CN110274558B - System and method for detecting form of underwater sand pile - Google Patents
System and method for detecting form of underwater sand pile Download PDFInfo
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- CN110274558B CN110274558B CN201910672331.2A CN201910672331A CN110274558B CN 110274558 B CN110274558 B CN 110274558B CN 201910672331 A CN201910672331 A CN 201910672331A CN 110274558 B CN110274558 B CN 110274558B
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- 239000004576 sand Substances 0.000 title claims abstract description 129
- 238000000034 method Methods 0.000 title claims description 11
- 238000001514 detection method Methods 0.000 claims abstract description 81
- 238000012545 processing Methods 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims description 6
- 238000003491 array Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 16
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- 239000013535 sea water Substances 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/06—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring contours or curvatures
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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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 provides a detection system and a detection method for an underwater sand pile form, wherein the detection system for the sand pile form consists of detection equipment, processing equipment and display equipment, and the detection equipment acquires the distances from a plurality of ranging points of the underwater sand pile to the detection equipment respectively and transmits the distances from the plurality of ranging points to the processing equipment; and the processing equipment calculates the positions of a plurality of ranging points according to the received distance and the position relation between the detection equipment and the ranging points so as to acquire the gradient line of the underwater sand pile. The invention can acquire the gradient line of the underwater sand pile and the relative position of the reamer head and the current gradient line in real time, thereby guiding the cutter suction ship to adjust construction parameters and improving construction efficiency and construction safety.
Description
Technical Field
The invention belongs to the field of ocean engineering, and particularly relates to a system and a method for detecting the form of an underwater sand pile.
Background
Land is one of the most basic elements for human survival, and with the development of industrialization and urbanization, land resources are gradually reduced, and especially in coastal cities with relatively developed economy and relatively concentrated population, land resources are more precious. The coastal land reclamation is an important mode for expanding the land space and relieving the contradiction between people and land in coastal areas, and brings good social benefit and economic benefit to coastal areas with land shortage.
At present, land building is generally realized by adopting a hydraulic reclamation engineering construction method, and the basic principle is as follows: the mud-water mixture dug from the seabed is conveyed to the area needing hydraulic reclamation through a pipeline, the mud-water mixture slowly flows in the hydraulic reclamation site, so that mud sand is deposited in the site to form land areas, and the rest seawater and part of mud sand which cannot be deposited are discharged from a water outlet of the hydraulic reclamation site.
In the prior art, the hydraulic reclamation engineering construction method mainly comprises the following steps: the drag suction dredger can directly perform hydraulic filling, the cutter suction dredger can directly perform hydraulic filling and the sand storage pit, the cutter suction dredger and the hydraulic filling. The sand storage pit-cutter suction dredger-hydraulic reclamation is the most common hydraulic reclamation engineering construction method, and in the sand taking construction process of the cutter suction dredger from the sand storage pit, the form of the sand pile is likely to shift and even collapse due to the influence of factors such as water flow disturbance and self gravity of the sand pile, so that the construction safety and the construction efficiency are seriously influenced. In order to obtain the form of the sand pile, conventional measuring equipment is generally adopted to obtain the form of the sand pile, such as a multi-beam sounding instrument, a side-scan sonar and the like, but due to the complex environment of the ocean water body, the conventional measuring equipment cannot timely reflect the dynamic change of the form of the underwater sand pile.
Therefore, when the cutter suction dredger is used for taking sand from the sand storage pit, how to detect the form of the underwater sand pile in real time and intuitively, so that the construction safety is ensured, and the technical problem which needs to be solved by the person skilled in the art is solved.
Disclosure of Invention
The invention aims to solve the technical problem that the dynamic change of the form of the underwater sand pile cannot be timely reflected in the prior art, one purpose is to provide a detection system of the form of the underwater sand pile, and the other purpose is to provide a detection method of the form of the underwater sand pile.
