CN108919274B - Shallow water wave following scanning detection system based on single wave beam and working method thereof - Google Patents
Shallow water wave following scanning detection system based on single wave beam and working method thereof Download PDFInfo
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Abstract
The invention provides a shallow water wave following scanning detection system based on a single beam and a working method thereof. The system comprises an overwater wave following scanning detection end and a remote control end; the overwater wave-following scanning detection end realizes overwater detection work and data transmission work; the remote control end realizes a data processing function and a remote control function; the overwater wave following scanning detection end and the remote control end realize real-time interaction through network transmission. The system can detect a plurality of water depth points deviating from a certain distance under a ship under the condition that the wave swings, so that the detection range is enlarged, the effect of wave-following scanning detection is achieved, and the detection efficiency is improved. The system carries out depth correction and coordinate correction under the wave effect by detecting the inclination angle of the detection ship relative to the horizontal plane, and obtains accurate detection data of a real detection point. And adaptively adjusting the transmission rate of the transmission signal according to the wave size and the measured water depth. The invention utilizes the wave effect to increase the detection range. The invention has the advantages of simplicity, high efficiency, economy and applicability.
Description
Technical Field
The invention belongs to an ultrasonic detection technology in the field of shipping, and particularly relates to a shallow water wave-following scanning detection system based on a single-beam sounding technology and a working method thereof.
Background
As is well known, our country is a large ocean and there are numerous islands. Under the condition of such resources, China sets a series of ocean strategic plans, which relate to engineering problems of offshore governing planning, sea reclamation, harbor surveying and mapping and the like, and the strategic plans put forward more demands on shallow water underwater topography detection. On the other hand, for inland river and lake problems, China can comprehensively implement lake growth control on national lakes, carry out gridding management on each lake, and strictly control the water area space of the lake. These strategies and policies predict that the demand for shallow water detection and the amount of detection work will increase greatly. These new trends determine that an economically applicable, small and efficient shallow water exploration device is in urgent need of development.
In underwater detection, an important parameter of detection is water depth, and currently, the existing underwater detection technologies generally include the following: shipborne sonar detection, airborne laser detection, submersible detection and satellite-borne multispectral water depth measurement. The current application is more extensive ship-borne sonar detection and airborne laser detection, wherein the ship-borne sonar detection is a main use means for measuring the water depth in China due to lower cost. The main principle of the ship-borne sonar detection method is to utilize ship-borne sonar equipment and combine a GPS positioning technology to carry out field observation. The types of ship-borne sonar equipment mainly comprise an echo sounder, a multi-beam detecting system, a side-scan sonar instrument and the like, and the measuring method is the most reliable and effective water depth measuring means at present.
The echo sounding detector is generally a single-beam echo sounding detector, and is characterized in that a sound wave is emitted by a transducer, transmitted underwater and reflected at the water bottom, the height of the transducer from the water bottom is calculated according to the propagation speed of the sound wave in water and the elapsed time of the whole process, and then the depth of water can be calculated by adding the height from the water surface to the transducer. The echo sounding detector can quickly and continuously measure the water depth data. The traditional sounding detector is basically single-beam, the measurement coverage area is small, and the measurement efficiency is low.
The multi-beam sounding system is developed on the basis of a single-beam echo sounder, and the initial design concept is to improve the water depth measurement efficiency, obtain the seabed depth values of a plurality of measurement points in the coverage area of one strip and realize the crossing from point-line measurement to line-plane measurement.
The multi-beam sounding system has the working principle that sound waves covered by a wide sector are transmitted to the seabed by using a transmitting transducer array, narrow-beam receiving is carried out on the sound waves by using a receiving transducer array, irradiation footprints for seabed topography are formed through the orthogonality of the directions of the transmitting and receiving sectors, the footprints are properly processed, and the water depth values of hundreds or even more seabed measured points in the vertical plane perpendicular to the course can be given by one-time detection.
