CN113588154A - Underwater robot external interference force measuring system and method based on laser - Google Patents
Underwater robot external interference force measuring system and method based on laser Download PDFInfo
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Abstract
The invention discloses an underwater robot external interference force measuring system based on laser, which comprises a plurality of laser emitting devices for emitting single laser beams, an image acquisition device for acquiring an environment image, a data acquisition module and a data processing module, wherein the data acquisition module acquires the emitting distance and the emitting angle of the single laser beams, the data processing module calculates to obtain a preset falling point and an actual falling point of the single laser beams, and the direction and the size of the external interference force are obtained through the position relation between the preset falling point and the actual falling point. According to random laser scanning, the difference between an actual image acquired by current camera shooting and a real image is calculated, then distortion measurement and calculation are carried out according to the difference value, so that a water flow disturbance dynamic field model is established, the subsequent selection of an optimal driving path for active vibration reduction is facilitated, and therefore, the method has no control time delay, has excellent dynamic response performance, does not depend on external real-time data seriously, and has excellent incomplete observation control performance.
Description
Technical Field
The invention relates to soft measurement of interference force of an underwater robot, in particular to a system and a method for measuring external interference force of the underwater robot based on laser.
Background
Underwater robots have attracted considerable attention from countries around the world as a useful tool for humans to explore and develop the ocean. In recent years, underwater robots are widely used in the fields of science, industry, commerce, military and the like, such as marine surveying and mapping, deep sea exploration, offshore oil and gas development, pipeline maintenance, marine rescue, underwater target tracking and patrol and the like. In order to perform the above tasks, the underwater robot needs to carry various high-precision sensors and inertial navigation equipment, however, the normal operation of the underwater robot is disturbed by the water body shaking caused by the complex submarine hydrological conditions, for example, the gyroscope drift and the mechanical damage of important equipment are caused by the severe water body shaking. Therefore, when the underwater robot runs, a direction along the water flow needs to be selected, and the jolt is reduced as actively as possible. At present, the underwater robot mainly detects the external interference force by the following method.
(1) External interference force sensing based on gyroscope/MEMS sensor
The underwater robot senses the acceleration of the ship body under an xyz axis through the installed gyroscope or MEMS sensor and is used for calculating the posture of the ship body and the external interference force. The method belongs to direct measurement, a gyroscope or a MEMS sensor can actually measure the interference force on the ship body, but the high-precision gyroscope or the MEMS sensor is expensive and has accumulated errors, and the method can only detect the value of the current interference force.
(2) External interference force sensing based on hull mounted pressure sensor
The underwater robot senses the water pressure applied to the ship body through the pressure sensors arranged on the periphery of the ship body and then indirectly calculates the external interference force. The method belongs to indirect measurement, and the measurement accuracy of the external interference force is influenced by the distribution density and accuracy of the pressure sensors arranged around.
(3) External interference force sensing realized by depending on ocean current dynamic diagram/climate ocean information
The ocean current dynamic diagram/climate ocean information obtained by real-time observation directly reflects the interference condition of the ocean current. The method belongs to direct measurement and can predict the condition of external interference force in a future flight path of the underwater robot. However, when the underwater robot is submerged, due to the problem of communication rate, the information is difficult to update in real time.
In summary, the external disturbance force measurement technology for the underwater robot, especially the external disturbance force measurement in the predetermined route, is a precondition for realizing active vibration reduction. However, the existing external interference force sensing method has large information time delay and can only realize partial observation on the surrounding environment, so the measurement effect is not ideal.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above disadvantages, the present invention provides a laser-based underwater robot external disturbance force measuring system for measuring and calculating disturbance force based on fixed-focus random laser scanning and distortion of a visual image technology.
The invention also provides a measuring method of the underwater robot external interference force measuring system based on the laser.
The technical scheme is as follows: in order to solve the problems, the invention adopts a laser-based underwater robot external interference force measuring system which comprises a plurality of laser emitting devices, an image acquisition device, a data acquisition module and a data processing module, wherein each laser emitting device randomly emits a single laser beam, the image acquisition device acquires a laser landing point image, the data acquisition module acquires the emission distance and the emission angle of single laser beams randomly emitted by a plurality of laser emission devices, the data processing module calculates the preset falling point of the corresponding single laser beam through the emission distance and the emission angle of the single laser beams randomly emitted by the plurality of laser emitting devices, the data processing module calculates the direction and the size of the external interference force by comparing the position relation between the preset single-beam laser drop point and the actual drop point.
