CN116428957A - Underwater three-dimensional relative positioning photoelectric rope measuring device - Google Patents
Underwater three-dimensional relative positioning photoelectric rope measuring device Download PDFInfo
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- CN116428957A CN116428957A CN202310375086.5A CN202310375086A CN116428957A CN 116428957 A CN116428957 A CN 116428957A CN 202310375086 A CN202310375086 A CN 202310375086A CN 116428957 A CN116428957 A CN 116428957A
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- 238000005259 measurement Methods 0.000 claims description 23
- 238000003384 imaging method Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 229910000619 316 stainless steel Inorganic materials 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 239000005337 ground glass Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- 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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an underwater three-dimensional relative positioning photoelectric rope measuring device, and belongs to the field of ocean engineering. The underwater three-dimensional relative positioning photoelectric rope measuring device comprises: the distance measuring unit comprises a rope measuring body and an encoder, wherein the rope measuring body passes through the encoder and drives the encoder to rotate, and the encoder is used for determining the distance of the rope measuring body according to the rotating value; the angle measuring unit comprises a pull rod, a laser and a camera, wherein the pull rod comprises a hollow structure with the same diameter as that of the rope measuring body, the rope measuring body penetrates through the pull rod through the hollow structure, the pull rod is fixedly connected with the laser, the laser is used for projecting laser to the camera, and the angle measuring unit is used for determining the three-dimensional direction of the pull rod according to the projection position of the laser and the corresponding relation between the projection position and the pull rod direction, which are predetermined.
Description
Technical Field
The application belongs to the field of ocean engineering, and in particular relates to an underwater three-dimensional relative positioning photoelectric rope measuring device.
Background
In ocean engineering, the distance and the relative direction between two underwater components can be determined by utilizing an electronic rope measuring device. The electronic rope measuring device can measure the length and the pulling direction of the self-contained rope. In practical application, two ends of the electronic rope measuring device are respectively fixed on two underwater components. The electronic rope measuring device measures the length of the passing rope through one encoder to determine the distance between the components, and measures the deflection of the rope in different directions through combining the other two encoders respectively to determine the relative direction between the components.
When the electronic rope measuring device is used for measuring the sea bottom, for example, when two pipe joints of a submerged pipe type tunnel are measured underwater through the electronic rope measuring device, the rope required for measuring is longer due to the longer pipe joint. In the case of longer ropes, to ensure the accuracy of the encoder direction measurement, improvements in the drive mechanism of the device are required. However, since the improvement involves a plurality of encoders, the mechanical structure of the electronic rope measuring device is complex and the manufacturing difficulty is great.
Disclosure of Invention
The embodiment of the application aims to provide an underwater three-dimensional relative positioning photoelectric rope measuring device, which can solve the problems of complex mechanical structure and high manufacturing difficulty of an electronic rope measuring device.
In order to solve the technical problems, the application is realized as follows:
in a first aspect, embodiments of the present application provide an underwater three-dimensional relative positioning photoelectric rope measuring device, including: the distance measuring unit comprises a rope measuring body and an encoder, wherein the rope measuring body passes through the encoder and drives the encoder to rotate, and the encoder is used for determining the distance of the rope measuring body according to the rotating value; the angle measuring unit comprises a pull rod, a laser and a camera, wherein the pull rod comprises a hollow structure with the same diameter as that of the rope measuring body, the rope measuring body penetrates through the pull rod through the hollow structure, the pull rod is fixedly connected with the laser, the laser is used for projecting laser to the camera, and the angle measuring unit is used for determining the three-dimensional direction of the pull rod according to the projection position of the laser and the corresponding relation between the projection position and the pull rod direction, which are predetermined.
In a second aspect, embodiments of the present application provide an underwater three-dimensional relative positioning photoelectric rope measurement system, including: at least two sets of underwater three-dimensional relative positioning photoelectric rope measuring devices according to the first aspect; and the relative pose measuring device is used for measuring the relative pose of the underwater component according to the measurement result of the underwater three-dimensional relative positioning photoelectric rope measuring device.
In the embodiment of the application, the distance measuring unit comprises a rope measuring body and an encoder, wherein the rope measuring body passes through the encoder and drives the encoder to rotate, and the encoder is used for determining the distance of the rope measuring body according to the rotating value; and the angle measuring unit comprises a pull rod, a laser and a camera, wherein the pull rod comprises a hollow structure with the same diameter as that of the rope measuring body, the rope measuring body penetrates through the pull rod through the hollow structure, the pull rod is fixedly connected with the laser, the laser is used for projecting laser to the camera, and the angle measuring unit is used for determining the three-dimensional direction of the pull rod according to the projection position of the laser and the corresponding relation between the projection position and the direction of the pull rod, so that the problems of complex mechanical structure and high manufacturing difficulty of the electronic rope measuring device can be solved.
