CN111678507B - Underwater laser coordinate device, system and operation method thereof - Google Patents
Underwater laser coordinate device, system and operation method thereof Download PDFInfo
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- CN111678507B CN111678507B CN202010804285.XA CN202010804285A CN111678507B CN 111678507 B CN111678507 B CN 111678507B CN 202010804285 A CN202010804285 A CN 202010804285A CN 111678507 B CN111678507 B CN 111678507B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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Abstract
The application discloses an underwater laser coordinate device, an underwater laser coordinate system and an operation method of the underwater laser coordinate system. The system comprises: an underwater laser coordinate device configured with a reflector and an optical scribing prism; the underwater laser coordinate device consists of a plurality of underwater laser coordinate devices and a support; underwater equipment; and a driving device for driving the above-mentioned equipments. Wherein the underwater equipment is equipped with a camera for determining its relative position by taking a picture of the laser. By adopting the device, the system and the operation method, the laser technology can be applied to underwater equipment in a simple and cost-effective manner, so that accurate navigation and positioning are provided for the underwater equipment, and various operations such as maintenance, detection, data acquisition and the like of the equipment are assisted underwater.
Description
Technical Field
The present application relates to the field of underwater positioning and navigation. Specifically, the application discloses an underwater laser coordinate device, an underwater laser coordinate system and an operation method of the underwater laser coordinate system.
Background
"positioning technology" is the main method by which the driver, and even the command terminal, knows the position of the aircraft (sea, land, air) itself. Positioning systems are also one of the most basic and important components of all aircraft.
The positioning technology which is most widely applied at present is the positioning technology based on electromagnetic waves, such as the GPS positioning which is commonly applied. However, due to the great attenuation of electromagnetic waves by water, the technologies such as GPS, which have been widely used in the atmosphere, sea or ground and space, cannot be successfully applied in the field of underwater equipment.
At present, the main technical means of underwater positioning is to adopt an underwater sound positioning technology. The underwater acoustic positioning technology comprises a long baseline positioning technology, a short baseline positioning technology, an ultra-short baseline positioning technology and the like. From the depth of water within 100 meters to the deepest 11000 meters of the ocean, the underwater acoustic positioning technology has realized that the underwater vehicle can be accurately positioned in the whole ocean at all depths.
However, in recent years, a great deal of engineering practice aiming at "limited water areas" such as reservoirs and dams and "limited spaces" such as pools and pipe networks shows that the underwater sound positioning technology cannot be well applied to the above environments. The fundamental reason is that the core principle of underwater sound positioning is as follows: and calculating the time difference between the signal reflected by the sound wave reaching the obstacle or the sea bottom and the signal transmitted by the transmitting end, and combining the propagation speed of the sound wave in the seawater to obtain the distance between the sound wave and the obstacle or the sea bottom, thereby achieving the purpose of positioning the aircraft. Based on this, in deeper oceans, underwater sound localization can be successfully applied because there are not too many solid obstacles around. However, for application environments such as reservoirs, dams, pools and pipe networks, due to the fact that a plurality of obstacles are provided and wall surface reflection is strong, correct reflected signals cannot be distinguished accurately, and therefore a target cannot be correctly positioned. Therefore, underwater acoustic localization techniques are highly undesirable in these areas.
In addition, when encountering an obstacle, the sound wave has stronger fluctuation characteristic compared with the electromagnetic wave, the reflection is weaker, and the diffraction and diffraction phenomena of the wave are more obvious. It can be simply understood that the linearity and directivity of the acoustic wave signal are much weaker than those of the electromagnetic wave. While sound waves are more likely to "bypass" obstacles and give rise to uncontrollable reflections elsewhere. Therefore, even if the acoustic signal processing technology is again advanced and leaped, the physical nature of the acoustic signal causes difficulty in accurately locating the target in confined water areas and confined spaces.
