CN113588154B - Underwater robot external disturbance force measurement system and measurement method based on laser - Google Patents
Underwater robot external disturbance force measurement system and measurement method based on laser Download PDFInfo
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Abstract
The invention discloses an external disturbance force measuring system of an underwater robot based on laser, which comprises a plurality of laser emitting devices for emitting single laser beams, an image acquisition device for acquiring environmental images, a data acquisition module and a data processing module, wherein the data acquisition module acquires the emitting distance and emitting angle of the single laser beams, the data processing module calculates a preset falling point and an actual falling point of the single laser beams, and the direction and the magnitude of external disturbance 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 the actual image and the real image acquired by current shooting is calculated, and then distortion measurement is carried out according to the difference value, so that a water flow disturbance force field model is established, and the follow-up selection of the optimal driving path for active vibration reduction is facilitated, so that the method has no control 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 an external interference force measurement system and method of the underwater robot based on laser.
Background
Underwater robots have attracted considerable attention in countries around the world as a means for humans to explore and develop ocean sharp objects. In recent years, underwater robots are widely used in fields of science, industry, commerce, military, etc., such as marine mapping, deep sea exploration, offshore oil and gas development, pipeline maintenance, offshore rescue, underwater target tracking and patrol, etc. In order to perform the above task, the underwater robot needs to carry various high-precision sensors and inertial navigation devices, however, the water body shake caused by the complex hydrologic condition of the seabed can interfere the normal operation of the underwater robot, such as severe water body shake can cause gyroscope drift, mechanical damage of important devices, and the like. Therefore, when the underwater robot runs, the underwater robot needs to select a direction along the water flow, and jolt is actively reduced as much as possible. At present, the underwater robot mainly relies on the following method to detect the external interference force.
(1) External disturbance force sensing based on gyroscope/MEMS sensor
The underwater robot senses acceleration of the hull under the xyz axis through an installed gyroscope or an MEMS sensor and is used for calculating the attitude of the hull and external interference force. This method belongs to direct measurement, and a gyroscope or a MEMS sensor can actually measure the interference force to which the hull is subjected, but a high-precision gyroscope or MEMS sensor is expensive, has accumulated errors, and can only detect the value of the current interference force.
(2) External disturbance force sensing based on ship body mounted pressure sensor
The underwater robot senses the water pressure born by the ship body through 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 external interference force is influenced by the distribution density and accuracy of pressure sensors arranged on the periphery.
(3) External disturbance force sensing realized by means of 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 situation of external interference force in future routes of the underwater robot. However, when the underwater robot is underway, it is difficult to update the information in real time due to the problem of communication rate.
In summary, the external disturbance force measurement technology of 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 larger information time delay, and only partial observation can be realized on the surrounding environment, so that the measurement effect is not ideal.
Disclosure of Invention
The invention aims to: in order to overcome the defects, the invention provides the external disturbance force measuring system of the underwater robot based on laser, which is based on fixed-focus random laser scanning and distortion measuring disturbance force based on visual image technology.
The invention also provides a measuring method of the laser-based underwater robot external disturbance force measuring system.
The technical scheme is as follows: in order to solve the problems, the invention adopts an external disturbance force measuring system of an underwater robot based on laser, which comprises a plurality of laser emitting devices, an image collecting device, a data collecting module and a data processing module, wherein each laser emitting device emits single-beam laser randomly, the image collecting device collects laser landing point images, the data collecting module collects the emitting distance and the emitting angle of the single-beam laser emitted randomly by the plurality of laser emitting devices, the data processing module calculates the preset landing point corresponding to the single-beam laser through the emitting distance and the emitting angle of the single-beam laser emitted randomly by the plurality of laser emitting devices, the actual landing point of the single-beam laser is obtained through the laser landing point images collected by the image collecting device, and the data processing module calculates the direction and the magnitude of the external disturbance force by comparing the position relation between the preset landing point and the actual landing point of the single-beam laser.
