CN116608823A - Underwater angle measurement device and underwater angle measurement method - Google Patents

Underwater angle measurement device and underwater angle measurement method Download PDF

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Publication number
CN116608823A
CN116608823A CN202310870729.3A CN202310870729A CN116608823A CN 116608823 A CN116608823 A CN 116608823A CN 202310870729 A CN202310870729 A CN 202310870729A CN 116608823 A CN116608823 A CN 116608823A
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CN
China
Prior art keywords
pull rod
light spot
underwater
angle
laser
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Pending
Application number
CN202310870729.3A
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Chinese (zh)
Inventor
锁旭宏
宁进进
李允良
王强
刘兆权
成益品
安鸣赞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Provincial Laboratory Of Artificial Intelligence And Digital Economy Shenzhen
CCCC First Harbor Engineering Co Ltd
No 2 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
Original Assignee
Guangdong Provincial Laboratory Of Artificial Intelligence And Digital Economy Shenzhen
CCCC First Harbor Engineering Co Ltd
No 2 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
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Application filed by Guangdong Provincial Laboratory Of Artificial Intelligence And Digital Economy Shenzhen, CCCC First Harbor Engineering Co Ltd, No 2 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd filed Critical Guangdong Provincial Laboratory Of Artificial Intelligence And Digital Economy Shenzhen
Priority to CN202310870729.3A priority Critical patent/CN116608823A/en
Publication of CN116608823A publication Critical patent/CN116608823A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The application belongs to the technical field of angle measuring devices, and particularly relates to an underwater angle measuring device and an underwater angle measuring method. The underwater angle measuring device comprises a box body, a pull rod, a laser, a light spot acquisition device and a test terminal; the rear end of the pull rod is rotationally connected in the box body, the front end of the pull rod is used for being connected with an underwater object to be tested, and the pull rod rotates due to the movement of the underwater object to be tested; the laser is positioned in the box body and is arranged on the outer wall of the pull rod and used for emitting laser outwards; the light spot acquisition device is arranged in the box body and faces the laser to acquire the position information of light spots formed by laser projected on the light spot acquisition device in real time; the test terminal is in communication connection with the light spot collecting device to receive the light spot position information in real time, and then the horizontal angle and the vertical angle of the pull rod are calculated in real time. The underwater two-dimensional angle measuring device is compact in structure, convenient to use, low in watertight difficulty, capable of measuring underwater two-dimensional angles, and sensitive, accurate and efficient in angle measurement.

Description

Underwater angle measurement device and underwater angle measurement method
Technical Field
The application belongs to the technical field of angle measuring devices, and particularly relates to an underwater angle measuring device and an underwater angle measuring method.
Background
At present, more land angle measurement methods are available, the angle measurement precision is higher, but the underwater accurate angle measurement difficulty is higher, the mature underwater angle measurement devices are fewer, and the accurate orientation of the underwater objects to be measured such as immersed tube joints and the like is difficult to realize by using the angle measurement method. High-precision angle measuring instruments such as angle measuring encoders are high in cost and easy to damage, and are difficult to use underwater; the mechanical angle measuring equipment has larger volume, and the watertight between the overhanging part and the internal structure is difficult to achieve, so that the underwater installation and watertight work are difficult, and the underwater operation is inconvenient.
A conventional angle sensor refers to a sensor that senses the measured angle and converts it into a usable output signal. The body of the angle sensor is provided with a hole which can be matched with the rotating shaft; when connected to the RCX, the angle sensor counts once every 1/n revolution of the shaft; when the motor rotates in one direction, the count is increased, and when the rotation direction is changed, the count is decreased; the count is related to the initial position of the angle sensor. However, the conventional angle sensor has the following problems:
1) The traditional angle sensor can only realize one-dimensional angle measurement;
2) The rotating shaft and the sensor are integrated, so that underwater sealing is difficult.
Disclosure of Invention
Aiming at the defects existing in the related art, the application provides an underwater angle measuring device and an underwater angle measuring method, which aim to realize accurate measurement of underwater two-dimensional angles and reduce watertight difficulty.
