CN110398204A - A kind of submerged structure light measurement caliberating device - Google Patents
A kind of submerged structure light measurement caliberating device Download PDFInfo
- Publication number
- CN110398204A CN110398204A CN201910838562.6A CN201910838562A CN110398204A CN 110398204 A CN110398204 A CN 110398204A CN 201910838562 A CN201910838562 A CN 201910838562A CN 110398204 A CN110398204 A CN 110398204A
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- light measurement
- structure light
- sensor
- measuring
- sink
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- 238000005259 measurement Methods 0.000 title claims abstract description 85
- 230000005611 electricity Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 50
- 238000000034 method Methods 0.000 description 13
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
Abstract
The present invention provides a kind of submerged structure light measurement caliberating devices, are related to undersea ranging technical field.Submerged structure light measurement caliberating device includes bracket and rack-mount sink, guide rail, slide unit, first structure light measuring sensor and the second structural light measurement sensor；Slide unit is movably attached on guide rail, the first measuring piece and the second measuring piece are fixedly connected on slide unit, first measuring piece is located at the top of sink, first structure light measuring sensor is corresponding with the first measuring piece, second measuring piece is located at the inside of sink, and the second structural light measurement sensor is corresponding with the second measuring piece.The device can acquire under equal bee line, the respective value of distance and bee line in water, to accumulate the relational expression of distance and bee line in Data Summary water outlet.
Description
Technical field
The present invention relates to undersea ranging technical fields, in particular to a kind of submerged structure light measurement caliberating device.
Background technique
In water power water-control project, concrete submerged structure long period of soaking under water, structure aging and ground in addition
The geological disasters such as shake influence, and the safety problem of submerged structure is increasingly prominent.The detection of submerged structure is compared and is examined on the water
Survey method is few, and equipment precision is low, and inspection task difficulty is big.
Structural light measurement principle is that certain structure light is projected to object being measured, and structure light is believed by the surface of testee
The modulation of breath and deformation occurs, the structure light deformed using image recording sensor, and obtained in conjunction with the structural parameters of system
The location information of object.
When conventional structure light works under water, the process that light is imaged under water can pass through water, waterproof case and air
Three kinds of different media of refractive index and refraction effect occurs.Conventional structured light sensor cannot be directly used in be surveyed under water
Amount, needs to carry out the work of data correction and calibration.
Summary of the invention
The embodiment of the present invention provides a kind of submerged structure light measurement caliberating device, can acquire in equal bee line
Under, the respective value of distance and bee line in water, to accumulate the relational expression of distance and bee line in Data Summary water outlet.
Technical solution provided in an embodiment of the present invention:
A kind of submerged structure light measurement caliberating device includes sink, the guide rail, cunning of bracket and installation on the bracket
Platform, first structure light measuring sensor and the second structural light measurement sensor；
The slide unit is movably attached on the guide rail, and the first measuring piece and second are fixedly connected on the slide unit
Measuring piece, first measuring piece are located at the top of the sink, and the first structure light measuring sensor and described first are surveyed
It is corresponding to measure part, second measuring piece is located at the inside of the sink, the second structural light measurement sensor and described second
Measuring piece is corresponding, and the bee line between the first structure light measuring sensor and first measuring piece is equal to described second
Bee line between structural light measurement sensor and second measuring piece, and the first structure light measuring sensor with
Bee line between the surface of sink is equal to the sky between the second structural light measurement sensor and the surface of the sink
Middle distance, bee line between the surface of the sink and first measuring piece are equal to the surface and described the of the sink
Bee line between two measuring pieces.
Further, the submerged structure light measurement caliberating device further includes motor, and the guide rail is screw rod, the guide rail
It is fixedly connected on the output shaft of the motor, the slide unit has threaded hole, and the threaded hole and the guide rail cooperate.
Further, the submerged structure light measurement caliberating device further includes the first limit switch, and first limit is opened
In one end in the guide rail, first limit switch is used for when the slide unit is moved to corresponding position described in control off-position
Motor stops.
Further, the submerged structure light measurement caliberating device further includes the second limit switch, and second limit is opened
The other end for being located at the guide rail is closed, second limit switch is used for the control when the slide unit is moved to corresponding position
The motor stops.
Further, the submerged structure light measurement caliberating device further includes collecting computer and step actuator, described
Step actuator is electrically connected to the motor, first limit switch and second limit switch, the step actuator
For driving the motor, the collecting computer is electrically connected to the first structure light measuring sensor and second structure
Light measuring sensor, the collecting computer is for acquiring the first structure light measuring sensor and the second structure flash ranging
The range data of quantity sensor acquisition.
