CN102269816B - Ultrasonic underwater microtopography detection testing device and method - Google Patents
Ultrasonic underwater microtopography detection testing device and method Download PDFInfo
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- CN102269816B CN102269816B CN2011101167520A CN201110116752A CN102269816B CN 102269816 B CN102269816 B CN 102269816B CN 2011101167520 A CN2011101167520 A CN 2011101167520A CN 201110116752 A CN201110116752 A CN 201110116752A CN 102269816 B CN102269816 B CN 102269816B
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Abstract
The invention discloses an ultrasonic underwater microtopography detection testing device and an ultrasonic underwater microtopography detection testing method, which are applied to underwater microtopography detection and reconstruction test research. The device mainly comprises a simulation jolt device part and a detection device part, and underwater microtopography can be accurately detected when complex jolt working conditions at the bottom of a sea are simulated. The method comprises the following steps that: the jolt device part is controlled to enter a jolt state through a singlechip system; the singlechip system controls a detection stepping motor to rotate at an angle in turn and converts the rotation of the stepping motor into equal angle oscillation of a probe through a cylindrical cam and other structures; the probe transmits a detection signal and collects an echo signal; during detection, an angular displacement sensor acquires jolt angle data to detect and sample the microtopography; and finally, the total acquired data are transmitted to an industrial personal computer for position correction of a detection point correction and the reconstruction of the microtopography, so that the aim of detecting the microtopography is fulfilled.
Description
Technical field
The present invention relates to a kind of new type ultrasonic based on electromechanical integration mima type microrelief expeditionary test set and method under water; Especially to the simulation ocean complex working condition in the short distance, high-precision ultrasonic mima type microrelief detection system and revise the sniffer and the method for sensing point position, belong to sonar technical field of detection under water.
Background technology
Mineral resources are richly stored with bottom the ocean; Exhaustion day by day along with development of science and technology and land resource; The human just former speed that does not have marches to marine resources development; The exploitation of oceanic mineral resources has become the focus of domestic and international research, and the first step of exploitation of mineral resources is exactly to survey the topography and geomorphology in mining area, for the optimization exploitation of mineral products provides important theory and realistic basis.
Mima type microrelief is surveyed and is mainly used in the deep sea mineral resources performance history.Carry out major function that mima type microrelief surveys and purpose and be for the deep-sea mining car or on this ground other equipment of operation accurately detect the original altitude figures of territory, the preparatory exploiting field of the place ahead ore landforms; And the mima type microrelief sniffer generally all is installed in the front end of mining vehicle or other equipment under water, and height overhead is low.Current mode of carrying out mima type microrelief detection under water mainly contains two kinds, and a kind of is the mima type microrelief detection mode of Mechanical Contact formula, and another kind is contactless mima type microrelief detection mode.In Mechanical Contact formula detection mode, because probe contacts with the face of land all the time and be easy to by marine corrosion, and have under the operating mode of complicacy that probe is yielding, the not high shortcoming of detection accuracy, thereby the detection of contact is difficult to widespread use; Contactless mima type microrelief detection mode mainly comprises photodetection and ultrasonic listening dual mode, and ultrasound wave mima type microrelief detection system is occupied extremely important status in contactless mima type microrelief is surveyed.
At present because the singularity of seabed operation environment, the restriction of current techniques, the device that directly applies to mima type microrelief detection system under water also seldom, various detection methods all await further investigation and demonstration.First research institute of National Bureau of Oceanography has designed a cover laboratory and has used ultrasonic measurement appearance under water, and this measuring instrument is fixed on transducer probe and measures on the car, measures car and is contained on the measurement brachium pontis; Utilize the to-and-fro movement of measuring car to come, but this device can only move under lower-speed state for system provides sensing point, higher for rate request; And real-time utility system is also inapplicable; And this device can evoke more spray, disturbs the reception of acoustic signals, and is unfavorable to the raising of system's degree of accuracy; The most important thing is that this device do not consider the situation of jolting of submarine topography, can not simulate the detection operating mode in seabed.
