Underwater displacement measurement device and displacement measurement method

Abstract

The invention belongs to the technical field of underwater equipment movable part displacement measurement, and particularly relates to an underwater displacement measurement device and a displacement measurement method. An underwater displacement measuring device comprises a measuring wedge block and a moving wedge block which are made of the same material, a measuring assembly is installed in the measuring wedge block and comprises an ultrasonic probe, a watertight connector and a measuring circuit, the ultrasonic probe is electrically connected with the measuring circuit, the measuring circuit is electrically connected with the watertight connector, and the watertight connector extends out of the measuring wedge block. The opposite face of the inclined face of the movable wedge block is a reflecting face, the ultrasonic probe is installed towards the reflecting face, and the measuring circuit is connected with a temperature sensor. The displacement measurement method comprises the following steps: measuring an underwater to-be-measured body by using the underwater displacement measurement device; the invention provides an underwater displacement measurement device and an underwater displacement measurement method, and aims to solve the problem that a displacement measurement sensor in the prior art cannot overcome the influence of the thickness of a shell and the influence of liquid properties and electromagnetic characteristics.

Description

Technical Field

[0001] The invention belongs to the technical field of displacement measurement of movable parts of underwater equipment, and in particular relates to an underwater displacement measurement device and a displacement measurement method. Background Art

[0002] Common displacement measurement sensors include resistive displacement sensors, capacitive displacement sensors, inductive displacement sensors, laser displacement sensors, etc. The principle can be understood as the coupling of the movable part to be measured with the stationary part through some form of physical parameters, and the change in the degree of this coupling reflects the movement of the movable part.

[0003] Due to the problem of water corrosion in the working environment of underwater equipment, the non-corrosion-resistant components of the displacement sensors used are often sealed in the shell by sealing to isolate them from the measured object; at the same time, due to the high environmental water pressure, the pressure-bearing thickness of the installation position of the non-corrosion-resistant components is large, resulting in a long distance between the movable part and the stationary part when coupling through electromagnetic and other means, and a poor coupling effect. For example, in seawater, this effect is more obvious. In addition, due to the influence of visibility, its application occasions are also limited when measuring through laser and other means. At present, there is an urgent need for a displacement measurement device and measurement method that can overcome the influence of shell thickness, liquid properties and electromagnetic characteristics underwater. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides an underwater displacement measuring device to solve the problem that the displacement measuring sensor in the prior art cannot overcome the influence of shell thickness, liquid properties and electromagnetic characteristics.

[0005] One solution of the present invention provides an underwater displacement measuring device, comprising a measuring wedge and a moving wedge, wherein the inclined surface of the measuring wedge is movably connected to the inclined surface of the moving wedge, and the measuring wedge and the moving wedge are tightly connected via a clamping device 4; A measuring assembly is installed inside the measuring wedge, and the measuring assembly includes an ultrasonic probe, a watertight joint and a measuring circuit made of the same material, the ultrasonic probe is electrically connected to the measuring circuit, the measuring circuit is electrically connected to the watertight joint, and the watertight joint extends from the measuring wedge; The opposite surface of the movable wedge inclined surface is a reflection surface, the ultrasonic probe is installed toward the reflection surface, and the measurement circuit is electrically connected to a temperature sensor; The ultrasonic probe is used to transmit ultrasonic waves perpendicular to the reflection surface, receive echoes reflected by the reflection surface, and continuously transmit the corresponding sound wave signals to the measurement circuit; Also included is an external final calculation device, the external final calculation device being preset with wedge angle data of the moving wedge; The temperature sensor is used to measure the temperature of the moving wedge and continuously transmit the temperature signal to the measuring circuit; The measuring circuit is used to process the sound wave signal continuously transmitted by the ultrasonic probe and the temperature signal continuously transmitted by the temperature sensor, and generate a calculation result and transmit it to the watertight joint; The watertight connector is used to receive the calculation results from the measurement circuit and transmit them to the external final calculation device; It should be noted that, in actual use, since the ultrasonic probe is installed toward the reflecting surface, the ultrasonic wave emitted by the ultrasonic probe is constantly incident vertically on the emitting surface, so as to directly reflect the echo to the ultrasonic probe through the reflecting surface, thereby obtaining an accurate sound wave signal, which can be used by the measuring circuit to measure the actual displacement of the ultrasonic probe relative to the emitting surface according to the sound wave signal, that is, to measure the vertical displacement of the wedge block relative to the moving wedge block; In actual use, the measuring wedge and the moving wedge can be made of the same material. Since the measuring wedge and the moving wedge are made of the same material and are in the same underwater environment, the temperature sensor continuously obtains the temperature of the measuring wedge, which is also the temperature of the moving wedge. The measuring circuit can measure the actual displacement of the ultrasonic probe relative to the transmitting surface according to the temperature signal, that is, the vertical displacement of the measuring wedge relative to the moving wedge. In actual use, a processor for processing the sound wave signal continuously transmitted by the ultrasonic probe and the temperature signal continuously transmitted by the temperature sensor is provided inside the measuring circuit, as well as a sound velocity table storing the sound velocity of ultrasound in different materials under different temperature conditions. When receiving the sound wave signal and the temperature signal, the processor can, on the one hand, convert the sound wave signal into the time difference between the ultrasonic probe transmitting the ultrasound wave at the initial position and the actual position and receiving the echo, and on the other hand, convert the temperature signal into the actual sound velocity, and calculate the initial distance and actual distance of the ultrasonic probe relative to the transmitting surface according to the time from the ultrasonic probe transmitting the ultrasound wave at the initial position to receiving the echo and the time from the ultrasonic probe transmitting the ultrasound wave at the initial position to receiving the echo, in combination with the actual sound velocity, and transmit the initial distance and actual distance to the watertight joint; wherein, the calculation principle formula of the initial distance and the actual distance is: , where s is the distance between the ultrasonic probe and the reflecting surface, v is the actual sound speed, and T is 1 / 2 of the time from the ultrasonic probe transmitting the ultrasonic wave to receiving the echo; In actual use, the external final calculation device can obtain the wedge angle data by manually inputting the wedge angle data of the moving wedge block by the staff, etc., and the external final calculation device can calculate the actual displacement result together with the measurement circuit calculation result data transmitted from the watertight joint to the external calculation device; wherein, the calculation principle formula of the actual displacement result is: , where D is the actual displacement result, d is the difference between the actual distance and the initial distance, and a is the wedge angle data; set the initial distance to Sc and the actual distance to According to the calculation formula, we can get ; It should be additionally noted that the specific structure of the clamping device 4 in this solution is not limited, as long as the measuring wedge block and the moving wedge block can be tightly connected; In this scheme, by setting a measuring wedge and a movable wedge of the same material and setting a measuring component in the measuring wedge, on the one hand, the non-corrosion-resistant parts can be protected in the measuring wedge, and on the other hand, the measuring component can overcome the influence of the measuring wedge and the movable wedge, and directly generate the calculation results in the measuring circuit in the measuring component. The influence of liquid properties and electromagnetic characteristics is overcome through a watertight joint, and the calculation results are directly transmitted to the external final computing device to obtain accurate displacement data.

