CN103969652A - Three-dimensional scanning acoustic imaging device - Google Patents
Three-dimensional scanning acoustic imaging device Download PDFInfo
- Publication number
- CN103969652A CN103969652A CN201410209195.0A CN201410209195A CN103969652A CN 103969652 A CN103969652 A CN 103969652A CN 201410209195 A CN201410209195 A CN 201410209195A CN 103969652 A CN103969652 A CN 103969652A
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- Prior art keywords
- signal
- unit
- scanning
- imaging device
- underwater
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Classifications
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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
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- 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
-
- 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
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
Abstract
The invention discloses a three-dimensional scanning acoustic imaging device and belongs to the field of underwater engineering mapping, and particularly the three-dimensional scanning acoustic imaging device is composed of an underwater machine rotary table, an acoustic imaging unit and an auxiliary measuring device. An acoustic multi-beam ranging principle is adopted as the basic principle of the device, a transmitting transducer array transmits sound beams which are narrow in the horizontal direction and wide in the perpendicular direction to irradiate a detection area, the transmitting transducer array conducts beam forming processing on received multi-channel signals to form multiple receiving beams which are quite narrow in the perpendicular direction, the arriving time of the echo of each receiving beam is calculated, the position of a space target can be calculated according to the direction of the beams, one perpendicular scanning line of an underground scene can be obtained through each time of receiving and transmitting, 360-degree rotary scanning is conducted on the horizontal plane through the underwater machine rotary table, finally, a three-dimensional point cloud image of the specific underwater area is formed, and therefore a three-dimensional structure of the underwater scene is visually reflected. The device can be widely applied to multiple fields of underwater structural object detection, bridge underwater detection, ocean platform underwater safety monitoring and the like.
Description
Technical field
What the present invention relates to is Underwater Engineering, survey field under water, or rather, relates to a kind of 3-D scanning acoustics imaging device, is widely used in that underwater structure detects, multiple fields such as detection under bridge water, ocean platform safety monitoring under water.
Background technology
Large-scale underwater structure, after the long period, owing to being subject to washing away and corroding of current, can there are in a large number many potential safety hazards such as damages, distortion in the bridge pier of such as bridge, harbour, ocean platform, off-shore structure etc. in water.Traditional method detects and adopts frogman to touch spy underwater structure, this method work efficiency and low, and there is again many potential safety hazards in frogman's underwater operation simultaneously.
Along with scientific and technological development more and more detects under water and adopts side-scan sonar, multibeam echosounding sonar etc. to carry out, but side-scan sonar mainly shows with image format, be difficult to provide concrete three-dimensional structure, the application scenario that therefore only limit to search and rescue, pipe inspection etc. only utilizes image information under water; And although multibeam echosounder can provide three-dimensional structure under water, but the fundamental purpose of multibeam echosounder is to survey and draw under water, therefore be difficult to bridge pier, ocean platform etc. to carry out three-dimensional imaging perpendicular to water-bed works, especially near water surface part multibeam echosounder cannot be measured substantially.
And for the actual demand of field to underwater structure three-dimensional imaging such as detection under underwater structure detection, bridge water, ocean platform safety monitorings under water, just must have a kind of new measuring equipment to carry out omnibearing three-dimensional imaging to the works perpendicular to water-bed.
Summary of the invention
Given this, the invention discloses a kind of 3-D scanning acoustics imaging device, this device is made up of acoustics imaging part, mechanical scanning part and subsidiary unit three parts, and wherein acoustics imaging part is made up of the combined type acoustic transducer (101) being connected successively, acoustic signal converting unit (102), signal processing unit (104); Mechanical scanning part is made up of the watertight stepper motor 1 (115) being connected successively, watertight stepper motor 2 (116) and mechanical scanning control module (103), and is connected with acoustic signal converting unit (102) by data communication interface; Subsidiary unit comprises attitude measurement instrument (105) and surperficial sound velocimeter (106), is connected with signal processing unit (104) by serial data interface.
A kind of 3-D scanning acoustics imaging device disclosed in this invention, its combined type acoustic transducer (101) being positioned at is under water made up of polynary straight line receiving transducer battle array (108) and polynary straight line transmitting transducer battle array (109), is fixed on the watertight case (503) of acoustic signal converting unit (102) with " L " type unitized construction.
