Unmanned ship for three-dimensional sonar scanning measurement of bridge scouring and underwater diseases and measurement method thereof

Abstract

The invention discloses an unmanned ship for three-dimensional sonar scanning measurement of bridge scouring and underwater diseases and a measurement method of the unmanned ship. A measurement device comprises a ship body and sonar arranged on the ship body. The control assembly is installed on the central axis of the bottom of the ship body, the gyroscope is locked in the preset scanning direction of the sonar, and the inertial navigation system is used for recording ship traveling data of the ship body. The control assembly comprises a first holder for controlling the sonar to rotate in the ship traveling direction, a second holder for controlling the sonar to rotate in the direction perpendicular to the ship traveling direction, and a third holder for controlling the sonar to rotate in the direction perpendicular to the plane formed by the rotation directions of the first holder and the second holder. The sonar is regulated and controlled through the control assembly, so that the scanning measurement operation posture of the sonar is more flexible, meanwhile, the gyroscope and the inertial navigation system are used as the basis for regulating and controlling the posture of the sonar, the sonar can be adjusted to be in the preset scanning direction all the time, and the underwater structure of the bridge and the scoured terrain can be comprehensively covered.

Description

Technical Field

[0001] The invention relates to a three-dimensional sonar measuring device and a measuring method thereof, and in particular to an unmanned boat used for three-dimensional sonar scanning of bridge scour and underwater damage and a measuring method thereof. Background Art

[0002] Bridges are important infrastructures that play a role in transportation such as roads and railways. Due to the long-term impact of water flow and other environmental factors, the underwater part of the bridge is prone to various diseases, such as concrete cracking and steel corrosion. These diseases not only affect the structural safety of the bridge, but may also cause damage or even loss of bridge functions, posing serious safety hazards to transportation. In addition, the underwater part of the bridge is also susceptible to water scouring. The scouring of water flow can cause surface deformation, erosion and even local damage to components such as piers and foundations, thereby affecting the stability and service life of the bridge. Therefore, timely detection and monitoring of underwater bridge diseases and scouring conditions are crucial to ensure the safe operation of the bridge.

[0003] In the prior art, sonar is mostly used to monitor the damage of water scouring and underwater diseases to bridges. Sonar transmits sound waves and receives their echo signals. It uses the speed of sound waves propagating in the medium and the time difference of echo signals to calculate the target distance. By controlling the emission angle and receiving direction of the sound waves, the horizontal azimuth and pitch angle of the target are determined, thereby realizing the positioning and imaging of the target in three-dimensional space. However, most of the existing sonars are fixedly installed on the side of the survey ship. The survey ship is driven to move along a certain lateral line to measure the underwater diseases and scouring conditions of the underwater foundation. Since the position of the sonar is fixed, the rotation and movement of the sonar can only be indirectly controlled by controlling the operation of the survey ship. The survey ship is large in size and is affected by the specific environment during operation. Therefore, the rotation and movement of the sonar are limited, and it is impossible to achieve comprehensive coverage of the underwater structure of the bridge and the scouring terrain. In addition, the operation is cumbersome and the measurement cost is high. Summary of the invention

[0004] Purpose of the invention: The first purpose of the present invention is to provide an unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage, which can fully cover the underwater structure of the bridge and the scour terrain.

[0005] The second object of the present invention is to provide a measurement method of an unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage.

[0006] Technical solution: The present invention discloses an unmanned boat for three-dimensional sonar scanning of bridge scour and underwater defects, including a hull and a sonar arranged on the hull, and also includes a control component installed on the central axis of the bottom of the hull for connecting and adjusting the scanning direction of the sonar, a gyroscope locked in the preset scanning direction of the sonar and installed inside the hull cabin, an inertial navigation system for recording the hull ship's movement data, and a controller of the data adjustment control component based on the gyroscope and the inertial navigation system, wherein the control component includes a first pan-tilt control unit for controlling the sonar to rotate in the ship's movement direction, a second pan-tilt control unit for controlling the sonar to rotate in a direction perpendicular to the ship's movement direction, and a third pan-tilt control unit for controlling the sonar to rotate in a direction perpendicular to the plane formed by the rotation directions of the first pan-tilt control unit and the second pan-tilt control unit.

