CN117346829A - Underwater sensor detection and correction method, detection device and control platform - Google Patents
Underwater sensor detection and correction method, detection device and control platform Download PDFInfo
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Abstract
The invention relates to a method for detecting and correcting an underwater sensor, a detection device and a control platform, comprising the following steps: collecting and storing a distance signal detected by an underwater sensor and a signal of whether a target is detected or not; dividing data into a main data cluster C by using a density clustering DBSCAN algorithm to finish the self-adaptive setting of a standard reference value; dividing data reaching orders of magnitude into a primary data cluster C and a plurality of secondary data clusters; calculating the difference B between the abnormal data in the secondary cluster and the core point in the main data cluster C and the mean square difference sigma between the abnormal data and each element in the main data cluster C k The method comprises the steps of carrying out a first treatment on the surface of the If the two values are smaller than the set threshold value, the sensor precision meets the requirement; the detection and correction method of the underwater sensor can detect and calibrate the sensor in real time, effectively improve the yield of products, and calibrate the precision of the products in real time in the use process of the subsequent products; the detection device and the control platform simulate the submarine working condition and can simultaneously transmit a plurality of underwater transmissionsThe sensor performs performance test, and is convenient and quick.
Description
Technical Field
The invention relates to the technical field of ocean exploration, in particular to a detection and correction method, a detection device and a control platform of an underwater sensor.
Background
When the deepwater is measured, the underwater sensor is in contact with the outside due to the fact that part of the movable parts are required to be in contact with the outside, the movable parts are connected to the inside of the underwater sensor through the physical connection, the high-pressure environment of deepwater is faced, even if the inside of the underwater sensor is subjected to dynamic sealing, the phenomenon of leakage is very easy to occur, and further the electric parts in the inside of the underwater sensor are enabled to fail, so that the service life of the underwater sensor is greatly reduced, after the underwater sensor is processed, the accuracy and the performance of the underwater sensor are required to be tested before leaving a factory, and the situation that the underwater sensor is placed into deepwater to fail is prevented. Because the underwater sensor is used in a deepwater environment, the underwater sensor needs to be placed into the water with a certain depth to perform performance test, the existing test method is low in test efficiency and high in risk due to the fact that the underwater sensor is placed by being submerged into the water manually, and meanwhile, due to the fact that the underwater sensor is in the submarine environment, accurate measurement of the distance between a target object and the underwater sensor cannot be achieved, and further performance test of the underwater sensor is affected.
Disclosure of Invention
Therefore, the invention aims to solve the technical problem that the underwater sensor is easy to leak during deep water measurement in the prior art, and by providing the detection and correction method, the detection device and the detection platform of the underwater sensor, the underwater sensor is placed in the seabed to simulate the use condition of the underwater sensor on the seabed, so that the performance test and the precision compensation correction of the underwater sensor are carried out.
In order to solve the technical problems, the invention provides a detection and correction method of an underwater sensor, which comprises the following steps:
s1, acquiring and storing a distance signal of an underwater sensor and a signal of whether a target is detected or not;
s2, dividing the acquired initial simulation data into a main data cluster C by using a density clustering DBSCAN algorithm, and completing the self-adaptive setting of a standard reference value;
s3, dividing analog data reaching orders of magnitude into a main data cluster C and a plurality of secondary data clusters C1, C2 and … Cn by using a density clustering DBSCAN algorithm;
s4, processing abnormal data points of the secondary data clusters, and calculating the mean square difference sigma of the difference value B between the data in the secondary clusters C1, C2 and … Cn and the core point in the main data cluster C and each element in the main data cluster C k ；
S5, judging B and sigma k Whether it is smaller than a set threshold;
s6, if B and sigma k If the accuracy of the corresponding underwater sensor of the data meets the requirement and the detection is completed, and meanwhile, a detection qualification report is generated;
s7, if B and sigma k At least one underwater sensor exceeds a threshold value, indicating that the underwater sensor is abnormal, recording the number of the underwater sensor with abnormal feedback precision, and simultaneously carrying out precision correction on the data output by the underwater sensor;
s8, adjusting the distance between the underwater sensor and the target;
s9, repeating the steps S2-S8, and detecting and correcting the accuracy of the underwater sensor under different detection distances.
In one embodiment of the present invention, the accuracy correction method in step S9 is to perform gradient fitting correction with the core point of the main cluster C as a target to obtain accurate data.