A kind of 3-D scanning acoustics imaging device disclosed in this invention, in its acoustic signal converting unit (102), circuit part is made up of signal transmitting, signal reception and data interaction three parts, and wherein signal emission part is made up of the hyperchannel transmitting driving circuit (110), the acoustical signal main control unit (112) that are connected successively with polynary straight line transmitting transducer battle array (109); Signal receive section is made up of with AD translation circuit (111), acoustical signal main control unit (112) the multi channel signals conditioning being connected successively with polynary straight line receiving transducer battle array (108); Data interaction part is made up of be connected successively acoustical signal main control unit (112) and data communication units 1 (113), data communication units 2 (114).
A kind of 3-D scanning acoustics imaging device disclosed in this invention, its watertight stepper motor 1 (115) is mutually vertical with the rotating shaft of watertight stepper motor 2 (116), the slewing area of watertight stepper motor 1 (115) is level 360, and the slewing area of watertight stepper motor 2 (116) is vertical direction ± 45 °.
A kind of 3-D scanning acoustics imaging device disclosed in this invention, each transmission channel of its hyperchannel transmitting driving circuit (110) is made up of the signal isolated location (201) being connected successively, power amplification unit (202), output transformer unit (203), and is finally connected with the array element of polynary straight line transmitting transducer battle array (109).
A kind of 3-D scanning acoustics imaging device disclosed in this invention, its multi channel signals conditioning is made up of the pre-amplification circuit being connected successively (301), bandwidth-limited circuit (302), controllable gain amplifying circuit (303), Anti-aliasing Filter Circuits (304) and AD transducer (305) with its each passage of AD translation circuit (111), and the delayed output signals of polynary straight line receiving transducer battle array (108) is directly connected to pre-amplification circuit (301).
A kind of 3-D scanning acoustics imaging device disclosed in this invention, its signal processing unit (104), centered by data allocations FPGA (403), is connected with data communication units 3 (401), data communication units 4 (402), signal processing FPGA (406), main-machine communication unit (404) by data bus respectively; Signal is processed FPGA (406) and is connected with DSP2 (408) with DSP1 (407) respectively by data bus, and synchronous signal processes FPGA (406), DSP1 (407) and DSP2 (408) passes through respectively high-speed memory Interface Expanding mass storage (409,410,411); Main-machine communication unit (404) is connected with network communication unit (405) by data bus, and is connected with main control computer (107) by Ethernet.
A kind of 3-D scanning acoustics imaging device disclosed in this invention, its ultimate principle adopts acoustics multi-beam range measurement principle, transmitting transducer battle array is irradiated search coverage to the wide acoustic emission wave beam (502) of the narrow vertical direction of emission level direction in water, receiving transducer battle array is carried out wave beam formation processing to the multi channel signals receiving and is formed the very narrow sound reception wave beam (501) of several vertical direction and calculate each received beam echo time of arrival, can calculate the position of extraterrestrial target in conjunction with beam direction, each transmitting-receiving can obtain a vertical scan line for scene under water, in 360 ° of directions of level, carry out rotation sweep by submarine mechanical turntable again, the final three-dimensional point cloud image that forms specific region under water, thereby reflect intuitively the three-dimensional structure of scene under water.
A kind of its advantage of 3-D scanning acoustics imaging device disclosed in this invention is utilizing mechanical turntable to realize the spacescan of wave beam, overall complexity and the cost of system are reduced greatly, what the scanning by submarine mechanical turntable in 360 ° of directions of level can complete measure to the three-dimensional point cloud structure of scene under water, thereby realize the accurate three-dimensional modeling of scene under water.
As can be seen here, modern design of the present invention, with high content of technology, be easy to realize and cost lower, be very suitable for Underwater Engineering field, under water in survey field to underwater structure, such as Large Bridge Pier, port and pier, ocean platform etc. carry out meticulous three-dimensional and sweep survey.
Brief description of the drawings
Understand in order to make content of the present invention be more conducive to relevant speciality technician, below accompanying drawing is briefly described.
Fig. 1 is the composition frame chart of 3-D scanning acoustics imaging device of the present invention.
Fig. 2 is the composition frame chart of hyperchannel transmitting driving circuit in 3-D scanning acoustics imaging device of the present invention.
Fig. 3 is the composition frame chart of multi channel signals conditioning and AD translation circuit in 3-D scanning acoustics imaging device of the present invention.
Fig. 4 is signal processing unit composition frame chart in 3-D scanning acoustics imaging device of the present invention.
Fig. 5 is the composition structural drawing of a kind of embodiment of 3-D scanning acoustics imaging device of the present invention.
