JPS6279382A - Underwater reference level measuring apparatus - Google Patents

Abstract

PURPOSE:To enable accurate measurement of a level at a position to be measured with respect to an underwater, reference point, by performing a specified computation of received wave outputs using a plurality of transmitters and receivers. CONSTITUTION:When a trigger signal T in a controller 3 is fed to a coordinate computing unit 32 and an ultrasonic transmitter 11, a pulse signal synchronous to the signal T and a modulation signal are provided to transmitters 1a and 1b respectively. Pulse-like signals at receivers 2a-2c are applied to a coordinates computing unit 32 sequentially, where the position (X-Y) of the transmitter 1a on the XY plane is calculated and fed to a recorder 4. Modulation signals at the receivers 2a and 2e are provided to a level computing unit 36 via a phase direction detector 35 and an angle computing unit 37. The computing unit 36 determines the angles of elevation and depression using a distance R being computed 32, an angle value beta and phase polarity value (+-) and the height of the transmitter 1b with respect to the reference point is calculated to be fed to a recorder 5.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an underwater reference level measuring device. It's here. For example, foundation stone leveling work in the construction of a harbor breakwater was conventionally carried out using Dyno (-), but an underwater robot-type leveling machine that performs this rubble leveling work has been developed and put into practical use.

Conventional rubble leveling work can be done manually by a diver as shown in Figure 9, or by using a submarine mobile rubble leveling machine as shown in Figure 10. Measuring rod) 40 with a staff 400 protruding above the sea surface
Measure the scale using level 41 and set a leveling reference plane. On the other hand, the leveling machine also has an underwater staff of 50
The method used is to measure the scale of the staff protruding above the sea level using level 51 from an existing caisson, etc., in the same way as manual measurement.Both methods have the following problems.

[Problem that the invention seeks to solve]

(1) Measurement takes time and construction efficiency is low.

(21) Measurement in deep water construction becomes difficult because underwater staff are used.

The present invention has been made in view of the current circumstances of Gero, and an object of the present invention is to provide an underwater reference level measuring device that accurately measures the level at a position to be measured without using an underwater staff.

[Means for solving problems]

According to the present invention, three first ultrasonic receiving means are arranged horizontally at equal intervals radially from a reference point underwater, and two second ultrasonic receiving means are arranged vertically from a reference point m+I. A wave receiving means, a means for transmitting ultrasonic waves from a measured position underwater,
What is the horizontal distance of the measured position from the reference point in relation to each time period from when the first I-pi ultrasonic wave is transmitted until it is received by the three Ml ultrasonic wave receiving means? :The first calculation means to calculate and the first 21i! a second calculating means for calculating the arrival direction of the ultrasonic wave in relation to a phase difference when the second ultrasonic wave receiving means receives the ultrasonic wave, and the first calculating means 2 and a third calculating means for calculating the level of the measured position relative to the reference point based on the calculated horizontal distance and the direction of arrival calculated by the second calculating means described in #J.

[Effect]

The ultrasonic waves emitted from the underwater measurement position are transmitted to three ultra-fe! , is received by the wave receiving means. The first calculating means calculates the horizontal distance # of the measured position from the reference point based on the time from when the ultrasonic wave is emitted until it is received by the ultrasonic wave receiving means in 31 directions, the speed of sound, etc. Calculate. On the other hand, the FMffi waves transmitted from the measured position are received by two FM ultrasonic wave receiving means arranged in the vertical direction r from the front reference point. The second calculation means calculates the 7M based on the phase difference of the FMi & i sound waves received by the two FM ultrasonic waves.
Direction of arrival of ultrasound? calculate. The third calculation means calculates the level of the measured position with respect to the reference point by multiplying the horizontal distance calculated above by a tangent of the direction of arrival of the ultrasonic wave.

〔Example〕

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. First, the present invention will be described in detail. Now, as shown in FIG. 4, an ultrasonic transmitter 1 is placed at the position to be measured underwater, and an ultrasonic receiver 2 is placed at a preset reference point 0 underwater. shall be.

The upper 6d ultrasonic receiver 2 includes three ultrasonic receivers 2aJ2b1 arranged horizontally from the reference point 0 and at equal radial intervals.
2C, and two ultrasonic waves 2d and 2θ arranged vertically above and below from the reference point 0.