The beneficial effect of submerged structure light measurement caliberating device provided in an embodiment of the present invention is:
The device can acquire distance and bee line in multiple groups water, to accumulate in Data Summary water outlet distance and aerial
The relational expression of distance.According to the relational expression of distance in water and bee line, then collect structural light measurement sensor and object
Between water in distance, the bee line that you can get it between structural light measurement sensor and object.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram of submerged structure light measurement caliberating device provided in an embodiment of the present invention.
Fig. 2 is the part composition block diagram of submerged structure light measurement caliberating device provided in an embodiment of the present invention.
Fig. 3 is the initialization flowchart of submerged structure light measurement caliberating device provided in an embodiment of the present invention.
Fig. 4 is the flow chart of submerged structure light measurement scaling method provided in an embodiment of the present invention.
Fig. 5 is the flow chart of submerged structure ligh-ranging method provided in an embodiment of the present invention.
Icon: 1- submerged structure light measurement caliberating device；2- bracket；3- sink；4- motor；5- guide rail；6- slide unit；7-
One structural light measurement sensor；8- the second structural light measurement sensor；The first limit switch of 9-；The second limit switch of 10-；11-
Collecting computer；12- step actuator；The first measuring piece of 13-；The second measuring piece of 14-.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it is to be understood that, term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put or those skilled in the art orientation or position that usually understand
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the equipment of indication or suggestion meaning or element are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply
Relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Referring to Fig. 1, present embodiments providing a kind of submerged structure light measurement caliberating device 1, submerged structure light measurement mark
Determining device 1 can acquire under equal bee line, and the respective value of distance and bee line in water goes out to accumulate Data Summary
The relational expression of distance and bee line in water.
Submerged structure light measurement caliberating device 1 includes bracket 2, sink 3, motor 4, guide rail 5, slide unit 6, first structure flash ranging
Quantity sensor 7, the second structural light measurement sensor 8, the first limit switch 9 and the second limit switch 10.
Motor 4 is mounted on bracket 2, and guide rail 5 is screw rod, and guide rail 5 is fixedly connected on the output shaft of motor 4, and slide unit 6 has
There is threaded hole, threaded hole and guide rail 5 cooperate.Motor 4 drives guide rail 5 to rotate, and slide unit 6 can then be moved along the length direction of guide rail 5
It is dynamic.The first measuring piece 13 and the second measuring piece 14 are fixedly connected on slide unit 6, the first measuring piece 13 is upper the second measuring piece 14
Side, the first measuring piece 13 and the second measuring piece 14 are identical standard component, are of the same size size, the two is in addition to height position
Difference is set, other features are nearly identical.
Sink 3 is mounted on the lower section on bracket 2 and being located at guide rail 5.First measuring piece 13 is mounted on bracket 2 and is located at
The top of sink 3, first structure light measuring sensor 7 is corresponding with the first measuring piece 13, i.e., first structure light measuring sensor 7 with
The high settings such as the first measuring piece 13, first structure light measuring sensor 7 is for issuing structural light measurement to the first measuring piece 13
Distance.Because the first measuring piece 13 is located at the top of sink 3, the distance that first structure light measuring sensor 7 is measured is
Bee line.The distance that bee line i.e. structural light measurement sensor are measured in the sky, that is, the reality of range measurement part
Border space length.
Second measuring piece 14 is mounted on bracket 2 and is located at the inside of sink 3, the second structural light measurement sensor 8 and the
Two measuring pieces 14 are corresponding, i.e. the high settings such as the second structural light measurement sensor 8 and the second measuring piece 14, and the second structural light measurement passes
The distance that sensor 8 is used to issue structural light measurement to the second measuring piece 14.Because the first measuring piece 13 is located at the lower section of sink 3,
So the distance that the second structural light measurement sensor 8 is measured is distance in water.Distance i.e. structural light measurement sensing in water
The distance that device is measured in water, structure light can reflect in water, and the distance that structure light measures in water is not equal to actual
Space length.
Bee line between first structure light measuring sensor 7 and the first measuring piece 13 is equal to
Bee line between second structural light measurement sensor 8 and the second measuring piece 14, and first structure light measurement
Bee line between sensor 7 and the surface of sink 3 is equal between the second structural light measurement sensor 8 and the surface of sink 3
Bee line, bee line between the surface of sink 3 and the first measuring piece 13 is equal to surface and the second measuring piece of sink 3
Bee line between 14.
