating to determine whether searched knot to be measured compared with theoretical coordinate value
Structure thing or measuring point；
(3) undersea ranging：Transducer in the underwater portion of undersea detection positioner is directed at works to be measured or survey by diver
Point, staff by watch display screen in real time to diver send command adapted thereto make its under water slightly adjustment transducer, when
For the numerical stability of display screen in a minimum value, which is works to be measured or the distance parameter of measuring point；
(4) angular surveying：Diver realizes the leveling to horizontal circle by adjusting the bubble in circular bubble between two parties, at the same time
By North and South direction pointer, position local device and micro- spiral carry out subsidiary that inclines, then using horizontal circle read with
The angle of direct north, the angle using inclinator reading and horizontal direction, angle parameter is obtained to complete angular surveying；
(5) Underwater Navigation：Coordinate value according to being measured in step (2) draws whether be works or measuring point to be measured, according to step
(3) distance parameter of measure and the angle parameter of the middle measure of step (4) in, in conjunction with the undersea detection positioner chassis of itself
Coordinate value, the accurate location of works or measuring point to be measured is drawn according to conventional underlying mathematical operations method, realization is treated under water
The Detection location of geodesic structure thing or measuring point.
2. level formula undersea detection localization method according to claim 1, it is characterised in that transducer is launched in step (2)
Ultrasonic frequency be 200-2000kHz；Range error is ± 1cm in step (3)；Angle error is in step (4)：Azimuth
0.05 degree of horizontal accuracy, pitches 0.005 degree of precision.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610134088.5A CN105652343B (en) | 2016-03-09 | 2016-03-09 | A kind of level formula undersea detection localization method |
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| CN109990761B (en) * | 2017-12-29 | 2022-04-01 | 富泰华工业（深圳）有限公司 | Levelness measuring system and levelness measuring method |
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| CN1614441A (en) * | 2004-12-01 | 2005-05-11 | 南京市长江河道管理处 | Automatic underwater object positioning method and system |
| CN101566474A (en) * | 2009-05-27 | 2009-10-28 | 中国地质调查局发展研究中心 | Positioning and directional digital geological compass with low cost, high precision and high integration |
| CN104515499A (en) * | 2014-12-26 | 2015-04-15 | 盐城工学院 | Novel inland waterway cross section measuring system and measuring method thereof |
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| WO2002063241A1 (en) * | 2001-02-08 | 2002-08-15 | Nkk Corporation | Three-dimensional coordinate measuring method, three-dimensional coordinate measuring apparatus, and method for building large-sized structure |
| CN103226198B (en) * | 2013-03-14 | 2015-07-29 | 华南理工大学 | Based on submarine target localization method and the device of Doppler effect |
| CN103438862B (en) * | 2013-08-13 | 2015-05-06 | 北京师范大学 | Automatic underwater landform detection device applicable to torrent environment |
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| CN1614441A (en) * | 2004-12-01 | 2005-05-11 | 南京市长江河道管理处 | Automatic underwater object positioning method and system |
| CN101566474A (en) * | 2009-05-27 | 2009-10-28 | 中国地质调查局发展研究中心 | Positioning and directional digital geological compass with low cost, high precision and high integration |
| CN104515499A (en) * | 2014-12-26 | 2015-04-15 | 盐城工学院 | Novel inland waterway cross section measuring system and measuring method thereof |
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