[0007] Furthermore, it also includes a stabilizing component symmetrically arranged on both sides of the hull, the stabilizing component includes two directional hinge supports symmetrically installed on the side of the ship, a roll-stabilizing fin connected to the hull through the directional hinge supports, a bilge keel fixedly installed on the bilge, two quick-release supports arranged between the two directional hinge supports and connected to the hull, a connecting rod connected to the quick-release supports, and a side plate body fixedly connected to the other ends of the two connecting rods.

[0008] Furthermore, the connecting rod is configured as a telescopic rod, and the telescopic rod is electrically connected to the controller.

[0009] Furthermore, a base plugged into the control component is installed at the top of the sonar, and pin holes are provided on the base and the control component. A positioning pin is installed on one side of the base through a spring, and the positioning pin is plugged into the base and the control component through the pin hole.

[0010] Furthermore, it also includes a power propeller installed at the tail of the hull, and the power propeller is electrically connected to the controller.

[0011] Based on the same inventive concept, the present invention also provides a measurement method of an unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage, comprising the following steps:

[0012] S1: Before the hull is started, the scanning direction of the sonar is set, and then the gyroscope is started and locked in a posture consistent with the scanning direction of the sonar, and the gyroscope records the scanning direction data and transmits it to the controller;

[0013] S2: After the hull is started, the inertial navigation system obtains the hull's ship data in real time and transmits it to the controller;

[0014] S3: Calculate the control deviation between the current scanning direction of the sonar and the set scanning direction based on the scanning direction data and the ship's travel data;

[0015] S4: Calculate the pan / tilt control amount of the control component rotating the sonar according to the control deviation;

[0016] S5: converting the PTZ control quantity to obtain the corresponding rotation angle of the control component;

[0017] S6: The controller adjusts the rotation of the control component in real time according to the rotation angle, so that the sonar always maintains the set scanning direction. The controller controls the gyroscope to rotate and lock the posture after the sonar rotates;

[0018] S7: Repeat steps S2 to S6 until the scan is completed.

[0019] Furthermore, the scanning direction data includes the roll direction angle α(t), pitch direction angle β(t) and yaw direction angle γ(t) of the gyroscope in the ship's center of mass coordinate system at this time.

[0020] Furthermore, the ship's travel data includes the current rolling angle α of the ship s (t), pitch angle β s (t) and yaw angle γ1(t).

[0021] Furthermore, the calculation formula of the control deviation is as follows:

[0022]

[0023] The calculation formula of the PTZ control quantity is as follows:

[0024]

[0025] Where K p Refers to the proportional value of the proportional calculation, T i Refers to the time constant of the integral calculation, T d Refers to the time constant of the differential calculation.

[0026] Furthermore, the method of converting the PTZ control amount and obtaining the corresponding rotation angle of the control component is as follows:

[0027] The error control for each sampling point is adopted, and the differential processing is performed based on the first-order backward difference method. The differential calculation formula of the control deviation is as follows:

[0028]

[0029] Where k represents the sampling time, T is the sampling period, θ(k) and θ(k-1) are the error signals at the kth sampling time and the (k-1)th sampling time;

[0030] The cumulative operation is used instead of the integral operation, and the calculation formula is as follows:

[0031]

[0032] The sampling point KT is used instead of the continuous time t, and the calculation formula is as follows:

[0033] t=KT(k=0,1,2,...);

[0034] The sonar directional digital PID is obtained by summarizing, and the corresponding rotation angle of the gimbal is adjusted according to the calculated action amount. The calculation expression is:

[0035]

[0036] where k i =k p / T,k d =k d T d .