Specific embodiments
Below in conjunction with accompanying drawing and one of the present invention preferably specific embodiment the invention will be further described.
As the better example of executing of one of the present invention, this 3-D scanning acoustics imaging device, its acoustic centres frequency of operation is 800KHz, polynary straight line receiving transducer battle array (203) and polynary straight line transmitting transducer battle array (203) all adopt 64 yuan of linear array structures, thereby form the acoustic emission wave beam of 120 ° x1 ° and the sound reception wave beam of 1 ° x15 °.
As the better example of executing of one of the present invention, all electronic sections of acoustic signal converting unit (102) and signal processing unit (104) are all positioned in a watertight compartment, pressurized capsule shell adopts 316 stainless steels to make, polynary straight line receiving transducer battle array (108) and polynary straight line transmitting transducer battle array (109) composition, be fixed on watertight case (503) with " L " type unitized construction, surface sound velocimeter (106) and attitude measurement instrument (105) are also fixed on watertight case (503), and attitude measurement instrument (105) need to carry out precise calibration with the relative attitude of combined type acoustic transducer (101), whole watertight compartment is installed on submarine mechanical turntable, turntable adopts the mode of tripod (504) to be positioned over the bottom in waters to be measured.
As the better example of executing of one of the present invention, acoustical signal main control unit (112) is selected Cyclone III Series FPGA, mainly completes generation, the collection of echoed signal and the function of data communication that hyperchannel PWM transmits; Acoustical signal main control unit (112) produces pwm signal by Digital Logic and forms missile acoustical signal by signal isolated location (201), power amplification unit (202), output transformer unit (203), consider emission efficiency, power amplification unit in the present embodiment (202) is selected D power-like amplifier; Multi channel signals conditioning is realized by the integrated simulation front-end A FE5808 of TI company with AD translation circuit (111), monolithic AFE5808 has 8 autonomous channels, therefore for 64 yuan of reception battle arrays in the present embodiment, altogether need 8 to realize signal condition and the analog to digital conversion of 64 passages.
As the better example of executing of one of the present invention, in its signal processing unit (104), data allocations FPGA (403) data allocations FPGA (403) adopts Cyclone III Series FPGA, mainly complete the distribution of echo data, the collection of attitude measurement instrument (105) and surperficial sound velocimeter (106) data and the generation of all kinds of control signals, signal is processed FPGA (406) and is adopted the VIRTEX Series FPGA of the Xilinx company that processing power is stronger mainly to complete the real-time beamforming algorithm of 512, DSP1 (407) and DSP2 (408) adopt TI company's T MS320C66xx series DSP mainly to complete echoed signal in each wave beam is carried out to echo estimation time of arrival, and in conjunction with beam angle, the attitude data of machinery turntable angle and attitude measurement instrument calculates the locus of echo point.
The foregoing is only the better feasible example of executing of one of invention; described embodiment is not in order to limit scope of patent protection of the present invention; therefore the equivalent structure that every utilization instructions of the present invention and accompanying drawing content are done changes, and in like manner all should be included in protection scope of the present invention.
Claims (7)
1. a 3-D scanning acoustics imaging device, it is characterized in that this device is made up of acoustics imaging part, mechanical scanning part and subsidiary unit three parts, wherein acoustics imaging part is made up of the combined type acoustic transducer (101) being connected successively, acoustic signal converting unit (102), signal processing unit (104); Mechanical scanning part is made up of the watertight stepper motor 1 (115) being connected successively, watertight stepper motor 2 (116) and mechanical scanning control module (103), and is connected with acoustic signal converting unit (102) by data communication interface; Subsidiary unit comprises attitude measurement device (105) and surperficial sound velocimeter (106), is connected with signal processing unit (104) by serial data interface.
2. 3-D scanning acoustics imaging device as claimed in claim 1, the combined type acoustic transducer (101) that it is characterized in that being positioned at is under water made up of polynary straight line receiving transducer battle array (108) and polynary straight line transmitting transducer battle array (109), is fixed on the watertight case (503) of acoustic signal converting unit (102) with " L " type unitized construction.
3. 3-D scanning acoustics imaging device as claimed in claim 1, it is characterized in that in acoustic signal converting unit (102), circuit part is made up of signal transmitting, signal reception and data interaction three parts, wherein signal emission part is made up of the hyperchannel transmitting driving circuit (110), the acoustical signal main control unit (112) that are connected successively with polynary straight line transmitting transducer battle array (109); Signal receive section is made up of with AD translation circuit (111), acoustical signal main control unit (112) the multi channel signals conditioning being connected successively with polynary straight line receiving transducer battle array (108); Data interaction part is made up of be connected successively acoustical signal main control unit (112) and data communication units 1 (113), data communication units 2 (114).