Although the multi-beam sounding system has many incomparable disadvantages, the complexity of the system also causes higher equipment cost, and the multi-beam needs to transmit a plurality of beams at one time, the bandwidth of each beam is narrower, the transmission power required for transmitting the plurality of beams is increased, and the sounding equipment is more power-consuming and bulky. On the other hand, the existing multi-beam sounding system is oriented to deep water detection, one beam has long round-trip time, and a plurality of beams can only be added to expand the detection range and improve the detection efficiency. If the multi-beam sounding system is not suitable for shallow water detection directly, the reasons are as follows: 1) the multi-beam sounding system is huge in volume, heavy in equipment and large in ship body requirement, so that the draught is high, stranded shallow water areas cannot move, particularly areas with more reefs and large water depth affected by tide. 2) The multi-beam sounding system has complex control of a plurality of beams, is a little large and small for shallow water, and is expensive and not suitable for multi-point arrangement detection or multiple cruise detection. In addition, the expensive price limits the quantity of equipment, is difficult to cover a wide water area, and the detection efficiency cannot be improved. Therefore, for offshore underwater detection, a detection device which is small in size, low in cost, simple to operate and flexible to use is urgently needed. These characteristics of the multi-beam sounding system determine that it is uneconomical and unreasonable to use for shallow water detection.
The wave fluctuation makes the ship sway in water invariably a problem to be avoided and solved as much as possible in detection, and many ships artificially bear certain weight again to make the ship resist certain stormy waves. However, the present patent intends to utilize this disadvantage to become an advantage for the single beam technique, and to utilize the fluctuation of waves to perform multi-angle detection so as to expand the detection range and achieve the effect of detecting a large area on one detection point, thereby simulating the multi-beam technique. Meanwhile, the detection result of each time is corrected according to the inclination angle of the wave belt to the transducer, and the GPS module is combined to record the GPS coordinate of the transducer in real time to correct the horizontal coordinate, so that the underwater resource condition information under the accurate coordinate is obtained.
In conclusion, the single-beam technology is more suitable for shallow water detection than the multi-beam technology, and the simplicity of the single-beam system makes it easy to perform wave-following scanning by utilizing the wave effect. This increases the efficiency again with the economic advantage. For the above reasons, we propose a wave-following scanning detection system based on single beam technology. The system is based on a single-beam detection technology, is more efficient than the single-beam technology, achieves the scanning detection effect by utilizing the wave effect, is simple and small in equipment, simple in design and manufacture, low in cost and suitable for being widely applied to a large area under shallow water detection.
Disclosure of Invention
The invention aims to provide a simple, efficient, economical and applicable wave following scanning detection system based on a single-beam technology and a working method thereof under the condition that the conventional single-beam and multi-beam detection equipment cannot well meet the application requirement of shallow water aiming at the detection problem of shallow water application scenes such as inshore and lakes.
From the whole system composition, the system specifically comprises an overwater wave-following scanning detection end and a remote control end, and the two parts transmit information such as data and control instructions through a wireless network. The overwater wave following scanning detection end is arranged on a ship and used for collecting detection data and wave description data of wave following scanning; the remote control end wirelessly sends a detection signal and a control instruction to the water surface wave-following scanning detection end, receives detection data and wave description data transmitted by the water surface wave-following scanning detection end, and adaptively adjusts the speed of the transmission signal according to the detection data and the wave description data.
A shallow water wave following scanning detection system based on single wave beam comprises an overwater wave following scanning detection end and a remote control end; the overwater wave-following scanning detection end realizes overwater detection work and data transmission work; the remote control end realizes a data processing function and a remote control function; the overwater wave following scanning detection end and the remote control end realize real-time interaction through network transmission.
