CN117092629A - Submarine three-dimensional distance measurement method - Google Patents
Submarine three-dimensional distance measurement method Download PDFInfo
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- CN117092629A CN117092629A CN202311347452.2A CN202311347452A CN117092629A CN 117092629 A CN117092629 A CN 117092629A CN 202311347452 A CN202311347452 A CN 202311347452A CN 117092629 A CN117092629 A CN 117092629A
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- 238000000691 measurement method Methods 0.000 title claims description 6
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 11
- 230000001681 protective effect Effects 0.000 claims description 15
- 239000011521 glass Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a submarine three-dimensional 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 of a known coordinate system, wherein the sensing end is provided with two vertically arranged one-dimensional PSD sensors, the laser emitting end is provided with a cross laser beam laser emitter and a straight laser beam laser emitter, and a set deflection angle is arranged between the two laser emitters. When the device is used, the two one-dimensional PSD sensors can simultaneously receive the cross laser beams emitted by the cross laser beam laser emitters, and the horizontal one-dimensional PSD sensors receive the straight laser beams emitted by the straight laser beam laser emitters. In the process of pushing the measured object, the vertical displacement, the horizontal displacement and the distance pushing out of the measured object along the front and back directions of the measured object can be calculated by utilizing the detection data of the two one-dimensional PSD sensors at the sensing end and the angle between the two laser transmitters.
Description
Technical Field
The invention relates to the technical field of submarine ranging, in particular to a submarine three-dimensional ranging method.
Background
The submarine immersed tube tunnel is constructed in a mode that immersed tube sections are prefabricated in sections in a shore deep dock, and then the prefabricated tube sections are transported to a target installation position in a floating mode by tugboats and then are sequentially immersed for installation. The construction mode of the immersed tube tunnel for sequentially installing the segmented tube sections has very high requirement on the installation precision between the adjacent tube sections, and the traditional GPS positioning mode can be used only under the condition of a certain height above the water surface, and is obviously unsuitable for positioning the underwater area to require air. Therefore, how to accurately measure the real-time three-dimensional displacement of the immersed tube sections on the sea floor so as to ensure the installation accuracy between the adjacent tube sections is a technical problem to be solved.
Disclosure of Invention
The invention aims at overcoming the technical defects in the prior art and provides a submarine three-dimensional distance measurement method.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a subsea three-dimensional ranging method comprising: a sensing end and a laser emitting end;
the sensing terminal comprises: a vertical one-dimensional PSD sensor and a horizontal one-dimensional PSD sensor;
the laser emission end includes: the laser emission direction of the cross laser beam laser emitter is arranged along the front-back direction; a set deflection angle theta is arranged around the vertical direction between the laser emission direction of the linear laser beam laser emitter and the laser emission direction of the cross laser beam laser emitter;
the sensing end is arranged on the surface of a measured object, the laser emission end is arranged at the fixed end of a known coordinate system, the laser emission direction of a cross laser beam laser emitter of the laser emission end is consistent with the target propulsion direction of the measured object, the center of a cross laser beam emitted by the cross laser beam laser emitter is positioned at the included angle position of a vertical one-dimensional PSD sensor and a horizontal one-dimensional PSD sensor, so that the vertical one-dimensional PSD sensor can receive the transverse laser beam of the cross laser beam emitted by the cross laser beam laser emitter, and the horizontal one-dimensional PSD sensor can receive the vertical laser beam of the cross laser beam emitted by the cross laser beam laser emitter; the center of the linear laser beam emitted by the linear laser beam laser emitter is positioned above the horizontal one-dimensional PSD sensor, so that the horizontal one-dimensional PSD sensor can receive the vertical linear laser beam emitted by the linear laser beam laser emitter;
during the propelling process of the measured object:
1, obtaining the vertical Z-axis displacement of an object to be measured by utilizing coordinate change data of a laser beam emitted by a cross laser beam laser emitter on a photosensitive surface of the object to be measured, wherein the coordinate change data is detected by a vertical one-dimensional PSD sensor at a sensing end;
2, obtaining the displacement of the measured object in the horizontal direction X-axis by utilizing the coordinate change data of the laser beam emitted by the cross laser beam laser emitter on the photosensitive surface of the sensor, which is detected by the horizontal direction one-dimensional PSD sensor at the sensing end;
and 3, calculating the distance value of the current position of the measured object from the laser transmitting end according to the triangulation principle by utilizing the difference between the coordinates of the laser beam transmitted by the cross laser beam laser transmitter on the photosensitive surface and the coordinates of the laser beam transmitted by the horizontal one-dimensional PSD sensor and the deflection angle theta between the cross laser beam laser transmitter and the horizontal one-dimensional laser beam laser transmitter, wherein the difference is the push-out distance quantity of the measured object between the two positions along the front and back directions.