Summary of the invention
Technical matters to be solved by this invention provides that a kind of real-time is good, controllability is strong, can make transducer make equal angles swing and the ultrasound wave that jolts operating mode and the position of sensing point is revised that can the analog simulation seabed mima type microrelief expeditionary test set and method thereof under water.
Ultrasound wave provided by the invention is the mima type microrelief expeditionary test set under water; Form by simulation bump device and swing sniffer two parts; The structure of described simulation bump device is: jolt and be fixed on the fixed support with stepping motor; Described fixed support integral installation is on travelling car; The described output axle head that jolts with stepping motor is equipped with disk; Connecting rod is connected on the described disk; The described connecting rod other end is connected on the slide block, and described slide block is slidingly mounted in the described support bracket fastened fixedly chute, and the circumscribed circle member is hinged on the described fixed support; Bolster is installed on the described circumscribed circle member and the axis of described bolster and described circumscribed circle member and the described support bracket fastened axis normal that connects; Transmission shaft one end is connected in described slide block center, and the other end links with described bolster and described transmission shaft does not overlap with the mid point of described bolster with the tie-point of described bolster, detector carriage upper end is connected on the described bolster and described detector carriage does not overlap with the mid point of described bolster with the tie-point of described bolster and with the interface of described transmission shaft and bolster middle point symmetry about described bolster; End at described bolster is equipped with first angular displacement sensor, on described circumscribed circle member and the described support bracket fastened interface second angular displacement sensor is installed; The structure of described swing sniffer is: cylindrical cam is installed on the detector base plate through bearing seat; Detection with stepping motor be installed in described detector base plate and with described cylindrical cam driving coupling; Cylindrical roller places the chute on the described detector base plate and is inserted in the sliding ditch of described cylindrical cam; Described cylindrical roller and fork upper end are hinged; Described fork lower end and described detector base plate hinged; Transmitting-receiving integrated ultrasonic transducer is installed in described fork lower end, be equipped with on the described bearing seat be electrically connected with control system and with described cylindrical cam on the corresponding optoelectronic switch of catch, described detector base plate and described detector carriage link.
Ultrasound wave is the test method of mima type microrelief expeditionary test set under water, and (1) is jolted by single-chip computer control system control and rotated continuously by desired speed with stepping motor, drives sniffer and partly gets into the simulation seabed duty of jolting; (2) control is surveyed with stepping motor drive cylindrical cam and is rotated continuously; When turn on the cylindrical cam catch for the first time with the optoelectronic switch transmitter to stopping at once; And stopping 50ms, this moment, whole detection system got into the SBR of surveying first sensing point; (3) single-chip computer control system is controlled transmitting-receiving integrated ultrasonic transducer and is sent detectable signal; Carrying out mima type microrelief surveys; And collection echoed signal; When sending detectable signal, gather the angle signal of first angular displacement sensor and second angular displacement sensor, and echoed signal of collecting and angular displacement signal are reached industrial computer through data collecting card; (4) turn over certain angle by single-chip computer control system control detection successively with stepping motor; And stop the corresponding time; After each rotation finishes, this sensing point is carried out mima type microrelief survey, and the angle signal of collection first angular displacement sensor this moment and second angular displacement sensor; (5) surveyed after a slice predetermined zone, the original altitude figures of the landform that collects on all sensing points and angular displacement data importing in industrial computer, are carried out the sensing point position correction and calculated and mima type microrelief reconstruct.
Utilize described cylindrical cam described detection to be converted into the equal angles swing of the transmitting-receiving integrated ultrasonic transducer on the described fork with rotatablely moving on the stepping motor output shaft; And described detection is done reciprocal motion to a described transmitting-receiving integrated ultrasonic transducer of direction rotation drive all the time with stepping motor; The each evenly angle of swing of described transmitting-receiving integrated ultrasonic transducer is 1 °; The pivot angle amplitude of described transmitting-receiving integrated ultrasonic transducer is 20 °, promptly is center ± 10 ° with the vertical curve.
After described transmitting-receiving integrated ultrasonic transducer swings to a position, stop 50ms, when swinging to the most left and rightmost, stop 100+Xms, wherein Xms is used for the motion of travelling car, can according to circumstances confirm.
