CN117031454A - Seabed non-contact distance measurement method - Google Patents
Seabed non-contact distance measurement method Download PDFInfo
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- CN117031454A CN117031454A CN202311288861.XA CN202311288861A CN117031454A CN 117031454 A CN117031454 A CN 117031454A CN 202311288861 A CN202311288861 A CN 202311288861A CN 117031454 A CN117031454 A CN 117031454A
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- 230000001681 protective effect Effects 0.000 claims description 14
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
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- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention discloses a submarine non-contact ranging method, which comprises a sensing end arranged on the surface of a measured object and a laser emitting end arranged at a fixed end, wherein the sensing end is provided with two-dimensional PSD sensors which respectively and correspondingly receive point laser beams emitted by two point lasers arranged at the laser emitting end and forming a fixed included angle, the sensing end can synchronously adjust the vertical positions of the two-dimensional PSD sensors through a vertical driving mechanism, and respectively adjust the transverse positions of the two-dimensional PSD sensors through a transverse driving mechanism so as to ensure that the two-dimensional PSD sensors can respectively and correspondingly receive the point laser beams emitted by the two point lasers. The invention utilizes the triangulation principle, and calculates the distance value of the measured object from the laser transmitting end according to the coordinates of the two-dimensional PSD sensors in the X-axis direction of the light spot on the photosensitive surface, the distance value between the two-dimensional PSD sensors detected by the transverse driving mechanism and the angle theta between the two spot lasers.
Description
Technical Field
The invention relates to the technical field of submarine ranging, in particular to a submarine non-contact ranging method.
Background
The laying of submarine pipelines is carried out in open sea along with the increase of water depth, the influence of hydrology and sea conditions on pipeline laying is changed continuously, the construction of pipelines is more difficult, influence factors are complex, and comprehensive reinforcement is needed in the aspects of ship resources, performance, design calculation and monitoring so as to cope with the influence of various construction factors. The butt joint of the tunnel pipe joint in immersed tube tunnel engineering can adopt an underwater push-out type butt joint mode, and the tunnel pipe joint is pushed to a required position along a target direction under the action of pushing force, so that the method is very important for detecting the real-time pushing position of the immersed tube.
The traditional non-contact distance measuring devices are usually a laser distance measuring device and an ultrasonic distance measuring device, the distance measuring devices are used on land, the precision is high, the requirement of high-precision distance measurement can be met well, but for a complex environment under the sea, the propagation speed of laser and ultrasonic waves in a medium can be greatly influenced especially in a turbid water area and a water flow water area, and the distance measuring precision is further influenced. Therefore, a new seabed noncontact ranging method is needed to be designed, and the problem of low seabed ranging precision is effectively solved.
Disclosure of Invention
The invention aims at overcoming the technical defects in the prior art and provides a seabed noncontact ranging method.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a subsea noncontact ranging method comprising: a sensing end and a laser emitting end;
the sensing terminal comprises: the device comprises a vertical driving mechanism, a horizontal driving mechanism, a sensing end protective cover, a first two-dimensional PSD sensor and a second two-dimensional PSD sensor; the vertical driving mechanism is arranged along a vertical Z axis, and the transverse driving mechanism is arranged on the vertical driving mechanism; the transverse driving mechanism adopts a high-precision double-screw moving platform with a grating ruler, is arranged along a transverse X axis, is provided with two transverse sliding tables, each transverse sliding table is driven by one screw, the first two-dimensional PSD sensor is arranged on the surface of the first transverse sliding table, the second two-dimensional PSD sensor is arranged on the surface of the second transverse sliding table, and the first two-dimensional PSD sensor and the second two-dimensional PSD sensor are positioned on the same plane; the sensing end protective cover covers the peripheries of the vertical driving mechanism and the horizontal driving mechanism;
the laser emission end includes: the laser emission direction of the first point laser is set along a longitudinal Y axis, and a set deflection angle theta is formed between the laser emission direction of the second point laser and the laser emission direction of the first point laser around a Z axis; the laser emission end protective cover covers the peripheries of the first point laser and the second point laser; the first two-dimensional PSD sensor of the sensing end is used for receiving the point laser beam emitted by the first point laser, and the second two-dimensional PSD sensor is used for receiving the point laser beam emitted by the second point laser;