Furthermore, the overwater wave-following scanning detection end consists of four modules, namely an ultrasonic probe array, a GPS module, a ship attitude sensor and a data control and transmission unit. The ultrasonic probe array comprises 1 sending probe and a plurality of receiving probes which are integrated on one plate, wherein the sending probe is responsible for sending ultrasonic waves, and the receiving probe is responsible for receiving and detecting echo waves. The system adopts a single-beam technology, so that 1 transmitting probe is adopted, and a plurality of receiving probes are adopted. The GPS module provides coordinate positioning for detection. The ship attitude sensor collects the angle information of the ship under waves, including a pitch angle, a roll angle and a deflection angle, and is generally called wave description data as the ship generates waves and changes along with the fluctuation of the waves. The data transmission and control unit controls the detection process, stores and sends data, is responsible for receiving various data and parameters sent by the remote control end and sends the data and the parameters to the corresponding system module, and therefore the control over various modules of the overwater wave-following scanning detection end is achieved. In addition, the ultrasonic wave sensor is also responsible for storing echo data received by the ultrasonic probe array and wave description data collected by the ship attitude sensor and sending the echo data and the wave description data to a remote control end through a wireless network.
Furthermore, the remote control end comprises a network transmission unit, a data processing unit and a master control unit, and controls the detection process through real-time data interaction with the overwater wave-following scanning detection end. On one hand, the method receives and stores detection data transmitted by an overwater accompanying wave scanning detection end, then calculates the distance according to the received detection data, and carries out depth correction and coordinate correction according to wave description data of a ship attitude sensor, thereby calculating the actual water depth on the actual GPS coordinate point. In addition, it calculates the change rate of the angle according to the wave description data, thereby sensing the wave swing size, and adjusts the transmission rate of the transmission signal according to the calculated water depth and the sensed wave size. On the other hand, the remote control end has the function of controlling the overwater wave-following scanning detection end, generates a transmission signal with specified parameters and sends the transmission signal to the overwater wave-following scanning detection end, and the ship motion control instruction is sent to the overwater wave-following scanning detection end to control the motion of the detected ship.
Further, the principle of the satellite scanning is explained as follows:
and on a certain detection point, namely a certain GPS coordinate point, when the detection ship is static on a horizontal plane without wave action or the inclination angle between the ultrasonic probe array and the horizontal plane is just 0 degree under the action of waves, detecting the central point right below the ultrasonic probe array. When the ship swings under the action of waves, the ultrasonic probe array deviates from the horizontal plane and has a certain inclination angle with the horizontal plane, and at the moment, the actual detection point is not the central point any more but deviates from the central point by a certain distance. Along with the fluctuation of waves, the inclination angle between the ultrasonic probe array and the horizontal plane is increased, and the actual detection point is gradually far away from the central point right below the ship, so that a certain detection range is formed. Therefore, under the action of waves, not only the area right below but also the area around the area right below can be detected at one detection point, so the method is called as wave following scanning.
The above depth correction and coordinate correction are set forth below:
under the action of waves, when the inclination angle between the ultrasonic probe array and the horizontal plane is not 0 degree, the detection distance is not the actual water depth, and the coordinate of the actual detection point is not the GPS coordinate of the ship, so that correction is needed. The depth correction and the coordinate correction are realized by a ship attitude sensor at the water borne wave-following scanning detection end and a GPS module. The ship attitude sensor records the pitch angle, the roll angle and the deflection angle of the ship body, the inclination angle of the ultrasonic probe array relative to the horizontal plane of the geodetic coordinate system is calculated through geometric coordinate transformation according to the three angle parameters, and the actual correction water depth of a detection point can be calculated by combining the inclination angle with the ultrasonic detection distance, so that the depth correction is realized. The deviation angle recorded by the ship sensor is an angle of the ship bow pointing to the direction deviated from the due north, and the deviation angle is combined with the ship GPS coordinate recorded by the GPS module to carry out coordinate correction to obtain the corrected coordinate of the actual detection point.