A great deal of practice shows that the laser can be well applied to the limited space under water because of good penetrability and directivity. Although the attenuation of laser light during propagation through water is much greater than in air, the penetration capability of underwater laser light is sufficient for confined spaces, such as limited spaces of 0.3 meters to 15 meters.
The existing underwater laser coordinate positioning technology generally emits laser to an underwater vehicle from a water surface or a shore-based end, so that a high-performance laser transmitter is needed, a large amount of calculation is needed, and a high requirement is provided for an optimized calculation method. At present, target products needing underwater laser coordinates are often not high in engineering degree, and the laser coordinate positioning technology is too expensive, so that the application of the existing laser coordinate positioning technology in the field of underwater positioning is greatly limited. Current research is also limited to laboratory level only.
There is therefore a great need in the art for applying laser technology to the relative positioning of underwater equipment in a simple and cost-effective manner.
Disclosure of Invention
In order to solve the positioning requirement of underwater equipment in a limited space in the prior art and overcome the defect that the existing laser coordinate technology cannot be applied to the underwater field, the application provides a novel underwater laser coordinate device, a system and an operation method thereof. By adopting the system and the method, a coordinate system can be provided in a limited space, underwater equipment such as an underwater robot and the like can be subjected to reference positioning, and the relative position of the underwater equipment relative to the underwater environment is sensed through feedback, so that the underwater equipment can be conveniently subjected to underwater exploration, detection, data acquisition and other work. By utilizing the device, the system and the method, accurate navigation can be provided for the underwater equipment, so that the underwater equipment is assisted to perform accurate operation. The system is low in cost and simple and reliable in configuration. The method can be widely applied to the fields of urban pipe network, pool water tank, even reservoir and dam underwater detection and the like.
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
According to a first aspect of the present application there is provided an underwater laser co-ordinate apparatus comprising: a first laser transmitter; the second laser transmitter is provided with an optical scribing prism on the surface close to the laser transmitting hole; a reflective mirror for vertically totally reflecting the laser light emitted from the first laser; the motor is connected with the reflector and used for providing power for rotating the reflector; a base on which the first laser transmitter and the second laser transmitter are fixed perpendicular to each other; and a waterproof sealing cylinder for sealing all the components.
According to a second aspect of the present application, there is provided an underwater laser coordinate device, the device comprising: an N-sided polygon plate-shaped support frame; and 2N underwater laser coordinate devices, wherein one underwater laser coordinate device is respectively arranged on two sides of each plate of the N-shaped support.
According to a third aspect of the present application there is provided an underwater laser coordinate system, the system comprising: an underwater laser co-ordinate apparatus as described above; an underwater laser coordinate device as described above; underwater equipment; and the driving device is used for driving the underwater laser coordinate equipment, the underwater laser coordinate device and the underwater equipment, wherein the underwater equipment is provided with the camera.
According to a fourth aspect of the present application, there is provided a method for operating an underwater laser coordinate system as described above, the method comprising: starting an underwater laser coordinate device; lowering the underwater laser coordinate equipment to a first depth to form a laser horizontal loop line and a vertical line segment orthogonal to the laser horizontal loop line; moving the underwater equipment to surround the horizontal loop for a circle and taking a picture; lowering the underwater laser coordinate equipment to a second depth and repeating the previous step; lowering the underwater laser coordinate equipment to a specified depth and repeating the photographing step; starting an underwater laser coordinate device; lowering the underwater laser coordinate device to a proper position away from the horizontal bottom; the underwater laser coordinate device is operated to divide the horizontal bottom into n regions. Moving the underwater equipment to a first area and taking a picture; the previous step is repeated until all n regions are completed.
To the accomplishment of the foregoing and related ends, the one or more aspects comprise the features hereinafter fully described and particularly pointed out in the claims. The following description and the annexed drawings set forth in detail certain illustrative features of the one or more aspects. These features are indicative, however, of but a few of the various ways in which the principles of various aspects may be employed and the present description is intended to include all such aspects and their equivalents.
