CN102269816B - Ultrasonic underwater microtopography detection testing device and method - Google Patents

Abstract

The invention discloses an ultrasonic underwater micro-topography detection test device and a method thereof. It is used in underwater micro-topography detection and reconstruction experiments. The device of the invention is mainly composed of a simulating turbulence device part and a detection device part, and can accurately detect underwater micro-topography while simulating complex seabed turbulence working conditions. The method of the present invention is to control the part of the bumping device to enter the bumping state through the single-chip microcomputer system, and then the single-chip microcomputer system controls the stepping motor for detection to rotate an angle in turn, and the rotation of the stepping motor is converted into an equiangular swing of the probe through a structure such as a cylindrical cam. The probe sends out detection signals and collects echo signals. At the same time of detection, the angular displacement sensor collects the bump angle data to complete the detection and sampling of micro-topography, and finally transmits all the collected data to the industrial computer for position correction of detection points. and micro-terrain reconstruction to achieve the purpose of micro-terrain detection.

Description

An ultrasonic underwater micro-topography detection test device and method thereof

technical field

The present invention relates to a novel ultrasonic underwater micro-topography detection test device and method based on mechatronics, especially a detection device for simulating complex marine working conditions and correcting the position of detection points in a short-distance, high-precision ultrasonic micro-topography detection system The invention relates to a method and belongs to the technical field of underwater sonar detection.

Background technique

There are abundant mineral resources at the bottom of the ocean. With the development of science and technology and the depletion of land resources, human beings are marching towards the development of marine resources at an unprecedented speed. The development of marine mineral resources has become a research focus at home and abroad. The first step of development is to detect the topography of the mining area, which provides important theoretical and practical basis for the optimal mining of minerals.

Micro terrain detection is mainly used in the development of deep sea mineral resources. The main function and purpose of micro-topography detection is to accurately detect the original elevation data of the front ore pre-mining area for deep-sea mining vehicles or other equipment operating on the ground, and underwater micro-topography detection devices are generally installed in The front end of the mining vehicle or other equipment has a low height from the ground. At present, there are mainly two ways to detect underwater micro-topography, one is mechanical contact micro-topography detection, and the other is non-contact micro-topography detection. In the mechanical contact detection method, since the probe is always in contact with the surface and is easily corroded by seawater, and has the disadvantages of easy deformation of the probe and low detection accuracy under complex working conditions, contact detection is difficult to be widely used; non-contact The traditional micro-topography detection methods mainly include photoelectric detection and ultrasonic detection, and the ultrasonic micro-topography detection system plays an extremely important role in non-contact micro-topography detection.

At present, due to the particularity of the submarine operating environment and the limitations of current technology, there are few devices directly applied to the underwater micro-topography detection system, and various detection methods have yet to be studied and demonstrated in depth. The First Research Institute of the State Oceanic Administration has designed a set of laboratory underwater ultrasonic measuring instruments. The measuring instrument fixes the transducer probe on the measuring vehicle, and the measuring vehicle is mounted on the measuring bridge arm. The reciprocating motion of the measuring vehicle is used to The system provides detection points, but the device can only operate at low speed. It is not suitable for practical systems with high speed requirements and strong real-time performance. Moreover, the device will cause more water splashes and interfere with the reception of acoustic signals. It is detrimental to the improvement of the accuracy of the system. The most important thing is that the device does not consider the turbulence of the seabed topography, and cannot simulate the detection conditions of the seabed.

Contents of the invention

The technical problem to be solved by the present invention is to provide an ultrasonic underwater vehicle with good real-time performance and strong controllability, which can make the transducer swing at an equal angle, and can simulate the turbulent working conditions of the seabed and correct the position of the detection point. Lower micro terrain detection test device and method thereof.

