CN108919274B - Shallow water wave following scanning detection system based on single wave beam and working method thereof - Google Patents

Abstract

The present invention provides a single-beam-based shallow water scanning detection system with waves and a working method thereof. The system includes a detection terminal and a remote control terminal; the detection terminal realizes detection and data transmission on the water; the remote control terminal realizes data processing and remote control functions; the detection terminal and remote control Real-time interaction is realized through network transmission. Under the wave swing, the system can detect multiple water depth points that deviate from a certain distance directly below the ship, thereby increasing the detection range, so as to achieve the effect of wave scanning detection and improve detection efficiency. The system performs depth correction and coordinate correction under the wave effect by detecting the inclination angle of the detection ship relative to the horizontal plane, and obtains accurate detection data of the real detection point. The transmission rate of the transmitted signal is adaptively adjusted according to the wave size and the measured water depth. The invention utilizes the wave effect to increase the detection range. The invention has the advantages of simplicity, efficiency, economy and application.

Description

A single-beam-based shallow water scanning detection system and its working method

technical field

The invention belongs to the ultrasonic detection technology in the shipping field, and in particular relates to a shallow water follow-wave scanning detection system based on the single-beam detection technology and a working method thereof.

Background technique

As we all know, my country is a big maritime country with many islands. Under such resource conditions, my country has formulated a series of marine strategic plans, involving engineering issues such as coastal management planning, land reclamation, and harbor surveying and mapping. These strategic plans have put forward more demands on shallow-water underwater terrain detection. On the other hand, for the problems of inland rivers and lakes, my country will implement the lake chief system in all lakes across the country, implement grid management for each lake, and strictly control the space of lake waters. These strategies and policies indicate that the demand for shallow water detection and the volume of detection operations will greatly increase. These new situations determine that an economical, small and efficient shallow water detection equipment needs to be developed urgently.

In underwater detection, an important parameter for detection is water depth. At present, there are roughly the following underwater detection technologies: shipborne sonar detection, airborne laser detection, submersible detection and spaceborne multispectral bathymetry. At present, shipborne sonar detection and airborne laser detection are widely used. Among them, shipborne sonar detection is the main method of bathymetry in my country because of its low cost. The main principle of the shipborne sonar detection method is to use the shipborne sonar equipment combined with the GPS positioning technology to conduct on-site observation. The types of shipborne sonar equipment mainly include echo sounders, multi-beam detection systems, side scan sonar instruments, etc. This measurement method is the most reliable and effective sounding method at present.

The echo sounder generally refers to a single-beam echo sounder, which emits sound waves through the transducer, transmits it underwater, and is reflected back at the bottom of the water. The height of the transducer from the bottom of the water can be calculated by adding the height of the water surface to the transducer. Echo sounders can quickly and continuously measure water depth data. The traditional sounder is basically a single beam, the measurement coverage is small, and the measurement efficiency is relatively low.

The multi-beam bathymetry system is developed on the basis of the single-beam echo sounder. The original design concept is to improve the efficiency of bathymetry. The span from point-line measurement to line-area measurement.

The working principle of the multi-beam bathymetry system is to use the transmitting transducer array to transmit sound waves with wide sector coverage to the seabed, and use the receiving transducer array to receive narrow beams of the sound waves. The irradiated footprints of the seabed terrain and the proper processing of these footprints can give the water depth values of hundreds or even more measured points on the seabed in the vertical plane perpendicular to the course in one detection.

Although the multi-beam sounding system has many shortcomings that the single-beam sounding system cannot match, the complexity of the system also leads to high equipment costs, and the multi-beam needs to transmit multiple beams at a time, and the bandwidth of each beam is relatively narrow. The increased transmit power required to transmit multiple beams results in more power-hungry and bulky detection equipment. On the other hand, the current multi-beam bathymetry systems are all oriented to deep water detection. The round-trip time of one beam is long, and only multiple beams can be added to expand the detection range and improve the detection efficiency. If the multi-beam sounding system is directly used for shallow water detection, it is not suitable for the following reasons: 1) The multi-beam sounding system is bulky, the equipment is cumbersome, and the hull is required to be relatively large. It is an area where there are many reefs and the water is heavily affected by tides. 2) The multi-beam control of the multi-beam bathymetric system is complicated, it is a bit overkill for shallow water, and it is expensive and not suitable for multi-point arrangement detection or multiple cruise detection. In addition, the expensive price makes the number of equipment limited, it is difficult to cover the vast waters, and the detection efficiency cannot be improved. Therefore, for near-shore underwater detection, there is an urgent need for a detection device with small size, low cost, simple operation and flexible use. These characteristics of the multi-beam detection system determine that it is uneconomical and unreasonable to use it for shallow water detection.