Drawings
So that the manner in which the above recited features of the present application can be understood in detail, a more particular description of the disclosure briefly summarized above may be had by reference to aspects, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only certain typical aspects of this application and are therefore not to be considered limiting of its scope, for the description may admit to other equally effective aspects.
In the drawings:
FIG. 1 is a schematic diagram of upper and lower equiangular axes of a structure of an underwater laser coordinate device according to an embodiment of the present application;
FIG. 2 is a front view of the underwater laser coordinate device of the present application as shown in FIG. 1;
FIG. 3 is a top and bottom isometric view of a structure of an underwater laser coordinate device according to another embodiment of the present application;
FIG. 4 is a front view of the underwater laser coordinate device of the present application as shown in FIG. 3;
FIG. 5 is a schematic view of an operating state of an underwater laser coordinate system according to an embodiment of the present application;
FIG. 6 is a schematic vertical line segment forming diagram of the underwater laser coordinate apparatus of the present application as shown in FIGS. 1 and 2;
FIG. 7 is a schematic diagram of the horizontal loop forming principle of the underwater laser coordinate apparatus of the present application as shown in FIGS. 1 and 2;
FIG. 8 is a schematic diagram of the effect of the underwater laser coordinate system of the present application for inspecting vertical walls as shown in FIGS. 1 and 2;
FIG. 9 is a schematic view of the division of the underwater laser coordinate device for detecting horizontal bottoms of the present application as shown in FIGS. 3 and 4;
FIG. 10 is a schematic of the path used by the underwater laser coordinate device of the present application to detect a large area of horizontal bottom as shown in FIGS. 3 and 4;
FIG. 11 is a schematic diagram of an underwater positioning and navigation operation within a limited space using an underwater laser coordinate system according to an embodiment of the present application; and
fig. 12 is a flow chart of a method 1200 for finite space underwater environment detection using an underwater laser coordinate system according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more clear, the following describes exemplary embodiments of the present application in further detail with reference to the accompanying drawings. It is clear that the described embodiments are only a part of the embodiments of the present disclosure, and not an exhaustive list of all embodiments. It is to be noted that the embodiments and features in the embodiments may be combined with each other in the present application unless otherwise stated.
Fig. 1 shows the upper and lower equiangular axis schematic view of the underwater laser coordinate device 1 of the present application, while fig. 2 shows a front view of the underwater laser coordinate device 1.
As shown in fig. 2, the underwater laser coordinate apparatus 1 mainly includes: a mirror 101, a first laser transmitter 102, a second laser transmitter 103, a motor 104, a base 105, and a waterproof sealing cylinder 106. The metal coating 107 on the mirror, which may be a silver coating, is also shown for clarity.
Wherein the mirror 101 is connected to a motor 104 for powering the rotation thereof. The motor 104 is connected to a waterproof sealing cylinder 106. The first laser transmitter 102 and the second laser transmitter 103 are fixed to a fixing base 105 of the laser transmitter in a mutually perpendicular manner by means of bolts, clamping or gluing, etc. in a manner known in the art.
Wherein the second laser transmitter 103 is provided with an optical scribing prism on a surface near its laser emitting hole. The waterproof sealing cylinder 106 integrally covers other parts, so that water can be prevented from entering.
The reflecting mirror 101 may be a planar reflecting mirror placed at 45 degrees, or may be a total reflection prism (isosceles right reflecting prism) for reflecting the vertical laser light emitted from the first laser transmitter 102 to a vertical wall surface of a limited space.
Fig. 3 shows the upper and lower equiangular axis schematic view of the structure of the underwater laser coordinate device 2 of the present application, and fig. 4 shows a front view of the underwater laser coordinate device 2.