In the above technical scheme, the vertical one-dimensional PSD sensor is located at a position above the left side of the horizontal one-dimensional PSD sensor; the vertical one-dimensional PSD sensor is arranged along a vertical Z axis, and the horizontal one-dimensional PSD sensor is arranged along a horizontal X axis.
In the technical scheme, the sensing end further comprises a sensing end protective cover, wherein the sensing end protective cover is made of organic glass and covers the peripheries of the vertical one-dimensional PSD sensor and the horizontal one-dimensional PSD sensor.
In the technical scheme, the laser emission end further comprises a laser emission end protective cover, the laser emission end protective cover is made of organic glass and covers the periphery of the cross laser beam laser emitter and the line laser beam laser emitter, so that the water-proof performance of the inside of the laser emission end protective cover is guaranteed.
In the above technical solution, the calculation formula of the distance value Y between the current position of the measured object and the laser emission end is as follows:
the method comprises the steps of carrying out a first treatment on the surface of the Wherein,Xfor the coordinates of the laser beam emitted by the cross laser beam emitter on its photosensitive surface detected by the horizontal one-dimensional PSD sensor at the current position,xthe coordinates of the laser beam emitted by the laser transmitter of the straight laser beam on the photosensitive surface of the sensor, which is detected by the one-dimensional PSD sensor at the current position.
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 emitting end arranged on a fixed end of a known coordinate system, wherein two vertically arranged one-dimensional PSD sensors are arranged at the sensing end, a cross laser beam laser emitter and a straight laser beam laser emitter are arranged at the laser emitting end, and a set deflection angle theta is formed between the laser emitting directions of the two laser emitters around the vertical direction. When the device is used, the sensing end is arranged on the surface of a measured object, the laser emission end is arranged at the fixed end of a known coordinate system, so that the center of a cross laser beam emitted by the cross laser beam laser emitter is positioned at the position of an included angle between the vertical one-dimensional PSD sensor and the horizontal one-dimensional PSD sensor, the vertical one-dimensional PSD sensor can receive the transverse laser beam of the cross laser beam emitted by the cross laser beam laser emitter, and the horizontal one-dimensional PSD sensor can receive the vertical laser beam of the cross laser beam emitted by the cross laser beam laser emitter; and enabling the horizontal one-dimensional PSD sensor to receive the vertical linear laser beam emitted by the linear laser beam laser emitter. In the process of propelling the measured object, the vertical Z-axis displacement, the horizontal X-axis displacement and the push-out distance of the measured object along the front and back Y-axis of the measured object can be calculated by utilizing the detection data of the two one-dimensional PSD sensors of the sensing end and the angle theta between the two laser transmitters.
Drawings
Fig. 1 is a schematic diagram of a three-dimensional ranging method on the sea floor according to the present invention.
Fig. 2 is a schematic diagram showing two one-dimensional PSD sensors receiving laser beams in the submarine three-dimensional ranging method of the present invention.
Fig. 3 is a schematic diagram showing the principle of the three-dimensional distance measurement method for the seabed according to the present invention, wherein the distance measurement is pushed out in the front-back direction.
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 three-dimensional ranging of the seabed, see figure 1, comprising: the laser detection device comprises a sensing end 1 and a laser emission end 2, wherein the sensing end 1 is used for being installed on the surface of a detected object, the laser emission end 2 is used for being installed at a fixed end of a known coordinate system, and the laser beam emitted by the laser emission end 2 is received through the sensing end 1.
The sensing terminal 1 includes: the vertical one-dimensional PSD sensor 1-1 and the horizontal one-dimensional PSD sensor 1-2 are arranged vertically to each other, and preferably, the vertical one-dimensional PSD sensor 1-1 is positioned at the upper left side of the horizontal one-dimensional PSD sensor 1-2; the vertical one-dimensional PSD sensor 1-1 is arranged along a vertical Z axis, and the horizontal one-dimensional PSD sensor 1-2 is arranged along a horizontal X axis.
The sensing end 1 further comprises a sensing end protective cover 1-3, wherein the sensing end protective cover 1-3 is made of organic glass and covers the peripheries of the vertical one-dimensional PSD sensor 1-1 and the horizontal one-dimensional PSD sensor 1-2, so that the water-proof property inside the sensing end protective cover 1-3 is ensured; the cables of the vertical one-dimensional PSD sensor 1-1 and the horizontal one-dimensional PSD sensor 1-2 are led out of the sensing end protection cover 1-3 through watertight cabin penetrating connectors and are connected to a data processing system.