The system has the function of adaptively adjusting the transmission rate of the signals transmitted by the ultrasonic transmitting probe according to the wave intensity and the water depth. The system acquires three angle parameters through the ship attitude sensor, and the remote control end calculates the inclination angle of the ultrasonic probe array according to the three angle parameters, so that the change rate of the inclination angle is known, the size of the wave can be sensed, if the change rate of the inclination angle is high, the wave is large, and if the change rate of the inclination angle is small, the wave is small. In addition, the remote control end calculates the water depth according to the detection data. The ultrasonic transmission speed of the ultrasonic transmission probe can then be designed to be adapted to the rate of change of the inclination angle of the vessel by adjusting the transmission rate of the transmission signal based on the calculated water depth and the sensed wave size. When the remote control end detects that the distance of water depth is small or the waves are small, the emission rate of the emission signal is reduced so as to avoid detecting the same place; when the remote control unit detects that the distance of the water depth of the ship is large or the wave is large, the emission rate of the emission signal is increased, and the density of the detection points is improved.
The invention relates to a detection process of a shallow water wave-following scanning detection system based on a single beam, which comprises the following steps:
the method comprises the following steps: the remote control end generates a transmitting signal of specified parameters, sets an instruction for controlling the movement of the detection end, and transmits the instruction to the overwater wave following scanning detection end through a network.
Step two: the overwater wave-following scanning detection end receives data sent by the remote control end, the overwater wave-following scanning detection end starts to run on the water surface according to a certain path, meanwhile, the ultrasonic probe array starts to work, and the ultrasonic sending probe converts a sending signal into ultrasonic waves to be sent out.
Step three: and the ultrasonic receiving probe receives the reflected echo to form detection data. Meanwhile, a ship posture sensor on the boat collects wave description data, and a GPS module records GPS coordinates.
Step four: and the overwater wave following scanning detection end sends echo data, wave description data and GPS coordinates to the remote control end.
Step five: the remote control end receives and stores detection data transmitted by the overwater accompanied wave scanning detection end, and then a series of calculations are carried out. The distance is calculated according to the received detection data, and then the inclination angle of the ultrasonic probe array is calculated according to the wave description data of the ship attitude sensor. Combining the detection distance and the inclination angle to perform depth correction calculation; and (4) carrying out coordinate correction calculation by combining the deflection angle of the ship attitude sensor and the GPS coordinate, thereby obtaining the correction depth of the actual detection point and storing the calculation result.
Step six: and the remote control end calculates the change rate of the inclination angle through the inclination angle of the ultrasonic probe array calculated for multiple times, so that the size of the waves is judged.
Step seven: and the remote control end adjusts the transmitting speed of the transmitting signal according to the calculated water depth and the sensed wave size. When the remote control end detects that the distance of water depth is small or the waves are small, the emission rate of the emitted waves is reduced so as to avoid detecting the same place; when the remote control unit detects that the water depth distance of the ship is large or the wave is large, the emission rate of the emitted wave is increased, and the density of the detection points is improved.
It should be noted that the above description is directed to signals received by one receiving probe, and the signals received by each receiving probe are processed in the same way.
The invention has the following advantages and effects for the prior device and technology:
(1) the invention carries out system design and data operation processing on the premise of utilizing wave action, the system design fully captures the action of waves on the survey ship, and the data processing flow ensures the accuracy of water depth data under wave factors, thereby achieving the effect of wave-following scanning. The detection range is increased through the wave following scanning, adverse factors are changed into favorable factors, and the detection efficiency is improved.
(2) The device system carries out depth correction through the ship attitude sensor, obtains the correction depth of the actual detection point through a series of coordinate system conversion and geometric mathematical operation, and is simple and convenient.
(3) The system performs coordinate correction by combining the depth correction and the GPS module, so that an actual detection point for correcting the GPS coordinate can be obtained when the survey ship inclines under waves, and a real accurate topographic map is given.
(4) The system judges the size of the waves according to the change rate of the inclination angle of the ship, and adjusts the launching rate of the launched waves, so that the detection speed is adaptively controlled according to the waves.