The application provides an underwater angle measuring device, comprising:
the box body is provided with a containing cavity therein;
the rear end of the pull rod is a connecting end which is rotationally connected in the box body; the front end of the pull rod is used for being connected with an underwater object to be tested, and the pull rod rotates around the connecting end due to the movement of the underwater object to be tested;
the laser is positioned in the box body and is arranged on the outer wall of the pull rod; the laser is used for emitting laser outwards;
the light spot collecting device is arranged in the box body and faces the laser, so that laser emitted by the laser is projected on the light spot collecting device to form light spots; the light spot acquisition device is used for acquiring the position information of the light spot in real time;
the test terminal is in communication connection with the light spot acquisition device to receive the light spot position information acquired by the light spot acquisition device in real time; and a built-in angle resolving program of the test terminal is used for resolving the horizontal angle and the vertical angle of the pull rod in real time according to the received light spot position information.
According to the technical scheme, through the split type structural design between the laser and the pull rod, watertight arrangement is not needed between the laser and the pull rod, and watertight difficulty of the underwater angle measuring device is greatly reduced; through the matching design of the laser and the facula acquisition device, the real-time measurement of the horizontal angle and the vertical angle of the pull rod can be carried out in a laser imaging mode, namely, the measurement of the underwater two-dimensional angle can be realized, and the angle measurement is more sensitive, accurate and efficient.
In some of these embodiments, the spot acquisition device comprises a camera and an acquisition mirror; the collecting mirror is positioned between the laser and the camera, and laser emitted by the laser is projected on the collecting mirror to form light spots; the shooting direction of the camera is opposite to the collecting mirror so as to collect the light spot position information on the collecting mirror in real time.
In some of these embodiments, a spool is disposed within the housing; a pull wire is arranged in the pull rod in a penetrating manner along the length direction of the pull rod, one end of the pull wire is wound on the wire spool, and the other end of the pull wire penetrates out of the front end of the pull rod to be connected with an underwater object to be measured; the wire spool is used for winding and unwinding the pull wire.
In some embodiments, the light spot collecting device further comprises a sealed cabin, the sealed cabin is covered outside the camera, and the collecting mirror is arranged at one end of the sealed cabin facing the laser; the sealed cabin is used for performing waterproof sealing on the camera.
In some embodiments, the collection mirror is a ground glass material.
In some of these embodiments, the center of the camera, the center of the collection mirror, and the center of rotation of the tie rod connection are on the same line.
In some of these embodiments, the angle resolving program includes an angle resolving formula, which is expressed as formula (1);
(1)
in the formula (1):
is the horizontal angle of the pull rod +.>Is a vertical angle of the pull rod;
（，/>) Acquiring image coordinates of an initial calibration position of a light spot on a mirror; when->And->When the position of the light spot on the collecting mirror is the initial calibration position;
（，/>) Acquiring image coordinates of a real-time position of a light spot on a mirror;
to collect the distance from the center of the mirror to the rotation center of the connecting end of the pull rod.
According to the technical scheme, the horizontal angle and the vertical angle of the pull rod can be obtained in real time through collecting the change of the light spot position on the mirror, and the accurate measurement of the two-dimensional angle of the pull rod is realized.
The application also provides an underwater angle measurement method, which is carried out by adopting the underwater angle measurement device, and comprises the following steps:
establishing a facula image coordinate system: establishing a light spot image coordinate system according to the azimuth of the acquisition mirror, wherein the origin of the light spot image coordinate system is positioned at the center of the acquisition mirror, and the light spot image coordinate systemThe axis is parallel to the horizontal plane of the box body, and the light spot image coordinate system is +.>The shaft is parallel to the vertical direction of the box body;
calibrating: the pull rod is not connected with the underwater object to be measured, and is straightened along the horizontal direction of the box body at the momentAnd->At the moment, the position of the light spot on the acquisition mirror is the initial calibration position, and the testing terminal obtains the image coordinates of the initial calibration position of the light spot through the camera (/ for)>，/>）；
And angle measurement: connecting a pull rod to an underwater object to be measured, rotating the pull rod around a connecting end due to the movement of the underwater object to be measured, collecting the position of the light spot on the mirror to be the real-time position, and obtaining the image coordinates of the real-time position of the light spot by the test terminal through a camera，/>) The method comprises the steps of carrying out a first treatment on the surface of the Solving the horizontal angle of the tie rod according to formula (1)>And vertical angle->。
According to the technical scheme, accurate measurement and calculation of the two-dimensional angle of the pull rod are realized, and the underwater angle measurement is more sensitive, accurate and efficient.