4. 3-D scanning acoustics imaging device as claimed in claim 1, it is characterized in that watertight stepper motor 1 (115) is mutually vertical with the rotating shaft of watertight stepper motor 2 (116), the slewing area of watertight stepper motor 1 (115) is level 360, and the slewing area of watertight stepper motor 2 (116) is vertical direction ± 45 °.
5. 3-D scanning acoustics imaging device as claimed in claim 1, the each transmission channel that it is characterized in that hyperchannel transmitting driving circuit (110) is made up of the signal isolated location (201) being connected successively, power amplification unit (202), output transformer unit (203), and is finally connected with the array element of polynary straight line transmitting transducer battle array (109).
6. 3-D scanning acoustics imaging device as claimed in claim 1, it is characterized in that multi channel signals conditioning is made up of the pre-amplification circuit being connected successively (301), bandwidth-limited circuit (302), controllable gain amplifying circuit (303), Anti-aliasing Filter Circuits (304) and AD transducer (305) with its each passage of AD translation circuit (111), the delayed output signals of polynary straight line receiving transducer battle array (108) is directly connected to pre-amplification circuit (301).
7. underwater sound video imaging apparatus as claimed in claim 1, it is characterized in that signal processing unit (104) is centered by data allocations FPGA (403), be connected with data communication units 3 (401), data communication units 4 (402), signal processing FPGA (406), main-machine communication unit (404) by data bus respectively; Signal is processed FPGA (406) and is connected with DSP2 (408) with DSP1 (407) respectively by data bus, and synchronous signal processes FPGA (406), DSP1 (407) and DSP2 (408) passes through respectively high-speed memory Interface Expanding mass storage (409,410,411); Main-machine communication unit (404) is connected with network communication unit (405) by data bus, and is connected with main control computer (107) by Ethernet.
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| CN201410209195.0A CN103969652A (en) | 2014-05-19 | 2014-05-19 | Three-dimensional scanning acoustic imaging device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104569991A (en) * | 2015-02-06 | 2015-04-29 | 中国安全生产科学研究院 | Sonar detection device for three-dimensional space of mine gob |
| CN106125078A (en) * | 2016-08-29 | 2016-11-16 | 苏州探海海洋科技有限责任公司 | One multidimensional acoustic imaging system and method under water |
| CN107764248A (en) * | 2017-12-05 | 2018-03-06 | 山东省科学院海洋仪器仪表研究所 | A kind of acoustic wave tide measuring instrument and measuring method |
| CN108139479A (en) * | 2015-07-24 | 2018-06-08 | 罗伯特·博世有限公司 | For sending and/or receiving the acoustic sensor of acoustic signal |
| CN109444937A (en) * | 2018-08-08 | 2019-03-08 | 北京木业邦科技有限公司 | Tree vigorous degree and Tending methods, device, electronic equipment and storage medium |
| CN116734759A (en) * | 2023-08-14 | 2023-09-12 | 四川省公路规划勘察设计研究院有限公司 | Bridge body detection method and system based on three-dimensional laser and multi-beam underwater scanning |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104569991A (en) * | 2015-02-06 | 2015-04-29 | 中国安全生产科学研究院 | Sonar detection device for three-dimensional space of mine gob |
| CN108139479A (en) * | 2015-07-24 | 2018-06-08 | 罗伯特·博世有限公司 | For sending and/or receiving the acoustic sensor of acoustic signal |
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| CN109444937A (en) * | 2018-08-08 | 2019-03-08 | 北京木业邦科技有限公司 | Tree vigorous degree and Tending methods, device, electronic equipment and storage medium |
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| CN116734759A (en) * | 2023-08-14 | 2023-09-12 | 四川省公路规划勘察设计研究院有限公司 | Bridge body detection method and system based on three-dimensional laser and multi-beam underwater scanning |
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Effective date of registration: 20170126 Address after: Branch of Beijing economic and Technological Development Zone of Beijing City thirteen street 100176 No. 20 floor two Applicant after: BEIJING HYDRO-TECH MARINE TECHNOLOGY CO., LTD. Address before: 100080 Haidian District, Suzhou Street, No. 1, No. 815, Beijing Applicant before: Me Bin |
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Application publication date: 20140806 |