As shown in fig. 3 and 4, the underwater laser coordinate device 2 of the present application is formed by combining 12 underwater laser coordinate devices as shown in fig. 1 and 2 and a hexagonal plate-shaped support frame. Each underwater laser coordinate device is installed on two sides of each plate of the hexagonal plate-shaped support frame. Looking down (overlooking) from the outer surface of each hexagonal plate-shaped support frame, 4 underwater laser coordinate devices are arranged, and the included angle between every two adjacent underwater laser coordinate devices is 45 degrees. Of course, as will be appreciated by those skilled in the art, the present application is not limited to the 12 underwater laser coordinate devices to form the underwater laser coordinate device, and may be formed by fewer or more underwater laser coordinate devices according to the actual working requirement, and these numbers of underwater laser coordinate devices are included in the scope of the present application.
For example, by changing a "hexagonal" polygonal plate-shaped support frame into an "N" polygonal plate-shaped support frame (where the number of N is determined by the number of laser coordinate devices and the area to be divided), an underwater laser coordinate device composed of fewer or more underwater laser coordinate devices can be constructed. A plurality of underwater laser coordinate devices form a proper angle with each other, so that the horizontal bottom of a limited space is divided more finely. One skilled in the art will appreciate that the greater the number of N, the more finely divided the horizontal bottom.
Fig. 5 shows a schematic view of the working state of an underwater laser coordinate system according to the present application.
As shown in fig. 5, the underwater laser coordinate system mainly includes: the underwater laser coordinate system comprises an underwater laser coordinate device 1, an underwater laser coordinate device 2, underwater equipment 3 and driving devices 5, 6 and 7. For clarity, the figure also shows a limited space 4. It will be appreciated by those skilled in the art that the drives 5, 6 and 7 may be any means of winches, motors or the like which can be used to control the up and down movement of the underwater laser co-ordinate apparatus 1 and the underwater laser co-ordinate apparatus 2 and the underwater equipment 3.
As will be appreciated with reference to fig. 6-8 below, the underwater laser coordinate system as shown in fig. 1 and 2 is particularly effective for coordinate detection of vertical walls.
Fig. 6 shows a schematic diagram of a principle of forming a vertical line segment of the underwater laser coordinate device 1 of the present application, fig. 7 shows a schematic diagram of a principle of forming a horizontal loop of the underwater laser coordinate device 1 of the present application, and fig. 8 shows a schematic diagram of an effect of the underwater laser coordinate device 1 of the present application on detecting a vertical wall surface.
As shown in fig. 6, the laser firing principle of the second laser transmitter 103 of the underwater laser coordinate device 1 is shown. The second laser transmitter 103 is provided with an optical scribing prism on a surface near its laser emitting hole, which prism causes the laser light emitted by the second laser transmitter 103 to finally assume a vertical line segment of vertical laser light (as shown in fig. 8). For example, the optical scribing prism is preferably a Powell prism.
As shown in fig. 7, the laser firing principle of the first laser transmitter 102 of the underwater laser coordinate device 1 is shown. The first laser transmitter 102 may emit a general laser, and the laser is reflected on the metal coating 107 of the reflective mirror 101, so that the laser is horizontally emitted. The motor 104 may provide a rotational force to rotate the mirror 101 at a high speed. Since the laser rotates with the reflector 101 at high speed, a circle of closed horizontal laser loop lines around the underwater laser coordinate device 1 can be seen by naked eyes, as shown in fig. 8.
As will be appreciated with reference to fig. 9-10 below, the underwater laser coordinate system as shown in fig. 1 and 2 is particularly effective for coordinate detection of horizontal bottoms.
Fig. 9 is a schematic view of the division of the region for detecting the horizontal bottom by the underwater laser coordinate device of the present application as shown in fig. 3 and 4.
As shown in fig. 9, from six groups of waterThe underwater laser coordinate device composed of the laser coordinate equipment divides the horizontal bottom into 56 different areas, and determines the coordinates of each area. As can be appreciated by those skilled in the art, the division of the 56 block area is merely an example. The number of divided regions is at least 2N and at most 2N2+ N + 1 regions. Where N is the number of sets that make up the underwater laser coordinate device.