the ranging method comprises the following steps:
step 1, installing the sensing end on the surface of a measured object, and installing the laser emitting end on the fixed end of a known coordinate system to enable the laser emitting direction of a first point laser of the laser emitting end to be consistent with the target propelling direction of the measured object;
step 2, synchronously adjusting the vertical positions of the two-dimensional PSD sensors through a vertical driving mechanism, and respectively adjusting the transverse positions of the two-dimensional PSD sensors through a transverse driving mechanism, so that a first two-dimensional PSD sensor at a sensing end receives a point laser beam emitted by a first point laser, and a second two-dimensional PSD sensor receives a point laser beam emitted by a second point laser;
step 3, calculating a distance value Y of the current position of the measured object from the laser transmitting end according to a triangulation principle by using the coordinate in the X-axis direction of the light spot on the photosensitive surface detected by the first two-dimensional PSD sensor, the coordinate in the X-axis direction of the light spot on the photosensitive surface detected by the second two-dimensional PSD sensor, the current distance value between the first two-dimensional PSD sensor and the second two-dimensional PSD sensor detected by the transverse driving mechanism and the deflection angle theta between the first point laser and the second point laser;
step 4, in the process of propelling the measured object, circularly executing the step 2 and the step 3, and calculating the distance value of any position of the propelling track of the measured object from the laser emitting end, wherein the distance value Y of the previous position 1 Distance value Y from the latter position 2 The difference value is the push-out distance between the two positions of the measured object.
In the technical scheme, the vertical driving mechanism adopts a high-precision screw rod moving platform, and the transverse driving mechanism is arranged on a supporting plate of the vertical driving mechanism.
In the above technical scheme, the sensing end protection cover is made of organic glass, and the laser emission end protection cover is made of organic glass.
In the technical scheme, the cables of the first two-dimensional PSD sensor and the second two-dimensional PSD sensor are led out of the sensing end protective cover through the watertight cabin penetrating connector, so that the water-proof performance inside the sensing end protective cover is ensured.
In the above technical scheme, in the use state, the sensing end is installed on the surface of the measured object, the laser emitting end is installed at the fixed end of the known coordinate system, and the laser emitting direction of the first point laser of the laser emitting end is consistent with the target propelling direction of the measured object.
In the above technical solution, the calculation formula of the distance value Y is as follows:
wherein, the method comprises the steps of, wherein,Xfor the coordinates of the light spot detected by the first two-dimensional PSD sensor in the X-axis direction of the light spot on its photosurface,xfor the coordinates of the light spot detected by the second two-dimensional PSD sensor in the X-axis direction of the light spot on its photosurface,Lthe distance value between the first two-dimensional PSD sensor and the second two-dimensional PSD sensor is detected by a transverse driving mechanism; the distance value between the first two-dimensional PSD sensor and the second two-dimensional PSD sensor refers to the center point O of the photosensitive surface of the first two-dimensional PSD sensor 1 And a photosurface center point O of a second two-dimensional PSD sensor 2 A distance value between them.
Compared with the prior art, the invention has the beneficial effects that:
the invention designs a sensing end arranged on the surface of a measured object and a laser emission end arranged on a fixed end of a known coordinate system, wherein the sensing end is provided with two-dimensional PSD sensors which respectively and correspondingly receive the point laser beams emitted by the two point lasers arranged at the laser emission end and forming a fixed included angle, the sensing end can synchronously adjust the vertical positions of the two-dimensional PSD sensors through a vertical driving mechanism, and the transverse positions of the two-dimensional PSD sensors are respectively adjusted through a transverse driving mechanism, so that the two-dimensional PSD sensors can respectively and correspondingly receive the point laser beams emitted by the two point lasers. The invention utilizes the principle of triangulation, and the current distance value of the measured object from the laser transmitting end is calculated according to the coordinates of the two-dimensional PSD sensors in the X-axis direction of the light spot on the photosensitive surface, the distance value between the two-dimensional PSD sensors detected by the transverse driving mechanism and the angle theta between the two point lasers, so that the distance measuring precision is not influenced even if the speed of the point laser beam emitted by the point lasers in water is influenced by uncertainty, and the distance measuring precision under complex water environment is ensured.
