CN1731088A - Ultrasonic wave and laser system for measuring three-dimensional space - Google Patents

Ultrasonic wave and laser system for measuring three-dimensional space Download PDF

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Publication number
CN1731088A
CN1731088A CN 200510090493 CN200510090493A CN1731088A CN 1731088 A CN1731088 A CN 1731088A CN 200510090493 CN200510090493 CN 200510090493 CN 200510090493 A CN200510090493 A CN 200510090493A CN 1731088 A CN1731088 A CN 1731088A
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slide way
cross slide
laser system
measurement
ultrasound wave
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CN 200510090493
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CN100437028C (en
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曲兆松
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Beijing Sinfotek Science And Technology Co ltd
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Abstract

The invention relates to a super sound and laser system for measuring three dimensional space and uses thereof, which comprises: a computer, a transversal rail constructed across the tested river, a laser range finder fixed on one end of the transversal rail, a step motor fixed on the other end of the transversal rail, and a testing car which can slide on the transversal rail, wherein the step motor uses cable to drive the testing car to slide transversally on the transversal rail; the testing car incorporates an up-and-down sliding super sound sensor lifter, one end of the lifter is immerged into the river and incorporates a super sound sensor probe; the super sound sensor is on the middle part of the super sound sensor lifter; the super sound sensor probe above and below the river, the step motor and the laser range finder are separately connected with the computer.