(5) The system adaptively adjusts the transmitting speed of the transmitted wave according to the detected water depth so as to avoid missing detection.
(6) The system realizes the design integration of the ship body and the detection equipment, does not need to install a detection instrument by a ship, can detect when launching, adopts a mode of unmanned boat loading, remotely controls the detection path without human intervention, saves the labor cost and realizes the detection automation.
(7) The system is used for shallow water detection, and compared with various traditional detection devices, the system is lower in cost, simple and small in model, and quick and efficient in detection. The system device has the advantages of higher expansibility and lower cost due to simple and small design, and is easy to realize cluster formation detection of a plurality of boats subsequently, so that more space for exerting is provided for improving the detection efficiency and accuracy greatly.
Drawings
FIG. 1 is a block diagram of the system components of the present invention;
FIG. 2 is a schematic diagram of the structure of the water borne wave-following scanning detection end module of the invention;
FIG. 3 is a schematic view of the principle of the present system as it scans waves;
FIG. 4 is a schematic diagram of depth correction under the wave effect;
FIG. 5 is a schematic diagram of coordinate correction under the wave effect;
fig. 6 is a flow chart of the operation of the present system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific implementation described herein is only for explaining the present invention, but not limited to this patent, and it should be noted that the key point of the present invention lies in the idea of using wave effect to realize the wave-following scanning technology proposed in the shallow water depth sounding scenario, and the related ultrasonic ranging technology, single beam depth sounding, etc. are all the existing mature technical solutions, and the sounding principle or process described in detail below can be realized or understood by those skilled in the art with reference to the prior art.
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
Fig. 1 shows a block diagram of the system. The system comprises an overwater wave following scanning detection end and a remote control end, wherein the overwater wave following scanning detection end and the remote control end transmit data, control instructions and other information through a wireless network. The overwater wave following scanning detection end is arranged on a ship and used for collecting detection data and wave description data of wave following scanning; the remote control end wirelessly sends a detection signal and a control instruction to the water surface wave-following scanning detection end, receives detection data and wave description data transmitted by the water surface wave-following scanning detection end, and adaptively adjusts the speed of the transmission signal according to the detection data and the wave description data.
Fig. 2 is a schematic diagram showing the components of the water borne scanning detection end module of the system. Four modules of the water borne wave-following scanning detection end are as follows: the system comprises an ultrasonic probe array, a GPS module, a ship attitude sensor and a data control and transmission unit. The GPS module provides coordinate positioning for detection, records the GPS coordinates of the transducer in real time, and provides coordinate data for later-stage terrain modeling.
The ultrasonic probe array comprises 1 sending probe and a plurality of receiving probes which are integrated on one plate, wherein the sending probe is responsible for sending ultrasonic waves, and the receiving probe is responsible for receiving and detecting echo waves. The system adopts a single-beam technology, so that 1 sending probe is adopted, a plurality of receiving probes are adopted, the problems of complex transducer array design and beam frequency band are not required to be considered, the single-beam transducer can adopt a wider frequency band, the transmitting power is reduced, the energy consumption can be reduced, and the endurance time of the ship is greatly prolonged.
The ship attitude sensor collects the angle information of the ship under waves, including a pitch angle, a roll angle and a deflection angle, and is generally called wave description data as the ship generates waves and changes along with the fluctuation of the waves. According to the three ship attitude parameters, the inclination angle of the ultrasonic probe array plane relative to the horizontal plane of the geodetic coordinate can be calculated through geometric coordinate transformation, so that depth correction can be carried out, and the inclination angle can be combined with a deflection angle to calculate the correction coordinate of an actual detection point.
The data control and transmission unit is responsible for receiving the data that the remote control end sent on the one hand, and on the other hand is responsible for sending the data that the wave-following scanning detection end on water gathered to the remote control end through network transmission. The data sent by the remote control end comprise transmitted signal data, the data for controlling the movement of the ship comprise detection data, GPS coordinates and wave description data, and therefore real-time control of the overwater wave-following scanning detection end and the remote control end is achieved through data interaction.