[0006] Compared with the prior art, the present invention has the following advantages: 1. The present invention can ensure that the ultrasonic wave emitted by the ultrasonic probe is constantly incident on the reflecting surface and directly reflects the echo to the ultrasonic probe by installing the ultrasonic probe toward the reflecting surface. This vertical incidence and reflection method greatly reduces the error caused by the change of the ultrasonic propagation path and improves the accuracy of displacement measurement based on the sound wave signal. 2. The present invention uses a measuring wedge and a moving wedge made of the same material, which can ensure that the speed of the ultrasonic wave emitted by the ultrasonic probe in the measuring assembly is the same in the measuring wedge and the moving wedge, and cooperates with the temperature sensor connected to the measuring circuit to obtain the temperature of the measuring wedge and the moving wedge in real time. Based on this temperature signal, combined with the sound velocity table stored in the measuring circuit, the actual sound velocity of the ultrasonic wave at different temperatures can be accurately calculated, and then the distance change between the ultrasonic probe and the reflecting surface can be accurately calculated. In the scene where the underwater environment temperature fluctuates greatly, the present invention can effectively avoid the measurement error caused by the sound velocity difference caused by temperature change, and ensure that the displacement measurement result always maintains high accuracy; 3. The present invention converts the acoustic wave signal into a time difference through the processor in the measurement circuit, and calculates the distance change between the ultrasonic probe and the reflecting surface in combination with the actual sound velocity determined by the temperature signal. The measurement principle is simple, intuitive and efficient. Compared with some complex displacement measurement methods based on multi-sensor fusion or indirect measurement principles, the present invention reduces the error accumulation in the intermediate links and improves the reliability of the measurement data. In addition, the measurement principle is easy to understand and implement, which is convenient for debugging, maintenance and operation of equipment in actual engineering applications. 4. The present invention can effectively prevent water from intruding into the interior of the present invention through the watertight joint in the measuring component, ensure the safety and reliability of the internal circuit and signal transmission, maintain the good sealing performance of the present invention, ensure the continuous and stable operation of the entire measuring device, reduce the occurrence rate of equipment failures, and improve the overall reliability of the equipment.

[0007] 5. The external final calculation device of the present invention can obtain wedge angle data in a variety of ways, and coordinate with the measurement circuit calculation result data transmitted by the watertight joint to calculate the actual displacement result. This data processing and collaboration method has high flexibility, and the appropriate wedge angle data acquisition method can be selected according to the actual application scenarios and needs to meet the needs of different users and different application scenarios.

[0008] In one of the solutions, the measuring circuit includes a measuring module, the measuring module includes a processor and a memory, the processor is preset with a correction table corresponding to wedges of different materials, and the memory stores a measuring program; The memory is used to receive the working signal from the processor and execute the measurement program according to the working signal.

[0009] In this solution, the correction table corresponding to wedges of different materials preset in the processor can combine the temperature information obtained by the temperature sensor to accurately compensate for the difference in sound velocity of ultrasound in wedges of different materials caused by temperature changes. Due to the different thermal expansion coefficients and acoustic properties of different materials, the sound velocity will change when the underwater ambient temperature fluctuates, thereby affecting the displacement measurement accuracy. The correction table can accurately adjust the sound velocity calculation parameters based on the current temperature and wedge material, so that the measurement results are closer to the actual displacement value, effectively reducing the measurement errors caused by temperature and material factors.