The wave undulation makes the boat sway in the water, which is always a difficult problem to be avoided and solved in the detection. Many boats artificially load a certain weight, so that the boat can only resist certain wind and waves. But for the single-beam technology, this patent intends to take advantage of this disadvantage and turn it into an advantage, using the fluctuation of waves to perform multi-angle detection, so as to expand the detection range and achieve the effect of detecting a larger area at one detection point. , so as to compare with multi-beam technology. At the same time, each detection result is corrected according to the inclination angle brought by the wave to the transducer, and combined with the GPS module to record the GPS coordinates of the transducer in real time, the horizontal coordinates are corrected, so as to obtain the underwater resource status information under the precise coordinates.

In conclusion, single-beam technology is more suitable for shallow water detection than multi-beam technology, and the simplicity of single-beam system makes it easy to use wave effect to scan with waves. This increases efficiency on the premise of having economic advantages. In view of the above reasons, we propose a scanning-with-wave detection system based on single-beam technology. This system is based on the single-beam detection technology, but it is more efficient than the single-beam technology, and uses the wave effect to achieve the effect of scanning detection, and the system equipment is simple and compact, the design and manufacture are simple, and the cost is relatively low, suitable for shallow water detection. area application.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problem of detection in shallow water application scenarios such as offshore and lakes. An efficient, economical and applicable wave-following scanning detection system based on single-beam technology and its working method.

From the perspective of the whole system composition, it specifically includes the detection terminal and the remote control terminal, which transmit data and control instructions through the wireless network. The water scanning detection terminal is installed on the ship to collect the detection data and wave description data of the water scanning; the remote control terminal wirelessly sends detection signals and control commands to the water scanning detection terminal, and receives the data from the water scanning detection terminal. The detection data and wave description data are obtained, and the transmission signal rate is adaptively adjusted according to the detection data and wave description data.

A shallow water scanning detection system based on a single beam, comprising a water scanning detection terminal and a remote control terminal; the water scanning detection terminal realizes water detection work and data transmission work; the remote control terminal realizes data processing function and remote control Function: The detection terminal and the remote control terminal can realize real-time interaction through network transmission.

Further, the water scanning detection end is composed of four modules, which are an ultrasonic probe array, a GPS module, a ship attitude sensor, and a data control and transmission unit. The ultrasonic probe array includes a transmitting probe and several receiving probes integrated on a board, the transmitting probe is responsible for transmitting ultrasonic waves, and the receiving probe is responsible for receiving the detection echo. This system adopts single-beam technology, so one transmitting probe and multiple receiving probes are used. The GPS module provides coordinate positioning for detection. The ship attitude sensor collects the angle information of the ship under the wave, including the pitch angle, roll angle and yaw angle. Because it is generated by the wave and changes with the wave, it is generally called the wave description data. The data transmission and control unit controls the detection process, and performs data storage and transmission. It is responsible for receiving various data and parameters sent by the remote control terminal, and sending them to the corresponding system modules, so as to realize the monitoring of the various modules of the water wave scanning detection terminal. control. In addition, it is also responsible for storing the echo data received by the ultrasonic probe array and the wave description data collected by the ship attitude sensor and sending it to the remote control terminal through the wireless network.