The ultrasound wave that adopts technique scheme is mima type microrelief expeditionary test set and method thereof under water, and disk, connecting rod and slide block three constitute slider-crank mechanism, and the rotation of stepping motor is converted into horizontal reciprocating movement; Transmission shaft drives the circumscribed circle member around circumscribed circle member and the motion of support bracket fastened interface.Wherein two angular displacement sensors are installed in respectively on the end and circumscribed circle member and support bracket fastened interface of bolster; The deflection angle that is used for the measure analog bump device; And the correlated parts size of combination bump device, revise the physical location that sensing point belongs to; The detector carriage upper end is welded on the bolster, and the base plate of lower end and detector links through welding, and it is under the drive of transmission shaft; Can on the parallel and vertical direction of bolster, swing; Because detector carriage do not overlap with the bolster mid point with the tie-point of bolster, and with the interface of transmission shaft and bolster middle point symmetry about bolster, thereby; Can produce moving up and down of an in the vertical direction, thus the actual condition that jolts up and down when having simulated seabed operation.Transmitting-receiving integrated ultrasonic transducer is installed in the fork lower end; Transducer around pin joint along with fork moves; The transmitter of optoelectronic switch is contained on the bearing seat; The catch of optoelectronic switch is fixed on the cylindrical cam, and when transmitter was corresponding with catch, ultrasonic transducer just moved to the rightmost of device; Sniffer partly adopts cylindrical cam will survey the swing that converts fork with rotatablely moving on the stepping motor output shaft into; Detection is made the intermittent transmitting-receiving integrated ultrasonic transducer of drive that rotatablely moves with stepping motor and is done equal angular swing around dead center; The angle of each swing is 1 °; And detection moves reciprocatingly to a transmitting-receiving integrated ultrasonic transducer of direction rotation drive with stepping motor all the time; Through the isostructural design of cylindrical cam, the pivot angle amplitude is 20 °, promptly is center ± 10 ° with the vertical curve; The cylindrical cam half turn is surveyed 21 points, and 21 points are once surveyed in the whole range of promptly popping one's head in swing, thereby the swing circular arc of probe is divided into 20 sections, and cylindrical cam designs by 40 sections.
The invention has the advantages that: jolt operating mode and revise the position of sensing point of the complicacy that described test unit can be simulated undersea mining realistically; Compare with other forms of expeditionary test set; Simplify the structure of device greatly, had advantage simple in structure, that test is true to nature; Described test unit has been avoided the restriction of the to-and-fro movement of probe to the real-time of detection, has also reduced the influence of spray that probe movement evokes to ultrasonic transducer reception signal; Described test sniffer has been realized the equal angular swing of probe, has simplified the complexity that the original altitude figures of sensing point converts.
Description of drawings
Fig. 1 is the new type ultrasonic of the present invention structural representation of mima type microrelief expeditionary test set under water.
Embodiment
The present invention below will combine Figure of description and embodiment to be described further
As shown in Figure 1; A kind of ultrasound wave is the mima type microrelief expeditionary test set under water; Form by simulation bump device and swing sniffer two parts; The structure of simulation bump device is: jolt and be fixed on the fixed support 5 through first motor cabinet 4 with stepping motor 1, fixed support 5 integral installations are on travelling car 6, and the output axle head that jolts with stepping motor 1 is equipped with disk 2; Connecting rod 3 is connected on the disk 2 through pin; Connecting rod 3 other ends are connected on the slide block 27, and slide block 27 is slidingly mounted in the fixedly chute 28 of fixed support 5, and circumscribed circle member 7 is hinged on the fixed support 5; Bolster 25 be installed on the circumscribed circle member 7 and the axis of bolster 25 and circumscribed circle member 7 and fixed support 5 connect axis normal; Transmission shaft 26 1 ends are connected in slide block 27 centers, and the other end links with bolster 25 and transmission shaft 26 does not overlap with the mid point of bolster 25 with the tie-point of bolster 25, detector carriage 8 upper ends are connected on the bolster 25 and detector carriage 8 does not overlap with the mid point of bolster 25 with the tie-point of bolster 25 and with the interface of transmission shaft 26 and bolster 25 middle point symmetry about bolster 25; End at bolster 25 is equipped with first angular displacement sensor 