The beneficial effects are that: compared with the prior art, the active vibration damping device based on the vision measurement technology has the remarkable advantages of small volume and low price; according to random laser scanning, calculating the difference between an actual image and a real image acquired by current shooting, and then performing distortion measurement according to a difference value so as to establish a water flow disturbance force field model in a certain area in front of the underwater robot, wherein the disturbance force field model is beneficial to the follow-up selection of 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.
Further, 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 to emit 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.
The invention also provides a measuring method of the laser-based underwater robot external disturbance force system, and the measuring process comprises the following steps:
(1) Setting an initial point of laser emitted by the laser emitting device as a point P; when external interference force exists, the refraction point of refraction of the single-beam laser is an O point, and the actual falling point of the single-beam laser is a P' point; when no external interference force exists, the single laser does not generate refraction, and the preset drop point of the single laser is the P' point; the planes of the P point, the O point, the P 'point and the P' point are set as laser ranging tangential planes M-xy;
(2) In the laser ranging tangential plane M-xy, measuring the emission angle alpha of single laser 1 The coordinates P (x) 1 ,y 1 )；
(3) Adjusting the emission power of single laser to
So that the single-beam laser preset falling point P 'is positioned at the refraction point O, and the single-beam laser preset falling point P' is positioned at the refraction point O according to the coordinates of the point P and the emission angle alpha 1 And transmit power->
Calculating to obtain O point coordinates;
(4) The emission angle of the single laser is not changed, and the emission power of the single laser is adjusted to W p The single laser is refracted, and the emitting angle alpha is determined according to the coordinate of the P point 1 And transmit power W p Calculating 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 l p'p"″ O point coordinates, P' point coordinates, emission angle α 1 Calculating to obtain the P' point coordinate;
(6) Calculating the position deviation between the preset falling point P 'and the actual falling point P';
(7) And calculating according to the position deviation to obtain the magnitude and the direction of the external interference force.
Further, in the step (3), the emission power of the single laser beam is adjusted, and when the predetermined drop point P' and the actual drop point p″ satisfy the following formulas:
at this time, the preset falling point P' of the single laser is considered to be positioned at the refraction point O, wherein epsilon is a self-defined minimum value;
known as P (x 1 ,y 1 ) Point of OCoordinates are
And is also provided with
wherein ,
for the distance between the P point and the O point in the X axis direction in the laser ranging tangential plane M-xy, +.>
For the distance between the P point and the O point in the Y-axis direction in the laser ranging tangential plane M-xy, l 0 For the distance from the P point to the O point, k is a coefficient for obtaining the single-beam laser emission arrival distance according to the single-beam laser emission power, and the O point coordinate is obtained as O (x 1 +l 0 cosα 1 ,y 1 +l 0 sinα 1 )。
Further, the coordinates of the predetermined falling point P' in the step (4) are
And is also provided with
Wherein l is the distance from the initial point P of the single laser beam to the preset drop point P', l 1 'is the distance from the refraction point O to the predetermined drop point P',
is the distance between the O point and the P' point in the X-axis direction in the laser ranging tangential plane M-xy, +.>
For the distance between the O point and the P ' point in the Y-axis direction in the laser ranging tangential plane M-xy, the coordinate of the P ' point is obtained as P ' (x) 1 +lcosα 1 ,y 1 +lsinα 1 )。
Further, the coordinates of the actual falling point P' in the step (5) are
And is also provided with
wherein ,l″1 Is the distance alpha from the refraction point O to the point P' of the preset falling point 2 For the refraction angle of a single laser when the single laser is refracted at the O-point,
for the distance between the O point and the P' point in the X axis direction in the laser ranging tangential plane M-xy, +.>
For the distance between the O point and the P 'point in the Y-axis direction in the laser ranging tangential plane M-xy, the coordinate of the P' point is obtained
Further, the position deviation of the predetermined landing point P' and the actual landing point P″ in the step (6) includes the deviation in the X-axis direction in the laser ranging tangential plane M-xy
And Y-axis direction deviation->
Further, the external interference force in the step (7) comprises laser ranging and levelingDisturbance force F in the X-axis direction in plane M-xy x1 And a disturbance force F in the Y-axis direction y1 ：
wherein ,kx For the displacement-force coefficient, k, of the X-axis direction in the tangential plane M-xy of the laser ranging y The displacement-force coefficient in the Y-axis direction in the tangential plane M-xy of the laser ranging is obtained, and M is the mass of the object.