The ultrasonic underwater micro-terrain detection test device provided by the present invention is composed of two parts: a simulated bumping device and a swing detection device. The structure of the simulated bumping device is: a stepping motor is used for bumping. The bracket is installed on the mobile trolley as a whole, the output shaft end of the stepping motor for bumping is equipped with a disk, the connecting rod is connected to the disk, and the other end of the connecting rod is connected to the slider. The slider is slidably installed in the fixed chute of the fixed bracket, the circumscribed circular member is hinged on the described fixed bracket, the support shaft is installed on the described circumscribed circular member and the axis of the support shaft is in line with the The connecting axis of the circumscribed circular member and the fixed bracket is perpendicular, one end of the transmission shaft is connected to the center of the slider, the other end is connected to the support shaft, and the transmission shaft is connected to the support The coupling point of the shaft does not coincide with the midpoint of the support shaft, the upper end of the detector bracket is connected to the support shaft and the coupling point of the detector bracket and the support shaft is not coincident with the support shaft The midpoint of the shaft coincides with the coupling point of the transmission shaft and the support shaft and is symmetrical about the midpoint of the support shaft. A first angular displacement sensor is installed at one end of the support shaft. The circumscribed circle A second angular displacement sensor is installed on the connection point between the component and the fixed bracket; the structure of the swing detection device is: the cylindrical cam is installed on the detector base plate through the bearing seat, and the stepping motor for detection is installed on the The detector base plate is connected with the cylindrical cam transmission, the cylindrical roller is placed in the chute on the detector base plate and inserted into the chute of the cylindrical cam, the cylindrical roller and The upper end of the swing rod is hinged, the lower end of the swing rod is hinged with the detector base plate, the transceiver integrated ultrasonic transducer is installed at the lower end of the swing rod, and the bearing seat is equipped with a A photoelectric switch corresponding to the blocking plate on the cylindrical cam, the detector bottom plate is connected with the detector bracket.

The test method of the ultrasonic underwater micro-terrain detection test device: (1) The single-chip microcomputer control system controls the stepping motor for turbulence to rotate continuously at the required speed, and drives the detection device part to enter the working state of simulating seabed turbulence; (2) controls the stepper motor for detection The stepping motor drives the cylindrical cam to rotate continuously. When the block on the cylindrical cam corresponds to the photoelectric switch transmitter for the first time, it stops and stays for 50ms. At this time, the whole detection system enters the preparation state for detecting the first detection point; (3) The single-chip microcomputer control system controls the transceiver integrated ultrasonic transducer to send detection signals, conduct micro-terrain detection, and collect echo signals, and collect the angle signals of the first angular displacement sensor and the second angular displacement sensor while sending detection signals , and transmit the collected echo signal and angular displacement signal to the industrial computer through the data acquisition card; (4) The single-chip microcomputer control system controls the detection stepper motor to turn a certain angle in turn, and stay for a corresponding time, each rotation After finishing, carry out micro-terrain detection to this detection point, and collect the angle signal of first angular displacement sensor and second angular displacement sensor at this moment; The original elevation data and angular displacement data of the terrain are imported into the industrial computer, and the detection point position correction calculation and micro-terrain reconstruction are carried out.

Utilize the cylindrical cam to convert the rotary motion on the output shaft of the stepper motor for detection into the equiangular swing of the transceiver-integrated ultrasonic transducer on the pendulum, and the stepper for detection The motor always rotates in one direction to drive the integrated transceiver ultrasonic transducer to do reciprocating motion. The uniform swing angle of the integrated transceiver ultrasonic transducer is 1° each time, and the integrated ultrasonic transducer The swing angle range of the transducer is 20°, which is ±10° centered on the vertical line.

After the described transceiver integrated ultrasonic transducer swings to a position, it stays for 50ms, and when it swings to the far left and right, it stays for 100+Xms, where Xms is used for the movement of the moving car and can be determined according to the situation.

