An unmanned ship for bridge scouring and underwater disease three-dimensional sonar scanning and a measuring method thereof

Abstract

The application discloses an unmanned ship for bridge scouring and underwater disease three-dimensional sonar scanning and a measuring method thereof. The measuring device comprises a ship body and a sonar arranged on the ship body, further comprises a control assembly installed on the middle axis of the bottom of the ship body, a gyroscope locked in the preset scanning direction of the sonar, an inertial navigation system for recording the ship running data of the ship body and a controller. The control assembly comprises a first holder for controlling the rotation of the sonar in the ship running direction, a second holder for controlling the rotation of the sonar in the vertical ship running direction and a third holder for controlling the rotation of the sonar in the direction perpendicular to the plane formed by the rotation directions of the first holder and the second holder. The sonar is controlled by the control assembly, so that the scanning operation posture of the sonar is more flexible. Meanwhile, the gyroscope and the inertial navigation system are used as the basis for controlling the posture of the sonar, which is beneficial to adjusting the sonar to always be in the preset scanning direction and can comprehensively cover the underwater structure of the bridge and the scouring topography.

Description

TECHNICAL FIELD

[0001] The present application relates to a three-dimensional sonar measuring device and a measuring method thereof, and in particular to an unmanned ship for three-dimensional sonar scanning measurement of bridge scouring and underwater diseases and a measuring method thereof. BACKGROUND

[0002] Bridges are important infrastructure that bear the role of road and railway transportation. Due to 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 also can cause the loss of bridge function, which brings serious safety hazards to transportation. In addition, the underwater part of the bridge is also prone to water flow scouring. The scouring of water flow will cause the surface deformation, erosion and even local damage of the bridge pier, bridge foundation and other components, thereby affecting the stability and service life of the bridge. Therefore, timely detection and monitoring of bridge underwater 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 flow scouring and underwater diseases to the bridge. The sonar emits sound waves and receives the echo signals, calculates the target distance by using the speed of sound wave propagation in the medium and the time difference of echo signals, determines the horizontal azimuth angle and the pitch angle of the target by controlling the emission angle and the receiving direction of the sound wave, so as to realize the positioning and imaging of the target in three-dimensional space. However, the existing sonar is mostly fixedly installed on the side of the measuring ship, and the measuring ship moves according to a certain side line to monitor the underwater diseases and scouring conditions of the underwater foundation. Since the sonar is fixed in position, it can only indirectly control the rotation and movement of the sonar by controlling the operation of the measuring ship. The measuring ship is large in size and is affected by the specific environment during operation, so the rotation and movement of the sonar are limited, and the sonar cannot realize comprehensive coverage of the underwater structure of the bridge and the scouring topography. Moreover, the operation is complicated and the measurement cost is high. SUMMARY

[0004] The first object of the present application is to provide an unmanned ship for three-dimensional sonar scanning measurement of bridge scouring and underwater diseases, which can comprehensively cover the underwater structure of the bridge and the scouring topography.

[0005] The second object of the present application is to provide a measuring method of the unmanned ship for three-dimensional sonar scanning measurement of bridge scouring and underwater diseases.

[0006] Technical solution: The unmanned ship for bridge scouring and underwater disease three-dimensional sonar scanning disclosed by the application comprises a ship body and a sonar arranged on the ship body, further comprises a control assembly arranged on the middle axis of the bottom of the ship body and used for connecting and adjusting the scanning direction of the sonar, a gyroscope arranged in the ship cabin of the ship body and locked in the preset scanning direction of the sonar, an inertial navigation system used for recording the ship running data of the ship body, and a controller based on the data of the gyroscope and the inertial navigation system and used for adjusting the control assembly, the control assembly comprises a first holder used for controlling the rotation of the sonar in the ship running direction, a second holder used for controlling the rotation of the sonar in the vertical ship running direction, and a third holder used for controlling the rotation of the sonar in the direction perpendicular to the plane formed by the rotation directions of the first holder and the second holder.

[0007] Further, the ship body is provided with symmetrical stabilizing assemblies arranged on both sides of the ship body, the stabilizing assembly comprises two directional hinge supports arranged on the ship sides, a stabilizing fin connected with the ship body through the directional hinge supports, a bilge keel fixedly arranged on the ship sides, two quick release supports arranged between the two directional hinge supports and connected with the ship body, connecting rods connected with the quick release supports, and side plates fixedly connected with the other ends of the connecting rods.