Fig. 10 is a roadmap for the application of the underwater laser coordinate device for detecting a larger area of the horizontal bottom as shown in fig. 3 and 4. In the process of detecting the bottom of a limited space by using an underwater equipped camera as a detection tool, the commonly used method is as follows:
(1) one of the areas divided by the laser light band is selected as a start area. Preferably, the region is located near the center.
(2) With this area as the starting point, a straight light band is first selected and made to proceed in parallel. In the process of advancing, the area can be observed basically once without omission.
Then enter another zone (the second detected zone viewed in sequence) along the straight light band, then select "turn right straight", i.e. clockwise, enter a third zone, and then proceed along the straight light band.
The above actions are repeated. The moving path of the underwater robot can be finally regarded as an approximate spiral line which is unfolded from the center to the outer ring in the clockwise direction, namely, a spiral line-like path consisting of a plurality of straight line segments.
According to the mode, each divided area can be basically ensured to be passed by the underwater robot without being missed, so that the underwater camera can shoot and acquire images of each area without dead angles.
FIG. 11 is a schematic diagram of an underwater positioning and navigation operation in a limited space using an underwater laser coordinate system according to an embodiment of the present application.
As shown in fig. 11, the underwater laser coordinate device and the underwater laser coordinate device perform coordinate positioning on the vertical wall surface and the horizontal bottom of the limited space, and assist the underwater equipment in performing underwater navigation. For a vertical wall surface, the underwater laser coordinate device is lowered to a depth of 1.. to a depth of m, respectively, by the driving means as described above. For example, the underwater laser coordinate device can be controlled to descend each time for a distance of 1m, and finally to stop at a position of 0.5m of the horizontal bottom of the example. Of course, other step lengths and distances may be set according to actual needs, and these values and ranges are included in the scope of the present application.
After each descent, the underwater equipment can continuously take pictures around the horizontal laser emitted by the underwater laser coordinate device for one circle. In this way, a simple underwater laser coordinate system is established, and the vertical wall surface is divided into up-to-down vertical cylindrical strips. The underwater equipment can then be moved and photographed strip by strip.
For a horizontal bottom, the underwater laser coordinate device is brought to a distance from the horizontal bottom by the driving device (e.g., 0.5m, as described above). The horizontal bottom is divided into several areas by laser line "cuts", namely area 1 … area n. And the underwater equipment moves and shoots each area to finally form a coordinate system of the horizontal bottom.
FIG. 12 shows a flow diagram of a method 1200 for detecting and locating a confined space using an underwater laser coordinate device and an underwater laser coordinate apparatus, respectively.
As shown in fig. 12, at 1201, the underwater laser coordinate device is turned on and checked for normal operation.
At 1202, an underwater laser coordinate apparatus is lowered to a depth of 1 to form a laser horizontal loop and a vertical line segment orthogonal thereto.
At 1203, the underwater equipment is moved around the horizontal loop for a circle and a picture is taken. The underwater equipment is at a distance from the vertical wall. In particular, the underwater equipment can start from the position of the vertical line segment, run around the circular track for a circle, and stop the vertical line segment again. The underwater equipment is kept at a suitable distance from the vertical wall at all times during the process, as shown in fig. 8.
At 1204, the underwater laser coordinate device is lowered to depth 2 and step 1203 is repeated.
And repeating the step of placing and the step of taking a picture.
At 1205, the underwater laser coordinate device is lowered to the specified depth m and step 1203 is repeated.
In step 1206, the underwater laser coordinate device is turned on and checked to see if it is in a normal operating state.
At step 1207, the underwater laser coordinate device is lowered to an appropriate position from the horizontal bottom.
At step 1208, the underwater laser coordinate device is operated to divide the horizontal bottom into regions 1 through n.
In step 1209, the underwater equipment is moved to area 1 and a picture taken.
Step 1208 is repeated.
In step 1210, the underwater equipment is moved to area n and photographed.
Although the present application is described in the above order, as can be appreciated by those skilled in the art, the methods described herein are not limited to the above order.