23, on the interface of circumscribed circle member 7 and fixed support 5 second angular displacement sensor 24 is installed; The structure of swing sniffer is: cylindrical cam 9 is installed on the detector base plate 16 through the clutch shaft bearing seat 10 and second bearing seat 21; Clutch shaft bearing seat 10 is provided with clutch shaft bearing end cap 11; Second bearing seat 21 is provided with second bearing (ball) cover 20; Survey with stepping motor 18 and be installed in detector base plate 16 and pass through box coupling 19 and cylindrical cam 9 driving coupling through second motor cabinet 17; Cylindrical roller 12 places the chute 15 on the detector base plate 16 and is inserted in the sliding ditch of cylindrical cam 9, and cylindrical roller 12 is hinged with fork 14 upper ends, and fork 14 lower ends and detector base plate 16 are hinged; Transmitting-receiving integrated ultrasonic transducer 13 is installed in fork 14 lower ends; The transmitter of the optoelectronic switch 22 that is electrically connected with control system is contained on second bearing seat 21, and the catch of optoelectronic switch 22 is fixed on the cylindrical cam 9, and detector base plate 16 links with detector carriage 8.
Ultrasound wave is the test method of mima type microrelief expeditionary test set under water, and (1) is jolted by single-chip computer control system control and rotated continuously by desired speed with stepping motor 1, drives sniffer and partly gets into and simulate the seabed duty of jolting; (2) control is surveyed with stepping motor 18 drive cylindrical cams 9 and is rotated continuously; When turn on the cylindrical cam 9 catch for the first time with optoelectronic switch 22 transmitters to stopping at once; And stopping 50ms, this moment, whole detection system got into the SBR of surveying first sensing point; (3) single-chip computer control system is controlled transmitting-receiving integrated ultrasonic transducer 13 and is sent detectable signal; Carrying out mima type microrelief surveys; And collection echoed signal; When sending detectable signal, gather the angle signal of first angular displacement sensor 23 and second angular displacement sensor 24, and echoed signal of collecting and angular displacement signal are reached industrial computer through data collecting card; (4) turn over certain angle by single-chip computer control system control detection successively with stepping motor 18; And stop the corresponding time; After each rotation finishes, this sensing point is carried out mima type microrelief survey, and the angle signal of collection first angular displacement sensor 23 this moment and second angular displacement sensor 24; (5) surveyed after a slice predetermined zone, the original altitude figures of the landform that collects on all sensing points and angular displacement data importing in industrial computer, are carried out the sensing point position correction and calculated and mima type microrelief reconstruct.
Utilize described cylindrical cam 9 described detection to be converted into the equal angles swing of the transmitting-receiving integrated ultrasonic transducer 13 on the described fork 14 with rotatablely moving on stepping motor 18 output shafts; And described detection is done reciprocal motion to a described transmitting-receiving integrated ultrasonic transducer 13 of direction rotation drive all the time with stepping motor 18; Described transmitting-receiving integrated ultrasonic transducer 13 each evenly angles of swing are 1 °; The pivot angle amplitude of described transmitting-receiving integrated ultrasonic transducer 13 is 20 °, promptly is center ± 10 ° with the vertical curve.
After described transmitting-receiving integrated ultrasonic transducer 13 swings to a position, stop 50ms, when swinging to the most left and rightmost, stop 100+Xms, wherein Xms is used for the motion of travelling car, can according to circumstances confirm.
The whole test method and apparatus is implemented through following concrete mode:
(1) jolts and be installed on the fixed support 5 through motor cabinet 4 with stepping motor 1; Fixed support 5 integral installations are jolted with stepping motor 1 rotation continuously under the control of single-chip computer control system on travelling car 6, drive disk 2, connecting rod 3 and slide block 27 and do the slider-crank mechanism motion; Thereby transmission shaft 26 is with slide block 27 motions; Make bolster 25 drive circumscribed circle member 7 and rotate around the interface of circumscribed circle member 7 and fixed support 5, bolster 25 can rotate with transmission shaft 26 in the hole of circumscribed circle member 7, and detector carriage 8 is welded on the bolster 25; And pad is not on mid point; With the interface of transmission shaft 26 and the bolster 25 middle point symmetry about bolster 25, the detector base plate 16 of sniffer part and detector carriage 8 link through welding, thereby sniffer partly can be done balleting up and down with detector carriage 8; At this moment, the whole test device gets into the simulation sea bottom complex duty of jolting.