[0008] Further, the connecting rods are arranged as telescopic rods, and the telescopic rods are electrically connected with the controller.

[0009] Further, the top end of the sonar is provided with a base inserted with the control assembly, the base and the control assembly are both provided with pin holes, one side of the base is provided with a positioning pin through a spring, and the positioning pin is inserted with the base and the control assembly through the pin holes.

[0010] Further, the ship body is provided with a power propeller arranged at the tail of the ship body, and the power propeller is electrically connected with the controller.

[0011] Based on the same inventive concept, the application further provides a measuring method of the unmanned ship for bridge scouring and underwater disease three-dimensional sonar scanning, comprising the following steps:

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

[0013] S2: after the ship body is started, the inertial navigation system acquires the ship running data of the ship body in real time and transmits the ship running data to the controller;

[0014] S3: the control deviation between the current scanning direction of the sonar and the set scanning direction is calculated according to the scanning direction data and the ship running data;

[0015] S4: the holder control amount of the control assembly rotating the sonar is calculated according to the control deviation;

[0016] S5: converting the gimbal control quantity to obtain a rotation angle corresponding to 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, and the controller controls the gyroscope to rotate and lock in the posture after the sonar rotates;

[0018] S7: repeating steps S2 to S6 until the scanning is completed.

[0019] Further, the scanning direction data includes the roll direction rotation angle α(t), the pitch direction rotation angle β(t) and the yaw direction rotation angle γ(t) of the gyroscope in the ship body centroid coordinate system at this time.

[0020] Further, the ship running data includes the roll direction rotation angle α s (t), the pitch direction rotation angle β s (t) and the yaw direction rotation angle γ1(t) of the ship body at the current time.

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

[0022]

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

[0024]

[0025] Wherein K p is the proportional value of proportional calculation, T i is the time constant of integral calculation, and T d is the time constant of differential calculation.

[0026] Further, the conversion processing of the gimbal control quantity to obtain the rotation angle corresponding to the control component is as follows:

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

[0028]

[0029] Wherein 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 adopted instead of the integral operation, and the calculation formula is as follows:

[0031]

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

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

[0034] The sonar directional digital PID is obtained, and the angle of the pan-tilt corresponding to the calculated action is adjusted, and the calculation expression is as follows:

[0035]

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

[0037] Beneficial effects: compared with the prior art, the present application has the following remarkable advantages: the present application controls the working posture of the sonar underwater by controlling the assembly, so that the sonar scanning working posture is more flexible, and the gyroscope and inertial navigation system are used as the basis for regulating the posture of the sonar, which is beneficial to adjusting the posture of the sonar to always be in the preset scanning direction, can cover the bridge underwater structure and scour topography comprehensively, and can improve the accuracy and stability of the sonar during large-angle scanning underwater; the setting of the stabilizing assembly can reduce the amplitude of the ship body swing, which is beneficial to improving the stability of the ship body sailing in water; the setting of the positioning pin makes the sonar installation and disassembly convenient, reduces the cumbersome steps in the installation process, facilitates the sonar scanning operation, and is beneficial to improving the operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 It is a top view of the ship body of the device of the present application;

[0039] Figure 2 It is a left view of the ship body of the device of the present application;

[0040] Figure 3 It is a sectional view of the ship body of the device of the present application;

[0041] Figure 4 It is a structural schematic view of the ship body control assembly of the device of the present application;

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

[0043] Figure 6 It is a front view of the base and the sonar of the device of the present application;

[0044] Figure 7 It is a sectional view of the positioning pin of the device of the present application;