[0010] In one embodiment, the step of obtaining the correction table includes: Select a test block made of the same material as the moving wedge block and measure the thickness Y in a certain direction; Record the initial temperature value , use the same test circuit as the measurement circuit to measure the time required for the same type of probe to transmit ultrasonic waves through thickness Y ; By thickness Y and initial temperature value Calculating the speed of sound ; Change the temperature value to , and obtain a series of ; A series of and Record one by one, calculate the slope and curvature of the sound speed changing with temperature, and and The data is interpolated and a correction table is finally generated.

[0011] In this scheme, by using a test block made of the same material as the moving wedge to generate a correction table, the sound velocity can be accurately corrected according to the specific material characteristics of the wedge in the device. By obtaining the correction table, the corresponding relationship and specific values ​​of the sound velocity and temperature in the material that can be used for the moving wedge can be obtained, so that the measurement circuit can accurately adjust the sound velocity calculation according to the current temperature during the actual measurement process, thereby greatly improving the accuracy of the displacement measurement and reducing the displacement measurement deviation caused by the sound velocity error.

[0012] In one embodiment, the steps of executing the measurement program include: The instruction drives the processor to obtain the acoustic wave signal and the temperature signal to measure the acoustic wave signal; The processor in the instruction-driven measurement circuit measures the time Tc from the ultrasonic probe in the initial position to the time it receives the echo, and the time Tc from the ultrasonic probe in the final position to the time it receives the echo. ; Obtain the temperature t in the temperature signal, and obtain the sound wave velocity at this time according to the correction table ; Through Tc, and The initial position displacement Sc and the actual position displacement of the measuring wedge are calculated. ; Output Sc and To watertight joints.

[0013] In this scheme, the acoustic wave signal and the temperature signal can be directly converted into the initial position displacement Sc and the actual position displacement of the measuring wedge by means of the measuring program and the measuring circuit. , and output Sc and To the watertight joint, to match the watertight joint, Sc and The data is transmitted to the external final computing device to obtain the actual displacement result; this measurement procedure is simple, intuitive and efficient.

[0014] In one of the solutions, a sliding guide rail is provided at the bottom of the movable wedge block, and the movable wedge block is movably mounted on the sliding guide rail.

[0015] In this solution, the sliding guide rail can ensure that the moving wedge moves smoothly along the predetermined straight line direction to avoid unstable movements such as deviation and shaking. As a result, the relative position change between the ultrasonic probe and the reflecting surface can accurately reflect the displacement of the underwater object to be measured, significantly improving the accuracy of displacement measurement.

[0016] In one of the solutions, a sealing component is installed between the movable wedge and the sliding guide rail.

[0017] In one embodiment, the sealing component includes an elastic filling piece arranged at the bottom of the movable wedge block, and elastic scrapers are arranged at both ends of the elastic filling piece.

[0018] In this solution, by arranging an elastic filling piece at the bottom of the moving wedge block, the moving wedge block is slidably connected to the sliding guide rail through the elastic filling piece, which can greatly reduce the amount of underwater impurities entering from the gap between the moving wedge block and the bottom of the sliding guide rail, thereby reducing the impact of underwater impurities on the inside of the sliding guide rail, thereby ensuring the normal operation and service life of the sliding guide rail. In addition, elastic scrapers are installed at both ends of the elastic filling piece. During the movement of the moving wedge, the elastic scrapers can scrape off underwater impurities attached to the guide rail, and work together with the elastic filling piece to reduce the amount of underwater impurities entering the guide rail, thereby realizing protection of the contact area between the moving wedge and the sliding guide rail, improving the device's ability to resist interference from underwater impurities, and enabling it to work stably in the harsh underwater environment of deep sea, high pressure and high humidity.

[0019] One solution of the present invention provides a displacement measurement method, including using the above-mentioned underwater displacement measurement device to measure an underwater object to be measured, specifically comprising: The staff obtains the wedge angle a of the movable wedge and inputs it into an external final calculation device; The displacement measuring device is started to a standby state, and the displacement measuring device obtains a correction table corresponding to wedge blocks of different materials; The displacement measuring device is placed at an underwater target location and connected to the underwater object to be measured; The displacement measuring device is switched into a working state, and the displacement measuring device starts to work and executes a measuring procedure; Watertight joint output Sc and To the external final computing device, the external final computing device according to Sc, The data of the wedge angle a are used to calculate and the actual displacement result of the underwater body to be measured is output.

[0020] It should be noted that the staff can obtain the specific data of the wedge angle a by directly measuring the wedge angle a of the moving wedge, directly reading the wedge angle information in the moving wedge parameter table, or connecting other automatic measuring devices to the external final computing device to automatically read the wedge angle information and transmit it to the external final computing device. The specific data of the wedge angle a can be obtained by similar methods of the same type.

[0021] It should be additionally explained that the displacement measuring device also includes a controller capable of controlling its working state and a signal receiver installed on the displacement measuring device. The signal receiver can specifically receive a control signal from the controller to control the start / stop state and working state of the displacement measuring device.