[0037] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the present invention adjusts the underwater operating posture of the sonar through the control component, so that the sonar scanning operating posture is more flexible, and uses the gyroscope and the inertial navigation system as the basis for adjusting the sonar posture, which is conducive to adjusting the sonar posture so that it is always in the preset scanning direction, and can fully cover the underwater structure of the bridge and the scouring terrain, and can improve the accuracy of the sonar in large-angle underwater scanning and the stability during operation; the setting of the stabilizing component can reduce the shaking amplitude of the hull, which is conducive to improving the stability of the hull sailing in the water; the setting of the locating pin makes the sonar easy to install and disassemble, reduces the cumbersome steps in the installation process, facilitates the sonar scanning operation, and is conducive to improving the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A top view of the hull of the device of the present invention;

[0039] Figure 2 A left side view of the hull of the device of the present invention;

[0040] Figure 3 A cross-sectional view of a hull of the device of the present invention;

[0041] Figure 4 It is a structural schematic diagram of the hull control component of the device of the present invention;

[0042] Figure 5 It is a structural schematic diagram of the quick-release support of the device of the present invention;

[0043] Figure 6 A front view of the base and sonar of the device of the present invention;

[0044] Figure 7 is a cross-sectional view of a positioning pin of the device of the present invention;

[0045] Figure 8 Flow chart of the method of the present invention. DETAILED DESCRIPTION

[0046] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0047] Example 1

[0048] The unmanned boat for three-dimensional sonar scanning of bridge scouring and underwater damage described in the present invention is as follows: Figures 1 to 3 As shown, it includes a hull 1, a sonar 2, a control component 3, a gyroscope 4, an inertial navigation system 5, a controller 6, a stabilizing component 10 and a power propeller 19. The control component 3 is installed on the bottom center axis of the hull 1, and the gyroscope 4 is installed inside the cabin of the hull 1. Figure 6 and Figure 7 As shown, a base 17 plugged into the control component 3 is installed at the top of the sonar 2, and pin holes are provided on the base 17 and the control component 3. A positioning pin 18 is installed on one side of the base 17 through a spring, and the positioning pin 18 is plugged into the base 17 and the control component 3 through the pin hole, that is, the sonar 2 is detachably connected to the control component 3 through the positioning pin 18; the control component 3 includes a first pan-tilt 7 for controlling the sonar 2 to rotate in the direction of the ship, a second pan-tilt 8 for controlling the sonar 2 to rotate perpendicular to the direction of the ship, and a third pan-tilt 9 for controlling the sonar 2 to rotate in a direction perpendicular to the plane formed by the rotation directions of the first pan-tilt 7 and the second pan-tilt 8, as shown in FIG. Figure 1 As shown, the first platform 7 rotates around the x-axis, and the second platform 8 rotates around the y-axis. Figure 2 As shown, the third gimbal rotates around the z-axis; Figure 4As shown, the control component 3 and the sonar 2 are electrically connected to the controller 6 respectively. Preferably, a connecting pipe is installed at the bottom of the hull 1, and cable channels are reserved at the bottom of the hull 1 and inside the connecting pipe. A dedicated communication cable for information communication between the sonar 2 and the control component 3 passes through the cable channel and is connected to the controller 6; preferably, the controller 6 is preferably an industrial-grade portable computer, and a mobile power supply 21 for power supply is installed inside the cabin of the hull 1. The controller 6 adjusts the rotation of the first pan-tilt head 7, the second pan-tilt head 8 and the third pan-tilt head 9 of the control component 3, thereby adjusting the scanning direction of the sonar 2. Before the hull 1 is started, the gyroscope 4 is locked in a posture consistent with the initially set scanning direction of the sonar 2. During the movement of the hull 1, the gyroscope 4 is not affected by the movement direction, angle, etc. of the hull 1, and is always locked in the initially set scanning direction of the sonar 2. The inertial navigation system 5 is used to record the ship movement data of the hull 1. The controller 6 uses the PID control algorithm to correct the real-time scanning direction of the sonar 2 based on the real-time ship movement data obtained by the inertial navigation system 5 and the posture locked by the gyroscope 4 so that the scanning direction of the sonar 2 is maintained in a fixed direction. The antenna 20 of the inertial navigation system 5 is installed on the deck of the hull 1 by bolts, and a pipe for connecting the inertial navigation system 5 and the antenna 20 is reserved inside the hull 1, and a special communication cable for connecting the two is arranged in the pipe; the controller 6 adjusts the control component 3 according to the attitude of the gyroscope 4 and the real-time ship movement data of the hull 1 obtained by the inertial navigation system 5, so that the control component 3 adjusts the scanning direction of the sonar 2 in real time, so that the scanning direction of the sonar 2 is always consistent with the initially set scanning direction; there are two groups of stabilization components 10, which are symmetrically installed on both sides of the hull 1, and are used to improve the stability of the hull 1 when sailing. The power propeller 19 is installed at the tail of the hull 1, and the power propeller 19 is electrically connected to the controller 6, and the power propeller 19 can be adjusted by the controller 6 to drive the hull 1 to move forward.