Has the advantages that: compared with the prior art, the active vibration reduction device based on the vision measurement technology has the obvious advantages of small volume and low price; calculating the difference between an actual image acquired by current camera shooting and a real image according to random laser scanning, and then performing distortion measurement and calculation according to a difference value so as to establish a water flow disturbance power field model in a certain area in front of the underwater robot, wherein the disturbance power field model is beneficial to subsequently selecting an optimal driving path for active vibration reduction; the system has no control time delay, has excellent dynamic response performance, does not depend on external real-time data seriously, and has excellent incomplete observation control performance.
Furthermore, the laser emission device comprises a single-beam laser generator, a power regulator and an emission angle regulator, wherein the power regulator regulates the power of the single-beam laser generator for emitting the single-beam laser, and the emission angle regulator is used for regulating the emission angle of the single-beam laser generator for emitting the single-beam laser.
The invention also provides a measuring method of the laser-based underwater robot external interference force system, and the measuring process comprises the following steps:
(1) setting an initial point of laser emitted by a laser emitting device as a point P; when external interference force exists, the refraction point of the single laser for refraction is an O point, and the actual falling point of the single laser is a P' point; when no external interference force exists, the single laser beam is not refracted, and the preset falling point of the single laser beam is a point P'; the plane where the point P, the point O, the point P 'and the point P' are located is set as a laser ranging tangent plane M-xy;
(2) measuring the emission angle alpha of the single laser in the laser ranging tangent plane M-xy1And the coordinates P (x) of the initial point P1,y1)；
(3) Adjusting the emission power of the single laser beam to
The preset falling point P' point of the single laser beam is positioned at the refraction point O point, and the emission angle alpha is determined according to the coordinate of the point P1And transmit power
Calculating to obtain an O point coordinate;
(4) the emission power of the single laser is adjusted to W without changing the emission angle of the single laserpSo that the single laser beam is refracted and the emitting angle alpha is determined according to the coordinate of the point P1And a transmission power WpCalculating to obtain a P' point coordinate;
(5 calculating the length l from the predetermined drop point P' to the actual drop point P ″)p'p"According to lp'p"″Coordinate of point O, coordinate of point P', and emitting angle alpha1Calculating to obtain the coordinates of the P' point;
(6) calculating the position deviation between the preset drop point P 'and the actual drop point P';
(7) and calculating the magnitude and the direction of the external disturbance force according to the position deviation.
Further, the emission power of the single laser beam is adjusted in the step (3), and when the predetermined point P' and the actual point P ″ satisfy the following formula:
at the moment, the preset drop point P' point of the single laser beam is determined to be located at a refraction point O point, wherein epsilon is a self-defined minimum value;
knowing P (x)1,y1) The coordinates of the O point are
And is
wherein ,
is the distance between the point P and the point O in the X-axis direction in the laser ranging tangent plane M-xy,
is the distance between the P point and the O point in the Y-axis direction in the laser ranging tangent plane M-xy0Is the distance from the point P to the point O, k is the coefficient of the single-beam laser emission reaching distance obtained according to the single-beam laser emission power, and the coordinate of the point O is O (x)1+l0cosα1,y1+l0sinα1)。
Further, the coordinates of the predetermined drop point P' in the step (4) are
And is
Wherein l is the distance from the initial point P of the single laser to the predetermined drop point P', l1'is the distance from the point of refraction O to the predetermined drop point P',
is the distance between the point O and the point P' in the X-axis direction of the laser ranging tangent plane M-xy,
the distance between the point O and the point P ' in the Y-axis direction of the laser ranging tangent plane M-xy is obtained, and the coordinate of the point P ' is obtained as P ' (x)1+lcosα1,y1+lsinα1)。
Further, the coordinate of the actual point P' of the step (5) is
And is
wherein ,l″1Distance of refraction point O from predetermined landing point P ″, α2The refraction angle of the single laser when the single laser is refracted at the point O,
is the distance between the point O and the point P' in the X-axis direction in the laser ranging tangent plane M-xy,
for the point O and the point P' to perform laser ranging cuttingThe distance of the Y-axis direction in the plane M-xy is obtained, and the coordinate of the P' point is obtained
Further, the position deviation of the predetermined drop point P 'point and the actual drop point P' point in the step (6) comprises the deviation of the X-axis direction in the laser ranging tangent plane M-xy
Deviation from Y-axis direction
Further, the magnitude of the external interference force in the step (7) comprises an interference force F along the X-axis direction in a laser ranging tangent plane M-xyx1And a disturbance force F in the Y-axis directiony1：
wherein ,kxIs the displacement-force coefficient, k, of the laser ranging tangent plane in the X-axis directionyIs the displacement-force coefficient of the laser ranging tangent plane in the Y-axis direction, and M is the mass of the object.