In order to achieve the above purpose, the present invention is realized by the following technical scheme: the detection system for the form of the underwater sand pile comprises detection equipment, processing equipment and display equipment, wherein the detection equipment and the display equipment are connected with the processing equipment;
the detection equipment is used for acquiring distances from N ranging points of the underwater sand pile to the detection equipment respectively and transmitting the distances from the N ranging points to the processing equipment;
the processing equipment is used for receiving the distances from the N ranging points to the detection equipment, and is also used for calculating the positions of the N ranging points according to the distances and the position relation between the detection equipment and the ranging points so as to obtain the gradient line of the underwater sand pile;
the display equipment is used for displaying the gradient line of the underwater sand pile;
wherein N is more than or equal to 3.
Optionally, the detection device comprises a connecting rod and a sonar transducer array fixedly connected to the connecting rod;
the connecting rods are fixedly arranged on the cutter suction boat, the sonar transducer array comprises N sonar transducers, and the sonar transducers are in one-to-one correspondence with the distance measuring points;
the N sonar transducers and the connecting rod are positioned on the same vertical plane, and the N sonar transducers are positioned between the connecting rod and the underwater sand pile;
the distance from the detection equipment to the N ranging points of the underwater sand pile respectively comprises N sonar transducers, wherein the N sonar transducers are used for obtaining the distance from the N ranging points of the underwater sand pile to the corresponding sonar transducers respectively.
Optionally, the N sonar transducers are located on the same side of the connecting rod, and the included angles between the N sonar transducers and the connecting rod are different.
Optionally, the processing device includes a host and a multi-channel control unit connected with the host, the multi-channel control unit is connected with the sonar transducer array;
the N sonar transducers of the sonar transducer array are connected with the channels of the multichannel control unit in a one-to-one correspondence manner;
the multichannel control unit is used for controlling N sonar transducers to acquire distances of N ranging points of the underwater sand pile, which correspond to the sonar transducers respectively;
the multichannel control unit is also used for transmitting distances from N ranging points of the underwater sand pile to the corresponding sonar transducer to the host.
Optionally, the sonar transducer array comprises four sonar transducers;
the included angles between the four sonar transducers and the connecting rod are respectively 0 degrees, 40 degrees, 60 degrees and 80 degrees along the sequence from bottom to top;
and four sonar transducers are equidistantly arranged at fixed positions on the connecting rod.
Optionally, the obtaining the positions of the N ranging points according to the distance and the positional relationship between the detecting device and the ranging points includes calculating, with one end of the connecting rod as an origin, the positions of the N ranging points relative to the origin according to the number N of the sonar transducer arrays, the distance between the fixed point of each sonar transducer on the connecting rod and the origin, and the included angle between the sonar transducer and the connecting rod, so as to obtain the gradient line of the underwater sand pile.
Optionally, the processing device is further configured to calculate, according to the positions of the reamer head of the cutter suction dredger and the origin, a positional relationship between the reamer head and a slope line of the underwater sand pile.
Optionally, along a first direction, one end of the connecting rod is fixedly installed on a starboard side of the cutter suction boat, and the connecting rod is arranged close to a reamer head of the cutter suction boat;
the vertical planes of the N sonar transducers and the connecting rod are parallel to the first direction;
the processing equipment and the display equipment are positioned in a cab of the cutter suction dredger;
the detection equipment is in remote communication connection with the processing equipment, and the first direction is the advancing direction of the cutter suction dredger.
In order to achieve another object of the present invention, the present invention further provides a method for detecting a form of an underwater sand pile, using the system for detecting a form of an underwater sand pile according to any one of the above, comprising:
step S1: acquiring distances from N ranging points of the underwater sand pile to the detection equipment respectively;
step S2: according to the distances from the N ranging points to the detection equipment and the position relation between the detection equipment and the ranging points, calculating the positions of the N ranging points to obtain gradient lines of the underwater sand pile;
step S3: and displaying the gradient line of the underwater sand pile.
Optionally, the detection system of the underwater sand pile form is applied to a cutter suction dredger, and step S2 further includes calculating a position relationship between the reamer head and a gradient line of the underwater sand pile according to a position relationship between the reamer head of the cutter suction dredger and the detection device.