In some embodiments, the test terminal further incorporates a spot image coordinate calculation program, and the spot image coordinate calculation program calculates an image coordinate of the spot position according to the spot position information acquired by the camera.
Based on the technical scheme, the underwater angle measuring device and the underwater angle measuring method solve the problems that the traditional angle sensor is high in watertight difficulty and can only realize one-dimensional angle measurement, realize accurate measurement of underwater two-dimensional angles, and are sensitive, accurate and efficient in angle measurement.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic top view of the structure of an underwater goniometer of the present application;
FIG. 2 is a schematic perspective view of the underwater goniometer of the present application;
FIG. 3 is a schematic view of the angle measurement principle of the underwater angle measurement device of the present application;
fig. 4 is a flow chart of the underwater goniometry method of the present application.
In the figure: 1. a case; 2. a pull rod; 3. a pull wire; 4. an underwater object to be measured; 5. a laser; 51. laser; 6. a bracket; 7. a light spot acquisition device; 71. a camera; 72. a collection mirror; 73. sealing the cabin; 8. and a wire spool.
Detailed Description
The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be understood that the terms "center," "upper," "lower," "top," "bottom," "inner," "outer," "left," "right," "front," "rear," "vertical," "horizontal," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in fig. 2, are merely for convenience in describing the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1-2, the application provides an underwater angle measuring device, which comprises a box body 1, a pull rod 2, a laser 5, a light spot acquisition device 7 and a test terminal.
The case 1 is generally a regular rectangular parallelepiped having a receiving chamber therein. The top cover of the case 1 is not illustrated in fig. 1 and 2 for clarity of the internal components of the case 1.
The rear end of the pull rod 2 is a connecting end which is rotatably connected in the box body 1. The front end of the pull rod 2 extends towards the outside of the box body 1 and is used for being connected with the underwater object 4 to be tested, and the pull rod 2 rotates around the connecting end due to the movement of the underwater object 4 to be tested.
The laser 5 is located in the box 1 and is mounted on the outer wall of the pull rod 2 through a bracket 6, namely, the laser 5 is suspended on the outer wall of the pull rod 2, so that split structural design is realized between the laser 5 and the rotatable pull rod 2, and watertight arrangement is not needed between the laser 5 and the rotatable pull rod 2. Further, as the relative position relationship between the laser 5 and the pull rod 2 is unchanged, the laser 5 synchronously rotates along with the pull rod 2 when the pull rod 2 rotates; that is, the rotation angle variation of the laser 5 coincides with the rotation angle variation of the tie rod 2. The laser 5 is used for emitting laser light 51 outwards, and the laser light 51 has the advantages of high brightness and good directivity.
The light spot collecting device 7 is arranged in the box body 1 and faces the laser 5, so that laser light 51 emitted by the laser 5 is projected on the light spot collecting device 7 to form light spots. The light spot collecting device 7 is used for collecting the position information of the light spots in real time.
The test terminal is in communication connection with the light spot acquisition device 7 so as to receive the light spot position information acquired by the light spot acquisition device 7 in real time. The test terminal is internally provided with an angle resolving program to resolve the horizontal angle and the vertical angle of the pull rod 2 in real time according to the received light spot position information. The rotation angle change of the laser 5 can be calculated according to the movement of the light spot on the light spot collecting device 7; since the laser 5 rotates synchronously with the pull rod 2, the change of the rotation angle of the laser 5 is the change of the rotation angle of the pull rod 2. Further, when the underwater angle measurement device of the embodiment is used underwater for angle measurement, the pull rod 2 is straightened, that is, the horizontal angle and the vertical angle of the pull rod 2 are zero, and the spot position is calibrated to be the initial position; when the pull rod 2 and the laser 5 synchronously rotate, the real-time position of the light spot changes along with the synchronous rotation, and the rotation angle of the laser 5 can be calculated according to the relation between the real-time position of the light spot and the initial position, specifically, the rotation angle of the laser 5 comprises a horizontal rotation angle and a vertical rotation angle; because the horizontal angle and the vertical angle of the pull rod 2 are zero during calibration, the horizontal angle of the laser 5 is equal to the horizontal angle of the pull rod 2, and the vertical angle of the laser 5 is equal to the vertical angle of the pull rod 2, so that the two-dimensional angle of the pull rod 2 is measured.