Drawings
Fig. 1 is a schematic structural diagram of an underwater three-dimensional relative positioning photoelectric rope measuring device according to an embodiment of the present application;
FIG. 2 is a schematic view of another structure of an underwater three-dimensional relative positioning photoelectric rope measuring device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an underwater three-dimensional relative positioning photoelectric rope measuring system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The underwater three-dimensional relative positioning photoelectric rope measuring device provided by the embodiment of the application is described in detail through specific embodiments and application scenes thereof by combining the attached drawings.
Fig. 1 shows a schematic structural diagram of an underwater three-dimensional relative positioning photoelectric rope measuring device according to an embodiment of the present invention. The underwater three-dimensional relative positioning photoelectric rope measuring device comprises: a distance measuring unit 1, a pull rod 2, a laser 3, a camera 4, a control unit (not shown).
The underwater three-dimensional relative positioning photoelectric rope measuring device is used for measuring the relative distance and the relative direction of two underwater components, and optionally, one end of the underwater three-dimensional relative positioning photoelectric rope measuring device is arranged on one component, and the other end of the underwater three-dimensional relative positioning photoelectric rope measuring device is hung on the other component.
The distance measuring unit 1 comprises a rope measuring body and an encoder, wherein the rope measuring body passes through the encoder and drives the encoder to rotate, and the encoder is used for determining the passing length of the rope measuring body according to the rotating value. Alternatively, the rope body is made of 316 stainless steel wires with the diameter of 2 mm. Optionally, the encoder is a rotary encoder. The rope body passes through the encoder to drive the encoder to rotate. The length of the rope body passing through the encoder can be determined according to the number of rotations of the encoder, such as the number of turns of the encoder or the number of holes covered by the encoder. Alternatively, the encoder can be provided with more than 6 ten thousand holes on a shaft with the diameter of about 10cm, and the length measurement accuracy can reach 0.07mm.
The pull rod comprises a hollow structure with the same diameter as the rope measuring body, and the rope measuring body penetrates through the pull rod through the hollow structure. Optionally, the rope measuring body penetrates through the pull rod 2 through a central hole arranged on the end face of the pull rod 2, and the diameter of the central hole is the same as that of the rope measuring body. Because the length of the rope body is longer during actual measurement, the length change and the angle change of the rope body are difficult to accurately sense under the underwater environment. The above problems can be overcome by sleeving the rigid pull rod outside the rope body.
Furthermore, the rope body passes through the hollow structure of the pull rod 2. The diameter of the central hole of the end face of the pull rod 2 is the same as that of the rope measuring body, and the direction of the pull rod 2 is consistent with that of the rope measuring body. Alternatively, the pull rod is a hollow carbon fiber tube, or the pull rod is made of other rigid materials with density close to that of water.
The laser 3 is used for emitting laser, and the laser 3 is fixedly connected with the pull rod 2; the laser light is projected to the camera 4; the three-dimensional direction of the tie rod 2 can be determined according to the projection position of the laser light on the camera 4 and the corresponding relation between the predetermined projection position and the tie rod direction.
When the direction of the tie rod is changed, the direction of the laser 3 and the laser emitted by the laser is correspondingly changed, and the projection position of the laser on the camera is correspondingly changed. The projection position and the pull rod reversely have a predetermined corresponding relation, so that the direction of the pull rod can be determined according to the projection position and the corresponding relation. The purpose of measuring the direction of the rope body by adopting an optical photographing method is achieved.
The underwater three-dimensional relative positioning photoelectric rope measuring device provided by the embodiment of the invention comprises a distance measuring unit, a rope measuring unit and a control unit, wherein the distance measuring unit comprises a rope measuring body and an encoder; and the angle measuring unit comprises a pull rod, a laser and a camera, wherein the pull rod comprises a hollow structure with the same diameter as that of the rope measuring body, the rope measuring body penetrates through the pull rod through the hollow structure, the pull rod is fixedly connected with the laser, the laser is used for projecting laser to the camera, the angle measuring unit is used for determining the three-dimensional direction of the pull rod according to the projection position of the laser and the corresponding relation between the predetermined projection position and the direction of the pull rod, so that the mechanical structure of the electronic rope measuring device is simple, the design and the manufacture are easy, and the weight of the device can be reduced to about 15kg from the original 170 kg.
Fig. 2 shows another schematic structural diagram of an underwater three-dimensional relative positioning photoelectric rope measuring device according to an embodiment of the present application.
The distance measuring unit further includes a spool 13 around which the rope body 11 is wound, the spool 13 being connected with a motor (not shown) for tensioning the rope body 11. Optionally, the motor is a stepper motor.