The invention discloses an underwater sensor detection device, which comprises: the lifting mechanism is used for conveying the detection mechanism into a submarine environment; the lifting mechanism comprises a bracket, a winch rotationally arranged at the bottom of the bracket, a driving motor for driving the winch to rotate, a pulley assembly I and a pulley assembly II which are arranged at the top of the bracket, and a steel wire cable which slides along the pulley assembly I and the pulley assembly II and one end of which is wound on the winch for signal transmission and CAN communication; the detection mechanism comprises a detection box, wherein a junction box, a plurality of underwater sensors, an underwater sensor fixing frame for fixing the underwater sensors, a target object and a driving mechanism for controlling the movement of the target object are arranged in the detection box; the detection box is connected with the steel wire cable and is controlled by the lifting mechanism to realize lifting action, the junction box is fixed on the inner wall of the detection box and is connected with the steel wire cable, and the underwater sensor is driven.
In one embodiment of the invention, the detection box comprises an outer shell and an inner shell with meshes, and dustproof cotton is arranged between the outer shell and the inner shell.
In one embodiment of the invention, the bottom of the cartridge is provided with a stationary anchor.
In one embodiment of the invention, the steel wire cable comprises a multi-core shielded cable and a steel wire protective sleeve wrapped outside the shielded cable.
In one embodiment of the invention, the driving mechanism comprises a fixed base, a horizontal cylinder and a vertical cylinder, wherein the horizontal cylinder is arranged at the bottom of the detection box through the fixed base, the vertical cylinder is arranged at the side surface of the detection box through the fixed base, and the horizontal cylinder and the vertical cylinder are both wrapped in the fixed base; the target object comprises a first target object and a second target object; the telescopic rod of the horizontal cylinder is connected with the target object, and the telescopic rod of the vertical cylinder is connected with the target object II.
In one embodiment of the present invention, the outer sides of the first pulley assembly and the second pulley assembly are provided with protective shells.
In one embodiment of the present invention, the first pulley assembly and the second pulley assembly have the same structure, and each pulley assembly comprises an inclined support frame and two pulleys arranged on the inner side of the inclined support frame in parallel.
The invention also discloses a control platform, which comprises:
a memory;
and the processor is communicated with the underwater sensor detection device, receives data detected by the underwater sensor, stores the data in the memory, and executes the underwater sensor precision detection and correction method and sends operation instructions to the underwater sensor detection device.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the detection and correction method, the detection device and the control platform of the underwater sensor, disclosed by the invention, the detection and correction method can be used for detecting the sensor and correcting the accuracy of the underwater sensor which is not in accordance with the accuracy requirement, so that the yield of a product is improved, and the accuracy of the product can be calibrated in real time in the use process of the subsequent product; the detection method and the correction process the data by adopting an unsupervised density clustering DBSCAN algorithm, so that the data set is not required to be acquired in advance and a standard reference value is not required to be set, and the acquisition cost of the data set is greatly reduced; the detection device and the control platform replace manual work by the lifting mechanism, the detection mechanism is stably fed into the seabed, the target object is controlled to move by the driving mechanism, and the performance test of the sensor can be carried out under different detection distances under the seabed application working conditions of a plurality of sensors of the same style/different styles, so that the detection device is simple and easy to operate, safe and reliable, and convenient and fast.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which
FIG. 1 is a flow chart of a method for detecting and correcting a underwater sensor according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a detecting device of a underwater sensor in a second embodiment of the present invention;
FIG. 3 is a schematic view showing an internal structure of a detection mechanism of the underwater sensor detection apparatus shown in FIG. 2;
FIG. 4 is a schematic view of the driving mechanism and the object of the underwater sensor detection apparatus shown in FIG. 2;
description of the specification reference numerals: 10. A driving motor; 11. a bracket; 12. winch, 13, pulley assembly; 131. a tilting support; 132. a pulley; 14. a pulley assembly II; 15. a steel wire cable; 2. a detection mechanism; 21. a detection box; 211. a housing; 212. an inner case; 22. a junction box; 23. an underwater sensor; 24. an underwater sensor fixing frame; 25. a target; 251. a first object; 252. a second object; 261. A fixed base; 262. a horizontal cylinder; 263. and (5) a vertical cylinder.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Example 1
Referring to fig. 1, the invention provides a method for detecting and correcting an underwater sensor, which comprises the following steps:
s1, acquiring and storing a distance signal of a sensor 23 under water and a signal of whether a target is detected; when the underwater sensor 23 detects a target, the recording number is 1, and whether the target is recorded or not is determined by judging whether the digital quantity signal of the underwater sensor 23 in the measurement is 1 or not when the target is started;