[0022] In this solution, the staff only needs to input the wedge angle a into the external final calculation device and directly control the start / stop state and working state of the displacement measuring device to directly obtain the actual displacement result of the underwater body to be measured. Compared with the existing displacement measurement method, the present invention reduces the cumbersomeness of the staff's operation process and the probability of errors in the operation process, greatly reduces the threshold for staff to operate the displacement measuring device and reduces the cost of manual training.

[0023] In one of the schemes, the underwater displacement measuring device also includes a signal receiver and an external controller, the signal receiver is used to receive a control signal from the external controller, and the external controller is used to control the start and stop state and working state of the underwater displacement measuring device.

[0024] In this solution, by setting up an external controller and a signal receiver, when the underwater displacement measuring device is working in the deep sea or in scenes with complex underwater environments such as strong water currents, high water pressure, and dangerous underwater creatures, the staff can issue instructions through the external controller in a safe location, thereby reducing the operational risks of the staff and improving the operational convenience of the staff.

[0025] In one of the solutions, the underwater displacement measuring device is connected to the underwater object to be measured via the movable wedge.

[0026] In this solution, the underwater object to be measured is directly connected by a moving wedge, so that the moving wedge can respond quickly and accurately to the displacement changes of the underwater object to be measured, avoiding problems such as gaps, looseness or elastic deformation of the connecting components that may be generated when a connecting component is set in the middle, thereby ensuring that the relative displacement between the measuring wedge and the moving wedge can truly and accurately reflect the actual displacement of the underwater object to be measured, greatly improving the accuracy of displacement measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0028] Figure 1 It is a schematic diagram of the overall structure of one embodiment of an underwater displacement measuring device of the present invention; Figure 2 A schematic diagram of the internal structure of a measuring wedge in one embodiment of an underwater displacement measuring device of the present invention; Figure 3 A schematic diagram of the working states of a measuring wedge and a moving wedge in one embodiment of a displacement measurement method of the present invention; Figure 4 A schematic diagram of the direction of sound waves of a measuring wedge in one embodiment of an underwater displacement measuring device of the present invention; Figure 5 The present invention is a schematic diagram of the operation flow of a worker in a displacement measurement method.

[0029] Among them, 1. measuring wedge; 2. moving wedge; 3. sliding guide rail; 4. clamping device; 5. ultrasonic probe; 6. measuring circuit; 7. watertight joint; 8. reflecting surface. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0032] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0033] It should be noted in advance that the present invention does not specifically limit the specific structures of the PCB board, contact seat and terminal group used in the present invention, wherein the contact seat is limited only to having a structure capable of installing the shaft end drive component 2 and having external terminals, the PCB board is limited only to having external terminals, and the terminal group is limited only to being respectively arranged on the contact seat, the PCB board and the shaft end housing 1, so the above-mentioned specific structures are not reflected in the accompanying drawings.

[0034] Please refer to Figure 1-5 One embodiment of the present invention provides an underwater displacement measuring device, comprising a measuring wedge 1 and a moving wedge 2, wherein the inclined surface of the measuring wedge 1 is movably connected to the inclined surface of the moving wedge 2, and the measuring wedge 1 and the moving wedge 2 are tightly connected via a clamping device 4; A measuring assembly is installed inside the measuring wedge 1, and the measuring assembly includes an ultrasonic probe 5, a watertight joint 7 and a measuring circuit 6 made of the same material. The ultrasonic probe 5 is electrically connected to the measuring circuit 6, and the measuring circuit 6 is electrically connected to the watertight joint 7. The watertight joint 7 extends from the measuring wedge 1. The opposite surface of the inclined surface of the movable wedge block 2 is a reflection surface 8, the ultrasonic probe 5 is installed toward the reflection surface 8, and the measurement circuit 6 is electrically connected to a temperature sensor; The ultrasonic probe 5 is used to transmit ultrasonic waves perpendicular to the reflection surface 8, receive echoes reflected by the reflection surface 8, and continuously transmit the corresponding sound wave signals to the measurement circuit 6; It also includes an external final calculation device, which is preset with wedge angle data of the moving wedge 2; The temperature sensor is used to measure the temperature of the moving wedge 2 and continuously transmit the temperature signal to the measuring circuit 6; The measuring circuit 6 is used to process the sound wave signal continuously transmitted by the ultrasonic probe 5 and the temperature signal continuously transmitted by the temperature sensor, and generate a calculation result and transmit it to the watertight joint 7; The watertight connector 7 is used to receive the calculation results from the measurement circuit 6 and transmit them to the external final calculation device; It should be noted that, in actual use, since the ultrasonic probe 5 is installed toward the reflecting surface 8, the ultrasonic wave emitted by the ultrasonic probe 5 is constantly incident on the emitting surface vertically, so as to directly reflect the echo to the ultrasonic probe 5 through the reflecting surface 8, thereby obtaining an accurate sound wave signal, which can be used by the measuring circuit 6 to measure the actual displacement of the ultrasonic probe 5 relative to the emitting surface according to the sound wave signal, that is, to measure the vertical displacement of the wedge block 1 relative to the moving wedge block 2; In actual use, the measuring wedge 1 and the moving wedge 2 can be made of the same material. Since the measuring wedge 1 and the moving wedge 2 are made of the same material and are in the same underwater environment, the temperature sensor continuously obtains the temperature of the measuring wedge 1, which is also the temperature of the moving wedge 2. The measuring circuit 6 can measure the actual displacement of the ultrasonic probe 5 relative to the transmitting surface according to the temperature signal, that is, the vertical displacement of the measuring wedge 1 relative to the moving wedge 2. During actual use, the measuring circuit 6 is internally provided with a processor for processing the sound wave signal continuously transmitted by the ultrasonic probe 5 and the temperature signal continuously transmitted by the temperature sensor, and a sound velocity table storing the sound velocity of ultrasound in different materials under different temperature conditions. When receiving the sound wave signal and the temperature signal, the processor can, on the one hand, convert the sound wave signal into the time difference between the ultrasonic probe 5 transmitting the ultrasound wave at the initial position and the actual position and receiving the echo, and on the other hand, convert the temperature signal into the actual sound velocity, and calculate the initial distance and actual distance of the ultrasonic probe 5 relative to the transmitting surface according to the time from the ultrasonic probe 5 transmitting the ultrasound wave at the initial position to receiving the echo and the time from the ultrasonic probe 5 transmitting the ultrasound wave at the initial position to receiving the echo, in combination with the actual sound velocity, and transmit the initial distance and actual distance to the watertight joint 7; wherein, the calculation principle formula of the initial distance and the actual distance is: , where s is the distance between the ultrasonic probe 5 and the reflecting surface 8, v is the actual sound velocity, and T is 1 / 2 of the time from the ultrasonic probe 5 transmitting the ultrasonic wave to receiving the echo; Please refer to Figure 4 , s is the actual distance between the ultrasonic probe 5 and the reflecting surface 8, v is the propagation speed of the sound wave in the metal material of the wedge, that is, the sound velocity, which can be obtained by converting the sound wave signal into the actual sound velocity through the processor in the measuring circuit 6 in conjunction with the aforementioned sound velocity table, and T is 1 / 2 of the time from the ultrasonic probe 5 emitting the ultrasonic wave to receiving the echo, which is converted by the processor in the measuring circuit 6. The initial distance when the measuring wedge 1 is in the initial position and the actual distance when the measuring wedge 1 is in the actual position are calculated respectively.