For example, in the case where only the vertical wall surface needs to be detected, it can be completed by performing steps 1201 to 1205. And in the case where only a horizontal bottom needs to be detected, this is done by performing steps 1206 through 1210.
In addition, steps 1201 and 1205 and 1206 and 1210 can be performed completely simultaneously. The selection of each depth and the selection of each area can be completely transformed and changed according to the actual needs. It will be readily understood that these are included within the scope of the present application.
The method for detecting and positioning in a limited space based on the underwater laser coordinate system of the present application is further described in detail in the following by a typical case.
As shown in fig. 5, it can be understood as a water storage tank, 16 meters in diameter and 20 meters in depth. Inside which the underwater equipment 3 is used to measure in cooperation with an underwater laser coordinate system. The main mode is as follows: the underwater equipment is used for shooting the vertical wall surface and the horizontal bottom respectively, so that the vertical wall surface and the horizontal bottom cannot leak and miss any area.
First, a limited space to be photographed is divided into two parts.
(1) Dividing vertical walls
And controlling the underwater laser coordinate device in the limited space to descend for a distance of about 1m each time, and finally descending to a position 0.5m away from the horizontal bottom to stop. After each descent, the underwater equipment winds horizontal laser emitted by the underwater laser coordinate equipment in a limited space for one circle and continuously takes pictures. A simple underwater laser coordinate system is established in this way, and the wall surface is divided into an up-to-down vertical cylindrical strip. The underwater equipment is then moved and photographed strip by strip.
(2) Dividing a horizontal bottom
As shown in fig. 10, the horizontal bottom "cut" can be divided into 56 regions by an underwater laser coordinate device. Then, the underwater equipment moves and photographs area by area.
In addition, for a larger horizontal area, the user can choose to take a photograph through the path shown in fig. 11 in order to miss or miss any area.
As described above, the underwater laser coordinate system and the working method thereof of the present application are described in detail with reference to the accompanying drawings. When a target in water needs to be positioned in a water body with high flow velocity, turbid water body and disordered flow state, the measured actual position cannot be accurately positioned due to the influence of water flow, and serious harm is brought to the underwater construction quality. By the underwater laser coordinate system and the working method thereof, accurate navigation and positioning can be provided for underwater equipment in a cost-effective and simple mode, so that various operations such as maintenance, detection, data acquisition and the like of the equipment can be assisted underwater.
It is to be understood that the specific order or hierarchy of steps in the methods disclosed is an illustration of exemplary processes. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the methods or methodologies described herein may be rearranged. The accompanying method claims present elements of the various steps in a sample order, and are not meant to be limited to the specific order or hierarchy presented unless specifically recited herein.
The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects. Thus, the claims are not intended to be limited to the aspects shown herein, but is to be accorded the full scope consistent with the language claims, wherein reference to an element in the singular is not intended to mean "one and only one" (unless specifically so stated) but rather "one or more". The term "some" means one or more unless specifically stated otherwise. A phrase referencing at least one of a list of items refers to any combination of those items, including a single member. By way of example, "at least one of a, b, or c" is intended to encompass: at least one a; at least one b; at least one c; at least one a and at least one b; at least one a and at least one c; at least one b and at least one c; and at least one a, at least one b, and at least one c. All structural and functional equivalents to the elements of the various aspects described throughout this disclosure that are known or later come to be known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed by the claims. Moreover, nothing disclosed herein is intended to be dedicated to the public regardless of whether such disclosure is explicitly recited in the claims. .
Claims (9)
1. An underwater laser coordinate device comprising:
an N-sided polygon plate-shaped support frame; and
2N underwater laser coordinate devices, wherein the 2N underwater laser coordinate devices form a certain angle with each other,
wherein two sides of each plate of the N-shaped edge plate-shaped support frame are respectively provided with one underwater laser coordinate device,
wherein the underwater laser coordinate device comprises:
a first laser transmitter;
the second laser transmitter is provided with an optical scribing prism on the surface close to the laser transmitting hole;
a reflective mirror for vertically and totally reflecting the laser emitted from the first laser emitter;
the motor is connected with the reflector and used for providing power for rotating the reflector;
a base to which the first and second laser emitters are fixed perpendicularly to each other; and
and the waterproof sealing cylinder is used for sealing all the components.