Using the ultrasonic underwater micro-topography detection test device and method thereof according to the above-mentioned technical scheme, the disc, the connecting rod and the slider constitute the crank slider mechanism, which converts the rotation of the stepping motor into a horizontal reciprocating motion; the drive shaft drives the circumcircle The component moves around the connection point between the circumscribed circular component and the fixed bracket. Two of the angular displacement sensors are respectively installed on one end of the support shaft and the connection point between the circumscribed circular member and the fixed bracket to measure the deflection angle of the simulated bumping device, and to correct the actual location of the detection point in combination with the dimensions of the relevant parts of the bumping device. Position; the upper end of the detector bracket is welded on the support shaft, and the lower end is connected to the bottom plate of the detector by welding. Driven by the transmission shaft, it can swing in the parallel and vertical directions of the support shaft. Because the detector bracket and the support shaft The connection point of the shaft does not coincide with the midpoint of the support shaft, and the connection point with the transmission shaft and the support shaft is symmetrical about the midpoint of the support shaft. Therefore, there will be a vertical movement up and down, thus simulating the up and down operation of the seabed The actual working condition of left and right bumps. The transceiver integrated ultrasonic transducer is installed at the lower end of the swing rod, and the transducer moves around the hinge point along with the swing rod. The transmitter of the photoelectric switch is installed on the bearing seat, and the baffle of the photoelectric switch is fixed on the cylindrical cam. The transmitter and When the baffles correspond, the ultrasonic transducer just moves to the far right of the device; the detection device uses a cylindrical cam to convert the rotational motion on the output shaft of the stepping motor for detection into the swing of the pendulum, and the stepping motor for detection does intermittent The permanent rotary motion drives the transceiver integrated ultrasonic transducer to swing equiangularly around the fixed center, and the angle of each swing is 1°, and the stepping motor used for detection always rotates in one direction to drive the transceiver integrated ultrasonic transducer to do so. Reciprocating motion, through the design of the cylindrical cam and other structures, the swing angle range is 20°, that is, ±10° centered on the vertical line; the cylindrical cam rotates half a circle to measure 21 points, that is, the probe measures 21 points at a time when the full range swings, Therefore, the swing arc of the probe is divided into 20 sections, and the cylindrical cam is designed according to 40 sections.

The present invention has the advantages that: the test device can realistically simulate the complex bumpy working conditions of seabed mining and correct the position of the detection point. Compared with other detection test devices, the structure of the device is greatly simplified, and the structure is simple, The advantages of realistic experiments; the test device avoids the real-time limitation of the reciprocating motion of the probe, and also reduces the influence of the water splash caused by the probe movement on the signal received by the ultrasonic transducer; the test detection device realizes It reduces the equiangular swing of the probe and simplifies the complexity of the conversion of the original elevation data of the detection point.

Description of drawings

Fig. 1 is the structural representation of the novel ultrasonic underwater micro-topography detection test device of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments of the description

As shown in Figure 1, an ultrasonic underwater micro-terrain detection test device is composed of two parts: a simulated bump device and a swing detection device. The structure of the simulated bump device is: a stepping motor 1 for bumps is fixed on the On the fixed bracket 5, the fixed bracket 5 is integrally installed on the mobile trolley 6, the output shaft end of the stepping motor 1 for bumping is equipped with a disc 2, the connecting rod 3 is connected to the disc 2 through a pin, and the other end of the connecting rod 3 is connected On the slider 27, the slider 27 is slidably installed in the fixed chute 28 of the fixed bracket 5, the circumscribed circular member 7 is hinged on the fixed bracket 5, the supporting shaft 25 is installed on the circumscribed circular member 7 and the axis of the supported shaft 25 is in line with the The connecting axis of circumscribed circular member 7 and fixed support 5 is vertical, and transmission shaft 26 one end is connected in slide block 27 centers, and the other end links with support shaft 25 and the joint point of transmission shaft 26 and support shaft 25 is not with the center of support shaft 25. The points are coincident, the upper end of the detector bracket 8 is connected on the support shaft 25 and the connection point between the detector bracket 8 and the support shaft 25 does not coincide with the midpoint of the support shaft 25 and the coupling point with the transmission shaft 26 and the support shaft 25 is about the support shaft The midpoint of 25 is symmetrical, a first angular displacement sensor 23 is installed at one end of the supporting shaft 25, and a second angular displacement sensor 24 is installed on the connection point between the circumscribed circular member 7 and the fixed bracket 5; the structure of the swing detection device is: a cylinder The cam 9 is installed on the detector base plate 16 through the first bearing seat 10 and the second bearing seat 21, the first bearing seat 10 is provided with the first bearing end cover 11, the second bearing seat 21 is provided with the second bearing end cover 20, The stepper motor 18 for detection is installed on the detector base plate 16 through the second motor base 17 and is connected with the cylindrical cam 9 through the sleeve coupling 19. The cylindrical roller 12 is placed in the chute 15 on the detector base plate 16 and Inserted into the sliding groove of the cylindrical cam 9, the cylindrical roller 12 is hinged to the upper end of the swing rod 14, the lower end of the swing rod 14 is hinged to the detector bottom plate 16, and the transceiver integrated ultrasonic transducer 13 is installed on the lower end of the swing rod 14 to communicate with the control system The emitter of the electrically connected photoelectric switch 22 is contained on the second bearing seat 21 , the blocking plate of the photoelectric switch 22 is fixed on the cylindrical cam 9 , and the detector base plate 16 is connected with the detector bracket 8 .