Fig. 3 is a schematic diagram of the depth calibrator, where the center position of the ultrasonic transmission probe is O, and the vertical lower side thereof is D, and when the ship body does not swing, the point is the center point of the normal water depth detection. When the inclination angle of the ultrasonic probe array relative to the horizontal plane is alpha, because the ultrasonic wave is emitted perpendicular to the plane of the transducer, if the image ray OA is the actual propagation path of the ultrasonic wave, the point a is the echo point, i.e. the actual detection point. When the ship body continues to swing under the wave effect, the inclination angle between the plane of the transducer and the horizontal plane is increased to be an angle beta, similarly, as the ultrasonic waves are emitted perpendicular to the plane of the transducer, if the image ray OB is an actual ultrasonic path, the point B is an echo point, and the echo point is an actual detection point. Along with the fluctuation of waves, the inclination angle between the ultrasonic probe array and the horizontal plane is increased, and the actual detection point is gradually far away from the central point right below the ship, so that a certain detection range is formed. Therefore, under the action of waves, not only the area right below but also the area around the area right below can be detected at one detection point, so the method is called as wave following scanning.
The actual detection points a and B need to be corrected by depth correction to obtain their corresponding corrected depths, and their GPS coordinates are not the GPS coordinates of the ship, so the correction is needed.
Fig. 4 shows the depth correction for the situation in fig. 3 where the transducer tilt angle is alpha. O is the center position of the plane of the transducer, D is the position of the water bottom right below the transducer, when the transducer tilts along with a ship under the action of waves, the tilt angle alpha can be calculated according to ship attitude parameters of a ship attitude sensor, the actual propagation path of the ultrasonic wave is OA, A is the echo point of the ultrasonic wave at the water bottom, the distance of the OA path is S through delay calculation, and then the actual depth of the point B can be calculated as H ═ Scos alpha according to trigonometric function calculation.
Fig. 5 is a schematic diagram illustrating the coordinate correction operation when the transducer tilt angle is α. The coordinate system drawn in the figure is a geodetic coordinate system, O is the plane central position of the transducer, D is the water bottom position right below the survey ship, alpha is an inclination angle, A is the echo position, namely an actual probe point, S marked in the figure is the distance of the ultrasonic wave passing through the path, and H is the actual water depth. The ship attitude sensor can know the ship bow direction, and the coordinate system conversion can know two included angles of the actual detection point in the plane of the ground coordinate system xoy, namely the angle beta and the angle gamma shown in the figure. The GPS module records coordinates at O, and when the β angle and the γ angle are known and S is known, the corrected coordinates of the actual detection point a can be calculated, that is, the coordinate correction is completed. If the ship coordinate is (x, y, z), the corrected coordinate of the actual sounding point a obtained by calculation is (x + S sin α cos β, y + S sin α cos γ, z).
A general workflow diagram of the present system is shown in fig. 6.
The working flow of the system is explained as follows:
the method comprises the following steps: the remote control end generates a transmitting signal of specified parameters, sets an instruction for controlling the movement of the detection end, and transmits the instruction to the overwater wave following scanning detection end through a network.
Step two: the overwater wave-following scanning detection end receives data sent by the remote control end, the overwater wave-following scanning detection end starts to run on the water surface according to a certain path, meanwhile, the ultrasonic probe array starts to work, and the ultrasonic sending probe converts a sending signal into ultrasonic waves to be sent out.
Step three: and the ultrasonic receiving probe receives the reflected echo to form detection data. Meanwhile, a ship posture sensor on the boat collects wave description data, and a GPS module records GPS coordinates.
Step four: and the overwater wave following scanning detection end sends echo data, wave description data and GPS coordinates to the remote control end.