s2, dividing the acquired initial simulation data into a main data cluster C by using a density clustering DBSCAN algorithm, and completing the self-adaptive setting of a standard reference value;
s3, dividing analog data reaching orders of magnitude into a main data cluster C and a plurality of secondary data clusters C1, C2 and … Cn by using a density clustering DBSCAN algorithm; for example, the set order of magnitude is 10000 data, and because the data acquisition speed of the underwater sensor 23 is higher when the underwater sensor works normally, the set order of magnitude can be reached quickly and a clustering algorithm is started;
s4, processing abnormal data points of the secondary data clusters, and calculating difference values B between abnormal data in the secondary clusters C1, C2 and … Cn and core points in the main data cluster C and mean square difference values sigma between the abnormal data and elements in the main data cluster C k ；
S5, judging B and sigma k Whether it is smaller than a set threshold;
s6, if B and sigma k If the accuracy of the corresponding underwater sensor 23 of the data meets the requirement and the detection is completed, and meanwhile, a detection qualification report is generated;
s7, if B and sigma k At least one of the underwater sensors 23 exceeds a threshold value, indicating that the underwater sensor 23 is abnormal, feeding back the serial number of the underwater sensor 23 with abnormal accuracy, and correcting the accuracy of the data output by the underwater sensor 23;
s8, adjusting the distance between the underwater sensor 23 and the target;
s9, repeating the steps S2-S8, and detecting and correcting the accuracy of the underwater sensor 23 under different detection distances;
preferably, in the precision correction method in step S9, gradient fitting correction is performed with the core point of the main cluster C as a target to obtain accurate data.
The accuracy and correction method of the underwater sensor in the embodiment do not need to additionally collect data sets, the data sets which are more suitable for the scene can be obtained in different application occasions, and the sample size of the data sets is richer along with the increase of the running time of the system.
Example two
Referring to fig. 2, the present invention provides an underwater sensor detection apparatus including: the lifting mechanism comprises a bracket 11, a winch 12 rotatably arranged at the bottom of the bracket 11, a driving motor 10 for driving the winch 12 to rotate, a pulley assembly I13 and a pulley assembly II 14 arranged at the top of the bracket 11 and a steel wire cable 15 which slides along the pulley assembly I13 and the pulley assembly II 14 and is wound on the winch 12 at one end for signal transmission and CAN communication;
the detection mechanism 2 comprises a detection box 21, wherein a junction box 22, a plurality of underwater sensors 23, an underwater sensor bracket 24 for fixing the underwater sensors 23, a target 25 and a driving mechanism for controlling the movement of the target are arranged in the detection box 21; the detection box 21 is connected with the steel wire cable 15 and the lifting mechanism controls the steel wire cable 15 to realize lifting action, the junction box 22 is fixed on the inner wall of the detection box 21 and connected with the steel wire cable 15, and the underwater sensor 23 and the driving mechanism are connected onto corresponding junction terminals in the junction box 22 through signal wires.
Preferably, the detection box 21 includes an outer shell 221 and an inner shell 222 with meshes, and dustproof cotton is disposed between the outer shell 221 and the inner shell 222. The dust-proof cotton is designed to prevent sundries on the sea floor from entering the detection box so as to influence the detection result of the underwater sensor 23.
As a further improvement of the invention, the bottom of the cartridge 21 is provided with a fixing anchor. The design of the fixed anchor is used for fixing the detection box 21 after the detection box 21 is sent to the seabed, so that the detection box 21 is prevented from shaking, and the detection effect is prevented from being influenced.
Preferably, the steel wire cable 15 comprises a multi-core shielded cable and a steel wire protective sleeve wrapped outside the shielded cable. The wire cable 15 CAN perform signal transmission and CAN communication, the junction box 22 receives the voltage signal of the underwater sensor 23, and the voltage signal is transmitted through the wire cable 15; the steel wire protective sleeve of the steel wire cable 15 has high corrosion resistance, and ensures reliable transmission and communication of signals of the underwater sensor 23 in an underwater environment.
As shown in fig. 3 and 4, the driving mechanism includes a fixed base 261, a horizontal cylinder 262 and a vertical cylinder 263, the horizontal cylinder 262 is mounted at the bottom of the detection box 21 through the fixed base 261, the vertical cylinder 263 is mounted at the side of the detection box 21 through the fixed base 261, the horizontal cylinder 262 and the vertical cylinder 263 are both enclosed by the fixed base 261, and the target 25 includes a first target 251 and a second target 252; the telescopic rod of the horizontal cylinder 262 is connected with the first object 251, and the telescopic rod of the vertical cylinder 263 is connected with the second object 252; the horizontal cylinder 262 and the vertical cylinder 263 respectively realize the horizontal movement and the vertical movement of the target object 25, realize the adjustable distance between the target object 25 and the detected underwater sensor 23, and facilitate the debugging and the calibration of the detection precision and the like of the underwater sensor 23 during the test.