Further, the k is x 、k y The calculation process of (1) is as follows:
(7.1) setting the liquid viscosity coefficient of the liquid environment to be unchanged, t 0 The position coordinate of the object measured at the moment is T 0 (Tx 0 ,Ty 0 ),t n The position coordinate of the object measured at the moment is T n (Tx n ,Ty n )；
(7.2) calculating the difference between two adjacent positions of the object, the difference being in fact the velocity value vn:
(7.3) calculating the velocity variation a of the object in the X-axis direction in the laser ranging tangential plane M-xy x And Y-axis direction speed variation a y ：
wherein ,vix The velocity components of the X axis in the laser ranging tangential plane M-xy for two adjacent positions of the object; v iy A Y-axis velocity component in a laser ranging tangential plane M-xy for two adjacent positions of the object;
(7.4) calculating the displacement-force coefficient k in the X-axis direction of the object in the laser ranging tangential plane M-xy x And a displacement-force coefficient k in the Y-axis direction of the object y ：
Further, in the step (7), the direction of the external interference force includes a force application direction in an observation view plane E- ηζ and force application directions of an X axis and a Y axis in a laser ranging tangential plane M-xy, the observation view plane E- ηζ is a normal plane of the hull perpendicular to a forward direction of the hull, an origin E point of the observation view plane E- ηζ is a position point of the image capturing device, projections of an initial point P, a refraction point O, a predetermined drop point P' and an actual drop point p″ of the single laser in the observation view plane E- ηζ are located on the same line, and the force application direction of the external interference force is γ, where γ is a deviation angle of the single laser in the observation view plane E- ηζ:
wherein the projection coordinate of the laser initial point P point in the observation visual plane E-eta zeta is
The projection coordinate of the actual falling point P' point in the observation visual plane E-eta zeta is +.>
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Drawings
FIG. 1 shows a water deformation schematic diagram under an external water flow disturbance force field model;
FIG. 2 is a schematic diagram showing the deformation of a rectangular unit water body under an external water flow disturbance force field model;
FIG. 3 is a schematic diagram of the arrangement of the human body coordinate system E- ζ ηζ of the underwater robot;
FIG. 4 is a schematic view showing a laser ranging tangential plane M-xy arrangement;
FIG. 5 is a schematic view showing the arrangement of the observation visual field plane E- ηζ;
fig. 6 is a diagram illustrating the hardware topology of the system of the present invention.
Detailed Description
Example 1
As shown in fig. 6, the external disturbance force measurement system of the underwater robot based on laser in this embodiment includes a plurality of laser emission devices, an image acquisition device, a data acquisition module, and a data processing module, and according to the environmental requirement, a plurality of laser emission devices emitting single laser beams are installed, and the single laser emission devices form an emission array, so that the measurement time can be greatly shortened, and the measurement accuracy can be improved. 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 emitted by the single laser generator, and can set the energy of each laser emission so as to control the distance reached by the laser. The emission angle adjustment servo adjusts the angle of the single laser emitted by the single laser generator through a micro motor, and planar scanning is realized through multi-angle emission of the single laser. The image acquisition device acquires an environment image, the data acquisition module acquires the emission distance and the emission angle of the single-beam laser, the data processing module calculates the preset falling point of the single-beam laser through the emission distance and the emission angle of the single-beam laser, the actual falling point of the single-beam laser is calculated through 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-beam laser to obtain the direction and the magnitude of external interference force.