[0035] In actual use, the external final calculation device can obtain the wedge angle data by manually inputting the wedge angle data of the moving wedge block 2 by the staff, etc., and cooperate with the measurement circuit 6 calculation result data transmitted from the watertight joint 7 to the external calculation device to jointly calculate the actual displacement result; wherein, the calculation principle formula of the actual displacement result is: , where D is the actual displacement result, d is the difference between the actual distance and the initial distance, and a is the wedge angle data; set the initial distance to Sc and the actual distance to According to the calculation formula, we can get ; It should be additionally noted that the specific structure of the clamping device 4 in this embodiment is not limited, as long as the measuring wedge 1 and the moving wedge 2 can be tightly connected; In this embodiment, by providing a measuring wedge 1 and a movable wedge 2 of the same material and providing a measuring component in the measuring wedge 1, on the one hand, the non-corrosion-resistant parts can be protected in the measuring wedge 1, and on the other hand, the measuring component can overcome the influence of the measuring wedge 1 and the movable wedge 2, directly generate the calculation result in the measuring circuit 6 in the measuring component, and overcome the influence of the liquid properties and electromagnetic characteristics through the watertight joint 7, and directly transmit the calculation result to the external final computing device to obtain accurate displacement data.

[0036] Compared with the prior art, the present invention has the following advantages: 1. The present invention can ensure that the ultrasonic wave emitted by the ultrasonic probe 5 is constantly incident on the reflecting surface 8 and directly reflects the echo to the ultrasonic probe 5 by installing the ultrasonic probe 5 toward the reflecting surface 8. This vertical incidence and reflection method greatly reduces the error caused by the change of the ultrasonic propagation path and improves the accuracy of displacement measurement based on the sound wave signal. 2. The present invention uses the measuring wedge 1 and the moving wedge 2 of the same material, which can ensure that the speed of the ultrasonic wave emitted by the ultrasonic probe 5 in the measuring assembly is the same in the measuring wedge 1 and the moving wedge 2, and cooperates with the temperature sensor connected to the measuring circuit 6 to obtain the temperature of the measuring wedge 1 and the moving wedge 2 in real time, and based on this temperature signal, combined with the sound velocity table stored in the measuring circuit 6, the actual sound velocity of the ultrasonic wave at different temperatures can be accurately calculated, and then the distance change between the ultrasonic probe 5 and the reflecting surface 8 can be accurately calculated, so that the present invention can effectively avoid the measurement error caused by the sound velocity difference caused by temperature change in the scene where the underwater environment temperature fluctuates greatly, and ensure that the displacement measurement result always maintains high accuracy; 3. The present invention converts the acoustic wave signal into a time difference through the processor in the measuring circuit 6, and calculates the distance change between the ultrasonic probe 5 and the reflecting surface 8 in combination with the actual sound velocity determined by the temperature signal. The measuring principle is simple, intuitive and efficient. Compared with some complex displacement measurement methods based on multi-sensor fusion or indirect measurement principles, the present invention reduces the error accumulation in the intermediate links and improves the reliability of the measurement data. In addition, the measuring principle is easy to understand and implement, which is convenient for debugging, maintenance and operation of equipment in actual engineering applications. 4. The present invention can effectively prevent water from intruding into the interior of the present invention through the watertight joint 7 in the measuring assembly, ensure the safety and reliability of the internal circuit and signal transmission, maintain the good sealing performance of the present invention, ensure the continuous and stable operation of the entire measuring device, reduce the occurrence rate of equipment failures, and improve the overall reliability of the equipment.

