Laser, photosensitive, and ultrasonic three-phase fusion brazing device and method

Abstract

The present invention discloses a laser, photosensitive, and ultrasonic three-phase fusion measuring device and method. The measuring device integrates a laser, a linear array photosensitive element, and an ultrasonic probe, and a unified power supply and signal transmission system is set. The three-phase sensing data are mutually integrated according to their confidence in the field working conditions to form a unified three-phase integrated measuring device. A part of the linear array photosensitive element is inserted into the soil to detect the soil surface position; the ultrasonic probe emits ultrasonic waves to the soil, and records the time of emission and reflection of the sound wave to the probe, and obtains the soil surface position by converting the speed of sound. The laser probe at the top of the measuring device emits laser to the soil and detects the reflected light, and obtains the soil surface position according to the phase difference between the emitted light and the detected light. The soil surface position obtained by the above three-phase sensor is subjected to Kalman data fusion to obtain more accurate and reliable soil position information, and realize high-precision and high-reliability monitoring of soil and water loss.

Description

Technical Field

[0001] The invention belongs to the technical field of online detection of soil and water conservation, and specifically relates to a laser, photosensitive and ultrasonic three-phase fusion drilling device and method. Background Art

[0002] The main technology for traditional soil and water loss monitoring is the manual measurement method, which is to insert several steel rods into the ground in the shape of a field, mark them, and record the original soil layer height. Later, by recording the changes in the soil layer height, the amount of soil erosion, i.e., the amount of soil and water loss, is observed and calculated. The above methods mainly rely on manual on-site measurement, which is costly, has a long monitoring cycle and poor timeliness, and cannot meet the needs of information and intelligent soil and water conservation monitoring. Therefore, it is necessary to study intelligent measurement rods that can automatically monitor data.

[0003] In the previous research, various measuring principles based on ultrasonic ranging, laser phase detection, photosensitive detection, laser scanning, etc. have been developed. However, in practical applications, subject to the environment and soil conditions of the test point, a single detection scheme cannot fully cover the full environment, full working conditions, and full-time detection. Since the emission wavelength of the ultrasonic ranging sensor is relatively long, its scattering is not easily affected by the soil particle size. In addition, the ultrasonic emission mode field is large, so the average distance from the sensor to the soil surface within a certain range can be directly obtained. However, ultrasonic ranging also has certain limitations. The speed of sound in the air is greatly affected by environmental factors such as temperature and humidity (temperature changes by 10°C, the speed of sound changes by 6m / s, and the relative change is about 1.6%. The speed of sound difference between dry air and saturated humidity air is about 1.5m / s, and the relative change is about 0.4%). This also leads to the reliability of the data obtained by ultrasonic testing being greatly affected by the environment. Therefore, in order to reasonably apply ultrasonic ranging technology to the field of soil and water conservation, it is necessary to use technologies such as self-calibration to calibrate each ultrasonic measurement data. Compared with ultrasonic ranging, laser ranging has high measurement accuracy and is less affected by the environment, but the beam is smaller and is more easily disturbed by soil particle size. The photosensitive rangefinder based on linear array CCD has no transmitting element and is least affected by the environment, but the device is subject to natural light conditions and cannot work at night.

[0004] The present invention integrates three measuring principles of photosensitivity, laser and ultrasound on one measuring rod, fuses the three sensing schemes, absorbs their respective advantages, forms non-similar redundancy, monitors soil distance at the same time, and fuses the data using a fusion algorithm to obtain more reliable and accurate soil and water loss data. Summary of the invention

[0005] The present invention provides a laser, photosensitive and ultrasonic three-phase fusion drill measuring device and method, which makes up for the limitation of single drill measuring technology and forms a composite drill measuring device with higher accuracy and more reliable data.

[0006] To achieve the above-mentioned purpose, the present invention discloses a laser, photosensitive and ultrasonic three-phase fusion drilling device, 1 comprising a drilling rod, a plurality of photosensitive elements are fixed on the outer wall of the drilling rod to form a linear photosensitive array; an ultrasonic probe, a laser sensor module and a signal processing circuit are installed on the top of the drilling rod, the ultrasonic probe emits ultrasonic waves in the direction of the soil and receives reflected sound waves of the ultrasonic waves, the laser emission direction of the laser sensor module points to the ground, the laser sensor module is used to emit laser and the detector is used to receive the reflected wave of the emitted laser returned from the soil plane; the linear photosensitive array, the ultrasonic probe and the laser sensor module are all connected to the signal processing circuit to transmit the collected signals to the signal processing circuit, and the signal processing circuit is used to calculate the amount of soil and water loss according to the received signals.