The beneficial effects of the invention are as follows: the detection system for detecting the form of the underwater sand pile is simple in structure and easy to deploy and implement; the detection equipment of the detection system can acquire the distances of a plurality of different ranging points of the underwater sand pile in real time, the processing equipment can calculate the positions of the plurality of ranging points according to the distances and the position relation between the detection equipment and the ranging points so as to acquire gradient lines of the underwater sand pile, and the display equipment can intuitively display the gradient lines of the underwater sand pile and the relative positions of the reamer heads and the current gradient lines, so that the cutter suction dredger is guided to adjust construction parameters, and the construction efficiency and the construction safety are improved; the detection method for detecting the form of the underwater sand pile is not influenced by the water environment and has high reliability.
Drawings
FIG. 1 is a block diagram of a system for detecting the morphology of an underwater sand pile according to the present invention;
FIG. 2 is a schematic structural diagram of a detection system for underwater sand pile morphology according to a first embodiment of the present invention;
FIG. 3 is a schematic view of a cutter suction dredger with a detection system for detecting the form of an underwater sand pile according to the first embodiment of the present invention;
FIG. 4 is an enlarged schematic view of the structure of the sonar transducer array of FIG. 3;
FIG. 5 is a schematic diagram of a calculation model of a detection system for the morphology of an underwater sand pile according to an embodiment of the present invention;
FIG. 6 is a schematic diagram showing a slope line of a system for detecting a body of an underwater sand pile according to the first embodiment of the present invention;
FIG. 7 is a flow chart of a method for detecting the morphology of an underwater sand pile according to a second embodiment of the present invention;
wherein the reference numerals of figures 1-7 are as follows:
100-detecting equipment, 110-connecting rod, 111-first connecting rod, 112-second connecting rod, 113-third connecting rod, 114-fourth connecting rod, 115-main connecting rod;
120-sonar transducer array, 121-first sonar transducer, 122-second sonar transducer, 123-third sonar transducer, 124-fourth sonar transducer;
200-processing equipment, 210-a host computer, 211-a computer main board and an acquisition control board, 212-a first control cable interface, 213-a power supply, 214-an external input/output interface, 215-an input equipment, 220-a multi-channel control unit, 221-a multi-channel control board, 222-a second control cable interface and 223-a transceiver board;
300-display device, 400-cutter suction boat, 410-cab, 420-reamer head;
500-of an underwater sand pile, 510-of an underwater sand pile gradient line;
α1-first angle, α2-second angle, α3-third angle;
p1-first ranging point, P2-second ranging point, P3-third ranging point, P4-fourth ranging point, L 1 -first distance, L2-second distance, L3-third distance, L4-fourth distance, D2-second ranging length.
Detailed Description
The invention provides a detection system and a detection method for an underwater sand pile/sand pile form, which can detect the underwater sand pile form intuitively in real time, further guide a cutter suction dredger to adjust construction parameters, improve construction efficiency and ensure construction safety.
In order to achieve the above idea, the invention provides a detection system for the form of an underwater sand pile, which comprises a detection device, a processing device and a display device, wherein the detection device and the display device are connected with the processing device; the detection equipment is used for acquiring distances from N ranging points of the underwater sand pile to the detection equipment respectively and transmitting the distances from the N ranging points to the processing equipment; the processing equipment is used for receiving the distances from the N ranging points to the detection equipment, and is also used for calculating the positions of the N ranging points according to the distances and the position relation between the detection equipment and the ranging points so as to obtain the gradient line of the underwater sand pile; the display equipment is used for displaying the gradient line of the underwater sand pile; wherein N is more than or equal to 3.
In addition, the invention also provides a method for detecting the form of the underwater sand pile, and the system for detecting the form of the underwater sand pile comprises the following steps:
step S1: acquiring distances from N ranging points of the underwater sand pile to the detection equipment respectively;
step S2: according to the distances from the N ranging points to the detection equipment and the position relation between the detection equipment and the ranging points, calculating the positions of the N ranging points to obtain gradient lines of the underwater sand pile;
step S3: and displaying the gradient line of the underwater sand pile.