Further, k isx、kyThe calculation process of (2) is as follows:
(7.1) setting the liquid viscosity coefficient of the liquid environment to be constant, t0The position coordinate of the object measured at the moment is T0(Tx0,Ty0),tnThe position coordinate of the object measured at the moment is Tn(Txn,Tyn)；
(7.2) calculating the difference between two adjacent positions of the object, the difference being actually a velocity value vn:
(7.3) calculating the speed variation a of the object in the X-axis direction in the laser ranging tangent plane M-xyxAnd the Y-axis direction velocity variation ay：
wherein ,vixThe velocity components of two adjacent positions of an object in an X axis in a laser ranging tangent plane M-xy are obtained; v. ofiyThe velocity components of two adjacent positions of an object in a Y axis in a laser ranging tangent plane M-xy are obtained;
(7.4) calculating the displacement-force coefficient k of the object in the X-axis direction in the laser ranging tangent plane M-xyxAnd the displacement-force coefficient k of the Y-axis direction of the objecty：
Further, the direction of the external interference force in the step (7) includes an internal force application direction of an observation view plane E- η ζ and an internal force application direction of an X axis and a Y axis of a laser ranging tangent plane M-xy, the observation view plane E- η ζ is a direction in which a ship body normal plane is perpendicular to a ship body, an origin point E of the observation view plane E- η ζ is an image acquisition device position point, projections of a single laser initial point P, a refraction point O, a predetermined drop point P' and an actual drop point P ″ in the observation view plane E- η ζ are located on the same straight line, the external interference force application direction is γ, and γ is a deviation angle of the single laser in the observation view plane E- η ζ:
wherein the projection coordinate of the laser initial point P in the observation visual field plane E-eta zeta is
The projection coordinate of the actual point P' in the observation visual field plane E-eta zeta is
Drawings
FIG. 1 is a schematic diagram of a water body under an external water flow disturbance power field model;
FIG. 2 is a schematic diagram of deformation of a rectangular unit water body under an external water flow disturbance power field model;
FIG. 3 is a schematic diagram of an arrangement of an underwater robot coordinate system E- ξ η ζ;
FIG. 4 is a schematic view of a laser ranging tangent plane M-xy setup;
FIG. 5 is a schematic view of the E- η ζ setting of the observation view plane;
FIG. 6 shows the hardware topology of the system of the present invention.
Detailed Description
Example one
As shown in fig. 6, the system for measuring the external interference force of the underwater robot based on the laser in the embodiment includes a plurality of laser emitting devices, an image collecting device, a data collecting module, and a data processing module, wherein the laser emitting devices for emitting single laser beams in required number are installed according to the environmental requirements, and the emitting array formed by the plurality of single laser emitting devices can greatly shorten the measuring time and improve the measuring accuracy. Each single-beam laser emitting device consists of a single-beam laser generator, a power regulator and an emitting angle adjusting servo. The power regulator regulates the power of the single laser generator to emit the single laser, and can set the energy of each laser emission so as to control the laser reaching distance. The emission angle adjusting servo adjusts the angle of the single-beam laser generator for emitting the single-beam laser through the micro motor, and the single-beam laser is emitted at multiple angles, so that the planar scanning is realized. The image acquisition device acquires an environment image, the data acquisition module acquires the transmitting distance and the transmitting angle of the single laser, the data processing module calculates the preset falling point of the single laser according to the transmitting distance and the transmitting angle of the single laser, the actual falling point of the single laser is calculated according to the difference between the actual image acquired by the image acquisition device and the actual image, and the data processing module calculates the position relation between the preset falling point and the actual falling point of the single laser to obtain the direction and the size of the external interference force.