Description

Measure three-dimensional ultrasound wave and laser system
Technical field
The present invention relates to the three-dimensional system of a kind of measurement, particularly related to a kind of ultrasound wave and laser system that the three dimensions in water riverbed landform is arranged that be used to measure.
Background technology
As far back as eighties of last century sixties, universities and colleges more both domestic and external and research institute just carry out development about river model topographic meter aspect in conjunction with advanced at that time photoelectric technology, and the technology path of employing comprises resistance-type, ultrasonic type, photoelectricity correlation and laser etc.These methods have broken away from the mode that artificial pointwise is measured on metering system, and adopt the metering system of following the tracks of landform along section, have improved measuring speed and precision.Weak point is that these metering systems remain contact type measurement, and landform is caused certain destruction, has influenced follow-up test.And the influence of measuring the turbidity that is subjected to water makes mistakes through regular meeting.
Goal of the invention of the present invention is to overcome above-mentioned defective, and a kind of automaticity height be provided, save time, the labour-saving measures three-dimensional ultrasound wave and laser system.
Summary of the invention
In order to finish goal of the invention of the present invention, three-dimensional ultrasound wave of a kind of measurement of the present invention and laser system comprise: a computing machine, the cross slide way that on measured river course, sets up across the river course, at the fixing laser range finder of an end of cross slide way, at fixing stepper motor of the other end of cross slide way and the measuring car that on cross slide way, slides, stepper motor drives measuring car by cable wire and laterally slides on cross slide way, the sonac elevating lever that can slide up and down is housed on the measuring car, one end of sonac elevating lever immerses in the water, at this end the underwater ultrasound sensor probe is housed, ultrasound transducer probe waterborne is equipped with at the middle part of sonac elevating lever, waterborne and underwater ultrasound sensor probe, stepper motor links to each other with the aforementioned calculation machine respectively with laser range finder.
Three-dimensional ultrasound wave of a kind of measurement of the present invention and laser system, wherein: the protection tube is equipped with in the outside of described underwater ultrasound sensor probe, and the downside of protection tube is equipped with two limit switches.
Three-dimensional ultrasound wave of a kind of measurement of the present invention and laser system, wherein: described ultrasound transducer probe waterborne is between the water surface and cross slide way, and it is exposed in the air.
Three-dimensional ultrasound wave of a kind of measurement of the present invention and laser system, wherein: described waterborne and underwater ultrasound sensor probe all is made up of ultrasonic receiver and ultrasonic generator.
Three-dimensional ultrasound wave of a kind of measurement of the present invention and laser system, wherein: described protection tube is plastics.
Three-dimensional ultrasound wave of a kind of measurement of the present invention and laser system, wherein: pulley is housed respectively on described stepper motor and the laser range finder, and described cable wire is walked around two pulleys, described measuring car and cable wire a bit or 2 link to each other.
Three-dimensional ultrasound wave of a kind of measurement of the present invention and laser system, wherein: this system also comprises: the longitudinal rail that sets up along the river course, cross slide way is advanced on longitudinal rail.
Three-dimensional ultrasound wave of measurement of the present invention and laser system precision height, weak point consuming time, this system utilizes supersonic sounding and laser ranging advantage separately, both are organically combined, and after special algorithm is proofreaied and correct in the combination of probe by measuring the water surface and the probe of measuring the riverbed and the master routine, system is the vertical elevation of recording level coordinate points and its correspondence accurately, 5 meters long sections, measure 100 points, only can finish with 1 minute, greatly shortened the time of measuring, and this system's external structure is simple, is convenient to move.
Description of drawings
Fig. 1 is that the present invention measures three-dimensional ultrasound wave and laser system synoptic diagram.
Fig. 2 is the vertical view of an embodiment of the measuring car among the present invention, two pulleys and cable wire annexation.
Embodiment
As shown in Figure 1, three-dimensional ultrasound wave of a kind of measurement of the present invention and laser system, it comprises: a computing machine 4, the cross slide way 3 that on measured river course, sets up across the river course, at the fixing laser range finder 5 of an end of cross slide way 3, at fixing stepper motor 10 of the other end of cross slide way 3 and the measuring car 1 that on cross slide way 3, slides, stepper motor 10 drives measuring car 1 by cable wire 12 and laterally slides on cross slide way 3, on stepper motor 10 and the laser range finder 5 pulley 11 is housed respectively, cable wire 12 is walked around two pulleys 11, measuring car 1 can with cable wire 12 before, after, left or right a bit or 2 link to each other, can certainly be as shown in Figure 2, measuring car 1 links to each other with 2 of the front and back of cable wire 12.Native system can include only cross slide way 3, can comprise that also cross slide way 3 is advanced on longitudinal rail 9 across the cross slide way 3 in river course and the longitudinal rail 9 that sets up along the river course.A sonac elevating lever 2 that can slide up and down is housed on the measuring car 1; its end immerses in the water; this end is equipped with underwater ultrasound sensor probe 6; plastics protection tube 8 is equipped with in the outside of this underwater ultrasound sensor probe 6; the downside of tube protection tube 8 is equipped with two limit switches 7; in addition, at the middle part of sonac elevating lever 2 ultrasound transducer probe 6A waterborne is housed, in general this probe 6A has a distance apart from the water surface. Ultrasound transducer probe 6,6A, stepper motor 1 and laser range finder 5 link to each other with computing machine 4 respectively. Ultrasound transducer probe 6,6A is made up of ultrasonic receiver and ultrasonic generator.
Principle of work:
Cross slide way 3 is erected on the river course across ground; laser range finder 5 is fixed on an end of cross slide way 3; stepper motor 10 is fixed on the other end of cross slide way 3; measuring car 1 is placed on the cross slide way 3; driving measuring car 1 by pulley 11 and wirerope 12 stepper motors 10 slides on cross slide way 3; because measuring car 1; cross slide way 3; sonac elevating lever 2; the deadweight of ultrasound transducer probe 6 and cable wire 12; in the traveling process of measuring car on cross track 3; certainly will will cause the downward flexural deformation of cross slide way 3; therefore on the sonac elevating lever 2 two sonacs are housed; the end that one of them underwater ultrasound sensor probe 6 is contained in elevating lever 2 immerses in the water; measure the spacing of underwater topography and probe; plastics protection tube 8 is equipped with in the outside of this ultrasound transducer probe 6; the downside of protection tube 8 is equipped with two limit switches 7; half of protection tube 8 is placed in the river; protection tube 8 is in order to eliminate the blind area of ultrasonic measurement effectively; mud in the anti-simultaneously sealing and foreign material are attached on the sensor probe 6; another ultrasound transducer probe 6A waterborne is contained in the middle part of sonac; be exposed in the air, measure the spacing of itself and the water surface.Underwater ultrasound sensor probe 6, ultrasound transducer probe 6A waterborne, stepper motor 10 links to each other with computing machine 4 respectively with laser range finder 5, computing machine 4 sends signal to stepper motor 10, the distance that 10 walkings one of order stepper motor are scheduled to, stepper motor 10 is received after this order back drags measuring car 1 walking one distance by cable wire 12, the laser range finder 5 that is fixed on cross slide way 3 one ends is launched the actual range that laser detects measuring car 1 walking, be the coordinate of Fig. 1 at directions X, and send the coordinate of measured directions X to computing machine 4, simultaneously, underwater ultrasound sensor probe 6 under water is launched ultrasound wave under water, and receive the ultrasound wave reflect from the riverbed and survey under water riverbed at the Y of Fig. 1 direction coordinate, and send the coordinate of measured Y direction to computing machine 4, and the ultrasound transducer probe 6A waterborne between the cross slide way 3 and the water surface launches ultrasound wave to the water surface, and the ultrasound wave that reception is returned from water-reflected is surveyed the distance between this probe 6A and the water surface, and send measured distance to computing machine 4, ultrasound transducer probe 6A waterborne between the water surface and cross slide way 3 corrects the error of the coordinate of the underwater ultrasound sensor probe 6 measured Y directions under water that the bending owing to cross slide way 3 causes, therefore obtains the accurate position of riverbed at a point of this section.If protection tube 8 is run into barrier in measuring car 1 traveling process; will trigger the power supply that limit switch 7 disconnects stepper motor 10; automatically stop the walking of measuring car; avoid collision obstacle; treat manually sonac elevating lever 2 to be mentioned, promoted measuring car 1 gets around barrier and limit switch 7 resetted after, stepper motor 10 continue to drive measuring cars 1 transversely guide rail 3 move.Transversely guide rail 3 is constantly mobile along with measuring car 1, system measures this section difference position accurately, these points are linked to be curve, just can draw the figure of this section, if system only leads cross slide way 3, so after having surveyed this end face, artificial mobile cross slide way 3, place it in the diverse location in river course, repeat above-mentioned measuring process, just can measure figure with the corresponding section of Z-direction of Fig. 1, according to the method described above, the figure of a plurality of sections can be measured, after the graphics combine with a plurality of sections, the three-dimensional graph in whole river course can be obtained.If system comprises cross slide way 3 and longitudinal rail 9, so behind the figure of having surveyed a section, only need with cross slide way 3 along the longitudinal guide rail 9 move a predetermined distance, just can measure next section, by that analogy, can obtain the three-dimensional graph in whole river course.
More than describing is explanation of the invention, is not that institute of the present invention restricted portion is referring to claim to the qualification of invention, and under the situation of spirit of the present invention, the present invention can do any type of modification.