All the single-beam laser emitting devices are connected with the controller and the data memory through the data bus. When the laser is transmitted for ranging, the system needs to record the preset transmitting distance, transmitting angle, the position of the preset falling point and the position of the actual falling point, and store the data in a data memory, and the controller comprises a data processing module for reading basic data in the data memory to calculate the water flow interference condition of the front surface of the underwater robot so as to realize soft measurement. The controller can plan a proper traveling route according to the external water flow interference condition, and decompose thrust to the propeller speed regulating system of the xyz axis to realize power distribution.
Example two
As shown in fig. 1, when the underwater robot travels in an environment with external water flow interference, external interference force may squeeze the water body, so that the water body is deformed and squeezed 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 deformed surface is analyzed by using laser beams (generally adopting blue-green laser under water), the laser irradiates the deformed surface to emit and refract, refraction points are generated on the deformed surface, and the direction and the magnitude of external interference force are calculated according to the laser refraction direction and the refraction angle.
The external interference force measuring method of the underwater robot based on the laser in the embodiment comprises the following steps:
(1) As shown in fig. 3, an underwater robot is taken as a main body, an underwater robot body coordinate system E- ζ is established, wherein the axis of the underwater robot body is in the ζ axis, the bow faces the negative direction of the ζ axis, the observation view plane E- ζ is a normal plane perpendicular to the axis of the hull, that is, the observation view plane E- ζ is perpendicular to the advancing direction of the hull, the point E is the center point of the observation view plane E- ζ, and the point E is the center of the observation camera. Setting the plane of the single-beam laser operation as a laser ranging tangential plane M-xy, setting the initial point of the laser emitting device for emitting laser as P point and the emitting angle as alpha 1 The method comprises the steps of carrying out a first treatment on the surface of the When no external interference force exists, the laser is not refracted, a preset drop point of the single-beam laser at a position where the single-beam laser dissipates energy is set as a P' point; if water interference exists in the middle, water deformation can be caused, a water flow layer with different densities is generated on a certain plane, laser refraction phenomenon is generated, deviation is generated between a predicted falling point and an actual falling point, a refraction point at which single laser beam is refracted is set as an O point, the actual falling point after single laser beam dissipates energy is a P' point after refraction, and the refraction angle of the single laser beam is alpha 2 The point P, the point O, the point P 'and the point P' are all positioned in the laser ranging tangential plane M-xy;
(2) As shown in fig. 4, the laser light beam PO, the locus OP' of refraction points to the predetermined landing point position, and the refracted light beam op″ are included in the laser ranging tangential plane M-xy. Obtaining the emission angle alpha of the single-beam laser according to the emission angle adjustment servo data 1 And measuring the coordinates P (x) of the single-beam laser emission initial point P by a certain reference origin 1 ,y 1 )；
(3) The position coordinates of the refraction point O point are calculated in the laser ranging tangential plane M-xy, and the transmitting power of the single laser is adjusted to be
So that the predetermined drop point P' and the actual drop point P "point satisfy the following formula:
wherein ε is a predetermined minimum value, at which point the single-beam laser predetermined landing point P' is determined to be located at the refractive point O, i.e., PP "≡PO, and the coordinates of P point P (x 1 ,y 1 ) The O point coordinates are
Let po=l 0 ，l 0 Related to the power of the single laser beam
wherein ,
for the distance between the P point and the O point in the X axis direction in the laser ranging tangential plane M-xy, +.>
For the distance between the P point and the O point in the Y-axis direction in the laser ranging tangential plane M-xy, l 0 For the distance from the P point to the O point, k is a coefficient for obtaining the single-beam laser emission arrival distance according to the single-beam laser emission power, and the O point coordinate is obtained as O (x 1 +l 0 cosα 1 ,y 1 +l 0 sinα 1 )；
(4) On the basis of the step (3), the emission angle alpha of the single laser is not changed 1 Adjusting the emission power of the single laser beam to W p Single-beam laser diodeThe over-refraction point O is refracted according to the coordinate of the point P and the emission angle alpha 1 And transmit power W p Calculating to obtain the coordinates of the preset falling point P 'when no refraction phenomenon is assumed, wherein the coordinates of the preset falling point P' are
Let the distance PP ' =l from the initial point P to the predetermined drop point P ' and the distance OP ' =l from the refractive point O to the predetermined drop point P 1 ' then there is