[0007] Furthermore, a strip-shaped groove is provided along the length direction of the wall surface of the probe rod, and the linear photosensitive array is installed in the groove.

[0008] Furthermore, the photosensitive element is a linear array CCD.

[0009] Furthermore, the ultrasonic probe, the laser sensor module and the signal processing circuit are all arranged in a protective shell.

[0010] Furthermore, the ultrasonic probe is an ultrasonic transducer.

[0011] Furthermore, a solar power supply system is installed on the top of the probe rod, and the solar power supply system is used to supply power to the ultrasonic probe, the photosensitive module, the laser sensor module and the signal processing circuit.

[0012] The method for measuring the brazing of the brazing device comprises the following steps:

[0013] Step 1: insert the lower part of the probe device into the soil of the measured area;

[0014] Step 2: The linear photosensitive array, ultrasonic probe and laser sensor module start working. The linear photosensitive array senses sunlight and converts it into a current or voltage signal, and transmits the current or voltage signal to the signal processing circuit; the ultrasonic probe transmits the ultrasonic emission time and the reflected sound wave reception time to the signal processing circuit; the laser sensor module transmits the phase difference between the laser emission wave and the reflected wave to the data processing circuit;

[0015] Step 3: The data processing circuit determines the photosensitive element number of the signal output critical position according to the current or voltage signal, and calculates the soil plane position, and obtains the soil and water loss data E according to the change in the soil plane position. c ,

[0016] The data processing circuit calculates the distance between the soil plane and the ultrasonic probe according to the ultrasonic emission time, the reflected sound wave reception time and the sound speed, and obtains the soil and water loss data E through the change in the distance between the soil plane and the ultrasonic probe. a ;

[0017] The data processing circuit calculates the distance between the laser sensor module and the soil plane according to the phase difference between the laser emission wave and the reflected wave, and calculates the soil and water loss data according to the change in the distance between the laser sensor module and the soil plane, which is recorded as E o ;

[0018] Step 4: Use Kalman filter to fuse the data and obtain the fused soil and water loss amount E:

[0019] E=k a E a +k c E c +k o E o

[0020] Among them, k a is the Kalman coefficient of the ultrasonic probe, k c is the Kalman coefficient of the photosensitive element, k o is the Kalman coefficient of the laser, k a , k c and k o It is calibrated according to the actual environment of the deployment point.

[0021] Furthermore, we calibrate k a , k c and k o Finally, adjust k according to the local soil conditions and light conditions of the probe layout. a , k c and k o .

[0022] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0023] The device described in the present invention integrates three sensors, namely laser, linear array photosensor and ultrasonic, on a measuring rod to compensate for the limitations of a single measuring rod solution in practical applications, designs a unified power supply and signal transmission system, and integrates the three-phase sensor data according to their confidence levels in actual working conditions to form a unified three-phase integrated measuring rod device, so as to improve the accuracy and reliability of soil and water loss monitoring based on the measuring rod method.

[0024] Furthermore, a strip groove is provided along the length direction of the wall of the probe rod, and the linear photosensitive array is installed in the groove, so that the probe device has good integrity and the linear photosensitive array is not easily damaged when arranged in the groove.

[0025] Furthermore, the ultrasonic probe, the laser sensor module and the signal processing circuit are all arranged in a protective shell, which protects the ultrasonic probe, the laser sensor module and the signal processing circuit, thereby increasing the service life of the device.

[0026] Furthermore, a solar power supply system is installed on the top of the probe rod to supply power to the ultrasonic probe, the photosensitive module, the laser sensor module and the signal processing circuit, so that the probe device is convenient for field application.

[0027] The method of the present invention inserts part of the linear array photosensitive element into the soil, and the linear array element exposed to the sunlight generates a current signal under the photoelectric effect, while the element under the soil does not sense the sunlight, thereby obtaining the plane position of the soil; the ultrasonic probe installed on the top of the measuring rod emits ultrasonic waves to the soil, and records the time of emission and reflection of the sound wave to the probe, and obtains the soil position through sound velocity conversion; the laser probe on the top of the measuring rod emits laser to the soil, detects the reflected light, and records the phase difference between the emitted light and the detected light to obtain the soil position. The soil position obtained by the three-phase sensor is subjected to Kalman data fusion according to the local soil, light, vegetation interference and other conditions, so as to obtain more accurate and reliable soil position information, thereby realizing high-precision and high-reliability monitoring of soil erosion.