The detection system and the detection method for the form of the underwater sand pile provided by the invention are further described in detail. It should be noted that fig. 1-7 are all in a very simplified form and all use non-precise proportions merely to facilitate and clearly assist in describing embodiments of the present invention. It should be understood that the drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. Specific design features of the invention disclosed herein, including for example, specific dimensions, orientations, positions, and configurations, will be determined in part by the specific intended application and use environment. In the embodiments described below, the same reference numerals are used in common between the drawings to denote the same parts or parts having the same functions, and the repetitive description thereof may be omitted. In this specification, like reference numerals and letters are used to designate like items, and thus once an item is defined in one drawing, no further discussion thereof is necessary in subsequent drawings.
Example 1
The embodiment provides a detection system for detecting the form of an underwater sand pile, as shown in fig. 1, which is a structural block diagram of the detection system for detecting the form of an underwater sand pile provided by the embodiment, and comprises a detection device 100, a processing device 200 and a display device 300, wherein the detection device 100 and the display device 200 are connected with the processing device 200; the detecting device 100 is configured to obtain distances from N ranging points of an underwater sand pile to the detecting device 100, and transmit the distances from the N ranging points to the processing device 200; the processing device 200 is configured to receive distances from the N ranging points to the detecting device 100, the processing device 200 is further configured to calculate, according to the distances and a positional relationship between the detecting device 100 and the ranging points, positions of the N ranging points to obtain gradient lines of the underwater sand pile, and the display device 300 is configured to display the gradient lines of the underwater sand pile; wherein N is more than or equal to 3.
Referring to fig. 2, a schematic structural diagram of a detection system for an underwater sand pile configuration according to the present embodiment is provided, and for convenience of explanation, a cutter suction ship is used as an example, and fig. 3 is a schematic structural diagram of a cutter suction ship with the detection system for an underwater sand pile configuration.
With continued reference to fig. 2, the detecting device 100 includes a connecting rod 110 and a sonar transducer array 120 fixedly connected to the connecting rod 110, where the connecting rod 110 is fixedly disposed on the suction dredger 400, and the sonar transducer array 120 includes N sonar transducers, and the N sonar transducers include at least a first sonar transducer 121, a second sonar transducer 122, and a third sonar transducer 123. The inventor finds that the acting distance of other detection means is very short, for example, the penetration capability of light in water is very limited, and even in the most clear seawater, people can only see objects within tens of meters to tens of meters; for example, the electromagnetic wave also decays too fast in water, and the shorter the wavelength, the greater the loss, even if a high-power low-frequency electromagnetic wave is used, only tens of meters can be propagated. However, the attenuation of sound wave propagation in water is much smaller, according to the data, a bomb of a few kilograms explodes in a deep sea sound channel, a signal can be received in the place of twenty kilometers away, and the sound wave with low frequency can penetrate the stratum of a few kilometers on the sea floor and obtain information in the stratum. Measurements and observations made in water have not been found to date to be a more effective means than acoustic waves; thus, it can be considered that observation and measurement are performed in water with only sound waves in an unprecedented condition. Furthermore, the sonar is electronic equipment for completing underwater detection and communication tasks by utilizing the propagation characteristics of sound waves under water through electroacoustic conversion and information processing, and is the reason for detecting the form of an underwater sand pile by adopting a sonar transducer array.
The processing device 200 comprises a host 210 and a multi-channel control unit 220 connected with the host 210, wherein the multi-channel control unit 220 is connected with the sonar transducer array 120; the N sonar transducers of the sonar transducer array 120 are connected with channels of the multi-channel control unit 220 in a one-to-one correspondence manner; the multi-channel control unit 220 is configured to control N sonar transducers to obtain distances between N ranging points of an underwater sand pile corresponding to the sonar transducers, respectively; the multi-channel control unit 220 also transmits the distances from the N ranging points of the underwater sand pile to the corresponding sonar transducer to the host 210.
The host 210 includes a computer motherboard and a collection control board 211, a first control cable interface 212, a power supply 213, an external input/output interface 214, and an input device 215, wherein the power supply 213 is used for supplying power to the computer motherboard and the collection control board 211 and the first control cable interface 212, and the input device 215 is connected to the computer motherboard and the collection control board 211 through the external input/output interface 214; the input device 215 acts as an interactive medium for a user to operate the subsea sand stack detection system, the input device 215 including, but not limited to, a keyboard and/or a mouse; the host 210 is connected with the display device 300 through the computer motherboard and the acquisition control board 211; the host 210 is connected to the multi-channel control unit through the first control cable interface 212, and the computer motherboard and the acquisition control board 211 are used for controlling the external input/output interface 214 and the first control cable interface 212, and for receiving requests and/or information transfer from the external input/output interface 214 and the first control cable interface 212.
