技术领域：Technical field:
本发明属于水下探测技术领域，具体涉及一种水下搜索定位的探测方法，采用单波束超声波测量方法测定距离参数，采用电子罗盘测定角度参数，实现对水下结构物或测点的搜索定位。The invention belongs to the technical field of underwater detection, and specifically relates to a detection method for underwater search and positioning, which uses a single-beam ultrasonic measurement method to measure distance parameters, and uses an electronic compass to measure angle parameters, so as to realize the search and positioning of underwater structures or measuring points .
背景技术：Background technique:
水下探测搜索技术是海洋观测技术的重要内容，也是海洋立体监测网的组成部分，其主要用于水声技术、水下电视和照相技术、潜水器和水下机器人技术等。目前潜水员在水下搜索探测、定位所采用的方法中，一方面是直接采取人工目视的方法进行搜索，并借用钢尺、皮尺等辅助设备进行定位，此种方法由于采用人眼识别因此能见度和准确度都存在局限性，特别是在污浊的水质环境下更是难以进行搜索；另一方面则采用水下视频器、潜水器、水下机器人等大中型高端设备，此类设备不仅结构复杂、体积庞大、成本高昂，而且均存在难以测量角度的技术难题，例如现有技术中的中国专利ZL201520304882.0公开的一种水下探测装置，中国专利ZL201410193989.2公开的一种水下探测器，中国专利ZL201510447965.X公开的一种摆动式水下探测装置及其显示方法，中国专利ZL201520215267.2公开的一种用于浅水探测的同步探测装置等，虽然解决了可直观查看水下情况、提高探测准确度等技术问题，但均无法实现对目标物的角度测量和确定；因此本发明研究设计一种用于水下搜索定位探测的方法，能够在污浊的水质环境下实现对物体的搜索探测，并根据距离参数和角度参数结合基础计算实现对待测结构物或测点的准确定位。Underwater detection and search technology is an important part of ocean observation technology and a component of ocean three-dimensional monitoring network. It is mainly used in underwater acoustic technology, underwater TV and photography technology, submersible and underwater robot technology, etc. At present, among the methods used by divers to search, detect and locate underwater, on the one hand, they directly use artificial visual methods to search, and use auxiliary equipment such as steel rulers and tape measures for positioning. There are limitations in accuracy and accuracy, especially in dirty water environments; on the other hand, large and medium-sized high-end equipment such as underwater video cameras, submersibles, and underwater robots are used. Such equipment is not only complex in structure , bulky, high cost, and there are technical problems that it is difficult to measure angles, such as an underwater detection device disclosed in Chinese patent ZL201520304882.0 in the prior art, and an underwater detector disclosed in Chinese patent ZL201410193989.2 , a swinging underwater detection device and its display method disclosed in Chinese patent ZL201510447965.X, a synchronous detection device for shallow water detection disclosed in Chinese patent ZL201520215267.2, etc. Improve the detection accuracy and other technical problems, but the angle measurement and determination of the target object cannot be realized; therefore, the present invention researches and designs a method for underwater search and positioning detection, which can realize the search for objects in a dirty water environment Detection, and based on distance parameters and angle parameters combined with basic calculations to achieve accurate positioning of the structure or measuring point to be measured.
发明内容：Invention content:
本发明的目的在于克服现有技术存在的缺点，寻求设计提供一种水下搜索定位的探测方法，解决了目前各类水下探测设备不能实现角度测量计算的技术难题。The purpose of the present invention is to overcome the shortcomings of the prior art, seek to design and provide a detection method for underwater search and positioning, and solve the technical problem that current various underwater detection equipment cannot realize angle measurement and calculation.