[0037] 5. The external final calculation device of the present invention can obtain wedge angle data in a variety of ways, and cooperate with the calculation result data of the measurement circuit 6 transmitted by the watertight joint 7 to calculate the actual displacement result. This data processing and collaboration method has high flexibility, and the appropriate wedge angle data acquisition method can be selected according to the actual application scenarios and needs to meet the needs of different users and different application scenarios.

[0038] In one embodiment, the measuring circuit 6 includes a measuring module, the measuring module includes a processor and a memory, the processor is preset with a correction table corresponding to wedges of different materials, and the memory stores a measuring program; The memory is used to receive the working signal from the processor and execute the measurement program according to the working signal.

[0039] In this embodiment, the correction table corresponding to the wedge blocks of different materials preset in the processor can combine the temperature information obtained by the temperature sensor to accurately compensate for the difference in sound velocity of ultrasound in wedge blocks of different materials caused by temperature changes. Due to the different thermal expansion coefficients and acoustic properties of different materials, the sound velocity will change when the underwater environmental temperature fluctuates, thereby affecting the displacement measurement accuracy. The correction table can accurately adjust the sound velocity calculation parameters according to the current temperature and wedge material, so that the measurement results are closer to the actual displacement value, effectively reducing the measurement errors caused by temperature and material factors.

[0040] In one embodiment, the step of obtaining the correction table includes: Select a test block made of the same material as the movable wedge block 2 to measure the thickness Y in a certain direction; Record the initial temperature value and use the same test circuit as measurement circuit 6 to measure the time required for the same type of probe to transmit ultrasonic waves through thickness Y. ; By thickness Y and initial temperature value Calculating the speed of sound ; Change the temperature value to , and obtain a series of ; A series of and Record one by one, calculate the slope and curvature of the sound speed changing with temperature, and and The data is interpolated and a correction table is finally generated.

[0041] In this embodiment, a correction table is generated by using a test block made of the same material as the moving wedge 2, so that the sound velocity can be accurately corrected according to the specific material characteristics of the wedge in the device. By obtaining the correction table, the corresponding relationship and specific values ​​of the sound velocity and temperature in the material that can be used for the moving wedge 2 can be obtained, so that the measurement circuit 6 can accurately adjust the sound velocity calculation according to the current temperature during the actual measurement process, thereby greatly improving the accuracy of the displacement measurement and reducing the displacement measurement deviation caused by the sound velocity error.

[0042] The specific data acquisition principle of the correction table in this embodiment is described in detail below: Assume the thickness of the test block is Y, and the initial temperature is , assuming the initial sound speed is :according to Calculate the initial sound speed , and then change the temperature value several times to ,according to Calculate a series of and a series of corresponding records are recorded by the processor in the test circuit and , calculate the slope and curvature of the sound velocity as it changes with temperature, and and The data is interpolated and a correction table is finally generated and stored in a memory in the test circuit.

[0043] In one embodiment, the steps of executing the measurement program include: The instruction drives the processor to obtain the acoustic wave signal and the temperature signal to measure the acoustic wave signal; The processor in the instruction-driven measurement circuit 6 measures the time Tc from the initial position ultrasonic probe 5 transmitting the ultrasonic wave to the time Tc from the final ... ; Obtain the temperature t in the temperature signal, and obtain the sound wave velocity at this time according to the correction table ; Through Tc, and The initial position displacement Sc and the actual position displacement of the measuring wedge 1 are calculated. ; Output Sc and To watertight joint 7.

[0044] In this embodiment, the measurement program cooperates with the measurement circuit 6 to directly convert the acoustic wave signal and the temperature signal into the initial position displacement Sc and the actual position displacement of the measuring wedge 1. , and output Sc and To the watertight joint 7, to match the watertight joint 7 to connect Sc and The data is transmitted to the external final computing device to obtain the actual displacement result; this measurement procedure is simple, intuitive and efficient.

[0045] The principle of obtaining specific data by the measurement program in this embodiment is described in detail below: Please refer to Figure 3 , let the time from the ultrasonic probe 5 at the initial position to the time from the ultrasonic wave ... , assuming that the speed of sound waves corresponding to the temperature in the temperature signal is , assuming the initial position displacement is Sc, the actual position displacement is : When the displacement measuring device starts working, the processor sends a working signal to the memory, and the measurement program starts to execute, and the Tc of the measuring wedge 1 at the initial position and the Tc of the measuring wedge 1 at the final position are obtained. , and obtained through the temperature corresponding correction table in the temperature signal ,according to Get the initial position displacement Sc, according to Get the actual position displacement .

[0046] In one embodiment, a sliding guide rail 3 is provided at the bottom of the movable wedge block 2 , and the movable wedge block 2 is movably mounted on the sliding guide rail 3 .