[0028] Furthermore, we calibrate k a , k c and k o Finally, the Kalman coefficient is adjusted according to the local soil conditions and light conditions of the measuring rods, and the three-phase measuring rod data obtained synchronously are subjected to Kalman fusion to obtain soil and water loss data with higher accuracy and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the photosensitive soldering part;

[0030] Figure 2 This is a schematic diagram of the ultrasonic drilling part;

[0031] Figure 3 This is a schematic diagram of the laser drilling part;

[0032] Figure 4 It is an overall schematic diagram of the present invention.

[0033] In the attached figure: 1. measuring rod, 2. photosensitive element, 3. ultrasonic probe, 4. laser sensor module, 5. protective shell, 6. power supply system, 7. data transmission system, 8. signal processing circuit. DETAILED DESCRIPTION

[0034] In order to make the purpose and technical solution of the present invention clearer and easier to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] A laser, photosensitive, and ultrasonic three-phase fusion measuring device and method is used for online monitoring of soil loss and soil erosion. The sensitive position of the photosensitive element to sunlight, the time of sound wave emission and reception, and the phase difference between the laser emission wave and the receiving wave are used to determine the soil plane position, and the amount of soil loss is determined by the change of the soil plane position.

[0037] Example 1

[0038] A laser, photosensitive, and ultrasonic three-phase fusion drill measuring device. Figure 1As shown, a strip groove is provided on one side of the lower part of the probe rod 1 along the length direction of the wall of the probe rod, and a light-transmitting glass is provided on the outside of the groove. A plurality of photosensitive elements 2 are continuously mounted in the groove. The photosensitive elements are photodiodes or linear array CCDs to form a linear photosensitive array, and the photosensitive elements in the photosensitive array are numbered in sequence. A part of the linear photosensitive array is inserted into the soil along with the probe rod 1. The photosensitive elements above the soil surface are sensitive to sunlight and output current or voltage signals. The photosensitive elements under the soil are not exposed to light and do not output light signals. By analyzing the serial number of the photosensitive elements at the critical position of the signal output, the soil plane position can be calculated, thereby obtaining the change in the soil plane, that is, the soil and water loss data, recorded as E c .

[0039] Figure 2 As shown, an ultrasonic probe 3 is installed on the left or right side of the upper part of the probe rod, and the sound wave direction points to the ground. The ultrasonic probe 3 is an ultrasonic transducer. The ultrasonic probe 3 transmits ultrasonic waves toward the soil and receives the reflected sound waves of the ultrasonic waves. The ultrasonic emission time t is calculated by the timing chip in the ultrasonic probe. s and the reflected sound wave receiving time t e , combined with the speed of sound V a , the distance L between the soil plane and the probe is obtained. By monitoring the change of the distance L, the change of the soil plane is obtained, that is, the soil and water loss data E a .

[0040] L=(t e -t s )V a / 2---------------------(1)

[0041] Figure 3 As shown, a laser sensor module 4 is installed on the right or left side of the upper part of the probe rod. The laser sensor module 4 is a combination of a modulator, a laser and a detector or an optical transceiver module. The laser emission direction points to the ground. The modulator is connected to the laser. The laser is used to emit laser. The modulator modulates the laser at a certain frequency k. The detector is used to receive the reflected wave of the emitted laser returned from the soil plane. The phase comparator integrated in the laser sensor module 4 (the phase comparator is a submodule of the signal processing circuit) is used to measure the phase difference Δφ between the laser emission and the reflected wave. The distance between the detector or the optical transceiver module and the soil plane can be calculated according to formula (2) on the processing chip of the signal processing circuit, thereby obtaining the change amount of the soil plane, that is, the soil and water loss data, recorded as E o .

[0042] L=Δφc / 4kπ----------------------(2)

[0043] Where c is the speed of light.

[0044] like Figure 4 As shown, the present invention includes a measuring rod 1, a strip groove is provided along the length direction of the wall of the measuring rod, and a plurality of photosensitive elements 2 are continuously mounted in the groove, the photosensitive elements are photosensitive diodes or linear array CCDs, forming a linear photosensitive array, and the photosensitive elements in the photosensitive array are numbered in order; a protective shell 5 is installed on the top of the measuring rod 1, an ultrasonic probe 3 is installed on the left side of the lower part of the protective shell 5, the ultrasonic probe 3 emits ultrasonic waves in the direction of the soil and receives the reflected sound waves of the ultrasonic waves, and a laser sensor module is installed on the right side of the lower part of the measuring rod. The laser emission direction points to the ground, the modulator is connected to the laser, the laser is used to emit laser, the modulator modulates the laser at a certain frequency k, and the detector is used to receive the reflected wave of the emitted laser returning from the soil plane; a power supply system 6, a data transmission system 7 and a signal processing circuit 8 are arranged above the inner part of the protective shell 5, and the power supply system 6 is used to supply power to the entire device. The input end of the signal processing circuit 8 is connected to the photosensitive element 2, the ultrasonic probe 3 and the laser sensor module 4 through the data transmission system 7, and is used to complete the perception of the photosensitive position of the photosensitive detection, the calculation of the ultrasonic round-trip time difference, the solution of the laser phase difference, and the calculation of the soil and water loss data E according to the photosensitive position. c , calculate the soil and water loss data E based on the ultrasonic round trip time difference a , calculate soil and water loss data E based on phase difference o , and the three-phase soil erosion data E c 、E a and E o Fusion, to obtain the final soil and water loss data E.