The multi-channel control unit 220 includes a multi-channel control board 221, a second control cable interface 222, and a transceiver board 223. Wherein the transceiver board 223 is connected with the multi-channel control board 221 and the second control cable interface 222; the multi-channel control unit 220 is communicatively connected to the first control cable interface 212 of the host 210 via the second control cable interface 222; the multi-channel control board 221 is in communication connection with the second control cable interface 222, and the multi-channel control board 221 is connected with the sonar transducer array 120 of the detection device 100, where the number of channels of the multi-channel control board 221 corresponds to the number of sonar transducers of the sonar transducer 120 one by one.
Referring to fig. 3 and 4, in the present embodiment, the sonar transducer array 120 includes N sonar transducers, where N is 4, and is a first sonar transducer 121, a second sonar transducer 122, a third sonar transducer 123, and a fourth sonar transducer 124, respectively; in this embodiment, the connecting rod 110 includes a main connecting rod 115, and a first connecting rod 111, a second connecting rod 112, a third connecting rod 113 and a fourth connecting rod 114 that are fixedly connected to the main connecting rod 115. One end of the first connecting rod 111 is fixed on the main connecting rod 115, the other end of the first connecting rod 111 is connected with the first sonar transducer 121, and the first sonar transducer 121 and the first connecting rod 111 are positioned on the same straight line; similarly, the second connecting rod 112 is connected with the second sonar transducer 122, and the second sonar transducer 122 and the second connecting rod 112 are positioned on the same straight line; the third connecting rod 113 is connected with the third sonar transducer 123, and the third connecting rod 113 and the third sonar transducer 123 are positioned on the same straight line; fourth connecting rod 114 is connected with fourth sonar transducer 124, and fourth connecting rod 114 and fourth sonar transducer 124 are located on the same straight line.
Further, 4 sonar transducers are located on the same vertical plane as the first connecting bar 111, the second connecting bar 112, the third connecting bar 113, the fourth connecting bar 114 and the main connecting bar 115, and the first sonar transducer 121, the second sonar transducer 122, the third sonar transducer 123 and the fourth sonar transducer 124 are located between the connecting bar 110 and the underwater sand pile 500.
Preferably, the sonar transducers are located on the same side of the connecting rod, and the included angles between the 4 sonar transducers and the connecting rod 110 are different. In this embodiment, a first angle α1 is formed between the first connecting rod 111 and the main connecting rod 115 and a second angle α2 is formed between the second connecting rod 112 and the main connecting rod 115 and is 60 °, a third angle α3 is formed between the third connecting rod 113 and the main connecting rod 115 and is 40 °, and a fourth angle formed between the fourth connecting rod 114 and the main connecting rod 115 is 0 °, i.e. the fourth sonar transducer 124 is vertically downward. It is obvious that the angles between the 4 transducers and the main connecting rod 115 are not limitations of the present invention, and those skilled in the art can reasonably set according to actual conditions, but are all within the scope of the present invention.
Further, in order to better obtain the slope line of the underwater sand pile 500, the first connecting rod 111, the second connecting rod 112, the third connecting rod 113 and the fourth connecting rod 115 are fixed at different positions of the main connecting rod 115, preferably, the fixed positions of the four sonar transducers on the main connecting rod 115 are arranged at equal intervals, see fig. 5, and the fixed positions of the first sonar transducer 121 on the main connecting rod 115Distance L2 to the fixed position of the second sonar transducer 122 on the main connecting bar 115, distance L3 of the fixed position of the second sonar transducer 122 on the main connecting bar 115 to the fixed position of the third sonar transducer 123 on the main connecting bar 115, distance L4 of the fixed position of the third sonar transducer 123 on the main connecting bar 115 to the fixed position of the fourth sonar transducer 124 on the main connecting bar 115 are equal, i.e. L 2 、L 3 And L 4 Equal, where L 1 The distance of the first sonar transducer 121 from the fixed position of the main connecting bar 115 on the cutter suction boat.