According to the above-mentioned exemplary embodiment, the laser 5 is installed outside the pull rod 2, so that a split type structural design is realized between the laser 5 and the pull rod 2, watertight arrangement is not needed between the laser 5 and the pull rod 2, and watertight difficulty of the underwater angle measuring device is greatly reduced; through the matching design of laser instrument 5 and facula collection system 7, can carry out the real-time measurement of horizontal angle and the vertical angle of pull rod 2 through laser 51 imaging's mode, can realize the measurement of two-dimensional angle under water promptly, the device is with low costs, convenient use, and the angle measurement is more sensitive, accurate, high-efficient moreover.
As shown in fig. 1, in some embodiments, spot acquisition device 7 includes a camera 71 and an acquisition mirror 72. The collecting mirror 72 is located between the laser 5 and the camera 71, and the laser light 51 emitted from the laser 5 is projected on the collecting mirror 72 to form a spot. The shooting direction of the camera 71 is opposite to the collecting mirror 72 to collect the spot position information on the collecting mirror 72 in real time. Techniques for capturing spot position information by camera 71 are well known to those skilled in the art and will not be described in detail herein. In the exemplary embodiment, the structural arrangement of the light spot collecting device 7 is thinned, and the real-time collection of the light spot position can be realized.
As shown in fig. 1-2, in some embodiments, a spool 8 is disposed within the housing 1, the spool 8 being disposed near the rear end of the pull rod 2. A pull wire 3 is arranged in the pull rod 2 along the length direction of the pull rod, and the pull wire 3 is usually manufactured by adopting 316 braided steel wires; one end of the pull wire 3 is wound on the wire reel 8, and the other end of the pull wire passes through the front end of the pull rod 2 to be connected with the underwater object 4 to be tested, so that indirect connection between the pull rod 2 and the underwater object 4 to be tested is realized; it will be appreciated that when the pull wire 3 changes direction due to the movement of the underwater object 4 to be measured, the pull wire 2 changes direction in synchronism with the pull wire 3. A motor is further arranged in the box body 1 and can drive the wire spool 8 to rotate so that the wire spool 8 can retract and release the stay wire 3 to adapt to the change of the distance between the underwater angle measuring device and the underwater object 4 to be measured; the wire spool 8 is also provided with a wire pulling encoder 9, and the wire pulling encoder 9 is used for sensing the rotation angle of the wire spool 8 and then calculating the wire outlet length of the wire pulling 3. A power interface is also installed in the case 1 for supplying power to the motor, the camera 71, the laser 5, etc. in the case 1.
As shown in fig. 1, in some embodiments, the spot acquisition device 7 further comprises a capsule 73. The capsule 73 is covered outside the camera 71, and the collection mirror 72 is mounted on the end of the capsule 73 facing the laser 5. The seal chamber 73 is used for watertight sealing of the camera 71. The exemplary embodiment ensures the water tightness of the camera 71 at the time of underwater goniometry by the provision of the sealed cabin 73.
In some embodiments, the collecting mirror 72 is made of ground glass, so that the imaging effect of the light spot on the collecting mirror 72 can be ensured, the recognition precision of the light spot position can be improved, and the angle measurement precision can be further improved.
Referring to fig. 1-3, in some embodiments, the photographing center of the camera 71, the center O of the collection mirror 72, and the rotation center P of the connection end of the pull rod 2 are on the same line. Further, the orientation of the laser 5 may be set to: when the horizontal angle and the vertical angle of the pull rod 2 are zero, the center of the laser 5 is positioned on the connecting line of the center O of the acquisition mirror 72 and the rotation center P of the connecting end of the pull rod 2, and the axis of the laser 5 coincides with the connecting line at the moment; therefore, the structural design of the underwater angle measuring device is more compact and regular, and the two-dimensional angle measurement and calculation of the pull rod 2 are more convenient to realize.
Referring to fig. 1-3, in some embodiments, the angle resolution program includes an angle resolution formula, which is expressed as formula (1);
(1)
in the formula (1):
for the horizontal angle of the tie rod 2 +.>Is a vertical angle of the pull rod 2;
（，/>) Image coordinates for an initial calibration position of the spot on the acquisition mirror 72; when->And->When the position of the light spot on the collecting mirror 72 is the initial calibration position;
（，/>) Image coordinates for the real-time position of the spot on the acquisition mirror 72;
to acquire the distance from the center O of the mirror 72 to the center P of rotation of the connecting end of the tie rod 2.