In underwater measurement, the length of the rope body 11 is long, and the length of the pull rod 2 is limited. In other words, the tie rod 2 cannot reach the same length as the rope body 11. Then there may be an angle between the tie rod 2 and the rope body 11 when the rope body 11 changes direction. Optionally, the wire spool 13 is a spring wire spool, and the wire spool 13 may apply a certain force to the rope body 11, so that the rope body 11 is kept in a tensioned state. However, the force that the spool 13 can exert is limited, typically around 50N, and is insufficient to tension the rope body 11. By connecting the stepping motor to the spool 13, the force for tensioning the rope body 11 can be increased. Even if the rope body 11 is longer, it can be tensioned. Alternatively, a stepper motor may be used instead of the combination of the spool 13 and stepper motor.
Therefore, the stepping motor is used for tensioning the rope measuring body 11, so that the direction of the rope measuring body 11 is consistent with the direction of the pull rod 2, and the accuracy of the direction is improved.
In one possible implementation, the apparatus further includes: a stress sensor 6 for measuring the acting force of the rope body 11 body to the pull rod 2; in case it is determined by the control unit that the force is greater than a threshold value, the motor is started. The stepper motor may not be turned on when the spool 13 is applied to the rope body 11 enough to tension the rope body 11. The stress sensor 6 is increased to sense the acting force of the rope body 11 to the pull rod 2. Alternatively, the stress sensor 6 may be provided at the wire outlet end of the pull rod 2, i.e., the position where the rope body 11 is pulled out from the pull rod 2. The stress sensor 6 feeds back the measured acting force to the control unit, and the control unit calculates the adjustment amount and direction according to the acting force feedback, so as to judge whether the stepping motor needs to be controlled to adjust the rope measuring body 11. And controlling to start the stepping motor under the condition that the acting force exceeds a threshold value. The threshold may be set based on historical empirical values or measurement accuracy requirements.
Optionally, when active adjustment is required, starting the stepping motor; when the read measurement value of the stress sensor 6 indicates that fine adjustment is required, the stepping motor is started, and a regulating loop is formed through force feedback.
Through setting up stress sensor 6, judge whether open step motor in order to tighten measuring rope body 11 according to the effort of stress sensor 6 measurement, can practice thrift the resource that operation step motor consumed, increase device's life.
In one possible implementation, the camera includes: an imaging light receiving plate 41 for receiving the laser light; a camera body 42 for photographing the projection position.
The laser 3 emits laser light 44, the laser light 44 is projected onto the imaging light receiving plate 41, and the camera body 42 records the projection position of the laser light on the imaging light receiving plate 41. Optionally, the projection position shot by the camera is fed back to the control unit. Optionally, the camera body 42 is a digital camera or other position sensor that can acquire the laser projection position, such as a phase-sensitive (PSD) position sensor. The imaging light receiving plate 41 may indicate the projection position of the laser light, and for example, imaging ground glass may be used as the imaging light receiving plate 41. The camera body 42 may be provided in a watertight case to protect the camera. The imaging light receiving plate 41 may be provided at one end face of the watertight box.
By the imaging light receiving plate 41 and the camera body 42, it is possible to further clarify how the projection position of the laser light is obtained.
In one possible implementation manner, the correspondence is a sub-pixel calibration table, and determining the three-dimensional direction of the pull rod 2 according to the projection position of the laser and the correspondence between the predetermined projection position and the pull rod direction includes: determining a sub-pixel position corresponding to the projection position according to the projection position of the laser light 44 on the imaging light receiving plate 41, which is shot by the camera body 42; and determining an angle value corresponding to the sub-pixel position according to the pre-determined sub-pixel calibration table. The correspondence between the optional projection position and the tie rod direction may be pre-obtained laboratory data. The camera body 42 records the projection position, and compares the recorded projection position with the projection position calibrated in advance, so that the three-dimensional direction of the tie rod 2 corresponding to the projection position can be efficiently determined.
In one possible implementation, the encoder 12 is arranged on the pull rod 2. If the encoder 12 is provided on the spool 13, the length of the rope body 11 can also be calculated by the number of turns of the spool. However, since the tightness and diameter of the rope body 11 around the spool 13 are variable, the accuracy of the encoder measurement may be affected at this time, or the calculation amount required to convert the length to be measured from the data obtained by the encoder may be large. By providing the encoder 12 to the pull rod 2, the length of the rope body 11 can be obtained more conveniently and more accurately.
In a possible implementation, the control unit is further configured to output the distance and the three-dimensional direction according to a predetermined communication protocol. The measured value in the device is input into the control unit, the control unit packs the data according to a set protocol through various calculation and conversion, and the length and the direction are output through a universal interface such as a network port. The apparatus further comprises a control circuit and a calculation unit. The calculation unit is used for calculating an output value according to the measured value. The device can integrate measurement and calculation, does not need equipment such as an external computer and the like, and directly outputs a measurement result.