Further, the remote control terminal includes a network transmission unit, a data processing unit, and a general control unit, and controls the detection process by interacting with the real-time data of the underwater wave scanning detection terminal. On the one hand, it receives and saves the detection data from the wave scanning detection terminal on the water, then calculates the distance according to the received detection data, and performs depth correction and coordinate correction according to the wave description data of the ship attitude sensor, so as to calculate the actual GPS coordinates The actual water depth at the point. In addition, it calculates the rate of change of the angle based on the wave description data, thereby sensing the size of the wave sway, and adjusting the transmission rate of the transmitted signal according to the calculated water depth and the perceived wave size. On the other hand, the remote control terminal has the function of controlling the water-following scanning detection terminal, generates a transmission signal with specified parameters and sends it to the water-borne wave-scanning detection terminal, and controls the detection of the ship by sending ship motion control commands to the water-borne wave scanning detection terminal. sports.

Further, the principle of the wave-following scan is described as follows:

At a certain detection point, that is, a certain GPS coordinate point, when the detection ship is stationary on the horizontal plane without wave action or when the inclination angle of the ultrasonic probe array and the horizontal plane is exactly 0 degrees under the action of waves, it is detected that the ultrasonic probe array is positive. center point below. When the ship swings under the action of waves, the ultrasonic probe array deviates from the horizontal plane and has a certain inclination angle with the horizontal plane. At this time, the actual detection point is no longer the center point, but a distance away from the center point. As the waves rise and fall, the inclination angle of the ultrasonic probe array and the horizontal plane increases, and the actual detection point will gradually move away from the center point directly under the ship, thus forming a certain detection range. Therefore, under the action of waves, not only the directly below but also the surrounding area can be detected at a detection point, so it is called wave-following scanning.

The above depth correction and coordinate correction are described as follows:

Because under the action of waves, when the inclination angle between the ultrasonic probe array and the horizontal plane is not 0 degrees, the detection distance at this time is not the actual water depth, and the coordinates of the actual detection point are not the GPS coordinates of the ship, so it needs to be corrected. Depth correction and coordinate correction are realized with the help of the ship attitude sensor and GPS module on the water scanning detection end. The ship attitude sensor records the pitch angle, roll angle, and yaw angle of the hull. According to these three angle parameters, the inclination angle of the ultrasonic probe array relative to the horizontal plane of the geodetic coordinate system is calculated through geometric coordinate transformation. The inclination angle combined with the ultrasonic detection distance is The actual corrected water depth of the detection point can be calculated, thereby realizing depth correction. The deflection angle recorded by the ship's sensor is the angle at which the ship's bow points to the true north direction. The deflection angle is combined with the GPS coordinates of the ship recorded by the GPS module to perform coordinate correction to obtain the correction coordinates of the actual detection point.

The system has the function of adaptively adjusting the transmission rate of the transmitted signal of the ultrasonic transmitting probe according to the wave strength and water depth. The system obtains three angle parameters through the ship attitude sensor, and the remote control terminal calculates the inclination angle of the ultrasonic probe array based on this, so as to know the inclination angle change rate, and then the wave size can be sensed. The smaller the rate of change, the smaller the waves. In addition, the remote control terminal calculates the water depth according to the detection data. Then, according to the calculated water depth and the perceived wave size, the transmission rate of the transmitted signal is adjusted, so that the ultrasonic transmission rate of the ultrasonic transmission probe can be designed to be adapted to the change rate of the ship's inclination angle. When the remote control terminal detects that the water depth distance is small or the waves are small, the transmission signal transmission rate is reduced to avoid detecting the same place; when the remote control unit detects that the water depth distance of the ship is large or the waves are large, the transmission signal transmission rate is increased. , to increase the density of detection points.

The detection process of a shallow water scanning detection system based on a single beam of the present invention is as follows:

Step 1: The remote control terminal generates the transmission signal of the specified parameters, sets the command to control the movement of the detection terminal, and transmits it to the water scanning detection terminal through the network.

Step 2: The water wave scanning detection terminal receives the data sent by the remote control terminal, and starts to drive on the water surface according to a certain path. At the same time, the ultrasonic probe array starts to work, and the ultrasonic transmission probe converts the transmitted signal into ultrasonic waves for transmission.

Step 3: The ultrasonic receiving probe receives the reflected echo to form detection data. At the same time, the boat attitude sensor on the boat collects the wave description data, and the GPS module records the GPS coordinates.

Step 4: The water scanning detection terminal sends echo data, wave description data and GPS coordinates to the remote control terminal.