All the single-beam laser emitting devices are connected with the controller and the data memory through a data bus. When the system is used for laser emission ranging every time, the system needs to record preset emission distance, emission angle, the position of a preset falling point and the position of an actual falling point, and the data are stored in a data storage device, and the controller comprises a data processing module which reads basic data in the data storage device to calculate the water flow interference condition on the front side of the underwater robot, so that soft measurement is realized. The controller can plan a proper advancing route according to the external water flow interference condition, decompose thrust and supply the thrust to a propeller speed regulating system of an xyz shaft, and achieve power distribution.
Example two
As shown in fig. 1, when the underwater robot travels in an environment with external water flow interference, the external interference force may extrude the water body, so that the water body is deformed and extruded into an irregular shape. As shown in fig. 2, the deformed water body is divided into a plurality of rectangular units, the change of the deformation surface is analyzed by using laser beams (blue-green laser is generally adopted underwater), the laser beams irradiate the deformation surface to emit and refract, refraction points are generated on the deformation surface, and the direction and the size of the external interference force are calculated according to the refraction direction and the refraction angle of the laser beams.
In this embodiment, a method for measuring an external disturbance force of an underwater robot based on laser includes the following steps:
(1) as shown in FIG. 3, an underwater robot is taken as a main body, an underwater robot coordinate system E-xi eta zeta is established, wherein the axis of a ship body of the underwater robot is on a zeta axis, a ship head faces to the negative direction of the zeta axis, an observation visual field plane E-eta zeta is a normal plane vertical to the axis of the ship body, namely the observation visual field plane E-eta zeta is vertical to the advancing direction of the ship body, wherein an E point is the central point of the observation visual field plane E-eta zeta, and the E point is the center of an observation camera. Setting the plane where the single-beam laser operates as a laser ranging tangent plane M-xy, setting the initial point of the laser emitting device for emitting laser as a point P, and setting the emitting angle as alpha1(ii) a When no external interference force exists, the laser does not refract, the preset falling point of the single laser at which the single laser is supposed to be located after the single laser dissipates energy is set as a point P'; if water interference exists in the middle, the water body is deformed, water flow layers with different densities are generated on a certain plane, the laser refracts, so that the predicted drop point and the actual drop point are different to generate deviation, the refraction point of the single laser for refraction is set as an O point, after refraction, the actual drop point of the single laser for dissipating energy is a P' point, and the refraction angle of the single laser is alpha2The point P, the point O, the point P 'and the point P' are all positioned in the laser ranging tangent plane M-xy;
(2) as shown in FIG. 4, the laser range-finding tangent plane M-xy includes a laser emission beam PO, a locus OP 'of a refraction point to a predetermined landing position, and a refracted beam OP'. Adjusting the servo data according to the emission angle to obtain the emission angle alpha for emitting the single laser beam1And measuring the coordinate P (x) of the initial point P of single laser emission with a certain reference origin1,y1)；
(3) Calculating the position coordinate of the refraction point O in the laser ranging tangent plane M-xy, and adjusting the emission power of the single laser beam to
So that the predetermined drop point P 'point and the actual drop point P' point satisfy the following formula:
wherein epsilon is a self-defined minimum value, at the moment, the preset falling point P' point of the single-beam laser is determined to be positioned at the refraction point O point, namely PP ″ ≈ PO, and the coordinate of the point P is known to be P (x) from the step (2)1,y1) Then the coordinates of the O point are
Let PO ═ l0，l0In relation to the power of the single laser beam, then
wherein ,
is the distance between the point P and the point O in the X-axis direction in the laser ranging tangent plane M-xy,
is the distance between the P point and the O point in the Y-axis direction in the laser ranging tangent plane M-xy0Is the distance from the point P to the point O, k is the coefficient of the single-beam laser emission reaching distance obtained according to the single-beam laser emission power, and the coordinate of the point O is O (x)1+l0cosα1,y1+l0sinα1)；