Further illustratively, in FIG. 3, linesThe axial direction of the pull rod 2, the line +.>Indicating the real-time axis direction and line +.>Schematic representation/>Projection lines, lines on a horizontal planeSchematic->Projection line on vertical plane, thus horizontal angle of tie rod 2 +.>Namely +.>And->The included angle between the two is the vertical angle of the pull rod 2 +.>Namely +.>And->An included angle between the two; line->The horizontal angle and the vertical angle of the drawing rod 2 are zero, namely the axis direction of the laser 5 when the light spot is marked, and the line is +.>Indicating the real-time axis orientation after rotation of the laser 5, line +.>Schematic->Projection line, line +.>Schematic->In->Projection line on the vertical plane, thus horizontal angle of laser 5 +.>Namely +.>And->Included angle between the two, vertical angle of the laser 5 +.>Namely +.>And->An included angle between the two; but->、/>The value of (2) can be obtained by resolving the image coordinate difference between the real-time position of the spot on the acquisition mirror 72 and the initial calibration position. As mentioned before, the horizontal angle of the tie rod 2 +.>Equal to the horizontal corner of the laser 5>Vertical angle of the pull rod 2 +.>Equal to the vertical turning angle of the laser 5>The method comprises the steps of carrying out a first treatment on the surface of the It can be seen that the horizontal angle of the pull rod 2 can be obtained in real time by the change of the spot position on the collecting mirror 72>And vertical angle->Thus realizing accurate measurement of the two-dimensional angle of the pull rod 2.
Referring to fig. 1 to 4, the application further provides an underwater angle measurement method, which is performed by adopting the underwater angle measurement device, and comprises the following steps:
establishing a facula image coordinate system: a spot image coordinate system is established according to the orientation of the acquisition mirror 72, the origin of the spot image coordinate system is positioned at the center O of the acquisition mirror 72, and the spot image coordinate systemThe axis is parallel to the horizontal plane of the box 1, the spot image coordinate system +.>The shaft is parallel to the vertical direction of the box body 1;
calibrating: the pull rod 2 is not connected with the underwater object 4 to be measured, the pull rod 2 is straightened along the horizontal direction of the box body 1, and at the moment, the horizontal angle of the pull rod 2And vertical angle->All are zero, the position of the light spot on the collecting mirror 72 at the moment is set as the initial calibration position of the light spot, and the testing terminal obtains the image coordinates (& lt) of the initial calibration position of the light spot through the camera 71>，/>）；
And angle measurement: connecting the pull rod 2 to the underwater object 4 to be measured, wherein the pull rod 2 is formed byThe underwater object 4 to be measured moves and rotates around the connecting end, the position of the light spot on the collecting mirror 72 is the real-time position of the light spot, and the testing terminal obtains the image coordinates of the real-time position of the light spot through the camera 71，/>) The method comprises the steps of carrying out a first treatment on the surface of the Solving the horizontal angle of the tie rod 2 according to formula (1)>And vertical angle->. It will be appreciated that the distance O of the center O of the collection mirror 72 from the center P of rotation of the connecting end of the pull rod 2 is +.>The design size of the underwater angle measuring device is input into the test terminal in advance.
The above-mentioned exemplary embodiment realizes the accurate measurement and calculation of the two-dimensional angle of the pull rod 2, and makes the underwater angle measurement more sensitive, accurate and efficient.
In some embodiments, the test terminal further incorporates a spot image coordinate calculation program that calculates the image coordinates of the spot position from the spot position information acquired by the camera 71. It should be noted that, the technique of calculating the image coordinates of the light spot position according to the light spot position information is well known to those skilled in the art, and will not be described herein. According to the illustrative embodiment, the calculation of the image coordinates of the light spot positions is realized, and the test terminal can further realize the calculation of the horizontal angle and the vertical angle of the pull rod 2.
In conclusion, the underwater angle measuring device has the advantages of small volume, compact structure, low cost, convenience in use and small watertight difficulty; the underwater angle measurement method realizes accurate measurement of the underwater two-dimensional angle, and the angle measurement is more sensitive, accurate and efficient.
Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The above embodiments are only for illustrating the technical solution of the present application and not for limiting the same; while the application has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present application or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the application, it is intended to cover the scope of the application as claimed.