Step 5: The remote control terminal receives and saves the detection data from the water-borne wave scanning detection terminal, and then performs a series of calculations. First, the distance is calculated according to the received detection data, and then the tilt angle of the ultrasonic probe array is calculated according to the wave description data of the ship attitude sensor. Combine the detection distance and inclination angle, carry out depth correction calculation; combine the deflection angle of the ship attitude sensor and GPS coordinates to carry out coordinate correction calculation, so as to obtain the correction depth of the actual detection point, and save the calculation results.

Step 6: The remote control terminal calculates the change rate of the inclination angle through the inclination angle of the ultrasonic probe array calculated many times, thereby judging the size of the wave.

Step 7: The remote control terminal adjusts the transmission rate of the transmitted signal according to the calculated water depth and the perceived wave size. When the remote control terminal detects that the water depth distance is small or the waves are small, the emission rate of the emission wave is reduced to avoid detecting the same place; when the remote control unit detects that the water depth distance of the ship is large, or the waves are large, the emission wave emission rate is increased. Increase the density of detection points.

It is worth noting that the above descriptions are all for the signal received by one receiving probe, and the signals received by each receiving probe are processed in the same way.

The present invention has the following advantages and effects to existing devices and technologies:

(1) The present invention carries out system design and data operation processing under the premise of utilizing wave action. The system design fully captures the effect of waves on the survey vessel, and the data processing process ensures the accuracy of water depth data under wave factors, thereby achieving the effect of sweeping with the wave. By scanning with the wave, the detection range is increased, the unfavorable factors are turned into favorable factors, and the detection efficiency is improved.

(2) The device system performs depth correction through the ship attitude sensor, and obtains the correction depth of the actual detection point through a series of coordinate system conversion and geometric mathematical operations. The method is simple and convenient.

(3) The system performs coordinate correction by combining the above-mentioned depth correction and GPS module, so that the actual detection point for correcting GPS coordinates can also be obtained when the survey ship tilts under waves, thereby giving a truly accurate topographic map.

(4) The system judges the wave size according to the change rate of the ship's inclination angle, adjusts the emission rate of the transmitted wave, and adaptively controls the detection speed according to the wave.

(5) The system adaptively adjusts the transmission rate of the transmitted wave according to the detected water depth to avoid missed detection.

(6) This system realizes the integration of the design of the hull and the detection equipment. It does not need to use the ship to install the detection instrument, and the detection can be performed when launching into the water, and the method of loading by an unmanned boat is used to remotely control the detection path without human intervention, saving labor costs. The detection is automated.

(7) This system is aimed at shallow water detection. Compared with various traditional detection equipment, the cost is lower, the shape is simple and compact, and the detection is faster and more efficient. The simple and compact design makes the system more expandable and the cost is lower, and it is easy to realize the detection of multiple small boats in a group formation, which will provide more room for further improvement of detection efficiency and accuracy.

Description of drawings

Fig. 1 is the system composition structure diagram of the present invention;

Fig. 2 is a schematic diagram of the structure of the water-borne wave scanning detection terminal module of the present invention;

Figure 3 is a schematic diagram of the principle of wave-following scanning of the system;

Figure 4 is a schematic diagram of depth correction under the wave effect;

Figure 5 is a schematic diagram of coordinate correction under the wave effect;

Fig. 6 is the working flow chart of this system.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific implementation described here is only used to explain the patent of the present invention, but is not limited to the present patent. It should be pointed out that the key of the present invention lies in the use of wave effect to realize the wave-following scanning proposed in the shallow water depth detection scene. Technical assumptions, the ultrasonic ranging technology involved, single-beam water depth detection, etc. are all existing mature technical solutions. If there are any specific detection principles or processes described in detail below, those skilled in the art can refer to the existing technology. or understood.

The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

Figure 1 shows the structure of the system. The system includes the detection terminal and the remote control terminal, which transmit data and control instructions through the wireless network. The water scanning detection terminal is installed on the ship to collect the detection data and wave description data of the water scanning; the remote control terminal wirelessly sends detection signals and control commands to the water scanning detection terminal, and receives the data from the water scanning detection terminal. The detection data and wave description data are obtained, and the transmission signal rate is adaptively adjusted according to the detection data and wave description data.