wherein ,
is the distance between the O point and the P' point in the X-axis direction in the laser ranging tangential plane M-xy, +.>
For the distance between the O point and the P ' point in the Y-axis direction in the laser ranging tangential plane M-xy, the coordinate of the P ' point is obtained as P ' (x) 1 +lcosα 1 ,y 1 +lsinα 1 )；
(5) The length l from the preset falling point P 'to the actual falling point P' is directly measured and calculated through the observation visual plane E-eta zeta p'p" According to l p'p"″ O point coordinates, P' point coordinates, emission angle α 1 Calculating to obtain the coordinates of the P 'point, wherein the coordinates of the P' point of the actual falling point are
Distance OP "=l", which is set from refractive point O point to predetermined falling point P "" 1 According to the principle of conservation of energy, l=l, assuming refraction does not consume any energy 0 +l″ 1 Although l 1 ' and l 1 Not in the same straight line, but with constant power, and without any energy being consumed by refraction, l 1 ＝l 1 ' then there is
wherein ,α2 For the refraction angle of a single laser when the single laser is refracted at the O-point,
is the distance between the O point and the P' point in the X axis direction in the laser ranging tangential plane M-xy, +.>
For the distance between the O point and the P 'point in the Y-axis direction in the laser ranging tangential plane M-xy, the coordinate of the P' point is obtained
(6) Calculating the position deviation of the preset falling point P 'and the actual falling point P' which comprises the deviation of the X-axis direction in the laser ranging tangential plane M-xy
And Y-axis direction deviation->
(7) According to the position deviation, calculating to obtain the magnitude and direction of external interference force, wherein the magnitude of the external interference force comprises interference force F along X-axis direction in a laser ranging tangential plane M-xy x1 And a disturbance force F in the Y-axis direction y1 ：
wherein ,kx Is excited byDisplacement-force coefficient, k, of X-axis direction in optical ranging tangential plane M-xy y The displacement-force coefficient in the Y-axis direction in the tangential plane M-xy of the laser ranging is obtained, and M is the mass of the object.
Coefficient of displacement-force k x 、k y The calculation process of (1) is as follows:
(7.1) setting the liquid viscosity coefficient of the liquid environment to be unchanged, t 0 The position coordinate of the object measured at the moment is T 0 (Tx 0 ,Ty 0 ),t 1 The position coordinate of the object measured at the moment is T 1 (Tx 1 ,Ty 1 ) Up to t n The position coordinate of the object measured at the moment is T n (Tx n ,Ty n )；
(7.2) calculating the difference between two adjacent positions of the object, the difference being in effect the velocity value v n ：
(7.3) calculating the velocity variation a of the object in the X-axis direction in the laser ranging tangential plane M-xy x And Y-axis direction speed variation a y ：
wherein ,vix The velocity components of the X axis in the laser ranging tangential plane M-xy for two adjacent positions of the object; v iy A Y-axis velocity component in a laser ranging tangential plane M-xy for two adjacent positions of the object;
(7.4) calculating the displacement-force coefficient k in the X-axis direction of the object in the laser ranging tangential plane M-xy x And a displacement-force coefficient k in the Y-axis direction of the object y ：
The external interference force comprises a force application direction in an observation view plane E-eta zeta and force application directions of an X axis and a Y axis in a laser ranging tangential plane M-xy, projections of an initial point P, a refraction point O, a preset falling point P 'and an actual falling point P' of single laser in the observation view 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 an offset angle of projection of the preset falling point P 'and the actual falling point P' of the single laser in the observation view plane E-eta zeta:
wherein the projection coordinate of the laser initial point P point in the observation visual plane E-eta zeta is
The projection coordinate of the actual falling point P' point in the observation visual plane E-eta zeta is +.>
(8) Repeating the steps (2) to (7) for single-beam laser randomly emitted by a plurality of laser emitting devices, and calculating to obtain the external interference force and the force application direction of each single-beam laser randomly emitted at the refraction point; the single-beam laser random emission or the multi-beam laser random emission can be used, and the emission angle alpha of the initial point P of the single-beam laser is changed by each emission 1 Changing laser emission power, constructing an interference force matrix of each layer of water body right in front of the underwater robot hull according to the calculated data, wherein the matrix comprises the value of external interference force and the force application direction, obtaining the water flow interference condition, realizing soft measurement, and a controller planning a proper travel route according to the external water flow interference condition, decomposing thrust force to a propeller speed regulation system of an xyz axis, and realizing power distribution.