2. The underwater laser coordinate device of claim 1, wherein the optical scribing prism is a powell prism.
3. The underwater laser coordinate device of claim 1, wherein the mirror is a 45 degree placed planar mirror, or an isosceles right angle total reflection prism.
4. The underwater laser coordinate device of claim 1 wherein N is at least 3.
5. The underwater laser coordinate device of claim 4, wherein the underwater laser coordinate device can divide a plane into at most 2N2+ N + 1 regions, at least the plane can be divided into 2N regions.
6. An underwater laser coordinate system comprising:
the underwater laser coordinate device of claim 1;
the underwater laser coordinate device of claim 1 that is not part of the underwater laser coordinate apparatus;
underwater equipment; and
and the driving device is used for driving the underwater laser coordinate equipment, the underwater laser coordinate device and the underwater equipment, wherein the underwater equipment is provided with a camera.
7. An underwater laser co-ordinate system according to claim 6 wherein the underwater laser co-ordinate apparatus co-operates with the underwater equipment to determine the co-ordinates of the vertical wall and the underwater laser co-ordinate apparatus co-operates with the underwater equipment to determine the co-ordinates of the horizontal floor to thereby determine the relative position of the underwater equipment.
8. A method for operating the underwater laser coordinate system of claim 6, comprising:
s1: starting the underwater laser coordinate equipment;
s2: lowering the underwater laser coordinate equipment to a first depth to form a laser horizontal loop line and a vertical line segment orthogonal to the laser horizontal loop line;
s3: moving the underwater equipment to surround the horizontal loop line for a circle and taking a picture;
s4: lowering the underwater laser coordinate device to a second depth and repeating the step S3;
s5: lowering the underwater laser coordinate device to a specified depth and repeating the step S3;
s6: starting the underwater laser coordinate device;
s7: lowering the underwater laser coordinate device to a proper position away from the horizontal bottom;
s8: operating the underwater laser coordinate device to divide the horizontal bottom into n regions;
s9: moving the underwater equipment to a first area and taking a picture;
s10: the step of S9 is repeated until all n regions are completed.
9. The method of claim 8, wherein the steps S1-S5 can be performed individually, the steps S6-S10 can be performed individually, the steps S1-S5 and the steps S6-S10 can be performed simultaneously, and the steps S1-S10 can be performed sequentially.
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| US5046259A (en) * | 1990-05-14 | 1991-09-10 | Harbor Branch Oceanographic Institution, Inc. | Underwater measuring systems and methods |
| EP0586804A2 (en) * | 1992-09-08 | 1994-03-16 | HAMAR LASER INSTRUMENTS, Inc. | Laser apparatus |
| CN206848598U (en) * | 2017-05-18 | 2018-01-05 | 南京工业大学 | A kind of cross laser piece light light path |
| CN109870707A (en) * | 2019-03-07 | 2019-06-11 | 南京理工大学 | Pyramid laser synchronization scanned imagery device for submarine navigation device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7940444B2 (en) * | 2006-09-19 | 2011-05-10 | Florida Atlantic University | Method and apparatus for synchronous laser beam scanning |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5046259A (en) * | 1990-05-14 | 1991-09-10 | Harbor Branch Oceanographic Institution, Inc. | Underwater measuring systems and methods |
| EP0586804A2 (en) * | 1992-09-08 | 1994-03-16 | HAMAR LASER INSTRUMENTS, Inc. | Laser apparatus |
| CN206848598U (en) * | 2017-05-18 | 2018-01-05 | 南京工业大学 | A kind of cross laser piece light light path |
| CN109870707A (en) * | 2019-03-07 | 2019-06-11 | 南京理工大学 | Pyramid laser synchronization scanned imagery device for submarine navigation device |
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