[0049] like Figure 1 , Figure 2 and Figure 5As shown, the stabilizing assembly 10 includes a directional hinge support 11, a roll stabilizer fin 12, a bilge keel 13, a quick-release support 14, a connecting rod 15 and a side plate body 16. A set of stabilizing assemblies 10 is provided with two directional hinge supports 11, and the two directional hinge supports 11 are symmetrically installed on the side of the ship. The roll stabilizer fin 12 is connected to the hull 1 through the directional hinge support 11. The roll stabilizer fin 12 and the directional hinge support 11 are used to reduce the shaking of the hull 1; the bilge keel 13 is fixedly installed on the bilge, and the bilge keel 13 is used to lift the hull 1 when the ship is sailing. Stability; a group of stabilizing components 10 is provided with two quick-release supports 14, the two quick-release supports 14 are symmetrically mounted on the hull 1, and the two quick-release supports 14 are located between the two directional hinge supports 11, the other ends of the two quick-release supports 14 are respectively connected with connecting rods 15, and the side body panels 16 are fixedly connected to the ends of the two connecting rods 15 away from the hull 1. The arrangement of the quick-release supports 14, the connecting rods 15 and the side body panels 16 can convert the hull 1 structure into a multi-hull ship to improve the stability and wave resistance of the hull 1. Preferably, the connecting rod 15 is arranged as a telescopic rod, and the telescopic rod is electrically connected to the controller 6. The connecting rod 15 is arranged at an angle. The use of a telescopic connecting rod 15 can adjust the height and position of the side panel 16, change the center of gravity position of the overall structure and increase the moment of inertia to improve the wave resistance of the hull 1. The arrangement of the quick-release supports 14 can realize the rapid installation and disassembly of the connecting rod 15, and facilitate the subsequent maintenance of the connecting rod 15 and the side body panels 16.

[0050] Example 2

[0051] The present invention provides a method for measuring bridge scour and underwater damage using an unmanned boat using three-dimensional sonar scanning, such as Figure 8 As shown, the following steps are included:

[0052] S1: Before the hull 1 is started, the scanning direction of the sonar 2 is set, and then the gyroscope 4 is started and locked in a posture consistent with the scanning direction of the sonar 2, and the scanning direction data on the gyroscope 4 is transmitted to the controller 6; wherein the scanning direction data includes the roll direction angle α(t), pitch direction angle β(t) and yaw direction angle γ(t) of the gyroscope 4 in the center of mass coordinate system of the hull 1 at this time.

[0053] S2: After the hull 1 is started, the inertial navigation system 5 obtains the ship's travel data in real time and transmits it to the controller 6; the ship's travel data includes the current rolling direction angle α of the hull 1 s (t), pitch angle β s (t) and yaw angle γ1(t).