Claims (9)

1. An underwater goniometer apparatus comprising:
the box body is provided with a containing cavity therein;
the rear end of the pull rod is a connecting end which is rotationally connected in the box body; the front end of the pull rod is used for being connected with an underwater object to be tested, and the pull rod rotates around the connecting end due to the movement of the underwater object to be tested;
the laser is positioned in the box body and is arranged on the outer wall of the pull rod; the laser is used for emitting laser outwards;
the light spot collecting device is arranged in the box body and faces the laser, so that laser emitted by the laser is projected on the light spot collecting device to form light spots; the light spot acquisition device is used for acquiring the position information of the light spot in real time;
the test terminal is in communication connection with the light spot acquisition device so as to receive the light spot position information acquired by the light spot acquisition device in real time; and an angle resolving program is arranged in the test terminal so as to resolve the horizontal angle and the vertical angle of the pull rod in real time according to the received light spot position information.
2. The underwater goniometer of claim 1, wherein the spot acquisition device comprises a camera and an acquisition mirror; the collecting mirror is positioned between the laser and the camera, and laser emitted by the laser is projected on the collecting mirror to form light spots; the shooting direction of the camera is opposite to the collecting mirror so as to collect the light spot position information on the collecting mirror in real time.
3. The underwater goniometer of claim 1, wherein a wire spool is disposed within the box body; a pull wire is arranged in the pull rod in a penetrating manner along the length direction of the pull rod, one end of the pull wire is wound on the wire spool, and the other end of the pull wire penetrates out of the front end of the pull rod to be connected with the underwater object to be detected; the wire spool is used for winding and unwinding the stay wire.
4. The underwater goniometer of claim 2, wherein the spot acquisition device further comprises a sealed cabin, the sealed cabin is covered outside the camera, and the acquisition mirror is mounted at one end of the sealed cabin facing the laser; the sealed cabin is used for performing waterproof sealing on the camera.
5. The underwater goniometer of claim 2, wherein the collection mirror is ground glass material.
6. The underwater goniometer of claim 2, wherein the center of the camera, the center of the collection mirror and the center of rotation of the tie rod connection are on the same straight line.
7. The underwater angle measurement device as defined in claim 6, wherein the angle calculation program includes an angle calculation formula expressed as formula (1);
(1)
in the formula (1):
for the horizontal angle of the pull rod, +.>Is a vertical angle of the pull rod;
（，/>) The image coordinates of the initial calibration position of the light spot on the acquisition mirror are obtained; when->And->When the light spot on the acquisition mirror is at the initial calibration position;
（，/>) Image coordinates of the real-time position of the light spot on the acquisition mirror;
the distance from the center of the collecting mirror to the rotation center of the connecting end of the pull rod is set.
8. An underwater goniometer method, characterized in that it is carried out with an underwater goniometer as claimed in claim 7, comprising the steps of:
establishing a facula image coordinate system: establishing a light spot image coordinate system according to the azimuth of the acquisition mirror, wherein the origin of the light spot image coordinate system is positioned at the center of the acquisition mirror, and the light spot image coordinate systemThe axis is parallel to the horizontal plane of the box body, and the light spot image coordinate system is +.>The shaft is parallel to the vertical direction of the box body;
calibrating: the pull rod is not connected with an underwater object to be measured, and is straightened along the horizontal direction of the box body at the momentAnd->At this time, the position of the light spot on the collecting mirror is the initial calibration position, and the testing terminal obtains the image coordinate of the initial calibration position of the light spot through the camera (& lt/EN & gt)>，/>）；
And angle measurement: connecting the pull rod to an underwater object to be measured, rotating the pull rod around the connecting end due to the movement of the underwater object to be measured, wherein the position of the light spot on the acquisition mirror is the real-time position at the moment, and the test terminal obtains the image coordinates of the real-time position of the light spot through the camera，/>) The method comprises the steps of carrying out a first treatment on the surface of the Solving the horizontal angle of the pull rod according to formula (1)>And vertical angle->。
9. The underwater goniometry method of claim 8, wherein the test terminal further incorporates a spot image coordinate calculation program that calculates image coordinates of the spot location based on spot location information acquired by the camera.
CN202310870729.3A 2023-07-17 2023-07-17 Underwater angle measurement device and underwater angle measurement method Pending CN116608823A (en)

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Citations (6)

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Application publication date: 20230818