CN104569991A - Sonar detection device for three-dimensional space of mine gob - Google Patents
Sonar detection device for three-dimensional space of mine gob Download PDFInfo
- Publication number
- CN104569991A CN104569991A CN201510064875.2A CN201510064875A CN104569991A CN 104569991 A CN104569991 A CN 104569991A CN 201510064875 A CN201510064875 A CN 201510064875A CN 104569991 A CN104569991 A CN 104569991A
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- CN
- China
- Prior art keywords
- sonar
- sonar sensor
- angular transducer
- control cabinet
- step motor
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Classifications
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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
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
Abstract
The invention discloses a sonar detection device for a three-dimensional space of a mine gob. The sonar detection device comprises a control case and a stepping motor, wherein an output shaft end of the stepping motor is connected with a sonar sensor through an angular sensor, the control case is respectively connected with the stepping motor, the angular sensor and the sonar sensor through cables. The sonar sensor emits and receives a sound signal, a true signal can be obtained by filtering the sound signals, and is processed by ranging control software, and finally a three-dimensional simulation image under the underwater environment can be displayed on a screen. The sonar detection device is low in cost, good in effect, and convenient and fast, the underwater environment information can be conveniently detected, and the sonar detection device is especially applicable to detection of the information on the three-dimensional space of the mine gob.
Description
Technical field
The present invention relates to a kind of mine goaf three dimensions Detection Techniques, particularly relate to a kind of mine goaf three dimensions sonar contact device.
Background technology
Sonar is that a kind of sound that utilizes carries out the instrument detected, and utilizes underwater acoustic wave to carry out submarine target exactly, locates and the electronic equipment communicated, be most widely used in underwater acoustics, of paramount importance a kind of device.
When carrying out observing and measuring in water, only have sound wave the most suitable, this is that the penetration capacity of light in water is very limited because the operating distance of other detection means is all very short, even if in limpid seawater, people also can only see tens meters of only interior objects; Electromagnetic wave is also decayed very fast in water, and wavelength is longer, decays faster; But sound wave is decayed just slow many when water transmission, the sound wave of low frequency can also penetrate the stratum of a few km in seabed, and can obtain the information in stratum.Observe in water, also do not find method more more effective than sound wave so far.
Sonar is made up of critical pieces such as transmitter, transducer, receiver, display, timer, controllers.Transmitter manufactures electric signal, through transducer, launches in water becoming acoustical signal after telecommunications.Acoustical signal is transmitted in water, if run into object will reflect, the sound wave reflected is accepted by transducer, become electric signal again, through amplifying process, in earphone, becoming voice signal, or on screen, show the body form run into, and the data model of two dimension or three-dimensional can be transformed into further, so that represent more clearly in face of us.
The time come and gone according to signal can determine the distance of target, the character of target can be judged according to the height of tone, target if motion, so due to " Doppler effect ", the tone of echo should change to some extent: tone constantly uprises, and illustrates that target is just thinking that we draw close; The continuous step-down of tone, illustrates target just from going away from us.
At present, the Detection Techniques cost of mine goaf three-dimensional spatial information is high, weak effect, use inconvenience, and the sonar contact system of underwater acoustics common in prior art is not suitable for the three-dimensional detection in mine goaf.
Summary of the invention
The object of this invention is to provide that a kind of cost is low, effective, conveniently mine goaf three dimensions sonar contact device.
The object of the invention is to be achieved through the following technical solutions:
Mine goaf of the present invention three dimensions sonar contact device, comprise and control cabinet, step motor, the output shaft end of described step motor is connected with sonar sensor by angular transducer, and described control cabinet is connected with described step motor, angular transducer and sonar sensor respectively by cable.
As seen from the above technical solution provided by the invention, the mine goaf three dimensions sonar contact device that the embodiment of the present invention provides, owing to accepting voice signal by sonar sensor emission, through the filtration to voice signal, draw actual signal, again by range finding control software design to real sound signal processing, on screen, finally demonstrate the three-dimensional simulation image of environment under water.Cost is low, effective, convenient and swift, and convenient detection underwater environment information, is particularly useful for the detection of mine goaf three-dimensional spatial information.