In this embodiment, the underwater sand pile 500 includes an underwater sand pile gradient line 510, and since the sonar transducer array 120 provided in this embodiment includes 4 sonar transducers, distances between four ranging points on the underwater sand pile gradient line 510 and the sonar transducer corresponding to each ranging point can be obtained, according to the distances, the processing device 200 calculates positions of the four ranging points, and obtains the underwater sand pile gradient line 510 according to the positions of the four ranging points. Obviously, the more the sonar transducer array 120 has, the more the location of the ranging point is obtained, and the more accurate the morphology of the underwater slope line 510 is obtained. Those skilled in the art will appreciate that the number of sonar transducers is not a limitation of the present invention. In this embodiment, the four ranging points of the underwater sand pile 500 are a first ranging point P1, a second ranging point P2, a third ranging point P3 and a fourth ranging point P4, respectively.
Further, the detecting device 100 is configured to obtain distances from 4 ranging points of the underwater sand pile to the detecting device 100, and includes 4 sonar transducers configured to obtain distances from 4 ranging points of the underwater sand pile to corresponding sonar transducers, referring to fig. 2, fig. 3, fig. 4, and fig. 5, and the first sonar transducer 121 is configured to obtain distances from the first ranging point P1 to the first sonar transducer 121; similarly, the second sonar transducer 122 is configured to obtain a distance from the second ranging point P2 to the second sonar transducer 122, the third sonar transducer 123 is configured to obtain a distance from the third ranging point P3 to the third sonar transducer 123, and the fourth sonar transducer 124 is configured to obtain a distance from the fourth ranging point P4 to the fourth sonar transducer 124.
Still further, the processing unit is configured to obtain the positions of the N ranging points according to the distance and the positional relationship between the detecting device 100 and the ranging points, and the positions of the N ranging points are calculated by using one end of the connecting rod as an origin, according to the number N of the sonar transducer arrays, the distance between the fixed point of each sonar transducer on the connecting rod and the origin, and the included angle between the sonar transducer and the connecting rod, so as to obtain the slope line of the underwater sand pile.
The processing device is further configured to calculate a positional relationship between the reamer head 420 and the gradient line of the underwater sand pile according to the size of the cutter suction dredger 400, the relative positional relationship between the detection device 100 and the reamer head 420, and the position of the origin point.
Further, the processing device 200 of the underwater sand pile form detection system not only can convert the raw sensor data obtained by the sonar transducer array 120 into a description mode of the sand pile gradient line, but also can describe the relative position relationship between the reamer head and the current sand pile gradient line by combining the ship size and the measurement data. The original sensing data comprise distance data of each ranging point measured by the sonar transducer through sound waves and arrangement angles of each sonar transducer. Still further, the processing apparatus 200 also provides an operation interface for displaying the slope line of the underwater sand pile on the display apparatus 300 in a visual planar relationship and in a numerical display manner. Referring to fig. 6, a schematic diagram of gradient lines of a detection system for an underwater sand pile configuration according to the present invention is shown, and the display device 300 displays a UI interface, where the d1 distance gradient line, the d2 distance gradient line, and the d2 distance gradient line are schematic diagrams of the same underwater sand pile gradient line obtained when the detection device 100 is at different distances (d 1 > d2 > d 3) from the sand pile. Besides the display area for displaying the gradient line of the sand pile, the UI interface can also display a user interaction area according to actual working conditions, wherein the user interaction area comprises a parameter setting area, a sending command area, a state display area, gradient line display settings and the like.