The laser emitting end 2 includes: the laser device comprises a cross laser beam laser emitter 2-1, a straight laser beam laser emitter 2-2 and a laser emission end protective cover 2-3, wherein the cross laser beam is emitted by the cross laser beam laser emitter 2-1, the laser emission direction of the cross laser beam laser emitter 2-1 is arranged along a front-back Y axis, and the laser emission direction of the cross laser beam laser emitter 2-1 is consistent with the target propulsion direction of an object to be measured (the target propulsion direction of the object to be measured is along the front-back Y axis); the laser beam is emitted by the linear laser beam laser emitter 2-2, and a set deflection angle theta is formed between the laser emission direction of the linear laser beam laser emitter 2-2 and the laser emission direction of the cross laser beam laser emitter 2-1 around a vertical Z axis; the laser emission end protective cover 2-3 is made of organic glass and covers the periphery of the cross laser beam laser emitter 2-1 and the straight laser beam laser emitter 2-2, so that the water-proof performance of the inside of the laser emission end protective cover 2-3 is ensured.
Further, referring to fig. 2, the cross laser beam emitted by the cross laser beam laser emitter 2-1 is along the horizontal direction and the vertical direction, so that the vertical one-dimensional PSD sensor 1-1 and the horizontal one-dimensional PSD sensor 1-2 of the sensing end 1 can both receive the laser beam emitted by the cross laser beam laser emitter 2-1 (i.e., the vertical one-dimensional PSD sensor 1-1 can receive the transverse laser beam of the cross laser beam emitted by the cross laser beam laser emitter 2-1, while the horizontal one-dimensional PSD sensor 1-2 can receive the vertical laser beam of the cross laser beam emitted by the cross laser beam laser emitter 2-1); the linear laser beams emitted by the linear laser beam laser emitters 2-2 are vertically arranged, so that the horizontal one-dimensional PSD sensor 1-2 of the sensing end 1 receives the laser emitted by the linear laser beam laser emitters 2-2.
Referring to fig. 1-3, the seabed three-dimensional distance measurement method comprises the following steps:
when the laser detection device is used, the sensing end 1 is arranged on the surface of a detected object, the laser emission end 2 is arranged at the fixed end of a known coordinate system, so that the laser emission direction of the cross laser beam laser emitter 2-1 of the laser emission end 2 is consistent with the target propulsion direction of the detected object, the center of the cross laser beam emitted by the cross laser emitter 2-1 is positioned at the included angle position of the vertical one-dimensional PSD sensor 1-1 and the horizontal one-dimensional PSD sensor 1-2, the vertical one-dimensional PSD sensor 1-1 can receive the transverse laser beam of the cross laser beam emitted by the cross laser emitter 2-1, and meanwhile, the horizontal one-dimensional PSD sensor 1-2 can receive the vertical laser beam of the cross laser beam emitted by the cross laser emitter 2-1; and the center of the straight laser beam emitted by the straight laser beam laser emitter 2-2 is positioned above the horizontal one-dimensional PSD sensor 1-2, so that the horizontal one-dimensional PSD sensor 1-2 can receive the straight laser beam emitted by the straight laser beam laser emitter 2-2 along the vertical direction.
During the propelling process of the measured object:
1, the coordinate change data of the laser beam emitted by the cross laser beam laser emitter 2-1 on the photosensitive surface of the vertical one-dimensional PSD sensor 1-1 detected by the sensing end 1 is utilized to obtain the vertical Z-axis displacement of the measured object;
2, utilizing the coordinate change data of the laser beam emitted by the cross laser beam laser emitter 2-1 on the photosensitive surface of the sensing end 1 and detected by the horizontal one-dimensional PSD sensor 1-2, the horizontal X-axis displacement of the measured object can be obtained;
3, using the difference between the coordinates of the laser beam emitted by the cross laser beam laser emitter 2-1 on the photosensitive surface detected by the horizontal one-dimensional PSD sensor 1-2 and the coordinates of the laser beam emitted by the straight laser beam laser emitter 2-2 on the photosensitive surface detected by the horizontal one-dimensional PSD sensor 1-2, and the deflection angle θ between the cross laser beam laser emitter 2-1 and the straight laser beam laser emitter 2-2, according to the triangulation principle, the distance value Y between the current position of the measured object and the laser emitting end 2 can be calculated, and the calculation formula is as follows:
the method comprises the steps of carrying out a first treatment on the surface of the Wherein,Xfor the coordinates of the laser beam emitted from the cross laser beam laser emitter 2-1 on its photosensitive surface detected by the one-dimensional PSD sensor 1-2 horizontally at the current position,xcoordinates of the laser beam emitted by the laser transmitter 2-2 of the in-line laser beam on the photosensitive surface of the one-dimensional PSD sensor 1-2 detected by the horizontal one-dimensional PSD sensor at the current position.