[0047] In this embodiment, the sliding guide rail 3 can ensure that the moving wedge 2 moves smoothly along a predetermined straight line direction to avoid unstable movements such as deviation and shaking, so that the relative position change between the ultrasonic probe 5 and the reflecting surface 8 can accurately reflect the displacement of the underwater object to be measured, significantly improving the accuracy of displacement measurement.

[0048] In one embodiment, a sealing component is installed between the movable wedge 2 and the sliding guide rail 3 .

[0049] In one embodiment, the sealing component includes an elastic filling piece arranged at the bottom of the movable wedge block 2, and elastic scrapers are arranged at both ends of the elastic filling piece.

[0050] In this embodiment, by arranging an elastic filling piece at the bottom of the moving wedge block 2, the moving wedge block 2 is slidably connected to the sliding guide rail through the elastic filling piece, which can greatly reduce the amount of underwater impurities entering from the gap between the moving wedge block 2 and the sliding guide rail 3, thereby reducing the impact of the underwater impurities on the inside of the sliding guide rail 3, thereby ensuring the normal operation and service life of the sliding guide rail 3; In addition, elastic scrapers are installed at both ends of the elastic filling member, so that underwater impurities attached to the guide rail can be scraped off by the elastic scrapers during the movement of the moving wedge 2, and cooperate with the elastic filling member to achieve protection of the contact area between the moving wedge 2 and the sliding guide rail 3, thereby improving the device's ability to resist interference from underwater impurities, so that it can work stably in the harsh underwater environment of deep sea high pressure and high humidity; In addition, in this embodiment, the specific structures of the elastic filling piece and the elastic scraper are not limited, wherein the specific structure of the elastic filling piece is based on the standard that it can adapt to the sliding guide rail 3 and can drive the moving wedge block 2 on the sliding guide rail 3, and the elastic scraper is based on the standard that it can scrape the area of ​​the sliding guide rail 3 that the elastic filling block is about to reach when the elastic filling piece moves with the moving wedge block 2.

[0051] One embodiment of the present invention provides a displacement measurement method, including using the above-mentioned underwater displacement measurement device to measure an underwater object to be measured, specifically comprising: The staff obtains the wedge angle a of the movable wedge 2 and inputs it into an external final calculation device; The displacement measuring device is started to a standby state, and the displacement measuring device obtains a correction table corresponding to wedge blocks of different materials; The displacement measuring device is placed at an underwater target location and connected to the underwater object to be measured; The displacement measuring device is switched into a working state, and the displacement measuring device starts to work and executes a measuring procedure; The watertight joint 7 outputs Sc and to an external final calculation device, which performs calculations based on the data of Sc and the wedge angle a, and outputs the actual displacement result of the underwater body to be measured.

[0052] It should be noted that the staff can obtain the specific data of the wedge angle a by directly measuring the wedge angle a of the movable wedge block 2, directly reading the wedge angle information in the parameter table of the movable wedge block 2, or by connecting other automatic measuring devices to the external final computing device to automatically read the wedge angle information and transmit it to the external final computing device. The specific data of the wedge angle a can be obtained by similar methods of the same type.

[0053] It should be additionally explained that the displacement measuring device also includes a controller capable of controlling its working state and a signal receiver installed on the displacement measuring device. The signal receiver can specifically receive a control signal from the controller to control the start / stop state and working state of the displacement measuring device.

[0054] In this embodiment, the staff only needs to input the wedge angle a into the external final calculation device and directly control the start / stop state and working state of the displacement measuring device to directly obtain the actual displacement result of the underwater body to be measured. Compared with the existing displacement measurement method, the present invention reduces the cumbersomeness of the staff's operation process and the probability of errors in the operation process, greatly reduces the threshold for the staff to operate the displacement measuring device and reduces the cost of manual training.

[0055] The principle of obtaining the actual displacement result by the external final calculation device in this embodiment is described in detail below: Please refer to Figure 3 , for measuring wedge 1 and moving wedge 2, there is the formula , where D is the moving distance of the moving wedge 2 from the initial position to the actual position, d is the moving distance of the ultrasonic probe 5 in the measuring wedge 1 relative to the reflecting surface 8, and a is the wedge angle; Combining the principles in the previous measurement procedure, we can get ; Therefore, Sc and , the moving distance D of the moving wedge block 2 from the initial position to the actual position can be obtained. In the actual use of the displacement measuring device, the moving wedge block 2 is directly connected to the underwater body to be measured, that is, D is the final actual displacement result.

[0056] In one embodiment, the underwater displacement measuring device further includes a signal receiver and an external controller, wherein the signal receiver is used to receive a control signal from the external controller, and the external controller is used to control the start / stop state and working state of the underwater displacement measuring device.

[0057] In this embodiment, by setting up an external controller and a signal receiver, when the underwater displacement measuring device is working in the deep sea or in scenes with complex underwater environments such as strong water currents, high water pressure, and dangerous underwater creatures, the staff can issue instructions through the external controller in a safe location, thereby reducing the operational risks of the staff and improving the operational convenience of the staff.

[0058] In one embodiment, the underwater displacement measuring device is connected to the underwater object to be measured via the movable wedge 2 .