The test method of the ultrasonic underwater micro-terrain detection test device, (1) the single-chip microcomputer control system controls the stepper motor 1 for the turbulence to rotate continuously at the required speed, and drives the detection device part to enter the working state of simulating seabed turbulence; (2) controls the detection Use the stepping motor 18 to drive the cylindrical cam 9 to rotate continuously. When the shutter on the cylindrical cam 9 corresponds to the photoelectric switch 22 transmitter for the first time, it stops and stays for 50ms. At this time, the entire detection system enters the detection of the first detection (3) the single-chip microcomputer control system controls the transceiver integrated ultrasonic transducer 13 to send detection signals to carry out micro-terrain detection, and collects echo signals, and collects the first angular displacement sensor 23 and the first angular displacement sensor 23 while sending detection signals. The angle signal of two angular displacement transducers 24, and the collected echo signal and angular displacement signal are transmitted to industrial computer by the data acquisition card; (4) the stepper motor 18 is turned over a certain angle successively by the single-chip microcomputer control system control detection, And stay for a corresponding time, after each rotation, carry out micro-topographic detection to the detection point, and collect the angle signals of the first angular displacement sensor 23 and the second angular displacement sensor 24 at this time; (5) detect a predetermined After the area, import the terrain original elevation data and angular displacement data collected at all detection points into the industrial computer, and perform detection point position correction calculation and micro-terrain reconstruction.

Utilize described cylindrical cam 9 to convert the rotary motion on the output shaft of the stepper motor 18 for detection into the equiangular swing of the transceiver integrated ultrasonic transducer 13 on the pendulum 14, and the The stepper motor 18 for detection always rotates in one direction to drive the integrated transceiver 13 to reciprocate. The uniform swing angle of the integrated ultrasonic transducer 13 is 1° each time, so The above-mentioned sending and receiving integrated ultrasonic transducer 13 has a swing angle range of 20°, that is, ±10° with the vertical line as the center.

After the described transceiver integrated ultrasonic transducer 13 swings to a position, it stays for 50ms, and when it swings to the far left and right, it stays for 100+Xms, where Xms is used for the movement of the moving car and can be determined according to the situation.

The whole test method and device are implemented in the following specific ways:

(1) The stepping motor 1 for bumping is installed on the fixed bracket 5 through the motor base 4, and the fixed bracket 5 is integrally installed on the mobile trolley 6. The stepping motor 1 for bumping rotates continuously under the control of the single-chip microcomputer control system, driving the disc 2. The connecting rod 3 and the slider 27 perform a crank-slider mechanism movement, so that the transmission shaft 26 moves together with the slider 27, so that the supporting shaft 25 drives the circumscribed circular member 7 to rotate around the connecting point of the circumscribed circular member 7 and the fixed bracket 5 Movement, the support shaft 25 can rotate with the transmission shaft 26 in the hole of the circumscribed circular member 7, the detector bracket 8 is welded on the support shaft 25, and the welding point is not on the midpoint, the connection point with the transmission shaft 26 and the support shaft 25 Symmetrical about the midpoint of the support shaft 25, the detector base plate 16 of the detection device part is connected with the detector bracket 8 by welding, so the detection device part will move up and down, left and right along with the detector bracket 8. At this time, the entire test device Enter the working state of simulating complex and turbulent seabed.