Claims (7)

1. measure three-dimensional ultrasound wave and laser system for one kind, it is characterized in that: it comprises: a computing machine (4), the cross slide way that on measured river course, sets up (3) across the river course, at the fixing laser range finder (5) of an end of cross slide way (3), go up the measuring car (1) that slides at the fixing stepper motor (10) of the other end of cross slide way (3) with at cross slide way (3), stepper motor (10) drives measuring car (1) by cable wire (12) and goes up laterally slip at cross slide way (3), the sonac elevating lever (2) that can slide up and down is housed on the measuring car (1), one end of sonac elevating lever (2) immerses in the water, at this end underwater ultrasound sensor probe (6) is housed, at the middle part of sonac elevating lever (2) ultrasound transducer probe waterborne (6A) is housed, underwater ultrasound sensor probe (6), ultrasound transducer probe waterborne (6A), stepper motor (1) links to each other with aforementioned calculation machine (4) respectively with laser range finder (5).
2. three-dimensional ultrasound wave of a kind of measurement as claimed in claim 1 and laser system is characterized in that: protection tube (8) is equipped with in the outside of described underwater ultrasound sensor probe (6), and the downside of protection tube (8) is equipped with two limit switches (7).
3. three-dimensional ultrasound wave of a kind of measurement as claimed in claim 2 and laser system is characterized in that: described ultrasound transducer probe waterborne (6A) is positioned between the water surface and the cross slide way (3), and it is exposed in the air.
4. want 3 described three-dimensional ultrasound wave of a kind of measurement and laser systems as right, it is characterized in that: described ultrasound transducer probe (6,6A) form by ultrasonic receiver and ultrasonic generator.
5. three-dimensional ultrasound wave of a kind of measurement as claimed in claim 4 and laser system is characterized in that: described protection tube (8) is a plastic barrel.
6. three-dimensional ultrasound wave of a kind of measurement as claimed in claim 5 and laser system, it is characterized in that: on described stepper motor (10) and the laser range finder (5) pulley (11) is housed respectively, described cable wire (12) is walked around two pulleys (11), described measuring car (1) and cable wire (12) a bit or 2 link to each other.
7. three-dimensional ultrasound wave of a kind of measurement as claimed in claim 6 and laser system, it is characterized in that: this system also comprises: the longitudinal rail that sets up along the river course (9), cross slide way (3) is advanced on longitudinal rail (9).
CNB2005100904933A 2005-08-17 2005-08-17 Ultrasonic wave and laser system for measuring three-dimensional space Expired - Fee Related CN100437028C (en)