Drawings
Fig. 1 is a schematic diagram of a system structure of a seabed noncontact ranging method according to the present invention.
Fig. 2 is a schematic diagram of a subsea noncontact ranging method according to the present invention.
Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
A method of subsea non-contact ranging, see figure 1, comprising: the sensing end 1 is arranged on the surface of the measured object and is used for receiving the spot laser beam of the laser emission end 2; the laser emitting end 2 is mounted at the stationary end of a known coordinate system.
The sensing terminal 1 includes: the device comprises a vertical driving mechanism 1-1, a horizontal driving mechanism 1-2, a sensing end protective cover 1-3, a first two-dimensional PSD sensor 1-4 and a second two-dimensional PSD sensor 1-5; the vertical driving mechanism 1-1 is arranged along a vertical Z axis by adopting a high-precision screw rod moving platform; the transverse driving mechanism 1-2 is arranged on a supporting plate of the vertical driving mechanism 1-1, and the vertical driving mechanism 1-1 can drive the whole transverse driving mechanism 1-2 to vertically move up and down.
The transverse driving mechanism 1-2 adopts a high-precision double-screw moving platform, is arranged along a transverse X axis, is provided with two transverse sliding tables, namely a first transverse sliding table and a second transverse sliding table, and each transverse sliding table is driven by one screw respectively, so that the respective transverse positions of the two transverse sliding tables can be respectively adjusted; the first two-dimensional PSD sensor 1-4 is arranged on the surface of a first transverse sliding table of the transverse driving mechanism, the second two-dimensional PSD sensor 1-5 is arranged on the surface of a second transverse sliding table of the transverse driving mechanism, and the first two-dimensional PSD sensor 1-4 and the second two-dimensional PSD sensor 1-5 are positioned on the same plane; in addition, the transverse driving mechanism 1-2 is provided with a grating ruler, so that the positions of the two transverse sliding tables can be accurately detected in real time, namely, the positions of the two-dimensional PSD sensors can be detected in real time.
The sensing end protection cover 1-3 is made of organic glass and covers the peripheries of the vertical driving mechanism 1-1 and the horizontal driving mechanism 1-2, and cables of the first two-dimensional PSD sensor 1-4 and the second two-dimensional PSD sensor 1-5 are led out of the sensing end protection cover 1-3 through watertight cabin penetrating connectors, so that the water-proof performance inside the sensing end protection cover 1-3 is guaranteed.
The laser emitting end 2 includes: the laser emission direction of the first point laser 2-1 is arranged along a longitudinal Y axis, and the laser emission direction of the first point laser 2-1 is consistent with the advancing direction of the measured object (the moving direction of the measured object moves along the Y axis); a set deflection angle theta is formed between the laser emission direction of the second point laser 2-2 and the laser emission direction of the first point laser 2-1 around the Z axis; the laser emission end protective cover 2-3 is made of organic glass and covers the periphery of the first point laser 2-1 and the periphery of the second point laser 2-2, so that the water-proof performance of the inside of the laser emission end protective cover 2-3 is ensured.
When the sensor is used, the sensing end 1 is arranged on the surface of a measured object, the first two-dimensional PSD sensor 1-4 of the sensing end 1 is used for receiving the spot laser beam emitted by the first spot laser 2-1, and the second two-dimensional PSD sensor 1-5 is used for receiving the spot laser beam emitted by the second spot laser 2-2.
Because the range of the two-dimensional PSD sensor is limited (typically 5 cm), when the sensing end 1 is far away from the laser emitting end 2 along with the measured object, the first two-dimensional PSD sensor and the second two-dimensional PSD sensor may not sense the emitted spot laser beam, because: 1. in the process of moving the object to be measured along the target pushing direction (namely the longitudinal Y axis), the object to be measured is gradually far away from the laser emitting end 2, so that the point laser beam emitted by the second point laser 2-2 gradually deviates towards the transverse X axis direction; 2. during the movement of the object to be measured, not only the object moves along the target advancing direction (i.e. the longitudinal Y axis), but also the X/Z direction may deviate, so that the first two-dimensional PSD sensor and the second two-dimensional PSD sensor may not receive the spot laser beam.
