CN102175229B - Underwater laser positioning method - Google Patents

Abstract

The invention discloses an underwater positioning method, comprising: using a laser transmitter 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

Underwater laser positioning method

technical field

The invention relates to underwater equipment positioning, in particular to an underwater laser positioning method.

Background technique

At present, in the process of repairing the underwater holes of the hydropower dam, when the target in the water is positioned in the water body with high flow velocity, turbid water body and turbulent flow state, the measured actual position is affected by the water flow and cannot be accurately positioned. Bring harm to the quality of underwater construction, the purpose of the present invention is to provide a kind of accurate centering and positioning for guiding underwater moving objects (such as automatic positioning of floating body blocking doors).

Contents of the invention

The object of the present invention is to provide an underwater laser positioning method.

Technical scheme of the present invention is:

An underwater positioning method, comprising:

Use a laser transmitter to emit a laser beam;

Using the laser beam to irradiate the laser receiving screen, the laser beam forms a laser receiving mark on the laser receiving screen;

Using a sensing element to monitor the laser receiving mark;

The laser receiving mark is compared with the positioning fiducial mark.

Wherein, the laser emitter emits multiple laser beams, and the multiple laser beams are arranged in a cross shape.

Wherein, comparing the laser receiving mark and the positioning reference mark includes determining the coincidence degree of the laser receiving mark and the positioning reference mark.

Wherein, the method also includes determining a calibration method according to the determined coincidence degree.

Wherein, the sensing element is an underwater camera, and the positioning reference mark is a crosshair marking a reference position displayed on a monitoring display.

Wherein, the laser receiving screen is installed on the underwater object to be positioned.

Wherein, the laser emitter is a semiconductor diode laser.

The positive and progressive effect of the present invention is that: the effective centering distance of the plugging test door can reach 15m, which fully meets the operational requirements of manipulation and position control of general underwater moving objects.

Description of drawings

Figure 1 is a flow chart of the method according to the invention.

Fig. 2 is an example of a laser emitter according to the present invention.

Figure 3 is a schematic diagram of marker overlay according to the present invention.

Fig. 4 is a schematic diagram of the long-distance centering effect according to the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the embodiments shown in the accompanying drawings.

The underwater laser positioning method of the present invention is for repairing the underwater hole of the dam of the hydropower station (that is: the upstream bell mouth entrance to the accident maintenance threshold section, such as: the bottom hole for flood discharge and sand discharge, the maintenance gate of the flood discharge tunnel, the entrance of the power generation tunnel, etc.) Underwater automatic positioning The underwater positioning method developed by manipulating the blocking door of the floating body in place.

As shown in FIG. 1 , a flowchart of an underwater positioning method 100 according to the present invention. The method comprises: using a laser emitter to emit a laser beam (step 110); using the laser beam to irradiate a laser receiving screen, and the laser beam forms a laser receiving mark on the laser receiving screen (step 120); The laser receiving mark (step 130); comparing the laser receiving mark with the positioning reference mark (step 140); determining the calibration method according to the determined coincidence degree (step 150). Wherein comparing the laser receiving mark and the positioning reference mark (step 140 ) includes determining the coincidence degree of the laser receiving mark and the positioning reference mark.

Wherein, the laser emitter emits multiple laser beams, and the multiple laser beams are arranged in a cross shape, as shown in FIG. 2 . The sensing element is an underwater camera, and the positioning reference mark is a crosshair marking a reference position displayed on a monitoring display, as shown in FIG. 3 .

Wherein, the laser receiving screen is installed on the underwater object to be positioned.

Wherein, the laser emitter is a semiconductor diode laser.

The equipment that the present invention adopts comprises underwater TV camera, laser emitter (semiconductor diode laser, is made of 9 groups of laser devices, is arranged on the bottom hole support, Fig. 1) and composition such as test light target (laser receiving screen). Through the mutual cooperation of the underwater TV camera, the underwater laser transmitter and the test light target (laser receiving screen), the underwater floating body blocking door is guided to be centered and in place.

During the underwater sealing construction operation, the underwater TV camera and the test light target are installed on the underwater moving object (such as the automatic positioning floating body sealing door), and the laser transmitter is installed on the underwater light target bracket. During the movement of an underwater moving object (such as an automatic positioning floating body blocking door) in the water, the underwater TV camera observes the cross laser source on the underwater test light target bracket (laser source) and the cross line in the video image received by the TV The centering and overlapping in place (Figure 3), and the accurate centering and in place of manipulating and guiding underwater moving objects (such as automatic positioning of floating body blocking doors) (Figure 4).

The test in the underwater engineering test pool shows that among the existing laser devices, semiconductor diode lasers not only have the characteristics of high monochromaticity, high coherence, high directivity and collimation of general lasers, but also have small size, It has a series of advantages such as light weight, low-voltage drive, direct modulation, etc., and has been successfully applied in underwater imaging and underwater ranging. The light target laser source of this method selects the 2001 type diode laser of LASER DIODE Company. The main parameters of the laser are: wavelength 630-680nm, output power <1mW.

The test shows that the effective centering distance of the test laser target to the plugging test door can reach 15m, which fully meets the operation requirements of the manipulation and position control of general underwater moving objects.

While this invention has been described in terms of its preferred embodiments, there are alterations, permutations, and various alternative equivalents, which fall within the scope of this invention. The examples provided here are only illustrative and not limiting of the invention.

For the sake of brevity, descriptions of known technologies are omitted in this specification.

Claims (6)

1. localization method under water comprises:

Utilize generating laser to give off laser beam;

Utilize said laser beam irradiation laser pick-off screen, the laser pick-off screen is installed on the immersed body to be positioned, and said laser beam forms the laser pick-off mark on said laser pick-off screen;

Utilize this laser pick-off mark of sensing element monitoring;

Contrast said laser pick-off mark and positioning reference mark;

Wherein, sensing element is the underwater camera head, said positioning reference mark be show on the monitor scope, the mark of mark reference position.

2. localization method under water according to claim 1 is characterized in that said generating laser sends a plurality of laser beam, said a plurality of laser beam arrangement across.

3. localization method under water according to claim 1 is characterized in that, contrasts said laser pick-off mark and said positioning reference mark and comprises the registration of confirming said laser pick-off mark and said positioning reference mark.

4. localization method under water according to claim 3 is characterized in that, this method also comprises according to determined registration confirms calibrating mode.

5. localization method under water according to claim 1 is characterized in that, said positioning reference mark be show on the monitor scope, the cross curve of mark reference position.

6. localization method under water according to claim 1 is characterized in that said generating laser is a semiconductor diode laser.

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