Figure 2 shows the schematic diagram of the composition of the detection end module of the system on the water with the wave scanning. The four components of the water scanning detection end are: ultrasonic probe array, GPS module, ship attitude sensor, data control and transmission unit. Among them, the GPS module provides coordinate positioning for detection, records the GPS coordinates of the transducer in real time, and provides coordinate data for later terrain modeling.

The ultrasonic probe array includes a transmitting probe and several receiving probes integrated on a board, the transmitting probe is responsible for transmitting ultrasonic waves, and the receiving probe is responsible for receiving the detection echo. This system adopts single-beam technology, so one transmitting probe and multiple receiving probes are used, and there is no need to consider the complex transducer array design and beam frequency band. The single-beam transducer can use a wider frequency band, thereby reducing the The transmission power can reduce energy consumption, thereby greatly extending the battery life of the test vessel.

The ship attitude sensor collects the angle information of the ship under the wave, including the pitch angle, roll angle and yaw angle. Because it is generated by the wave and changes with the wave, it is generally called the wave description data. According to the three ship attitude parameters, the inclination angle of the ultrasonic probe array plane relative to the horizontal plane of the geodetic coordinate can be calculated through geometric coordinate transformation, so that depth correction can be performed. The inclination angle combined with the deflection angle can calculate the correction coordinates of the actual detection point. .

On the one hand, the data control and transmission unit is responsible for receiving the data sent by the remote control terminal, and on the other hand, it is responsible for sending the data collected by the underwater wave scanning detection terminal to the remote control terminal through network transmission. The data sent by the remote control terminal includes the transmitted signal data and the data to control the movement of the ship, and the data sent to the remote control unit includes detection data, GPS coordinates, and wave description data. Real-time control of the console.

Figure 3 is a schematic diagram of the depth correction meter. The center position of the ultrasonic transmitting probe is O, and the vertical lower part is D. When the hull is not swaying, this point is the center point of the usual water depth detection. When the inclination angle of the ultrasonic probe array relative to the horizontal plane is α, since the ultrasonic wave is emitted perpendicular to the transducer plane, as shown in the figure, the ray OA is the actual ultrasonic wave propagation distance, and the point A is the echo point, which is the actual detection point. When the hull continues to sway under the wave effect, the inclination angle between the transducer plane and the horizontal plane increases to the β angle. Similarly, since the ultrasonic wave is emitted perpendicular to the transducer plane, as shown in the figure, ray OB is the actual ultrasonic wave path, and point B is the echo. point is the actual detection point. As the waves rise and fall, the inclination angle of the ultrasonic probe array and the horizontal plane increases, and the actual detection point will gradually move away from the center point directly under the ship, thus forming a certain detection range. Therefore, under the action of waves, not only the directly below but also the surrounding area can be detected at a detection point, so it is called wave-following scanning.

The actual detection points A and B in the above need to obtain their corresponding corrected depths through depth correction, and their GPS coordinates are not the GPS coordinates of the ship, so they need to be corrected.

Figure 4 shows the depth correction when the transducer tilt angle in Figure 3 is α. O is the center position of the transducer plane, D is the bottom position directly below the transducer, when the transducer is inclined with the ship under the action of waves, the inclination angle α can be calculated according to the ship attitude parameters of the ship attitude sensor, The actual propagation path of the ultrasonic wave is OA, where A is the echo point of the ultrasonic wave on the bottom of the water. The distance of the OA path can be obtained by delay calculation as S, and then the actual depth of point B can be calculated according to the trigonometric function operation as H=Scosα.

Figure 5 is a schematic diagram of the coordinate correction operation when the transducer tilt angle is α. The coordinate system drawn in the figure is the geodetic coordinate system, O is the center position of the transducer plane, D is the bottom position directly below the survey ship, α is the inclination angle, and A is the echo position, which is the actual detection point. The marked S is the distance traveled by the ultrasonic wave, and H is the actual water depth. From the ship attitude sensor, it can be known that the ship's bow is pointing, and through the transformation of the coordinate system, it can be known that the two included angles of the actual detection point in the xoy plane of the geodetic coordinate system are the β angle and the γ angle shown in the figure. What the GPS module records is the coordinates at O. In the case of known β and γ angles and in the case of S, the correction coordinates of the actual detection point A can be calculated, that is, the coordinate correction is completed. If the coordinates of the ship are (x, y, z), the corrected coordinates of the actual sounding point A can be obtained by calculation as (x+S sinαcosβ, y+S sinαcosγ, z).

