CN102175229B - Underwater laser positioning method - Google Patents
Underwater laser positioning method Download PDFInfo
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- CN102175229B CN102175229B CN201110038121A CN201110038121A CN102175229B CN 102175229 B CN102175229 B CN 102175229B CN 201110038121 A CN201110038121 A CN 201110038121A CN 201110038121 A CN201110038121 A CN 201110038121A CN 102175229 B CN102175229 B CN 102175229B
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- laser
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- under water
- laser beam
- pick
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Abstract
The invention discloses an underground laser positioning method which comprises the steps of: sending a laser beam by using a laser emitter; irradiating a laser receiving screen by using the laser beam, wherein the laser beam forms a laser receiving mark on the laser receiving screen; monitoring the laser receiving mark by using an inducing element; and comparing the laser receiving mark with a positioning reference mark. In the invention, effective centering distance for plugging a test door can reach 15m and the requirement on common underwater motion objects for control and in-position control works are completely met.
Description
Technical field
The present invention relates to the subsea equipment location, particularly a kind of underwater laser localization method.
Background technology
At present; The power station dam is under water in the hole repairing construction operation process; When the target in the water body big at flow velocity, that water body is muddy and fluidised form is disorderly in the feedwater positions; Its physical location that records receives the influence of current and can't accurately locate, and brings harm under water construction quality, the purpose of this invention is to provide a kind of the accurately in place to neutralizing of sub aqua sport object (like automatic location buoyancy aid closure gate) that be used to guide.
Summary of the invention
The object of the present invention is to provide a kind of underwater laser localization method.
Technical scheme of the present invention is:
A kind of localization method under water comprises:
Utilize generating laser to give off laser beam;
Utilize said laser beam irradiation laser pick-off screen, said laser beam forms the laser pick-off mark on said laser pick-off screen;
Utilize this laser pick-off mark of sensing element monitoring;
Contrast said laser pick-off mark and positioning reference mark.
Wherein, said generating laser sends a plurality of laser beam, said a plurality of laser beam arrangement across.
Wherein, contrast said laser pick-off mark and said positioning reference mark and comprise the registration of confirming said laser pick-off mark and said positioning reference mark.
Wherein, this method also comprises according to determined registration and confirms calibrating mode.
Wherein, said sensing element is the underwater camera head, said positioning reference mark be show on the monitor scope, the cross curve of mark reference position.
Wherein, said laser pick-off screen is installed on the immersed body to be positioned.
Wherein, said generating laser is a semiconductor diode laser.
Positive progressive effect of the present invention is: to shutoff test door effectively can reach 15m to middle distance, satisfy the manipulation and the control job requirements in place of general sub aqua sport object fully.
Description of drawings
Fig. 1 is the process flow diagram according to method of the present invention.
Fig. 2 is an example according to generating laser of the present invention.
Fig. 3 overlaps synoptic diagram according to mark of the present invention.
Fig. 4 is according to remote centering effect synoptic diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing illustrated embodiment the present invention is elaborated.
Underwater laser localization method of the present invention; Be to be power station dam hole reparation under water (that is: upper reaches hydraucone import to break down maintenance door section; As: the flood discharge bottom hole for sand flushing; Flood discharging tunnel maintenance lock, power tunnel import etc.) the buoyancy aid closure gate of locating is automatically under water handled in place and localization method under water exploitation.
Of Fig. 1, according to the process flow diagram of localization method under water 100 of the present invention.This method comprises: utilize generating laser give off laser beam (step 110); Utilize said laser beam irradiation laser pick-off screen, said laser beam forms laser pick-off mark (step 120) on said laser pick-off screen; Utilize this laser pick-off mark (step 130) of sensing element monitoring; Contrast said laser pick-off mark and said positioning reference mark (step 140); Confirm calibrating mode (step 150) according to determined registration.Wherein contrast said laser pick-off mark and said positioning reference mark (step 140) and comprise the registration of confirming said laser pick-off mark and said positioning reference mark.
Wherein, said generating laser sends a plurality of laser beam, and said a plurality of laser beam arrangement across are as shown in Figure 2.Said sensing element is the underwater camera head, said positioning reference mark be show on the monitor scope, the cross curve of mark reference position, as shown in Figure 3.
Wherein, said laser pick-off screen is installed on the immersed body to be positioned.
Wherein, said generating laser is a semiconductor diode laser.
The equipment that the present invention adopts comprises that (semiconductor diode laser is made up of 9 groups of Laser Devices, is arranged on the bottom outlet support, Fig. 1) and test light target compositions such as (laser pick-off screens) for UWTV camera, generating laser.Through cooperatively interacting of UWTV camera and underwater laser transmitter and test light target (laser pick-off screen), guiding underwater buoyant body closure gate is in place to neutralizing.