为了实现上述目的，本发明涉及的水下搜索定位探测方法在水下搜索定位探测装置中实现，其具体工艺包括以下步骤：In order to achieve the above object, the underwater search and positioning detection method involved in the present invention is realized in the underwater search and positioning detection device, and its specific process includes the following steps:
(1)设备安装：检查安装水下搜索定位探测装置中显示屏与换能器和电子罗盘的连接，由潜水员将安装有换能器和电子罗盘的底盘带入待测水域中，并将底盘固定安装在水下固定物上，对换能器和电子罗盘进行调平和旋转的预处理后，完成设备的调试与安装；(1) Equipment installation: Check and install the connection between the display screen and the transducer and electronic compass in the underwater search and positioning detection device. It is fixedly installed on the underwater fixture, and the commissioning and installation of the equipment is completed after the transducer and electronic compass are pretreated for leveling and rotation;
(2)水下搜索：潜水员通过操纵支架的旋转以控制换能器进行搜索，工作人员实时查看显示屏进行人为判断，当显示屏所显示的数值突然变大或变小时，工作人员通知潜水员通过位置锁定装置固定换能器的位置，读取电子罗盘的角度参数并结合显示屏上的距离参数计算出待测结构物或测点的坐标值，再通过对计算出的坐标值与理论坐标值相比较以判断是否为被搜索的待测结构物或测点，完成水下搜索；(2) Underwater search: divers control the transducer to search by manipulating the rotation of the bracket, and the staff checks the display screen in real time for human judgment. When the value displayed on the display screen suddenly becomes larger or smaller, the staff notifies the diver to pass The position locking device fixes the position of the transducer, reads the angle parameter of the electronic compass and calculates the coordinate value of the structure to be measured or the measuring point by combining the distance parameter on the display screen, and then compares the calculated coordinate value with the theoretical coordinate value Compare to determine whether it is the structure or measuring point to be searched to complete the underwater search;
(3)水下测距：潜水员将换能器对准待测结构物或测点，工作人员通过观看显示屏实时向潜水员发出相应指令使其在水下轻微调整换能器，当显示屏的数值稳定在一个最小值时，该最小值为待测结构物或测点的距离参数，实现水下测距；(3) Underwater ranging: the diver aligns the transducer with the structure to be measured or the measuring point, and the staff sends corresponding instructions to the diver in real time by watching the display screen to slightly adjust the transducer underwater. When the value is stable at a minimum value, the minimum value is the distance parameter of the structure to be measured or the measuring point to realize underwater distance measurement;
(4)角度测量：潜水员通过位置锁定装置固定住支架后，直接读取电子罗盘的角度参数以完成角度测量；(4) Angle measurement: After the diver fixes the bracket through the position locking device, he directly reads the angle parameters of the electronic compass to complete the angle measurement;
(5)水下定位：根据步骤(2)中测定的坐标值得出是否为待测结构物或测点，根据步骤(3)中测定的距离参数和步骤(4)中测定的角度参数，再根据底盘的坐标值按照常规数学运算方法得出待测结构物或测点的准确位置，实现水下搜索定位。(5) Underwater positioning: obtain whether it is the structure to be measured or the measuring point according to the coordinate value measured in the step (2), according to the distance parameter measured in the step (3) and the angle parameter measured in the step (4), then According to the coordinate value of the chassis, the accurate position of the structure to be measured or the measuring point can be obtained according to the conventional mathematical operation method, and the underwater search and positioning can be realized.
进一步的，所述步骤(2)中换能器发射的超声波频率为200-2000kHz；步骤(3)中测距误差为±1cm；步骤(4)中测角误差为：水平误差0.3度，仰俯精度0.1度。Further, the ultrasonic frequency emitted by the transducer in the step (2) is 200-2000kHz; the distance measurement error in the step (3) is ± 1cm; the angle measurement error in the step (4) is: horizontal error 0.3 degrees, upward The pitch accuracy is 0.1 degree.
本发明涉及的水下搜索定位探测装置主体结构包括显示屏、换能器、电子罗盘、支架、位置锁定装置和底盘，显示屏通过电缆分别与换能器和电子罗盘电信息连接，用于显示路径值和角度值，换能器和电子罗盘通过可旋转调节结构的支架安装在底盘上，支架上设有位置锁定装置用于辅助角度测量；换能器发射单波束超声波至1公里以外并接收经待测结构物或测点反射回来的超声波，通过计算超声波的传播时间和传播速度得出待测结构物或测点的距离；通过直接读取电子罗盘上的角度数得出待测结构物或测点的角度。The main structure of the underwater search and positioning detection device involved in the present invention includes a display screen, a transducer, an electronic compass, a bracket, a position locking device and a chassis, and the display screen is respectively connected with the transducer and the electronic compass by cables for display The path value and angle value, the transducer and the electronic compass are installed on the chassis through a bracket with a rotatable and adjustable structure, and a position locking device is provided on the bracket to assist in angle measurement; the transducer emits a single beam of ultrasonic waves to a distance of 1 km and receives The ultrasonic wave reflected back by the structure to be measured or the measuring point can obtain the distance of the structure to be measured or the measuring point by calculating the propagation time and speed of the ultrasonic wave; the structure to be measured can be obtained by directly reading the angle number on the electronic compass or the angle of the survey point.