Step five: the remote control end receives and stores detection data transmitted by the overwater accompanied wave scanning detection end, and then a series of calculations are carried out. The distance is calculated according to the received detection data, and then the inclination angle of the ultrasonic probe array is calculated according to the wave description data of the ship attitude sensor. Combining the detection distance and the inclination angle to perform depth correction calculation; and (4) carrying out coordinate correction calculation by combining the deflection angle of the ship attitude sensor and the GPS coordinate, thereby obtaining the correction depth of the actual detection point and storing the calculation result.
Step six: and the remote control end calculates the change rate of the inclination angle through the inclination angle of the ultrasonic probe array calculated for multiple times, so that the size of the waves is judged.
Step seven: and the remote control end adjusts the transmission rate of the transmission signal according to the calculated water depth and the sensed wave size. When the remote control end detects that the distance of water depth is small or the waves are small, the emission rate of the emitted waves is reduced so as to avoid detecting the same place; when the remote control unit detects that the water depth distance of the ship is large or the wave is large, the emission rate of the emitted wave is increased, and the density of the detection points is improved.
Claims (7)
1. A shallow water wave following scanning detection system based on single wave beam is characterized by comprising an above-water wave following scanning detection end and a remote control end; the overwater wave-following scanning detection end realizes overwater detection work and data transmission work; the remote control end realizes a data processing function and a remote control function; the overwater wave following scanning detection end and the remote control end realize real-time interaction through network transmission; the remote control end comprises a network transmission unit, a data processing unit and a master control unit, and controls the detection process by real-time data interaction with the overwater wave-following scanning detection end; on one hand, the remote control end receives and stores detection data transmitted by the overwater wave-following scanning detection end, then calculates the distance according to the received detection data, and carries out depth correction and coordinate correction according to wave description data of the ship attitude sensor, thereby calculating the actual water depth on the actual GPS coordinate point; in addition, the change rate of the angle is calculated according to the wave description data, so that the wave swing size is sensed, and the transmitting rate of the transmitting signal is adjusted according to the calculated water depth and the sensed wave size; on the other hand, the remote control end has the function of controlling the overwater wave-following scanning detection end, generates a transmitting signal of specified parameters and sends the transmitting signal to the overwater wave-following scanning detection end, and the motion of the detection ship is controlled by sending a ship motion control instruction to the overwater wave-following scanning detection end.
2. The shallow water wave-following scanning detection system based on the single beam as claimed in claim 1, wherein the above-water wave-following scanning detection end comprises an ultrasonic probe array, a GPS module, a ship attitude sensor and a data control and transmission unit; the ultrasonic probe array comprises 1 sending probe and a plurality of receiving probes which are integrated on one plate, wherein the sending probe is responsible for sending ultrasonic waves, and the receiving probes are responsible for receiving detection echoes; the GPS module provides coordinate positioning for detection; the ship attitude sensor collects angle information of a ship under waves, wherein the angle information comprises a pitch angle, a roll angle and a deflection angle, and the angle information is generated by the waves and changes along with the fluctuation of the waves, so the angle information is generally called wave description data; the data transmission and control unit controls the detection process, stores and sends data, is responsible for receiving data and parameters sent by the remote control end and correspondingly sends the data and the parameters to other components, namely the ultrasonic probe array, the GPS module and the ship attitude sensor, so that the control of the other components of the overwater wave-following scanning detection end is realized; in addition, the ultrasonic wave sensor is also responsible for storing echo data received by the ultrasonic probe array and wave description data collected by the ship attitude sensor and sending the echo data and the wave description data to a remote control end through a wireless network.