The three receivers 2a+2bH2C are based on the same principle as the underwater moving object position detecting device proposed by Tomitomo Motoyama in Patent Application No. 44349 of 1982, and are based on the same principle as the underwater moving object position detection device proposed by Tomitomo Motoyama earlier. In the present invention, it is used to detect the horizontal distance between the reference point O and the transmitter 1. That is, as shown in FIG. 5, in the XY plane, the receivers 2' + 2 br 2 C are arranged at intervals of 1200 mm on a fixed plane of radius r centered on the reference point 0. Since each transmitter 2 & 12b for transmitter 1
The separation distance of 12G is different. Therefore, as shown in FIG. 6, the ultrasonic wave generated by the transmitter 1 is received by the receiver 2aK at a time .tau. after the ultrasonic wave is generated, and then is received by the receiver 2aK at a time .tau. and received by receivers 2b and 2a at t and K.

↓.

Send +2 now! ! When the distance between the receiver 1 and the reference point 0 is sufficiently large compared to the wavelength m-b-used (R〉〉λ), the receiver 2
It is impossible to think of the number of sounds reaching as a plane wave. Therefore, if the speed of sound in water is 'YO (m/5ac) and the distance between the reference point 0 and each receiver 2af 2bl 2a is r (m), then The relationship of the following formula holds true for the time C and time t1ett. Note that the transmitter 1 is connected to the receiver 2a at the reference point 0? :
It is assumed that it is located in the direction α0 with respect to the direction of the receiver 2b from the straight line.

Here, since C and r are constants, α can be found by measuring tl and t. Also, by multiplying the above τ and C, the distance R can be obtained.

Further, the position (XIY) of the transmitter 1 on the XY plane with the reference point O as the origin can be determined from the following formula.

By the way, as shown in FIG. 7, the transmitter 1 moves up and down and changes in height ih? : If the ultrasonic wave generated by the transmitter 1 is received by any of the receivers 2a * 2br20 for the first time, let τ' be the time required for the ultrasonic wave generated by the transmitter 1 to be received by any one of the receivers 2a*2br20, and The time it takes for each to sequentially receive waves l' is 1. ．． 1. Then, these τ and 1. ．． 1. is the ultrasonic transmission time τ and time difference in the case of h-0 11.1. Using τ′−′τ/! θ, 1.
,．． 1. . It is represented by θ, t', at, and yθ. Then, these τ′ and tto”z are expressed by the above equations (3) and (4).
Substituting into (2) θ will be eliminated.

As a result, depending on the height difference of the transmitting wave 61, the X and Y seat collars 1
It can be seen that 1 does not change.

Also, based on the above formulas (3) and (4), <(XIY
), the height h can be obtained by substituting the distance p, (-5'〒-,2) and the distance measurement R (-τ'×C) into the following equation (5).

h - 4' ... (5) However, the accuracy of the height h determined from the above equation (5) depends on the rise characteristics of the ultrasonic pulse, and accurate measurement is difficult in practice. .

Therefore, in the present invention, the above two receivers 2d.

2e to accurately determine the height of transmitter 1◎Now,
As shown in FIG. 8, when the transmitter 1 is located at a height h, the receivers 2d and 2θ are arranged at a distance l, so that the ultrasonic wave are received with different phases. At this time, if β is the elevation angle of the transmitter 1 seen from the reference point O, and λp is the wavelength of the modulated wave modulated with the same wave number by the force/tsu ultrasound, then the phase difference Δφ between the receivers 2d and 26 is is expressed by the following equation (6).

Therefore, the phase difference Δφ is measured, and the phase difference Δφ is substituted into the following equation (7) to obtain the depression/elevation angle β. The distance R and the angle of depression β based on the above formula (7) can be calculated using the following formula (8).
By substituting , we can find the height of the transmitter 1 with respect to the reference point 0.

h-R-tanβ (8) Also, the position of the transmitter l is determined by the above equations (3), (4) and (8).
) Based on 2! l: Can it also be shown in a three-dimensional space with a single point 0 as the origin?

Next, examples of the present invention will be described.

FIG. 1 shows an embodiment of an underwater reference level measuring device according to the present invention, and FIG. 2 shows an example of a general aspect of this embodiment.

In this embodiment, an ultrasonic transmitter is attached to a moving object 10 at low sea level.
at1b and the ultrasonic oscillator 11 are stacked, an ultrasonic receiver 2 is placed at a reference point O in the sea, and a control wave ma, an X-Y recorder 4, and a height recorder 5 are installed on the sea. There is.

The trigger signal generator 31 in the control device 3 generates a trigger signal 'r? :1@ Occurs periodically. This signal T is input to the coordinate calculator 32 and sent to the ultrasonic transmitter 1ill via the line AY. The ultrasonic signal oscillator 11a in this vibration transmitting device 11 forms a pulse signal synchronized with this trigger signal T, and also generates a frequency modulated signal (for example, a carrier wave of 100 KHz and a modulated wave of 1 KHz).
Hz). These pulse signals and variable v
! After the four signals are amplified by amplifier 11b, they are applied to transmitters 1a and 1b. Therefore, transmitter 1
a and 1b generate pulsed ultrasound and modulated ultrasound.