Claims (10)
1. The utility model provides an external disturbance force measurement system of underwater robot based on laser, its characterized in that includes a plurality of laser emission devices, image acquisition device, data acquisition module, data processing module, every laser emission device is single beam laser at random, image acquisition device gathers laser landing image, the data acquisition module gathers the transmission distance, the transmission angle of a plurality of laser emission device random single beam laser, data processing module calculates the predetermined landing that corresponds single beam laser through the transmission distance, the transmission angle of a plurality of laser emission device single beam laser, obtains the actual landing of single beam laser through the laser landing image that image acquisition device gathered, data processing module calculates the direction and the size of external disturbance force through the relation of the position of the predetermined landing of comparison single beam laser and actual landing.
2. The underwater robot external disturbance force measurement system according to claim 1, wherein the laser emission device includes a single-beam laser generator, a power regulator for regulating a power level of the single-beam laser emitted by the single-beam laser generator, and an emission angle regulator for regulating an emission angle of the single-beam laser emitted by the single-beam laser generator.
3. A measurement method using the laser-based underwater robot external disturbance force measurement system according to claim 1 or 2, wherein the measurement process includes the steps of:
(1) Setting an initial point of laser emitted by the laser emitting device as a point P; when external interference force exists, the refraction point of refraction of the single-beam laser is an O point, and the actual falling point of the single-beam laser is a P' point; when no external interference force exists, the single laser does not generate refraction, and the preset drop point of the single laser is the P' point; the planes of the P point, the O point, the P 'point and the P' point are set as laser ranging tangential planes M-xy;
(2) In the laser ranging tangential plane M-xy, measuring the emission angle alpha of single laser 1 The coordinates P (x) 1 ,y 1 )；
(3) Adjusting the emission power of single laser to
So that the single-beam laser preset falling point P' is positioned at the refraction point O,according to the coordinates of the P point and the emission angle alpha 1 And transmit power->
Calculating to obtain O point coordinates;
(4) The emission angle of the single laser is not changed, and the emission power of the single laser is adjusted to W p The single laser is refracted, and the emitting angle alpha is determined according to the coordinate of the P point 1 And transmit power W p Calculating to obtain a P' point coordinate;
(5) Calculating the length l from the preset falling point P 'to the actual falling point P' p'p" According to l p'p" O point coordinates, P' point coordinates, emission angle α 1 Calculating to obtain a P' point coordinate;
(6) Calculating the position deviation between the preset falling point P 'and the actual falling point P';
(7) And calculating according to the position deviation to obtain the magnitude and the direction of the external interference force.