[0045] Figure 8 It is a flow chart of the method of the present application. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be further described below with reference to 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 1-3 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 stabilization 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 is installed on the top of the sonar 2 and is plugged into the control component 3. 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 head 7 for controlling the sonar 2 to rotate in the direction of the ship, a second pan-tilt head 8 for controlling the sonar 2 to rotate perpendicular to the direction of the ship, and a third pan-tilt head 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 head 7 and the second pan-tilt head 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 assembly 3 and the sonar 2 are electrically connected with the controller 6 respectively, preferably, a connecting pipe is installed at the bottom of the hull 1, and the bottom of the hull 1 and the inside of the connecting pipe are both reserved with cable channels, and the special communication cable for information communication of the sonar 2 and the control assembly 3 passes through the cable channels and is connected with 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, and the controller 6 adjusts the rotation of the first holder 7, the second holder 8 and the third holder 9 of the control assembly 3, and then adjusts the scanning direction of the sonar 2. Before the hull 1 starts, the gyroscope 4 is locked in the posture consistent with the initially set scanning direction of the sonar 2, and in the process of the hull 1 advancing, the gyroscope 4 is not affected by the advancing direction and angle 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 for recording the hull 1 ship data, and the controller 6 corrects the real-time scanning direction of the sonar 2 according to the real-time ship data obtained by the inertial navigation system 5 and the posture locked by the gyroscope 4, using the PID control algorithm, so that the scanning direction of the sonar 2 is maintained in a fixed direction. And the antenna 20 of the inertial navigation system 5 is installed on the deck of the hull 1 by bolts, and the inside of the hull 1 is reserved with a pipeline for connecting the inertial navigation system 5 and the antenna 20, and a special communication cable for connecting the two is arranged in the pipeline; the controller 6 adjusts the control assembly 3 according to the posture of the gyroscope 4 and the real-time ship data of the hull 1 obtained by the inertial navigation system 5, so that the control assembly 3 adjusts the scanning direction of the sonar 2 in real time, and then the scanning direction of the sonar 2 is always consistent with the initially set scanning direction; the stabilizing assembly 10 is provided with two groups and is symmetrically installed on both sides of the hull 1, which is used to improve the stability of the hull 1 when advancing, and the power propeller 19 is installed at the tail of the hull 1, and the power propeller 19 is electrically connected with the controller 6, and the driving of the power propeller 19 can be adjusted by the controller 6 to drive the hull 1 to advance.

[0049] As Figure 1 , Figure 2 and Figure 5As shown, the stabilizing assembly 10 comprises a directional hinge support 11, a stabilizer fin 12, a bilge keel 13, a quick-release support 14, a connecting rod 15 and a side sheet 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 ship side, the stabilizer fin 12 is connected with the ship body 1 through the directional hinge support 11, and the stabilizer fin 12 and the directional hinge support 11 are used for reducing the swing of the ship body 1; the bilge keel 13 is fixedly installed on the ship bilge, and the bilge keel 13 is used for improving the stability of the ship body 1 when the ship body 1 sails; a set of stabilizing assemblies 10 is provided with two quick-release supports 14, the two quick-release supports 14 are symmetrically installed on the ship body 1, and the two quick-release supports 14 are located between the two directional hinge supports 11, the other end of the two quick-release supports 14 is connected with the connecting rod 15 respectively, and the side sheet body 16 is fixedly connected with the other end of the two connecting rods 15 away from the ship body 1, the quick-release support 14, the connecting rod 15 and the side sheet body 16 can convert the structure of the ship body 1 into a multi-hull ship to improve the stability and seakeeping performance of the ship body 1. Preferably, the connecting rod 15 is provided as a telescopic rod, and the telescopic rod is electrically connected with the controller 6, and the connecting rod 15 is obliquely arranged, the telescopic connecting rod 15 can adjust the height and position of the side sheet body 16, and the change of the center of gravity of the overall structure and the improvement of the moment of inertia can improve the seakeeping performance of the ship body 1. The quick-release support 14 can realize the quick installation and disassembly of the connecting rod 15, and facilitates the subsequent maintenance of the connecting rod 15 and the side sheet body 16.

[0050] Example 2

[0051] The measurement method of the unmanned ship for bridge scouring and underwater disease three-dimensional sonar scanning, as described in the application, comprises the following steps: Figure 8 As shown, the steps are as follows:

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

[0053] S2: After the ship body 1 starts, the inertial navigation system 5 obtains the ship running data of the ship body 1 in real time and transmits it to the controller 6; wherein the ship running data includes the roll direction angle α s (t), the pitch direction angle β s (t) and the yaw direction angle γ1(t) of the ship body 1 at the current time.

[0054] S3: According to the scanning direction data and the ship running data, the control deviation between the current scanning direction of the sonar 2 and the set scanning direction is calculated; and the calculation formula of the control deviation is as follows:

[0055]

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

[0057]

[0058] wherein K p is the proportional value of proportional calculation, T i is the time constant of integral calculation, T d is the time constant of differential calculation.