Preferably, the horizontal cylinder 262 and the vertical cylinder 263 are waterproof cylinders.
The underwater sensor support 24 in this embodiment is connected to the two fixed bases 261 by fasteners.
In addition, the outer sides of the pulley assembly I13 and the pulley assembly II 14 are respectively provided with a protective shell. The protective shell is used for protecting the pulley assembly I13 and the pulley assembly II 14, so that the protective shell not only plays a role in dust prevention, but also can prevent workers from contacting the pulley assembly I13 and the pulley assembly II 14, and personal safety is guaranteed.
The first pulley assembly 13 and the second pulley assembly 14 in this embodiment have the same structure, and each of them includes an inclined support 131 and two pulleys 132 disposed in parallel inside the inclined support 131. The pulley 132 is used for guiding the steel wire cable 15, so that the steel wire cable 15 can be smoother in the process of driving the detection box 21 to descend.
Example III
The invention also provides a control platform, which comprises:
a memory;
the processor communicates with the underwater sensor detection device of the second embodiment, receives the data detected by the underwater sensor 23 and stores the data in the memory, and executes the underwater sensor detection and correction method of the above embodiment and transmits the operation instruction to the underwater sensor detection device of the second embodiment.
In this embodiment, the control platform is connected with the steel wire cable 15 by a signal, and the control platform receives the signal of the underwater sensor 23 through the steel wire cable 15 and controls the driving mechanism to drive the target 25 to move, so as to realize the precision detection and correction of the underwater sensor 23 under different detection distances.
The specific process of detecting the underwater sensor 23 by using the underwater sensor detection device in this embodiment is as follows:
(1) Installing the detected underwater sensor 23 on an underwater sensor fixing frame 24 in the underwater sensor testing device, and calibrating and recording the actual distance between the underwater sensor 23 and the target;
(2) Placing the detection mechanism 2 on the sea floor through a lifting mechanism of the underwater sensor testing device, recording relevant parameters of the detected underwater sensor 23 and the actual distance between the underwater sensor 23 and the target object 25 in a control platform after the detection mechanism 2 is in place, and then starting to test the underwater sensor 23;
(3) Transmitting the analog signal of the distance detected by the underwater sensor 23 and the digital signal for judging whether the underwater sensor 23 detects the target to a control platform in real time through the junction box 22 and the steel wire cable 15;
(4) The control platform stores the analog signals of the detected distance and the data records of the digital signals corresponding to the serial numbers of the underwater sensors 23 and the detected targets 25 through a memory;
(5) Dividing the acquired analog data into a main data cluster C through a density clustering DBSCAN algorithm when the data is in an initial state, and completing the self-adaptive setting of a standard reference value; in the embodiment, the default underwater sensor 23 is mostly undamaged, the functions can be normal, the acquired analog data of the distance quantity can be concentrated near the standard reference value, the density clusters DBSCAN can divide the analog data into the main data clusters C, the self-adaptive setting of the standard reference value is completed, and the wide adaptability of the system in various conditions can be improved;
(6) After the data in the memory reaches a set level, dividing the recorded analog data into a plurality of data clusters by using a density clustering DBSCAN algorithm: C. c1, C2, … …, cn, wherein the largest data cluster C is the normal and accurate main data cluster; the other data clusters are secondary clusters, and belong to the data clusters where various abnormal data points are located;
(7) Processing abnormal data points, when new data in a certain secondary cluster is detected, namely, when new abnormal points appear, recording the new abnormal points as k, and comparing the k with a main data cluster C; calculating the difference B between k and the core point in C and the mean square value sigma of the sum of squares of the differences between k and the elements in C k ThenJudging B and sigma k Whether or not it is smaller than a set threshold (each threshold is specifically set according to the actual situation); the core point is the center of the data cluster, and each data cluster can extract one core point when the density clustering DBSCAN algorithm is carried out;
(8) If B and sigma k If the accuracy of the corresponding underwater sensor 23 of the data meets the requirement and the detection is completed, and meanwhile, the control platform generates a detection qualification report;
(9) If B and sigma k At least one of the underwater sensors 23 exceeds a threshold value, indicating that the underwater sensor 23 is abnormal, feeding back the serial number of the underwater sensor 23 with abnormal precision, feeding back the serial number to a control platform, and simultaneously carrying out precision correction on the data output by the underwater sensor 23;
(10) The control platform sends a motion instruction to the underwater sensor testing device and adjusts the detection distance of the underwater sensor 23;