本发明与现有技术相比，采用换能器实现对待测结构物或测点的距离测定，由于换能器发射的单波束超声波存在一定角度即在远处形成一个圆面，非镜面情况下只要在这个圆形面范围内存在物体或结构，超声波反射回来的路径最小值就会在显示屏上显示出来；采用电子罗盘直接读取参数方式实现对待测结构物或测点的角度测定；该方法不仅能够适用于水下大范围内的物体、结构搜寻，而且对搜寻到的结构物或测点进行距离和角度的定位；其探测工艺原理简单，科学合理，测量精确度好，所用装置结构简单，移动方便，测定效果好，测定效率高，使用环境友好。Compared with the prior art, the present invention adopts the transducer to realize the distance measurement of the structure to be measured or the measuring point. Since the single-beam ultrasonic wave emitted by the transducer has a certain angle, a circular surface is formed in the distance. In the case of a non-mirror surface As long as there is an object or structure within the scope of this circular surface, the minimum value of the path reflected by the ultrasonic wave will be displayed on the display; the electronic compass is used to directly read the parameters to achieve the angle measurement of the structure or measuring point to be measured; The method is not only suitable for searching objects and structures in a wide range underwater, but also locates the distance and angle of the searched structures or measuring points; the detection process principle is simple, scientific and reasonable, and the measurement accuracy is good. The structure of the device used Simple, easy to move, good measurement effect, high measurement efficiency, and friendly use environment.
附图说明：Description of drawings:
图1为本发明的水下搜索定位探测方法的流程示意图。Fig. 1 is a schematic flow chart of the underwater search, positioning and detection method of the present invention.
图2为本发明涉及的水下搜索定位探测装置的主体结构原理示意图。Fig. 2 is a schematic diagram of the principle of the main structure of the underwater search and positioning detection device involved in the present invention.
图3为本发明涉及的水下搜索定位探测装置的底座结构原理示意图。Fig. 3 is a schematic diagram of the base structure principle of the underwater search and positioning detection device involved in the present invention.
具体实施方式：Detailed ways:
下面结合附图并通过实施例对本发明做进一步详细说明，但本发明并不限于以下实施方式。The present invention will be described in further detail below with reference to the accompanying drawings and examples, but the present invention is not limited to the following embodiments.
实施例：Example:
本实施例涉及的水下搜索定位探测方法在水下搜索定位探测装置中实现，其具体工艺包括以下步骤：The underwater search, location, and detection method involved in this embodiment is implemented in an underwater search, location, and detection device, and its specific process includes the following steps:
(1)设备安装：检查安装水下搜索定位探测装置中显示屏1与换能器2和电子罗盘3的连接，由潜水员将安装有换能器2和电子罗盘3的底盘6带入待测水域中，并将底盘6固定安装在水下固定物上，对换能器2和电子罗盘3进行调平和旋转的预处理后，完成设备的调试与安装；(1) Equipment installation: check and install the connection between the display screen 1 and the transducer 2 and the electronic compass 3 in the underwater search and positioning detection device, and the diver will bring the chassis 6 equipped with the transducer 2 and the electronic compass 3 to be tested In the water area, the chassis 6 is fixedly installed on the underwater fixture, and after the transducer 2 and the electronic compass 3 are pretreated for leveling and rotation, the debugging and installation of the equipment are completed;
(2)水下搜索：潜水员通过操纵支架4的旋转以控制换能器2进行搜索，工作人员实时查看显示屏1进行人为判断，当显示屏1所显示的数值突然变大或变小时，工作人员通知潜水员通过位置锁定装置5固定换能器2的位置，读取电子罗盘3的角度参数并结合显示屏1上的距离参数计算出待测结构物或测点的坐标值，再通过对计算出的坐标值与理论坐标值相比较以判断是否为被搜索的待测结构物或测点，完成水下搜索；(2) Underwater search: the diver controls the transducer 2 to search by manipulating the rotation of the bracket 4, and the staff checks the display screen 1 in real time to make a human judgment. When the value displayed on the display screen 1 suddenly becomes larger or smaller, the working The personnel inform the diver to fix the position of the transducer 2 through the position locking device 5, read the angle parameter of the electronic compass 3 and combine the distance parameter on the display screen 1 to calculate the coordinate value of the structure to be measured or the measuring point, and then pass the calculation The coordinate value obtained is compared with the theoretical coordinate value to judge whether it is the structure or measuring point to be searched to complete the underwater search;
(3)水下测距：潜水员将换能器2对准待测结构物或测点，工作人员通过观看显示屏1实时向潜水员发出相应指令使其在水下轻微调整换能器2，当显示屏1的数值稳定在一个最小值时，该最小值为待测结构物或测点的距离参数，实现水下测距；(3) Underwater ranging: the diver aligns the transducer 2 with the structure to be measured or the measuring point, and the staff sends corresponding instructions to the diver in real time by watching the display screen 1 to slightly adjust the transducer 2 underwater. When the value of the display screen 1 is stable at a minimum value, the minimum value is the distance parameter of the structure to be measured or the measuring point, so as to realize underwater distance measurement;
(4)角度测量：潜水员通过位置锁定装置5固定住支架4后，直接读取电子罗盘3的角度参数以完成角度测量；(4) Angle measurement: After the diver fixes the bracket 4 through the position locking device 5, the diver directly reads the angle parameter of the electronic compass 3 to complete the angle measurement;
(5)水下定位：根据步骤(2)中测定的坐标值得出是否为待测结构物或测点，根据步骤(3)中测定的距离参数和步骤(4)中测定的角度参数，再根据底盘6的坐标值按照常规数学运算方法得出待测结构物或测点的准确位置，实现水下搜索定位。(5) Underwater positioning: obtain whether it is the structure to be measured or the measuring point according to the coordinate value measured in the step (2), according to the distance parameter measured in the step (3) and the angle parameter measured in the step (4), then According to the coordinate value of the chassis 6, the exact position of the structure to be measured or the measuring point is obtained according to the conventional mathematical operation method, so as to realize underwater search and positioning.