[0059] In this embodiment, the underwater object to be measured is directly connected to the movable wedge 2, so that the movable wedge 2 can respond quickly and accurately to the displacement change of the underwater object to be measured, avoiding the problems of gap, looseness or elastic deformation of the connecting components that may be generated when the connecting components are set in the middle, thereby ensuring that the relative displacement between the measuring wedge 1 and the movable wedge 2 can truly and accurately reflect the actual displacement of the underwater object to be measured, greatly improving the accuracy of displacement measurement.

[0060] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A displacement measuring device for underwater use, characterized in that: It comprises a measuring wedge and a moving wedge made of the same material, the inclined surface of the measuring wedge is movably connected to the inclined surface of the moving wedge, and the measuring wedge and the moving wedge are tightly connected via a clamping device; A measuring assembly is installed inside the measuring wedge, and the measuring assembly includes an ultrasonic probe, a watertight joint, and a measuring circuit. The ultrasonic probe is electrically connected to the measuring circuit, and the measuring circuit is electrically connected to the watertight joint. The watertight joint extends from the measuring wedge; The opposite surface of the movable wedge inclined surface is a reflection surface, the ultrasonic probe is installed toward the reflection surface, and the measurement circuit is electrically connected to a temperature sensor; Also included is an external final calculation device, the external final calculation device being preset with wedge angle data of the moving wedge; The ultrasonic probe is used to transmit ultrasonic waves perpendicular to the reflection surface, receive echoes reflected by the reflection surface, and continuously transmit the corresponding sound wave signals to the measurement circuit; The temperature sensor is used to measure the temperature of the moving wedge and continuously transmit the temperature signal to the measuring circuit; The measuring circuit is used to process the sound wave signal continuously transmitted by the ultrasonic probe and the temperature signal continuously transmitted by the temperature sensor, and generate a calculation result and transmit it to the watertight joint; The watertight connector is used to receive the calculation results from the measurement circuit and transmit them to the external final calculation device.

2. An underwater displacement measuring device as claimed in claim 1, characterized in that: The measuring circuit includes a measuring module, and the measuring module includes a processor and a memory. The processor is preset with a correction table corresponding to wedges of different materials, and the memory stores a measuring program. The memory is used to receive the working signal from the processor and execute the measurement program according to the working signal.

3. The underwater displacement measuring device according to claim 2, characterized in that: The step of obtaining the correction table includes: Select a test block made of the same material as the moving wedge block and measure the thickness Y in a certain direction; Record the initial temperature value , use the same test circuit as the measurement circuit to measure the time required for the same type of probe to transmit ultrasonic waves through thickness Y ; By thickness Y and initial temperature value Calculating the speed of sound ; Change the temperature value to , and obtain a series of ; A series of and Record one by one, calculate the slope and curvature of the sound speed changing with temperature, and and The data is interpolated and a correction table is finally generated.

4. The underwater displacement measuring device according to claim 2, characterized in that: The steps of executing the measurement program include: The instruction drives the processor to obtain the acoustic wave signal and the temperature signal to measure the acoustic wave signal; The processor in the instruction-driven measurement circuit measures the time Tc from the ultrasonic probe in the initial position to the time it receives the echo, and the time Tc from the ultrasonic probe in the final position to the time it receives the echo. ; Obtain the temperature t in the temperature signal, and obtain the sound wave velocity at this time according to the correction table ; Through Tc, and The initial position displacement Sc and the actual position displacement of the measuring wedge are calculated. ; Output Sc and To watertight joints.

5. The underwater displacement measuring device according to claim 1, characterized in that: A sliding guide rail is arranged at the bottom of the movable wedge block, and the movable wedge block is movably mounted on the sliding guide rail.

6. The underwater displacement measuring device according to claim 5, characterized in that: A sealing component is installed between the moving wedge block and the sliding guide rail.

7. The underwater displacement measuring device according to claim 6, characterized in that: The sealing component comprises an elastic filling piece arranged at the bottom of the movable wedge block, and elastic scrapers are arranged at both ends of the elastic filling piece.

8. A displacement measurement method, characterized in that: The method comprises using the underwater displacement measuring device as claimed in claims 1 to 7 to measure an underwater object to be measured, specifically comprising: The staff obtains the wedge angle a of the moving wedge and inputs it into an external final calculation device; The displacement measuring device is started to a standby state, and the displacement measuring device obtains a correction table corresponding to wedges of different materials; The displacement measuring device is placed at an underwater target location and connected to the underwater object to be measured; The displacement measuring device is switched into a working state, and the displacement measuring device starts to work and executes a measuring procedure; Watertight joint output Sc and To the external final computing device, the external final computing device according to Sc, The data of the wedge angle a are used to calculate and the actual displacement result of the underwater body to be measured is output.

9. A displacement measurement method as claimed in claim 8, characterized in that: The underwater displacement measuring device further comprises a signal receiver and an external controller, wherein the signal receiver is used to receive a control signal from the external controller, and the external controller is used to control the start / stop state and working state of the underwater displacement measuring device.

10. A displacement measurement method according to claim 8, characterized in that: The underwater displacement measuring device is connected to the underwater object to be measured via the movable wedge.

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