(11) Repeating the steps (5) - (9) to realize the precision detection and correction of the underwater sensor 23 under different detection distances.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
Claims (10)
1. The underwater sensor detection and correction method comprises the following steps:
s1, acquiring and storing a distance signal of an underwater sensor and a signal of whether a target is detected or not;
s2, dividing the acquired initial simulation data into a main data cluster C by using a density clustering DBSCAN algorithm, and completing the self-adaptive setting of a standard reference value;
s3, dividing analog data reaching orders of magnitude into a main data cluster C and a plurality of secondary data clusters C1, C2 and … Cn by using a density clustering DBSCAN algorithm;
s4, processing abnormal data points of the secondary data clusters, and calculating the mean square difference sigma of the difference value B between the data in the secondary clusters C1, C2 and … Cn and the core point in the main data cluster C and each element in the main data cluster C k ；
S5, judging B and sigma k Whether it is smaller than a set threshold;
s6, if B and sigma k If the accuracy of the corresponding underwater sensor of the data meets the requirement and the detection is completed, and meanwhile, a detection qualification report is generated;
s7, if B and sigma k At least one underwater sensor exceeds a threshold value, indicating that the underwater sensor is abnormal, recording the number of the underwater sensor with abnormal feedback precision, and simultaneously carrying out precision correction on the data output by the underwater sensor;
s8, adjusting the distance between the underwater sensor and the target;
s9, repeating the steps S2-S8, and detecting and correcting the accuracy of the underwater sensor under different detection distances.
2. The method for detecting and correcting the underwater sensor according to claim 1, wherein: in the precision correction method in step S7, gradient fitting correction is performed with the core point of the main cluster C as a target to obtain accurate data.
3. An underwater sensor detection apparatus employing the underwater sensor detection and correction method as described in any one of claims 1 to 2, characterized in that: comprising the following steps: the lifting mechanism is used for conveying the detection mechanism into a submarine environment; the lifting mechanism comprises a bracket, a winch rotationally arranged at the bottom of the bracket, a driving motor for driving the winch to rotate, a pulley assembly I and a pulley assembly II which are arranged at the top of the bracket, and a steel wire cable which slides along the pulley assembly I and the pulley assembly II and one end of which is wound on the winch for signal transmission and CAN communication; the detection mechanism comprises a detection box, wherein a junction box, a plurality of underwater sensors, an underwater sensor fixing frame for fixing the underwater sensors, a target object and a driving mechanism for controlling the movement of the target object are arranged in the detection box; the detection box is connected with the steel wire cable and is controlled by the lifting mechanism to realize lifting action, the junction box is fixed on the inner wall of the detection box and is connected with the steel wire cable, and the underwater sensor is driven.
4. A detection device for an underwater sensor as claimed in claim 3, wherein: the detection box comprises an outer shell and an inner shell with meshes, and dustproof cotton is arranged between the outer shell and the inner shell.
5. A detection device for an underwater sensor as claimed in claim 3, wherein: the bottom of the detection box is provided with a fixed anchor.
6. A detection device for an underwater sensor as claimed in claim 3, wherein: the steel wire cable comprises a multi-core shielding cable and a steel wire protective sleeve wrapped on the outer side of the shielding cable.
7. A detection device for an underwater sensor as claimed in claim 3, wherein: the driving mechanism comprises a fixed base, a horizontal cylinder and a vertical cylinder, wherein the horizontal cylinder is arranged at the bottom of the detection box through the fixed base, the vertical cylinder is arranged on the side surface of the detection box through the fixed base, and the horizontal cylinder and the vertical cylinder are wrapped by the fixed base; the target object comprises a first target object and a second target object; the telescopic rod of the horizontal cylinder is connected with the target object, and the telescopic rod of the vertical cylinder is connected with the target object II.
8. A detection device for an underwater sensor as claimed in claim 3, wherein: and the outer sides of the pulley component I and the pulley component II are respectively provided with a protective shell.
9. The underwater sensor detection apparatus as claimed in claim 8, wherein: the pulley assembly I and the pulley assembly II have the same structure and both comprise an inclined supporting frame and two pulleys which are arranged on the inner side of the inclined supporting frame in parallel.
10. A control platform, characterized by: comprising the following steps:
a memory;
a processor in communication with the underwater sensor detection apparatus as claimed in any one of claims 3 to 9, receiving data detected by the underwater sensor and storing it in the memory, and performing the underwater sensor detection and correction method as claimed in claim 1 and transmitting an operation instruction to the underwater sensor detection apparatus as claimed in any one of claims 3 to 9.
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