Under water in the shutoff construction operation process, UWTV camera, test light target are installed on the sub aqua sport object (like automatic location buoyancy aid closure gate), generating laser is installed under water on the light target support.In the motion process of sub aqua sport object (like automatic location buoyancy aid closure gate) in water; Observe by the UWTV camera cross laser source test under water on the light target support (lasing light emitter) and the cross curve in the television reception video image to the overlapping situation in place (Fig. 3) that neutralizes, handle (Fig. 4) accurately in place of guiding sub aqua sport object (like automatic location buoyancy aid closure gate) to neutralizing.
Test in the Underwater Engineering experimental tank shows; In existing Laser Devices; Semiconductor diode laser not only has characteristics such as the high monochromaticity of general laser instrument, high coherence, high directivity and collimation; Have also that size is little, in light weight, low-voltage driving, direct series of advantages such as modulation, and form images under water and the application of succeeding of undersea ranging aspect.The light target lasing light emitter of this method is selected 2001 type diode lasers of LASER DIODE company for use.The major parameter of this laser instrument is: wavelength 630～680nm, output power＜1mW.
Test shows that the testing laser target effectively can reach 15m to middle distance to shutoff test door, satisfies the manipulation and the control job requirements in place of general sub aqua sport object fully.
Although the present invention describes according to its preferred implementation, there are the change, displacement and the various substitute equivalents that fall in the scope of the invention.Here the example that provides only is illustrative, rather than limitation of the present invention.
For the sake of simplicity, this instructions has omitted the description to known technology.
Claims (6)
1. localization method under water comprises:
Utilize generating laser to give off laser beam;
Utilize said laser beam irradiation laser pick-off screen, the laser pick-off screen is installed on the immersed body to be positioned, and said laser beam forms the laser pick-off mark on said laser pick-off screen;
Utilize this laser pick-off mark of sensing element monitoring;
Contrast said laser pick-off mark and positioning reference mark;
Wherein, sensing element is the underwater camera head, said positioning reference mark be show on the monitor scope, the mark of mark reference position.
2. localization method under water according to claim 1 is characterized in that said generating laser sends a plurality of laser beam, said a plurality of laser beam arrangement across.
3. localization method under water according to claim 1 is characterized in that, contrasts said laser pick-off mark and said positioning reference mark and comprises the registration of confirming said laser pick-off mark and said positioning reference mark.
4. localization method under water according to claim 3 is characterized in that, this method also comprises according to determined registration confirms calibrating mode.
5. localization method under water according to claim 1 is characterized in that, said positioning reference mark be show on the monitor scope, the cross curve of mark reference position.
6. localization method under water according to claim 1 is characterized in that said generating laser is a semiconductor diode laser.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110038121A CN102175229B (en) | 2011-02-15 | 2011-02-15 | Underwater laser positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110038121A CN102175229B (en) | 2011-02-15 | 2011-02-15 | Underwater laser positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102175229A CN102175229A (en) | 2011-09-07 |
| CN102175229B true CN102175229B (en) | 2012-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110038121A Expired - Fee Related CN102175229B (en) | 2011-02-15 | 2011-02-15 | Underwater laser positioning method |
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| Country | Link |
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| CN (1) | CN102175229B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105629981A (en) * | 2016-02-04 | 2016-06-01 | 青岛市光电工程技术研究院 | Underwater laser guide method |
| CN105783732A (en) * | 2016-03-15 | 2016-07-20 | 武汉华海创智科技有限公司 | Computer-vision-based underwater laser datum line measuring system |
| CN108827191A (en) * | 2018-08-17 | 2018-11-16 | 长江三峡通航管理局 | Miter Lock Gates close up Shaft alignment state monitoring system |
| CN111692918A (en) * | 2019-08-09 | 2020-09-22 | 刘翔 | Underwater guidance method |
Citations (3)
| 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 |
| CN2302499Y (en) * | 1997-05-05 | 1998-12-30 | 南京理工大学 | Portable laser pavement deflection detecting instrument |
| CN101178303A (en) * | 2007-11-26 | 2008-05-14 | 刘洪云 | Method and device for testing railway by laser and device thereof |
-
2011
- 2011-02-15 CN CN201110038121A patent/CN102175229B/en not_active Expired - Fee Related
Patent Citations (3)
| 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 |
| CN2302499Y (en) * | 1997-05-05 | 1998-12-30 | 南京理工大学 | Portable laser pavement deflection detecting instrument |
| CN101178303A (en) * | 2007-11-26 | 2008-05-14 | 刘洪云 | Method and device for testing railway by laser and device thereof |
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| Publication number | Publication date |
|---|---|
| CN102175229A (en) | 2011-09-07 |
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Granted publication date: 20121003 Termination date: 20140215 |