In one possible implementation, the device further comprises a waterproof box 20 for housing the device. The laser propagation under water may be affected by visibility of water, refraction and warm salt characteristics, thereby affecting the accuracy of direction measurement. The above problems can be overcome by providing a waterproof case 20 to accommodate the electronic rope measuring device.
In a possible implementation, the device further comprises a direct current power supply (not shown) for powering the device. Optionally, external direct current is adopted to supply power, and the internal steady flow and the steady voltage of the device supply power to all parts contained in the device. Accidental burnout of the device due to unstable current can be avoided.
Fig. 3 shows a schematic structural diagram of an underwater three-dimensional relative positioning photoelectric rope measurement system according to an embodiment of the present application.
An underwater three-dimensional relative positioning photoelectric rope measurement system 300, comprising: at least two sets of underwater three-dimensional relative positioning photoelectric rope measuring devices; and the relative pose measurement is used for measuring the relative pose of the underwater component according to the measurement result of the underwater three-dimensional relative positioning photoelectric rope measuring device.
Optionally, obtaining a direction value and a length value measured by each underwater three-dimensional relative positioning photoelectric rope measuring device; and adjusting the positions of the two underwater components to be measured through the relative pose measuring device. Under the condition that the output directions and the output lengths of the two sets of devices are respectively consistent, the two components are kept aligned in each direction, and the relative pose measurement of the underwater components can be realized.
Optionally, the docking can be performed according to the direction values and/or the length values measured by the plurality of underwater three-dimensional relative positioning photoelectric rope measuring devices.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.
Claims (10)
1. An underwater three-dimensional relative positioning photoelectric rope measuring device, which is characterized by comprising:
the distance measuring unit comprises a rope measuring body and an encoder, wherein the rope measuring body passes through the encoder and drives the encoder to rotate, and the encoder is used for determining the distance of the rope measuring body according to the rotating value; and
the angle measurement unit comprises a pull rod, a laser and a camera, wherein the pull rod comprises a hollow structure with the same diameter as that of the rope measurement body, the rope measurement body penetrates through the pull rod through the hollow structure, the pull rod is fixedly connected with the laser, the laser is used for projecting laser to the camera, and the angle measurement unit is used for determining the three-dimensional direction of the pull rod according to the projection position of the laser and the corresponding relation between the projection position and the pull rod direction, which are determined in advance.
2. The device of claim 1, wherein the distance measuring unit further comprises a spool around which the rope body is wound, the spool being connected to a motor for tensioning the rope body.
3. The apparatus of claim 1, further comprising a stress sensor for measuring the force of the rope body against the tie rod; wherein the motor is started in case it is determined that the force is greater than a threshold value.
4. The apparatus of claim 1, wherein the camera comprises:
the imaging light receiving plate is used for receiving the laser;
and the camera body is used for shooting the projection position.
5. The apparatus of claim 4, wherein the correspondence is a sub-pixel calibration table, and wherein determining the three-dimensional direction of the tie rod based on the projected position of the laser and the predetermined correspondence between the projected position and the tie rod direction comprises:
determining a sub-pixel position corresponding to the projection position according to the projection position of the laser shot by the camera on the imaging light receiving plate;
and determining an angle value corresponding to the sub-pixel position according to the pre-determined sub-pixel calibration table.
6. The apparatus according to claim 1, wherein the distance and the three-dimensional direction are output by a control unit according to a predetermined communication protocol.
7. The apparatus as recited in claim 1, further comprising:
a waterproof box for accommodating the device.
8. The apparatus of claim 1, further comprising a control circuit and a computing unit.
9. The apparatus as recited in claim 1, further comprising:
and the direct current power supply is used for supplying power to the device.
10. An underwater three-dimensional relative positioning photoelectric rope measuring system, comprising: at least two sets of underwater three-dimensional relative positioning photoelectric rope measuring devices according to any one of claims 1 to 9; and the relative pose measuring device is used for measuring the relative pose of the underwater component according to the measurement result of the underwater three-dimensional relative positioning photoelectric rope measuring device.
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| CN202310375086.5A CN116428957A (en) | 2023-03-29 | 2023-03-29 | Underwater three-dimensional relative positioning photoelectric rope measuring device |
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| CN202310375086.5A CN116428957A (en) | 2023-03-29 | 2023-03-29 | Underwater three-dimensional relative positioning photoelectric rope measuring device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116608823A (en) * | 2023-07-17 | 2023-08-18 | 中交第一航务工程局有限公司 | Underwater angle measurement device and underwater angle measurement method |
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