[0054] S3: Calculate the control deviation between the current scanning direction of the sonar 2 and the set scanning direction based on the scanning direction data and the ship data; and the calculation formula of the control deviation is as follows:

[0055]

[0056] S4: Calculate the pan-tilt control amount of the control component 3 rotating the sonar 2 according to the control deviation; the calculation formula of the pan-tilt control amount is as follows:

[0057]

[0058] Where K p Refers to the proportional value of the proportional calculation, T i Refers to the time constant of the integral calculation, T d Refers to the time constant of the differential calculation.

[0059] The calculated θ(t) is used to calculate the deviation in proportion, integration and differentiation. First, the proportion is calculated. If the control direction of the sonar 2 deviates, the gimbal will be immediately controlled to adjust the direction of the sonar 2. The strength of the adjustment varies with the proportion value K. p As the time constant T increases, the deviation of the system is adaptively reduced to ensure that the sonar 2 will not become unstable due to the existence of steady-state error. Secondly, the integral calculation is used to adjust the stability of the system and the positive and negative indifference of the control. The intensity of the integral calculation adjustment is determined by the time constant T i The larger the value, the smaller the impact on system adjustment; the last is the differential calculation, which is used to adjust the deviation signal and the differential output of the error θ(t) to ensure the effectiveness of signal control when the error suddenly changes and to ensure effective signal correction in the early stage. The control strength is determined by the time constant T of the differential action. d Decide.

[0060] S5: The PTZ control quantity is converted to obtain the rotation angle corresponding to the control component 3. The error control for each sampling point is adopted, and the differential processing is performed based on the first-order backward difference method. The differential calculation formula of the control deviation is as follows:

[0061]

[0062] Where k represents the sampling time, T is the sampling period, θ(k) and θ(k-1) are the error signals at the kth sampling time and the (k-1)th sampling time;

[0063] Cumulative operation is used instead of integral operation, and the calculation formula is as follows:

[0064]

[0065] The sampling point KT is used instead of the continuous time t, and the calculation formula is as follows:

[0066] t=KT(k=0,1,2,...);

[0067] The sonar 2 directional digital PID is obtained by summarizing, and the corresponding rotation angle of the gimbal is adjusted according to the calculated action amount. The calculation expression is:

[0068]

[0069] where k i =k p / T,k d =k d T d .

[0070] S6: The controller 6 adjusts the rotation of the control component 3 in real time according to the rotation angle, so that the sonar 2 always maintains the set scanning direction. The controller 6 controls the gyroscope 4 to rotate and lock the posture of the sonar 2 after rotation.

[0071] S7: Repeat steps S2 to S6 until the scan is completed.

Claims

1. An unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage, comprising a hull (1) and a sonar (2) arranged on the hull (1), characterized in that: The invention also comprises a control component (3) installed on the central axis of the bottom of the hull (1) for connecting and adjusting the scanning direction of the sonar (2), a gyroscope (4) locked in the preset scanning direction of the sonar (2) and installed inside the cabin of the hull (1), an inertial navigation system (5) for recording the ship travel data of the hull (1), and a controller (6) for adjusting the control component (3) based on the data of the gyroscope (4) and the inertial navigation system (5). The control component (3) comprises a first pan-tilt platform (7) for controlling the sonar (2) to rotate in the ship travel direction, a second pan-tilt platform (8) for controlling the sonar (2) to rotate in a direction perpendicular to the ship travel direction, and a third pan-tilt platform (9) for controlling the sonar (2) to rotate in a direction perpendicular to the plane formed by the rotation directions of the first pan-tilt platform (7) and the second pan-tilt platform (8).