[0059] The calculated θ(t) is subjected to proportional, integral and differential calculation of the deviation. First, proportional calculation, if the control direction of the sonar 2 produces a deviation, the pan-tilt will be controlled to adjust the direction of the sonar 2 immediately, and the adjustment strength will increase with the increase of the proportional value K p , so as to adaptively reduce the deviation of the system and ensure that the sonar 2 will not be unstable due to the existence of steady-state error; second, integral calculation, for adjusting the stability and positive-negative difference of the control, the adjustment strength of the integral calculation is determined by the time constant T i , the greater the value, the smaller the influence on the adjustment of the system; finally, differential calculation, for adjusting the deviation signal and the differential output of the error θ(t), to ensure the effectiveness of the signal control when the error occurs suddenly, and to ensure early and effective signal correction, and the control strength is determined by the time constant T d of the differential action.

[0060] S5: converting the pan-tilt control amount to obtain the rotation angle corresponding to the control component 3, using error control for each sampling point, and performing differential processing based on the first-order backward difference method, and the differential calculation formula of the control deviation is as follows:

[0061]

[0062] wherein 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, and the angle of the corresponding rotation of the holder is adjusted according to the calculated action amount, and the calculation expression is:

[0068]

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

[0070] S6: The controller 6 adjusts the rotation of the control assembly 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 in the posture after the sonar 2 rotates.

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

Claims

1. A method for measuring bridge scour and underwater damage using an unmanned vessel using three-dimensional sonar scanning, characterized by: The unmanned ship comprises a hull (1) and a sonar (2) arranged on the hull (1), and the unmanned ship further 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 a 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's (1) navigation data, and a controller (6) of the data adjustment control component (3) based on the gyroscope (4) and the inertial navigation system (5), wherein the control component (3) comprises a first pan-tilt platform (7) for controlling the sonar (2) to rotate in the ship's navigation direction, a second pan-tilt platform (8) for controlling the sonar (2) to rotate in a direction perpendicular to the ship's navigation 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); The measurement method includes the following steps: 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); wherein the scanning direction data includes the roll direction angle of the gyroscope (4) in the center of mass coordinate system of the hull (1) at this time , pitch angle and yaw angle ; S2: After the hull (1) is started, the inertial navigation system (5) obtains the ship's (1) movement data in real time and transmits it to the controller (6); the movement data includes the current rolling direction angle of the hull (1) , pitch angle and yaw angle ; 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's movement data; the calculation formula of the control deviation is as follows: ； The calculation formula of the PTZ control amount 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 differential calculation; S4: Calculating the pan / tilt control amount of the control component (3) to rotate the sonar (2) according to the control deviation; S5: Convert the pan / tilt control quantity to obtain the rotation angle corresponding to the control component (3); the method for obtaining the rotation angle 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, and is the error signal between the kth sampling moment and the (k-1)th sampling moment; Cumulative operation is used instead of 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: ； 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: ； in , ; 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 rotation; S7: Repeat steps S2 to S6 until the scan is completed.

2. The unmanned vessel measurement method for three-dimensional sonar scanning of bridge scour and underwater defects according to claim 1 is characterized by: The unmanned boat further comprises a stabilizing assembly (10) symmetrically arranged on both sides of the hull (1), the stabilizing assembly (10) comprising two symmetrically mounted directional hinge supports (11) on the side of the boat, a fin stabilizer (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 vessel measurement method for three-dimensional sonar scanning of bridge scour and underwater defects according to claim 2 is characterized by: The connecting rod (15) is configured as a telescopic rod, and the telescopic rod is electrically connected to the controller (6).

4. The unmanned vessel measurement method for three-dimensional sonar scanning of bridge scour and underwater defects according to claim 1 is characterized by: A base (17) plugged into the control assembly (3) is installed at the top of the sonar (2), and pin holes are provided on the base (17) and the control assembly (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 assembly (3) through the pin hole.

5. The unmanned vessel measurement method for three-dimensional sonar scanning of bridge scour and underwater defects according to claim 1 is characterized by: The unmanned boat further comprises a power propeller (19) installed at the tail of the hull (1), and the power propeller (19) is electrically connected to the controller (6).

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