(2) after the simulation bump device is partly started working; Monolithic control system control is surveyed and rotate continuously with stepping motor 18, and passes motion to the main shaft of cylindrical cam 9 through box coupling 19, and drive cylindrical cam 9 rotates; Cylindrical cam 9 drives fork 14 motions through cylindrical roller 12; Transmitting-receiving integrated ultrasonic transducer 13 is equipped with in fork 14 lower ends, and transmitting-receiving integrated ultrasonic transducer 13 can be with the pin joint swing of fork 14 on fork 14 and detector base plate 16, the transmitter of the optoelectronic switch 22 on second bearing seat 21 be installed on catch on the cylindrical cam 9 at once; Survey and stop the rotation with stepping motor 18; At this moment, transmitting-receiving integrated ultrasonic transducer 13 will move to low order end, get into the SBR of surveying first point.
(3) at this moment; Single-chip computer control system is controlled transmitting-receiving integrated ultrasonic transducer 13 and is sent the pulse detection signal, returns after detectable signal contacts to earth, and is received by transmitting-receiving integrated ultrasonic transducer 13; The echoed signal that transmitting-receiving integrated ultrasonic transducer 13 receives gets into data collecting card after amplifying circuit amplification, band-pass filter; Communicate with industrial computer, when sending detectable signal, the angle signal of single-chip computer control system control data capture card collection first angular displacement sensor 23 this moment and second angular displacement sensor 24; And after it was passed to industrial computer, system had accomplished the detection of a sensing point.
(4) survey with stepper motor 18 under the control of single-chip computer control system, rotate 9 ° successively, it is that 1 ° equal angles is swung that transmitting-receiving integrated ultrasonic transducer 13 can be done with fork 14 at every turn; Each back that finishes of rotating stops 50ms; Survey the sensing point of position at that time, when transmitting-receiving integrated ultrasonic transducer 13 swings arrive the most left or rightmost extreme position, when promptly detection is crossed 180 ° with stepping motor 18 revolutions; Stop 100+Xms; Preceding 50ms is used to survey last interim point of this week, and middle Xms is used to survey the reach of dolly, and back 50ms is used to carry out the detection of first collection point of next cycle; During this period of time, carry out the detection of twice data collection point altogether.After having surveyed a slice predetermined zone, the original altitude figures of landform of all sensing points and angular displacement data importing in industrial computer, are carried out the sensing point position correction and calculated and mima type microrelief reconstruct.
The present invention has been successfully applied to mima type microrelief detection system under water in the laboratory, reach cm-level accuracy, and ability reconstruct identifies the artificially generated terrain in various seabeds, satisfies the needs that mima type microrelief original altitude figures in deep-sea is surveyed.