4. A measuring method according to claim 3, wherein the emission power of the single laser beam is adjusted in the step (3), when the predetermined landing point P' and the actual landing point P "satisfy the following formula:
at this time, the preset falling point P' of the single laser is considered to be positioned at the refraction point O, wherein epsilon is a self-defined minimum value;
known as P (x 1 ,y 1 ) The coordinates of the O point are
And is also provided with
wherein ,
for the distance between the P point and the O point in the X axis direction in the laser ranging tangential plane M-xy, +.>
For the distance between the P point and the O point in the Y-axis direction in the laser ranging tangential plane M-xy, l 0 For the distance from the P point to the O point, k is a coefficient for obtaining the single-beam laser emission arrival distance according to the single-beam laser emission power, and the O point coordinate is obtained as O (x 1 +l 0 cosα 1 ,y 1 +l 0 sinα 1 )。
5. The method according to claim 4, wherein the coordinates of the predetermined landing point P' in the step (4) are
And is also provided with
Wherein l is the distance from the initial point P of the single laser beam to the preset drop point P', l 1 'is the distance from the refraction point O to the predetermined drop point P',
is the distance between the O point and the P' point in the X-axis direction in the laser ranging tangential plane M-xy, +.>
For the distance between the O point and the P ' point in the Y-axis direction in the laser ranging tangential plane M-xy, the coordinate of the P ' point is obtained as P ' (x) 1 +lcosα 1 ,y 1 +lsinα 1 )。
6. The method according to claim 5, wherein the actual falling point P' of step (5)Is the coordinates of (a)
And is also provided with
wherein ,l1 "distance from refraction point O to predetermined drop point P", alpha 2 For the refraction angle of a single laser when the single laser is refracted at the O-point,
for the distance between the O point and the P' point in the X axis direction in the laser ranging tangential plane M-xy, +.>
For the distance between the O point and the P 'point in the Y-axis direction in the laser ranging tangential plane M-xy, the coordinate of the P' point is obtained
7. The measuring method according to claim 6, wherein the positional deviation of the predetermined landing point P 'from the actual landing point P' in the step (6) includes a deviation in the X-axis direction within the laser ranging tangential plane M-xy
Deviation from Y-axis direction
/>
8. The method according to claim 7, wherein the external disturbance force in the step (7) includes a disturbance force F in the X-axis direction in the laser ranging tangential plane M-xy x1 And a disturbance force F in the Y-axis direction y1 ：
wherein ,kx For the displacement-force coefficient, k, of the X-axis direction in the tangential plane M-xy of the laser ranging y The displacement-force coefficient in the Y-axis direction in the tangential plane M-xy of the laser ranging is obtained, and M is the mass of the object.
9. The measurement method according to claim 8, wherein the k x 、k y The calculation process of (1) is as follows:
(7.1) setting the liquid viscosity coefficient of the liquid environment to be unchanged, t 0 The position coordinate of the object measured at the moment is T 0 (Tx 0 ,Ty 0 ),t n The position coordinate of the object measured at the moment is T n (Tx n ,Ty n )；
(7.2) calculating the difference between two adjacent positions of the object, the difference being in effect the velocity value v n ：
(7.3) calculating the velocity variation a of the object in the X-axis direction in the laser ranging tangential plane M-xy x And Y-axis direction speed variation a y ：
wherein ,vix The velocity components of the X axis in the laser ranging tangential plane M-xy for two adjacent positions of the object; v iy For two phases of an objectA velocity component of a Y axis in the laser ranging tangential plane M-xy at the adjacent position;
(7.4) calculating the displacement-force coefficient k in the X-axis direction of the object in the laser ranging tangential plane M-xy x And a displacement-force coefficient k in the Y-axis direction of the object y ：
10. The method according to claim 7, wherein the direction of the external disturbance force in the step (7) includes a direction of application of force in an observation view plane E- ηζ and a direction of application of force in an X-axis and a Y-axis in a laser ranging tangential plane M-xy, the observation view plane E- ηζ being a direction in which a hull normal plane is perpendicular to a hull advancing direction, an origin E of the observation view plane E- ηζ being a position point of an image capturing device, projections of an initial point P, a refraction point O, a predetermined landing point P' and an actual landing point P "of the single laser in the observation view plane E- ηζ being on the same straight line, the direction of application of the external disturbance force being γ, and γ being a deviation angle of the single laser in the observation view plane E- ηζ:
wherein the projection coordinate of the laser initial point P point in the observation visual plane E-eta zeta is
The projection coordinate of the actual falling point P' point in the observation visual plane E-eta zeta is +.>
/>
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