(4) On the basis of the step (3), the emission angle alpha of the single laser is not changed1Adjusting the emission power of the single laser beam to WpThe single laser beam is refracted through the refraction point O according to the coordinate of the point P and the emission angle alpha1And a transmission power WpCalculating to obtain the coordinates of a predetermined drop point P 'when no refraction phenomenon occurs, wherein the coordinates of the predetermined drop point P' are
Setting the distance PP 'from the initial point P of single laser emission to the predetermined point P' as l and the distance OP 'from the point O of refraction to the predetermined point P' as l1', then there are
wherein ,
is the distance between the point O and the point P' in the X-axis direction of the laser ranging tangent plane M-xy,
is the Y-axis direction of the point O and the point P' in the laser ranging tangent plane M-xyThe distance of the direction is obtained, and the coordinate of the point P 'is P' (x)1+lcosα1,y1+lsinα1)；
(5) Directly measuring and calculating the length l from the preset falling point P 'to the actual falling point P' by observing the visual plane E-eta zetap'p"According to lp'p"″Coordinate of point O, coordinate of point P', and emitting angle alpha1The coordinate of the P 'point is obtained by calculation, and the coordinate of the actual falling point P' point is
Setting the distance OP ' ═ l ' between the point of refraction O and the point of preset drop point P '1According to the principle of conservation of energy, assuming that refraction does not consume any energy, l ═ l0+l″1Although l1' and1not in the same straight line, but where the power is constant and refraction does not consume any energy, ""1＝l1', then there are
wherein ,α2The refraction angle of the single laser when the single laser is refracted at the point O,
is the distance between the point O and the point P' in the X-axis direction of the laser ranging tangent plane M-xy,
the distance between the point O and the point P 'in the Y-axis direction of the laser ranging tangent plane M-xy is obtained, and the coordinate of the point P' is obtained
(6) Calculating the position deviation of the preset drop point P 'point and the actual drop point P' point, wherein the position deviation of the preset drop point P 'point and the actual drop point P' point comprises the deviation in the X-axis direction in the laser ranging tangent plane M-xy
Deviation from Y-axis direction
(7) Calculating according to the position deviation to obtain the magnitude and direction of the external interference force, wherein the magnitude of the external interference force comprises the interference force F along the X-axis direction in the laser ranging tangent plane M-xyx1And a disturbance force F in the Y-axis directiony1：
wherein ,kxIs the displacement-force coefficient, k, of the laser ranging tangent plane in the X-axis directionyIs the displacement-force coefficient of the laser ranging tangent plane in the Y-axis direction, and M is the mass of the object.
Coefficient of displacement-force kx、kyThe calculation process of (2) is as follows:
(7.1) setting the liquid viscosity coefficient of the liquid environment to be constant, t0The position coordinate of the object measured at the moment is T0(Tx0,Ty0),t1The position coordinate of the object measured at the moment is T1(Tx1,Ty1) Up to, tnThe position coordinate of the object measured at the moment is Tn(Txn,Tyn)；
(7.2) calculating the difference between two adjacent positions of the object, the difference being in fact a velocity value vn：
(7.3) calculating the speed variation a of the object in the X-axis direction in the laser ranging tangent plane M-xyxAnd the Y-axis direction velocity variation ay：
wherein ,vixThe velocity components of two adjacent positions of an object in an X axis in a laser ranging tangent plane M-xy are obtained; v. ofiyThe velocity components of two adjacent positions of an object in a Y axis in a laser ranging tangent plane M-xy are obtained;
(7.4) calculating the displacement-force coefficient k of the object in the X-axis direction in the laser ranging tangent plane M-xyxAnd the displacement-force coefficient k of the Y-axis direction of the objecty：
The direction of the external interference force comprises the force application direction in an observation visual plane E-eta zeta and the force application direction of an X axis and a Y axis in a laser ranging tangent plane M-xy, the projections of an initial point P, a refraction point O, a preset falling point P 'and an actual falling point P' of a single laser in the observation visual plane E-eta zeta are positioned on the same straight line, the force application direction of the external interference force is gamma, and gamma is the offset angle of the projection of the preset falling point P 'and the actual falling point P' of the single laser in the observation visual plane E-eta zeta:
wherein the projection coordinate of the laser initial point P in the observation visual field plane E-eta zeta is
The projection coordinate of the actual point P' in the observation visual field plane E-eta zeta is
(8) Repeating the steps (2) to (7) for the single laser beams randomly emitted by the plurality of laser emitting devices, and calculating to obtain each beam of randomly emitted laser beamsThe single laser beam interferes the magnitude and force application direction of the force outside the refraction point; the single laser beam can be used for random emission or multiple laser beams can be used for random emission, and the emission angle alpha of the point P of the initial point of the single laser beam is changed every emission1Changing laser emission power, constructing an interference force matrix of each layer of water body right in front of a ship body of the underwater robot according to calculated data, wherein the matrix comprises the numerical value and the force application direction of external interference force, obtaining a water flow interference condition, realizing soft measurement, planning a proper advancing route by a controller according to the external water flow interference condition, decomposing thrust to a propeller speed regulation system of an xyz shaft, and realizing power distribution.
Claims (10)
1. An underwater robot external interference force measuring system based on laser is characterized by comprising a plurality of laser emitting devices, an image acquisition device, a data acquisition module and a data processing module, wherein each laser emitting device randomly emits a single laser beam, the image acquisition device acquires a laser landing point image, the data acquisition module acquires the emission distance and the emission angle of single laser beams randomly emitted by a plurality of laser emission devices, the data processing module calculates the preset falling point of the corresponding single laser beam through the transmitting distance and the transmitting angle of the single laser beams transmitted by the plurality of laser transmitting devices, the data processing module calculates the direction and the size of the external interference force by comparing the position relation between the preset single-beam laser drop point and the actual drop point.
2. The underwater robot external disturbance force measuring system according to claim 1, wherein the laser emitting device comprises a single-beam laser generator, a power regulator, and an emission angle regulator, the power regulator regulates the power of the single-beam laser generator to emit the single-beam laser, and the emission angle regulator is used for regulating the emission angle of the single-beam laser generator to emit the single-beam laser.
3. A measuring method using the laser-based underwater robot external disturbance force measuring system of claim 1 or 2, characterized in that the measuring process comprises the steps of:
(1) setting an initial point of laser emitted by a laser emitting device as a point P; when external interference force exists, the refraction point of the single laser for refraction is an O point, and the actual falling point of the single laser is a P' point; when no external interference force exists, the single laser beam is not refracted, and the preset falling point of the single laser beam is a point P'; the plane where the point P, the point O, the point P 'and the point P' are located is set as a laser ranging tangent plane M-xy;
(2) measuring the emission angle alpha of the single laser in the laser ranging tangent plane M-xy1And the coordinates P (x) of the initial point P1,y1)；
(3) Adjusting the emission power of the single laser beam to
The preset falling point P' point of the single laser beam is positioned at the refraction point O point, and the emission angle alpha is determined according to the coordinate of the point P1And transmit power
Calculating to obtain an O point coordinate;
(4) the emission power of the single laser is adjusted to W without changing the emission angle of the single laserpSo that the single laser beam is refracted and the emitting angle alpha is determined according to the coordinate of the point P1And a transmission power WpCalculating to obtain a P' point coordinate;
(5) calculating the length l from the predetermined drop point P' to the actual drop point P ″p'p"According to lp'p"″Coordinate of point O, coordinate of point P', and emitting angle alpha1Calculating to obtain a P' point coordinate;
(6) calculating the position deviation between the preset drop point P 'and the actual drop point P';
(7) and calculating the magnitude and the direction of the external disturbance force according to the position deviation.