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CN102032902A (en) * 2010-09-30 2011-04-27 大连理工大学 Three-dimensional observation method of eroded landform
CN102288967A (en) * 2011-06-17 2011-12-21 江西海豹高科技有限公司 Underwater ultrasonic ranging sub system and intelligentized monitoring system and control method for intelligentized monitoring system under turbid water area
CN101169332B (en) * 2007-11-09 2012-05-30 国家海洋局第一海洋研究所 Sea surface microstructure measuring device for ship
CN102478452A (en) * 2010-11-25 2012-05-30 辽宁省水利水电科学研究院 Automatic measuring platform for river model test
CN102954782A (en) * 2012-10-25 2013-03-06 水利部交通运输部国家能源局南京水利科学研究院 Non-contact measuring system and non-contact measuring method for shallow water terrain in model test
CN103591933A (en) * 2013-10-16 2014-02-19 长江南京航道工程局 Quick ripped-rock section detection system and detection method thereof
CN104656093A (en) * 2015-02-01 2015-05-27 浙江大学 Underwater laser rangefinder and ranging method
CN105044726A (en) * 2015-09-02 2015-11-11 中国石油天然气集团公司 Acoustic depth finder calibration device and method
CN105651249A (en) * 2016-01-15 2016-06-08 河海大学 Real-time dynamic ultrasonic measurement method for pier scour pit in model test
CN105783867A (en) * 2016-04-28 2016-07-20 西华大学 Real-time underground riverbed form tracker and riverbed form measure method
CN105865421A (en) * 2016-04-07 2016-08-17 长沙理工大学 Water tank three-dimensional topographic measurement device based on camera image processing technology
CN106643959A (en) * 2016-12-23 2017-05-10 黄河水利委员会黄河水利科学研究院 Method for calculating fluid storage capacity using multiple-sensor
WO2017107263A1 (en) * 2015-12-23 2017-06-29 北京凌宇智控科技有限公司 Three-dimensional space detection system, positioning method and system
CN107102335A (en) * 2017-06-20 2017-08-29 河北工业大学 A kind of ultrasonic wave three-dimensional image forming apparatus
CN107478409A (en) * 2017-08-17 2017-12-15 水利部交通运输部国家能源局南京水利科学研究院 Combined vaccum moves the real-time topographic survey method of water sediment model and its instrument
CN107764307A (en) * 2017-11-24 2018-03-06 中环天仪（天津）气象仪器有限公司 A kind of ultrasonic wave evaporation gauge automatic checkout equipment and detection method
CN108151702A (en) * 2017-12-31 2018-06-12 安徽华电工程咨询设计有限公司 A kind of semi-automation is compared with small water bathymetric surveying device
CN109717719A (en) * 2017-10-30 2019-05-07 佛山市顺德区美的电热电器制造有限公司 The control method of cooking equipment and cooking equipment
CN109974813A (en) * 2019-04-11 2019-07-05 福建农林大学 Water depth measurement method based on dual probes
CN110068822A (en) * 2019-06-11 2019-07-30 水利部交通运输部国家能源局南京水利科学研究院 A kind of two dimension accurate positioning auxiliary device of hand sonar sounding instrument
CN116594021A (en) * 2023-04-07 2023-08-15 中国水利水电科学研究院 River model topography measurement method, device and equipment
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CN102032902B (en) * 2010-09-30 2012-07-18 大连理工大学 Three-dimensional observation method of eroded landform
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CN102478452A (en) * 2010-11-25 2012-05-30 辽宁省水利水电科学研究院 Automatic measuring platform for river model test
CN102288967A (en) * 2011-06-17 2011-12-21 江西海豹高科技有限公司 Underwater ultrasonic ranging sub system and intelligentized monitoring system and control method for intelligentized monitoring system under turbid water area
CN102954782A (en) * 2012-10-25 2013-03-06 水利部交通运输部国家能源局南京水利科学研究院 Non-contact measuring system and non-contact measuring method for shallow water terrain in model test
CN102954782B (en) * 2012-10-25 2016-04-06 水利部交通运输部国家能源局南京水利科学研究院 The contactless measuring system of shallow water landform and measuring method in a kind of model test
CN103591933A (en) * 2013-10-16 2014-02-19 长江南京航道工程局 Quick ripped-rock section detection system and detection method thereof
CN103591933B (en) * 2013-10-16 2016-02-03 长江南京航道工程局 Jackstone section rapid detection system and detection method thereof
CN104656093B (en) * 2015-02-01 2017-02-01 浙江大学 Underwater laser rangefinder and ranging method
CN104656093A (en) * 2015-02-01 2015-05-27 浙江大学 Underwater laser rangefinder and ranging method
CN105044726A (en) * 2015-09-02 2015-11-11 中国石油天然气集团公司 Acoustic depth finder calibration device and method
CN105044726B (en) * 2015-09-02 2019-01-15 中国石油天然气集团公司 A kind of acoustic depth sounding instrument calibrating installation and method
US10962633B2 (en) 2015-12-23 2021-03-30 Nolo Co., Ltd Three-dimensional space detection system, positioning method and system
WO2017107263A1 (en) * 2015-12-23 2017-06-29 北京凌宇智控科技有限公司 Three-dimensional space detection system, positioning method and system
CN105651249A (en) * 2016-01-15 2016-06-08 河海大学 Real-time dynamic ultrasonic measurement method for pier scour pit in model test
CN105651249B (en) * 2016-01-15 2018-02-06 河海大学 The real-time dynamic ultrasound measuring method of bridge pier scour hole in model test
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