In a preferred embodiment of the present invention, referring to fig. 3, a cutter suction vessel 400 is taken as an example to illustrate the installation position of the detecting device of the underwater sand pile configuration on the cutter suction vessel. Specifically, the cutter suction boat 400 includes a cab 410 and a reamer head 420. Along a first direction, one end of the main connecting rod 115 of the connecting rod 110 is fixedly installed on a starboard side of the cutter suction boat 400 and is arranged close to a reamer head 420 of the cutter suction boat 400, and the other end of the main connecting rod 115 is vertically placed under water to be connected with the sonar transducer array 120; the processing device 200 and the display device are arranged in the cab 410 of the cutter suction dredger 400, and the detection 100 is performed. The vertical planes of the N sonar transducers and the connecting rod 110 are parallel to the first direction; the processing equipment and the display equipment are positioned in a cab of the cutter suction dredger; wherein the detecting device 100 is in remote communication connection with the processing device 200, and the first direction is the advancing direction of the cutter suction dredger.
< example two >
The embodiment provides a method for detecting the form of an underwater sand pile, as shown in fig. 7, comprising the following steps:
step S1: acquiring distances from N ranging points of the underwater sand pile to the detection equipment respectively;
step S2: according to the distances from the N ranging points to the detection equipment and the position relation between the detection equipment and the ranging points, calculating the positions of the N ranging points to obtain gradient lines of the underwater sand pile;
step S3: and displaying the gradient line of the underwater sand pile.
Wherein N is more than or equal to 3.
In step S2, according to the distances between the N ranging points and the detecting device and the positional relationship between the detecting device and the ranging points, the positions of the N ranging points are calculated to obtain the slope line of the underwater sand pile, and please refer to fig. 5, which illustrates an example using 4 ranging points. The main connecting rod 115 is fixedly welded on the right side shipboard of the cutter suction ship along the advancing direction of the cutter suction ship, and the X axis is vertical shipboard and rightwards is positive according to the recommendation rule of the ship body coordinates; the Y axis is positive towards the bow, the Z axis is positive vertically downwards, the fixed position of the main connecting rod 115 on the cutter suction ship is an origin 0, and the position of any ranging point relative to the origin can be obtained according to the trigonometric function relation. Taking the position of the second ranging point P2 as an example, the following description will be given:
coordinates X of the second ranging point P2: x is X P2 ＝0；
Coordinates Y of the second ranging point P2: y is Y P2 ＝D 2 ×sinα2；
The coordinates Z of the second ranging point P2: z is Z P2 ＝L 1 +L 2 +D2×cosα2；
Where D2 is the distance from the second ranging point P2 to the fixed position of the second sonar transducer 122 on the main connecting bar 115, as measured by the second sonar transducer 122, preferably taking into account the length of the second connecting bar 112 to reduce errors; l (L) 1 A distance of the first sonar transducer 121 from a fixed location of the main connecting bar 115 on a cutter suction boat; l (L) 2 Distance from the fixed location of the first sonar transducer 121 on the primary tie bar 115 to the fixed location of the second sonar transducer 122 on the primary tie bar 115; α2 is the second angle formed between the second connecting rod 112 and the main connecting rod 115.
The calculation method of the positions of other ranging points is analogized, and is not repeated here, and according to the positions of the ranging points, the gradient line of the underwater sand pile shape can be obtained.
In particular, the detection system of the form of the underwater sand pile is applied to a cutter suction ship, and step S2 further comprises the step of calculating the position relation between the reamer head and the gradient line of the underwater sand pile according to the position relation between the reamer head of the cutter suction ship and the detection equipment.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by "length", "width", "thickness", "upper", "lower", "front", "left", "right", "vertical", "horizontal", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
In summary, the foregoing embodiments describe in detail different configurations of a system and a method for detecting a form of an underwater sand pile, however, the foregoing description is merely illustrative of preferred embodiments of the present invention, and not limiting to the scope of the present invention, which includes but is not limited to the configurations listed in the foregoing embodiments, and those skilled in the art can make any changes and modifications according to the foregoing disclosure, which are within the scope of the claims.