4. The measuring method according to claim 3, wherein the emitting power of the single laser beam is adjusted in the step (3), and when the predetermined point P' and the actual point P "satisfy the following formula:
at the moment, the preset drop point P' point of the single laser beam is determined to be located at a refraction point O point, wherein epsilon is a self-defined minimum value;
knowing P (x)1,y1) The coordinates of the O point are
And is
wherein ,
is the distance between the point P and the point O in the X-axis direction in the laser ranging tangent plane M-xy,
is the distance between the P point and the O point in the Y-axis direction in the laser ranging tangent plane M-xy0Is the distance from the point P to the point O, k is the coefficient of the single-beam laser emission reaching distance obtained according to the single-beam laser emission power, and the coordinate of the point O is O (x)1+l0cosα1,y1+l0sinα1)。
5. The measuring method according to claim 4, wherein the coordinates of the predetermined drop point P' in the step (4) are
And is
Wherein l is the distance from the initial point P of the single laser to the predetermined drop point P', l1'is the distance from the point of refraction O to the predetermined drop point P',
is the distance between the point O and the point P' in the X-axis direction of the laser ranging tangent plane M-xy,
the distance between the point O and the point P ' in the Y-axis direction of the laser ranging tangent plane M-xy is obtained, and the coordinate of the point P ' is obtained as P ' (x)1+lcosα1,y1+lsinα1)。
6. The measurement method according to claim 5, wherein the coordinates of the actual point P "of step (5) are
And is
wherein ,l″1Distance of refraction point O from predetermined landing point P ″, α2The refraction angle of the single laser when the single laser is refracted at the point O,
is the distance between the point O and the point P' in the X-axis direction in the laser ranging tangent plane M-xy,
the distance between the point O and the point P in the Y-axis direction of the laser ranging tangent plane M-xy is obtained, and the coordinate of the point P is obtained
7. The measuring method according to claim 6, wherein the positional deviation of the predetermined drop point P' from the actual drop point P "in the step (6) comprises a deviation in the X-axis direction within the laser range-finding tangent plane M-xy
Deviation from Y-axis direction
8. The measurement method according to claim 7, wherein the magnitude of the external disturbance force in step (7) comprises a disturbance force F along the X-axis direction in a laser ranging tangent plane M-xyx1And a disturbance force F in the Y-axis directiony1：
wherein ,kxIs the displacement-force coefficient, k, of the laser ranging tangent plane in the X-axis directionyIs the displacement-force coefficient of the laser ranging tangent plane in the Y-axis direction, and M is the mass of the object.
9. The measurement method according to claim 8, wherein k isx、kyThe calculation process of (2) is as follows:
(7.1) setting the liquid viscosity coefficient of the liquid environment to be constant, t0The position coordinate of the object measured at the moment is T0(Tx0,Ty0),tnThe position coordinates of the object are measured at the momentTn(Txn,Tyn)；
(7.2) calculating the difference between two adjacent positions of the object, the difference being in fact a velocity value vn：
(7.3) calculating the speed variation a of the object in the X-axis direction in the laser ranging tangent plane M-xyxAnd the Y-axis direction velocity variation ay：
wherein ,vixThe velocity components of two adjacent positions of an object in an X axis in a laser ranging tangent plane M-xy are obtained; v. ofiyThe velocity components of two adjacent positions of an object in a Y axis in a laser ranging tangent plane M-xy are obtained;
(7.4) calculating the displacement-force coefficient k of the object in the X-axis direction in the laser ranging tangent plane M-xyxAnd the displacement-force coefficient k of the Y-axis direction of the objecty：
10. The measuring method according to claim 7, wherein the direction of the external disturbance force in step (7) includes an internal force application direction of an observation visual plane E- η ζ and an internal force application direction of an X axis and a Y axis of a laser ranging tangent plane M-xy, the observation visual plane E- η ζ is a direction in which a ship normal plane is perpendicular to a ship body advancing direction, an origin point E of the observation visual plane E- η ζ is an image acquisition device position point, projections of a single laser initial point P, a refraction point O, a predetermined drop point P' and an actual drop point P ″ in the observation visual plane E- η ζ are located on the same straight line, the external disturbance force application direction is γ, and γ is a deviation angle of the single laser in the observation visual plane E- η ζ:
wherein, the projection coordinate of the laser initial point P in the observation visual field plane E-eta zeta is
The projection coordinate of the actual falling point P' point in the observation visual field plane E-eta zeta is
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