3. The shallow water wave-following scanning detection system based on single beam according to claim 1, wherein the wave-following scanning specifically refers to: on a certain detection point, namely a certain GPS coordinate point, when the detection ship is static on a horizontal plane without wave action or the inclination angle of the ultrasonic probe array just right to the horizontal plane is 0 degree under the action of waves, detecting a central point right below the ultrasonic probe array; when the ship swings under the action of waves, the ultrasonic probe array deviates from a horizontal plane and has an inclination angle with the horizontal plane, and at the moment, the actual detection point is not a central point any more but deviates from the central point by a certain distance; along with the fluctuation of waves, the inclination angle between the ultrasonic probe array and the horizontal plane is increased, and the actual detection point gradually gets away from the central point right below the ship, so that a certain detection range is formed; thus, not only the directly below but also the area surrounding the directly below can be detected at one detection point under the action of the waves.
4. The shallow water wave-following scanning detection system based on the single beam as claimed in claim 1, wherein the remote control end performs depth correction and coordinate correction on the detection data of the wave-following scanning, and is realized by a ship attitude sensor and a GPS module at the detection end of the wave-following scanning on water: the ship attitude sensor records the pitch angle, the roll angle and the deflection angle of the ship body, then calculates the inclination angle of the plane of the transducer relative to the horizontal plane of a geodetic coordinate system through geometric coordinate transformation according to the three angle parameters, and the actual water depth of a detection point can be calculated by combining the inclination angle with an ultrasonic detection path, so that the depth correction is realized; the deviation angle recorded by the ship sensor is the angle of the ship bow pointing to the direction deviated from the due north, and the deviation angle is combined with the ship GPS coordinate recorded by the GPS module to carry out coordinate correction so as to obtain the GPS coordinate of the actual detection point.
5. The shallow water wave-following scanning detection system based on the single beam as claimed in claim 1, wherein three angle parameters are obtained by the ship attitude sensor, and the remote control end calculates the inclination angle of the ultrasonic probe array according to the three angle parameters, so as to obtain the change rate of the inclination angle, that is, the wave size can be sensed, if the change rate of the inclination angle is large, the wave size is large, and if the change rate of the inclination angle is small, the wave size is small.
6. The shallow water wave-following scanning detection system based on the single beam as claimed in claim 1, characterized in that it has the function of adaptively adjusting the transmission rate of the signal transmitted by the ultrasonic transmission probe according to the wave intensity and the water depth: the remote control end calculates the water depth according to the detection data; the ultrasonic signal transmission speed of the ultrasonic transmission probe can be designed to be adapted to the change rate of the inclination angle of the ship by adjusting the transmission rate of the transmission signal according to the calculated water depth and the sensed wave size.
7. The working method of the shallow water wave-following scanning detection system based on the single beam as claimed in any one of claims 1 to 6, characterized by comprising the following steps:
the method comprises the following steps: the remote control end generates a transmitting signal of specified parameters, sets an instruction for controlling the movement of the detection end, and transmits the instruction to the overwater wave-following scanning detection end through a network;
Step two: the overwater wave-following scanning detection end receives data sent by the remote control end, and starts to run on the water surface according to a set path, and meanwhile, the ultrasonic probe array starts to work, and the ultrasonic sending probe converts a sending signal into ultrasonic waves to be sent out;
step three: the ultrasonic receiving probe receives the reflected echo to form detection data; meanwhile, a ship posture sensor on the boat collects wave description data, and a GPS module records GPS coordinates;
step four: the overwater wave following scanning detection end sends echo data, wave description data and GPS coordinates to the remote control end;
step five: the remote control end receives and stores detection data transmitted by the overwater wave following scanning detection end, then calculates, calculates the distance according to the received detection data, and then calculates the inclination angle of the ultrasonic probe array according to wave description data of the ship attitude sensor; combining the detection distance and the inclination angle to carry out depth correction calculation; coordinate correction calculation is carried out by combining the deflection angle of the ship attitude sensor and the GPS coordinate, so that the correction depth of an actual detection point is obtained, and the calculation result is stored;
step six: the remote control end calculates the change rate of the inclination angle through the inclination angle of the ultrasonic probe array calculated for multiple times, so as to judge the size of the waves;
Step seven: and the remote control end adjusts the transmitting speed of the transmitting signal according to the calculated water depth and the sensed wave size.
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