Therefore, it is necessary to adjust the vertical positions of the two-dimensional PSD sensors synchronously by the vertical driving mechanism 1-1 and adjust the lateral positions of the two-dimensional PSD sensors by the lateral driving mechanism 1-2 respectively, so as to ensure that the two-dimensional PSD sensors can receive the spot laser beams emitted by the two spot lasers correspondingly.
Referring to fig. 2, the seabed noncontact ranging method of the present invention comprises the following steps:
step 1, the sensing end 1 is installed on the surface of a measured object, and the laser emitting end 2 is installed at the fixed end of a known coordinate system, so that the laser emitting direction of a first point laser 2-1 of the laser emitting end 2 is consistent with the target propelling direction of the measured object.
And 2, synchronously adjusting the vertical positions of the two-dimensional PSD sensors through the vertical driving mechanism 1-1, and respectively adjusting the transverse positions of the two-dimensional PSD sensors through the transverse driving mechanism 1-2, so that the first two-dimensional PSD sensor 1-4 of the sensing end 1 receives the spot laser beam emitted by the first spot laser 2-1, and simultaneously the second two-dimensional PSD sensor 1-5 receives the spot laser beam emitted by the second spot laser 2-2.
Step 3, calculating a distance value Y of the current position of the measured object from the laser transmitting end 2 according to a triangulation principle by using the coordinate in the X-axis direction of the light spot on the photosensitive surface detected by the first two-dimensional PSD sensor, the coordinate in the X-axis direction of the light spot on the photosensitive surface detected by the second two-dimensional PSD sensor, the distance value between the first two-dimensional PSD sensor and the second two-dimensional PSD sensor detected by the transverse driving mechanism 1-2, and the deflection angle theta between the first point laser and the second point laser, wherein the calculation formula is as follows:
wherein,Xfor the coordinates of the light spot detected by the first two-dimensional PSD sensor in the X-axis direction of the light spot on its photosurface,xfor the coordinates of the light spot detected by the second two-dimensional PSD sensor in the X-axis direction of the light spot on its photosurface,Lthe distance value between the first two-dimensional PSD sensor and the second two-dimensional PSD sensor is detected by a transverse driving mechanism 1-2; the distance value between the first two-dimensional PSD sensor and the second two-dimensional PSD sensor refers to the center of the photosensitive surface of the first two-dimensional PSD sensorPoint O 1 And a photosurface center point O of a second two-dimensional PSD sensor 2 A distance value between them.
Step 4, in the process of propelling the measured object, the step 2 and the step 3 are circularly executed, so that the distance value of any position of the propelling track of the measured object from the laser emitting end 2 can be calculated, and the distance value Y of the previous position can be calculated 1 Distance value Y from the latter position 2 The difference value is the push-out distance between the two positions of the measured object.
Wherein,，X 1 for the coordinates in the X-axis direction of the light spot on its photosurface detected by the first two-dimensional PSD sensor in the previous position,x 1 for the coordinates in the X-axis direction of the light spot on its photosurface detected by the second two-dimensional PSD sensor in the previous position,L 1 the distance value between the first two-dimensional PSD sensor and the second two-dimensional PSD sensor at the previous position is detected by the transverse driving mechanism 1-2.
，X 2 For the coordinates in the X-axis direction of the light spot on its photosurface detected by the first two-dimensional PSD sensor in the latter position,x 2 for the coordinates in the X-axis direction of the light spot on its photosurface detected by the second two-dimensional PSD sensor in the latter position,L 2 the distance value between the first two-dimensional PSD sensor and the second two-dimensional PSD sensor at the latter position is detected by the transverse driving mechanism 1-2.
The foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.