First limit switch 9 and the second limit switch 10 are located at the both ends of guide rail 5.When slide unit 6 is moved to the first limit
When the position of bit switch 9, the first limit switch 9 control motor 4 stops working.When slide unit 6 is moved to the second limit switch 10
When position, the second limit switch 10 control motor 4 stops working.
Referring to Fig. 2, submerged structure light measurement caliberating device 1 further includes collecting computer 11 and step actuator 12, step
It is electrically connected to motor 4, the first limit switch 9 and the second limit switch 10 into driver 12, step actuator 12 is for driving electricity
Machine 4, meanwhile, step actuator 12 receives the stop signal of the first limit switch 9 and the second limit switch 10, to control motor 4
It stops working.Collecting computer 11 is electrically connected to first structure light measuring sensor 7 and the second structural light measurement sensor 8, adopts
Collection computer 11 is used to acquire the range data of first structure light measuring sensor 7 and the acquisition of the second structural light measurement sensor 8.
Referring to Fig. 3, the initialization process of submerged structure light measurement caliberating device 1: firstly, by the beginning of collecting computer 11
Makeup of beginning is set, 12 driving motor 4 of step actuator, so as to be moved to limit on the left position i.e. the first limit switch 9 corresponding for slide unit 6
Position.Then, collecting computer 11 acquires the first distance L1 of first structure light measuring sensor 7 and the second structural light measurement passes
The second distance H1 of sensor 8, after acquisition, motor 4 drives the mobile preset distance of slide unit 6, then judges whether slide unit 6 reaches right
Continue to acquire the first knot if slide unit 6 is not up to limit on the right-right-hand limit position in the extreme position i.e. corresponding position of the second limit switch 10
The data of structure light measuring sensor 7 and the second structural light measurement sensor 8 so recycle, until slide unit 6 reaches limit on the right-right-hand limit position
It sets, then carries out calibrated and calculated, calculate the relational expression about first distance L1 and second distance H1.
Based on submerged structure light measurement caliberating device 1, the present embodiment also provides a kind of submerged structure light measurement scaling method,
Please refer to Fig. 4 and Fig. 5, comprising the following steps:
S1: N number of first distance value and N number of second distance value are acquired using submerged structure light measurement caliberating device 1.
Wherein, first distance value indicates first structure light measuring sensor 7 and the aerial distance of the first measuring piece 13.
Such as N number of first distance value are as follows: Vair(1)、Vair(2)、Vair(3)……Vair(N)。
At a distance from second distance value indicates the second structural light measurement sensor 8 and the second measuring piece 14 in water.Such as it is N number of
The second distance value are as follows: Vwater(1)、Vwater(2)、Vwater(3)……Vwater(N)。
First distance value and second distance value correspond, each corresponding second distance of the first distance value
Value: [Vair(1), Vwater(1)]、[Vair(2), Vwater(2)]、[Vair(3), Vwater(3)]……[Vair(N), Vwater(N)]。
S2: establishing the relational expression of N number of first distance value and N number of second distance value, and calculate the parameter value in relational expression,
So that it is determined that relational expression.
Wherein, relational expression is the corresponding relationship of first distance value and second distance value, specifically includes the following steps:
S21: the relational expression of the first distance value Yu the second distance value is selected:
Vwater(i)=K1Vair(i)+K2Vair(i) 2+K3Vair(i) 3
S22: the relational expression of N number of the first distance value and N number of second distance value is established:
Vwater(1)=K1Vair(1)+K2Vair(1) 2+K3Vair(1) 3
Vwater(2)=K1Vair(2)+K2Vair(2) 2+K3Vair(2) 3
Vwater(3)=K1Vair(3)+K2Vair(3) 2+K3Vair(3) 3
……
Vwater(N)=K1Vair(N)+K2Vair(N) 2+K3Vair(N) 3
S23: K is calculated1、K2、K3, so that it is determined that the relational expression.
According to the equation group in S22, K can be calculated using least square method1、K2、K3, so that it is determined that relational expression out:
Vwater=K1Vair+K2Vair 2+K3Vair 3。
The present embodiment also provides a kind of submerged structure ligh-ranging method, the structure flash ranging under water of submerged structure ligh-ranging method
Further comprise following steps on the basis of amount scaling method:
S3: it is measured between third structural light measurement sensor and object in water using third structural light measurement sensor
Water in distance.
Specifically, third structural light measurement sensor and first structure light measuring sensor 7, the second structural light measurement sense
Device 8 can be same class sensor.Distance is V in water between third structural light measurement sensor and objectwater.Third knot
Bee line between structure light measuring sensor and the surface of sink 3 is equal to the table of the second structural light measurement sensor 8 and sink 3
Bee line between face.