[0045] The soil and water loss data measured by the three sensors are fused in the signal processing circuit through the Kalman fusion algorithm. A unified power supply and calculated soil and water loss data transmission system is set on the top of the measuring rod, and the data is transmitted to the data center set by the user for storage, management and application of soil and water loss data. In order to make the measuring rod convenient for field application, the power supply system 6 is a solar power supply system, and the data transmission system 7 adopts 4G wireless transmission.

[0046] Preferably, the length of a single probe rod 1 is about 0.8m to 1.2m, and the side wall is grooved 0.3 to 0.6m from the top of the probe, and a plurality of independent photosensitive detection elements or linear array CCDs are arranged linearly from top to bottom. The probe is buried in the soil at a position of about 0.5m.

[0047] Example 2

[0048] A laser, photosensitive, and ultrasonic three-phase fusion brazing method, based on the three-phase fusion brazing device described in Example 1, comprises the following steps:

[0049] Step 1: insert the lower part of the probe device into the soil of the measured area;

[0050] Step 2: The linear array CCD senses sunlight and transmits the current or voltage signal to the data processing circuit; the ultrasonic probe 3 uses the timing chip to obtain the ultrasonic emission time t s and the reflected sound wave receiving time t e The ultrasonic emission time t s and the reflected sound wave receiving time t e The phase comparator in the laser sensor module 4 calculates the phase difference Δφ between the laser emission wave and the reflected wave and transmits it to the data processing circuit;

[0051] Step 3: The data processing circuit determines the photosensitive element number of the signal output critical position according to the current or voltage signal, and calculates the soil plane position, and obtains the soil and water loss data E according to the change in the soil plane position. c ,

[0052] The data processing circuit is based on the ultrasonic emission time t s and the reflected sound wave receiving time t e , combined with the speed of sound V a , get the distance L between the soil plane and the probe, and get the soil and water loss data E by monitoring the change of distance L a ;

[0053] L=(t e -t s )V a / 2---------------------(1)

[0054] The data processing circuit calculates the distance between the detector or the optical transceiver module and the soil plane according to the phase difference Δφ between the laser emission and the reflected wave according to formula (2), and calculates the soil and water loss data according to the change in the distance between the detector or the optical transceiver module and the soil plane, which is recorded as E o .

[0055] The calculation formula is: L = Δφc / 4kπ----------------------(2)

[0056] Where c is the speed of light.

[0057] Step 4: Use Kalman filter to fuse the data and obtain the fused soil and water loss amount E:

[0058] E=k a E a +k c E c +k o E o ----------------------------(3)

[0059] Among them, k a is the Kalman coefficient of ultrasound probe 3, k c is the Kalman coefficient of the photosensitive element, k o is the Kalman coefficient of the laser, which is calibrated after a certain period of testing according to the actual environment of the deployment point. The Kalman coefficient of the sensor with high confidence in the working environment is increased, such as the Kalman coefficient of the photosensitive sensor at night is set to 0, and the Kalman coefficients of the other two sensors are increased accordingly.

[0060] Preferably, k is calibrated a , k c and k o Finally, the Kalman coefficient is determined according to the local soil conditions and light conditions of the measuring rod layout, and the three-phase measuring rod data obtained synchronously are subjected to Kalman fusion to obtain soil and water loss data with higher accuracy and reliability.