Claims (7)
1. A seabed noncontact ranging method is characterized in that: the device comprises a sensing end and a laser emitting end;
the sensing terminal comprises: the system comprises a vertical driving mechanism, a horizontal driving mechanism, a sensing end protective cover, a first two-dimensional PSD sensor and a second two-dimensional PSD sensor; the vertical driving mechanism is arranged along a vertical Z axis, and the transverse driving mechanism is arranged on the vertical driving mechanism; the transverse driving mechanism adopts a high-precision double-screw moving platform with a grating ruler, is arranged along a transverse X axis, is provided with two transverse sliding tables, each transverse sliding table is driven by one screw, the first two-dimensional PSD sensor is arranged on the surface of the first transverse sliding table, the second two-dimensional PSD sensor is arranged on the surface of the second transverse sliding table, and the first two-dimensional PSD sensor and the second two-dimensional PSD sensor are positioned on the same plane; the sensing end protective cover covers the peripheries of the vertical driving mechanism and the horizontal driving mechanism;
the laser emission end includes: the laser emission direction of the first point laser is set along a longitudinal Y axis, and a set deflection angle theta is formed between the laser emission direction of the second point laser and the laser emission direction of the first point laser around a Z axis; the laser emission end protective cover covers the peripheries of the first point laser and the second point laser; the first two-dimensional PSD sensor of the sensing end is used for receiving the point laser beam emitted by the first point laser, and the second two-dimensional PSD sensor is used for receiving the point laser beam emitted by the second point laser;
the ranging method comprises the following steps:
step 1, installing the sensing end on the surface of a measured object, and installing the laser emitting end on the fixed end of a known coordinate system to enable the laser emitting direction of a first point laser of the laser emitting end to be consistent with the target propelling direction of the measured object;
step 2, synchronously adjusting the vertical positions of the two-dimensional PSD sensors through a vertical driving mechanism, and respectively adjusting the transverse positions of the two-dimensional PSD sensors through a transverse driving mechanism, so that a first two-dimensional PSD sensor at a sensing end receives a point laser beam emitted by a first point laser, and a second two-dimensional PSD sensor receives a point laser beam emitted by a second point laser;
step 3, calculating a distance value Y of the current position of the measured object from the laser transmitting end according to a triangulation principle by using the coordinate in the X-axis direction of the light spot on the photosensitive surface detected by the first two-dimensional PSD sensor, the coordinate in the X-axis direction of the light spot on the photosensitive surface detected by the second two-dimensional PSD sensor, the current distance value between the first two-dimensional PSD sensor and the second two-dimensional PSD sensor detected by the transverse driving mechanism and the deflection angle theta between the first point laser and the second point laser;
step 4, in the process of propelling the measured object, circularly executing the step 2 and the step 3, and calculating the distance value of any position of the propelling track of the measured object from the laser emitting end, wherein the distance value Y of the previous position 1 Distance value Y from the latter position 2 The difference value is the push-out distance between the two positions of the measured object.
2. The subsea noncontact ranging method as claimed in claim 1, wherein: the vertical driving mechanism adopts a screw rod moving platform, and the transverse driving mechanism is arranged on a supporting plate of the vertical driving mechanism.
3. The subsea noncontact ranging method as claimed in claim 1, wherein: the sensing end protective cover is made of organic glass.
4. The subsea noncontact ranging method as claimed in claim 1, wherein: the laser emission end protective cover is made of organic glass.
5. The subsea noncontact ranging method as claimed in claim 1, wherein: the cables of the first two-dimensional PSD sensor and the second two-dimensional PSD sensor are led out of the sensing end protective cover through watertight cabin penetrating connectors.
6. The subsea noncontact ranging method as claimed in claim 1, wherein: in a use state, the sensing end is arranged on the surface of the measured object, the laser emitting end is arranged at the fixed end of the known coordinate system, and the laser emitting direction of the first point laser of the laser emitting end is consistent with the target propelling direction of the measured object.
7. The subsea noncontact ranging method as claimed in claim 1, wherein: the calculation formula of the distance value Y is as follows:
wherein, the method comprises the steps of, wherein,Xfor the coordinates of the light spot detected by the first two-dimensional PSD sensor in the X-axis direction of the light spot on its photosurface,xfor the coordinates of the light spot detected by the second two-dimensional PSD sensor in the X-axis direction of the light spot on its photosurface,Lthe distance value between the first two-dimensional PSD sensor and the second two-dimensional PSD sensor is detected by a transverse driving mechanism.
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