CN102175229A - Underwater laser positioning method - Google Patents
Underwater laser positioning method Download PDFInfo
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- CN102175229A CN102175229A CN2011100381211A CN201110038121A CN102175229A CN 102175229 A CN102175229 A CN 102175229A CN 2011100381211 A CN2011100381211 A CN 2011100381211A CN 201110038121 A CN201110038121 A CN 201110038121A CN 102175229 A CN102175229 A CN 102175229A
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- laser
- mark
- underwater
- positioning method
- laser receiving
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000004065 semiconductor Substances 0.000 claims description 5
- 238000012360 testing method Methods 0.000 abstract description 10
- 230000000903 blocking effect Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 14
- 230000004807 localization Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000003472 neutralizing effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
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Abstract
本发明公开一种水下定位方法，包括：利用激光发射器发出激光束；利用所述激光束照射激光接收屏，所述激光束在所述激光接收屏上形成激光接收标记；利用感应元件监测该激光接收标记；对比所述激光接收标记与所述定位基准标记。本发明对封堵试验门的有效对中距离可达15m，完全满足一般水下运动物体的操纵和就位控制作业要求。
The invention discloses an underwater positioning method, comprising: using a laser emitter to emit a laser beam; using the laser beam to irradiate a laser receiving screen, and the laser beam forms a laser receiving mark on the laser receiving screen; using a sensing element to monitor The laser receiving mark; comparing the laser receiving mark with the positioning reference mark. The effective centering distance of the blocking test door of the present invention can reach 15m, which fully meets the operational requirements of manipulation and position control of general underwater moving objects.
Description
Technical field
The present invention relates to the subsea equipment location, particularly a kind of underwater laser localization method.
Background technology
At present, the power station dam is under water in the hole repairing construction operation process, when the target in the water body big at flow velocity, that water body is muddy and fluidised form is disorderly in the feedwater positions, its physical location that records is subjected to the influence of current and can't accurately locatees, bring harm under water construction quality, the purpose of this invention is to provide a kind of the accurately in place of sub aqua sport object (as automatic location buoyancy aid closure gate) that be used to guide neutralizing.
Summary of the invention
The object of the present invention is to provide a kind of underwater laser localization method.
Technical scheme of the present invention is:
A kind of localization method under water comprises:
Utilize generating laser to give off laser beam;
Utilize described laser beam irradiation laser pick-off screen, described laser beam forms the laser pick-off mark on described laser pick-off screen;
Utilize sensing element to monitor this laser pick-off mark;
Contrast described laser pick-off mark and described positioning reference mark.
Wherein, described generating laser sends a plurality of laser beam, described a plurality of laser beam arrangement across.
Wherein, contrast described laser pick-off mark and described positioning reference mark and comprise the registration of determining described laser pick-off mark and described positioning reference mark.
Wherein, this method also comprises according to determined registration and determines calibrating mode.
Wherein, described sensing element is the underwater camera head, described positioning reference mark be show on the monitor scope, the cross curve of mark reference position.
Wherein, described laser pick-off screen is installed on the immersed body to be positioned.
Wherein, described generating laser is a semiconductor diode laser.
Positive progressive effect of the present invention is: to shutoff test door effectively can reach 15m to middle distance, satisfy the manipulation and the control job requirements in place of general sub aqua sport object fully.
Description of drawings
Fig. 1 is the process flow diagram according to method of the present invention.
Fig. 2 is an example according to generating laser of the present invention.
Fig. 3 overlaps synoptic diagram according to mark of the present invention.
Fig. 4 is according to remote centering effect synoptic diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing illustrated embodiment the present invention is elaborated.
Underwater laser localization method of the present invention, be that (that is: hydraucone import in upstream is to break down maintenance door section for the hole reparation under water of power station dam, as: the flood discharge bottom hole for sand flushing, flood discharging tunnel maintenance lock, power tunnel import etc.) the buoyancy aid closure gate of locating is automatically under water handled in place and localization method under water exploitation.
As described in Figure 1, according to the process flow diagram of localization method under water 100 of the present invention.This method comprises: utilize generating laser give off laser beam (step 110); Utilize described laser beam irradiation laser pick-off screen, described laser beam forms laser pick-off mark (step 120) on described laser pick-off screen; Utilize sensing element to monitor this laser pick-off mark (step 130); Contrast described laser pick-off mark and described positioning reference mark (step 140); Determine calibrating mode (step 150) according to determined registration.Wherein contrast described laser pick-off mark and described positioning reference mark (step 140) and comprise the registration of determining described laser pick-off mark and described positioning reference mark.
Wherein, described generating laser sends a plurality of laser beam, described a plurality of laser beam arrangement across, as shown in Figure 2.Described sensing element is the underwater camera head, described positioning reference mark be show on the monitor scope, the cross curve of mark reference position, as shown in Figure 3.
Wherein, described laser pick-off screen is installed on the immersed body to be positioned.
Wherein, described generating laser is a semiconductor diode laser.