Claims (4)
1. ultrasound wave mima type microrelief expeditionary test set under water; Form by simulation bump device and swing sniffer two parts; It is characterized in that: the structure of described simulation bump device is: jolt and be fixed on the fixed support (5) with stepping motor (1); Described fixed support (5) integral installation is on travelling car (6); The described output axle head that jolts with stepping motor (1) is equipped with disk (2); Connecting rod (3) is connected on the described disk (2); Described connecting rod (3) other end is connected on the slide block (27); Described slide block (27) is slidingly mounted in the fixedly chute (28) of described fixed support (5); Circumscribed circle member (7) is hinged on the described fixed support (5), and bolster (25) is installed in that described circumscribed circle member (7) is gone up and the axis normal that connects of the axis of described bolster (25) and described circumscribed circle member (7) and described fixed support (5), and transmission shaft (26) one ends are connected in described slide block (27) center; The other end links with described bolster (25) and described transmission shaft (26) does not overlap with the mid point of described bolster (25) with the tie-point of described bolster (25); Detector carriage (8) upper end be connected that described bolster (25) is gone up and described detector carriage (8) does not overlap with the mid point of described bolster (25) with the tie-point of described bolster (25) and with the interface of described transmission shaft (26) and bolster (25) middle point symmetry about described bolster (25), at an end of described bolster (25) first angular displacement sensor (23) is installed, on the interface of described circumscribed circle member (7) and described fixed support (5) second angular displacement sensor (24) is installed; The structure of described swing sniffer is: cylindrical cam (9) is installed on the detector base plate (16) through bearing seat; Survey with stepping motor (18) be installed in described detector base plate (16) and with described cylindrical cam (9) driving coupling; Cylindrical roller (12) places the chute (15) on the described detector base plate (16) and is inserted in the sliding ditch of described cylindrical cam (9); Described cylindrical roller (12) is hinged with fork (14) upper end; Described fork (14) lower end and described detector base plate (16) are hinged; Transmitting-receiving integrated ultrasonic transducer (13) is installed in described fork (14) lower end; Be equipped with on the described bearing seat be electrically connected with single-chip computer control system and with described cylindrical cam (9) on the corresponding optoelectronic switch of catch (22), described detector base plate (16) links with described detector carriage (8).
2. test the described ultrasound wave of claim 1 method of mima type microrelief expeditionary test set under water; It is characterized in that: step 1, jolt by single-chip computer control system control and to rotate continuously by desired speed, drive the swing sniffer and partly get into and simulate the seabed duty of jolting with stepping motor (1); Step 2, control are surveyed with stepping motor (18) and are driven cylindrical cam (9) rotation continuously; When turn on the cylindrical cam (9) catch for the first time with optoelectronic switch (22) transmitter to stopping at once; And stopping 50ms, this moment, whole detection system got into the SBR of surveying first sensing point; Step 3, single-chip computer control system are controlled transmitting-receiving integrated ultrasonic transducer (13) and are sent detectable signal; Carrying out mima type microrelief surveys; And collection echoed signal; When sending detectable signal, gather the angle signal of first angular displacement sensor (23) and second angular displacement sensor (24), and echoed signal of collecting and angular displacement signal are reached industrial computer through data collecting card; Step 4, survey by single-chip computer control system control and to turn over certain angle successively with stepping motor (18); And stop the corresponding time; After each rotation finishes; This sensing point is carried out mima type microrelief survey, and the angle signal of collection first angular displacement sensor (23) this moment and second angular displacement sensor (24); Step 5, surveyed after a slice predetermined zone, the original altitude figures of the landform that collects on all sensing points and angular displacement data importing in industrial computer, are carried out the sensing point position correction and calculated and mima type microrelief reconstruct.
3. test ultrasound wave according to claim 2 is the method for mima type microrelief expeditionary test set under water; It is characterized in that: utilize described cylindrical cam (9) described detection to be converted into the equal angles swing of the transmitting-receiving integrated ultrasonic transducer (13) on the described fork (14) with rotatablely moving on stepping motor (18) output shaft; And described detection is done reciprocal motion to a direction rotation described transmitting-receiving integrated ultrasonic transducer of drive (13) all the time with stepping motor (18); The each evenly angle of swing of described transmitting-receiving integrated ultrasonic transducer (13) is 1 °; The pivot angle amplitude of described transmitting-receiving integrated ultrasonic transducer (13) is 20 °, promptly is center ± 10 ° with the vertical curve.
4. according to claim 2 or the 3 described test ultrasound waves method of mima type microrelief expeditionary test set under water; It is characterized in that: after described transmitting-receiving integrated ultrasonic transducer (13) swings to a position; Stop 50ms, when swinging to the most left and rightmost, stop 100+Xms; Wherein Xms is used for the motion of travelling car, can according to circumstances confirm.
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| CN103869322B (en) * | 2014-04-01 | 2016-10-26 | 中南大学 | A kind of simulation deep-sea mining reverberant ambiance ultrasonic mima type microrelief detection devices and methods therefor |
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