Here third structural light measurement sensor is also possible to be mounted on and submerged structure light measurement mark in the present embodiment
Determine in the identical equipment of apparatus function, for measuring Vwater, and guarantee in other equipment simultaneously, third structural light measurement sensing
Bee line between device and the surface of sink 3 is equal to aerial between the second structural light measurement sensor 8 and the surface of sink 3
Distance, and in other equipment, first structure light measuring sensor 7 is identical with respect to the position of sink 3, the second structural light measurement
Sensor 8 is identical with respect to the position of sink 3.
S4: by the second distance value in water in fallback relationship formula, corresponding first distance value is obtained.
Wherein, the first distance value obtained is the bee line between third structural light measurement sensor and object.
That is, the V that will be measured in S3waterSubstitute into the relational expression in S2: Vwater=K1Vair+K2Vair 2+K3Vair 3, you can get it
Vair, the V that obtainsairBee line as between third structural light measurement sensor and object.
Submerged structure light measurement caliberating device 1 provided in an embodiment of the present invention, method and submerged structure ligh-ranging method
Beneficial effect is:
By distance and bee line in acquisition multiple groups water, to accumulate distance and bee line in Data Summary water outlet
Relational expression.According to the relational expression of distance in water and bee line, then collect between structural light measurement sensor and object
Distance in water, the bee line that you can get it between structural light measurement sensor and object.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of submerged structure light measurement caliberating device, which is characterized in that the submerged structure light measurement caliberating device includes branch
Frame (2) and the sink (3) being mounted on the bracket (2), guide rail (5), slide unit (6), first structure light measuring sensor (7)
With the second structural light measurement sensor (8)；
The slide unit (6) is movably attached on the guide rail (5), is fixedly connected with the first measuring piece on the slide unit (6)
(13) and the second measuring piece (14), first measuring piece (13) are located at the top of the sink (3), the first structure flash ranging
Quantity sensor (7) is corresponding with the first measuring piece (13), and second measuring piece (14) is located at the inside of the sink (3),
The second structural light measurement sensor (8) is corresponding with the second measuring piece (14), the first structure light measuring sensor
(7) bee line between first measuring piece (13) is equal to the second structural light measurement sensor (8) and described the
Bee line between two measuring pieces (14), and between the first structure light measuring sensor (7) and the surface of sink (3)
Bee line be equal to bee line between the second structural light measurement sensor (8) and the surface of the sink (3), institute
State bee line between the surface of sink (3) and first measuring piece (13) be equal to the surface of the sink (3) with it is described
Bee line between second measuring piece (14).
2. submerged structure light measurement caliberating device according to claim 1, which is characterized in that the submerged structure light measurement
Caliberating device further includes motor (4), and the guide rail (5) is screw rod, and the guide rail (5) is fixedly connected on the defeated of the motor (4)
On shaft, the slide unit (6) has threaded hole, and the threaded hole and the guide rail (5) cooperate.
3. submerged structure light measurement caliberating device according to claim 2, which is characterized in that the submerged structure light measurement
Caliberating device further includes the first limit switch (9), and first limit switch (9) is located in one end of the guide rail (5), described
First limit switch (9) is for controlling the motor (4) stopping when the slide unit (6) is moved to corresponding position.
4. submerged structure light measurement caliberating device according to claim 3, which is characterized in that the submerged structure light measurement
Caliberating device further includes the second limit switch (10), and second limit switch (10) is located at the another of the guide rail (5)
End, second limit switch (10) is for controlling the motor (4) stopping when the slide unit (6) is moved to corresponding position.
5. submerged structure light measurement caliberating device according to claim 4, which is characterized in that the submerged structure light measurement
Caliberating device further includes collecting computer (11) and step actuator (12), and the step actuator (12) is electrically connected to the electricity
Machine (4), first limit switch (9) and second limit switch (10), the step actuator (12) is for driving institute
It states motor (4), the collecting computer (11) is electrically connected to the first structure light measuring sensor (7) and second structure
Light measuring sensor (8), the collecting computer (11) is for acquiring the first structure light measuring sensor (7) and described the
The range data of two structural light measurement sensors (8) acquisition.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910838562.6A CN110398204A (en) | 2019-09-05 | 2019-09-05 | A kind of submerged structure light measurement caliberating device |
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| CN201910838562.6A CN110398204A (en) | 2019-09-05 | 2019-09-05 | A kind of submerged structure light measurement caliberating device |
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