Distance value Y of previous position 1 Distance value Y from the latter position 2 The difference value is the push-out distance quantity of the measured object between the two positions along the front and back Y axis.
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 (5)
1. A submarine three-dimensional distance measurement method is characterized in that: the device comprises a sensing end and a laser emitting end;
the sensing terminal comprises: a vertical one-dimensional PSD sensor and a horizontal one-dimensional PSD sensor;
the laser emission end includes: the laser emission direction of the cross laser beam laser emitter is arranged along the front-back direction; a set deflection angle theta is arranged around the vertical direction between the laser emission direction of the linear laser beam laser emitter and the laser emission direction of the cross laser beam laser emitter;
the sensing end is arranged on the surface of a measured object, the laser emission end is arranged at the fixed end of a known coordinate system, the laser emission direction of a cross laser beam laser emitter of the laser emission end is consistent with the target propulsion direction of the measured object, the center of a cross laser beam emitted by the cross laser beam laser emitter is positioned at the included angle position of a vertical one-dimensional PSD sensor and a horizontal one-dimensional PSD sensor, so that the vertical one-dimensional PSD sensor receives the transverse laser beam of the cross laser beam emitted by the cross laser beam laser emitter, and the horizontal one-dimensional PSD sensor receives the vertical laser beam of the cross laser beam emitted by the cross laser beam laser emitter; the center of the straight laser beam emitted by the straight laser beam laser emitter is positioned above the horizontal one-dimensional PSD sensor, so that the horizontal one-dimensional PSD sensor receives the straight laser beam emitted by the straight laser beam laser emitter along the vertical direction;
during the propelling process of the measured object:
obtaining the vertical Z-axis displacement of the measured object by utilizing the coordinate change data of the laser beam emitted by the cross laser beam laser emitter on the photosensitive surface of the vertical one-dimensional PSD sensor detected by the sensing end;
obtaining the displacement of the measured object in the horizontal direction X-axis by utilizing the coordinate change data of the laser beam emitted by the cross laser beam laser emitter on the photosensitive surface of the sensor, which is detected by the horizontal direction one-dimensional PSD sensor of the sensing end;
the distance value of the current position of the measured object from the laser emitting end is calculated according to the triangulation principle by utilizing the difference between the coordinates of the laser beam emitted by the cross laser beam laser emitter on the photosensitive surface detected by the horizontal one-dimensional PSD sensor and the coordinates of the laser beam emitted by the straight laser beam laser emitter on the photosensitive surface detected by the horizontal one-dimensional PSD sensor and the deflection angle theta between the cross laser beam laser emitter and the straight laser beam laser emitter, and the difference between the distance value of the previous position and the distance value of the next position is the push-out distance quantity of the measured object between the two positions along the front and back directions.
2. The subsea three-dimensional ranging method according to claim 1, characterized in that: the vertical one-dimensional PSD sensor is positioned at the position close to the upper left side of the horizontal one-dimensional PSD sensor; the vertical one-dimensional PSD sensor is arranged along a vertical Z axis, and the horizontal one-dimensional PSD sensor is arranged along a horizontal X axis.
3. The subsea three-dimensional ranging method according to claim 1, characterized in that: the sensing end further comprises a sensing end protective cover, wherein the sensing end protective cover is made of organic glass and covers the periphery of the vertical one-dimensional PSD sensor and the periphery of the horizontal one-dimensional PSD sensor.
4. The subsea three-dimensional ranging method according to claim 1, characterized in that: the laser emission end also comprises a laser emission end protective cover, wherein the laser emission end protective cover is made of organic glass and covers the peripheries of the cross laser beam laser emitter and the straight laser beam laser emitter.
5. The subsea three-dimensional ranging method according to claim 1, characterized in that: the calculation formula of the distance value Y of the current position of the measured object from the laser transmitting end is as follows:
；
wherein,Xfor the coordinates of the laser beam emitted by the cross laser beam emitter on its photosensitive surface detected by the horizontal one-dimensional PSD sensor at the current position,xthe coordinates of the laser beam emitted by the laser transmitter of the straight laser beam on the photosensitive surface of the sensor, which is detected by the one-dimensional PSD sensor at the current position.
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