(2) After the part of the simulated bumping device starts to work, the monolithic control system controls the stepper motor 18 for detection to rotate continuously, and transmits the motion to the main shaft of the cylindrical cam 9 through the sleeve coupling 19, driving the cylindrical cam 9 to rotate, and the cylindrical cam 9 rotates. The cam 9 drives the swing rod 14 to move through the cylindrical roller 12. The lower end of the swing rod 14 is equipped with a transceiver integrated ultrasonic transducer 13, and the transceiver integrated ultrasonic transducer 13 will follow the swing rod 14 around the swing rod 14 and the detector base plate 16. When the transmitter of the photoelectric switch 22 on the second bearing seat 21 corresponds to the baffle installed on the cylindrical cam 9, the stepper motor 18 for detection stops rotating. The sensor 13 will move to the far right and enter the ready state for detecting the first point.

(3) At this time, the single-chip microcomputer control system controls the transceiver integrated ultrasonic transducer 13 to send a pulse detection signal, and the detection signal returns after touching the ground, and is received by the transceiver integrated ultrasonic transducer 13, and the transceiver integrated ultrasonic transducer 13 The received echo signal is amplified by the amplifier circuit, filtered by the band-pass filter, and enters the data acquisition card to communicate with the industrial computer. While sending out the detection signal, the single-chip control system controls the data acquisition card to collect the first angular displacement sensor at this time 23 and the angle signal of the second angular displacement sensor 24, and transmit it to the industrial computer, the system has completed the detection of a detection point.

(4) The stepper motor 18 for detection rotates 9° sequentially under the control of the single-chip microcomputer control system, and the transceiver integrated ultrasonic transducer 13 will do an equiangular swing of 1° each time with the swing rod 14, and each rotation is completed Then stay for 50ms to detect the detection point at the current position. When the transceiver integrated ultrasonic transducer 13 swings to the leftmost or rightmost limit position, that is, when the stepping motor 18 for detection rotates through 180°, it stays for 100+Xms , the first 50ms is used to detect the last point in this cycle, the middle Xms is used to detect the forward movement of the car, and the last 50ms is used to detect the first collection point in the next cycle. During this period, a total of two Probing of data collection points. After a predetermined area is detected, the original elevation data and angular displacement data of all the detection points are imported into the industrial computer, and the position correction calculation of the detection points and the micro-terrain reconstruction are carried out.

The present invention has been successfully applied to an underwater micro-topography detection system in a laboratory, reaching centimeter-level measurement accuracy, capable of reconstructing and identifying various simulated topography of the seabed, and meeting the needs of original elevation data detection of deep-sea micro-topography.

Claims (4)