本实施例的步骤(1)中若待测水域不方便潜水员抵达，则选用ROV水下机器人、特制轨道和/或机械系统配合完成设备安装；步骤(2)中换能器1发射的超声波频率为200-2000kHz；步骤(3)中测距误差为±1cm；步骤(4)中测角误差为：水平误差0.3度，仰俯精度0.1度。In the step (1) of this embodiment, if the water area to be measured is inconvenient for divers to arrive, then select the ROV underwater robot, a special track and/or a mechanical system to cooperate to complete the equipment installation; the ultrasonic frequency emitted by the transducer 1 in the step (2) is 200-2000kHz; the distance measurement error in step (3) is ±1cm; the angle measurement error in step (4) is: the horizontal error is 0.3 degrees, and the pitching accuracy is 0.1 degrees.
本实施例中所使用的水下搜索定位探测装置主体结构包括显示屏1、换能器2、电子罗盘3、支架4、位置锁定装置5和底盘6，显示屏1通过电缆分别与换能器2和电子罗盘3电信息连接，用于显示路径值和角度值，换能器2和电子罗盘3通过可旋转调节结构的支架4安装在底盘6上，支架4上设有位置锁定装置5用于辅助角度测量；换能器2发射单波束超声波至大于1公里外并接收经待测结构物或测点反射回来的超声波，通过计算超声波的传播时间和传播速度得出待测结构物或测点的距离；通过直接读取电子罗盘3上的角度数得出待测结构物或测点的角度。The main structure of the underwater search and positioning detection device used in this embodiment includes a display screen 1, a transducer 2, an electronic compass 3, a support 4, a position locking device 5 and a chassis 6, and the display screen 1 is connected to the transducer respectively by cables. 2 and the electronic compass 3 are electrically connected to display the path value and angle value. The transducer 2 and the electronic compass 3 are installed on the chassis 6 through a bracket 4 with a rotatable and adjustable structure, and the bracket 4 is provided with a position locking device 5. For auxiliary angle measurement; the transducer 2 emits a single beam of ultrasonic waves to a distance greater than 1 km and receives the ultrasonic waves reflected by the structure to be measured or the measuring point, and obtains the structure or the measurement point by calculating the propagation time and velocity of the ultrasonic wave. The distance of the point; the angle of the structure to be measured or the measuring point is obtained by directly reading the angle number on the electronic compass 3 .
以上所述仅为本发明的较佳实施方式，本发明的保护范围并不以上述实施方式为限，但凡本领域技术人员根据本发明所述内容所作的等效变化，皆应纳入本发明的保护范围内。The above is only a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiments, but all equivalent changes made by those skilled in the art according to the content of the present invention should be included in the scope of the present invention. within the scope of protection.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610134822.8ACN105759276B (en) | 2016-03-09 | 2016-03-09 | A kind of underwater search coordinate detection method |
| Application Number | Priority Date | Filing Date | Title |
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| CN201610134822.8ACN105759276B (en) | 2016-03-09 | 2016-03-09 | A kind of underwater search coordinate detection method |
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| CN105759276A CN105759276A (en) | 2016-07-13 |
| CN105759276Btrue CN105759276B (en) | 2018-06-29 |
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| CN201610134822.8AExpired - Fee RelatedCN105759276B (en) | 2016-03-09 | 2016-03-09 | A kind of underwater search coordinate detection method |
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