As shown in Figure 6 is the general working flow chart of the system.

The workflow of this system is described as follows:

Step 1: The remote control terminal generates the transmission signal of the specified parameters, sets the command to control the movement of the detection terminal, and transmits it to the water scanning detection terminal through the network.

Step 2: The water wave scanning detection terminal receives the data sent by the remote control terminal, and starts to drive on the water surface according to a certain path. At the same time, the ultrasonic probe array starts to work, and the ultrasonic transmission probe converts the transmitted signal into ultrasonic waves for transmission.

Step 3: The ultrasonic receiving probe receives the reflected echo to form detection data. At the same time, the boat attitude sensor on the boat collects the wave description data, and the GPS module records the GPS coordinates.

Step 4: The water scanning detection terminal sends echo data, wave description data and GPS coordinates to the remote control terminal.

Step 5: The remote control terminal receives and saves the detection data from the water-borne wave scanning detection terminal, and then performs a series of calculations. First, the distance is calculated according to the received detection data, and then the tilt angle of the ultrasonic probe array is calculated according to the wave description data of the ship attitude sensor. Combine the detection distance and inclination angle, carry out depth correction calculation; combine the deflection angle of the ship attitude sensor and GPS coordinates to carry out coordinate correction calculation, so as to obtain the correction depth of the actual detection point, and save the calculation results.

Step 6: The remote control terminal calculates the change rate of the inclination angle through the inclination angle of the ultrasonic probe array calculated many times, thereby judging the size of the wave.

Step 7: The remote control terminal adjusts the transmission rate of the transmitted signal according to the calculated water depth and the perceived wave size. When the remote control terminal detects that the water depth distance is small or the waves are small, the emission rate of the emission wave is reduced to avoid detecting the same place; when the remote control unit detects that the water depth distance of the ship is large, or the waves are large, the emission wave emission rate is increased. Increase the density of detection points.

Claims (7)