2. The unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage according to claim 1 is characterized by: The invention also comprises a stabilizing assembly (10) symmetrically arranged on both sides of the hull (1), wherein the stabilizing assembly (10) comprises two symmetrically mounted directional hinge supports (11) on the side of the ship, a roll stabilizing fin (12) connected to the hull (1) via the directional hinge supports (11), a bilge keel (13) fixedly mounted on the bilge, two quick-release supports (14) arranged between the two directional hinge supports (11) and connected to the hull (1), a connecting rod (15) connected to the quick-release supports (14), and a side plate body (16) fixedly connected to the other ends of the two connecting rods (15).

3. The unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage according to claim 2 is characterized in that: The connecting rod (15) is configured as a telescopic rod, and the telescopic rod is electrically connected to the controller (6).

4. The unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage according to claim 1 is characterized in that: A base (17) plugged into the control component (3) is installed at the top of the sonar (2), and pin holes are provided on the base (17) and the control component (3). A positioning pin (18) is installed on one side of the base (17) through a spring, and the positioning pin (18) is plugged into the base (17) and the control component (3) through the pin hole.

5. The unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage according to claim 1 is characterized in that: It also includes a power propeller (19) installed at the tail of the hull (1), and the power propeller (19) is electrically connected to the controller (6).

6. A method for measuring bridge scour and underwater damage using an unmanned boat using three-dimensional sonar scanning according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1: before the hull (1) is started, the scanning direction of the sonar (2) is set, and then the gyroscope (4) is started and locked in a posture consistent with the scanning direction of the sonar (2), and the gyroscope (4) records the scanning direction data and transmits it to the controller (6); S2: After the hull (1) is started, the inertial navigation system (5) obtains the ship movement data of the hull (1) in real time and transmits it to the controller (6); S3: Calculating the control deviation between the current scanning direction of the sonar (2) and the set scanning direction according to the scanning direction data and the ship's movement data; S4: Calculating the pan / tilt control amount of the control component (3) to rotate the sonar (2) according to the control deviation; S5: converting the PTZ control quantity to obtain the corresponding rotation angle of the control component (3); S6: The controller (6) adjusts the rotation of the control component (3) in real time according to the rotation angle, so that the sonar (2) always maintains the set scanning direction, and the controller (6) controls the gyroscope (4) to rotate and lock the posture of the sonar (2) after the rotation; S7: Repeat steps S2 to S6 until the scan is completed.

7. The measurement method of unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage according to claim 6 is characterized in that: The scanning direction data includes the roll direction angle α(t), pitch direction angle β(t) and yaw direction angle γ(t) of the gyroscope (4) in the hull (1) mass center coordinate system at this time.

8. The measurement method of unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage according to claim 7 is characterized in that: The ship travel data includes the rolling direction angle α of the ship (1) at the current moment. s (t), pitch angle β s (t) and yaw angle γ1(t).

9. The measurement method of unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage according to claim 8 is characterized in that: The calculation formula of the control deviation is as follows: The calculation formula of the PTZ control quantity is as follows: Where K p Refers to the proportional value of the proportional calculation, T i Refers to the time constant of the integral calculation, T d Refers to the time constant of the differential calculation.

10. The measurement method of unmanned boat for three-dimensional sonar scanning of bridge scour and underwater damage according to claim 9, characterized in that: The method of converting the pan / tilt control quantity and obtaining the corresponding rotation angle of the control component (3) is as follows: The error control for each sampling point is adopted, and the differential processing is performed based on the first-order backward difference method. The differential calculation formula of the control deviation is as follows: Where k represents the sampling time, T is the sampling period, θ(k) and θ(k-1) are the error signals at the kth sampling time and the (k-1)th sampling time; The cumulative operation is used instead of the integral operation, and the calculation formula is as follows: The sampling point KT is used instead of the continuous time t, and the calculation formula is as follows: t=KT(k=0,1,2,...); The sonar (2) directional digital PID is obtained by summarizing, and the corresponding rotation angle of the gimbal is adjusted according to the calculated action amount. The calculation expression is: where k i =k p / T,k d =k d T d .

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