Claims (9)
1. The detection system for the form of the underwater sand pile is characterized by comprising detection equipment, processing equipment and display equipment, wherein the detection equipment and the display equipment are connected with the processing equipment;
the detection equipment is used for acquiring distances from N ranging points of the underwater sand pile to the detection equipment respectively and transmitting the distances from the N ranging points to the processing equipment;
the processing equipment is used for receiving the distances from the N ranging points to the detection equipment, and is also used for calculating the positions of the N ranging points according to the distances and the position relation between the detection equipment and the ranging points so as to obtain the gradient line of the underwater sand pile;
the display equipment is used for displaying the gradient line of the underwater sand pile;
wherein N is more than or equal to 3;
the detection system is used for a cutter suction ship, and the detection equipment comprises a connecting rod and a sonar transducer array fixedly connected to the connecting rod;
the connecting rods are fixedly arranged on the cutter suction boat, the sonar transducer array comprises N sonar transducers, and the sonar transducers are in one-to-one correspondence with the distance measuring points;
the N sonar transducers and the connecting rod are positioned on the same vertical plane, and the N sonar transducers are positioned between the connecting rod and the underwater sand pile;
the distance from the detection equipment to the N ranging points of the underwater sand pile respectively comprises N sonar transducers, wherein the N sonar transducers are used for obtaining the distance from the N ranging points of the underwater sand pile to the corresponding sonar transducers respectively.
2. The system of claim 1, wherein the N sonar transducers are located on the same side of the connecting rod and further comprising the N sonar transducers each having a different included angle with the connecting rod.
3. The system for detecting the morphology of an underwater sand pile according to claim 1, wherein the processing equipment comprises a host machine and a multi-channel control unit connected with the host machine, wherein the multi-channel control unit is connected with the sonar transducer array;
the N sonar transducers of the sonar transducer array are connected with the channels of the multichannel control unit in a one-to-one correspondence manner;
the multichannel control unit is used for controlling N sonar transducers to acquire distances of N ranging points of the underwater sand pile, which correspond to the sonar transducers respectively;
the multichannel control unit is also used for transmitting distances from N ranging points of the underwater sand pile to the corresponding sonar transducer to the host.
4. The system of claim 1, wherein the array of sonar transducers comprises four of the sonar transducers;
the included angles between the four sonar transducers and the connecting rod are respectively 0 degrees, 40 degrees, 60 degrees and 80 degrees along the sequence from bottom to top;
and four sonar transducers are equidistantly arranged at fixed positions on the connecting rod.
5. The system according to any one of claims 1 to 4, wherein the means for obtaining the positions of the N ranging points according to the distance and the positional relationship between the detecting device and the ranging points comprises calculating the positions of the N ranging points relative to the origin point according to the number N of the sonar transducer arrays, the distance between the fixed point of each sonar transducer on the connecting rod and the origin point, and the included angle between the sonar transducer and the connecting rod, with one end of the connecting rod as the origin point, so as to obtain the gradient line of the underwater sand pile.
6. The system of claim 5, wherein the processing device is further configured to calculate a positional relationship between the reamer head and a slope line of the underwater sand pile based on a position of the reamer head of the cutter suction dredger and the origin point.
7. The system for detecting the morphology of an underwater sand pile of claim 1, wherein in a first direction, one end of the connecting rod is fixedly mounted on a starboard side of the cutter suction vessel, and the connecting rod is disposed adjacent to a reamer head of the cutter suction vessel;
the vertical planes of the N sonar transducers and the connecting rod are parallel to the first direction;
the processing equipment and the display equipment are positioned in a cab of the cutter suction dredger;
the detection equipment is in remote communication connection with the processing equipment, and the first direction is the advancing direction of the cutter suction dredger.
8. A method for detecting the morphology of an underwater sand pile, characterized in that the system for detecting the morphology of an underwater sand pile according to any one of claims 1 to 7 is used, comprising:
step S1: acquiring distances from N ranging points of the underwater sand pile to the detection equipment respectively;
step S2: according to the distances from the N ranging points to the detection equipment and the position relation between the detection equipment and the ranging points, calculating the positions of the N ranging points to obtain gradient lines of the underwater sand pile;
step S3: and displaying the gradient line of the underwater sand pile.
9. The method according to claim 8, wherein the system for detecting the morphology of the underwater sand pile is applied to a cutter-suction ship, and step S2 further comprises calculating the positional relationship between the reamer head and the gradient line of the underwater sand pile according to the positional relationship between the reamer head of the cutter-suction ship and the detection device.
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