The equipment that the present invention adopts comprises that (semiconductor diode laser is made of 9 groups of Laser Devices, is arranged on the bottom outlet support, Fig. 1) and test light target compositions such as (laser pick-off screens) for underwater television camera, generating laser.By cooperatively interacting of underwater television camera and underwater laser transmitter and test light target (laser pick-off screen), guiding underwater buoyant body closure gate is in place to neutralizing.
Under water in the shutoff construction operation process, underwater television camera, test light target are installed on the sub aqua sport object (as automatic location buoyancy aid closure gate), generating laser is installed under water on the light target support.In the motion process of sub aqua sport object (as automatic location buoyancy aid closure gate) in water, observe by the underwater television camera cross laser source test under water on the light target support (lasing light emitter) and the cross curve in the television reception video image to the overlapping situation in place (Fig. 3) that neutralizes, handle (Fig. 4) accurately in place of guiding sub aqua sport object (as automatic location buoyancy aid closure gate) to neutralizing.
Test in the Underwater Engineering experimental tank shows, in existing Laser Devices, semiconductor diode laser not only has features such as the high monochromaticity of general laser instrument, high coherence, high directivity and collimation, have also that size is little, in light weight, low-voltage driving, direct series of advantages such as modulation, and imaging and the undersea ranging aspect application of succeeding under water.The light target lasing light emitter of this method is selected 2001 type diode lasers of LASER DIODE company for use.The major parameter of this laser instrument is: wavelength 630～680nm, output power＜1mW.
Test shows that the testing laser target effectively can reach 15m to middle distance to shutoff test door, satisfies the manipulation and the control job requirements in place of general sub aqua sport object fully.
Although the present invention describes according to its preferred implementation, there are the change, displacement and the various substitute equivalents that fall in the scope of the invention.Here the example that provides only is illustrative, rather than limitation of the present invention.
For the sake of simplicity, this instructions has omitted the description to known technology.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110038121A CN102175229B (en) | 2011-02-15 | 2011-02-15 | Underwater laser positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110038121A CN102175229B (en) | 2011-02-15 | 2011-02-15 | Underwater laser positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102175229A true CN102175229A (en) | 2011-09-07 |
| CN102175229B CN102175229B (en) | 2012-10-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110038121A Expired - Fee Related CN102175229B (en) | 2011-02-15 | 2011-02-15 | Underwater laser positioning method |
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| Country | Link |
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| CN (1) | CN102175229B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105629981A (en) * | 2016-02-04 | 2016-06-01 | 青岛市光电工程技术研究院 | Underwater laser guide method |
| CN105783732A (en) * | 2016-03-15 | 2016-07-20 | 武汉华海创智科技有限公司 | Computer-vision-based underwater laser datum line measuring system |
| CN108827191A (en) * | 2018-08-17 | 2018-11-16 | 长江三峡通航管理局 | Miter Lock Gates close up Shaft alignment state monitoring system |
| CN111692918A (en) * | 2019-08-09 | 2020-09-22 | 刘翔 | Underwater guidance method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5046259A (en) * | 1990-05-14 | 1991-09-10 | Harbor Branch Oceanographic Institution, Inc. | Underwater measuring systems and methods |
| CN2302499Y (en) * | 1997-05-05 | 1998-12-30 | 南京理工大学 | Portable laser pavement deflection detecting instrument |
| CN101178303A (en) * | 2007-11-26 | 2008-05-14 | 刘洪云 | Method and device for testing railway by laser and device thereof |
-
2011
- 2011-02-15 CN CN201110038121A patent/CN102175229B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5046259A (en) * | 1990-05-14 | 1991-09-10 | Harbor Branch Oceanographic Institution, Inc. | Underwater measuring systems and methods |
| CN2302499Y (en) * | 1997-05-05 | 1998-12-30 | 南京理工大学 | Portable laser pavement deflection detecting instrument |
| CN101178303A (en) * | 2007-11-26 | 2008-05-14 | 刘洪云 | Method and device for testing railway by laser and device thereof |
Non-Patent Citations (2)
| Title |
|---|
| 《大坝与安全》 20031231 周业荣 "水下自动定位浮体封堵门的模拟试验研究" 第44-46页 1-7 , * |
| 周业荣: ""水下自动定位浮体封堵门的模拟试验研究"", 《大坝与安全》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105629981A (en) * | 2016-02-04 | 2016-06-01 | 青岛市光电工程技术研究院 | Underwater laser guide method |
| CN105783732A (en) * | 2016-03-15 | 2016-07-20 | 武汉华海创智科技有限公司 | Computer-vision-based underwater laser datum line measuring system |
| CN108827191A (en) * | 2018-08-17 | 2018-11-16 | 长江三峡通航管理局 | Miter Lock Gates close up Shaft alignment state monitoring system |
| CN111692918A (en) * | 2019-08-09 | 2020-09-22 | 刘翔 | Underwater guidance method |
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| Publication number | Publication date |
|---|---|
| CN102175229B (en) | 2012-10-03 |
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Granted publication date: 20121003 Termination date: 20140215 |