[0061] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A laser, photosensitive, and ultrasonic three-phase fusion brazing device, characterized in that: The invention comprises a probe rod (1), wherein a plurality of photosensitive elements (2) are fixed on the outer wall of the probe rod (1) to form a linear photosensitive array; an ultrasonic probe (3), a laser sensor module (4) and a signal processing circuit (8) are installed on the top of the probe rod (1). The ultrasonic probe (3) emits ultrasonic waves in the direction of the soil and receives reflected sound waves of the ultrasonic waves. The laser emission direction of the laser sensor module (4) points to the ground. The laser sensor module (4) is used to emit lasers and the detector is used to receive reflected waves of the emitted lasers returned from the soil plane. The linear photosensitive array, the ultrasonic probe (3) and the laser sensor module (4) are all connected to a signal processing circuit (8) to transmit the collected signals to the signal processing circuit (8). The signal processing circuit (8) is used to calculate the amount of soil and water loss based on the received signals. A strip-shaped groove is provided along the length direction of the wall surface of the probe rod (1), and the linear photosensitive array is installed in the groove; A solar power supply system (6) is installed on the top of the probe rod (1), and the solar power supply system (6) is used to supply power to the ultrasonic probe (3), the photosensitive element (2), the laser sensor module (4) and the signal processing circuit (8); The input end of the signal processing circuit (8) is connected to the photosensitive element (2), the ultrasonic probe (3) and the laser sensor module (4) through the data transmission system (7), and is used to complete the perception of the photosensitive position of the photosensitive detection, the calculation of the ultrasonic round-trip time difference, the solution of the laser phase difference, and the calculation of the soil and water loss data according to the photosensitive position. E c , calculate soil and water loss data based on ultrasonic round-trip time difference E a , calculate soil and water loss data based on phase difference E o , and the three-phase soil erosion data E c , E a and E o Fusion to obtain the final soil and water loss data E o ; The water and soil erosion data measured by the three sensors are fused in the signal processing circuit through the Kalman fusion algorithm. A unified power supply and calculated water and soil erosion data transmission system is set on the top of the measuring rod to transmit the data to the data center set by the user for storage, management and application of water and soil erosion data. The Kalman filter is used for data fusion to obtain the fused soil and water loss amount E: E=k a E a +k c E c +k o E o in, k a is the Kalman coefficient of the ultrasonic probe (3), k c is the Kalman coefficient of the photosensitive element, k o is the Kalman coefficient of the laser k a 、k c and k o It is calibrated according to the actual environment of the deployment point; Calibration k a 、k c and k o Finally, adjust the layout according to the local soil conditions and light conditions. k a 、k c and k o .

2. A laser, photosensitive, and ultrasonic three-phase fusion brazing device according to claim 1, characterized in that: The photosensitive element is a linear array CCD.

3. The laser, photosensitive and ultrasonic three-phase fusion brazing device according to claim 1 is characterized in that: The ultrasonic probe (3), the laser sensor module (4) and the signal processing circuit (8) are all arranged in the protective shell (5).

4. The laser, photosensitive and ultrasonic three-phase fusion brazing device according to claim 1 is characterized in that: The ultrasonic probe (3) is an ultrasonic transducer.

5. A method for measuring a borehole according to the borehole measuring device of claim 1, characterized in that: The following steps are involved: Step 1: insert the lower part of the probe device into the soil of the measured area; Step 2, the linear photosensitive array, the ultrasonic probe (3) and the laser sensor module (4) start working, the linear photosensitive array senses sunlight and converts it into a current or voltage signal, and transmits the current or voltage signal to the signal processing circuit (8); the ultrasonic probe (3) transmits the ultrasonic emission time and the reflected sound wave reception time to the signal processing circuit (8); the laser sensor module (4) transmits the phase difference between the laser emission wave and the reflected wave to the signal processing circuit (8); Step 3, the signal processing circuit (8) determines the photosensitive element serial number of the signal output critical position according to the current or voltage signal, and calculates the soil plane position, and obtains the soil and water loss data Ec according to the change in the soil plane position. The data processing circuit calculates the distance between the soil plane and the ultrasonic probe (3) according to the ultrasonic emission time and the reflected sound wave reception time and the sound speed, and obtains the soil and water loss data through the change in the distance between the soil plane and the ultrasonic probe (3). E a ; The data processing circuit calculates the distance between the laser sensor module (4) and the soil plane according to the phase difference between the laser emission wave and the reflected wave, and calculates the soil and water loss data according to the change in the distance between the laser sensor module (4) and the soil plane, which is recorded as E o ; Step 4: Use Kalman filter to fuse the data and obtain the fused soil and water loss amount E: E=k a E a +k c E c +k o E o in, k a is the Kalman coefficient of the ultrasonic probe (3), k c is the Kalman coefficient of the photosensitive element, k o is the Kalman coefficient of the laser k a 、k c and k o It is calibrated according to the actual environment of the deployment point; Calibration k a 、k c and k o Finally, adjust the layout according to the local soil conditions and light conditions. k a 、k c and k o .

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