Accompanying drawing explanation
The structural representation of the mine goaf three dimensions sonar contact device that Fig. 1 provides for the embodiment of the present invention.
In figure:
1, cabinet is controlled, 2, cable, 3, high sensitivity angular transducer, 4, high speed three-dimensional space sonar sensor, 5, high precision step motor.
Embodiment
To be described in further detail the embodiment of the present invention below.
Mine goaf of the present invention three dimensions sonar contact device, its preferably embodiment be:
Comprise and control cabinet, step motor, the output shaft end of described step motor is connected with sonar sensor by angular transducer, and described control cabinet is connected with described step motor, angular transducer and sonar sensor respectively by cable.
Described step motor, angular transducer and sonar sensor are respectively high precision step motor, high sensitivity angular transducer and high speed three-dimensional sonar sensor.
Instruction is sent to described step motor, angular transducer and sonar sensor by described control cabinet, the lifting of angular transducer and sonar sensor is driven by described step motor, sonar sensor is driven to carry out 360 ° of rotations by described angular transducer, accept acoustic signals by described sonar sensor emission, by described control cabinet, the acoustic signals passed back is processed, form image information.
By the terrain information of following steps detection differing heights plane, and the final terrain information forming three-dimensional;
A, by control cabinet send steering order by cable to angular transducer and sonar sensor, angular transducer carries out 360 ° of angles according to the instruction accepted and rotates, sonar sensor emission voice signal simultaneously, and the voice signal that acceptance is sent back after reflection, then pass the signal received back control cabinet by cable;
B, filtered the voice signal passed back by control cabinet, obtain truly useful signal, real signal, after range finding control software design process, converts image information to;
C, obtain a plane picture after, control the height of cabinet to sonar sensor as required and adjust, repeat step B, obtain the image of another plane;
D, repetition step C, obtain multiple plane picture, eventually pass and control cabinet process, obtain institute's survey area three-dimensional terrain model accurately.
Mine goaf of the present invention three dimensions sonar contact device, be by sonar sensor emission and accept voice signal, through the filtration to voice signal, draw actual signal, again by range finding control software design to real sound signal processing, on screen, finally demonstrate the three-dimensional simulation image of environment under water.Cost is low, effective, convenient and swift, and convenient detection underwater environment information, is particularly useful for the detection of mine goaf three-dimensional spatial information.
Specific embodiment:
As shown in Figure 1, control cabinet, cable, high precision step motor, high sensitivity angular transducer and high speed three-dimensional sonar sensor is comprised.Other parts are controlled by cable by control cabinet.
Comprise step:
(1) steering order is sent by cable to angular transducer and sonar sensor by control cabinet, angular transducer carries out angle rotation (can rotating 360 degrees) according to the instruction accepted, sonar sensor emission voice signal simultaneously, and the voice signal that acceptance is sent back after reflection, then pass the signal received back control cabinet by cable;
(2) filtered the voice signal passed back by control cabinet, obtain truly useful signal, real signal, after the process of range finding control software design, converts image information to;
(3), after obtaining a plane picture, control the height of cabinet to sonar sensor as required and adjust, repeat step (2), obtain the image of another plane;
(4) repeat step (3), obtain multiple plane picture, eventually pass and control cabinet process, obtain institute's survey area three-dimensional terrain model accurately.
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (4)
1. a mine goaf three dimensions sonar contact device, it is characterized in that, comprise and control cabinet, step motor, the output shaft end of described step motor is connected with sonar sensor by angular transducer, and described control cabinet is connected with described step motor, angular transducer and sonar sensor respectively by cable.