Receiver 2 ′ + 2 ”t of the ultrasonic wave receiving device 2
2C is an example of the above pulsed ultrasonic wave (each receiver 2
When receiving waves in the order of a → 2b → 2C, each receiver 2a.

Pulse signals from 2b and 2c are output to the coordinate calculator 32 via the band amplifier 33 in that order. Arithmetic unit 32
are the trigger signal T from the trigger signal generator 31 and each pulse signal Pa from each receiver 2a, 2b and 2C,
Pb and Pc? : input, and based on these signals as shown in Figure 3 (calculate the time τ and time difference "IIt!"), multiply the time τ by the speed of sound 0 to obtain the distance R, and then Based on the above equations (3) and (4) with distance R and each time difference 11.1. as parameters, XY
Calculate the position (x, y) of the transmitter 1a on the plane and output this position (X, Y) to the X-Y recorder 4@x-Y
The recorder 4 records d copies of m(XIY).

On the other hand, when the receiver 2d12f3 receives the modulated ultrasonic wave from the transmitter 1b, each receiver 2a.

A modulated signal from 2θ is outputted to a phase direction detector 35 via a band amplifier 34. This detector 35 includes a receiver 2d,
Each modulation signal from 2θ? When input, the direction of phase shift between each modulation signal is determined, and the determination result (±) is input to the level calculator 36. In addition, each of the above modulated signals is transmitted to the detector 3.
5 is also input to the angle calculator 37. The angle calculator 37 detects the phase difference j'Δφ1 of each variable signal, and calculates the angle iβl based on the above equation (7) with this phase difference 1Δφ( as a parameter. This angle 1β1 is sent to the level calculator 36. is input.

The level calculator 36 determines whether the angle 1β1 is positive or negative based on the determination result (toward) of the detector 36. Based on this determination, the elevation angle β is obtained, and based on the above equation (8) using this elevation angle β as a parameter, the height of the transmitter 1b with respect to the reference point 0 is ±hff: 31F, and this is output to the recorder 5. Is the height recorder 5 this height tester h? :Record.

In this way, the position (X, Y) of the transmitter 1a attached to the moving object 10 and the height ±h of the transmitter 1b are recorded, and from this record it is possible to know the state of the ocean floor. In the embodiment, transmitters ta and lb that generate two types of ultrasonic waves are provided, but the present invention is not limited to this.
Two types of ultrasonic waves may be generated by one transmitter. Further, although pulsed ultrasonic waves are used to detect the position on the XY plane, an ultrasonic transmitter that modulates the same wave number may be used instead.

Furthermore, a microconbeater may of course be used in place of the coordinate calculator 32, level calculator 36, and angle calculator 37.

〔Effect of the invention〕

As explained above, according to the present invention, ultrasonic waves are used to determine the gt position relative to an underwater reference point without using underwater staff or the like.
Be able to measure the position using the level calculator.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the underwater reference level measuring device ii according to the present invention, FIG. 2 is a diagram showing an example of application of the embodiment shown in FIG. 1, and FIG. Timing charts of each signal in the embodiment shown in the figures, FIGS. 4, 5, 6, 7H and 8 are used for detailed explanation of the present invention. The figure shows conventional rubble leveling work done manually by a diver, and Figure 1θ shows the conventional rubble leveling work using a seabed mobile rubble leveling machine. a1... Ultrasonic wave transmission device, 2--ultrasonic wave receiver, 3...
・Control device, 4-X-Y recorder, 5-height recorder, 1
0... Moving object, 11... Ultrasonic wave receiver "-7'
- Applicant's agent Kimura Published by Hisashi 8', Figure 2, Figure 3, Figure 1, Figure 4, Figure 7, Figure 8, Figure 9, Figure 10.

Claims (1)

[Claims] three first ultrasonic wave receiving means disposed horizontally at equal intervals radially from a reference point in the water, two second ultrasonic wave receiving means disposed vertically from the reference point, and a measured object. means for transmitting ultrasonic waves from a position; and the reference point of the measured position in relation to each time period from when the ultrasonic waves are emitted to when the three first ultrasonic wave receiving means receive the waves. a first calculating means for calculating a horizontal distance from the ultrasonic wave, and calculating an arrival direction of the ultrasonic wave in relation to a phase difference when the ultrasonic wave is received by the two second ultrasonic wave receiving means. and calculates the level of the measured position relative to the reference point based on the horizontal distance calculated by the first calculation means and the direction of arrival calculated by the second calculation means. A horizontal reference level measuring device comprising: a third calculation means for calculating a horizontal reference level;