1. ultrasound wave mima type microrelief expeditionary test set under water; Form by simulation bump device and swing sniffer two parts; It is characterized in that: the structure of described simulation bump device is: jolt and be fixed on the fixed support (5) with stepping motor (1); Described fixed support (5) integral installation is on travelling car (6); The described output axle head that jolts with stepping motor (1) is equipped with disk (2); Connecting rod (3) is connected on the described disk (2); Described connecting rod (3) other end is connected on the slide block (27); Described slide block (27) is slidingly mounted in the fixedly chute (28) of described fixed support (5); Circumscribed circle member (7) is hinged on the described fixed support (5), and bolster (25) is installed in that described circumscribed circle member (7) is gone up and the axis normal that connects of the axis of described bolster (25) and described circumscribed circle member (7) and described fixed support (5), and transmission shaft (26) one ends are connected in described slide block (27) center; The other end links with described bolster (25) and described transmission shaft (26) does not overlap with the mid point of described bolster (25) with the tie-point of described bolster (25); Detector carriage (8) upper end be connected that described bolster (25) is gone up and described detector carriage (8) does not overlap with the mid point of described bolster (25) with the tie-point of described bolster (25) and with the interface of described transmission shaft (26) and bolster (25) middle point symmetry about described bolster (25), at an end of described bolster (25) first angular displacement sensor (23) is installed, on the interface of described circumscribed circle member (7) and described fixed support (5) second angular displacement sensor (24) is installed; The structure of described swing sniffer is: cylindrical cam (9) is installed on the detector base plate (16) through bearing seat; Survey with stepping motor (18) be installed in described detector base plate (16) and with described cylindrical cam (9) driving coupling; Cylindrical roller (12) places the chute (15) on the described detector base plate (16) and is inserted in the sliding ditch of described cylindrical cam (9); Described cylindrical roller (12) is hinged with fork (14) upper end; Described fork (14) lower end and described detector base plate (16) are hinged; Transmitting-receiving integrated ultrasonic transducer (13) is installed in described fork (14) lower end; Be equipped with on the described bearing seat be electrically connected with single-chip computer control system and with described cylindrical cam (9) on the corresponding optoelectronic switch of catch (22), described detector base plate (16) links with described detector carriage (8).

2. test the described ultrasound wave of claim 1 method of mima type microrelief expeditionary test set under water; It is characterized in that: step 1, jolt by single-chip computer control system control and to rotate continuously by desired speed, drive the swing sniffer and partly get into and simulate the seabed duty of jolting with stepping motor (1); Step 2, control are surveyed with stepping motor (18) and are driven cylindrical cam (9) rotation continuously; When turn on the cylindrical cam (9) catch for the first time with optoelectronic switch (22) transmitter to stopping at once; And stopping 50ms, this moment, whole detection system got into the SBR of surveying first sensing point; Step 3, single-chip computer control system are controlled transmitting-receiving integrated ultrasonic transducer (13) and are sent detectable signal; Carrying out mima type microrelief surveys; And collection echoed signal; When sending detectable signal, gather the angle signal of first angular displacement sensor (23) and second angular displacement sensor (24), and echoed signal of collecting and angular displacement signal are reached industrial computer through data collecting card; Step 4, survey by single-chip computer control system control and to turn over certain angle successively with stepping motor (18); And stop the corresponding time; After each rotation finishes; This sensing point is carried out mima type microrelief survey, and the angle signal of collection first angular displacement sensor (23) this moment and second angular displacement sensor (24); Step 5, surveyed after a slice predetermined zone, the original altitude figures of the landform that collects on all sensing points and angular displacement data importing in industrial computer, are carried out the sensing point position correction and calculated and mima type microrelief reconstruct.

3. test ultrasound wave according to claim 2 is the method for mima type microrelief expeditionary test set under water; It is characterized in that: utilize described cylindrical cam (9) described detection to be converted into the equal angles swing of the transmitting-receiving integrated ultrasonic transducer (13) on the described fork (14) with rotatablely moving on stepping motor (18) output shaft; And described detection is done reciprocal motion to a direction rotation described transmitting-receiving integrated ultrasonic transducer of drive (13) all the time with stepping motor (18); The each evenly angle of swing of described transmitting-receiving integrated ultrasonic transducer (13) is 1 °; The pivot angle amplitude of described transmitting-receiving integrated ultrasonic transducer (13) is 20 °, promptly is center ± 10 ° with the vertical curve.

4. according to claim 2 or the 3 described test ultrasound waves method of mima type microrelief expeditionary test set under water; It is characterized in that: after described transmitting-receiving integrated ultrasonic transducer (13) swings to a position; Stop 50ms, when swinging to the most left and rightmost, stop 100+Xms; Wherein Xms is used for the motion of travelling car, can according to circumstances confirm.