2. mine goaf according to claim 1 three dimensions sonar contact device, it is characterized in that, described step motor, angular transducer and sonar sensor are respectively high precision step motor, high sensitivity angular transducer and high speed three-dimensional sonar sensor.
3. mine goaf according to claim 2 three dimensions sonar contact device, it is characterized in that, instruction is sent to described step motor, angular transducer and sonar sensor by described control cabinet, the lifting of angular transducer and sonar sensor is driven by described step motor, sonar sensor is driven to carry out 360 ° of rotations by described angular transducer, accept acoustic signals by described sonar sensor emission, by described control cabinet, the acoustic signals passed back is processed, form image information.
4. mine goaf according to claim 3 three dimensions sonar contact device, is characterized in that, by the terrain information of following steps detection differing heights plane, and the final terrain information forming three-dimensional;
A, by control cabinet send steering order by cable to angular transducer and sonar sensor, angular transducer carries out 360 ° of angles according to the instruction accepted and rotates, sonar sensor emission voice signal simultaneously, and the voice signal that acceptance is sent back after reflection, then pass the signal received back control cabinet by cable;
B, filtered the voice signal passed back by control cabinet, obtain truly useful signal, real signal, after range finding control software design process, converts image information to;
C, obtain a plane picture after, control the height of cabinet to sonar sensor as required and adjust, repeat step B, obtain the image of another plane;
D, repetition step C, obtain multiple plane picture, eventually pass and control cabinet process, obtain institute's survey area three-dimensional terrain model accurately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510064875.2A CN104569991A (en) | 2015-02-06 | 2015-02-06 | Sonar detection device for three-dimensional space of mine gob |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510064875.2A CN104569991A (en) | 2015-02-06 | 2015-02-06 | Sonar detection device for three-dimensional space of mine gob |
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| CN104569991A true CN104569991A (en) | 2015-04-29 |
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| CN201510064875.2A Pending CN104569991A (en) | 2015-02-06 | 2015-02-06 | Sonar detection device for three-dimensional space of mine gob |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105093209A (en) * | 2015-08-14 | 2015-11-25 | 河海大学 | Random pulse removing method suitable for extracting stable features of one-dimensional sonar range profile |
| CN105388468A (en) * | 2015-10-29 | 2016-03-09 | 番禺得意精密电子工业有限公司 | Scanning method of laser detection device |
| CN106968673A (en) * | 2017-02-27 | 2017-07-21 | 中铁十九局集团有限公司 | Metal Open mountain goaf harnessing method |
| WO2019047391A1 (en) * | 2017-09-07 | 2019-03-14 | 石家庄铁道大学 | Device for measuring three-dimensional information of underground space and detection method therefor |
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| CN103969652A (en) * | 2014-05-19 | 2014-08-06 | 么彬 | Three-dimensional scanning acoustic imaging device |
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| US5876342A (en) * | 1997-06-30 | 1999-03-02 | Siemens Medical Systems, Inc. | System and method for 3-D ultrasound imaging and motion estimation |
| CN101294917A (en) * | 2008-06-25 | 2008-10-29 | 哈尔滨长城水下高技术有限公司 | Method for detecting aqueduct well by underwater robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105093209A (en) * | 2015-08-14 | 2015-11-25 | 河海大学 | Random pulse removing method suitable for extracting stable features of one-dimensional sonar range profile |
| CN105093209B (en) * | 2015-08-14 | 2017-06-09 | 河海大学 | Suitable for the random pulse minimizing technology that sonar one-dimensional range profile invariant feature is extracted |
| CN105388468A (en) * | 2015-10-29 | 2016-03-09 | 番禺得意精密电子工业有限公司 | Scanning method of laser detection device |
| CN106968673A (en) * | 2017-02-27 | 2017-07-21 | 中铁十九局集团有限公司 | Metal Open mountain goaf harnessing method |
| WO2019047391A1 (en) * | 2017-09-07 | 2019-03-14 | 石家庄铁道大学 | Device for measuring three-dimensional information of underground space and detection method therefor |
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