1. a shallow water scanning detection system based on single beam, it is characterized in that comprising water scanning detection terminal and remote control terminal; water scanning detection terminal realizes water detection work and data transmission work; remote control terminal realizes data Processing function and remote control function; real-time interaction between the detection terminal and remote control terminal through network transmission; the remote control terminal includes a network transmission unit, a data processing unit and a general control unit. Interaction to control the detection process; on the one hand, the remote control terminal receives and saves the detection data from the water scanning detection terminal, and then calculates the distance according to the received detection data, and performs depth correction and coordinates according to the wave description data of the ship attitude sensor. Correction, so as to calculate the actual water depth on the actual GPS coordinate point; in addition, the rate of change of the angle is calculated according to the wave description data, so as to sense the size of the wave swing, and adjust the transmission of the transmitted signal according to the calculated water depth and the perceived wave size On the other hand, the remote control terminal has the function of controlling the water-following scanning detection terminal, and generates a transmission signal with specified parameters and sends it to the water-borne wave-scanning detection terminal. movement of the vessel. 2. a kind of shallow water scanning detection system based on single beam according to claim 1, it is characterized in that described water scanning detection end comprises ultrasonic probe array, GPS module, ship attitude sensor, data control and transmission unit The ultrasonic probe array includes one transmitting probe and several receiving probes integrated on one board. The transmitting probe is responsible for transmitting ultrasonic waves, and the receiving probe is responsible for receiving the detection echo; The angle information below includes pitch angle, roll angle and yaw angle. Since the angle information is generated by waves and fluctuates with the waves, it is collectively referred to as wave description data; the data transmission and control unit controls the detection process and stores data. It is responsible for receiving the data and parameters sent by the remote control terminal, and correspondingly sending them to other components, namely the ultrasonic probe array, GPS module, and ship attitude sensor, so as to realize the above-mentioned other components of the water wave scanning detection terminal. In addition, it is also responsible for storing the echo data received by the ultrasonic probe array and the wave description data collected by the ship attitude sensor and sending it to the remote control terminal through the wireless network. 3. a kind of shallow water scanning detection system based on single beam according to claim 1, it is characterized in that scanning with wave specifically refers to: at a certain detection point, i.e. a certain GPS coordinate point, when the detection ship is not in the When the horizontal plane is static under the action of waves or when the inclination angle of the ultrasonic probe array and the horizontal plane is exactly 0 degrees under the action of waves, the center point directly below the ultrasonic probe array is detected; There is an inclination angle with the horizontal plane. At this time, the actual detection point is no longer the center point, but a distance away from the center point. As the waves fluctuate, the inclination angle between the ultrasonic probe array and the horizontal plane increases, and the actual detection point will gradually move away from the ship's normal point. Therefore, under the action of waves, not only the directly below, but also the surrounding area can be detected at a detection point. 4. a kind of shallow water scanning detection system based on single beam according to claim 1, it is characterized in that the remote control terminal carries out depth correction and coordinate correction to the detection data of scanning with waves, by means of the ship attitude of the scanning detection terminal on water Sensor and GPS module implementation: the ship attitude sensor records the pitch angle, roll angle and yaw angle of the hull, and then according to these three angle parameters, the inclination angle of the transducer plane relative to the horizontal plane of the geodetic coordinate system is calculated through geometric coordinate transformation, The inclination angle can be combined with the ultrasonic detection distance to calculate the actual water depth of the detection point, thereby realizing depth correction; the deflection angle recorded by the ship's sensor is the angle of the ship's bow pointing to the true north direction. The GPS coordinates of the ship are calibrated to obtain the GPS coordinates of the actual detection point. 5. a kind of shallow water scanning detection system based on single beam according to claim 1, it is characterized in that obtaining three angle parameters by ship attitude sensor, the remote control terminal calculates the inclination angle of ultrasonic probe array according to this, thus learns The change rate of the inclination angle can sense the size of the wave. The larger the change rate of the inclination angle is, the larger the wave is, and the smaller the change rate of the inclination angle is, the smaller the wave is. 6. a kind of shallow water scanning detection system based on single beam according to claim 1 is characterized in that, it is characterized in that having the function of adaptively adjusting the transmission rate of ultrasonic transmission probe transmission signal according to wave intensity and water depth: remote control The terminal calculates the water depth according to the detection data; and then adjusts the transmission rate of the transmitted signal according to the calculated water depth and the perceived wave size, so that the transmission speed of the ultrasonic signal of the ultrasonic transmission probe can be designed to be compatible with the change rate of the ship's inclination angle. . 7. The working method of a single-beam-based shallow water scanning detection system according to any one of claims 1 to 6, characterized in that it comprises the following steps: Step 1: The remote control terminal generates the transmission signal of the specified parameters, sets the command to control the movement of the detection terminal, and transmits it to the water scanning detection terminal through the network; Step 2: The water wave scanning detection terminal receives the data sent by the remote control terminal, and starts to drive on the water surface according to the set path. At the same time, the ultrasonic probe array starts to work, and the ultrasonic sending probe converts the transmitted signal into ultrasonic waves for transmission; Step 3: The ultrasonic receiving probe receives the reflected echo to form detection data; at the same time, the ship attitude sensor on the boat collects the wave description data, and the GPS module records the GPS coordinates; Step 4: The water scanning detection terminal sends the echo data, wave description data and GPS coordinates to the remote control terminal; Step 5: The remote control terminal receives and saves the detection data from the water-borne wave scanning detection terminal, and then performs calculations. First, the distance is calculated according to the received detection data, and then the inclination of the ultrasonic probe array is calculated according to the wave description data of the ship attitude sensor. Combine the detection distance and inclination angle, carry out the depth correction calculation; combine the deflection angle of the ship attitude sensor and the GPS coordinates to carry out the coordinate correction calculation, so as to obtain the correction depth of the actual detection point, and save the calculation results; Step 6: The remote control terminal calculates the change rate of the inclination angle through the inclination angle of the ultrasonic probe array calculated many times, thereby judging the size of the wave; Step 7: The remote control terminal adjusts the transmission rate of the transmitted signal according to the calculated water depth and the perceived wave size.

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